CN114899982B - Motor control method, motor control circuit and food processor - Google Patents
Motor control method, motor control circuit and food processor Download PDFInfo
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- CN114899982B CN114899982B CN202210042748.2A CN202210042748A CN114899982B CN 114899982 B CN114899982 B CN 114899982B CN 202210042748 A CN202210042748 A CN 202210042748A CN 114899982 B CN114899982 B CN 114899982B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
- H02K7/061—Means for converting reciprocating motion into rotary motion or vice versa using rotary unbalanced masses
- H02K7/063—Means for converting reciprocating motion into rotary motion or vice versa using rotary unbalanced masses integrally combined with motor parts, e.g. motors with eccentric rotors
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/07—Parts or details, e.g. mixing tools, whipping tools
- A47J43/08—Driving mechanisms
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/08—Structural association with bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/1004—Structural association with clutches, brakes, gears, pulleys or mechanical starters with pulleys
- H02K7/1008—Structural association with clutches, brakes, gears, pulleys or mechanical starters with pulleys structurally associated with the machine rotor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/2805—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual DC dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application provides a motor control method, a motor control circuit and a food processor. The motor control method comprises the following steps: controlling the motor to run under the current power; determining the single follow current time length of the motor under the current power; and controlling the motor to run or stop according to the single follow current time length of the motor. The single follow-up time length of the motor is determined, and the motor is controlled according to the single follow-up time length of the motor, so that the motor can be controlled to operate more accurately.
Description
Technical Field
The application relates to the technical field of small household appliances, in particular to a motor control method, a motor control circuit and a food processor.
Background
With the increasing level of living of people, many different types of food processing machines appear on the market. The functions of the food processor mainly include, but are not limited to, the functions of making soybean milk, squeezing juice, making rice paste, mincing meat, planing coffee, and/or preparing facial masks.
The motor is used as the power input of the food processor, and has a vital function in the work of the food processor. In the working process of the food processor, the control of the output power of the motor is particularly important due to the uncontrollability of the size, shape and hardness of food materials.
Some methods of controlling an electric machine include: the current flowing through the motor is detected by the detection resistor, and the load of the motor is detected by the magnitude of the current, so that the motor is controlled. The method for controlling the motor has the advantages that the accuracy of current detection is not high, the error is large, the motor is controlled inaccurately according to the current, and when the passing current is large, a constantan wire is needed for detecting the resistor, so that the cost is high.
Disclosure of Invention
The application provides a motor control method, a motor control circuit and a food processor, which can control a motor more accurately.
One aspect of the present application provides a motor control method including: controlling the motor to run under the current power; determining a single freewheel length of the motor at the current power; and controlling the motor to run or stop according to the single follow current time length of the motor.
In some embodiments of the application, the single follow-up time length of the motor is determined, and the motor is controlled according to the single follow-up time length of the motor, so that the motor operation can be controlled more accurately. Because the inductance characteristic of the motor is zero, the motor releases the electric energy stored in the form of a magnetic field, the motor has a certain time of follow current, the time period is a single follow current time period, the determination of the time period is accurate, and the measurement error is small, so that the single follow current time period of the motor can be accurately determined, the accuracy is high, and the motor is accurately controlled. And high-power devices are not needed, so that the cost is low.
Further, the determining a single freewheel length of the motor at the current power includes: detecting a zero crossing signal of an alternating current power supply connected with the motor and a voltage signal of a driving device connected in series with the motor; and determining the single freewheel length of the motor according to the zero-crossing signal and the voltage signal. In some embodiments, the single freewheel length is determined by the zero-crossing signal of the ac power source and the voltage signal of the driving device in series with the motor, and the detection is convenient and accurate.
Further, the determining the single freewheel length of the motor according to the zero-crossing signal and the voltage signal includes: a time difference between a sudden change edge of the zero-crossing signal and a subsequent sudden change edge of the voltage signal of the same half cycle of the alternating voltage of the alternating current power source is determined as the single freewheel period of the motor. In some embodiments, the abrupt edges of the zero-crossing signal and the voltage signal are stable in variation, the detection of the abrupt edges can be conveniently detected and more accurate, the single-time follow-current time length can be more simply and conveniently determined, and the determined single-time follow-current time length is more accurate.
Further, the determining a time difference between the abrupt edge of the zero-crossing signal and the subsequent abrupt edge of the voltage signal for the same half cycle of the ac voltage of the ac power supply includes: a time difference between a rising edge of the zero crossing signal and a subsequent rising edge of the voltage signal for the same half cycle of the ac voltage of the ac power supply is determined. In some embodiments, detecting the rising edge of the zero crossing signal and the rising edge of the subsequent voltage signal may simply and conveniently obtain the rising edge of the zero crossing signal and the rising edge of the voltage signal, and may facilitate designing a simple circuit to obtain.
Further, the controlling the motor according to the single freewheel length of the motor includes: and controlling the motor to run or stop according to the single-time follow current time length of the motor and the reference follow current time length of the motor under the current power. In some embodiments, the reference freewheel length reflects the magnitude of the reference load, and according to the single freewheel length and the reference freewheel length, the magnitude relation between the actual load of the motor and the reference load can be determined, and the load magnitude of the motor can be determined faster, so that the control strategy of the motor can be adjusted faster.
Further, the controlling the motor to operate or stop according to the single-time freewheel length of the motor and the reference freewheel length of the motor under the current power includes: comparing the single freewheel time length of the motor under the current power with a plurality of reference freewheel time lengths corresponding to different load gears, and determining the load gear where the load of the motor is located as the current load gear; and controlling the motor to run or stop according to the current load gear. In some embodiments, the current load gear can be quickly determined by comparing the single freewheel time with the reference freewheel time of different load gears, so that the control strategy of the motor can be quickly adjusted.
Further, the load gear comprises a normal load gear and an overload gear, and the plurality of reference freewheel durations comprise a normal reference freewheel duration under the normal load gear and an overload reference freewheel duration under the overload gear, wherein the overload reference freewheel duration is longer than the normal reference freewheel duration; and controlling the motor to run or stop according to the current load gear, comprising: and if the current load gear is the overload gear, controlling the motor to stop rotating. In some embodiments, the single freewheel length and the overload reference freewheel length are utilized to quickly and accurately determine whether the load of the motor is overloaded, and the motor can be timely controlled to stop rotating during overload so as to prevent the motor from burning out.
Further, the normal load gear comprises a first load gear and a second load gear, the normal reference freewheel time length comprises a first reference freewheel time length under the first load gear and a second reference freewheel time length under the second load gear, and the second reference freewheel time length is longer than the first reference freewheel time length; and controlling the motor to run or stop according to the current load gear, comprising: if the current load gear is the first load gear, controlling the motor to continue to operate under the current power; and if the current load gear is the second load gear, controlling the motor to operate under the power higher than the current power. In some embodiments, the current load is a first load gear, which indicates that the current load of the motor is not larger, and the motor can continue to operate under the current power, and the current load is a second load gear, which indicates that the current load of the motor is larger, but not overloaded, and the power of the motor can be increased at this time, so that the motor is controlled to operate under the power higher than the current power, and different control strategies can be adopted for different load gears, so that food materials can be whipped faster, the whipping effect of the food materials is ensured, and the cooking time is shortened.
Another aspect of the application provides a motor control circuit. The motor control circuit includes: the driving circuit is electrically connected with the motor and is used for driving the motor to work; and the controller is electrically connected with the driving circuit and is used for controlling the driving circuit to drive the motor to run under the current power, determining the single follow current time length of the motor under the current power and controlling the driving circuit to drive the motor according to the single follow current time length of the motor. In some embodiments of the application, the single time duration of the motor is determined, the motor is controlled according to the single time duration of the motor, the motor can be controlled to operate more accurately, the motor releases the electric energy stored in the form of a magnetic field when the voltage at the two ends of the motor is zero due to the inductance characteristic of the motor, the motor has a certain time of continuous current, the time period is the single time duration of the continuous current, the single time duration of the continuous current is determined, the time period is determined more accurately, the measurement error is small, the single time duration of the motor can be determined more accurately, the precision is high, and the motor is controlled more accurately. And high-power devices are not needed, so that the cost is low.
Further, the driving circuit comprises a driving device connected in series with the motor; the motor control circuit includes: the zero-crossing detection circuit is used for detecting a zero-crossing signal of an alternating current power supply connected with the motor; the voltage detection circuit is electrically connected with the driving device and is used for detecting a voltage signal of the driving device;
The controller is electrically connected with the zero-crossing detection circuit and the voltage detection circuit respectively and is used for determining the single follow-current time length of the motor according to the zero-crossing signal and the voltage signal. In some embodiments, the single freewheel length is determined by the zero-crossing signal of the ac power source and the voltage signal of the driving device in series with the motor, and the detection is convenient and accurate.
Further, the controller is configured to determine a time difference between a sudden change edge of the zero-crossing signal and a subsequent sudden change edge of the voltage signal for the same half cycle of the ac voltage of the ac power source as the single freewheel period of the motor. In some embodiments, the method can detect conveniently and accurately, can determine the single-time continuous flow time more simply, and can determine the single-time continuous flow time more accurately.
Further, the controller is configured to control the motor according to the single freewheel length of the motor and a reference freewheel length of the motor at the current power. In some embodiments, the load condition of the motor can be determined faster according to the single-time freewheel time and the reference freewheel time, so that the control strategy of the motor can be adjusted faster.
Further, the controller is configured to: comparing the single freewheel time length of the motor under the current power with a plurality of reference freewheel time lengths corresponding to different load gears, and determining the load gear where the load of the motor is located as the current load gear; and controlling the motor according to the current load gear. In some embodiments, the current load gear can be quickly determined by comparing the single freewheel time with the reference freewheel time of different load gears, so that the control strategy of the motor can be quickly adjusted.
Further, the load gear comprises a normal load gear and an overload gear, and the plurality of reference freewheel durations comprise a normal reference freewheel duration under the normal load gear and an overload reference freewheel duration under the overload gear, wherein the overload reference freewheel duration is longer than the normal reference freewheel duration; and if the current load gear is the overload gear, the controller is used for controlling the motor to stop rotating. In some embodiments, the single freewheel length and the overload reference freewheel length are utilized to quickly and accurately determine whether the load of the motor is overloaded, and the motor can be timely controlled to stop rotating during overload so as to prevent the motor from burning out.
Further, the normal load gear comprises a first load gear and a second load gear, the normal reference freewheel time length comprises a first reference freewheel time length under the first load gear and a second reference freewheel time length under the second load gear, and the second reference freewheel time length is longer than the first reference freewheel time length; the controller is used for: if the current load gear is the first load gear, controlling the motor to continue to operate under the current power; and if the current load gear is the second load gear, controlling the motor to operate under the power higher than the current power. In some embodiments, different control strategies can be adopted for different load gears, so that food materials can be whipped faster, the whipping effect of the food materials is ensured, and the cooking time is shortened.
Still another aspect of the present application provides a food processor, comprising: the host comprises a motor and the motor control circuit; and the stirring cup assembly can be installed on the host machine.
Drawings
FIG. 1 is a schematic diagram of one embodiment of a food processor of the present application;
FIG. 2 is a block diagram illustrating one embodiment of a motor control circuit of the present application;
FIG. 3 is a circuit diagram illustrating one embodiment of the motor control circuit of FIG. 2;
FIG. 4 is a flow chart illustrating one embodiment of a motor control method of the present application;
FIG. 5 is a sub-flowchart of one embodiment of the motor control method of FIG. 4;
FIG. 6 is a waveform diagram of voltage and current, a waveform diagram of voltage signal and trigger signal, and a waveform diagram of zero crossing signal of a motor according to one embodiment;
Fig. 7 is a further sub-flowchart of an embodiment of the motor control method of fig. 4.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. The terms "first," "second," and the like in the description and in the claims, are not used for any order, quantity, or importance, but are used for distinguishing between different elements. Likewise, the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. "plurality" or "plurality" means two or more. The word "comprising" or "comprises", and the like, means that elements or items appearing before "comprising" or "comprising" are encompassed by the element or item recited after "comprising" or "comprising" and equivalents thereof, and that other elements or items are not excluded. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
The motor control method of the embodiment of the application comprises the following steps: and controlling the motor to run under the current power, determining the single follow current time length of the motor under the current power, and controlling the motor to run or stop according to the single follow current time length of the motor. The single follow-up time length of the motor is determined, and the motor is controlled according to the single follow-up time length of the motor, so that the motor can be controlled more accurately. Because the inductance characteristic of the motor is zero, the motor releases the electric energy stored in the form of a magnetic field, the motor has a certain time of follow current, the time period is a single follow current time period, the determination of the time period is accurate, and the measurement error is small, so that the single follow current time period of the motor can be accurately determined, the accuracy is high, and the motor is accurately controlled. And high-power devices are not needed, so that the cost is low.
The motor control circuit of the embodiment of the application comprises a driving circuit and a controller. The driving circuit is electrically connected with the motor and is used for driving the motor to work; the controller is electrically connected with the driving circuit and is used for controlling the driving circuit to drive the motor to run under the current power, determining the single follow current time length of the motor under the current power and controlling the driving circuit to drive the motor according to the single follow current time length of the motor.
The food processor provided by the embodiment of the application comprises a main machine and a stirring cup assembly. The host comprises a motor and the motor control circuit. The stirring cup assembly can be installed on the main machine.
Fig. 1 is a schematic diagram of one embodiment of a food processor 600. The food processor 600 includes a main body 601 and a stirring cup assembly 602. The host 601 includes the motor 20 (shown in fig. 2) and the motor control circuit 100 (shown in fig. 2). A circuit board (not shown) is provided in the main body 601, and the motor control circuit 100 may be provided on the circuit board.
A blender cup assembly 602 may be mounted to the host 601. The food material can be contained in the stirring cup assembly 602, the food material can be whipped in the stirring cup assembly 602, and the food material can be heated or cooled. A bowl cover assembly 603 may be mounted to the blender cup assembly 602.
Fig. 2 is a block diagram of one embodiment of a motor control circuit 100. The motor control circuit 100 is electrically connected to the ac power source 10 and the motor 20, and is configured to control the operation of the motor 20, and can control the output power of the motor 20 to control the rotation speed of the motor 20. The ac power source 10 may be mains, or other ac power sources. The motor 20 may be an ac motor. The motor control circuit 100 and the motor 20 may be used in a food processor, but not limited to a food processor, but may also be used in other appliances, particularly in small household appliances.
The motor control circuit 100 includes a drive circuit 102 and a controller 104, and in some embodiments, the motor control circuit 100 further includes a zero crossing detection circuit 101 and a voltage detection circuit 103. In some embodiments, the motor control circuit 100 further includes a power circuit 105, where the power circuit 105 is connected between the ac power source 10 and the controller 104, and is configured to convert ac power output by the ac power source 10 into dc power, and supply power to the controller 104. The ground GND of the power supply circuit 105 is connected to the zero line N.
Fig. 3 is a circuit diagram of one embodiment of a motor control circuit 100. Referring to fig. 2 and 3, a zero-crossing detection circuit 101 is connected between the power supply 10 and the motor 20 for detecting a zero-crossing signal of the ac power supply 10. The zero-crossing detection circuit 101 detects a zero crossing point of the ac voltage, outputs a corresponding zero-crossing signal, and abruptly changes the zero-crossing signal when the ac voltage crosses the zero point. In some embodiments, the ZERO-crossing detection circuit 101 includes resistors R1, R2, R3 connected in series with each other, one end of the ZERO-crossing detection circuit 101 is connected between the live wire L of the ac power supply 10 and the motor 20, and the other end ZERO is connected to the controller 104. In other embodiments, the zero-crossing detection circuit 101 includes an optocoupler module and a transistor, wherein an output end of the optocoupler module is connected to the controller 104, the transistor is connected in series between a cathode interface of the optocoupler module and the live line L, and when the transistor is turned on, the output end of the optocoupler module outputs a zero-crossing signal to the controller 104.
The driving circuit 102 is connected to the motor 20 and is used for driving the motor 20 to work. In some embodiments, the drive circuit 102 includes a drive device 1020 in series with the motor 20, the drive device 1020 including a triac 1021, the triac 1021 connecting the motor 20 to a zero line N of the ac power source 10 to turn the N line of the ac power source 10 on or off from the motor 20. When the triac 1021 is turned on, the ac power supply 10 and the motor 20 are connected, and ac power output from the ac power supply 10 is supplied to the motor 20. When the triac 1021 is turned off, the ac power supply 10 and the motor 20 are disconnected. The triac 1021 may be turned on bi-directionally, by a phase angle at the positive half-cycle of the ac voltage, i.e., for a period of time, and by a phase angle at the negative half-cycle of the ac voltage, i.e., for a period of time. The triac 1021 includes a gate G electrically connected to the controller 104, and receives a trigger signal output from the controller 104 through the gate G. In the embodiment shown in fig. 3, the ac power source 10 is mains. One main electrode of the triac 1021 is connected to the neutral line N of the mains supply, the other main electrode is connected to one end of the motor 20, and the other end of the motor 20 is connected to the hot line L. In the illustrated embodiment, the resistor R4 and the capacitor C1 are connected in series and further connected in parallel to two main electrodes of the triac 1021, and after the triac 1021 is disconnected, the accumulated charges are discharged through the resistor R4 and the capacitor C1, so that the reliability of on-off of the triac 1021 is ensured, and the normal use is prevented from being affected by too much accumulated charges.
The voltage detection circuit 103 is electrically connected to the driving device 1020 and is configured to detect a voltage signal of the driving device 1020. In some embodiments, the voltage detection circuit 103 is connected to the end of the driving circuit 102 connected to the motor 20, detects the voltage of the driving device 1020, and generates a voltage signal. In some embodiments, the voltage detection circuit 103 includes resistors R5, R6, R7 connected in series, one end of the voltage detection circuit 103 is connected to the end of the driving circuit 102 connected to the motor 20, and the other end ZERO1 is connected to the controller 104.
The ZERO terminal of the controller 104 is connected to the ZERO terminal of the ZERO-crossing detection circuit 101, and is configured to receive the ZERO-crossing signal generated by the ZERO-crossing detection circuit 101. The Triac terminal of the controller 104 is connected to the gate G of the Triac 1021 through resistors R9 and R10, and the controller 104 generates a trigger signal to turn on the Triac 1021 and drive the motor 20. The ZERO1 terminal of the controller 104 is connected to the ZERO1 terminal of the voltage detection circuit 103, and is configured to receive the voltage signal generated by the voltage detection circuit 103. In some embodiments, the controller 104 may include a single-chip microcomputer or other microprocessor.
Fig. 4 is a flow chart illustrating an embodiment of a motor control method 200 according to the present application. The motor control method 200 is used to control the motor 20. The motor control circuit 100 shown in fig. 2 and 3 is used to perform a motor control method 200. The motor control method 200 includes steps 210, 220, and 230.
In step 210, the motor 20 is controlled to operate at the present power. In some embodiments, the controller 104 may control the drive circuit 102 to drive the motor 20 to operate at the present power. The motor 20 may be controlled to operate at a set power. The power set may be different under different cooking flows. The power gears are set, and different power gears correspond to different powers, so that the motor 20 can be controlled to operate in different power gears under different cooking flows. Under different power gear positions, the conduction angle of the control motor 20 is different, so that the rotation speeds of the motor 20 are different. The plurality of power steps may correspond one-to-one with a plurality of conduction angles of the motor 20.
In step 220, a single freewheel length of the motor 20 at the current power is determined. Due to the characteristics of the triac 1021 and the inductance characteristics of the motor 20, when the ac voltage crosses zero, the voltage of the motor 20 is zero, the motor 20 freewheels, the current of the motor 20 gradually reaches zero, and the triac 1021 is still turned on during the freewheeling of the motor 20, as shown in fig. 6. The time period after the voltage of the motor 20 is zero (after the zero crossing of the ac voltage) during which the current gradually reaches zero, i.e., the time difference between the time when the voltage of the motor 20 is zero and the current of the motor 20 is zero in the same half cycle of the ac voltage of the ac power supply 10, is the freewheel time period of the discharge of the motor 20. The single-time follow-current time is the time when the motor 20 is in follow-current after the voltage of the motor is zero, the single-time follow-current time is the time when the bidirectional triode thyristor 1021 is turned off and the motor 20 is in follow-current time. The ac voltage of the ac power supply 10 is a sinusoidal voltage having a period, and each period has two single-time freewheeling periods, one is a single-time freewheeling period when the positive half-cycle of the ac voltage changes to the negative half-cycle, and the other is a single-time freewheeling period when the negative half-cycle of the ac voltage changes to the positive half-cycle. In some embodiments, a single freewheel length in a period may be determined. In other embodiments, two single freewheel lengths in one period may be determined.
As shown in fig. 5, in some embodiments, the step 220 of determining a single freewheel length for the motor at the current power may include steps 221 and 222.
In step 221, a zero crossing signal of the ac power source 10 connected to the motor 20 and a voltage signal of the driving device 1020 connected in series with the motor 20 are detected. The zero-crossing detection circuit 101 of the motor control circuit 100 shown in fig. 2 is used to detect a zero-crossing signal of the ac power supply 10 connected to the motor. In some embodiments, the zero crossing detection circuit 101 is connected to the hot line L. The zero crossing signal is a rising edge break when the ac voltage changes from a negative half-cycle to a positive half-cycle, and a falling edge break when the ac voltage changes from a positive half-cycle to a negative half-cycle.
The detection voltage signal may be to detect a voltage jump across the triac 1021 in series with the motor 20. In some embodiments, as shown in fig. 6, when the triac 1021 is turned on, the voltage detection circuit 103 is connected to the zero line N, and the voltage signal is at a low level; when the triac 1021 is turned off, if the voltage of the neutral line N is higher than the voltage of the live line L, the voltage signal is at a low level, and if the voltage of the live line L is higher than the neutral line N and the current of the motor 20 is zero, the voltage signal is at a high level. The voltage signal is a rising edge break after the ac voltage changes from a negative half-cycle to a positive half-cycle and the motor 20 freewheels to a point in time when the current is zero.
In step 222, a single freewheel length of the motor is determined based on the zero-crossing signal and the voltage signal.
The time difference between the zero crossing point of the ac voltage in the same half cycle of the ac voltage of the ac power supply 10 and the zero time of the current of the motor 20 is determined, resulting in a single freewheel length. In some embodiments, a time difference between a sudden change edge of a zero crossing signal and a subsequent sudden change edge of a voltage signal for the same half cycle of an ac voltage of the ac power source is determined as a single freewheel length of the motor. The abrupt edges of the zero-crossing signal and the voltage signal are stable in change, the abrupt edges can be detected conveniently and accurately, the single follow-up time length can be determined more simply and conveniently, and the determined single follow-up time length is also more accurate. In some embodiments, the time difference between the rising edge of the zero crossing signal and the rising edge of the subsequent voltage signal is determined as a single freewheel length. Detecting the rising edge of the zero-crossing signal and the rising edge of the subsequent voltage signal can simply and conveniently obtain the rising edge of the zero-crossing signal and the rising edge of the voltage signal, and can be advantageous to design a simple circuit to obtain. After the rising edge of the zero crossing signal, the rising edge of the voltage signal occurs at the end of the freewheeling of the motor 20, the rising edge of the voltage signal in one cycle follows the rising edge of the zero crossing signal, and the falling edge of the voltage signal follows the rising edge. The method can detect the single continuous time length of the negative half period in each voltage period of the alternating voltage of the alternating current power supply, is convenient and accurate to detect, detects the rising edge of the zero-crossing signal and the rising edge of the subsequent voltage signal, can simply and conveniently obtain the rising edge of the zero-crossing signal and the rising edge of the voltage signal, and is beneficial to obtaining a circuit with simple design. In other embodiments, the time difference between the falling edge of the zero crossing signal and the falling edge of the subsequent voltage signal may be determined as a single freewheel period. After the falling edge of the zero crossing signal, the voltage signal exhibits a falling edge at the end of the freewheeling of the motor 20. In one period, the falling edge of the voltage signal follows the falling edge of the zero crossing signal, and the rising edge of the voltage signal follows the falling edge of the voltage signal. In other embodiments, the falling edge occurs after the rising edge of the zero crossing signal at which time the voltage signal is freewheeled at the end of the freewheeling of the motor 20, and the time difference between the rising edge of the zero crossing signal and the falling edge of the voltage signal is determined as the single freewheel duration. In other embodiments, the rising edge occurs after the falling edge of the zero crossing signal at which time the voltage signal is rising at the end of the freewheeling of the motor 20, and the time difference between the falling edge of the zero crossing signal and the rising edge of the voltage signal is determined as the single freewheel duration.
Referring to fig. 6, fig. 6 is a waveform diagram of voltage and current of the motor 20, a waveform diagram of a voltage signal detected by the voltage detection circuit 103, a waveform diagram of a trigger signal outputted by the controller 104 for controlling the driving circuit 102, and a waveform diagram of a zero crossing signal according to an embodiment. At time t1, the controller 104 gives a trigger signal to the gate electrode G of the triac 1021, the triac 1021 is turned on, and the motor 20 has voltage and current; at time t2, the alternating voltage crosses zero, the alternating voltage changes from negative to positive, the zero crossing signal is abrupt change of rising edge, the voltage of the motor 20 is 0, the motor 20 starts to freewheel until the motor is completely discharged, the rising edge of the voltage signal is abrupt change, at the moment, at time t3, the conduction angle of the triac 1021 is theta, and the time period between time t2 and time t3 is single freewheel length. In some embodiments, a timer may be used to collect a single freewheel length, start counting at time t2, stop at time t3, and clear the timer for the next voltage period, and re-count.
In step 230, the motor 20 is controlled to operate or stop according to the single freewheel length T of the motor 20. The single freewheel period T reflects the load size of the motor 20. The larger the load of the motor 20, the longer the freewheel length of the motor 20 on the premise that the power of the motor 20 is the same. In at least two different load sizes, different control strategies can be adopted to control the motor 20, so that the cooking function can be better realized.
In some embodiments, motor 20 may be controlled to run or stop based on a single freewheel length T of motor 20 and a reference freewheel length of motor 20 at the current power. The reference freewheel length reflects the magnitude of the reference load, and according to the single freewheel length T and the reference freewheel length, the magnitude relation between the actual load of the motor and the reference load can be determined, and the load magnitude of the motor 20 can be determined faster, so that the control strategy of the motor 20 can be adjusted faster. The reference freewheel duration may correspond to a reference load size, and the magnitude relation between the actual load of the motor 20 and the reference load may be determined by comparing the single freewheel duration T with the reference freewheel duration. In some embodiments, the reference freewheel period may include an overload freewheel period when the load is overloaded, and if the single freewheel period T is greater than or equal to the overload freewheel period, the actual load of the motor 20 is overloaded, thereby controlling the motor 20 to stop rotating. If the single freewheel period T is less than the overload freewheel period, the motor 20 may be controlled to continue operating. The reference freewheel duration may be different and the overload freewheel duration may be different for different powers.
As shown in fig. 7, in some embodiments, step 230 of controlling the motor 20 based on the single freewheel length of the motor 20 and the reference freewheel length of the motor at the current power may include steps 2301 and 2302.
In step 2301, the single freewheel length of the motor 20 at the current power and the multiple reference freewheel lengths corresponding to different load shifts are compared to determine the load shift in which the load of the motor 20 is located as the current load shift. And under one power, setting a plurality of reference freewheel durations and a plurality of corresponding load gears, wherein the reference freewheel durations and the load gears are in one-to-one correspondence. And respectively setting a plurality of load gears and a plurality of corresponding reference follow-current time lengths under one power. In some embodiments, a plurality of power steps may be set, with a plurality of load steps and a corresponding plurality of reference freewheel durations being set for each power step.
In some embodiments, the reference freewheel lengths for a plurality of load gears of the plurality of power gears may be pre-tested and may be recorded in a table format. In the test, the motor is controlled to operate in each power gear, and different loads are applied to the motor 20 in each power gear, so that the corresponding reference freewheel time is measured. The power gear corresponds to the conduction angle of the motor one by one. As shown in table 1, the motor 20 is controlled to operate in the power gear of 0-6, and in each power gear, i.e. at the corresponding conduction angle, the motor 20 is controlled to drive the stirring blade to rotate, stir 400ml, 600ml, 800ml and 1000ml of water, so that different loads are applied, and the reference freewheel lengths are measured respectively. As can be seen from table 1, the reference freewheel lengths corresponding to different loads are different in the same power gear, i.e. the same conduction angle. And comparing the single flywheel time length actually measured in the current power gear with the reference flywheel time length in the power gear in the table, so that a corresponding load gear can be obtained and is the current load gear, and the working load condition of the current motor 20 can be determined. The load gear in the table is a neutral gear, a load gear for whipping 400ml of water, a load gear for whipping 600ml of water, a load gear for whipping 800ml of water, and a load gear for whipping 1000ml of water. The idle gear may reflect the load when the idle is running, the load gear of whipping 400ml of water may reflect the motor load when whipping 400ml of water, the load gear of whipping 600ml of water, the load gear of whipping 800ml of water, the load gear of whipping 1000ml of water represent a meaning similar to the load gear of whipping 400ml of water. The load steps may also be indicated by numerals, e.g. a neutral step 1, a load step of whipping 400ml of water 2, and so on.
In some embodiments, the current load gear of the motor 20 may be determined by comparing the single freewheel length with the reference freewheel length corresponding to the minimum load in table 1 under the same conduction angle θ, and if the single freewheel length is greater than the reference freewheel length corresponding to the minimum load, comparing the single freewheel length with the reference freewheel length corresponding to the load gear that is one gear greater than the minimum load, and sequentially comparing the single freewheel length until the single freewheel length is less than or equal to the reference freewheel length, so as to determine that the reference load gear corresponding to the reference freewheel length compared at this time is the current load gear. For example, the power gear is 0, the determined single freewheel length is 810uS, so that the load gear can be determined to be a load gear whipping 800ml of water as compared to the reference freewheel length in Table 1.
In some embodiments, the load gear includes a normal load gear and an overload gear, and the plurality of reference freewheel lengths includes a normal reference freewheel length in the normal load gear and an overload reference freewheel length in the overload gear, the overload reference freewheel length being greater than the normal reference freewheel length. The overload gear indicates overload of the motor 20. The normal load gear indicates that the load of the motor 20 is not overloaded.
In some embodiments, the normal load gear includes a first load gear and a second load gear, and the normal reference freewheel period includes a first reference freewheel period in the first load gear and a second reference freewheel period in the second load gear, the second reference freewheel period being greater than the first reference freewheel period. The load corresponding to the second load gear is greater than the load corresponding to the first load gear. In some embodiments, the normal load gear may be set to three or more gears.
In step 2301, the motor 20 is controlled to operate or stop according to the current load gear. If the current load gear is an overload gear, the motor 20 is controlled to stop rotating, so that the motor 20 can be prevented from being burnt out. If the current load gear is a normal load gear, the motor 20 may be controlled to continue to operate. In some embodiments, if the current load gear is the first load gear, the motor 20 is controlled to continue operating at the current power; if the current load gear is the second load gear, the electric machine 20 is controlled to operate at a higher power than the current power. When the current load gear is the first load gear, it is indicated that the current load of the motor 20 is not large, and the operation can be continued at the current power, and the food can be well stirred at the current power. When the current load gear is the second load gear, the current load of the motor 20 is larger, but the motor is not overloaded, the power of the motor can be increased at the moment, and the motor 20 can be controlled to operate under the power higher than the current power, so that a large amount of food materials can be stirred, the whipping time is shortened, and the whipping effect is ensured. At the same conduction angle theta, the larger the load is, the longer the freewheel period is. When the follow current time length is larger, the load is larger, so that the conduction angle theta can be increased, namely the power of the motor 20 is increased, and the output of the motor 20 is increased, so that food materials can be whipped faster, the whipping effect of the food materials is ensured, and the cooking time is shortened. The current load condition of the motor 20 can be determined faster by setting the load gear and the corresponding reference freewheel time, and whether overload occurs can be determined faster, so that protective measures can be taken in time when overload occurs. Setting a plurality of normal load steps allows more accurate control of the motor 20. When the load is larger but not overloaded, the situation that the food material is possibly massive or other food materials which are difficult to stir can be indicated, the power of the motor 20 can be increased at the moment, so that the food material can be stirred by the stirring knife faster, the output of the motor 20 can be adjusted according to the actual condition in the material, the stirring speed can be adjusted, the cooking time can be shortened, the cooking machine can adjust the stirring speed according to the specific condition of the food material, the adaptability is stronger, the food processing machine is more flexible, and the cooking effect is better.
The controller 104 is configured to determine a single freewheel length of the motor 20 based on the zero-crossing signal and the voltage signal. In some embodiments, the load condition of the motor can be determined faster according to the single-time freewheel time and the reference freewheel time, so that the control strategy of the motor can be adjusted faster.
The controller 104 is configured to determine a time difference between a sudden change edge of a zero crossing signal and a sudden change edge of a subsequent voltage signal for the same half cycle of the ac voltage of the ac power source as a single freewheel length of the motor 20. The controller 104 is configured to control the motor 20 based on the single freewheel length of the motor 20 and a reference freewheel length of the motor 20 at the current power. The controller 104 is configured to compare a single freewheel length of the motor 20 at a current power with a plurality of reference freewheel lengths corresponding to different load shifts, and determine a load shift where a load of the motor 20 is located as the current load shift; and controlling the motor 20 according to the current load gear. In some embodiments, the current load gear can be quickly determined by comparing the single freewheel time with the reference freewheel time of different load gears, so that the control strategy of the motor can be quickly adjusted.
The controller 104 is configured to control the motor 20 to stop rotating if the current load gear is an overload gear. The controller 104 is configured to: if the current load gear is the first load gear, controlling the motor 20 to continue to operate under the current power; if the current load gear is the second load gear, the electric machine 20 is controlled to operate at a higher power than the current power. In some embodiments, the single freewheel length and the overload reference freewheel length are utilized to quickly and accurately determine whether the load of the motor is overloaded, and the motor can be timely controlled to stop rotating during overload to prevent the motor from burning out.
For circuit embodiments, reference is made to the description of method embodiments for the relevant points, since they basically correspond to the method embodiments. The direction embodiment and the circuit embodiment complement each other.
The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather to enable any modification, equivalent replacement, improvement or the like to be made within the spirit and principles of the application.
Claims (14)
1. A motor control method, characterized by comprising:
controlling the motor (20) to operate at the current power;
determining a single freewheel length of the motor (20) at the current power; and
Controlling the motor (20) to operate or stop according to the single-time follow-up time length of the motor (20); wherein said controlling said motor (20) to operate or stop according to said single freewheel length of said motor (20) comprises: controlling the motor (20) to operate or stop according to the single-time continuous flow time length of the motor (20) and the reference continuous flow time length of the motor (20) under the current power.
2. The motor control method according to claim 1, characterized in that said determining a single freewheel length of the motor (20) at the current power comprises:
Detecting a zero crossing signal of an ac power source connected to the motor (20) and a voltage signal of a drive device (1020) connected in series with the motor (20); and
The single freewheel length of the motor (20) is determined from the zero crossing signal and the voltage signal.
3. The motor control method according to claim 2, characterized in that the determining the single freewheel length of the motor (20) from the zero crossing signal and the voltage signal comprises:
a time difference between a sudden change edge of the zero crossing signal and a subsequent sudden change edge of the voltage signal for the same half cycle of the ac voltage of the ac power source is determined as the single freewheel length of the motor (20).
4. A motor control method according to claim 3, wherein said determining the time difference between the abrupt edge of the zero-crossing signal and the subsequent abrupt edge of the voltage signal for the same half cycle of the alternating voltage of the alternating current power supply includes:
a time difference between a rising edge of the zero crossing signal and a subsequent rising edge of the voltage signal for the same half cycle of the ac voltage of the ac power supply is determined.
5. The motor control method according to claim 1, characterized in that the controlling the motor (20) to operate or stop according to the single freewheel length of the motor (20) and a reference freewheel length of the motor (20) at the current power includes:
comparing the single freewheel time length of the motor (20) under the current power with a plurality of reference freewheel time lengths corresponding to different load gears, and determining the load gear where the load of the motor (20) is located as the current load gear; and
And controlling the motor (20) to operate or stop according to the current load gear.
6. The motor control method according to claim 5, characterized in that the load range includes a normal load range and an overload range, the plurality of reference freewheel lengths include a normal reference freewheel length in the normal load range and an overload reference freewheel length in the overload range, the overload reference freewheel length being longer than the normal reference freewheel length;
Said controlling the operation or stopping of said motor (20) according to said current load gear, comprising:
And if the current load gear is the overload gear, controlling the motor (20) to stop rotating.
7. The motor control method of claim 6, wherein the normal load gear includes a first load gear and a second load gear, the normal reference freewheel period includes a first reference freewheel period in the first load gear and a second reference freewheel period in the second load gear, the second reference freewheel period being longer than the first reference freewheel period;
Said controlling the operation or stopping of said motor (20) according to said current load gear, comprising:
If the current load gear is the first load gear, controlling the motor (20) to continue to operate under the current power;
and if the current load gear is the second load gear, controlling the motor (20) to operate at a power higher than the current power.
8. A motor control circuit, comprising:
the driving circuit (102) is electrically connected with the motor (20) and is used for driving the motor (20) to work; and
A controller (104) electrically connected to the driving circuit (102) and configured to control the driving circuit (102) to drive the motor (20) to operate at a current power, determine a single freewheel length of the motor (20) at the current power, and control the driving circuit (102) to drive the motor (20) according to the single freewheel length of the motor (20); wherein the controller (104) is configured to control the motor (20) according to the single freewheel length of the motor (20) and a reference freewheel length of the motor (20) at the current power.
9. The motor control circuit of claim 8 wherein the drive circuit (102) comprises a drive device (1020) in series with the motor (20); the motor control circuit (100) includes:
a zero-crossing detection circuit (101) for detecting a zero-crossing signal of an ac power source connected to the motor (20); and
A voltage detection circuit (103) electrically connected to the driving device (1020) for detecting a voltage signal of the driving device (1020);
the controller (104) is electrically connected with the zero-crossing detection circuit (101) and the voltage detection circuit (103) respectively, and is used for determining the single freewheel duration of the motor (20) according to the zero-crossing signal and the voltage signal.
10. The motor control circuit according to claim 9, characterized in that the controller (104) is configured to determine a time difference between a sudden change edge of the zero crossing signal and a subsequent sudden change edge of the voltage signal for the same half cycle of the ac voltage of the ac power source as the single freewheel length of the motor (20).
11. The motor control circuit of claim 9 wherein the controller (104) is configured to:
comparing the single freewheel time length of the motor (20) under the current power with a plurality of reference freewheel time lengths corresponding to different load gears, and determining the load gear where the load of the motor (20) is located as the current load gear; and
Controlling the electric machine (20) according to the current load gear.
12. The motor control circuit of claim 11 wherein the load gear comprises a normal load gear and an overload gear, the plurality of reference freewheel lengths comprising a normal reference freewheel length in the normal load gear and an overload reference freewheel length in the overload gear, the overload reference freewheel length being greater than the normal reference freewheel length;
and if the current load gear is the overload gear, the controller (104) is used for controlling the motor (20) to stop rotating.
13. The motor control circuit of claim 12 wherein the normal load gear comprises a first load gear and a second load gear, the normal reference freewheel period comprises a first reference freewheel period in the first load gear and a second reference freewheel period in the second load gear, the second reference freewheel period being greater than the first reference freewheel period;
The controller (104) is configured to:
If the current load gear is the first load gear, controlling the motor (20) to continue to operate under the current power;
and if the current load gear is the second load gear, controlling the motor (20) to operate at a power higher than the current power.
14. A cooking machine, characterized by comprising:
a host comprising a motor (20) and a motor control circuit (100) according to any one of claims 9-13;
And the stirring cup assembly can be installed on the host machine.
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| CN107800347A (en) * | 2017-11-22 | 2018-03-13 | 广东美的制冷设备有限公司 | AC Motor Control method, AC motor control circuit and air conditioner |
| CN109088567A (en) * | 2018-08-02 | 2018-12-25 | 哈尔滨工程大学 | A kind of brushless DC motor without position sensor afterflow interference compensation method |
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| CN101599733B (en) * | 2009-07-09 | 2011-06-15 | 浙江工商大学 | Phase closed loop control direct current motor speed regulating method |
| CN109714034B (en) * | 2018-12-12 | 2023-04-21 | 崔凤来 | Automatic tracking silicon controlled rectifier quasi-current zero-crossing trigger control method and circuit |
| WO2020237863A1 (en) * | 2019-05-31 | 2020-12-03 | 广东美的制冷设备有限公司 | Operation control method and apparatus, and circuit, household appliance and computer storage medium |
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| CN107800347A (en) * | 2017-11-22 | 2018-03-13 | 广东美的制冷设备有限公司 | AC Motor Control method, AC motor control circuit and air conditioner |
| CN109088567A (en) * | 2018-08-02 | 2018-12-25 | 哈尔滨工程大学 | A kind of brushless DC motor without position sensor afterflow interference compensation method |
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