CN107370435A - Cooking machine permanent torque current control method - Google Patents
Cooking machine permanent torque current control method Download PDFInfo
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- CN107370435A CN107370435A CN201710764249.3A CN201710764249A CN107370435A CN 107370435 A CN107370435 A CN 107370435A CN 201710764249 A CN201710764249 A CN 201710764249A CN 107370435 A CN107370435 A CN 107370435A
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- motor
- control
- cooking machine
- permanent torque
- current
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
A kind of cooking machine permanent torque current control method, including：In the scheduled time after cooking machine start-up operation, cooking machine motor is controlled by permanent torque control mode, the given amplitude limit value of the q axles control electric current and the phase lock control unit of position-sensor-free unit that now the actual speed of cooking machine motor is given by permanent torque control unit carries out amplitude limit control and determined；After after the scheduled time, the motor of cooking machine is controlled using speed closed loop control.The method that the present invention is combined using permanent torque and speed closed loop control simultaneously; the quick rotating speed for improving motor; it is not high effectively to overcome traditional control method motor operation frequency; motor output torque is small; the deficiency that quickly can not quickly smash big, hard food materials, solves traditional control method when controlling cooking machine motor, it is necessary to increase with frequency order value; motor output torque slowly increases, and causes the technical problem of the controls such as step-out shutdown, excessively stream failure.
Description
Technical field
The present invention relates to cooking machine control technology field, more particularly to a kind of cooking machine permanent torque current control method.
Background technology
At present, family expenses cooking machine or Domestic fruit juice extractor, are typically controlled using brushed DC motor, due to there is brush electricity
Electromechanical brush has the deficiencies of service life is short, and noise is big and has spark, and efficiency is low, and running frequency immobilizes, and has brush electricity
Machine can be substituted by brushless electric machine sooner or later.And permanent-magnet brushless DC electric machine has efficiency high, brushless and running frequency can
Become so as to a variety of advantages such as save, be widely used in the multiple fields such as household electrical appliances, weaving, medical treatment, automobile, new energy.
Family expenses cooking machine is, it is necessary to which the material smashed is a lot, when the material such as fruit, radish, the ice cube that need to smash are isometric
Greatly, during hardness height etc., such as using traditional speed closed loop, the permanent magnetic brushless control method of current closed-loop, in startup stage,
The rotating speed of motor slowly rises, now the output torque of motor be by speed closed loop control, because motor speed is very low,
Electric current very little needed for the operation of motor low speed, now motor output torque very little, power output deficiency, easily causes cooking machine water
The situation that blade in cup is stuck occurs, and prevents the rotation of motor, causes the generation of motor control failure problem；If using
Open loop enters speed closed loop control after dragging to higher rotating speed, in the open loop dragging stage step-out of motor can be caused to shut down, mistake
The technical problems such as stream shutdown, cause control to fail.
The content of the invention
It is electromechanical in control cooking to solve prior art the invention provides a kind of cooking machine permanent torque current control method
, it is necessary to the increase of frequency order value during machine, motor output torque is set slowly to increase, so as to cause step-out shutdown, excessively stream etc.
Control failure problem.
To solve the above problems, as one aspect of the present invention, there is provided a kind of cooking machine permanent torque current control side
Method, including：In the scheduled time after cooking machine start-up operation, cooking machine is controlled by permanent torque control mode, now arranged
Q axles control electric current that the actual speed of machine is given by permanent torque control unit and, the phaselocked loop control of position-sensor-free unit
The given amplitude limit value of unit processed carries out amplitude limit control and determined；After after the scheduled time, using speed closed loop control to material
The motor of reason machine is controlled.
Preferably, control the operation phase in permanent torque, the running current of motor from dragging terminate after less first electricity
Stream quickly change to the second larger electric current, after stable operation for a period of time, then from the second curent change be the less 3rd
Electric current, subsequently enter the speed closed loop control stage.
Preferably, determined in speed closed loop control stage, the electric current of motor by speed closed loop control.
Preferably, the described method comprises the following steps：Step 1, within the t1 times, motor drags to frequency f1 from static,
Electric current is from 0 to Iq1 *；Step 2, within the t2 times, motor control current command value is from Iq1 *To Iq2 *Change；Step 3, in the t3 times
Interior, motor control current command value keeps Iq2 *It is constant；Step 4, within the t4 times, motor control current command value is from Iq2 *Arrive
Iq3 *Change；Step 5, within the t5 times, using speed closed loop control, with the passage of the raising of motor speed, and time, electricity
Electromechanical stream gradually steps up, and the size of its electric current is by speed closed loop control.
Preferably, in the step 2, by electric current from I by the way of chargingq1 *It is charged to Iq2 *, wherein,
Charging interval length determines by low pass filtered time constant T1,
Charging transmission function beS is Laplace transform operator,
It is discrete to turn toIts
In, Iq(0)*=Iq1*, Ti is the calculating cycle time, and n is natural number.
Preferably, in the step 4, by the way of electric discharge, by electric current from Iq2 *Discharge into Iq3 *, wherein,
Electric discharge transmission function beWherein, S is Laplace transform operator,
It is discrete to turn toIts
In, Iq(0) *=Iq2 *, Ti is the calculating cycle time, and T2 is low pass filtered time constant, and n is natural number.
The method that the present invention is combined using permanent torque and speed closed loop control simultaneously, the quick rotating speed for improving motor, has
Effect overcomes that traditional control method motor operation frequency is not high, and motor output torque is small, it is impossible to quickly that big, hard food materials are fast
The deficiency that speed is smashed, solves traditional control method when controlling cooking machine motor, it is necessary to the increase of frequency order value, electricity
Machine output torque slowly increases, and causes the technical problem of the controls such as step-out shutdown, excessively stream failure.
Brief description of the drawings
Fig. 1 is permanent torque control principle drawing；
Fig. 2 is phase lock control unit highest frequency amplitude limiting structure figure；
Fig. 3 is permanent torque control electric current control structure figure；
Fig. 4 is speed closed loop control schematic diagram；
Fig. 5 is control flow chart.
Embodiment
Embodiments of the invention are described in detail below in conjunction with accompanying drawing, but the present invention can be defined by the claims
Implement with the multitude of different ways of covering.
The operation for the method controlled motor that the present invention is combined using permanent torque control and speed closed loop control, in permanent torque
In the control stage, the running current of controlled motor, the maximum running frequency of controlled motor, make motor in high rotating speed, high current condition
Lower short time work, motor output torque is big, and power output is high.
In a preferred embodiment, the invention provides a kind of cooking machine permanent torque current control method, including：
In the scheduled time (such as 1 second) after cooking machine start-up operation, cooking machine is controlled by permanent torque control mode,
The q axles control electric current and the lock of position-sensor-free unit that now the actual speed of cooking machine is given by permanent torque control unit
The given amplitude limit value of phase ring control unit carries out amplitude limit control and determined；
After after the scheduled time, and then the motor of cooking machine is controlled using speed closed loop control.
In permanent torque control time, motor speed is not controlled by rotating speed command value, the size of motor actual speed by
The given q axle control electric currents I of permanent torque control unitq *The given amplitude limit with the phase lock control unit of position-sensor-free unit
Value F_PLL_MAX and F_PLL_MIN value control.
So, I is worked asq *When very big, frequency order value is not more than F_PLL_MAX and F_PLL_MIN value control, so as to
It can will not be risen moment with limiting motor rotating speed very high, overcome motor speed to be suddenly increased to motor caused by very high rotating speed huge
Big noise problem, material such as fruit, radish, the ice cube that quickly can be smashed needs are big in equal volume, hardness high food materials moment
Smash, be easy to the high speed closed loop operating of follow-up motor, reach the effect of broken wall.
It is highly preferred that control the operation phase in permanent torque, the running current of motor from dragging terminate after less first
Electric current quickly changes to the second larger electric current, after stable operation for a period of time, then from the second curent change be less the
Three electric currents, subsequently enter the speed closed loop control stage.In the speed closed loop control stage, the electric current of motor is true by speed closed loop control
It is fixed, so that in relatively low frequency, motor exports larger torque, the control effect of output power, quickly by food
Smash, be easy to follow-up high frequency operation with closed ring.
As shown in figure 1, within the very short time that cooking machine is started working, such as within 1 second, controlled, led to using permanent torque
Cross permanent torque control unit and give q axle control electric currents Iq *, Iq *With the actually detected q shaft currents I of feedbackqDifference input pi regulator
2.The output of pi regulator 2 is as q shaft voltage bid value Vq, d shaft current bid values Id *Pass through Id *=0 specifies, or by weak
The mode such as magnetic control and maximum moment control obtains.Id *With the actually detected d shaft currents I of feedbackdDifference be input to PI regulation
Device 3.The output of pi regulator 3 obtains α shaft voltage orders as d shaft voltage bid values Vd, Vd and Vq by coordinate transformation unit
Value V α and β shaft voltage bid value V β, V α and V β again by SVPWM control units obtain IPM the complementary variable duty ratio in 6 tunnels it
PWM ripples, for controlling the ON time of 6 IGBT upper and lower bridge arms inside IPM, the operation of controlled motor.
Current detecting unit detects the size of current for flowing through IPM, i.e. motor three-phase coil electric current Iu, Iv, Iw are flowed through in detection,
Iu, Iv, Iw obtain d/q shaft currents I by anti-coordinate transformation unitdWith Iq.Position-sensor-free unit passes through position-sensor-free
Principle, which obtains and exports the estimation that actual speed ω is motor, detects rotating speed, and as feedback rotating speed, ω passes through position deduction unit
The position signalling θ, θ for obtaining motor are input to changes in coordinates unit and anti-coordinate transformation unit, and the control vector as motor is believed
Number direction and electric current coordinate transform angle.
The input signal of position-sensor-free unit has auto-adaptive controling signal, synovial membrane observer signal, axis error signal
Deng, but the expression formula of proportional integration can be turned to, obtain the motor actual speed ω of output.Therefore, phaselocked loop control can be used
Unit processed, passing ratio/integration (PI) adjustment control obtain ω, as shown in Fig. 2 and PI regulation pass through amplitude limiting processing, can limit
F_PLL_MAX and F_PLL_MIN value, it is possible to limit output motor actual speed ω maximum, the rotating speed of limiting motor.
Preferably, it the described method comprises the following steps, stage, motor q shaft currents set-point such as Fig. 3 institutes controlled in permanent torque
Show：
Step 1, within the t1 times, motor drags to frequency f1 from static, and electric current is from 0 to Iq1 *；
Step 2, within the t2 times, motor control current command value is from Iq1 *To Iq2 *Change；It is highly preferred that the step 2
In, by electric current from I by the way of chargingq1 *It is charged to Iq2 *, wherein,
Charging interval length determines by low pass filtered time constant T1,
Charging transmission function beS is Laplace transform operator,
It is discrete to turn to
Wherein, Iq(0) *=Iq1 *, Ti is the calculating cycle time, and n is natural number.
Step 3, within the t3 times, motor control current command value keeps Iq2 *It is constant；
Step 4, within the t4 times, motor control current command value is from Iq2 *To Iq3 *Change；More preferentially, using electric discharge
Mode, by electric current from Iq2 *Discharge into Iq3 *, wherein,
Electric discharge transmission function beWherein, S is Laplace transform operator,
It is discrete to turn toIts
In, Iq(0) *=Iq2 *, Ti is the calculating cycle time, and T2 is low pass filtered time constant, and n is natural number.
Step 5, within the t5 times, using speed closed loop control, with the passage of the raising of motor speed, and time, electricity
Electromechanical stream gradually steps up, and the size of its electric current is by speed closed loop control.
Because the t3 times are extremely short, motor immediate current is very big, and under conditions of high current, output torque is very big for motor, output
Power is very big, and motor speed moment is very high, but the phaselocked loop maximum output frequency amplitude limitation of maximum speed as shown in Figure 2, leads to
Overregulate t3 times, t3 stage currents Iq2 *The size of amplitude and t3 stage motor operation frequencies is F_PLL_MAX value, so that it may
The effect of regulation motor operation.
After the above-mentioned permanent torque control working time terminates, cooking machine uses speed closed loop control as shown in Figure 4, passes through
By rotary speed setting value ω*And the difference of rotational speed omega is fed back, as the input of pi regulator 1, it exports Iq *With the actually detected q of feedback
Shaft current Iq difference input pi regulator 2, the output of pi regulator 2 is as q shaft voltage bid value Vq, other parts operation principle
Same Fig. 1, in the speed closed loop control stage, the actual speed of motor is by rotary speed setting value ω*Control, reach preferably control effect
Fruit, motor speed quickly raise, and reach high speed setting value such as 20000RPM operations, quickly to food materials broken wall.
Permanent torque controls and speed closed loop control flow is as shown in Figure 5.It is of the invention especially to be limited using permanent torque and phaselocked loop
The method of motor operating current and motor maximum running frequency processed is quickly by build is big, food materials of high rigidity are quickly smashed, especially
The permanent torque current command value of controlled motor changes according to certain rule so that on startup, motor is with great torque work
Make, the high-torque working time is short, IPM (or IGBT) the heating unobvious of controlled motor, effectively raises cooking machine broken wall
Effect in kind.
In addition, the method being combined simultaneously using permanent torque and speed closed loop control, the quick rotating speed for improving motor, are had
Effect overcomes that traditional control method motor operation frequency is not high, and motor output torque is small, it is impossible to quickly that big, hard food materials are fast
The deficiency that speed is smashed, solving traditional control method needs as the increase of frequency order value, motor output torque slowly increase,
The technical problem of the controls such as caused step-out shutdown, excessively stream failure.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (6)
- A kind of 1. cooking machine permanent torque current control method, it is characterised in that including：In the scheduled time after cooking machine start-up operation, cooking machine motor is controlled by permanent torque control mode, now arranged The q axles control electric current and the phaselocked loop of position-sensor-free unit that the actual speed of electromechanical machine is given by permanent torque control unit The given amplitude limit value of control unit carries out amplitude limit control and determined；After after the scheduled time, the motor of cooking machine is controlled using speed closed loop control.
- 2. cooking machine permanent torque current control method according to claim 1, it is characterised in that control and run in permanent torque Stage, the running current of motor quickly change to the second larger electric current from less first electric current dragged after terminating, treat steady After fixed operation a period of time, then from the second curent change it is less 3rd electric current, subsequently enters the speed closed loop control stage.
- 3. the cooking machine permanent torque current control method according to claim 1 and 2, it is characterised in that in speed closed loop control Stage processed, the electric current of motor are determined by speed closed loop control.
- 4. cooking machine permanent torque current control method according to claim 2, it is characterised in that methods described includes following Step：Step 1, within the t1 times, motor drags to frequency f1 from static, and electric current is from 0 to Iq1 *；Step 2, within the t2 times, motor control current command value is from Iq1 *To Iq2 *Change；Step 3, within the t3 times, motor control current command value keeps Iq2 *It is constant；Step 4, within the t4 times, motor control current command value is from Iq2 *To Iq3 *Change；Step 5, within the t5 times, using speed closed loop control, with the passage of the raising of motor speed, and time, motor electricity Stream is gradually stepped up, and the size of its electric current is determined by speed closed loop control.
- 5. cooking machine permanent torque current control method according to claim 4, it is characterised in that in the step 2, use The mode of charging is by electric current from Iq1 *It is charged to Iq2 *,Wherein,Charging interval length determines by low pass filtered time constant T1,Charging transmission function beS is Laplace transform operator,It is discrete to turn to Iσ(n) *=Iσ(n-1) *+(Iσ2 *-Iσ(n-1) *) * Ti/T1, wherein, Iq(0) *=Iq1 *, Ti is the calculating cycle time, n For natural number.
- 6. cooking machine permanent torque current control method according to claim 4, it is characterised in that in the step 4, use The mode of electric discharge, by electric current from Iq2 *Discharge into Iq3 *, wherein,Electric discharge transmission function beWherein, S is Laplace transform operator,It is discrete to turn to Iσ(n) *=Iσ(n-1) *+(Iσ3 *-Iσ(n-1) *) * Ti/T2, wherein, Iq(0) *=Iq2 *, Ti is the calculating cycle time, T2 is low pass filtered time constant, and n is natural number.
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| CN201710764249.3A CN107370435B (en) | 2017-08-30 | 2017-08-30 | Constant torque current control method for food processor |
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| CN201710764249.3A CN107370435B (en) | 2017-08-30 | 2017-08-30 | Constant torque current control method for food processor |
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Cited By (4)
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| CN110051240A (en) * | 2018-01-19 | 2019-07-26 | 广东美的生活电器制造有限公司 | Food processor and its whipping control device and method |
| WO2019169831A1 (en) * | 2018-03-07 | 2019-09-12 | 广东美的生活电器制造有限公司 | Food processor and rotational speed increase control method and apparatus therefor |
| CN110601623A (en) * | 2019-07-30 | 2019-12-20 | 广东工业大学 | Method for reducing DC bus voltage ripple amplitude of permanent magnet synchronous motor frequency converter |
| CN114903360A (en) * | 2021-02-08 | 2022-08-16 | 宁波方太厨具有限公司 | Load disturbance resisting method for food processor and food processor |
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