CN109924909A - The control method and device of agitator for food-making and its driving motor - Google Patents
The control method and device of agitator for food-making and its driving motor Download PDFInfo
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Abstract
The invention discloses the control method and device of a kind of agitator for food-making and its driving motor, driving motor is by Driven by inverter, and control method is the following steps are included: obtain the operating parameter of motor, and obtain the running parameter of inverter；According in the running parameter of the temperature of motor, power input to a machine and inverter at least one parameter and the corresponding limit value of at least one parameter be adjusted to obtain torque regulated value；And torque regulated value is added to the first torque limit value to obtain the second torque limit value；It obtains and is controlled according to the difference of the revolving speed of the rotational speed command value and motor of motor to obtain the first torque instruction value, the first torque instruction value is limited according to the second torque limit value to obtain the second torque instruction value；Inverter is controlled to control driving motor according to the second torque instruction value, so that the running parameter of the operating parameter of motor and inverter be limited in safe range, it is ensured that the safety of agitator for food-making.
Description
Technical field
Invention is related to living electric apparatus technical field, in particular to the control method of driving motor in a kind of agitator for food-making,
Control device, a kind of food of driving motor stir in a kind of non-transitorycomputer readable storage medium, a kind of agitator for food-making
Mix the motor driven systems and a kind of agitator for food-making in machine.
Background technique
The working principle of agitator for food-making is to drive hard cutter head high speed rotation using high-revolving motor and then blend
Food.As the direct sources of cutter head power, the performance of motor driven systems determines the effect of stirring.Agitator for food-making is usual
As a source of power using series excited machine, still, series excited machine noise is big, low efficiency, and due to the presence of brush, when work is had
Commutation spark be easy to cause carbon dust to gather, leads to the lost of life after working long hours.
In order to solve the problems, such as there are commutation spark, the relevant technologies propose it is a kind of using brshless DC motor or switch magnetic
The technical solution of the brushless motors such as motor is hindered, still, the problem is that, it is not right only with conventional method for control speed
Torque, electric current, power and temperature of motor and drive system etc. are controlled or are limited, and electrical machinery life is be easy to cause to shorten or produce
Raw security risk.
Summary of the invention
The present invention is directed to solve one of the technical problem in above-mentioned technology at least to a certain extent.For this purpose, of the invention
First purpose is to propose a kind of control method of driving motor in agitator for food-making, can guarantee the safe operation of motor,
Improve the safety of agitator for food-making.
Second object of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
Third object of the present invention is to propose a kind of control device of driving motor in agitator for food-making.
Fourth object of the present invention is to propose the motor driven systems in a kind of agitator for food-making.
5th purpose of the invention is to propose a kind of blender.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of control of driving motor in agitator for food-making
Method processed, the driving motor is by Driven by inverter, and the control method is the following steps are included: obtain the operation of the motor
Parameter, and obtain the running parameter of the inverter, wherein the operating parameter of the motor includes the revolving speed of the motor, institute
State motor temperature and the power input to a machine；According to the temperature of the motor, the power input to a machine and described
At least one parameter and the corresponding limit value of at least one described parameter in the running parameter of inverter are adjusted to obtain
Torque regulated value；The first torque limit value is obtained, and the torque regulated value is added to first torque limit value to obtain
Obtain the second torque limit value；The rotational speed command value of the motor is obtained, and according to the rotational speed command value of the motor and the electricity
The difference of the revolving speed of machine is controlled to obtain the first torque instruction value, and according to second torque limit value to described first turn
Square instruction value is limited to obtain the second torque instruction value；The inverter is controlled according to second torque instruction value
System is to control the driving motor.
The control method of driving motor in agitator for food-making according to an embodiment of the present invention obtains the operation ginseng of motor
Number, and the running parameter of inverter is obtained, joined according at least one of running parameter of the operating parameter of motor and inverter
The several and corresponding limit value of at least one parameter is adjusted to obtain torque regulated value, obtains the first torque limit value, and will
Torque regulated value is added to the first torque limit value to obtain the second torque limit value, obtains the rotational speed command value of motor, and root
It is controlled according to the difference of the revolving speed of the rotary speed instruction and motor of motor to obtain the first torque instruction value, and limited according to the second torque
Value processed to the first torque instruction value carry out limit value to obtain the second torque instruction value, according to the second torque instruction value to inverter into
Row control is to control driving motor.The control method of the embodiment of the present invention can be according to the operating parameter of motor as a result,
With the rotational speed command value of at least one parameter and motor in the running parameter of inverter, driving motor is controlled or is limited
System, so that the running parameter of the operating parameter of motor and inverter be limited in safe range, it is ensured that the peace of agitator for food-making
Quan Xing, and electrical machinery life is effectively prevent to shorten, promote the experience of user.Moreover, this method control structure is simple, is easily achieved,
It is at low cost.
In addition, in the agitator for food-making proposed according to that above embodiment of the present invention driving motor control method, can be with
With following additional technical characteristic:
According to one embodiment of present invention, the running parameter of the inverter may include the DC bus of the inverter
The input power of power device temperature and the inverter in voltage, the inverter.
According to one embodiment of present invention, at least one described parameter may include the temperature of the motor, the inversion
Power device temperature, the power input to a machine are defeated with the inverter in the DC bus-bar voltage of device, the inverter
Enter one in power, wherein join according to the work of the temperature of the motor, the power input to a machine and the inverter
At least one parameter and the corresponding limit value of at least one described parameter in number are adjusted to obtain torque regulated value, packet
Include: the difference of the DC bus-bar voltage of DC bus-bar voltage limit value and the inverter to the inverter is adjusted to obtain
First torque value；To the power input to a machine in the input power of the inverter a corresponding power limit with
The difference of the power is adjusted to obtain the second torque value；To the temperature difference of the temperature limit of the motor and the motor into
Row is adjusted to obtain third torque value；To the temperature limit and the power device temperature difference of power device in the inverter
It is adjusted to obtain the 4th torque value；Second torque value, the third torque value and the 4th torque value are added up
Afterwards, then first torque value is subtracted, to obtain the torque regulated value.
According to one embodiment of present invention, first torque instruction value is carried out according to second torque limit value
Limitation is to obtain the second torque instruction value, it may include: judge whether first torque instruction value is in the second torque limit
The positive and negative section of value processed；If it is, second torque instruction value is equal to first torque instruction value；If it is not, then institute
The second torque instruction value is stated equal to second torque limit value.
In order to achieve the above objectives, a kind of non-transitory computer-readable storage medium that second aspect of the present invention embodiment proposes
Matter is stored thereon with computer program, and the control method is realized when which is executed by processor.
A kind of non-transitorycomputer readable storage medium proposed according to embodiments of the present invention is stored thereon by operation
Computer program, realize agitator for food-making in driving motor control method, can be according to the operating parameter and inversion of motor
The rotary speed instruction of at least one parameter and motor in the running parameter of device, controls driving motor or is limited, thus
The running parameter of the operating parameter of motor and inverter is limited in safe range, it is ensured that the safety of agitator for food-making, and
It effectively prevent electrical machinery life to shorten, promotes the experience of user.
In order to achieve the above objectives, the control of driving motor in a kind of agitator for food-making that third aspect present invention embodiment proposes
Device processed, for the driving motor by Driven by inverter, the control device includes: the first acquisition module, described for obtaining
The operating parameter of motor, wherein the operating parameter of the motor includes the revolving speed of the motor, the temperature of the motor and described
Power input to a machine；Second obtains module, for obtaining the running parameter of the inverter；Adjustor module is used for basis
At least one parameter and institute in the running parameter of the temperature of the motor, the power input to a machine and the inverter
The corresponding limit value of at least one parameter is stated to be adjusted to obtain torque regulated value；Torque obtains module, for obtaining first turn
Square limits value；Laminating module, for the torque regulated value to be added to first torque limit value to obtain the second torque
Limits value；Rotary speed instruction obtains module, for obtaining the rotational speed command value of the motor；Rotational speed control module, for according to institute
The difference for stating the rotational speed command value of motor and the revolving speed of the motor is controlled to obtain the first torque instruction value；Torque limit mould
Block, for being limited first torque instruction value to obtain the second torque instruction according to second torque limit value
Value；Torque control module, for being controlled the inverter to the driving electricity according to second torque instruction value
Machine is controlled.
The control device of driving motor in the agitator for food-making proposed according to embodiments of the present invention obtains module by first
Obtain the operating parameter of motor, second obtains the running parameter that module obtains inverter, adjustor module according to the temperature of motor,
At least one parameter and the corresponding limit value of at least one parameter in the running parameter of power input to a machine and inverter into
Row is adjusted to obtain torque regulated value, and torque obtains module and obtains the first torque limit value, and laminating module folds torque regulated value
The first torque limit value is added to obtain the second torque limit value, rotary speed instruction obtains the rotational speed command value that module obtains motor,
Rotational speed control module is controlled according to the difference of the rotational speed command value of motor and the revolving speed of motor to obtain the first torque instruction value,
Torque restriction mod-ule limits the first torque instruction according to the second torque limit value to obtain the second torque instruction value, torque
Control module controls to control driving motor inverter according to the second torque instruction value.The present invention is real as a result,
The control device for applying example can be according at least one parameter and electricity in the operating parameter of motor and the operating parameter of inverter
The rotational speed command value of machine carries out control or limit value to driving motor, so that the work of the operating parameter of motor and inverter be joined
Number limits in safe range, it is ensured that the safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten, promote the body of user
It tests.Moreover, the device control structure is simple, is easily achieved, is at low cost.
In addition, in the agitator for food-making proposed according to that above embodiment of the present invention driving motor control device, can be with
With following additional technical characteristic:
According to one embodiment of present invention, the running parameter of the inverter may include the DC bus of the inverter
The input power of power device temperature and the inverter in voltage, the inverter.
According to one embodiment of present invention, at least one described parameter may include the temperature of the motor, the inversion
Power device temperature, the power input to a machine are defeated with the inverter in the DC bus-bar voltage of device, the inverter
Enter one in power, wherein the adjustor module includes: the first adjuster, for the DC bus to the inverter
The difference of the DC bus-bar voltage of voltage limits and the inverter is adjusted to obtain the first torque value；Second adjuster is used
In to the power input to a machine in the input power of the inverter a corresponding power limit and the power it
Difference is adjusted to obtain the second torque value；Third adjuster, the temperature for temperature limit and the motor to the motor
The difference of degree is adjusted to obtain third torque value；4th adjuster is limited for the temperature to power device in the inverter
Value and the power device temperature difference are adjusted to obtain the 4th torque value；Computing unit is used for second torque
After value, the third torque value and the 4th torque value are cumulative, then first torque value is subtracted, to obtain the torque tune
Section value.
According to one embodiment of present invention, the torque restriction mod-ule according to second torque limit value to described
First torque instruction value can be further used for when being limited, and judge whether first torque instruction value is in described second turn
The positive and negative section of square limits value；If it is, second torque instruction value is equal to first torque instruction value；If not,
Then second torque instruction value is equal to second torque limit value.
In order to achieve the above objectives, the motor driven system in a kind of agitator for food-making that fourth aspect present invention embodiment proposes
System, the control device including the driving motor.
Motor driven systems in agitator for food-making according to an embodiment of the present invention pass through driving motor in agitator for food-making
Control device, can be according at least one parameter and motor in the operating parameter of motor and the running parameter of inverter
Rotational speed command value is controlled or is limited to driving motor, so that the running parameter of the operating parameter of motor and inverter be limited
In safe range, it is ensured that the safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten, promote the experience of user.
In order to achieve the above objectives, a kind of agitator for food-making that fifth aspect present invention embodiment proposes, including the electricity
Machine drive system.
Agitator for food-making according to an embodiment of the present invention being capable of basis by the motor driven systems in agitator for food-making
The rotational speed command value of at least one parameter and motor in the operating parameter of motor and the running parameter of inverter is to driving electricity
Machine is controlled or is limited, so that the running parameter of the operating parameter of motor and inverter be limited in safe range, it is ensured that
The safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten, promote the experience of user.
Detailed description of the invention
Fig. 1 is the flow chart according to the control method of driving motor in the agitator for food-making of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram according to the motor driven systems of one embodiment of the invention；
Fig. 3 is the schematic diagram according to the control method of driving motor in the agitator for food-making of one embodiment of the invention；
Fig. 4 is the control device block diagram according to driving motor in the agitator for food-making of the embodiment of the present invention；
Fig. 5 is the adjustor module according to the control device of driving motor in the agitator for food-making of one embodiment of the invention
Block diagram；
Fig. 6 is the block diagram according to the motor driven systems in the agitator for food-making of the embodiment of the present invention；And
Fig. 7 is the block diagram according to the agitator for food-making of the embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the control method of driving motor, food in the agitator for food-making to describe proposition of the embodiment of the present invention
The control device of driving motor, motor driven systems and agitator for food-making in agitator for food-making in object blender.Wherein, the party
Method can carry out operating condition limitation to the motor driven systems of work under speed control mode.
Fig. 1 is the flow chart according to the control method of driving motor in the agitator for food-making of the embodiment of the present invention.Wherein, it drives
Dynamic motor is by Driven by inverter, specifically, as shown in Fig. 2, line voltage obtains DC bus-bar voltage Vdc_ after over commutation
Fdb (rectifying part is not shown in the figure), DC bus-bar voltage Vdc_Fdb are the voltage of inverter input power, and inverter passes through
DC voltage is become exchanging electricity output to the i.e. driving motor operation of motor by internal power device.More specifically, electrical power is by inverse
The input power for becoming device inputs inverter, and electrical power is input to motor again by inverter, and motor converts machinery for electrical power again
Power output.
Wherein, motor can be permanent magnet synchronous motor (comprising brshless DC motor), induction machine, switched reluctance machines etc.
Any motor for using Driven by inverter.
As shown in Figure 1, in the agitator for food-making of the embodiment of the present invention driving motor control method, comprising the following steps:
S1: obtaining the operating parameter of motor, and obtains the running parameter of inverter.Wherein, the operating parameter of motor includes
The revolving speed Spd_Fdb of motor, the temperature Motor_Thr_Fdb of motor and power input to a machine Motor_Pow_Fdb.
According to one embodiment of present invention, the running parameter of inverter includes the DC bus-bar voltage Vdc_ of inverter
The input power Inverter_Pow_Fdb of power device temperature Inverter_Thr_Fdb and inverter in Fdb, inverter.
Wherein, the DC bus-bar voltage Vdc_Fdb of inverter can be detected by the sensor being arranged on inverter
It obtains；Power input to a machine Motor_Pow_Fdb can be calculated and be obtained by the voltage of input motor and the electric current of input motor；It is inverse
The input power Inverter_Pow_Fdb for becoming device can be by voltage, that is, DC bus-bar voltage Vdc_Fdb of input inverter and input
The electric current of inverter, which calculates, to be obtained；The temperature Motor_Thr_Fdb of motor can detect the stator winding temperature of motor by sensor
Degree, bearing temperature or skin temperature obtain, and can also be obtained by software estimation；Power device temperature Inverter_ in inverter
Thr_Fdb can be detected to obtain or calculate by software by sensor and be obtained.
S2: according at least one parameter in the running parameter of the temperature of motor, power input to a machine and inverter with
And the corresponding limit value of at least one parameter is adjusted to obtain torque regulated value.
That is, can be according to a corresponding limit value in the operating parameter of motor and the running parameter of inverter
Be adjusted obtain torque regulated value, can also according in the operating parameter of motor and the running parameter of inverter it is multiple with it is multiple
The corresponding limit value of parameter is adjusted to obtain torque regulated value, for example, can be according to the operating parameter of motor and should
The corresponding limit value of parameter is adjusted to obtain torque regulated value, for another example, can be according to the operating parameter of motor and one
The corresponding limit value of running parameter of the corresponding limit value of the operating parameter of the running parameter of inverter and the motor and inverter into
Row is adjusted to obtain torque regulated value, for another example, can be according to the operating parameter of multiple motors and the running parameter of multiple inverters
And the corresponding limit value of operating parameter of multiple motors and the corresponding limit value of running parameter of multiple inverters are adjusted to obtain
Obtain torque regulated value, it can be seen that, it is not interrelated between the operating parameter of motor and the running parameter of inverter, it can arbitrarily select
Parameter is selected, practicability is improved.
Wherein, the operating parameter of motor and the corresponding limit value of the running parameter of inverter can be set in advance.
According to one embodiment of present invention, at least one parameter includes temperature Motor_Thr_Fdb, the inverter of motor
DC bus-bar voltage Vdc_Fdb, power device temperature Inverter_Thr_Fdb, power input to a machine in inverter
One in the input power Inverter_Pow_Fdb of Motor_Pow_Fdb and inverter, wherein according to the temperature of motor
At least one parameter in the running parameter of Motor_Thr_Fdb, power input to a machine Motor_Pow_Fdb and inverter with
And the corresponding limit value of at least one parameter is adjusted to obtain torque regulated value, comprising: to the DC bus-bar voltage of inverter
The difference of the DC bus-bar voltage Vdc_Fdb of Vdc_Lim limit value and inverter is adjusted to obtain the first torque value；To motor
Input power Motor_Pow_Fdb and a corresponding power limit in the input power Inverter_Pow_Fdb of inverter
And the difference of the power is adjusted to obtain the second torque value, can to power input to a machine limit value Motor_Pow_Lim with
The difference of power input to a machine Motor_Pow_Fdb is adjusted to obtain the second torque value, can also be to the input work of inverter
The difference of the input power Inverter_Pow_Fdb of rate limit value Inverter_Pow_Lim and inverter is adjusted to obtain
Two torque values；The difference of the temperature Motor_Thr_Fdb of temperature limit Motor_Thr_Lim and motor to motor be adjusted with
Obtain third torque value；To the temperature limit Inverter_Thr_Lim and power device temperature of power device in inverter
The difference of Inverter_Thr_Fdb is adjusted to obtain the 4th torque value；By the second torque value, third torque value and the 4th turn
After square value is cumulative, then the first torque value is subtracted, to obtain torque regulated value.
It should be noted that when motor temperature Motor_Thr_Fdb, power input to a machine Motor_Pow_Fdb and
The torque of acquisition is adjusted at least one parameter in the running parameter of inverter when being in the corresponding limit value section of the parameter
Value is 0, when the running parameter of the temperature Motor_Thr_Fdb of motor, power input to a machine Motor_Pow_Fdb and inverter
In at least one parameter the torque value of acquisition is adjusted when being not in the corresponding limit value section of the parameter is not 0.Wherein, it limits
Being worth section can be the region between the lowest threshold of limit value and the highest threshold value of limit value.
For example, if the temperature Motor_Thr_Fdb of motor is in the section temperature limit Motor_Thr_Lim of motor
Interior, i.e. the temperature Motor_Thr_Fdb of motor is less than the temperature limit Motor_Thr_Lim of motor, then to the temperature of motor
The third torque value that output is adjusted in the difference of the temperature limit Motor_Thr_Lim of Motor_Thr_Fdb and motor is 0, such as
The temperature Motor_Thr_Fdb of fruit motor is not in the section temperature limit Motor_Thr_Lim of motor, i.e. the temperature of motor
Motor_Thr_Fdb is greater than the temperature limit Motor_Thr_Lim of motor, then to the temperature Motor_Thr_Fdb of motor and electricity
The third torque value that output is adjusted in the difference of the temperature limit Motor_Thr_Lim of machine is nonzero value.
Further, according to the DC bus-bar voltage Vdc_Fdb of the temperature Motor_Thr_Fdb of motor, inverter, inverse
Become the input of power device temperature Inverter_Thr_Fdb, power input to a machine Motor_Pow_Fdb and inverter in device
The DC bus electricity of the temperature limit Motor_Thr_Lim of power Inverter_Pow_Fdb and corresponding motor, inverter
Temperature limit Inverter_Thr_Lim, the power input to a machine limit value of power device in pressure limit value Vdc_Lim, inverter
After the input power limit value Inverter_Pow_Lim of Motor_Pow_Lim and inverter is adjusted, first turn can get
Square value, the second torque value, third torque value and the 4th torque value tire out the second torque value, third torque value and the 4th torque value
After adding, then the first torque value is subtracted, to obtain torque regulated value.
Wherein, it can be realized by the adjustable structures such as pi regulator or P adjuster between parameter limit value corresponding with parameter
Difference be adjusted.
Thereby, it is possible to guarantee the input power of inverter limit in safe range, thus protect inverter, motor and
The external input route and equipment of agitator for food-making guarantee the limit temperature of inverter and motor in safe range, thus really
Safety problem will not be caused because of overheat by protecting power device and motor in inverter.Exceed in the supply voltage of inverter normal
When range, moreover it is possible to by making supply voltage restore normal or not continue to deteriorate motor control, further increase agitator for food-making
Safety, promote the experience of user.
S3: the first torque limit value Trq_Lim1 is obtained, and torque regulated value is added to the first torque limit value Trq_
Lim1 is to obtain the second torque limit value Trq_Lim2.
S4: obtaining the rotational speed command value Spd_Ref of motor, and according to the rotational speed command value Spd_Ref of motor and motor
The difference of revolving speed Spd_Fdb is controlled to obtain the first torque instruction value Trq_Ref1, and according to the second torque limit value Trq_
Lim2 limits to obtain the second torque instruction value Trq_Ref2 the first torque instruction value Trq_Ref1.
According to one embodiment of present invention, according to the second torque limit value Trq_Lim2 to the first torque instruction value Trq_
Ref1 is limited to obtain the second torque instruction value Trq_Ref2, comprising: whether judges the first torque instruction value Trq_Ref1
Positive and negative section in the second torque limit value Trq_Lim2；If it is, the second torque instruction value Trq_Ref2 is equal to first
Torque instruction value Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the second torque limit value Trq_Lim2.
Wherein, the positive and negative section of the second torque limit value Trq_Lim2 is the lowest threshold and highest of the second torque limit value Trq_Lim2
Region between threshold value.
That is, by judging whether the first torque instruction Trq_Ref1 is greater than the second torque limit value Trq_Lim2's
Lowest threshold and less than the highest threshold value of the second torque limit value Trq_Lim2, if it is, judging the first torque instruction value
Trq_Ref1 is in the positive and negative section of the second torque limit value Trq_Lim2, and the second torque instruction value Trq_Ref2 is equal to first turn
Square instruction value Trq_Ref1, if it is not, then judging that the first torque instruction value Trq_Ref1 is not in the second torque limit value Trq_
The positive and negative section of Lim2, the second torque instruction value Trq_Ref2 are equal to the second torque limit value Trq_Lim2.
Wherein, the rotational speed command value Spd_Ref of motor can be determined according to food materials in agitator for food-making and operating mode.
S5: inverter is controlled to control driving motor according to the second torque instruction value Trq_Ref2.
That is, the second torque instruction value Trq_Ref2 to be converted to the voltage of driving motor, and will by inverter
The voltage input driving motor of driving motor, to control driving motor.Wherein, Current Feedback Control or torque can be passed through
The voltage of driving motor is adjusted in the modes such as control, so that the output torque of driving motor meets the second torque instruction value
Trq_Ref2。
A specific embodiment according to the present invention, as shown in figure 3, electricity operation on agitator for food-making, obtains the temperature of motor
Spend Motor_Thr_Fdb, the DC bus-bar voltage Vdc_Fdb of inverter, power device temperature Inverter_Thr_ in inverter
Fdb and power input to a machine Motor_Pow_Fdb obtains four torque values according to the corresponding limit value of four kinds of parameters, such as
Four kinds of parameters of fruit are in its corresponding limits value section, then exporting four torque values is 0, at this point, torque regulated value is to first
Torque limit value Trq_Lim1 is not played regulatory role, and the second torque limit value Trq_Lim2 is equal to the first torque limit value Trq_
Lim1 determines the rotational speed command value Spd_Ref of motor according to food in agitator for food-making, further according to the rotational speed command value of motor
The difference of the revolving speed Spd_Fdb of Spd_Ref and motor is controlled, and is obtained the first torque instruction value Trq_Ref1, is judged first turn
Whether square instruction value Trq_Ref1 is in the positive and negative section of the second torque limit value Trq_Lim2；If it is, the second torque refers to
Value Trq_Ref2 is enabled to be equal to the first torque instruction value Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the
Then two torque limit value Trq_Lim2 control in turn inverter according to the second determining torque instruction value Trq_Ref2
Driving motor is controlled.
If any one parameter is not in its corresponding limits value section in four kinds of parameters, at least exporting one is not
0 torque value, at least one be not 0 torque value be overlapped obtain torque regulated value, at this point, torque regulated value is to first turn
Square limits value Trq_Lim1, which is adjusted, obtains the second torque limit value Trq_Lim2, determines electricity according to food in agitator for food-making
The difference of the rotational speed command value Spd_Ref of machine, the revolving speed Spd_Fdb of rotational speed command value Spd_Ref and motor further according to motor into
Row control, obtains the first torque instruction value Trq_Ref1, judges whether the first torque instruction value Trq_Ref1 is in the second torque
The positive and negative section of limits value Trq_Lim2；If it is, the second torque instruction value Trq_Ref2 is equal to the first torque instruction value
Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the second torque limit value Trq_Lim2, then according to really
The second fixed torque instruction value Trq_Ref2 control to inverter and then be controlled driving motor.
In conclusion in agitator for food-making according to an embodiment of the present invention driving motor control method, obtain motor
Operating parameter, and obtain the running parameter of inverter, according in the running parameter of the operating parameter of motor and inverter extremely
A few parameter and the corresponding limit value of at least one parameter are adjusted to obtain torque regulated value, obtain the first torque limit
Value, and torque regulated value is added to the first torque limit value to obtain the second torque limit value, obtain the rotary speed instruction of motor
Value, and being controlled according to the difference of the revolving speed of the rotary speed instruction and motor of motor to obtain the first torque instruction value, and according to the
Two torque limit values carry out limit value to obtain the second torque instruction value, according to the second torque instruction value pair to the first torque instruction value
Inverter is controlled to control driving motor.The control method of the embodiment of the present invention can be according to motor as a result,
The rotational speed command value of at least one parameter and motor in the running parameter of operating parameter and inverter carries out driving motor
Control or limitation, so that the running parameter of the operating parameter of motor and inverter be limited in safe range, it is ensured that food stirs
The safety of machine is mixed, and electrical machinery life is effectively prevent to shorten, promotes the experience of user.Moreover, this method control structure is simple, easy
It is at low cost in realization.The method of the embodiment of the present invention also ensures that the input power of inverter limits in safe range, thus
The external input route and equipment of inverter, motor and agitator for food-making are protected, guarantees the limit temperature of inverter and motor
In safe range, so that it is guaranteed that power device and motor will not cause safety problem because of overheat in inverter.In inversion
When the supply voltage of device exceeds normal range (NR), moreover it is possible to by making supply voltage restore normal or not continue to deteriorate motor control,
The safety for further increasing agitator for food-making promotes the experience of user.
The embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, be stored thereon with computer journey
Sequence, the control method which realizes when being executed by processor.
A kind of non-transitorycomputer readable storage medium proposed according to embodiments of the present invention is stored thereon by operation
Computer program, realize agitator for food-making in driving motor control method, can be according to the operating parameter and inversion of motor
The rotary speed instruction of at least one parameter and motor in the running parameter of device, controls driving motor or is limited, thus
The running parameter of the operating parameter of motor and inverter is limited in safe range, it is ensured that the safety of agitator for food-making, and
It effectively prevent electrical machinery life to shorten, promotes the experience of user.
Fig. 4 is the control device block diagram according to driving motor in the agitator for food-making of the embodiment of the present invention.Such as Fig. 4
Shown, the control device of driving motor includes: that the first acquisition module 10, second obtains in the agitator for food-making of the embodiment of the present invention
Module 20, adjustor module 30, torque obtain module 40, laminating module 50, rotary speed instruction and obtain module 60, rotational speed control module
70, torque restriction mod-ule 80 and torque control module 90.
Wherein, the first acquisition module 10 is used to obtain the operating parameter of motor, wherein the operating parameter of motor includes motor
Revolving speed Spd_Fdb, motor temperature Motor_Thr_Fdb and power input to a machine Motor_Pow_Fdb；Second obtains mould
Block 20 is used to obtain the running parameter of inverter；Adjustor module 30 is used for temperature Motor_Thr_Fdb, motor according to motor
Input power Motor_Pow_Fdb and inverter running parameter at least one parameter and at least one parameter it is corresponding
Limit value be adjusted to obtain torque regulated value；Torque obtains module 40 for obtaining the first torque limit value Trq_Lim1；
Laminating module 50 is used to torque regulated value being added to the first torque limit value Trq_Lim1 to obtain the second torque limit value
Trq_Lim2；Rotary speed instruction obtains the rotational speed command value Spd_Ref that module 60 is used to obtain motor；Rotational speed control module 70 is used for
It is controlled according to the difference of the rotational speed command value Spd_Ref of motor and the revolving speed Spd_Fdb of motor to obtain the first torque instruction
Value Trq_Ref1；Torque restriction mod-ule 80 is used for according to the second torque limit value Trq_Lim2 to the first torque instruction value Trq_
Ref1 is limited to obtain the second torque instruction value Trq_Ref2；Torque control module 90 is used for according to the second torque instruction value
Trq_Ref2 controls to control driving motor inverter.
According to one embodiment of present invention, the running parameter of inverter includes the DC bus-bar voltage Vdc_ of inverter
The input power Inverter_Pow_Fdb of power device temperature Inverter_Thr_Fdb and inverter in Fdb, inverter.
According to one embodiment of present invention, at least one parameter includes temperature Motor_Thr_Fdb, the inverter of motor
DC bus-bar voltage Vdc_Fdb, power device temperature Inverter_Thr_Fdb, power input to a machine in inverter
One in the input power Inverter_Pow_Fdb of Motor_Pow_Fdb and inverter, wherein as shown in figure 5, adjuster
Module includes: the first adjuster 31, the second adjuster 32, third adjuster 33, the 4th adjuster 34 and computing unit 35.
Wherein, the first adjuster 31 is used for the DC bus-bar voltage limit value Vdc_Lim of inverter and the direct current of inverter
The difference of busbar voltage Vdc_Fdb is adjusted to obtain the first torque value；Second adjuster 32 is used for power input to a machine
Motor_Pow_Fdb in the input power Inverter_Pow_Fdb of inverter a corresponding power limit and the power
Difference be adjusted to obtain the second torque value, can be to the defeated of power input to a machine limit value Motor_Pow_Lim and motor
The difference for entering power Motor_Pow_Fdb is adjusted to obtain the second torque value, can also input power limit value to inverter
The difference of the input power Inverter_Pow_Fdb of Inverter_Pow_Lim and inverter is adjusted to obtain the second torque
Value；Third adjuster 33 is used for the difference of the temperature Motor_Thr_Fdb to the temperature limit Motor_Thr_Lim and motor of motor
It is adjusted to obtain third torque value；4th adjuster 34 is used for the temperature limit to power device in inverter
The difference of Inverter_Thr_Lim and power device temperature Inverter_Thr_Fdb are adjusted to obtain the 4th torque value；Meter
After unit 35 is calculated for the second torque value, third torque value and the 4th torque value to add up, then the first torque value is subtracted, to obtain
Torque regulated value.Wherein, the first adjuster 31, the second adjuster 32, third adjuster 33 and the 4th adjuster 34 can be PI tune
Save device or P adjuster etc..
It should be noted that when motor temperature Motor_Thr_Fdb, power input to a machine Motor_Pow_Fdb and
The torque of acquisition is adjusted at least one parameter in the running parameter of inverter when being in the corresponding limit value section of the parameter
Value is 0, when the running parameter of the temperature Motor_Thr_Fdb of motor, power input to a machine Motor_Pow_Fdb and inverter
In at least one parameter the torque value of acquisition is adjusted when being not in the corresponding limit value section of the parameter is not 0.Wherein, it limits
Being worth section can be the region between the lowest threshold of limit value and the highest threshold value of limit value.
For example, if the temperature Motor_Thr_Fdb of motor is in the section temperature limit Motor_Thr_Lim of motor
Interior, i.e. the temperature Motor_Thr_Fdb of motor is less than the temperature limit Motor_Thr_Lim of motor, then to the temperature of motor
The third torque value that output is adjusted in the difference of the temperature limit Motor_Thr_Lim of Motor_Thr_Fdb and motor is 0, such as
The temperature Motor_Thr_Fdb of fruit motor is not in the section temperature limit Motor_Thr_Lim of motor, i.e. the temperature of motor
Motor_Thr_Fdb is greater than the temperature limit Motor_Thr_Lim of motor, then to the temperature Motor_Thr_Fdb of motor and electricity
The third torque value that output is adjusted in the difference of the temperature limit Motor_Thr_Lim of machine is nonzero value.
Further, according to the DC bus-bar voltage Vdc_Fdb of the temperature Motor_Thr_Fdb of motor, inverter, inverse
Become the input of power device temperature Inverter_Thr_Fdb, power input to a machine Motor_Pow_Fdb and inverter in device
The DC bus electricity of the temperature limit Motor_Thr_Lim of power Inverter_Pow_Fdb and corresponding motor, inverter
Temperature limit Inverter_Thr_Lim, the power input to a machine limit value of power device in pressure limit value Vdc_Lim, inverter
After the input power limit value Inverter_Pow_Lim of Motor_Pow_Lim and inverter is adjusted, first turn can get
Square value, the second torque value, third torque value and the 4th torque value tire out the second torque value, third torque value and the 4th torque value
After adding, then the first torque value is subtracted, to obtain torque regulated value.
According to one embodiment of present invention, torque restriction mod-ule 80 according to the second torque limit value Trq_Lim2 to
One torque instruction value Trq_Ref1 is further used for when being limited, and judges whether the first torque instruction value Trq_Ref1 is in
The positive and negative section of two torque limit value Trq_Lim2；Refer to if it is, the second torque instruction value Trq_Ref2 is equal to the first torque
Enable value Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the second torque limit value Trq_Lim2.Wherein,
The lowest threshold and highest threshold value that the positive and negative section of second torque limit value Trq_Lim2 is the second torque limit value Trq_Lim2
Between region.
That is, by judging whether the first torque instruction Trq_Ref1 is greater than the second torque limit value Trq_Lim2's
Lowest threshold and less than the highest threshold value of the second torque limit value Trq_Lim2, if it is, judging the first torque instruction value
Trq_Ref1 is in the positive and negative section of the second torque limit value Trq_Lim2, and the second torque instruction value Trq_Ref2 is equal to first turn
Square instruction value Trq_Ref1, if it is not, then judging that the first torque instruction value Trq_Ref1 is not in the second torque limit value Trq_
The positive and negative section of Lim2, the second torque instruction value Trq_Ref2 are equal to the second torque limit value Trq_Lim2.
Wherein, the rotational speed command value Spd_Ref of motor can be determined according to food materials in agitator for food-making and operating mode.
A specific embodiment according to the present invention, electricity operation on agitator for food-making, obtains the temperature Motor_ of motor
Thr_Fdb, the DC bus-bar voltage Vdc_Fdb of inverter, power device temperature Inverter_Thr_Fdb and electricity in inverter
The input power Motor_Pow_Fdb of machine obtains four torque values according to the corresponding limit value of four kinds of parameters, if four seed ginsengs
Number is in its corresponding limits value section, then exporting four torque values is 0, at this point, torque regulated value is to the first torque limit
Value Trq_Lim1 is not played regulatory role, and the second torque limit value Trq_Lim2 is equal to the first torque limit value Trq_Lim1, according to
Food determines the rotational speed command value Spd_Ref of motor in agitator for food-making, rotational speed command value Spd_Ref and electricity further according to motor
The difference of the revolving speed Spd_Fdb of machine is controlled, and is obtained the first torque instruction value Trq_Ref1, is judged the first torque instruction value Trq_
Whether Ref1 is in the positive and negative section of the second torque limit value Trq_Lim2；If it is, the second torque instruction value Trq_Ref2
Equal to the first torque instruction value Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the second torque limit value
Trq_Lim2, then according to the second determining torque instruction value Trq_Ref2 to inverter control so as to driving motor into
Row control.
If any one parameter is not in its corresponding limits value section in four kinds of parameters, at least exporting one is not
0 torque value, at least one be not 0 torque value be overlapped obtain torque regulated value, at this point, torque regulated value is to first turn
Square limits value Trq_Lim1, which is adjusted, obtains the second torque limit value Trq_Lim2, determines electricity according to food in agitator for food-making
The difference of the rotational speed command value Spd_Ref of machine, the revolving speed Spd_Fdb of rotational speed command value Spd_Ref and motor further according to motor into
Row control, obtains the first torque instruction value Trq_Ref1, judges whether the first torque instruction value Trq_Ref1 is in the second torque
The positive and negative section of limits value Trq_Lim2；If it is, the second torque instruction value Trq_Ref2 is equal to the first torque instruction value
Trq_Ref1；If it is not, then the second torque instruction value Trq_Ref2 is equal to the second torque limit value Trq_Lim2, then according to really
The second fixed torque instruction value Trq_Ref2 control to inverter and then be controlled driving motor.
In conclusion in the agitator for food-making proposed according to embodiments of the present invention driving motor control device, pass through
One obtain module obtain motor operating parameter, second obtain module obtain inverter running parameter, adjustor module according to
At least one parameter and at least one parameter pair in the running parameter of the temperature of motor, power input to a machine and inverter
The limit value answered is adjusted to obtain torque regulated value, and torque obtains module and obtains the first torque limit value, and laminating module will turn
Square regulated value is added to the first torque limit value to obtain the second torque limit value, and rotary speed instruction obtains module and obtains turning for motor
Fast instruction value, rotational speed control module are controlled according to the difference of the rotational speed command value of motor and the revolving speed of motor to obtain first turn
Square instruction value, torque restriction mod-ule limit the first torque instruction according to the second torque limit value to obtain the second torque and refer to
Value is enabled, torque control module controls to control driving motor inverter according to the second torque instruction value.As a result,
The control device of the embodiment of the present invention can join according at least one of the operating parameter of motor and operating parameter of inverter
Several and motor rotational speed command value, controls driving motor or is limited, thus by the operating parameter and inverter of motor
Running parameter limit in safe range, it is ensured that the safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten is promoted
The experience of user.Moreover, the device control structure is simple, is easily achieved, is at low cost.
The embodiment of the present invention also proposed the motor driven systems in a kind of agitator for food-making.
Fig. 6 is the block diagram according to the motor driven systems in the agitator for food-making of the embodiment of the present invention.Such as Fig. 6 institute
Show, the motor driven systems 200 in agitator for food-making include the control device 100 of driving motor in agitator for food-making.
Motor driven systems in agitator for food-making according to an embodiment of the present invention pass through driving motor in agitator for food-making
Control device, can be according at least one parameter and motor in the operating parameter of motor and the running parameter of inverter
Rotational speed command value is controlled or is limited to driving motor, so that the running parameter of the operating parameter of motor and inverter be limited
In safe range, it is ensured that the safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten, promote the experience of user.
The embodiment of the present invention also proposed a kind of agitator for food-making.
Fig. 7 is the block diagram according to the agitator for food-making of the embodiment of the present invention.As shown in fig. 7, agitator for food-making 300
Including the motor driven systems 200 in agitator for food-making.
Agitator for food-making according to an embodiment of the present invention being capable of basis by the motor driven systems in agitator for food-making
The rotational speed command value of at least one parameter and motor in the operating parameter of motor and the running parameter of inverter is to driving electricity
Machine is controlled or is limited, so that the running parameter of the operating parameter of motor and inverter be limited in safe range, it is ensured that
The safety of agitator for food-making, and electrical machinery life is effectively prevent to shorten, promote the experience of user.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (11)
1. the control method of driving motor in a kind of agitator for food-making, which is characterized in that the driving motor passes through inverter driving
It is dynamic, the control method the following steps are included:
The operating parameter of the motor is obtained, and obtains the running parameter of the inverter, wherein the operating parameter of the motor
The temperature of revolving speed, the motor including the motor and the power input to a machine；
At least one of running parameter according to the temperature of the motor, the power input to a machine and inverter ginseng
The corresponding limit value of several and described at least one parameter is adjusted to obtain torque regulated value；
The first torque limit value is obtained, and the torque regulated value is added to first torque limit value to obtain second turn
Square limits value；
Obtain the rotational speed command value of the motor, and according to the difference of the rotational speed command value of the motor and the revolving speed of the motor into
Row control limits first torque instruction value according to second torque limit value with obtaining the first torque instruction value
System is to obtain the second torque instruction value；
The inverter is controlled to control the driving motor according to second torque instruction value.
2. the control method of driving motor in agitator for food-making as described in claim 1, which is characterized in that the inverter
Running parameter includes the DC bus-bar voltage of the inverter, power device temperature and the inverter is defeated in the inverter
Enter power.
3. the control method of driving motor in agitator for food-making as claimed in claim 2, which is characterized in that it is described at least one
Parameter includes the temperature of the motor, the DC bus-bar voltage of the inverter, power device temperature in the inverter, described
One in the input power of power input to a machine and the inverter, wherein according to the temperature of the motor, the motor
Input power and the inverter running parameter at least one parameter and the corresponding limit of at least one described parameter
Value is adjusted to obtain torque regulated value, comprising:
The difference of the DC bus-bar voltage of DC bus-bar voltage limit value and the inverter to the inverter is adjusted to obtain
Obtain the first torque value；
To the power input to a machine and the corresponding power limit and the power in the input power of the inverter
Difference be adjusted to obtain the second torque value；
The temperature limit of the motor and the temperature difference of the motor are adjusted to obtain third torque value；
Temperature limit and the power device temperature difference to power device in the inverter are adjusted to obtain the 4th
Torque value；
After second torque value, the third torque value and the 4th torque value are added up, then subtract first torque
Value, to obtain the torque regulated value.
4. the control method of driving motor in agitator for food-making as claimed in any one of claims 1-3, which is characterized in that root
First torque instruction value is limited to obtain the second torque instruction value according to second torque limit value, comprising:
Judge whether first torque instruction value is in the positive and negative section of second torque limit value；
If it is, second torque instruction value is equal to first torque instruction value；
If it is not, then second torque instruction value is equal to second torque limit value.
5. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
Processor realizes control method according to any one of claims 1-4 when executing.
6. the control device of driving motor in a kind of agitator for food-making, which is characterized in that the driving motor passes through inverter driving
Dynamic, the control device includes:
First obtains module, for obtaining the operating parameter of the motor, wherein the operating parameter of the motor includes the electricity
The revolving speed of machine, the temperature of the motor and the power input to a machine；
Second obtains module, for obtaining the running parameter of the inverter；
Adjustor module, for being joined according to the work of the temperature of the motor, the power input to a machine and the inverter
At least one parameter and the corresponding limit value of at least one described parameter in number are adjusted to obtain torque regulated value；
Torque obtains module, for obtaining the first torque limit value；
Laminating module, for the torque regulated value to be added to first torque limit value to obtain the second torque limit
Value；
Rotary speed instruction obtains module, for obtaining the rotational speed command value of the motor；
Rotational speed control module, the difference for the revolving speed according to the rotational speed command value and motor of the motor are controlled to obtain
Obtain the first torque instruction value；
Torque restriction mod-ule, for being limited first torque instruction value to obtain according to second torque limit value
Second torque instruction value；
Torque control module, for being controlled the inverter to the driving electricity according to second torque instruction value
Machine is controlled.
7. the control device of driving motor in agitator for food-making as claimed in claim 6, which is characterized in that the inverter
Running parameter includes the DC bus-bar voltage of the inverter, power device temperature and the inverter is defeated in the inverter
Enter power.
8. the control device of driving motor in agitator for food-making as claimed in claim 7, which is characterized in that it is described at least one
Parameter includes the temperature of the motor, the DC bus-bar voltage of the inverter, power device temperature in the inverter, described
One in the input power of power input to a machine and the inverter, wherein the adjustor module includes:
First adjuster, for the inverter DC bus-bar voltage limit value and the inverter DC bus-bar voltage it
Difference is adjusted to obtain the first torque value；
Second adjuster, for the power input to a machine and a corresponding function in the input power of the inverter
The difference of rate limit value and the power is adjusted to obtain the second torque value；
Third adjuster, the temperature difference for temperature limit and the motor to the motor are adjusted to obtain third
Torque value；
4th adjuster is carried out for the temperature limit to power device in the inverter with the power device temperature difference
It adjusts to obtain the 4th torque value；
Computing unit after second torque value, the third torque value and the 4th torque value add up, then subtracts
First torque value, to obtain the torque regulated value.
9. the control device of driving motor in the agitator for food-making as described in any one of claim 6-8, which is characterized in that institute
Torque restriction mod-ule is stated further to use when limiting first torque instruction value according to second torque limit value
In,
Judge whether first torque instruction value is in the positive and negative section of second torque limit value；
If it is, second torque instruction value is equal to first torque instruction value；
If it is not, then second torque instruction value is equal to second torque limit value.
10. the motor driven systems in a kind of agitator for food-making, which is characterized in that including any one of such as claim 6-9 institute
The control device for the driving motor stated.
11. a kind of agitator for food-making, which is characterized in that including motor driven systems as claimed in claim 10.
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| CN201711373272.6A CN109924909B (en) | 2017-12-19 | 2017-12-19 | Food mixer and control method and device of driving motor of food mixer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711373272.6A CN109924909B (en) | 2017-12-19 | 2017-12-19 | Food mixer and control method and device of driving motor of food mixer |
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| CN109924909B CN109924909B (en) | 2020-11-03 |
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| CN1354556A (en) * | 2001-11-28 | 2002-06-19 | 深圳安圣电气有限公司 | Method for preventing bus voltage from excessing |
| CN102460339A (en) * | 2009-05-12 | 2012-05-16 | 雷蒙德·约翰·佩托 | A motor controller and related method |
| CN103445696A (en) * | 2012-05-28 | 2013-12-18 | 松下电器产业株式会社 | Automatic bread making machine |
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| CN109924909B (en) | 2020-11-03 |
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Effective date of registration: 20201224 Address after: 528311 4 Global Innovation Center, industrial road, Beijiao Town, Shunde District, Foshan, Guangdong, China Patentee after: GUANGDONG MEIDI WHITE HOUSEHOLD ELECTRICAL APPLIANCE TECHNOLOGY INNOVATION CENTER Co.,Ltd. Patentee after: MIDEA GROUP Co.,Ltd. Address before: 528311, 26-28, B District, Mei headquarters building, 6 Mei Road, Beijiao Town, Shunde District, Foshan, Guangdong. Patentee before: MIDEA GROUP Co.,Ltd. |