CN107040183A - Motor driven systems, method and food blending machine - Google Patents
Motor driven systems, method and food blending machine Download PDFInfo
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- CN107040183A CN107040183A CN201710284214.XA CN201710284214A CN107040183A CN 107040183 A CN107040183 A CN 107040183A CN 201710284214 A CN201710284214 A CN 201710284214A CN 107040183 A CN107040183 A CN 107040183A
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
Abstract
The present invention proposes a kind of motor driven systems, method and mixer, wherein, motor driven systems are used to drive variable-frequency motor, including：Adjustment unit, superpositing unit and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode value of feedback according to motor, export regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is adjusted, obtain the second command value, converting unit, for according to the second command value, corresponding motor driven voltage to be exported to motor.The system passes through adjustment unit, superpositing unit and converting unit, so that the operating mode of variable-frequency motor, such as speed, voltage, power and temperature, all control in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, cause easily to cause potential safety hazard, cause electromechanics to damage and shorten the technical problem of electrical machinery life.
Description
Technical field
The present invention relates to home wiring control technical field, more particularly to a kind of motor driven systems, method and food blending machine.
Background technology
With the raising that health of people health is realized, food blending machine is increasingly favored by consumer.Food is stirred
Machine is when making food, and the motor moved using high rotating speed drives hard cutter head, physical crushing food.It is electric in food blending machine
The performance of machine directly determines the effect of stirring, including mouthfeel, sophistication etc..
Mixer on market today is all that, as power resources, series excited machine is non-variable-frequency electric mostly with series excited machine
Machine, it is impossible to change operating voltage and frequency, series excited machine inefficiency has commutation spark, easily causes safety during work
Problem.Further, since series excited machine is with the presence of brush, carbon dust accumulation is easily caused after working long hours, motor is easily caused
Mechanical failure, causes the lost of life.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.
Therefore, first purpose of the present invention is to propose a kind of motor driven systems, the system is used to drive variable-frequency electric
Machine, is solved in the prior art, it is impossible to which the speed of motor, voltage, power and temperature are control effectively, and causes easily to cause
Motor safety hidden danger, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
Second object of the present invention is to propose a kind of driving method.
Third object of the present invention is to propose a kind of food blending machine.
Fourth object of the present invention is to propose a kind of computer product.
The 5th purpose of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
For up to above-mentioned purpose, first aspect present invention embodiment proposes a kind of motor driven systems, and system includes：Regulation
Unit, superpositing unit and converting unit；The adjustment unit, the superpositing unit and the converting unit are sequentially connected；
The adjustment unit, for the operating mode value of feedback according to motor, exports regulated value；Wherein, the regulated value is used for
Indicate whether the operating mode value of feedback exceeds the scope of correspondence operating mode limits value；
The superpositing unit, for the regulated value exported according to the adjustment unit, the first command value to input is carried out
Adjustment, obtains the second command value；
The converting unit, for according to second command value, corresponding motor driven voltage to be exported to the motor.
A kind of motor driven systems of the embodiment of the present invention, for driving variable-frequency motor, including：Adjustment unit, superposition are single
Member and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode according to motor
Value of feedback, output regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is entered
Row adjustment, obtains the second command value, converting unit, for according to the second command value, exporting corresponding motor to motor and driving electricity
Pressure.The system passes through adjustment unit, superpositing unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature
Degree, all controls in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, causes easily to cause electricity
Machine potential safety hazard, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
For up to above-mentioned purpose, the second aspect of the present invention embodiment proposes a kind of motor control method, the motor control
Method be applied to above-described embodiment in electric machine control system, the motor control method, including：
Adjustment unit exports regulated value according to the operating mode value of feedback of motor；Wherein, the regulated value is used to indicate the work
Whether condition value of feedback exceeds the scope of correspondence operating mode limits value；
Superpositing unit is according to the regulated value, and the first command value to input is adjusted, and obtains the second command value；
Converting unit exports corresponding motor driven voltage according to second command value to motor.
A kind of driving method of the embodiment of the present invention, adjustment unit, according to the operating mode value of feedback of motor, output regulation
Value, superpositing unit, the regulated value exported according to adjustment unit, the first command value to input is adjusted, and obtains the second instruction
Value, converting unit, according to the second command value, corresponding motor driven voltage is exported to motor.This method passes through adjustment unit, folded
Plus unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature, all control in the scope of safety,
Solving the operating mode of motor in the prior art can not effectively control, and cause easily to cause motor safety hidden danger, cause electromechanics
Damage and shorten the technical problem of electrical machinery life.
For up to above-mentioned purpose, third aspect present invention is implemented to propose a kind of food blending machine, and the mixer includes above-mentioned
Motor driven systems described in first aspect embodiment, and the motor for driving stirring cutter head to rotate.
To achieve these goals, fourth aspect present invention embodiment proposes a kind of computer product, is calculated when described
When instruction in machine program product is executed by processor, the method in above-mentioned second aspect embodiment is able to carry out.
To achieve these goals, fifth aspect present invention embodiment proposes a kind of computer-readable storage of non-transitory
Medium, when the instruction in the storage medium is executed by processor, is able to carry out the method in above-mentioned second aspect embodiment.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and be readily appreciated that, wherein：
A kind of structural representation for motor driven systems that Fig. 1 is provided by the embodiment of the present invention；
A kind of schematic flow sheet for driving method that Fig. 2 is provided by the embodiment of the present invention；
The structural representation for another motor driven systems that Fig. 3 is provided by the embodiment of the present invention；
The structural representation for another motor driven systems that Fig. 4 is provided by the embodiment of the present invention；
The structural representation for another motor driven systems that Fig. 5 is provided by the embodiment of the present invention；And
A kind of structural representation for mixer that Fig. 6 is provided by the embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
Below with reference to the accompanying drawings a kind of motor driven systems, method and the mixer of the embodiment of the present invention described.
A kind of structural representation for motor driven systems that Fig. 1 is provided by the embodiment of the present invention.
As shown in figure 1, the system includes：Adjustment unit 10, superpositing unit 11 and converting unit 12, wherein, adjustment unit
10th, superpositing unit 11 and converting unit 12 are sequentially connected.
As a kind of possible implementation, adjustment unit 10 includes：Speed regulator 101, voltage regulator 102, work(
At least one in rate adjuster 103 and thermoregulator 104, it is parallel with one another between each adjuster, and respectively and superpositing unit
11 are connected.
Adjustment unit 10, for the operating mode value of feedback according to motor, exports regulated value, wherein, regulated value is used to indicate work
Whether condition value of feedback exceeds the scope of correspondence operating mode limits value.
Specifically, adjustment unit 10, the scope for exceeding correspondence operating mode limits value when operating mode value of feedback, exporting value is
The regulated value of non-zero；If operating mode value of feedback is without departing from the scope of correspondence operating mode limits value, the regulated value that output value is zero.
Wherein, operating mode includes at least one in speed, voltage, power and temperature.For the ease of difference, when operating mode is speed
When spending, corresponding operating mode limits value is then speed limit, and operating mode value of feedback is then speed feedback value；When operating mode is voltage,
Corresponding operating mode limits value is then voltage limit, and operating mode value of feedback is then voltage feedback value；It is corresponding when operating mode is power
Operating mode limits value is then power limit, and operating mode value of feedback is then Feedback of Power value；When operating mode is temperature, corresponding operating mode limit
Value processed is then temperature limit value, and operating mode value of feedback is then temperature feedback value.
Superpositing unit 11, for the regulated value exported according to adjustment unit, the first command value to input is adjusted, obtained
To the second command value.
Converting unit 12, for according to the second command value, corresponding motor driven voltage to be exported to motor.
A kind of motor driven systems of the embodiment of the present invention, for driving variable-frequency motor, including：Adjustment unit, superposition are single
Member and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode according to motor
Value of feedback, output regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is entered
Row adjustment, obtains the second command value, converting unit, for according to the second command value, exporting corresponding motor to motor and driving electricity
Pressure.The system passes through adjustment unit, superpositing unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature
Degree, all controls in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, causes easily to cause electricity
Machine potential safety hazard, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
In order to realize above-described embodiment, on the basis of the motor driven systems structure that Fig. 1 is provided, the present embodiment is also carried
A kind of corresponding driving method is gone out, a kind of flow for driving method that Fig. 2 is provided by the embodiment of the present invention is shown
It is intended to.
As shown in Fig. 2 the driving method comprises the following steps：
Step S201, adjustment unit exports regulated value according to the operating mode value of feedback of motor.
Specifically, adjustment unit may include 4 kinds of speed regulator, voltage regulator, power governor and thermoregulator
At least one in adjuster, every kind of adjuster all includes corresponding operating mode limits value and operating mode value of feedback, for example, speed is adjusted
The corresponding operating mode limits value of device and operating mode value of feedback are referred to as speed limit and speed feedback value.Adjuster is according to corresponding
Whether operating mode value of feedback exceeds the scope of corresponding operating mode limits value, exports regulated value, if operating mode value of feedback exceeds correspondence operating mode
The scope of limits value, output value is the regulated value of non-zero；If operating mode value of feedback is without departing from the scope of correspondence operating mode limits value, defeated
Go out the regulated value that value is zero.
Wherein, operating mode includes at least one in speed, voltage, power and temperature.
Step S202, superpositing unit is according to regulated value, and the first command value to input is adjusted, and obtains the second instruction
Value.
Specifically, the regulated value that superpositing unit is exported according to adjustment unit, and the first command value of input are overlapped, its
In, when adjustment unit is output as zero regulated value, the first command value and zero be overlapped after, export the second command value, second
Command value is equal to the first command value.When adjustment unit is output as the regulated value of non-zero, the regulated value of the first command value and non-zero
After being overlapped, the second command value is exported, the second command value is less than the first command value.
Step S203, converting unit exports corresponding motor driven voltage according to the second command value to motor.
Specifically, when the regulated value output for having non-zero in adjustment unit, then the value of feedback that explanation has operating mode has exceeded limit
Value processed is, it is necessary to the operating mode is adjusted, after the regulated value when non-zero and the first command value for control are overlapped, output
Second command value of reduction, so that converting unit exports corresponding motor driven voltage according to the second command value of reduction,
Under the regulation of the driving voltage, correspondence value of feedback is exceeded to the operating mode of limit value, is limited in again in safe range, so that electric
Machine can be with normal work.
In the corresponding embodiments of Fig. 1, adjustment unit 10 in motor driven systems can include speed regulator 101,
At least one in thermoregulator 102, voltage regulator 103 and power governor 104, but in actual applications, regulation is single
Member 10 may include above-mentioned 4 adjusters simultaneously, and based on this, the first command value for control specifically can be set as torque and refer to
Value is made, such as the first command value is specially the first torque instruction value, by the regulation to torque instruction value, so as to reach to motor
The control of working condition.For the motor driven systems of clear explanation in this case, a kind of possible implementation, sheet are used as
Embodiment proposes the structural representation of another motor driven systems.
Specifically, on the basis of Fig. 1 correspondence embodiments, another motor that Fig. 3 is provided by the embodiment of the present invention
The structural representation of drive system, as shown in Figure 3：
Converting unit 12 is included：First torque control module 121.Adjustment unit 10, superpositing unit 11, the first direct torque
Module 121 and motor Motor13 are sequentially connected.
Adjustment unit 10 includes：Speed regulator 101, voltage regulator 102, power governor 103 and thermoregulator
It is parallel with one another between 104, and four adjusters, and is connected respectively with superpositing unit 11.Wherein, speed regulator 101,
Voltage regulator 102, power governor 103 and thermoregulator 104 can realize by arbitrary adjustable module, can as one kind
Can be achieved in that passing ratio and integral adjustment controller (Proportional Integral Controller, PIC)
To realize, PIC carries out ratio and integral operation according to the deviation of specified rate and feedback quantity, and ratio and result of differentiating are entered
Row linear combination controls output later so that the output of system is towards the ever-reduced direction change of deviation.It is right in the present embodiment
Do not limited in the implementation of speed regulator 101, voltage regulator 102, power governor 103 and thermoregulator 104.
Wherein, Spd_Lim and Spd_Fdb are the input of speed regulator 101, respectively speed limit and velocity feedback
Value；Vdc_Lim and Vdc_Fdb is the input of voltage regulator 102, respectively voltage limit and voltage feedback value；Pow_Lim
With the input that Pow_Fdb is power governor 103, respectively power limit and Feedback of Power value；Thr_Lim and Thr_Fdb
For the input of thermoregulator 104, respectively temperature limit value and temperature feedback value.
Wherein, four state limit values Spd_Lim, Vdc_Lim, Pow_Lim and Thr_Lim can be preset, and be preserved
In the memory cell of electric system.
On the other hand, for four feedback of status values Spd_Fdb, Vdc_Fdb, Pow_Fdb and Thr_Fdb acquisition side
Formula, wherein, speed feedback value Spd_Fdb acquisition modes have a lot, and one of which is possible to be achieved in that, can be in department of electrical engineering
Built-in velocity sensor, speed feedback value Spd_Fdb, alternatively possible implementation are obtained by velocity sensor measurement in system
It is that can be detected by the measuring instruments such as observer or detection module and obtain speed feedback value Spd_Fdb；Voltage feedback value Vdc_
Fdb can be obtained by analog signal sampling；Feedback of Power value Pow_Fdb can be calculated by obtained voltage and current value
Arrive；Temperature feedback value Thr_Fdb, can be obtained by built-in temperature sensor measurement.In the present embodiment, for four states
The acquisition modes of value of feedback are not limited.
Further, the operating mode value of feedback and operating mode limits value of the adjuster contrast input in adjustment unit 10, if operating mode is anti-
Feedback value is in the range of operating mode limits value, then adjuster is output as zero regulated value, if operating mode value of feedback is not in operating mode limits value
In the range of, then export the regulated value of non-zero.In citing, speed regulator 101, if the speed feedback value of input is in rate limitation
Within value, then the regulated value that adjuster 101 is exported is 0, if the speed feedback value of input is adjusted not within speed limit
The output valve of device 101 is the regulated value of a non-zero.
Superpositing unit 11, the regulated value exported according to adjustment unit 10, the first command value to input is adjusted, obtained
Second command value.As a kind of possible implementation, input value Trq_Ref1 is the first torque instruction value in superpositing unit 11,
Output valve Trq_Ref2 is the second torque instruction value, then the first command value is the first torque instruction value Trq_Ref1, and second refers to
It is the second torque instruction value Trq_Ref2 to make value.
First torque control module 121, by the second torque instruction value Trq_Ref2 of input by changing, is converted into motor
Motor13 required voltages, and output voltage is supplied to motor Motor13.Wherein, the first torque control module 121 can be by
General torque controller is realized.
It should be noted that motor Motor13 can be induction machine, permagnetic synchronous motor, brshless DC motor and open
The variable-frequency motor of direct torque can arbitrarily be carried out by closing reluctance motor etc..
Specifically, in actual applications, after agitator for food-making start, it can give and be superimposed according to different food materials features
The first different torque instruction value Trq_Ref1 of unit 11, the regulated value that superpositing unit 11 is exported according to adjustment unit 10, to
One torque instruction value is adjusted, and obtains the second torque instruction value.For convenience of description, the regulated value life that adjustment unit 10 is exported
Entitled Ti, i represents corresponding operating mode, and the operating mode can be any one in speed, voltage, power and temperature.Regulated value TiFor one
Corrected parameter, and the first command value superposition output desired value, so that motor returns to normal working condition.
As a kind of possible implementation, if speed regulator 101, voltage regulator 102 in adjustment unit 10,
Power governor 103 and the corresponding operating mode value of feedback of thermoregulator 104 are within operating mode limits value, then 4 adjusters
It is 0 to export regulated value, i.e. TSpeed、TVoltage、TTemperatureAnd TPowerIt is 0.
Further, superpositing unit 11 is inputted the first torque instruction value Trq_Ref1 and regulated value TSpeed、TVoltage、TTemperatureAnd TPower
After superposition, the second torque instruction value Trq_Ref2 of output does not change, i.e., the second torque instruction value Trq_Ref2 is equal to
First torque instruction value Trq_Ref1.Second torque instruction value Trq_Ref2 is converted into electricity by the first torque control module 121
Machine Motor13 required voltages.
As alternatively possible implementation, speed regulator 101, voltage regulator 102, work(in adjustment unit 10
Rate adjuster 103 and thermoregulator 104, when having one or the corresponding operating mode value of feedback of more than 1 adjuster not in operating mode
Within limits value, then the regulated value T that corresponding adjuster is exportediIt is not 0.
Further, superpositing unit 11 is inputted the first torque instruction value Trq_Ref1 and regulated value TSpeed、TVoltage、TTemperatureAnd TPower
After superposition, the regulated value of non-zero makes the second torque instruction value Trq_Ref2 of output diminish, even if the second torque instruction value
Trq_Ref2 is less than the first torque instruction value Trq_Ref1.Second torque instruction value makes the output torque of motor diminish, by
One torque control module 121 is converted into the target voltage of motor Motor13 needs.
It can be seen that, when the output regulated value of each mode regulator is non-zero, by the first torque instruction value and each regulating working conditions
The output superposition of device, obtains the second torque instruction value, the second torque instruction value diminishes, the torque instruction value diminished is converted to pair
The target voltage answered, by the operation of the target voltage controlled motor, and then controls the operating mode more than limits value to recover to normal
State.
It is to be appreciated that in practical application, the adjuster in adjustment unit 10 can only include speed regulator 101,
One or more in voltage regulator 102, power governor 103 and thermoregulator 104, it is only above-mentioned for adjuster
One or more situation in adjuster, its realization principle and adjuster are as the situation of above-mentioned 4, no longer to go to live in the household of one's in-laws on getting married herein
State.
A kind of motor driven systems of the embodiment of the present invention, for driving variable-frequency motor, including：Adjustment unit, superposition are single
Member and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode according to motor
Value of feedback, output regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is entered
Row adjustment, obtains the second command value, converting unit, for according to the second command value, exporting corresponding motor to motor and driving electricity
Pressure.The system passes through adjustment unit, superpositing unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature
Degree, all controls in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, causes easily to cause electricity
Machine potential safety hazard, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
In a upper embodiment, specifically it is set as torque instruction value for the first command value being controlled, as another
Possible implementation is planted, speed value, such as first can also be particularly limited as the first command value being controlled
Command value is specially First Speed command value, and speed value is adjusted the regulated value exported by adjustment unit 10, from
And it is adjusted after target torque command value, be further clearly explanation electric machine control system in this case, this implementation
Example proposes the structural representation of another electric machine control system.
Specifically, Fig. 4 is the structural representation for another electric machine control system that the present embodiment is proposed, on Fig. 3 basis
On, speed regulator 101 is omitted, correspondingly, the concrete structure of converting unit 12 is also improved, as shown in Figure 4：
Converting unit 12 includes：The torque control module 123 of speed adjustment module 122 and second being sequentially connected.Regulation is single
Member 10, superpositing unit 11, speed adjustment module 122, the second torque control module 123 and motor Motor13 are sequentially connected.
Adjustment unit 10 includes voltage regulator 102, power governor 103 and thermoregulator 104, and three regulations
It is parallel with one another between device.Voltage regulator 102, power governor 103 and thermoregulator 104 respectively with superpositing unit 11
It is connected.Wherein, voltage regulator 102, power governor 103 and thermoregulator 104 can be realized by arbitrary adjustable module,
Passing ratio and integral adjustment controller (Proportional Integral are achieved in that as one kind is possible
Controller, PIC) realize, PIC carries out ratio and integral operation according to the deviation to limit value and value of feedback, will compare
Example and result of differentiating carry out linear combination and control output later so that the output of system is towards the ever-reduced direction of deviation
Change.In the present embodiment, the implementation for voltage regulator 102, power governor 103 and thermoregulator 104 is not done
Limit.
Wherein, Vdc_Lim and Vdc_Fdb is the input of voltage regulator 102, respectively voltage limit and Voltage Feedback
Value；Pow_Lim and Pow_Fdb is the input of power governor 103, respectively power limit and Feedback of Power value；Thr_Lim
With the input that Thr_Fdb is thermoregulator 104, respectively temperature limit value and temperature feedback value.
Wherein, three state limit values Vdc_Lim, Pow_Lim and Thr_Lim can be preset, and be stored in department of electrical engineering
In the memory cell of system.
On the other hand, for three feedback of status values Vdc_Fdb, Pow_Fdb and Thr_Fdb acquisition modes, wherein, electricity
Pressure value of feedback Vdc_Fdb can be obtained by analog signal sampling；Feedback of Power value Pow_Fdb can by obtained voltage and
Current value is calculated and obtained；Temperature feedback value Thr_Fdb, can be obtained by built-in temperature sensor measurement.In the present embodiment,
Acquisition modes for three feedback of status values are not limited.
Further, the operating mode value of feedback and operating mode limits value of the adjuster contrast input in adjustment unit 10, if operating mode is anti-
Feedback value is in the range of the limitation of operating mode limits value, then adjuster is output as zero regulated value, if operating mode value of feedback is not limited in operating mode
In the range of value processed, then the regulated value of non-zero is exported.For example, in voltage regulator 102, if the voltage feedback value of input is in voltage
Within limits value, then voltage regulator 102 export regulated value be 0, if input voltage feedback value not voltage limit it
Interior, then the output valve of voltage regulator 102 is the regulated value of a non-zero.
Superpositing unit 11, the regulated value exported according to adjustment unit 10, the first command value to input is adjusted, obtained
Second command value.As a kind of possible implementation, input value Spd_Ref1 is First Speed command value in superpositing unit 11,
Output Spd_Ref2 is second speed command value, then the first command value is First Speed command value Spd_Ref1, the second instruction
Value is second speed command value Spd_Ref2.
Speed adjustment module 122, torque instruction value Trq_Ref is converted into by the Spd_Ref2 of input.Wherein, speed is adjusted
Module can be realized by general speed control.
Second torque control module 123, by the torque instruction value Trq_Ref of input by changing, is converted into motor
Motor13 required voltages, and give motor Motor13 by output voltage.Wherein, the second torque control module 123 can be by general
Torque controller realize.
It should be noted that motor Motor13 can be induction machine, permagnetic synchronous motor, brshless DC motor and open
The variable-frequency motor of direct torque can arbitrarily be carried out by closing reluctance motor etc..
Specifically, in actual applications, after agitator for food-making start, it can give and be superimposed according to different food materials features
The different First Speed command value Spd_Ref1 of unit 11, the regulated value that superpositing unit 11 is exported according to adjustment unit 10, to
One speed value is adjusted, and obtains second speed command value.For convenience of description, the regulated value life that adjustment unit 10 is exported
Entitled Ti, i represents corresponding operating mode, and the operating mode can be any one in voltage, power and temperature.Regulated value TiFor an amendment
Parameter, so that motor returns to normal working condition.
As a kind of possible implementation, voltage regulator 102, power governor 103 and temperature in adjustment unit 10
The corresponding operating mode value of feedback of adjuster 104 is spent within operating mode limits value, then the output regulated value of 3 adjusters is 0, i.e.,
TVoltage、TTemperatureAnd TPowerIt is 0.
Further, superpositing unit 11 is inputted First Speed command value Spd_Ref1 and regulated value TVoltage、TTemperatureAnd TPowerSuperposition
After computing, the second speed command value Spd_Ref2 of output does not change, i.e. second speed command value Spd_Ref2 is equal to first
Speed value Spd_Ref1.Second speed command value Spd_Ref2 passes through speed adjustment module 122, is converted to torque instruction value
Trq_Ref, torque instruction value Trq_Ref input the second torque control module 123 and are converted into motor Motor13 required voltages.
As alternatively possible implementation, voltage regulator 102, the and of power governor 103 in adjustment unit 10
Thermoregulator 104, when having one or the corresponding operating mode value of feedback of more than 1 adjuster not within operating mode limits value,
The regulated value T of its corresponding adjuster outputiIt is not 0.
Further, superpositing unit 11 is inputted First Speed command value Spd_Ref1 and regulated value TVoltage、TTemperatureAnd TPowerSuperposition
After computing, the regulated value of non-zero makes the second speed command value Spd_Ref2 of output diminish, i.e. second speed command value Spd_
Ref2 is less than First Speed command value Spd_Ref1.Second speed command value Spd_Ref2 passes through speed adjustment module 122, conversion
The output torque value of motor is set to diminish for torque instruction value Trq_Ref, the second speed command value Spd_Ref2 of reduction, torque refers to
Make value Trq_Ref input the second torque control module 123 and be converted into motor Motor13 required voltages, so that motor is just
Normal working condition work.
It is to be appreciated that in practical application, the adjuster in adjustment unit 10 can only include voltage regulator 102,
One or more in power governor 103 and thermoregulator 104, is only one in above-mentioned adjuster for adjuster
Or multiple situations, its realization principle is as the situation that adjuster is above-mentioned 3, and here is omitted.
A kind of motor driven systems of the embodiment of the present invention, for driving variable-frequency motor, including：Adjustment unit, superposition are single
Member and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode according to motor
Value of feedback, output regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is entered
Row adjustment, obtains the second command value, converting unit, for according to the second command value, exporting corresponding motor to motor and driving electricity
Pressure.The system passes through adjustment unit, superpositing unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature
Degree, all controls in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, causes easily to cause electricity
Machine potential safety hazard, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
Based on above-described embodiment, the embodiment of the present invention also proposed the possible realization side of another electric machine control system
Formula, Fig. 5 is the structural representation for another electric machine control system that the embodiment of the present invention is proposed, on the basis of a upper embodiment
On, instructed in order on the basis of the electric machine control system that Fig. 4 is provided, increase another control dimension, i.e. direct torque,
On the basis of Fig. 4, the structure to converting unit 12 is improved, as shown in Figure 5：
Converting unit 12, including speed regulator 101, the torque control module of laminating module 124 and the 3rd being sequentially connected
125。
The input of superpositing unit 11 be First Speed command value Spd_Ref1, and adjustment unit 10 3 controllers it is defeated
Go out regulated value superposition, obtain second speed command value Spd_Ref2.
Speed regulator 101, by the second speed command value Spd_Ref2 of input and speed feedback value Spd_Fdb progress pair
Than obtaining corresponding speed regulated value.
Laminating module 124, the 3rd torque instruction value Trq_Ref3 and speed regulated value of input are overlapped, and obtain
Four torque instruction value Trq_Ref4.
3rd torque control module 125, the 4th torque instruction value Trq_Ref4 of input is converted into motor Motor13 needs
The voltage wanted, and give motor Motor13 by output voltage.Wherein, the 3rd torque control module 125 can be by general direct torque
Device is realized.
It should be noted that motor Motor13 can be induction machine, permagnetic synchronous motor, brshless DC motor and open
The variable-frequency motor of direct torque can arbitrarily be carried out by closing reluctance motor etc..
Specifically, in actual applications, after agitator for food-making start, it can give and be superimposed according to different food materials features
The different First Speed command value Spd_Ref1 of unit 11, the regulated value that superpositing unit 11 is exported according to adjustment unit 10, to
One speed value is adjusted, and obtains second speed command value Spd_Ref2.For convenience of description, adjustment unit 10 is exported
Regulated value be named as Ti, i represents corresponding operating mode, and the operating mode can be any one in voltage, power and temperature.
As a kind of possible implementation, voltage regulator 102, power governor 103 and temperature in adjustment unit 10
The corresponding operating mode value of feedback of adjuster 104 is spent within operating mode limits value, then the output regulated value of 3 adjusters is 0, i.e.,
TVoltage、TTemperatureAnd TPowerIt is 0.
Further, superpositing unit 11 is inputted First Speed command value Spd_Ref1 and regulated value TVoltage、TTemperatureAnd TPowerSuperposition
After computing, the second speed command value Spd_Ref2 of output does not change, i.e. second speed command value Spd_Ref2 is equal to first
Speed value Spd_Ref1.Second speed command value Spd_Ref2 passes through speed regulator 124, and output speed regulated value will
The torque instruction value Trq_Ref3 of input value the 3rd of speed regulated value and laminating module 125 is overlapped, and is obtained the 4th torque and is referred to
Value Trq_Ref4 is made, wherein, if speed regulated value is zero, the 4th torque instruction value Trq_Ref4 is equal to the 3rd torque instruction value
Trq_Ref3；If speed regulated value is nonzero value, the 4th torque instruction value Trq_Ref4 is less than the 3rd torque instruction value.Again will
Trq_Ref4 inputs the 3rd torque control module 125, is converted to torque instruction value, and torque instruction value inputs the second direct torque mould
Block 123 is converted into motor Motor13 required voltages.
As alternatively possible implementation, voltage regulator 102, the and of power governor 103 in adjustment unit 10
Thermoregulator 104, when having one or the corresponding operating mode value of feedback of more than 1 adjuster not within operating mode limits value,
The adjusted value T of its corresponding adjuster outputiIt is not 0.
Further, superpositing unit 11 is inputted First Speed command value Spd_Ref1 and regulated value TVoltage、TTemperatureAnd TPowerSuperposition
After computing, the second speed command value Spd_Ref2 of output can diminish, i.e. second speed command value Spd_Ref2 is less than the first speed
Spend command value Spd_Ref1.Second speed command value Spd_Ref2 passes through speed regulator 101, output speed regulated value, by speed
The torque instruction value Trq_Ref3 of input value the 3rd of degree regulated value and laminating module 124 is overlapped, and obtains the 4th torque instruction
Value Trq_Ref4, wherein, if speed regulated value is 0, the 4th torque instruction value Trq_Ref4 is equal to the 3rd torque instruction value；If
Speed regulated value is non-zero value, then the 4th torque instruction value Trq_Ref4 is less than the 3rd torque instruction value.Trq_Ref4 is inputted again
3rd torque control module 125, is converted to motor Motor13 required voltages.
It is to be appreciated that in the present embodiment, the regulated value exported by the adjuster in adjustment unit 10 is to the first speed
Degree command value is adjusted, and obtains second speed command value, then obtains speed regulated value by speed regulator 101, and then
3rd torque instruction value is further adjusted, so that the motor input voltage after adjusted, according to the motor after regulation
Input voltage is controlled to motor operating mode, motor is worked in normal condition range.
A kind of motor driven systems of the embodiment of the present invention, for driving variable-frequency motor, including：Adjustment unit, superposition are single
Member and converting unit, adjustment unit, superpositing unit and converting unit are sequentially connected, adjustment unit, for the operating mode according to motor
Value of feedback, output regulated value, superpositing unit, for the regulated value exported according to adjustment unit, the first command value to input is entered
Row adjustment, obtains the second command value, converting unit, for according to the second command value, exporting corresponding motor to motor and driving electricity
Pressure.The system passes through adjustment unit, superpositing unit and converting unit so that the operating mode of motor, such as speed, voltage, power and temperature
Degree, all controls in the scope of safety, solving the operating mode of motor in the prior art can not effectively control, causes easily to cause electricity
Machine potential safety hazard, causes electromechanics to damage and shorten the technical problem of electrical machinery life.
In order to realize above-described embodiment, the invention also provides a kind of food blending machine.
Fig. 6 is a kind of structural representation of food blending machine provided in an embodiment of the present invention.
As shown in fig. 6, the food blending machine includes：Motor driven systems 60 and the motor for driving stirring cutter head to rotate
61。
Wherein, motor 61 is times in variable-frequency motor, the corresponding diagram 1 of motor driven systems 60, Fig. 3 to Fig. 5 correspondence embodiments
One motor driven systems.
It should be noted that the foregoing explanation to motor driven systems and embodiment of the method is also applied for the embodiment
Food blending machine, here is omitted.
In order to realize above-described embodiment, the present invention also proposes a kind of computer product, the journey in the computer product
When sequence is executed by processor, the driving method in above-described embodiment is able to carry out.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, when described
When program in storage medium is performed by processor, the driving method in above-described embodiment is able to carry out.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the not be the same as Example or the feature of example and non-be the same as Example or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process described otherwise above or method description are construed as in flow chart or herein, represent to include
Module, fragment or the portion of the code of one or more executable instructions for the step of realizing custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not be by shown or discussion suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Represent in flow charts or logic and/or step described otherwise above herein, for example, being considered use
In the order list for the executable instruction for realizing logic function, it may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress for combining these instruction execution systems, device or equipment and using
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wirings
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, can even is that can be in the paper of printing described program thereon or other are suitable for computer-readable medium
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, the software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Scattered logic circuit, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can be compiled
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method is carried
Rapid to can be by program to instruct the hardware of correlation to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, it would however also be possible to employ the form of software function module is realized.The integrated module is such as
Fruit is realized using in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although having been shown and retouching above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (13)
1. a kind of motor driven systems, it is characterised in that for driving variable-frequency motor, the system includes：Adjustment unit, superposition
Unit and converting unit；The adjustment unit, the superpositing unit and the converting unit are sequentially connected；
The adjustment unit, for the operating mode value of feedback according to motor, exports regulated value；Wherein, the regulated value is used to indicate
Whether the operating mode value of feedback exceeds the scope of correspondence operating mode limits value；
The superpositing unit, for the regulated value exported according to the adjustment unit, the first command value to input is adjusted,
Obtain the second command value；
The converting unit, for according to second command value, corresponding motor driven voltage to be exported to the motor.
2. motor driven systems according to claim 1, it is characterised in that the adjustment unit specifically for：
If the operating mode value of feedback exceeds the scope of correspondence operating mode limits value, output value is the regulated value of non-zero；If the work
Condition value of feedback is without departing from the scope of correspondence operating mode limits value, the regulated value that output value is zero；
Wherein, the operating mode includes at least one in speed, voltage, power and temperature.
3. motor driven systems according to claim 2, it is characterised in that the adjustment unit includes：Speed regulator,
At least one in voltage regulator, power governor and thermoregulator；
It is parallel with one another between each adjuster included by the adjustment unit.
4. motor driven systems according to claim 3, it is characterised in that the adjustment unit is specifically included：Speed is adjusted
Save device, thermoregulator, voltage regulator and power governor；
First command value is the first torque instruction value, and second command value is the second torque instruction value；
The superpositing unit, during specifically for receiving the regulated value that value is non-zero from the adjustment unit, output is less than the
Second torque instruction value of one torque instruction value；When receiving each regulated value that value is equal zero from the adjustment unit, output
Equal to the second torque instruction value of the first torque instruction value.
5. motor driven systems according to claim 4, it is characterised in that the converting unit includes：
First torque control module, for second torque instruction value to be converted into corresponding motor driven voltage.
6. motor driven systems according to claim 3, it is characterised in that the adjustment unit is specifically included：Temperature is adjusted
Save device, voltage regulator and power governor；
First command value is First Speed command value, and second command value is second speed command value；
The superpositing unit, during specifically for receiving the regulated value that value is non-zero from the adjustment unit, output is less than the
The second speed command value of one speed value；When from the adjustment unit, to receive value be zero each regulated value, output
Equal to the second speed command value of First Speed command value.
7. motor driven systems according to claim 6, it is characterised in that the converting unit includes：It is connected with each other
Speed adjustment module and the second torque control module；
The speed adjustment module, for according to the second speed command value, obtaining corresponding target torque command value；
Second torque control module, for the target torque command value to be converted into corresponding motor driven voltage.
8. motor driven systems according to claim 6, it is characterised in that the converting unit includes：It is sequentially connected
Speed regulator, laminating module and the 3rd torque control module；
The speed regulator, for according to the second speed command value, output speed regulated value；Wherein, the speed is adjusted
Section value is for indicating whether the second speed command value exceeds the scope of speed limit；
The laminating module, be for obtaining the 3rd torque instruction value, and for receiving value from the speed regulator
During the speed regulated value of non-zero, fourth torque instruction value of the output less than the 3rd torque instruction value；Connect from the speed regulator
When receiving the speed regulated value that value is zero, fourth torque instruction value of the output equal to the 3rd torque instruction value；
3rd torque control module, for the 4th torque instruction value to be converted into corresponding motor driven voltage.
9. a kind of driving method, it is characterised in that including：
Adjustment unit exports regulated value according to the operating mode value of feedback of motor；Wherein, the regulated value is used to indicate that the operating mode is anti-
Whether feedback value exceeds the scope of correspondence operating mode limits value；
Superpositing unit is according to the regulated value, and the first command value to input is adjusted, and obtains the second command value；
Converting unit exports corresponding motor driven voltage according to second command value to motor.
10. driving method according to claim 9, it is characterised in that the adjustment unit includes：Speed is adjusted
At least one in device, voltage regulator, power governor and thermoregulator；The adjustment unit is anti-according to the operating mode of motor
Feedback value, exports regulated value, including：
If the operating mode value of feedback exceeds the scope of correspondence operating mode limits value, output value is the regulated value of non-zero；If the work
Condition value of feedback is without departing from the scope of correspondence operating mode limits value, the regulated value that output value is zero；
Wherein, the operating mode includes at least one in speed, voltage, power and temperature.
11. a kind of food blending machine, it is characterised in that including：Motor driven systems as described in claim any one of 1-8,
And the motor for driving stirring cutter head to rotate；
The motor is rotated under the control of the motor driven systems.
12. a kind of computer product, it is characterised in that including memory, processor and preserve in memory and can locate
The computer program run on reason device, when the program is executed by processor, realizes that the motor described in the claims 9 or 10 drives
Dynamic method.
13. a kind of non-transitorycomputer readable storage medium, it is characterised in that be stored thereon with computer program, the program
When being executed by processor, the driving method described in the claims 9 or 10 is realized.
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| CN201710284214.XA CN107040183A (en) | 2017-04-26 | 2017-04-26 | Motor driven systems, method and food blending machine |
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| CN201710284214.XA CN107040183A (en) | 2017-04-26 | 2017-04-26 | Motor driven systems, method and food blending machine |
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| CN109082756A (en) * | 2018-09-07 | 2018-12-25 | 苏州汇川技术有限公司 | Motor drive control method, equipment and loom |
| CN109924909A (en) * | 2017-12-19 | 2019-06-25 | 美的集团股份有限公司 | The control method and device of agitator for food-making and its driving motor |
| CN109924908A (en) * | 2017-12-19 | 2019-06-25 | 美的集团股份有限公司 | The control method and device of agitator for food-making and its driving motor |
| CN111162635A (en) * | 2020-01-17 | 2020-05-15 | 深圳市品罗创新实业有限公司 | Efficient heat dissipation motor for wall breaking machine and control method |
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