CN106054090B - A kind of stirrer detecting system and its detection method - Google Patents
A kind of stirrer detecting system and its detection method Download PDFInfo
- Publication number
- CN106054090B CN106054090B CN201610352935.5A CN201610352935A CN106054090B CN 106054090 B CN106054090 B CN 106054090B CN 201610352935 A CN201610352935 A CN 201610352935A CN 106054090 B CN106054090 B CN 106054090B
- Authority
- CN
- China
- Prior art keywords
- stirrer
- permanent magnet
- phase
- magnetic field
- magnetic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
Landscapes
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Mixers With Rotating Receptacles And Mixers With Vibration Mechanisms (AREA)
Abstract
The invention discloses a kind of stirrer detecting system, which includes container, stirrer, magnetic stirring apparatus, the first photoelectric tube, Hall sensor, the second photoelectric tube and controller；The system can be used for the detection of stirrer motion state, and detection method comprises the following steps：Step 1, the rotation phase for obtaining stirrer, are denoted as θ1', step 2, the magnetic phase for obtaining permanent magnet turntable respectively, are denoted as θ0, and the magnetic phase of stirrer, it is denoted as θ1, step 3, according to the rotation phase of stirrer be corrected the magnetic phase of stirrer, obtains the phase calibration of stirrer, is denoted as θ1", step 4, the θ obtained according to step 20And the θ that step 3 obtains1", the phase difference of permanent magnet turntable and stirrer is obtained, and the motion state of stirrer is judged according to phase difference.The system detects the motion state of stirrer in real time, can detect the generation of " step-out " phenomenon in time, and is adjusted to return normal stirring.
Description
Technical field
The present invention relates to field of experiment equipment, and in particular to a kind of magnetic stirring apparatus, especially, is related to a kind of stirrer inspection
Examining system and its detection method.
Background technology
Blender is that one kind makes liquid or gas medium forced convection and mixed uniformly device, especially biology, chemistry,
A kind of common experimental provision is used as in the experiment of the multiple fields such as material or species analysis, common blender includes machinery even
Bar blender and magnetic stirring apparatus, mechanical linkage blender are to stir part with driving the structure that electric machine rotational axis connects together,
" step-out " phenomenon will not occurs in it.
Magnetic stirring apparatus is to drive magnetic stirrer rotary motion using the rotating excitation field of external container, is rotated by generation
The method in magnetic field can be divided into two kinds：A kind of method is that the turntable for being filled with permanent magnet is driven with motor, and another method is based on more
The alternating current of a coil generation out of phase.Relative to mechanical linkage blender, magnetic stirring apparatus has simple in structure, volume
It is small, caused by agitated liquid the advantages that less pollution, still, " step-out " phenomenon may occur in rotary course for stirrer.
The main reason for step-out phenomenon occurs is the solution resistance that stirrer is subject in rotary course and the inertia of stirrer itself, is led
Cause stirrer can not keep up with or be significantly faster than that the rotation of exterior rotating excitation field, appearance cannot rotate or stirrer flies out, and container etc. is existing
As.Therefore, " step-out " phenomenon can cause various influences to experimental situation, experimental result, security etc..In the prior art
In, in order to avoid there is " step-out " phenomenon of stirrer, common strategy is to limit relatively low exterior rotating excitation field rotating speed, its turn
Speed is set according to different situations, but this method can cause the mixing uniformity of agitating solution, or even influences reality
The result test, analyzed.
For these reasons, the present inventor is improved existing magnetic stirring apparatus, proposes a kind of stirrer detection system
System, can detect the motion state of stirrer, correct " step-out " phenomenon of stirrer in time, it is normally stirred, so that
Complete the present invention.
The content of the invention
In order to overcome the above problem, present inventor has performed sharp study, designs a kind of stirrer detecting system, this is
System can detect the motion state of stirrer, detect " step-out " phenomenon in time, and " step-out " phenomenon is corrected automatically, make
It recovers to run well.
Specifically, it is an aspect of the invention to provide a kind of stirrer detecting system：
(1) a kind of stirrer detecting system, wherein, which is used for the motion state for detecting stirrer, it includes container
1st, stirrer 2, blender 3, the first photoelectric tube 5, Hall sensor 4, the second photoelectric tube 6 and controller, wherein,
The stirrer includes normal agitation and correction stirrer, and normal agitation is pure white, the correction
One end of stirrer is white, the other end is black；
The blender 3 includes permanent magnet turntable 31 and driven by rotary disc device 32；
First photoelectric tube 5 is arranged at the lower section of permanent magnet turntable 31, for detecting the initial position of permanent magnet turntable；
The Hall sensor 4 is arranged at the top of permanent magnet turntable 31, the lower section of stirrer 2, and it turns to permanent magnet
The distance in the center of circle of disk is more than the radius of permanent magnet turntable, for detecting the magnetic field signal of stirrer and permanent magnet turntable, wherein,
The stirrer is normal agitation；
Second photoelectric tube 6 is located at the top of stirrer 2, for measuring the rotation phase of stirrer 2, wherein, it is described
Stirrer is correction stirrer；
The controller is used for the rotation for controlling blender 3, and receives and store the first photoelectric tube 5,4 and of Hall sensor
The output signal of second photoelectric tube 6；
(2) system according to above-mentioned (1), wherein,
The opposite permanent magnet 311 of two Block directions is installed on the permanent magnet turntable 31, for forming external magnetic field,
And/or
The driven by rotary disc device 32 is stepper motor, and the stepper motor includes driving chip, the stepper motor rotation
One week required umber of pulse is N=Np·Na·Nd, wherein, NpFor the number of pole-pairs of stepper motor, NaFor the commutation of driving chip
Beat number, NdFor the subdivision step number of driving chip；And/or
The controller is microcontroller；
(3) system according to above-mentioned (1) or (2), wherein,
The Hall sensor is connected to form hall signal amplifying circuit with signal amplification circuit, for detect stirrer with
The magnetic field that magnetic field signal between permanent magnet turntable, wherein stirrer produce is stirrer magnetic field, is denoted asPermanent magnet turntable
The magnetic field of generation is permanent magnet turntable magnetic field, is denoted asStirrer magnetic field is folded with the magnetic field after permanent magnet turntable magnetic field superposition
Add magnetic field, be denoted as
The signal amplification circuit is used for the output signal for amplifying Hall sensor, it is preferable that the signal amplification circuit
For capacitance AC coupled amplifying circuit 8.
It is another aspect of the invention to provide a kind of method for the motion state for detecting stirrer, it is embodied in：
(4) method for utilizing the motion state of the system detectio stirrer described in one of above-mentioned (1) to (3), wherein, it is described
Method comprises the following steps：
Step 1, the rotation phase for obtaining stirrer, are denoted as θ1’；
Step 2, the magnetic phase for obtaining permanent magnet turntable respectively, are denoted as θ0, and the magnetic phase of stirrer, it is denoted as θ1；
Step 3, the rotation phase of the stirrer obtained according to step 1 are corrected the magnetic phase of stirrer, must stir
The phase calibration of son is mixed, is denoted as θ1”；
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", the phase of acquisition permanent magnet turntable and stirrer
Difference, and judge according to phase difference the motion state of stirrer；
(5) method according to above-mentioned (4), wherein,
Step 1 includes following sub-step：
Step 1-1, correction stirrer is put in container, starts blender；
Step 1-2, the second photoelectric tube 6 sends infrared light, correction stirrer when rotated its white one end detect it is red
UV light, and infrared light is reflected back the second photoelectric tube 6；
Step 1-3, the second photoelectric tube 6 obtains the rotation of stirrer according to the signal of the reflected light output pulsation of step 1-2
Phase；
And/or
Step 2 includes following sub-step：
Step 2-1, correction stirrer is changed to normal agitation, starts blender；
Step 2-2, magnetic field signal is detected by Hall sensor 4, while magnetic field signal data is carried out using stepper motor
The synchronous acquisition of point；
Step 2-3, the magnetic field signal gathered according to step 2-2 obtains the magnetic phase of permanent magnet turntable and the magnetic of stirrer
Field phase；
And/or
Step 3 includes following sub-step：
Step 3-1, the magnetic phase θ of stirrer is obtained1With the rotation phase θ of stirrer1' between error, and will described in
Error is passed to controller and is stored；
Step 3-2, the magnetic phase of stirrer is corrected by the error that step 3-1 is obtained, obtains the school of stirrer
Positive phase θ1”；
(6) method according to above-mentioned (4) or (5), wherein,
In step 1-3, the rotation phase of gained correction stirrer is identical with the rotation phase of normal agitation, that is, represents
The rotation phase of stirrer, is denoted as θ1’；And/or
The step 1 operates once before or before dispatching from the factory for the first time in the system, is optionally carried out in follow-up use
Step 1；And/or
In step 2-2, stepper motor count down to N in a control unitdOccur once to interrupt during a pulse, i.e., in stepping
Motor can gather N in rotating a circlep·NaA data point, the signal data in the data point magnetic field, is denoted as x [n], wherein n=1,
2 ..., N, the N are data acquisition number；
(7) method according to one of above-mentioned (4) to (6), wherein, magnetic phase is obtained by formula (1)-(3)：
Wherein, a represents the cosine component in magnetic field, and b represents the sinusoidal component in magnetic field, and θ represents magnetic phase, and x [n] is detection
The data point arrived, n ωsFor the corresponding magnetic field rotating angle of gathered data；
(8) method according to one of above-mentioned (4) to (7), wherein,
Relevant parameter a is obtained according to formula (1)-(3)0、b0And θ0, wherein, a0For the cosine point in permanent magnet turntable magnetic field
Amount, b0For the sinusoidal component in permanent magnet turntable magnetic field, x [1] is the data point detected in the case of no stirrer, θ0For forever
The magnetic phase of magnet turntable, θ0Reflect permanent magnet turntable relative to the deviation angle between the initial position of photoelectric tube；And/or
The magnetic phase of stirrer is obtained by formula (4)-(6)：
a1=a2-a0Formula (4)
b1=b2-b0Formula (5)
Wherein, a2RepresentCosine component, b2RepresentSinusoidal component, a1For the cosine point in stirrer magnetic field
Amount, b1For the sinusoidal component in stirrer magnetic field, θ1For the magnetic phase of stirrer；
(9) method according to one of above-mentioned (4) to (8), wherein, in step 4, the phase difference is obtained by formula (7)
：
Δ θ=θ1”-θ0Formula (7)
Wherein, Δ θ is the differential seat angle of phase difference, gained phase difference reflection stirrer and permanent magnet turntable；
(10) method according to one of above-mentioned (4) to (9), wherein, in step 4, according to differential seat angle (θm) judge
The motion state of stirrer：
As differential seat angle (θm) when being a fixed value, stirrer carries out uniform rotation with permanent magnet turntable,
As differential seat angle (θm) it is unstable when, stirrer be in swing or migration state,
When differential seat angle is zero, stirrer flies out stirring system.
Brief description of the drawings
Fig. 1 shows a kind of structure diagram of the stirrer detecting system of preferred embodiment according to the present invention；
Fig. 2 shows permanent magnet turntable magnetic field and the stirrer magnetic vector of a kind of preferred embodiment according to the present invention
It is superimposed schematic diagram；
Fig. 3 shows the permanent magnet turntable and stirrer surrounding magnetic field schematic diagram of a kind of preferred embodiment according to the present invention；
Fig. 4 show according to the present invention a kind of stirrer of preferred embodiment in uniform magnetic field by torque schematic diagram；
Fig. 5 shows a kind of hall signal method circuit diagram of preferred embodiment according to the present invention；
Fig. 6 shows a kind of block diagram of the stirrer detecting system of preferred embodiment according to the present invention；
Fig. 7 shows the stirrer motion state detection and compensation schematic diagram of a kind of preferred embodiment according to the present invention.
Drawing reference numeral explanation：
1- containers
2- stirrers
3- magnetic stirring apparatus
31- permanent magnet turntables
32- driven by rotary disc devices
The first photoelectric tubes of 5-
4- Hall sensors
The second photoelectric tubes of 6-
7- pitmans
8- capacitance AC coupled amplifying circuits
Embodiment
Below by drawings and examples, the present invention is described in more detail.Pass through these explanations, the features of the present invention
It will be become more apparent from clearly with advantage.
Wherein, although the various aspects of embodiment are shown in the drawings, unless otherwise indicated, it is not necessary to paint in proportion
Attached drawing processed.
A kind of stirrer detecting system provided according to the present invention, the system are used for the motion state for detecting stirrer, such as
Shown in Fig. 1, it includes container 1, stirrer 2, blender 3, the first photoelectric tube 5, Hall sensor 4, the second photoelectric tube 6 and control
Device.
A kind of preferred embodiment according to the present invention, the stirrer include normal agitation and correction stirrer.
In further preferred embodiment, normal agitation is pure white, one end of the correction stirrer
It is black for white, the other end.
Wherein, normal agitation is used when normal stirring uses, timing is carried out before normal use and is stirred using correction
Mix son.
The blender 3 includes permanent magnet turntable 31 and driven by rotary disc device 32, and first photoelectric tube 5 is arranged at permanent magnet
The lower section of turntable 31, for detecting the initial position of permanent magnet turntable, the Hall sensor 4 is arranged at permanent magnet turntable 31
Top, the lower section of stirrer 2, and the distance in its to the permanent magnet turntable center of circle is more than the radius of permanent magnet turntable, is stirred for detecting
Mix the magnetic field signal of son 2 and permanent magnet turntable 31.
Wherein, as shown in Fig. 2, the magnetic field that permanent magnet turntable produces is permanent magnet field, it is denoted asThe magnetic that stirrer produces
Field is stirrer magnetic field, is denoted asWithMagnetic field after superposition is superposition magnetic field, is denoted asAlso, θmRepresent forever
Differential seat angle between magnet turntable magnetic field and stirrer magnetic field, it reflects the differential seat angle between stirrer and permanent magnet turntable.
A kind of preferred embodiment according to the present invention, as shown in figure 3, being provided with two pieces on the permanent magnet turntable 31
The opposite permanent magnet 311 in direction, for forming external magnetic field, stirrer is also a permanent magnet, therefore in permanent magnet turntable magnetic
Under the action of, the directional steering of stirrer generates the parallel direction in magnetic field for turntable, wherein, stirred under turntable not rotational case
The holding power that the power suffered by son is gravity, external magnetic field attraction and container is mixed, suffered power is weight during turntable rotation
Power, external magnetic field attraction, the holding power of container, the resistance of solution, wherein, in figure 3, N represents the N poles in magnetic field, and S represents magnetic
The S poles of field.
A kind of preferred embodiment according to the present invention, as shown in figure 3, stirrer is parallel when permanent magnet turntable does not rotate
In the external magnetic force line of permanent magnet turntable generation, and any torque component is not present.But as shown in figure 4, work as permanent magnet turntable
During rotation, stirrer is with external magnetic field generation certain angle, note external magnetic fieldCertain power can be produced on stirrer
Square, stirrer start to rotate.
Wherein, stirrer rotates after producing angle, then produces angle stirrer and be rotated further by, back and forth so that stirrer does even
Speed movement, the angle that it is produced are also almost equal；But when container internal resistance it is excessive, more than stirrer torque when, stirrer
Rotation will be restricted, it is blunt or stop operating to rotate, and permanent magnet turntable is being rotated further at this time, and stirrer is not caught up with forever
The rotation of magnet turntable, the angle change that it is produced is indefinite, produces " step-out " phenomenon；Alternatively, when the rotator inertia mistake of stirrer
When big, stirrer rotated the rotation for being faster than permanent magnet turntable, or even the stirring system that can fly out during stirrer rotation, at this time, its
The angle change of generation is indefinite, same that " step-out " phenomenon occurs.
Therefore, according to above-mentioned principle, stirring can be detected by the angle change of stirrer magnetic field and permanent magnet field
The motion state of son.
A kind of preferred embodiment according to the present invention, the driven by rotary disc device 32 are stepper motor, the stepper motor
Including driving chip THB6128.
In further preferred embodiment, the stepper motor required umber of pulse that rotates a circle is N=Np·
Na·Nd, wherein, NpFor the number of pole-pairs of stepper motor, NaFor the commutation beat number of driving chip, NdWalked for the subdivision of driving chip
Number.
A kind of preferred embodiment according to the present invention, as shown in figure 5, the Hall sensor connects with signal amplification circuit
Connect to form hall signal amplifying circuit, for detecting the magnetic field signal between stirrer and permanent magnet turntable, and then according to magnetic field
Signal respectively obtains the magnetic phase of stirrer and the magnetic phase of permanent magnet turntable.
In further preferred embodiment, in order to while the output signal of Hall sensor is amplified, suppress to put
Big influence of the circuit to signal, using capacitance AC coupled amplifying circuit 8.
Wherein, in order to reduce influence of the AC coupled to alternating signal, the resistance and capacitance of signal amplification circuit input stage
Time constant be more than stirrer most low-rotate speed under swing circle.
A kind of preferred embodiment according to the present invention, as shown in fig. 6, the controller uses microcontroller, preferably
STM32F103C8T6, for controlling the rotation of blender 3, and receives and stores the first photoelectric tube 5, Hall sensor 4 and second
The output signal of photoelectric tube 6.
Wherein, as shown in fig. 6, for Driving Stepping Motor, microcontroller controls stepper motor by the pulse frequency at CLK ends
Rotating speed, direction of rotation is controlled by the low and high level at DIR ends, and in order to control synchronous acquisition, the pulse signal at CLK ends is again
The related pin of Singlechip clock is connected to, wherein, A phases and the two-phase that B phases are respectively microcontroller.
A kind of preferred embodiment according to the present invention, second photoelectric tube 6 are used for the rotation phase for detecting stirrer,
Then the magnetic phase of stirrer is corrected according to the error between the rotation phase and the magnetic phase of stirrer, obtained
The phase calibration of stirrer.
Wherein, due to, often there are some errors, being respectively from permanent magnet turntable, the first photoelectric tube in mixing plant
Or the installation error of Hall sensor, make the differential seat angle of acquisition inaccurate, the differential seat angle is reflected in stirrer and turns with permanent magnet
In the phase difference of disk, wherein, the phase of permanent magnet turntable is demarcated using the first photoelectric tube 5, and therefore, the source of error is
The phase of stirrer, i.e., the magnetic phase for the stirrer that the magnetic field signal gathered by Hall sensor obtains there are error, because
This is, it is necessary to be corrected it.
In further preferred embodiment, the second photoelectric tube 6 is stirred when detecting the rotation phase of stirrer using correction
Son is mixed, wherein, the second photoelectric tube 6 is the photoelectric tube of a miniature transceiver, it sends infrared light, and can receive infrared
Light, it is specific as follows：
Start blender, correction stirrer rotation, the second photoelectric tube 6 sends infrared light, corrects the white one of stirrer
End can will reflect the infrared light, and black one end absorbs infrared light, and the infrared light after white one end reflection is by the second photoelectricity
Pipe 6 absorbs, and with the rotation of correction stirrer, the reflection infrared light that the second photoelectric tube 6 is absorbed fluctuates, the second photoelectricity
The signal of 6 output pulsation of pipe, signal reflection correction stirrer is by the time point below the second photoelectric tube 6, then according to
The rotary speed known can calculate the rotation phase of stirrer, which is the actual phase of stirrer, therefore uses it
The magnetic phase of stirrer is corrected.
Wherein, the error of the magnetic phase of stirrer and the rotation phase of stirrer is stored in microcontroller, afterwards
Use in can be corrected automatically, therefore, the error calculation between the rotation phase of stirrer and the magnetic phase of stirrer
Once.Blender is corrected before preferably dispatching from the factory or using being preceding corrected.
A kind of preferred embodiment according to the present invention, second photoelectric tube are arranged at the lower end of pitman 7, the company
Take over the baton and be fixed by the bracket, such as iron stand, the pitman are preferably glass bar.
Another aspect of the present invention provides a kind of method being detected using said system to the motion state of stirrer,
This method comprises the following steps：
Step 1, the rotation phase for obtaining stirrer, are denoted as θ1’。
A kind of preferred embodiment according to the present invention, the step 1 include following sub-step：
Step 1-1, correction stirrer is put in container, starts blender；
Step 1-2, the second photoelectric tube 6 sends infrared light, correction stirrer when rotated its white one end detect it is red
UV light, and infrared light is reflected back the second photoelectric tube 6；
Wherein, the infrared light that correction stirrer is reflected back the second photoelectric tube 6 in rotary course has fluctuation, the ripple
Dynamic property depends on the rotation phase of correction stirrer, therefore, the fluctuation can be utilized to obtain the rotation phase of correction stirrer.
Step 1-3, the second photoelectric tube 6 obtains the rotation of stirrer according to the signal of the reflected light output pulsation of step 1-2
Phase.
Wherein, the signal of the fluctuation reflects correction stirrer when rotated by the time point of the second photoelectric tube 6, root
The rotation phase of correction stirrer, the rotation phase can be calculated according to the time point and known rotary speed of the fluctuation
The actual actual phase for correction stirrer.
In step 1, using correction stirrer purpose be in order to enable fluctuation signal is actual to reflect rotation phase,
This may be noted that obtained rotation phase is not limited to correction stirrer, it is also the rotation phase of normal agitation, can be referred to as
For the rotation phase of stirrer, because the rotation phase of stirrer is unrelated with the color of stirrer.
A kind of preferred embodiment according to the present invention, step 1 operate before or before dispatching from the factory for the first time in the system
Once, step 1 is optionally carried out in follow-up use.
Step 2, the magnetic phase for obtaining permanent magnet turntable respectively, are denoted as θ0, and the magnetic phase of stirrer, it is denoted as θ1。
A kind of preferred embodiment according to the present invention, the step 2 include following sub-step：
Step 2-1, correction stirrer is changed to normal agitation, starts blender；
Step 2-2, magnetic field signal is detected by Hall sensor 4, while magnetic field signal data is carried out using stepper motor
The synchronous acquisition of point；
Wherein, stepper motor count down to N in a control unitdOccur once to interrupt during a pulse, i.e., revolved in stepper motor
N can be gathered in circlingp·NaA data point, the data point are the signal data in magnetic field, are denoted as x [n], wherein n=1,
2nd ..., N, the N are data acquisition number, wherein, the starting point of data acquisition is produced by the first photoelectric tube 5 in system
Signal determines.
Step 2-3, the magnetic field signal gathered according to step 2-2 obtains the magnetic phase of permanent magnet turntable and the magnetic of stirrer
Field phase.
A kind of preferred embodiment according to the present invention, magnetic phase are obtained by formula (1)-(3)：
Wherein, a is the cosine component in magnetic field, represents amplitude of the magnetic field in coordinate system horizontal direction, and b is the sine point in magnetic field
Amount, represents amplitude of the magnetic field in coordinate system vertical direction, and θ is the phase in magnetic field, and x [n] is the data point that detects, ωsFor magnetic
Field angular velocity of rotation, n ωsIt is expressed as the corresponding magnetic field rotating angle of gathered data.Wherein, formula (1)-(3) are magnetic phase
Computation formula, the magnetic field can be any magnetic field.
A kind of preferred embodiment according to the present invention, the magnetic phase of permanent magnet turntable is calculated according to formula (1)-(3), its
In, that the magnetic field of permanent magnet turntable is detected when being the magnetic field, i.e. n=1 that the permanent magnet turntable in the case of no stirrer produces
Beginning data point, relevant parameter a is obtained according to formula (1)-(3)0=x [1] cos (n ωs)、b0=x [1] sin (n ωs) and
θ0, wherein, obtained θ0For the phase in permanent magnet turntable magnetic field, θ0Reflect start bit of the permanent magnet turntable relative to photoelectric tube
Deviation angle between putting.
A kind of preferred embodiment according to the present invention, the magnetic phase of stirrer are obtained by formula (4)-(6)：
a1=a-a0Formula (4)
b1=b-b0Formula (5)
Wherein, a2Represent superposition magnetic fieldCosine component, b2Represent superposition magnetic fieldSinusoidal component, a1For stirring
The cosine component in sub- magnetic field, b1For the sinusoidal component in stirrer magnetic field, θ1For the magnetic phase of stirrer.
Step 3, the rotation phase of the stirrer obtained according to step 1 are corrected the magnetic phase of stirrer, must stir
The phase calibration of son is mixed, is denoted as θ1”。
Wherein, in first time timing as described in step 3, the magnetic phase according to the rotation phase of stirrer to stirrer
It is corrected, still, after once being corrected, θ1With θ1' between error be stored in microcontroller, therefore, making afterwards
Directly the magnetic phase of stirrer can be corrected according to the error in microcontroller in.
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", the phase of acquisition permanent magnet turntable and stirrer
Difference, and judge according to phase difference the motion state of stirrer.
A kind of preferred embodiment according to the present invention, the phase difference are obtained by formula (7)：
Δ θ=θ1-θ0Formula (7)
Wherein, Δ θ is phase difference, the differential seat angle (θ between the phase difference reflection stirrer and permanent magnet turntablem)；
A kind of preferred embodiment according to the present invention, as shown in fig. 7, according to differential seat angle (θm) judge the movement of stirrer
State：
As differential seat angle (θm) when being a fixed value, illustrate that the rotation of stirrer follows the rotation of permanent magnet turntable, Liang Zheji closely
Synchronous rotary, stirrer carry out uniform rotation with permanent magnet turntable, occur without " step-out " phenomenon, in stirring mode；
As differential seat angle (θm) when being a changing value (unstable), differential seat angle can produce frequency at this time, illustrate turning for stirrer
Dynamic inconsistent with the rotation of permanent magnet turntable, the rotation of stirrer does not catch up with the rotation of permanent magnet turntable or is faster than permanent magnet turntable
Rotation, occur swinging or migration phenomenon, occur " step-out ", at this time, system can reduce rotating speed automatically to half, then again slowly
The rotating speed of permanent magnet turntable is improved, makes stirrer follow permanent magnet turntable to operate again；
As differential seat angle (θm) when being zero, illustrating that stirrer flies out or is not put into stirrer, system can stop operating at this time, and
Prompted, it is necessary to artificially be put into stirrer, then activation system rotates again.
Beneficial effect includes possessed by the present invention：
(1) system structure provided by the present invention is simple, easy to implement；
(2) system provided by the present invention can detect the motion state of stirrer in real time；
(3) system provided by the present invention can detect the generation of " step-out " phenomenon in time, and adjust stirrer in time
Motion state make its recover normal rotation；
(4) the present invention provides a kind of method for detecting stirrer motion state, this method step is simple, and detection is accurate.
In the description of the present invention, it is necessary to explanation, the orientation or position pass of the instruction such as term " on ", " under " and " outer "
Be based on the orientation or position relationship under working status of the present invention, to be for only for ease of the description present invention and simplifying description, and
It is not instruction or implies signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
Above in association with preferred embodiment, the present invention is described, but these embodiments are only exemplary
, only play the role of illustrative.On this basis, a variety of replacements and improvement can be carried out to the present invention, these each fall within this
In the protection domain of invention.
Claims (11)
1. a kind of stirrer detecting system, it is characterised in that the system is used for the motion state for detecting stirrer, it includes container
(1), stirrer (2), blender (3), the first photoelectric tube (5), Hall sensor (4), the second photoelectric tube (6) and controller, its
In,
The stirrer (2) includes normal agitation and correction stirrer, and normal agitation is pure white, and the correction is stirred
The one end for mixing son is white, the other end is black；
The blender (3) includes permanent magnet turntable (31) and driven by rotary disc device (32)；
First photoelectric tube (5) is arranged at the lower section of permanent magnet turntable (31), for detecting the initial position of permanent magnet turntable；
The Hall sensor (4) is arranged at the top of permanent magnet turntable (31), the lower section of stirrer (2), and it arrives permanent magnet
The distance in the center of circle of turntable (31) is more than the radius of permanent magnet turntable, for detecting stirrer (2) and permanent magnet turntable (31)
Magnetic field signal, wherein, the stirrer is normal agitation；
Second photoelectric tube (6) is located at the top of stirrer (2), for detecting the rotation phase of stirrer (2), wherein, institute
Stirrer is stated as correction stirrer；
The controller is used for the rotation for controlling blender (3), and receives and store the first photoelectric tube (5), Hall sensor (4)
With the output signal of the second photoelectric tube (6).
2. system according to claim 1, it is characterised in that
The opposite permanent magnet of two Block directions (311) is provided with the permanent magnet turntable (31), for forming external magnetic field；
And/or
The driven by rotary disc device (32) is stepper motor, and the stepper motor includes driving chip, the stepper motor rotation one
Week, required umber of pulse was N=Np·Na·Nd, wherein, NpFor the number of pole-pairs of stepper motor, NaFor the commutation section of driving chip
Umber of beats, NdFor the subdivision step number of driving chip；And/or
The controller is microcontroller.
3. system according to claim 1 or 2, it is characterised in that
The Hall sensor (4) is connected to form hall signal amplifying circuit with signal amplification circuit, for detect stirrer with
The magnetic field that magnetic field signal between permanent magnet turntable, wherein stirrer produce is stirrer magnetic field, is denoted asPermanent magnet turntable
The magnetic field of generation is permanent magnet turntable magnetic field, is denoted asStirrer magnetic field is folded with the magnetic field after permanent magnet turntable magnetic field superposition
Add magnetic field, be denoted as
The signal amplification circuit is used for the output signal for amplifying Hall sensor (4).
4. system according to claim 3, it is characterised in that the signal amplification circuit is capacitance AC coupled amplification electricity
Road (8).
5. the method for the motion state using the system detectio stirrer described in claim 4, wherein, the described method includes following
Step：
Step 1, the rotation phase for obtaining stirrer, are denoted as θ1’；
Step 2, the magnetic phase for obtaining permanent magnet turntable respectively, are denoted as θ0, and the magnetic phase of stirrer, it is denoted as θ1；
Step 3, the rotation phase of the stirrer obtained according to step 1 are corrected the magnetic phase of stirrer, obtain stirrer
Phase calibration, be denoted as θ1”；
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", the phase difference of acquisition permanent magnet turntable and stirrer,
And the motion state of stirrer is judged according to phase difference.
6. according to the method described in claim 5, wherein,
Step 1 includes following sub-step：
Step 1-1, correction stirrer is put in container, starts blender；
Step 1-2, the second photoelectric tube (6) sends infrared light, correction stirrer when rotated its white one end detect it is infrared
Light, and infrared light is reflected back the second photoelectric tube (6)；
Step 1-3, the second photoelectric tube (6) obtains the rotation phase of stirrer according to the signal of the reflected light output pulsation of step 1-2
Position；
And/or
Step 2 includes following sub-step：
Step 2-1, correction stirrer is changed to normal agitation, starts blender；
Step 2-2, magnetic field signal is detected by Hall sensor (4), while magnetic field signal data point is carried out using stepper motor
Synchronous acquisition；
Step 2-3, the magnetic field signal gathered according to step 2-2 obtains the magnetic phase of permanent magnet turntable and the magnetic field phase of stirrer
Position；
And/or
Step 3 includes following sub-step：
Step 3-1, the magnetic phase θ of stirrer is obtained1With the rotation phase θ of stirrer1' between error, and by the error
Incoming controller is stored；
Step 3-2, the magnetic phase of stirrer is corrected by the error that step 3-1 is obtained, obtains the correction phase of stirrer
Position θ1”。
7. according to the method described in claim 6, wherein,
In step 1-3, the rotation phase of gained correction stirrer is identical with the rotation phase of normal agitation, that is, represents stirring
The rotation phase of son, is denoted as θ1’；And/or
The step 1 operates once before or before dispatching from the factory for the first time in the system, and step is optionally carried out in follow-up use
1；And/or
In step 2-2, stepper motor count down to N in the controllerdOccur once to interrupt during a pulse, i.e., revolved in stepper motor
N can be gathered in circlingp·NaA data point, the data point are the signal data in magnetic field, are denoted as x [n], wherein n=1,
2nd ..., N, the N are data acquisition number.
8. according to the method described in claim 7, wherein, magnetic phase is obtained by formula (1)-(3)：
Wherein, a represents the cosine component in magnetic field, and b represents the sinusoidal component in magnetic field, and θ represents magnetic phase, and x [n] is detected
Data point, n ωsFor the corresponding magnetic field rotating angle of gathered data.
9. according to the method described in claim 8, wherein,
Relevant parameter a is obtained according to formula (1)-(3)0、b0And θ0, wherein, a0For the cosine component in permanent magnet turntable magnetic field, b0For
The sinusoidal component in permanent magnet turntable magnetic field, x [1] be no stirrer in the case of the data point detected, θ0Turn for permanent magnet
The magnetic phase of disk, θ0Reflect permanent magnet turntable relative to the deviation angle between the initial position of the first photoelectric tube；And/or
The magnetic phase of stirrer is obtained by formula (4)-(6)：
a1=a2-a0Formula (4)
b1=b2-b0Formula (5)
Wherein, a2RepresentCosine component, b2RepresentSinusoidal component, a1For the cosine component in stirrer magnetic field, b1
For the sinusoidal component in stirrer magnetic field, θ1For the magnetic phase of stirrer.
10. according to the method described in claim 9, wherein, in step 4, the phase difference is obtained by formula (7)：
Δ θ=θ1”-θ0Formula (7)
Wherein, Δ θ is phase difference, and gained phase difference reflects the differential seat angle between stirrer and permanent magnet turntable.
11. according to the method described in claim 10, wherein, in step 4, the movement shape of stirrer is judged according to differential seat angle
State：
When differential seat angle is a fixed value, stirrer carries out uniform rotation with permanent magnet turntable, in stirring mode；
When differential seat angle is unstable, stirrer is in the state of swing or migration, is weave mode or migration pattern；
When differential seat angle is zero, stirrer flies out stirring system, for the pattern of flying out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352935.5A CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352935.5A CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054090A CN106054090A (en) | 2016-10-26 |
| CN106054090B true CN106054090B (en) | 2018-04-20 |
Family
ID=57175878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610352935.5A Active CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054090B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106901979A (en) * | 2017-03-16 | 2017-06-30 | 西安科技大学 | A kind of intelligent medicine box and its control system |
| CN109696707B (en) * | 2019-01-16 | 2021-01-08 | 珠海优特智厨科技有限公司 | Method for detecting cup of kitchen device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4113880A1 (en) * | 1991-04-27 | 1992-10-29 | Messerschmitt Boelkow Blohm | TURN SIGNALING SYSTEM |
| KR0121130B1 (en) * | 1994-10-27 | 1997-11-10 | 구자홍 | Weighing method and apparatus for water in a refrigerator |
| CN2357815Y (en) * | 1998-09-22 | 2000-01-12 | 胡自立 | Electromagnetic stirrer |
| CN2527334Y (en) * | 2002-03-19 | 2002-12-25 | 河南农大机电技术开发中心 | Heating and magnetic constant speed stirrer |
| CN200968945Y (en) * | 2006-11-15 | 2007-10-31 | 鹤壁科力测控技术有限公司 | Sulfur measuring instrument electrolytic cell agitating apparatus |
| CN202590702U (en) * | 2011-11-02 | 2012-12-12 | 天津市欧诺仪器仪表有限公司 | Ultra-low speed magnetic stirring device with speed feedback |
| CN203480347U (en) * | 2013-09-27 | 2014-03-12 | 浙江师范大学 | Electric control device of magnetic stirrer |
| JP6216201B2 (en) * | 2013-10-03 | 2017-10-18 | 株式会社日立産機システム | Inkjet recording device |
| CN205055924U (en) * | 2015-07-28 | 2016-03-02 | 天津市欧诺仪器仪表有限公司 | Ultralow fast magnetic stirrers with speed change mechanism |
-
2016
- 2016-05-25 CN CN201610352935.5A patent/CN106054090B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054090A (en) | 2016-10-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107919830A (en) | The scaling method and device of a kind of motor position sensor | |
| CN1233087C (en) | Driving device and method for brushless motor | |
| CN107404272B (en) | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system | |
| CN100553108C (en) | The deduction method of permanent magnet synchronous motor initial magnetic pole position | |
| CN106054090B (en) | A kind of stirrer detecting system and its detection method | |
| CN105675029B (en) | A kind of wind generator system and speed-position detection device and method | |
| CN103166563B (en) | Permagnetic synchronous motor rotor position initial alignment detection method | |
| WO2018133581A1 (en) | Method for testing initial position angle of electric motor rotor | |
| CN106130430A (en) | The detection method at permanent-magnetic synchronous motor rotor initial positional deviation angle and off-line test device | |
| CN106767617B (en) | Beam pumping unit polished rod displacement sensor and method based on acceleration analysis | |
| CN107769636A (en) | A kind of position-sensor-free permanent magnet synchronous motor rotor position detection method | |
| CN104779852A (en) | Motor start control method | |
| CN102679970A (en) | Static balance test method applied to gyroscope position marker spindle | |
| CN104991571A (en) | Holder stabilizing device and method | |
| CN107276479A (en) | A kind of two-phase orthogonal winding permagnetic synchronous motor rotating speed determines method | |
| CN201163190Y (en) | Servo control apparatus of gyrostatic compass | |
| CN105973270B (en) | A kind of detection of gyrocompassing instrument angular momentum and compensation method | |
| JP2002354876A (en) | Apparatus and method for detecting deflection of sensor reference point, control apparatus and method of motor, motor fault judging method and sensor mounting position adjusting method | |
| CN106066188B (en) | A kind of stirrer detecting system and its detection method | |
| CN103983259A (en) | Omnibearing north-seeking method based on maximum precession velocity coarse north-seeking principle of pendulous gyroscope | |
| CN106911279A (en) | A kind of method of DC brushless motor sensorless start-up | |
| CN109995277A (en) | Permanent-magnetic synchronous motor rotor zero-bit initial angle calibration system and its scaling method | |
| CN105978430B (en) | A kind of electric motor resistance automatic setting method and system | |
| CN110323987A (en) | A kind of parameter verification method and system for permanent magnet synchronous motor | |
| CN106982020A (en) | The method and system of motor cogging torque size are evaluated using servo-driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |