CN109924909B - Food mixer and control method and device of driving motor of food mixer - Google Patents
Food mixer and control method and device of driving motor of food mixer Download PDFInfo
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Abstract
The invention discloses a food mixer and a control method and a device of a driving motor thereof, wherein the driving motor is driven by an inverter, and the control method comprises the following steps: acquiring operation parameters of a motor and acquiring working parameters of an inverter; adjusting according to at least one parameter of the temperature of the motor, the input power of the motor, the working parameters of the inverter and a limit value corresponding to the at least one parameter to obtain a torque adjusting value; and adding the torque adjustment value to the first torque limit value to obtain a second torque limit value; acquiring and controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to acquire a first torque instruction value, and limiting the first torque instruction value according to a second torque limiting value to acquire a second torque instruction value; and controlling the inverter according to the second torque command value to control the driving motor, so that the operation parameters of the motor and the working parameters of the inverter are limited in a safe range, and the safety of the food mixer is ensured.
Description
Technical Field
The invention relates to the technical field of household electrical appliances, in particular to a control method of a driving motor in a food mixer, a non-transitory computer readable storage medium, a control device of the driving motor in the food mixer, a motor driving system in the food mixer and the food mixer.
Background
The working principle of the food mixer is that a high-speed motor is utilized to drive a hard cutter head to rotate at a high speed so as to crush food. As a direct source of tool bit power, the performance of the motor drive system determines the effectiveness of the agitation. Food mixer adopts the series motor as the power source usually, but, the series motor noise is big, inefficiency, because there is the brush to exist, the during operation has the switching-over spark, causes the carbon dust to gather after long-time work easily, leads to the life-span to shorten.
In order to solve the problem of commutation spark, the related art proposes a technical scheme of using a brushless motor such as a brushless dc motor or a switched reluctance motor, but the related art only uses a conventional speed control method, and does not control or limit the torque, current, power, temperature, etc. of the motor and a driving system, which easily causes the life of the motor to be shortened or potential safety hazard to be generated.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, a first object of the present invention is to provide a method for controlling a driving motor in a food mixer, which can ensure the safe operation of the motor and improve the safety of the food mixer.
A second object of the invention is to propose a non-transitory computer-readable storage medium.
The third purpose of the invention is to provide a control device of a driving motor in the food mixer.
A fourth object of the present invention is to provide a motor driving system in a food mixer.
The fifth purpose of the invention is to provide a stirrer.
In order to achieve the above object, a first embodiment of the present invention provides a control method for a driving motor in a food mixer, wherein the driving motor is driven by an inverter, and the control method comprises the following steps: acquiring operation parameters of the motor and working parameters of the inverter, wherein the operation parameters of the motor comprise the rotating speed of the motor, the temperature of the motor and the input power of the motor; adjusting according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and a limit value corresponding to the at least one parameter to obtain a torque adjusting value; acquiring a first torque limit value, and adding the torque adjustment value to the first torque limit value to obtain a second torque limit value; acquiring a rotating speed instruction value of the motor, controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to acquire a first torque instruction value, and limiting the first torque instruction value according to the second torque limiting value to acquire a second torque instruction value; and controlling the inverter according to the second torque command value to control the driving motor.
According to the control method of the driving motor in the food mixer, the operation parameters of the motor are obtained, the working parameters of the inverter are obtained, the torque adjusting value is obtained by adjusting according to at least one of the operation parameters of the motor and the working parameters of the inverter and the limit value corresponding to the at least one parameter, the first torque limiting value is obtained, the torque adjusting value is superposed on the first torque limiting value to obtain the second torque limiting value, the rotating speed instruction value of the motor is obtained, the first torque instruction value is obtained by controlling according to the difference between the rotating speed instruction of the motor and the rotating speed of the motor, the first torque instruction value is limited according to the second torque limiting value to obtain the second torque instruction value, and the inverter is controlled according to the second torque instruction value to control the driving motor. Therefore, the control method provided by the embodiment of the invention can control or limit the driving motor according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction value of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited in a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved. Moreover, the method has the advantages of simple control structure, easy realization and low cost.
In addition, the control method for the driving motor in the food mixer according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the operating parameters of the inverter may include a dc bus voltage of the inverter, a power device temperature in the inverter, and an input power of the inverter.
According to an embodiment of the present invention, the at least one parameter may include one of a temperature of the motor, a dc bus voltage of the inverter, a power device temperature in the inverter, an input power of the motor, and an input power of the inverter, wherein adjusting according to at least one of the temperature of the motor, the input power of the motor, and an operating parameter of the inverter and a limit value corresponding to the at least one parameter to obtain the torque adjustment value includes: adjusting a difference between a dc bus voltage limit of the inverter and a dc bus voltage of the inverter to obtain a first torque value; adjusting a difference between a power limit value corresponding to one of the input power of the motor and the input power of the inverter and the power to obtain a second torque value; adjusting a difference between a temperature limit of the motor and a temperature of the motor to obtain a third torque value; adjusting a difference between a temperature limit of a power device in the inverter and the temperature of the power device to obtain a fourth torque value; and after the second torque value, the third torque value and the fourth torque value are accumulated, the first torque value is subtracted to obtain the torque adjusting value.
According to an embodiment of the present invention, limiting the first torque command value according to the second torque limit value to obtain a second torque command value may include: judging whether the first torque instruction value is in a positive and negative interval of the second torque limit value; if so, the second torque command value is equal to the first torque command value; if not, the second torque command value is equal to the second torque limit value.
To achieve the above object, a non-transitory computer-readable storage medium is provided in an embodiment of a second aspect of the present invention, on which a computer program is stored, and the computer program realizes the control method when being executed by a processor.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the control method of the driving motor in the food mixer is realized by running the computer program stored on the non-transitory computer-readable storage medium, the driving motor can be controlled or limited according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited within a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
In order to achieve the above object, a control device for a driving motor in a food mixer according to a third aspect of the present invention, the driving motor being driven by an inverter, includes: the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the operation parameters of the motor, and the operation parameters of the motor comprise the rotating speed of the motor, the temperature of the motor and the input power of the motor; the second acquisition module is used for acquiring working parameters of the inverter; the controller comprises a regulator module, a control module and a control module, wherein the regulator module is used for regulating according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and a limit value corresponding to the at least one parameter to obtain a torque regulating value; the torque acquisition module is used for acquiring a first torque limit value; a superposition module for superposing the torque adjustment value to the first torque limit value to obtain a second torque limit value; the rotating speed instruction acquisition module is used for acquiring a rotating speed instruction value of the motor; the rotating speed control module is used for controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to obtain a first torque instruction value; the torque limiting module is used for limiting the first torque instruction value according to the second torque limiting value to obtain a second torque instruction value; and the torque control module is used for controlling the inverter according to the second torque instruction value so as to control the driving motor.
According to the control device of the driving motor in the food mixer provided by the embodiment of the invention, the first obtaining module is used for obtaining the operation parameters of the motor, the second obtaining module is used for obtaining the working parameters of the inverter, the regulator module is used for regulating according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and the limit value corresponding to the at least one parameter to obtain the torque regulating value, the torque obtaining module is used for obtaining the first torque limit value, the superposition module is used for superposing the torque regulating value on the first torque limit value to obtain the second torque limit value, the rotating speed instruction obtaining module is used for obtaining the rotating speed instruction value of the motor, the rotating speed control module is used for controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to obtain the first torque instruction value, and the torque limiting module is used for limiting the first torque instruction value according to the, the torque control module controls the inverter to control the driving motor according to the second torque command value. Therefore, the control device provided by the embodiment of the invention can control or limit the driving motor according to at least one of the operation parameters of the motor and the inverter and the rotating speed instruction value of the motor, so that the operation parameters of the motor and the operating parameters of the inverter are limited in a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved. Moreover, the device has simple control structure, easy realization and low cost.
In addition, the control device for the driving motor in the food mixer according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the operating parameters of the inverter may include a dc bus voltage of the inverter, a power device temperature in the inverter, and an input power of the inverter.
According to an embodiment of the invention, the at least one parameter may comprise one of a temperature of the electric machine, a dc bus voltage of the inverter, a power device temperature in the inverter, an input power of the electric machine and an input power of the inverter, wherein the regulator module comprises: a first regulator for regulating a difference between a dc bus voltage limit of the inverter and a dc bus voltage of the inverter to obtain a first torque value; a second regulator for regulating a difference between a power limit value corresponding to one of the input power of the motor and the input power of the inverter and the power to obtain a second torque value; a third regulator for regulating a difference between the temperature limit of the motor and the temperature of the motor to obtain a third torque value; a fourth regulator for regulating a difference between a temperature limit of a power device in the inverter and the temperature of the power device to obtain a fourth torque value; and the calculating unit is used for accumulating the second torque value, the third torque value and the fourth torque value and then subtracting the first torque value to obtain the torque adjusting value.
According to an embodiment of the present invention, the torque limiting module, when limiting the first torque command value according to the second torque limiting value, may be further configured to determine whether the first torque command value is within a positive-negative range of the second torque limiting value; if so, the second torque command value is equal to the first torque command value; if not, the second torque command value is equal to the second torque limit value.
In order to achieve the above object, a motor driving system in a food mixer according to a fourth aspect of the present invention includes the control device for driving the motor.
According to the motor driving system in the food mixer, the control device of the driving motor in the food mixer can control or limit the driving motor according to at least one of the operation parameters of the motor and the working parameters of the inverter and the rotating speed instruction value of the motor, so that the operation parameters of the motor and the working parameters of the inverter are limited in a safety range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
In order to achieve the above object, a food mixer according to a fifth embodiment of the present invention includes the motor driving system.
According to the food mixer provided by the embodiment of the invention, the motor driving system in the food mixer can control or limit the driving motor according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction value of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited in a safety range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
Drawings
FIG. 1 is a flow chart illustrating a method of controlling a drive motor in a food blender according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a motor drive system according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a method of controlling a drive motor in a food blender according to one embodiment of the present invention;
FIG. 4 is a block diagram of a control device for a drive motor of a food blender according to an embodiment of the present invention;
FIG. 5 is a block schematic diagram of a regulator module of a control device for a drive motor in a food blender according to one embodiment of the present invention;
FIG. 6 is a block schematic diagram of a motor drive system in a food blender according to an embodiment of the present invention; and
FIG. 7 is a block diagram of a food blender according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a control method of a driving motor in a food mixer, a control device of a driving motor in a food mixer, a motor driving system in a food mixer, and a food mixer according to embodiments of the present invention with reference to the accompanying drawings. The method can limit the working condition of the motor driving system working in the speed control mode.
Fig. 1 is a flowchart illustrating a method for controlling a driving motor in a food mixer according to an embodiment of the present invention. Specifically, as shown in fig. 2, the commercial power voltage is rectified to obtain a dc bus voltage Vdc _ Fdb (not shown in the rectifying part), the dc bus voltage Vdc _ Fdb is a voltage of an input power of the inverter, and the inverter converts the dc voltage into an ac power through an internal power device and outputs the ac power to the motor, that is, the driving motor operates. More specifically, electric power is input into the inverter from an input power source of the inverter, the inverter inputs the electric power into the motor, and the motor converts the electric power into mechanical power output.
The motor may be any motor driven by an inverter, such as a permanent magnet synchronous motor (including a brushless dc motor), an induction motor, or a switched reluctance motor.
As shown in fig. 1, the method for controlling a driving motor in a food mixer according to an embodiment of the present invention includes the following steps:
s1: and acquiring the operation parameters of the motor and the working parameters of the inverter. The operation parameters of the Motor comprise the rotating speed Spd _ Fdb of the Motor, the temperature Motor _ Thr _ Fdb of the Motor and the input power Motor _ Pow _ Fdb of the Motor.
According to one embodiment of the invention, the operating parameters of the Inverter include the dc bus voltage Vdc _ Fdb of the Inverter, the power device temperature in the Inverter, Inverter _ Thr _ Fdb, and the input power of the Inverter, Inverter _ Pow _ Fdb.
The direct-current bus voltage Vdc _ Fdb of the inverter can be obtained by detecting through a sensor arranged on the inverter; the input power Motor _ Pow _ Fdb of the Motor can be obtained by calculating the voltage input into the Motor and the current input into the Motor; the input power Inverter _ Pow _ Fdb of the Inverter can be obtained by calculating the voltage input into the Inverter, namely the direct current bus voltage Vdc _ Fdb and the current input into the Inverter; the temperature of the Motor _ Thr _ Fdb can be obtained by detecting the temperature of a stator winding, the temperature of a bearing or the temperature of a shell of the Motor through a sensor and can also be obtained through software estimation; the power device temperature Inverter _ Thr _ Fdb in the Inverter can be detected by a sensor or calculated by software.
S2: and adjusting according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameter of the inverter and a limit value corresponding to the at least one parameter to obtain a torque adjusting value.
That is, the torque adjusting value can be obtained by adjusting according to one of the operation parameters of the motor and the operation parameters of the inverter and the corresponding limit value thereof, or the torque adjusting value can be obtained by adjusting according to a plurality of the operation parameters of the motor and the operation parameters of the inverter and the corresponding limit values of the plurality of parameters, for example, the torque adjusting value can be obtained by adjusting according to the operation parameters of one motor and the corresponding limit values of the operation parameters of one inverter and the corresponding limit values of the operation parameters of the motor and the corresponding limit values of the operation parameters of the inverter, or the torque adjusting value can be obtained by adjusting according to the operation parameters of a plurality of motors and the operation parameters of a plurality of inverters and the corresponding limit values of the operation parameters of a plurality of motors and the corresponding limit values of the operation parameters of a plurality of inverters, therefore, the operation parameters of the motor and the working parameters of the inverter are not correlated, the parameters can be selected at will, and the practicability is improved.
The operation parameters of the motor and the limit values corresponding to the working parameters of the inverter can be preset.
According to an embodiment of the present invention, the at least one parameter includes one of a temperature of the Motor _ Thr _ Fdb, a dc bus voltage Vdc _ Fdb of the Inverter, a power device temperature of the Inverter _ Thr _ Fdb, an input power of the Motor _ Pow _ Fdb and an input power of the Inverter _ Pow _ Fdb, wherein the adjusting is performed according to at least one of the temperature of the Motor _ Thr _ Fdb, the input power of the Motor _ Pow _ Fdb and an operation parameter of the Inverter and a limit value corresponding to the at least one parameter to obtain the torque adjustment value, including: adjusting the difference between the direct current bus voltage Vdc _ Lim limit value of the inverter and the direct current bus voltage Vdc _ Fdb of the inverter to obtain a first torque value; adjusting the difference between a power limit value corresponding to one of the input power Motor _ Pow _ Fdb of the Motor and the input power Inverter _ Pow _ Fdb of the Inverter and the power to obtain a second torque value, namely adjusting the difference between the input power limit value Motor _ Pow _ Lim of the Motor and the input power Motor _ Pow _ Fdb of the Motor to obtain a second torque value, or adjusting the difference between the input power limit value Inverter _ Pow _ Lim of the Inverter and the input power Inverter _ Pow _ Fdb of the Inverter to obtain a second torque value; adjusting the difference between the temperature limit value Motor _ Thr _ Lim of the Motor and the temperature of the Motor _ Thr _ Fdb of the Motor to obtain a third torque value; adjusting a difference between a temperature limit value of a power device in the Inverter, Inverter _ Thr _ Lim, and a power device temperature, Inverter _ Thr _ Fdb, to obtain a fourth torque value; and accumulating the second torque value, the third torque value and the fourth torque value, and then subtracting the first torque value to obtain a torque adjusting value.
It should be noted that the torque value obtained by adjusting when at least one of the temperature of the Motor _ Thr _ Fdb, the input power of the Motor _ Pow _ Fdb, and the operating parameter of the inverter is in the limit interval corresponding to the parameter is 0, and the torque value obtained by adjusting when at least one of the temperature of the Motor _ Thr _ Fdb, the input power of the Motor _ Pow _ Fdb, and the operating parameter of the inverter is not in the limit interval corresponding to the parameter is not 0. The limit interval may be an area between a lowest threshold of the limit and a highest threshold of the limit.
For example, if the temperature Motor _ Thr _ Fdb of the Motor is within the temperature limit Motor _ Thr _ Lim section of the Motor, that is, the temperature Motor _ Thr _ Fdb of the Motor is less than the temperature limit Motor _ Thr _ Lim of the Motor, the third torque value outputted by adjusting the difference between the temperature Motor _ Thr _ Fdb of the Motor and the temperature limit Motor _ Thr _ Lim of the Motor is 0, and if the temperature Motor _ Thr _ Fdb of the Motor is not within the temperature limit Motor _ Thr _ Lim section of the Motor, that is, the temperature Motor _ Thr _ Fdb of the Motor is greater than the temperature limit Motor _ Thr _ Lim of the Motor, the third torque value outputted by adjusting the difference between the temperature Motor _ Thr _ Fdb of the Motor and the temperature limit Motor _ Thr _ Lim of the Motor is a non-zero value.
Further, after adjusting according to the temperature of the Motor _ Thr _ Fdb, the dc bus voltage Vdc _ Fdb of the Inverter, the power device temperature Inverter _ Thr _ Fdb in the Inverter, the input power of the Motor _ Pow _ Fdb and the input power Inverter _ Pow _ Fdb of the Inverter, and the corresponding temperature limit value of the Motor _ Thr _ Lim, the dc bus voltage limit value Vdc _ Lim of the Inverter, the temperature limit value of the power device Inverter _ Thr _ Lim of the Inverter, the input power limit value of the Motor _ Pow _ Lim and the input power limit value of the Inverter, the first torque value, the second torque value, the third torque value and the fourth torque value may be obtained, and the second torque value, the third torque value and the fourth torque value may be added up and then subtracted by the first torque value to obtain the torque adjustment value.
The difference between the parameters and the limit values corresponding to the parameters can be adjusted through adjustable structures such as a PI adjuster or a P adjuster.
Therefore, the input power of the inverter can be guaranteed to be limited in a safety range, so that the inverter, the motor and external input lines and equipment of the food mixer are protected, the temperature of the inverter and the temperature of the motor are guaranteed to be limited in the safety range, and the safety problem caused by overheating of a power device and the motor in the inverter is avoided. When the mains voltage at the dc-to-ac converter surpassed normal range, can also make mains voltage resume normal or not continue to worsen through controlling motor, further improve food mixer's security, promote user's experience.
S3: the first torque limit value Trq _ Lim1 is acquired, and the torque adjustment value is superimposed on the first torque limit value Trq _ Lim1 to obtain a second torque limit value Trq _ Lim 2.
S4: the rotation speed command value Spd _ Ref of the motor is acquired, control is performed according to the difference between the rotation speed command value Spd _ Ref of the motor and the rotation speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref1, and the first torque command value Trq _ Ref1 is limited according to the second torque limit value Trq _ Lim2 to obtain a second torque command value Trq _ Ref 2.
According to one embodiment of the present invention, limiting the first torque command value Trq _ Ref1 according to the second torque limit value Trq _ Lim2 to obtain the second torque command value Trq _ Ref2 includes: determining whether the first torque command value Trq _ Ref1 is in a positive-negative interval of the second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim 2. The positive and negative intervals of the second torque limit value Trq _ Lim2 are regions between the lowest threshold value and the highest threshold value of the second torque limit value Trq _ Lim 2.
That is, by determining whether the first torque command Trq _ Ref1 is greater than the lowest threshold value of the second torque limit value Trq _ Lim2 and less than the highest threshold value of the second torque limit value Trq _ Lim2, if yes, it is determined that the first torque command value Trq _ Ref1 is in the positive and negative sections of the second torque limit value Trq _ Lim2, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref1, if no, it is determined that the first torque command value Trq _ Ref1 is not in the positive and negative sections of the second torque limit value Trq _ Lim2, and the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim 2.
The rotating speed instruction value Spd _ Ref of the motor can be determined according to food materials in the food mixer and the working mode.
S5: the inverter is controlled to control the drive motor according to the second torque command value Trq _ Ref 2.
That is, the second torque command value Trq _ Ref2 is converted into a voltage of the drive motor, and the voltage of the drive motor is input to the drive motor through the inverter to control the drive motor. Here, the voltage of the drive motor may be adjusted by current feedback control, torque control, or the like so that the output torque of the drive motor corresponds to the second torque command value Trq _ Ref 2.
According to an embodiment of the present invention, as shown in fig. 3, the food mixer is powered on to operate, the temperature of the Motor is obtained, Motor _ Thr _ Fdb, the dc bus voltage Vdc _ Fdb of the Inverter, the temperature of the power device in the Inverter is obtained, Inverter _ Thr _ Fdb, and the input power of the Motor is obtained, four torque values are obtained according to the four parameters and the corresponding limit values, if the four parameters are in the corresponding limit value intervals, the four torque values are all 0, and at the moment, the torque regulating value has no regulating effect on the first torque limit value Trq _ Lim1, the second torque limit value Trq _ Lim2 is equal to the first torque limit value Trq _ Lim1, determining a rotating speed command value Spd _ Ref of a motor according to food in the food mixer, controlling according to the difference between the rotating speed command value Spd _ Ref of the motor and the rotating speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref1, and judging whether the first torque command value Trq _ Ref1 is in a positive and negative interval of a second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim2, and then the inverter and thus the drive motor are controlled according to the determined second torque command value Trq _ Ref 2.
If any one of the four parameters is not in the corresponding limit value interval, at least outputting a torque value which is not 0, superposing at least one torque value which is not 0 to obtain a torque regulation value, regulating the first torque limit value Trq _ Lim1 by the torque regulation value to obtain a second torque limit value Trq _ Lim2, determining a rotating speed command value Spd _ Ref of the motor according to food in the food mixer, controlling according to the difference between the rotating speed command value Spd _ Ref of the motor and the rotating speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref1, and judging whether the first torque command value Trq _ Ref1 is in a positive and negative interval of the second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim2, and then the inverter and thus the drive motor are controlled according to the determined second torque command value Trq _ Ref 2.
In summary, according to the control method of the driving motor in the food mixer of the embodiment of the present invention, the operation parameter of the motor is obtained, the operation parameter of the inverter is obtained, the torque adjustment value is obtained by adjusting according to at least one of the operation parameter of the motor and the operation parameter of the inverter and the limit value corresponding to the at least one parameter, the first torque limit value is obtained, the torque adjustment value is superimposed on the first torque limit value to obtain the second torque limit value, the rotational speed command value of the motor is obtained, the difference between the rotational speed command of the motor and the rotational speed of the motor is controlled to obtain the first torque command value, the limit value is performed according to the second torque limit value to obtain the second torque command value, and the inverter is controlled according to the second torque command value to control the driving motor. Therefore, the control method provided by the embodiment of the invention can control or limit the driving motor according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction value of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited in a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved. Moreover, the method has the advantages of simple control structure, easy realization and low cost. The method of the embodiment of the invention can also ensure that the input power of the inverter is limited in a safety range, thereby protecting the inverter, the motor and external input lines and equipment of the food mixer, ensuring that the temperatures of the inverter and the motor are limited in the safety range, and ensuring that safety problems caused by overheating of power devices and the motor in the inverter can be avoided. When the mains voltage at the dc-to-ac converter surpassed normal range, can also make mains voltage resume normal or not continue to worsen through controlling motor, further improve food mixer's security, promote user's experience.
An embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a control method.
According to the non-transitory computer-readable storage medium provided by the embodiment of the invention, the control method of the driving motor in the food mixer is realized by running the computer program stored on the non-transitory computer-readable storage medium, the driving motor can be controlled or limited according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited within a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
FIG. 4 is a block diagram of a control device for a drive motor of a food blender according to an embodiment of the present invention. As shown in fig. 4, the control device of the driving motor in the food mixer according to the embodiment of the present invention includes: the first acquisition module 10, the second acquisition module 20, the regulator module 30, the torque acquisition module 40, the superposition module 50, the rotational speed command acquisition module 60, the rotational speed control module 70, the torque limitation module 80, and the torque control module 90.
The first obtaining module 10 is configured to obtain an operating parameter of the Motor, where the operating parameter of the Motor includes a rotating speed Spd _ Fdb of the Motor, a temperature Motor _ Thr _ Fdb of the Motor, and an input power Motor _ Pow _ Fdb of the Motor; the second obtaining module 20 is configured to obtain operating parameters of the inverter; the regulator module 30 is used for regulating according to at least one parameter of a temperature Motor _ Thr _ Fdb of the Motor, an input power Motor _ Pow _ Fdb of the Motor, an operating parameter of the inverter and a limit value corresponding to the at least one parameter to obtain a torque regulating value; the torque acquisition module 40 is used for acquiring a first torque limit value Trq _ Lim 1; the superposition module 50 is configured to superimpose the torque adjustment value on the first torque limit value Trq _ Lim1 to obtain a second torque limit value Trq _ Lim 2; the rotating speed instruction obtaining module 60 is configured to obtain a rotating speed instruction value Spd _ Ref of the motor; the rotating speed control module 70 is configured to perform control according to a difference between a rotating speed command value Spd _ Ref of the motor and a rotating speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref 1; the torque limiting module 80 is operable to limit the first torque command value Trq _ Ref1 to obtain a second torque command value Trq _ Ref2 based on the second torque limit value Trq _ Lim 2; the torque control module 90 is configured to control the inverter to control the drive motor based on the second torque command value Trq _ Ref 2.
According to one embodiment of the invention, the operating parameters of the Inverter include the dc bus voltage Vdc _ Fdb of the Inverter, the power device temperature in the Inverter, Inverter _ Thr _ Fdb, and the input power of the Inverter, Inverter _ Pow _ Fdb.
According to an embodiment of the invention, the at least one parameter comprises one of a temperature of the electric machine Motor _ Thr _ Fdb, a dc bus voltage of the Inverter Vdc _ Fdb, a power device temperature in the Inverter 1, a power device temperature of the Inverter Thr _ Fdb, an input power of the electric machine Motor _ Pow _ Fdb and an input power of the Inverter 2, wherein the regulator module comprises, as shown in fig. 5: a first regulator 31, a second regulator 32, a third regulator 33, a fourth regulator 34 and a calculation unit 35.
The first regulator 31 is configured to regulate a difference between a dc bus voltage limit Vdc _ Lim of the inverter and a dc bus voltage Vdc _ Fdb of the inverter to obtain a first torque value; the second regulator 32 is configured to regulate a difference between a power limit value corresponding to one of the input power Motor _ Pow _ Fdb of the Motor and the input power Inverter _ Pow _ Fdb of the Inverter and the power to obtain a second torque value, that is, a difference between the input power limit value Motor _ Pow _ Lim of the Motor and the input power Motor _ Pow _ Fdb of the Motor is regulated to obtain the second torque value, or a difference between the input power limit value Inverter _ Pow _ Lim of the Inverter and the input power Inverter _ Pow _ Fdb of the Inverter is regulated to obtain the second torque value; the third regulator 33 is configured to regulate a difference between a temperature limit Motor _ Thr _ Lim of the Motor and a temperature Motor _ Thr _ Fdb of the Motor to obtain a third torque value; the fourth regulator 34 is configured to regulate a difference between the temperature limit value of the power devices in the Inverter, Inverter _ Thr _ Lim, and the power device temperature, Inverter _ Thr _ Fdb, to obtain a fourth torque value; the calculating unit 35 is configured to add the second torque value, the third torque value, and the fourth torque value, and then subtract the first torque value to obtain a torque adjustment value. Among them, the first, second, third and fourth regulators 31, 32, 33 and 34 may be PI regulators or P regulators, etc.
It should be noted that the torque value obtained by adjusting when at least one of the temperature of the Motor _ Thr _ Fdb, the input power of the Motor _ Pow _ Fdb, and the operating parameter of the inverter is in the limit interval corresponding to the parameter is 0, and the torque value obtained by adjusting when at least one of the temperature of the Motor _ Thr _ Fdb, the input power of the Motor _ Pow _ Fdb, and the operating parameter of the inverter is not in the limit interval corresponding to the parameter is not 0. The limit interval may be an area between a lowest threshold of the limit and a highest threshold of the limit.
For example, if the temperature Motor _ Thr _ Fdb of the Motor is within the temperature limit Motor _ Thr _ Lim section of the Motor, that is, the temperature Motor _ Thr _ Fdb of the Motor is less than the temperature limit Motor _ Thr _ Lim of the Motor, the third torque value outputted by adjusting the difference between the temperature Motor _ Thr _ Fdb of the Motor and the temperature limit Motor _ Thr _ Lim of the Motor is 0, and if the temperature Motor _ Thr _ Fdb of the Motor is not within the temperature limit Motor _ Thr _ Lim section of the Motor, that is, the temperature Motor _ Thr _ Fdb of the Motor is greater than the temperature limit Motor _ Thr _ Lim of the Motor, the third torque value outputted by adjusting the difference between the temperature Motor _ Thr _ Fdb of the Motor and the temperature limit Motor _ Thr _ Lim of the Motor is a non-zero value.
Further, after adjusting according to the temperature of the Motor _ Thr _ Fdb, the dc bus voltage Vdc _ Fdb of the Inverter, the power device temperature Inverter _ Thr _ Fdb in the Inverter, the input power of the Motor _ Pow _ Fdb and the input power Inverter _ Pow _ Fdb of the Inverter, and the corresponding temperature limit value of the Motor _ Thr _ Lim, the dc bus voltage limit value Vdc _ Lim of the Inverter, the temperature limit value of the power device Inverter _ Thr _ Lim of the Inverter, the input power limit value of the Motor _ Pow _ Lim and the input power limit value of the Inverter, the first torque value, the second torque value, the third torque value and the fourth torque value may be obtained, and the second torque value, the third torque value and the fourth torque value may be added up and then subtracted by the first torque value to obtain the torque adjustment value.
According to one embodiment of the present invention, the torque limiting module 80, when limiting the first torque command value Trq _ Ref1 based on the second torque limit value Trq _ Lim2, is further operable to determine whether the first torque command value Trq _ Ref1 is within the positive and negative range of the second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim 2. The positive and negative intervals of the second torque limit value Trq _ Lim2 are regions between the lowest threshold value and the highest threshold value of the second torque limit value Trq _ Lim 2.
That is, by determining whether the first torque command Trq _ Ref1 is greater than the lowest threshold value of the second torque limit value Trq _ Lim2 and less than the highest threshold value of the second torque limit value Trq _ Lim2, if yes, it is determined that the first torque command value Trq _ Ref1 is in the positive and negative sections of the second torque limit value Trq _ Lim2, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref1, if no, it is determined that the first torque command value Trq _ Ref1 is not in the positive and negative sections of the second torque limit value Trq _ Lim2, and the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim 2.
The rotating speed instruction value Spd _ Ref of the motor can be determined according to food materials in the food mixer and the working mode.
According to an embodiment of the invention, the food mixer is powered on to operate, the temperature of the Motor is obtained, the direct current bus voltage Vdc _ Fdb of the Inverter, the temperature of a power device in the Inverter is obtained, the temperature of the power device is obtained, and the input power of the Motor is obtained, four torque values are obtained according to four parameters and limit values corresponding to the four parameters, if the four parameters are in the corresponding limit value intervals, the four torque values are all 0, and at the moment, the torque regulating value has no regulating effect on the first torque limit value Trq _ Lim1, the second torque limit value Trq _ Lim2 is equal to the first torque limit value Trq _ Lim1, determining a rotating speed command value Spd _ Ref of a motor according to food in the food mixer, controlling according to the difference between the rotating speed command value Spd _ Ref of the motor and the rotating speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref1, and judging whether the first torque command value Trq _ Ref1 is in a positive and negative interval of a second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim2, and then the inverter and thus the drive motor are controlled according to the determined second torque command value Trq _ Ref 2.
If any one of the four parameters is not in the corresponding limit value interval, at least outputting a torque value which is not 0, superposing at least one torque value which is not 0 to obtain a torque regulation value, regulating the first torque limit value Trq _ Lim1 by the torque regulation value to obtain a second torque limit value Trq _ Lim2, determining a rotating speed command value Spd _ Ref of the motor according to food in the food mixer, controlling according to the difference between the rotating speed command value Spd _ Ref of the motor and the rotating speed Spd _ Fdb of the motor to obtain a first torque command value Trq _ Ref1, and judging whether the first torque command value Trq _ Ref1 is in a positive and negative interval of the second torque limit value Trq _ Lim 2; if so, the second torque command value Trq _ Ref2 is equal to the first torque command value Trq _ Ref 1; if not, the second torque command value Trq _ Ref2 is equal to the second torque limit value Trq _ Lim2, and then the inverter and thus the drive motor are controlled according to the determined second torque command value Trq _ Ref 2.
In summary, according to the control apparatus for driving a motor in a food mixer provided by the embodiment of the present invention, a first obtaining module obtains an operation parameter of the motor, a second obtaining module obtains an operating parameter of an inverter, a regulator module adjusts according to at least one parameter of a temperature of the motor, an input power of the motor, and the operating parameter of the inverter and a limit value corresponding to the at least one parameter to obtain a torque adjusting value, a torque obtaining module obtains a first torque limit value, a superimposing module superimposes the torque adjusting value on the first torque limit value to obtain a second torque limit value, a rotational speed instruction obtaining module obtains a rotational speed instruction value of the motor, a rotational speed control module controls according to a difference between the rotational speed instruction value of the motor and a rotational speed of the motor to obtain a first torque instruction value, and a torque limiting module limits the first torque instruction according to the second torque limit value to obtain a second torque instruction value, the torque control module controls the inverter to control the driving motor according to the second torque command value. Therefore, the control device provided by the embodiment of the invention can control or limit the driving motor according to at least one of the operation parameters of the motor and the operation parameters of the inverter and the rotating speed instruction value of the motor, so that the operation parameters of the motor and the working parameters of the inverter are limited in a safe range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved. Moreover, the device has simple control structure, easy realization and low cost.
The embodiment of the invention also provides a motor driving system in the food mixer.
FIG. 6 is a block diagram of a motor drive system in a food blender according to an embodiment of the present invention. As shown in FIG. 6, a motor drive system 200 in a food blender includes a control apparatus 100 for a drive motor in a food blender.
According to the motor driving system in the food mixer, the control device of the driving motor in the food mixer can control or limit the driving motor according to at least one of the operation parameters of the motor and the working parameters of the inverter and the rotating speed instruction value of the motor, so that the operation parameters of the motor and the working parameters of the inverter are limited in a safety range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
The embodiment of the invention also provides a food stirrer.
FIG. 7 is a block diagram of a food blender according to an embodiment of the present invention. As shown in FIG. 7, the food blender 300 includes a motor drive system 200 in the food blender.
According to the food mixer provided by the embodiment of the invention, the motor driving system in the food mixer can control or limit the driving motor according to at least one of the operating parameters of the motor and the operating parameters of the inverter and the rotating speed instruction value of the motor, so that the operating parameters of the motor and the operating parameters of the inverter are limited in a safety range, the safety of the food mixer is ensured, the service life of the motor is effectively prevented from being shortened, and the user experience is improved.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (7)
1. A method of controlling a drive motor in a food blender, the drive motor being driven by an inverter, the method comprising the steps of:
acquiring operation parameters of the motor and working parameters of the inverter, wherein the operation parameters of the motor comprise the rotating speed of the motor, the temperature of the motor and the input power of the motor;
adjusting according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and a limit value corresponding to the at least one parameter to obtain a torque adjusting value;
acquiring a first torque limit value, and adding the torque adjustment value to the first torque limit value to obtain a second torque limit value;
acquiring a rotating speed instruction value of the motor, controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to acquire a first torque instruction value, and limiting the first torque instruction value according to the second torque limiting value to acquire a second torque instruction value;
controlling the inverter to control the driving motor according to the second torque command value;
wherein the operating parameters of the inverter comprise a direct current bus voltage of the inverter, a temperature of a power device in the inverter and an input power of the inverter;
wherein, adjusting according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and the limit value corresponding to the at least one parameter to obtain a torque adjusting value comprises:
adjusting a difference between a dc bus voltage limit of the inverter and a dc bus voltage of the inverter to obtain a first torque value;
adjusting a difference between a power limit value corresponding to one of the input power of the motor and the input power of the inverter and the power to obtain a second torque value;
adjusting a difference between a temperature limit of the motor and a temperature of the motor to obtain a third torque value;
adjusting a difference between a temperature limit of a power device in the inverter and the temperature of the power device to obtain a fourth torque value;
and after the second torque value, the third torque value and the fourth torque value are accumulated, the first torque value is subtracted to obtain the torque adjusting value.
2. The method of controlling a drive motor in a food mixer as set forth in claim 1, wherein limiting the first torque command value in accordance with the second torque limit value to obtain a second torque command value comprises:
judging whether the first torque instruction value is in a positive and negative interval of the second torque limit value;
if so, the second torque command value is equal to the first torque command value;
if not, the second torque command value is equal to the second torque limit value.
3. A non-transitory computer-readable storage medium on which a computer program is stored, the program, when executed by a processor, implementing the control method according to any one of claims 1-2.
4. A control device for a drive motor in a food mixer, the drive motor being driven by an inverter, the control device comprising:
the device comprises a first acquisition module, a second acquisition module and a control module, wherein the first acquisition module is used for acquiring the operation parameters of the motor, and the operation parameters of the motor comprise the rotating speed of the motor, the temperature of the motor and the input power of the motor;
the second acquisition module is used for acquiring working parameters of the inverter;
the controller comprises a regulator module, a control module and a control module, wherein the regulator module is used for regulating according to at least one parameter of the temperature of the motor, the input power of the motor and the working parameters of the inverter and a limit value corresponding to the at least one parameter to obtain a torque regulating value;
the torque acquisition module is used for acquiring a first torque limit value;
a superposition module for superposing the torque adjustment value to the first torque limit value to obtain a second torque limit value;
the rotating speed instruction acquisition module is used for acquiring a rotating speed instruction value of the motor;
the rotating speed control module is used for controlling according to the difference between the rotating speed instruction value of the motor and the rotating speed of the motor to obtain a first torque instruction value;
the torque limiting module is used for limiting the first torque instruction value according to the second torque limiting value to obtain a second torque instruction value;
the torque control module is used for controlling the inverter according to the second torque instruction value so as to control the driving motor;
wherein the operating parameters of the inverter comprise a direct current bus voltage of the inverter, a temperature of a power device in the inverter and an input power of the inverter;
wherein the regulator module comprises:
a first regulator for regulating a difference between a dc bus voltage limit of the inverter and a dc bus voltage of the inverter to obtain a first torque value;
a second regulator for regulating a difference between a power limit value corresponding to one of the input power of the motor and the input power of the inverter and the power to obtain a second torque value;
a third regulator for regulating a difference between the temperature limit of the motor and the temperature of the motor to obtain a third torque value;
a fourth regulator for regulating a difference between a temperature limit of a power device in the inverter and the temperature of the power device to obtain a fourth torque value;
and the calculating unit is used for accumulating the second torque value, the third torque value and the fourth torque value and then subtracting the first torque value to obtain the torque adjusting value.
5. The control apparatus for a drive motor in a food blender as recited in claim 4, wherein said torque limiting module is further operable when limiting said first torque command value based on said second torque limit value,
judging whether the first torque instruction value is in a positive and negative interval of the second torque limit value;
if so, the second torque command value is equal to the first torque command value;
if not, the second torque command value is equal to the second torque limit value.
6. A motor drive system in a food mixer, comprising control means for a drive motor according to any one of claims 4-5.
7. A food blender comprising the motor drive system of claim 6.
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| CN107040183A (en) * | 2017-04-26 | 2017-08-11 | 美的集团股份有限公司 | Motor driven systems, method and food blending machine |
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| US9999320B2 (en) * | 2015-03-06 | 2018-06-19 | Blendtec, Inc. | Control system for mixers |
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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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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. |