CN110247613A - Food processor and its anti-motor rotation blockage control method, device - Google Patents
Food processor and its anti-motor rotation blockage control method, device Download PDFInfo
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- CN110247613A CN110247613A CN201810187835.0A CN201810187835A CN110247613A CN 110247613 A CN110247613 A CN 110247613A CN 201810187835 A CN201810187835 A CN 201810187835A CN 110247613 A CN110247613 A CN 110247613A
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- driving motor
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
- H02K1/146—Stator cores with salient poles consisting of a generally annular yoke with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Food-Manufacturing Devices (AREA)
Abstract
The invention discloses a kind of food processor and its anti-motor rotation blockage control methods, device, wherein method is the following steps are included: obtain rotary speed instruction；Rotary speed instruction is parsed to obtain the rotating speed of target of driving motor, and pwm control signal is generated to control driving motor according to rotating speed of target；During controlling driving motor, the duty ratio of pwm control signal is gradually increased in the way of incremental step, and detected to obtain the actual speed of driving motor by rotor-position of the Hall sensor to driving motor；Judge whether the actual speed of driving motor follows the duty ratio increment of pwm control signal to be changed；If it is not, then by changing pwm control signal so that driving motor inverted running, then by adjusting pwm control signal to control driving motor forward direction intermittent duty, to prevent driving motor from stall occurs.Thereby, it is possible to which electromechanics Caton phenomenon is effectively reduced, the whipping properties of cooking machine are effectively improved.
Description
Technical field
The present invention relates to field of home appliance technology, in particular to the anti-motor rotation blockage controlling party of a kind of food processor
The anti-motor rotation blockage control device and a kind of food processor of method, a kind of food processor.
Background technique
Cooking machine be integrate beat soya-bean milk, mill dry powder, squeezed juice, beat the functions such as meat stuffing, water ice, for make fruit juice,
The household electrical appliance of the numerous foods such as soya-bean milk, jam, dry powder, water ice, meat stuffing are that juice extractor becomes to compare the product after diversification.
Currently, the mixing torque of cooking machine under the low speed is inadequate, generally mentioned by the way of directly increasing PWM duty cycle
High torque, but will lead to motor in this way and the phenomenon that stuck (stall) occur, to reduce the whipping properties of cooking machine.
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 be to propose a kind of anti-motor rotation blockage control method of food processor, can be effectively reduced electromechanics Caton
Phenomenon effectively improves the whipping properties of cooking machine.
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 anti-motor rotation blockage control device of food processor.
Fourth object of the present invention is to propose a kind of food processor.
5th purpose of the invention is to propose another food processor.
In order to achieve the above objectives, first aspect present invention embodiment proposes a kind of anti-motor rotation blockage control of food processor
Method processed, the food processor include cooking container, driving motor and the Food processing part for being handled food, institute
The food accommodating chamber being formed in cooking container for holding food is stated, the Food processing part protrudes into the food accommodating chamber
And rotated under the drive of the driving motor relative to the cooking container, the anti-motor rotation blockage control method includes following
Step: rotary speed instruction is obtained；The rotary speed instruction is parsed to obtain the rotating speed of target of the driving motor, and according to institute
It states rotating speed of target and generates pwm control signal to control the driving motor；What is controlled the driving motor
In the process, the duty ratio of the pwm control signal is gradually increased in the way of incremental step, and by Hall sensor to institute
The rotor-position for stating driving motor is detected to obtain the actual speed of the driving motor；Judge the reality of the driving motor
Whether border revolving speed follows the duty ratio increment of the pwm control signal to be changed；If it is not, then by changing the PWM control
Signal processed is so that the driving motor inverted running, then by adjusting the pwm control signal to control the driving motor just
To intermittent duty, to prevent the driving motor from stall occurs.
The anti-motor rotation blockage control method of food processor according to an embodiment of the present invention, obtain rotary speed instruction, and to turn
Speed instruction is parsed to obtain the rotating speed of target of driving motor, and generates pwm control signal to drive according to rotating speed of target
Dynamic motor is controlled.During controlling driving motor, PWM control is gradually increased in the way of incremental step
The duty ratio of signal, and detected by rotor-position of the Hall sensor to driving motor to obtain the reality of driving motor
Revolving speed, and judge whether the actual speed of driving motor follows the duty ratio increment of pwm control signal to be changed, if
It is no, then by changing pwm control signal so that driving motor inverted running, then by adjusting pwm control signal to control driving
Motor forward direction intermittent duty, to prevent driving motor from stall occurs.Thereby, it is possible to which electromechanics Caton phenomenon is effectively reduced, have
Effect improves the whipping properties of cooking machine.
In addition, the anti-motor rotation blockage control method of the food processor proposed according to that above embodiment of the present invention can also have
There is following additional technical characteristic:
According to one embodiment of present invention, 6 hall signals are reversely retracted so that institute by controlling the driving motor
The rotor for stating driving motor rotates backward.
According to one embodiment of present invention, stop the first preset time of output, again by controlling the pwm control signal
The second preset time is opened, repeatedly, so that the driving motor forward direction intermittent duty.
According to one embodiment of present invention, after controlling the driving motor forward direction intermittent duty, also pass through detection institute
The rotor-position situation of change of driving motor is stated to judge whether the driving motor occurs stall, wherein if the driving
Stall occurs for motor, then controls the food processor progress failure and report an error.
According to one embodiment of present invention, the driving motor is brshless DC motor.
In order to achieve the above objectives, second aspect of the present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter is stored thereon with computer program, which realizes the anti-motor rotation blockage of above-mentioned food processor when being executed by processor
Control method.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by executing above-mentioned food processor
Anti- motor rotation blockage control method, can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
In order to achieve the above objectives, third aspect present invention embodiment proposes a kind of anti-motor rotation blockage control of food processor
Device processed, the food processor include cooking container, driving motor and the Food processing part for being handled food, institute
The food accommodating chamber being formed in cooking container for holding food is stated, the Food processing part protrudes into the food accommodating chamber
And rotated under the drive of the driving motor relative to the cooking container, the anti-motor rotation blockage control device includes: to refer to
It enables and obtains module, for obtaining rotary speed instruction；Control module, for being parsed to the rotary speed instruction to obtain the driving
The rotating speed of target of motor, and pwm control signal is generated to control the driving motor according to the rotating speed of target, and
The duty ratio of the pwm control signal is gradually increased in the way of incremental step；Detection module, for passing through Hall sensor
The rotor-position of the driving motor is detected to obtain the actual speed of the driving motor；Judgment module, for sentencing
Whether the actual speed of the driving motor of breaking follows the duty ratio increment of the pwm control signal to be changed, wherein in institute
It states judgment module and judges that the actual speed of the driving motor does not follow the duty ratio increment of the pwm control signal to be changed
When, the control module is also used to by changing the pwm control signal so that the driving motor inverted running, then passes through tune
The pwm control signal is saved to control the driving motor forward direction intermittent duty, to prevent the driving motor from stall occurs.
The revolving speed of food processor according to an embodiment of the present invention increases control device, is obtained and is turned by instruction acquisition module
Speed instruction, and rotary speed instruction is parsed by control module to obtain the rotating speed of target of driving motor, and turned according to target
Fast-growing, to control driving motor, and gradually increases in the way of incremental step PWM control letter at pwm control signal
Number duty ratio.Meanwhile detection module is detected by rotor-position of the Hall sensor to driving motor to obtain driving
The actual speed of motor, judgment module judge whether the actual speed of driving motor follows the duty ratio increment of pwm control signal
Be changed, wherein judgment module judge driving motor actual speed do not follow the duty ratio increment of pwm control signal into
When row variation, control module is also used to by changing pwm control signal so that driving motor inverted running, then by adjusting PWM
Signal is controlled to control driving motor forward direction intermittent duty, to prevent driving motor from stall occurs.Thereby, it is possible to electricity is effectively reduced
Machine machinery Caton phenomenon, effectively improves the whipping properties of cooking machine.
In addition, the anti-motor rotation blockage control device of the food processor proposed according to that above embodiment of the present invention can also have
There is following additional technical characteristic:
According to one embodiment of present invention, the control module is also used to, and is reversely moved back by controlling the driving motor
6 hall signals are returned so that the rotor of the driving motor rotates backward.
According to one embodiment of present invention, the control module is also used to, and is stopped by controlling the pwm control signal
It exports the first preset time, be then turned on the second preset time, repeatedly, so that the driving motor forward direction intermittent duty.
According to one embodiment of present invention, after controlling the driving motor forward direction intermittent duty, the control module
It is also used to, detecting the rotor-position situation of change of the driving motor by the detection module to judge the driving motor is
No generation stall, wherein if stall occurs for the driving motor, control the food processor progress failure and report an error.
According to one embodiment of present invention, the driving motor is brshless DC motor.
In order to achieve the above objectives, fourth aspect present invention embodiment proposes a kind of food processor comprising above-mentioned
The anti-motor rotation blockage control device of food processor.
Food processor according to an embodiment of the present invention controls dress by the anti-motor rotation blockage of above-mentioned food processor
It sets, can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
In order to achieve the above objectives, fifth aspect present invention embodiment proposes a kind of food processor, the food cooking
Machine includes cooking container, driving motor and the Food processing part for being handled food, is formed in the cooking container
For holding the food accommodating chamber of food, the Food processing part is protruded into the food accommodating chamber and in the driving motor
It is rotated under drive relative to the cooking container, the food processor further includes memory, processor and is stored in described deposit
On reservoir and the anti-motor rotation blockage of the food processor that can run on the processor control program, wherein the anti-motor
Stall control program realizes the anti-motor rotation blockage control method of above-mentioned food processor when being executed by the processor.
Food processor according to an embodiment of the present invention passes through the anti-motor rotation blockage controlling party of above-mentioned food processor
Method can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
In addition, above-mentioned food processor can also have the following additional technical features: according to the present invention
According to one embodiment of present invention, the driving motor includes: stator core, and the stator core includes annular
Stator yoke and multiple stator teeths, the width of the stator yoke be W, multiple stator teeths are set to the stator yoke
The inner peripheral surface in portion is formed with stator tooth socket between the two neighboring stator teeth, and multiple stator teeths limit and institute
State the coaxial stator hole of stator yoke, each stator teeth include the stator teeth main body being connected with the stator yoke and
The stator tooth boots of the inner end of the stator teeth main body are located at, the width of each stator teeth main body is V, wherein W:V=
0.6-0.7；Rotor core, the rotor core are rotatably arranged in the stator hole and coaxial with the stator hole.
According to another embodiment of the invention, the driving motor includes: stator core, and the stator core includes ring
Multiple stator teeths of the stator yoke of shape and the inner peripheral surface set on the stator yoke, between the two neighboring stator teeth
It is formed with stator tooth socket, multiple stator teeths limit the stator hole coaxial with the stator yoke, the stator yoke
Maximum radial dimension be D；Rotor core, the rotor core be rotatably arranged in the stator hole and with the stator hole
Coaxially, the maximum radial dimension of the rotor core is d, wherein D and d meets: 0.4≤d/D≤0.55.
Detailed description of the invention
Fig. 1 is the structural schematic diagram according to the food processor of one embodiment of the invention；
Fig. 2 is the circuit diagram according to the power supply circuit of the food processor of one embodiment of the invention；
Fig. 3 is the flow chart according to the anti-motor rotation blockage control method of the food processor of the embodiment of the present invention；
Fig. 4 is the flow chart according to the anti-motor rotation blockage control method of the food processor of one embodiment of the invention；
Fig. 5 is the assembling schematic diagram according to the rotor core of the stator core and motor of one embodiment of the invention；
Fig. 6 is the structural schematic diagram according to the rotor core of the motor of one embodiment of the invention；
Fig. 7 is the structural schematic diagram according to the rotor core of the motor of another embodiment of the present invention；
Fig. 8 is the block diagram according to the anti-motor rotation blockage control device of the food processor of the embodiment of the present invention；
Fig. 9 is the block diagram according to the food processor of one embodiment of the 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.
With reference to the accompanying drawing come describe the embodiment of the present invention food processor anti-motor rotation blockage control method, non-provisional
The anti-motor rotation blockage control device and food processor of property computer readable storage medium, food processor.
As shown in Figure 1, food processor 200 according to an embodiment of the present invention may include: cooking container 210, driving electricity
Machine 100 and Food processing part (not shown) for being handled food, arranging, which could be formed in container 210, is used for
The food accommodating chamber of food is held, Food processing part can protrude into food accommodating chamber and the phase under the drive of driving motor 100
Cooking container 210 is rotated, and then the food in food accommodating chamber can be handled.
Further, food processor 200 can also include base 220, and cooking container 210 can be cup body component, cup
Body component is detachably arranged at base 220, in order to pick and place food and clean to cup body component.Driving motor 100 can be with
It is installed on base 220, Food processing part can be the knife assembly being connected with cup body component, when cup body component is set to base 220,
Driving motor 100 can be sequentially connected with knife assembly, and driving motor 100 can drive knife assembly relative to cup body component as a result,
Rotation, so that knife assembly can carry out food the processing such as cutting.
With continued reference to shown in Fig. 1, food processor 200 can also include: electric-control system 230 and display component 240.Its
In, electric-control system 230 includes circuit board, and the power supply circuit and motor control panel of food processor 200, electricity are provided on circuit board
Road plate can be installed on base 220, and circuit board is electrically connected to control the work of driving motor 100 with driving motor 100.Display
Component 240 can also be installed on base 220, and display component 240 can be electrically connected with electric-control system 230, display component 240
It is displayed for the working condition of food processor 200, and in further embodiment of the invention, display component
It can have operation button on 240, user can control electric-control system 230 by operation button, and then control food processor
200 operating mode and state etc., it is more convenient to use.
Referring to shown in Fig. 2, the power supply circuit 231 of food processor 200 according to an embodiment of the present invention includes: rectifier bridge
2311 and electrolytic capacitor 2312, wherein the first input end of rectifier bridge 2311 is connected to the firewire AC_L of the AC power source of input,
Second input terminal of rectifier bridge 2311 is connected to the zero curve AC_N of AC power source, and AC power source is converted to direct current by rectifier bridge 2311
Power supply.The positive terminal of electrolytic capacitor 2312 is connected with the first output end of rectifier bridge 2311, the negative pole end of electrolytic capacitor 2312 with
The second output terminal of rectifier bridge 2311, which is connected, to be followed by with reference to ground GND, and the both ends of electrolytic capacitor 2312 are also connected with motor control panel
232, motor control panel 232 is connected with driving motor 100, electrolytic capacitor 2312 to DC power supply carry out steady pressure treatment, and
By the direct-current power supply motor control panel 232 after steady pressure treatment, to be carried out by motor control panel 232 to driving motor 100
Control.
Specifically, AC power source can be rectified into DC power supply (its voltage by rectifier bridge 2311 after AC power source access
Can be 310V), which can charge to electrolytic capacitor 2312, until charging to the corresponding voltage of DC power supply
(310V), when needing to control the work of driving motor 100, motor control panel 232 can be applied DC power supply in the form of PWM waveform
It is added on driving motor 100, so that driving motor 100 is run according to desired speed.Under normal conditions, food processor 200
The mixing torque of (e.g., wall-breaking machine) under the low speed is inadequate, so generally improving power in the form of directly increasing PWM duty cycle
Square, but will lead to driving motor 100 there is the phenomenon that stuck (stall) in this way, so that the whipping properties of cooking machine are reduced, therefore,
How to effectively prevent driving motor that stall occurs to need to be described in detail below.
Fig. 3 is the flow chart according to the anti-motor rotation blockage control method of the food processor of the embodiment of the present invention.Such as Fig. 3 institute
Show, the anti-motor rotation blockage control method of the food processor of the embodiment of the present invention the following steps are included:
S1 obtains rotary speed instruction.
S2 parses rotary speed instruction to obtain the rotating speed of target of driving motor, and generate PWM control according to rotating speed of target
Signal processed is to control driving motor.
For example, after food processor works on power, user can be arranged food by above-mentioned display component and arrange
The operating mode and revolving speed of machine, and select to start key so that food processor is started to work.It starts to work in food processor
Afterwards, the rotary speed instruction for first obtaining user, then parses the rotary speed instruction to obtain the rotating speed of target of driving motor, and root
Pwm control signal is generated according to rotating speed of target to control driving motor.
S3 gradually increases pwm control signal during controlling driving motor in the way of incremental step
Duty ratio, and detected by rotor-position of the Hall sensor to driving motor to obtain the reality of driving motor and turn
Speed.Wherein, the mode of incremental step refers to the duty ratio that pwm control signal is gradually increased according to certain step-length.
For example, during controlling driving motor, PWM control can gradually be increased according to certain step-length
The duty ratio of signal, for example, the duty ratio of pwm control signal can be increased every default PWM cycle (e.g., two PWM cycles)
Add default duty ratio (e.g., 5%), meanwhile, it is detected by rotor-position of the Hall sensor to driving motor, is driven with obtaining
The actual speed of dynamic motor.
S4, judges whether the actual speed of driving motor follows the duty ratio increment of pwm control signal to be changed.That is,
Judge whether the rotor-position of driving motor follows the duty ratio increment of pwm control signal to be changed, that is, judgement driving electricity
Whether machine when operating by certain resistance in one direction.
S5, if it is not, then by changing pwm control signal so that driving motor inverted running, then by adjusting PWM control
Signal is to control driving motor forward direction intermittent duty, to prevent driving motor from stall occurs.
That is, when the actual speed of driving motor does not follow the duty ratio increment of pwm control signal to be changed,
Illustrate that driving motor, by certain resistance, can make when operating in one direction by changing pwm control signal at this time
Driving motor inverted running, that is, retract an angle, then control again driving motor forward direction operation, as a result, driving motor by
When to certain resistance, an angle and is had an effect again by retracting, can effectively reduce electromechanics Caton phenomenon.Meanwhile it controlling
When driving motor forward direction processed is run, by adjusting pwm control signal to control driving motor forward direction intermittent duty, i.e., control is driven
Motor operation stops a period of time of reruning for a period of time again for a period of time, repeatedly repeatedly, can make food processor
Knife assembly shaken with the food in food accommodating chamber so that food be easier beat.
In some embodiments of the invention, 6 hall signals can reversely be retracted so as to drive by controlling driving motor
The rotor of dynamic motor rotates backward.It is understood that in other embodiments of the invention, the hall signal number retracted
It can be other values, for example, any one value in 1 to 5, it is contemplated that driving motor can be had an effect again after retracting,
It is advantageous to, control driving motor reversely retracts 6 hall signals, to guarantee that driving motor can normally start.
In some embodiments of the invention, output the first preset time, again can be stopped by control pwm control signal
The second preset time is opened, repeatedly, so that driving motor forward direction intermittent duty, wherein the first preset time and second is in advance
If the time can be demarcated according to the actual situation, for example, the first preset time can be 20ms, the second preset time can be
80ms。
Further, in some embodiments of the invention, after controlling the intermittent duty of driving motor forward direction, also pass through inspection
The rotor-position situation of change of driving motor is surveyed to judge whether driving motor occurs stall, wherein if driving motor occurs
Stall then controls food processor progress failure and reports an error.
Specifically, after food processor works on power, first obtain rotary speed instruction, and to rotary speed instruction parsed with
The rotating speed of target of driving motor is obtained, and pwm control signal is generated to control driving motor according to rotating speed of target.Right
During driving motor is controlled, the duty ratio of pwm control signal can be gradually increased according to certain step-length, led to simultaneously
It crosses Hall sensor to detect the rotor-position of driving motor, to obtain the actual speed of driving motor, and judges to drive
Whether the actual speed of motor follows the duty ratio increment of pwm control signal to be changed, that is, judges whether driving motor is not sent out
Life is obstructed.If it is, control driving motor operates normally；If it is not, then can reversely retract 6 by controlling driving motor
(e.g., hall signal angle so that driving motor retracts, then controls driving motor the first preset time out of service
20ms), then driving motor forward direction operation the second preset time (e.g., 80ms) is controlled, if repeated multiple times (e.g., 10 times), so that
Driving motor forward direction intermittent duty.After controlling the intermittent duty of driving motor forward direction, also judge that the rotor-position of driving motor is
The no duty ratio increment for following pwm control signal is changed, that is, judges whether driving motor is not obstructed, if it is,
Driving motor is controlled to run well；Otherwise, illustrate to can control at this time currently after being once obstructed processing still in locked rotor condition
Food processor carries out failure and reports an error, to remind user to make respective handling.
Fig. 4 is according to the flow chart of the anti-motor rotation blockage control method of the food processor of one embodiment of the invention, such as
Shown in Fig. 4, the anti-motor rotation blockage control method of the food processor be can comprise the following steps that
S101, system electrification, initialization.
S102, display component issue motor and beat speed signal.
S103, the MCU of motor control panel parse motor and beat speed signal and generate pwm control signal.
S104 gradually increases the duty ratio of pwm control signal in the way of incremental step.
S105, Hall sensor detection rotor-position and the MCU for feeding back to motor control panel.
S106 calculates the current rotating speed n of driving motor.
S107, judges whether current rotating speed n does not increase according to incremental step.If so, executing step S108；If not,
Execute step S109.
S108, MCU control driving motor 6 hall signals of rollback of motor control panel, and turn off pwm control signal
20ms is then turned on pwm control signal 80ms.
S109 is normal to start.
S110 executes the shutdown pwm control signal 20ms in 10 step S108 repeatedly, is then turned on pwm control signal
80ms。
S111 judges whether driving motor occurs stall according to detection rotor-position situation.If so, executing step
S112；If not, return step S109.
S112, the system failure carry out failure and report an error.
The anti-motor rotation blockage control method of food processor according to an embodiment of the present invention as a result, according to rotating speed of target
During controlling driving motor, the duty ratio of pwm control signal is gradually increased in the way of incremental step, and is led to
Hall sensor is crossed to detect the rotor-position of driving motor to obtain the actual speed of driving motor, and judgement driving
Whether the actual speed of motor follows the duty ratio increment of pwm control signal to be changed, if it is not, then by changing PWM control
Signal processed is so that driving motor inverted running, then by adjusting pwm control signal to control driving motor forward direction intermittent duty, with
It prevents driving motor from stall occurs, so that electromechanics Caton phenomenon be effectively reduced, improves the blanking of low-speed and large-torque application
The whipping properties of reason machine.
Further, referring to Fig.1, shown in Fig. 5-Fig. 7, the drive according to an embodiment of the present invention for food processor 200
Dynamic motor 100 may include: stator core 10 and rotor core 20.Wherein, stator core 10 may include: 11 He of stator yoke
Multiple stator teeths 12, stator yoke 11 can be annular, and multiple stator teeths 12 can be set to the inner peripheral surface of stator yoke 11,
And multiple stator teeths 12 can limit the stator hole 102 coaxial with stator yoke 11, and stator yoke 11 can be multiple
Stator teeth 12 provides mechanical support, fixes 12 position of stator teeth.Multiple stator teeths 12 can be along stator yoke 11
Circumferentially spaced distribution could be formed with stator tooth socket 101, the winding of driving motor 100 between two neighboring stator teeth 12
14 can be wrapped in stator teeth 12 by stator tooth socket 101.
It should be noted that in the present invention, the quantity of stator teeth 12 can need flexible setting according to the actual situation,
Stator teeth 12 is six purposes for being given for example only explanation in Fig. 5, in other embodiments of the invention, stator teeth 12
Or two, four or more, this is all within protection scope of the present invention.
In the related art, the magnetic yoke of driving motor stator is wide and the wide ratio of teeth portion does not have fixed value, and usual ratio is more
For 0.4-0.6, stator yoke is made to undertake the iron loss of greater proportion, to reduce the fever temperature rise of stator teeth, but can bring and determine
The excessively high problem of sub- yoke portion temperature rise.If being solved the above problems by a magnetically permeable shell jacketed on driving motor, one
Determine the magnetic flux density that can reduce stator yoke in degree, reduce the iron loss of stator yoke, but will increase material and technique at
This.
And in the present invention, referring to Figure 5, each stator teeth 12 may include: stator teeth main body 121 and stator
Tooth boots 122.Wherein, stator teeth main body 121 is connected with stator yoke 11, can connect stator teeth 12 with stator yoke 11
It is integrated.Stator tooth boots 122 are located at the inner end of stator teeth main body 121, can reduce stator teeth 12 and rotor core 20 it
Between air-gap reluctance, improve Distribution of Magnetic Field.
In addition, the width of stator yoke 11 is W, the width of each stator teeth main body 121 is V.For etc. shapes determine
Sub- iron core 10, i.e. mono- timing of maximum radial dimension D of stator core 10, if W:V is too small, will lead to the magnetic flux of stator teeth 12
Density is excessively high, or even flux density saturation occurs, and in 10 course of work of stator core, the iron loss of stator teeth 12 is larger, fixed
The temperature rise of sub- teeth portion 12 is excessively high.Also, the stator tooth socket 101 between two neighboring stator teeth 12 is too small, two neighboring stator
Teeth portion 12 reduces the efficiency of stator core 10 apart from too short, electromagnetic circuit easy to form.If W:V is excessive, it is fixed to will lead to
The magnetic flux density in sub- yoke portion 11 is excessively high, or even flux density saturation occurs, in 10 course of work of stator core, stator yoke 11
Iron loss it is larger and the excessively high phenomenon of temperature rise occur.
Therefore, in some embodiments of the invention, the width W of stator yoke 11 and each stator teeth main body 121
Width V can satisfy W:V=0.6-0.7, and stator yoke 11 and stator teeth 12 can more reasonably distribute stator core 10
Magnetic flux density prevents 10 local temperature rise of stator core higher, keeps the temperature rise of stator core 10 more balanced, to improve stator core
10 service lifes and security performance.For example, in some embodiments of the invention, the width W and stator of stator yoke 11
The ratio W:V of the width V of teeth portion main body 121 can be respectively 0.6,0.62,0.65,0.68 and 0.7 etc..
It should be noted that in the present invention, the width W of stator yoke 11 can be understood as the stator yoke 11 of annular
The distance between inner peripheral surface and outer peripheral surface, the width V of stator teeth main body 121 can be understood as the edge of stator teeth main body 121
Circumferential the distance between two sides of stator yoke 11.
In addition, the distance between the inner peripheral surface and outer peripheral surface of the stator yoke 11 of annular can be identical everywhere, and certainly, annular
Stator yoke 11 inner peripheral surface and the distance between outer peripheral surface be also possible to not exactly the same, annular stator yoke 11
The distance between inner peripheral surface and outer peripheral surface can be everywhere identical or not exactly the same.But in the present invention, stator yoke
The width V of any position of the width W and stator teeth main body 121 of 11 any position meets W:V=0.6-0.7.
The width W of the stator yoke 11 of stator core 10 according to an embodiment of the present invention for food processor 200 and
The width V of stator teeth main body 121 meets W:V=0.6-0.7, and magnetic flux density distribution is more reasonable, and temperature rise is more balanced, is conducive to
It improves service life and safety.Further to make the temperature rise of stator core 10 lower, further embodiment according to the present invention,
The width W of stator yoke 11 and the width V of stator teeth main body 121 can be with further satisfactions: W:V=0.64-0.66.
According to some embodiments of the present invention, as shown in figure 5, the width of stator yoke 11 can be equal everywhere, Mei Geding
The width of sub- teeth portion main body 121 can be equal everywhere, and in order to the mold design of 10 forming process of stator core, technique is simpler
It is single.
Further, with continued reference to shown in Fig. 5, stator yoke 11 can be circular annulus for Internal periphery and outer profile
The structure of shape, stator yoke 11 is simple and convenient for molding.
In addition, the width bisector of each stator teeth main body 121 can pass through the center of stator hole 102, that is to say, that
Each radially extending along stator hole 102 of stator teeth main body 121 is conducive to keep Distribution of Magnetic Field more symmetrical uniformly.
Further, referring to Figure 5, in the circumferential direction of stator yoke 11, the both ends of stator tooth boots 122 can prolong respectively
It stretches beyond stator teeth main body 121, the abutting end of two neighboring stator tooth boots 122 is spaced apart or connected.Thus, it is possible to around
The winding 14 for being located at stator teeth 12 is fixed, and prevents winding 14 from being loosened by the inner end of stator teeth 12, and winding 14 is fixed more
Add reliable.
Stator core 10 according to an embodiment of the present invention can also include multiple positioning protrusion 13, and multiple positioning protrusion 13 can
With along the circumferentially-spaced outer peripheral surface for being opened in stator yoke 11 of stator yoke 11, and each positioning protrusion 13 can be along stator
Yoke portion 11 radially extends.As a result, when driving motor 100 is assembled, stator core 10 can by positioning protrusion 13 with
The bracket of driving motor 100 is positioned, and driving motor 100 is made to assemble simpler convenience and accurate positioning.
It should be noted that the present invention quantity of positioning protrusion 13 and setting position are not done it is specifically limited, for example, such as
In specific embodiment shown in fig. 5, the quantity of positioning protrusion 13 is equal with the quantity of stator teeth 12, and positioning protrusion 13 with
The outer peripheral surface of stator yoke 11 is arranged in 12 position of stator teeth correspondingly, convenient for stator core 10 mold design and at
Type.In some unshowned embodiments of the invention, the quantity of positioning protrusion 13 and position can also be with stator teeths 12 not
It corresponds, it is only necessary to it is fixed to stator core 10 to realize to meet the outer peripheral surface spaced apart set on stator yoke 11 of positioning protrusion 13
The requirement of position.
Further, as shown in figure 5, rotor core 20 can be located in stator hole 102, and rotor core 20 can be with
Stator hole 102 is coaxial.Rotor core 20 can be rotated about axis in stator hole 102, and rotor core 20 and stator hole
Preset distance can be spaced apart between 102 inner peripheral surface, so that the rotation of rotor core 20 is more smooth.
As a result, after 14 circulating current of winding of driving motor 100, multiple stator teeths 12 can be made to form multipair magnetic pole, it is fixed
Magnetic field is generated in sub-aperture 102, the rotor core 20 in stator hole 102 can be rotated about axis under the influence of a magnetic field, with
Realize the conversion and output of electric energy.
In the related art, the root diameter of driving motor and stator diameter ratio do not have fixed value, usually mostly 0.60-
0.75, within this range, although driving motor can export biggish torque, the high speed performance of driving motor is poor, and
And the cogging torque of driving motor increases, driving motor is easy to produce vibration and biggish noise.If by drive control
Increase weak magnetic effect in the algorithm of circuit to solve the above problems, then can reduce the efficiency of driving motor.
And in the present invention, the maximum radial dimension D of stator yoke 11 and the maximum radial dimension d of rotor core 20 meet
0.4≤d/D≤0.55.For example, in some embodiments of the invention, the maximum radial dimension D of stator yoke 11 with turn
The ratio d/D of the maximum radial dimension d of sub- iron core 20 can be respectively 0.45,0.48,0.51 and 0.54 etc..
For etc. shapes stator core 10, i.e. the timing of maximum radial dimension D mono- of stator yoke 11, when d/D is too small
(e.g., less than 0.4) when, the maximum radial dimension d of rotor core 20 is too small, if 100 low speed of driving motor run, for example, drive
The revolving speed < 5000rpm of dynamic motor 100, the load capacity of rotor core 20 is too small, drives under the operating condition loaded on an equal basis, maximum diameter
The rotor core 20 too small to size d can seriously generate heat, and influence the normal operation of driving motor 100, reduce driving motor 100 and imitate
Rate, in some instances it may even be possible to be damaged.When d/D it is excessive (e.g., be greater than 0.55) when, the cogging torque that will lead to driving motor 100 becomes larger,
The rotary inertia of rotor core 20 becomes larger, if 100 high-speed cruising of driving motor, for example, the revolving speed > of driving motor 100
When 10000rpm, driving motor 100 can generate vibration, and then generate biggish noise, influence 100 performance of driving motor and user
Use feeling.
Therefore, in some embodiments of the invention, the maximum radial dimension D Yu rotor core 20 of stator yoke 11 be most
Big radial dimension d can satisfy 0.4≤d/D≤0.55, and the power output of the rotor core 20 of driving motor 100 can be improved, and drive
Dynamic motor 100 is more efficient, prevents rotor core 20 from generating heat, safer, and can be by the maximum radial of rotor core 20
Size d does the inertia small, rotor core 20 generates when eliminating high-speed rotation, prevents driving motor 100 from generating biggish vibration
Noise.
In addition, it is necessary to explanation, in some embodiments of the invention, the foreign steamer of stator core 10 and rotor core 20
Exterior feature is circle, then maximum radial dimension refers to the diameter of the rounded outer profiles of stator core 10 and rotor core 20.And in the present invention
Other embodiments in, the outer profile of stator core 10 and rotor core 20 be not it is round, then maximum radial dimension can manage
Solution is the size of the maximum position of radial dimension for crossing axis of the outer profile of stator core 10 and rotor core 20.
The maximum diameter of the stator yoke 11 of driving motor 100 according to an embodiment of the present invention for food processor 200
Meet 0.4≤d/D≤0.55 to the maximum radial dimension d of dimension D and rotor core 20, efficiently solves driving motor 100
Low speed power output is small and the big problem of vibration at high speed noise, improves the efficiency and security performance of driving motor 100.It is further
It improves the low speed power output of driving motor 100 and reduces the high speed noise of driving motor 100, it is further according to the present invention to implement
Example, the maximum radial dimension D of stator yoke 11 and the maximum radial dimension d of rotor core 20 can be with further satisfactions: 0.5≤d/
D≤0.55。
According to some embodiments of the present invention, as shown in Figure 5-Figure 7, multiple magnet slots can be equipped in rotor core 20
23, multiple magnet slots 23 can be along the circumferentially spaced setting of rotor core 20, and the both ends of magnet slot 23 can prolong respectively
The axial ends of rotor core 20 is extended to, multiple permanent magnets 25 can be plugged in correspondingly in multiple magnet slots 23.
Permanent magnet 25 can extend to the axial ends of rotor core 20, the position of permanent magnet 25 in magnet slot 23 as a result,
It is reliable to set fixation, permanent magnet 25 can be effectively prevented and loosen.And multiple permanent magnets 25 can form multipair magnetic pole, to produce
Magnetisation field, and then induced electromotive force is generated, realize the conversion of electric energy.Using no setting is required the excitation of rotor core 20 of permanent magnet 25
Coil not only improves the weight for mitigating driving motor 100, reduces the volume of driving motor 100, and on startup without starting
Excitation, starting is more quick, more energy saving.
It should be noted that the present invention quantity of magnet slot 23 and permanent magnet 25 is not done it is specifically limited, it is only necessary to meet
Multiple permanent magnets 25 are plugged in multiple magnet slots 23 correspondingly to realize the fixation of permanent magnet 25 and form multiple magnetic poles
Requirement.For example, magnet slot 23 and permanent magnet 25 are respectively four in specific embodiment as shown in Figure 6 and Figure 7,
Four permanent magnets 25 are plugged in respectively in four magnet slots 23.For another example in other embodiments of the invention, magnet slot 23
With permanent magnet 25 can also be respectively two, six, eight or more, this is all within protection scope of the present invention.
In addition, at least one end of each magnet slot 23 in the circumferential direction of rotor core 20 can be equipped with locating slot 24, permanent magnetism
Locating slot 24 can be inserted while being inserted into magnet slot 23 in body 25, and locating slot 24 can further limit the position of permanent magnet 25
It sets, keeps 25 position of permanent magnet fixed more accurate secured.
Further, as shown in Figure 6 and Figure 7, the straight line at both ends of each magnet slot 23 in the circumferential direction of rotor core 20
Distance is b, and the maximum radial distance of the outer peripheral surface of the centre distance rotor core 20 of rotor core 20 is R, and b and R meets
B:R=0.95-1.0.As b:R < 0.95, the length of permanent magnet 25 is too short in magnet slot 23, reduces the utilization of rotor core 20
Rate, to reduce the efficiency of driving motor 100；As b:R > 1, the leakage field of rotor core 20 will increase, can also reduce driving
The efficiency of motor 100.Therefore, in some embodiments of the invention, when b:R=0.95-1.0, for example, of the invention some
In specific embodiment, b:R can be respectively 0.95,0.96,0.97,0.98,0.99 and 1.0 etc., and driving motor has been effectively ensured
100 efficiency.
According to some embodiments of the present invention, as shown in Figure 6 and Figure 7, magnet slot 23 and the outer peripheral surface of rotor core 20
Minimum range is a1, and the minimum range of the outer peripheral surface of stator slot 24 and rotor core 20 is a2, permanent magnet 25 and rotor core 20
The minimum range of outer peripheral surface can be understood as lesser one value in a1 and a2, i.e. min (a1, a2).Min (a1, a2)
When too small, the mechanical strength of rotor core 20 can be made to reduce, to reduce the reliability of rotor core 20；And min (a1, a2)
When excessive, the leakage field of rotor core 20 will increase, thereby reduce the efficiency of driving motor 100.Therefore, of the invention some
In embodiment, min (a1, a2)=0.8mm-1.8mm, while ensure that the mechanical strength and efficiency of rotor core 20.For example,
In some specific embodiments of the present invention, min (a1, a2) can be respectively 0.8mm, 1.0mm, 1.2mm, 1.4mm, 1.6mm and
1.8mm waiting.
In addition, the present invention shape of magnet slot 23 is not done it is specifically limited, it is only necessary to meet the length direction of magnet slot 23
Bisector by rotor core 20 center requirement, the Distribution of Magnetic Field for generating permanent magnet 25 in magnet slot 23 is more
Uniformly.For example, in the example shown in fig. 6, magnet slot 23 is the straight-line groove of strip, string of the straight-line groove along rotor core 20
Line direction extends, and the distance b at the both ends of straight-line groove is the development length of straight-line groove.In the example shown in fig. 7, magnet slot
23 be the arc groove of strip, and for arc groove along the circumferentially extending of rotor core 20, the distance b at the both ends of arc groove is arc groove
Chord length.
In some embodiments of the invention, as shown in Figure 6 and Figure 7, the outer periphery of rotor core 20 could be formed with more
A pole tooth 21, multiple pole teeth 21 along the circumferentially distributed of rotor core 20 and can outwardly protrude, shape between two neighboring pole tooth 21
At there is tooth socket 22, also, in the embodiment with multiple magnet slots 23, magnet slot 23 can be set correspondingly with pole tooth 21
It sets.At this point, rotor core 20 is formed as salient-pole structure rotor, and compared with the rotor of wholecircle shape in the related technology, salient-pole structure
Rotor can prevent the leakage field and slot effect of rotor interpolar, to improve the efficiency of rotor core 20.
In addition, it is necessary to explanation, for the rotor core 20 with multiple pole teeth 21, the maximum outside diameter of rotor core 20
Size d refers to that the line of tooth top crosses the connection line size of the tooth top of two pole teeth 21 of the axis of rotor core 20.
Further, with continued reference to shown in Fig. 6 and Fig. 7, the normal profile of pole tooth 21 can be formed as arc-shaped, rotor iron
The outer periphery of the shaft section of core 20 can be formed by multiple arc-shaped are sequentially connected, and two neighboring arc-shaped junction is formed with
Tooth socket 22.
In addition, as shown in Figure 6 and Figure 7, using the center of rotor core 20 as the center of circle and the circle tangent with the tooth top of pole tooth 21
Radius be R (at this point, R=0.5d), it is tangent with the slot bottom of tooth socket 22 and using the center of rotor core 20 as the half of the circle in the center of circle
Diameter is r.If r:R < 0.96, the circumferential development length along rotor core 20 that will lead to pole tooth 21 is too short, reduces motor 100
Performance；If r:R > 0.98, it is too small to will lead to tooth socket 22, and when driving motor 100 is run, it is corresponding tooth socket cannot to be effectively reduced
And the noise jamming generated.Therefore, in some embodiments of the invention, r:R=0.96-0.98, for example, of the invention one
In a little specific embodiments, r:R can be respectively 0.96,0.97 and 0.98 etc., effectively reduce slot effect, while ensure that drive
The efficiency of dynamic motor 100.
Driving motor according to an embodiment of the present invention for food processor can be variable-frequency motor, be arranged according to food
The difference of food species to be processed needed for machine, variable-frequency motor can provide different revolving speeds, torque and time etc., make to have
The food processor of driving motor is intelligent.In addition, variable-frequency motor commutates without structures such as carbon brush, there is no carbon brush to grind
Damage, operation noise is lower, the use feeling for being conducive to the service life for improving food processor and improving user, of the invention
In some embodiments, driving motor can be the DC brushless motor of frequency control.
Optionally, in the present invention, food processor can be wall-breaking machine, Normal juice machine, juice extractor or soy bean milk making machine etc..It is broken
Wall machine revolving speed is high, can be used for handling harder food, and can will be present at pericarp, fruit stone and rhizome in food
A large amount of plant element sufficiently broken wall releases；Normal juice machine revolving speed is lower, is squeezed push type, handles food by way of less flexible extraction
Object；Juice extractor revolving speed is higher, and being pulverized and mixed for a greater variety of foods may be implemented；Soy bean milk making machine revolving speed is higher, may be implemented pre-
The functions such as heat, mashing, mashing off and delay infusion process full-automation.Driving motor according to an embodiment of the present invention can be applied to
A greater variety of food processors, meet more use demands, and practicability is stronger.Also, food according to an embodiment of the present invention
The anti-motor rotation blockage control method of cooking machine, can be effectively reduced electromechanics Caton phenomenon, effectively improves the whipping of cooking machine
Performance, especially low-speed and large-torque occasion.
In addition, the embodiment of the present invention also proposed a kind of non-transitorycomputer readable storage medium, it is stored thereon with
Computer program, the program realize the anti-motor rotation blockage control method of above-mentioned food processor when being executed by processor.
Non-transitorycomputer readable storage medium according to an embodiment of the present invention, by executing above-mentioned food processor
Anti- motor rotation blockage control method, can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
Fig. 8 is the block diagram according to the anti-motor rotation blockage control device of the food processor of the embodiment of the present invention.
In an embodiment of the present invention, as shown in Figure 1, food processor 200 includes cooking container 210, driving motor 100
With the Food processing part (not shown) for being handled food, arranges and be formed in container 210 for holding food
Food accommodating chamber, Food processing part protrudes into food accommodating chamber and under the drive of driving motor 100 relative to cooking container
210 rotations.
As shown in figure 8, the anti-motor rotation blockage control device of the food processor of the embodiment of the present invention includes: that instruction obtains mould
Block 2321, control module 2322, detection module 2323 and judgment module 2324, wherein instruction acquisition module 2321 is for obtaining
Rotary speed instruction.Control module 2322 for being parsed to rotary speed instruction to obtain the rotating speed of target of driving motor 100, and according to
Rotating speed of target generates pwm control signal to control driving motor 100, and gradually increases in the way of incremental step
The duty ratio of pwm control signal.Detection module 2323 is used to carry out by rotor-position of the Hall sensor to driving motor 100
It detects to obtain the actual speed of driving motor 100.Judgment module 2324 be used for judge driving motor 100 actual speed whether
The duty ratio increment of pwm control signal is followed to be changed, wherein to judge the reality of driving motor 100 in judgment module 2324
When revolving speed does not follow the duty ratio increment of pwm control signal to be changed, control module 2322 is also used to by changing PWM control
Signal is transported so that 100 inverted running of driving motor, then by adjusting pwm control signal with controlling the positive interval of driving motor 100
Row, to prevent driving motor 100 from stall occurs.
According to one embodiment of present invention, control module 2322 is also used to reversely retract 6 by control driving motor 100
A hall signal is so that the rotor of driving motor 100 rotates backward.
According to one embodiment of present invention, control module 2322 is also used to stop output by control pwm control signal
First preset time is then turned on the second preset time, repeatedly, so that the positive intermittent duty of driving motor 100.
According to one embodiment of present invention, after the positive intermittent duty of control driving motor 100, control module 2322 is also
For the rotor-position situation of change of driving motor 100 being detected by detection module 2323 to judge whether driving motor 100 is sent out
Raw stall, wherein if stall occurs for driving motor 100, control the progress of food processor 200 failure and report an error.
According to one embodiment of present invention, driving motor 100 is brshless DC motor.
It should be noted that undisclosed thin in the revolving speed increase control device of the food processor of the embodiment of the present invention
Section, the revolving speed for please referring to the food processor of the embodiment of the present invention increase details disclosed in control method, specifically here not
It repeats again.
The revolving speed of food processor according to an embodiment of the present invention increases control device, is obtained and is turned by instruction acquisition module
Speed instruction, and rotary speed instruction is parsed by control module to obtain the rotating speed of target of driving motor, and turned according to target
Fast-growing, to control driving motor, and gradually increases in the way of incremental step PWM control letter at pwm control signal
Number duty ratio.Meanwhile detection module is detected by rotor-position of the Hall sensor to driving motor to obtain driving
The actual speed of motor, judgment module judge whether the actual speed of driving motor follows the duty ratio increment of pwm control signal
Be changed, wherein judgment module judge driving motor actual speed do not follow the duty ratio increment of pwm control signal into
When row variation, control module is also used to by changing pwm control signal so that driving motor inverted running, then by adjusting PWM
Signal is controlled to control driving motor forward direction intermittent duty, to prevent driving motor from stall occurs.Thereby, it is possible to electricity is effectively reduced
Machine machinery Caton phenomenon, effectively improves the whipping properties of cooking machine.
In addition, the embodiment of the present invention also proposed a kind of food processor comprising above-mentioned food processor is prevented
Motor rotation blockage control device.
Food processor according to an embodiment of the present invention controls dress by the anti-motor rotation blockage of above-mentioned food processor
It sets, can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
Fig. 9 is the block diagram according to the food processor of one embodiment of the invention.
As shown in figure 9, the food processor 200 of the embodiment of the present invention includes cooking container 210, driving motor 100 and uses
In the Food processing part 250 handled food, the food accommodating chamber being formed in container 210 for holding food is arranged,
Food processing part 250 is protruded into food accommodating chamber and is rotated relative to cooking container 210 under the drive of driving motor 100, food
Product cooking machine 200 further includes memory 260, processor 270 and is stored on memory 260 and can run on processor 270
The anti-motor rotation blockage of food processor control program, wherein anti-motor rotation blockage control program is realized when being executed by processor 270
The anti-motor rotation blockage control method of above-mentioned food processor, specifically can refer to above description, I will not elaborate.
Food processor according to an embodiment of the present invention passes through the anti-motor rotation blockage controlling party of above-mentioned food processor
Method can be effectively reduced electromechanics Caton phenomenon, effectively improve the whipping properties of cooking machine.
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 (15)
1. a kind of anti-motor rotation blockage control method of food processor, which is characterized in that the food processor includes that cooking is held
Device, driving motor and the Food processing part for being handled food are formed with for holding food in the cooking container
Food accommodating chamber, the Food processing part protrude into the food accommodating chamber and under the drive of the driving motor relative to
Cooking container rotation, the anti-motor rotation blockage control method the following steps are included:
Obtain rotary speed instruction；
The rotary speed instruction is parsed to obtain the rotating speed of target of the driving motor, and generated according to the rotating speed of target
Pwm control signal is to control the driving motor；
During controlling the driving motor, the PWM control letter is gradually increased in the way of incremental step
Number duty ratio, and detected by rotor-position of the Hall sensor to the driving motor to obtain the driving motor
Actual speed；
Judge whether the actual speed of the driving motor follows the duty ratio increment of the pwm control signal to be changed；
If it is not, then by changing the pwm control signal so that the driving motor inverted running, then by described in adjusting
Pwm control signal is to control the driving motor forward direction intermittent duty, to prevent the driving motor from stall occurs.
2. the anti-motor rotation blockage control method of food processor as described in claim 1, which is characterized in that by described in control
Driving motor reversely retracts 6 hall signals so that the rotor of the driving motor rotates backward.
3. the anti-motor rotation blockage control method of food processor as claimed in claim 2, which is characterized in that by described in control
Pwm control signal stops the first preset time of output, is then turned on the second preset time, repeatedly, so that the driving motor
Positive intermittent duty.
4. the anti-motor rotation blockage control method of food processor as claimed in any one of claims 1-3, which is characterized in that
After controlling the driving motor forward direction intermittent duty, also by detecting the rotor-position situation of change of the driving motor to judge
Whether the driving motor occurs stall, wherein
If stall occurs for the driving motor, controls the food processor progress failure and report an error.
5. the anti-motor rotation blockage control method of food processor as described in claim 1, which is characterized in that the driving motor
For brshless DC motor.
6. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, which is characterized in that the program quilt
Processor realizes the anti-motor rotation blockage control method of food processor according to any one of claims 1 to 5 when executing.
7. a kind of anti-motor rotation blockage control device of food processor, which is characterized in that the food processor includes that cooking is held
Device, driving motor and the Food processing part for being handled food are formed with for holding food in the cooking container
Food accommodating chamber, the Food processing part protrude into the food accommodating chamber and under the drive of the driving motor relative to
The cooking container rotation, the anti-motor rotation blockage control device include:
Instruction acquisition module, for obtaining rotary speed instruction；
Control module, for being parsed to the rotary speed instruction to obtain the rotating speed of target of the driving motor, and according to institute
It states rotating speed of target and generates pwm control signal to control the driving motor, and in the way of incremental step gradually
Increase the duty ratio of the pwm control signal；
Detection module, for being detected by rotor-position of the Hall sensor to the driving motor to obtain the driving
The actual speed of motor；
Judgment module, for judging whether the actual speed of the driving motor follows the duty ratio of the pwm control signal to increase
Amount is changed, wherein
Judge that the actual speed of the driving motor does not follow the duty ratio increment of the pwm control signal in the judgment module
When being changed, the control module is also used to by changing the pwm control signal so that the driving motor inverted running,
Again by adjusting the pwm control signal to control the driving motor forward direction intermittent duty, to prevent the driving motor from sending out
Raw stall.
8. the anti-motor rotation blockage control device of food processor as claimed in claim 7, which is characterized in that the control module
It is also used to, reversely retracts 6 hall signals so that the rotor of the driving motor rotates backward by controlling the driving motor.
9. the anti-motor rotation blockage control device of food processor as claimed in claim 8, which is characterized in that the control module
It is also used to, stops the first preset time of output by controlling the pwm control signal, is then turned on the second preset time, it is so anti-
It is multiple, so that the driving motor forward direction intermittent duty.
10. the anti-motor rotation blockage control device of food processor as claimed in any one of claims 7-9, which is characterized in that
After controlling the driving motor forward direction intermittent duty, the control module is also used to, by described in detection module detection
The rotor-position situation of change of driving motor is to judge whether the driving motor occurs stall, wherein
If stall occurs for the driving motor, controls the food processor progress failure and report an error.
11. the anti-motor rotation blockage control device of food processor as claimed in any one of claims 7-9, which is characterized in that
The driving motor is brshless DC motor.
12. a kind of food processor, which is characterized in that including described in any item food processors as claim in claims 7-11
Anti- motor rotation blockage control device.
13. a kind of food processor, which is characterized in that the food processor include cooking container, driving motor and for pair
The Food processing part that food is handled, it is described to arrange the food accommodating chamber being formed in container for holding food, the food
Product handling member is protruded into the food accommodating chamber and is rotated relative to the cooking container under the drive of the driving motor, institute
Food processor is stated to further include memory, processor and be stored in the food that can be run on the memory and on the processor
The anti-motor rotation blockage of product cooking machine controls program, wherein the anti-motor rotation blockage control program is real when being executed by the processor
The anti-motor rotation blockage control method of existing food processor according to any one of claims 1 to 5.
14. food processor as claimed in claim 13, which is characterized in that the driving motor includes:
Stator core, the stator core include annular stator yoke and multiple stator teeths, the width of the stator yoke
For W, multiple stator teeths are set to the inner peripheral surface of the stator yoke, and it is fixed to be formed between the two neighboring stator teeth
Sub- tooth socket, multiple stator teeths limit the stator hole coaxial with the stator yoke, and each stator teeth includes
The stator tooth boots of the stator teeth main body that is connected with the stator yoke and the inner end for being located at the stator teeth main body, Mei Gesuo
The width for stating stator teeth main body is V, wherein W:V=0.6-0.7；
Rotor core, the rotor core are rotatably arranged in the stator hole and coaxial with the stator hole.
15. food processor as claimed in claim 13, which is characterized in that the driving motor includes:
Stator core, the stator core include annular stator yoke and set on the stator yoke inner peripheral surface it is multiple fixed
Sub- teeth portion, is formed with stator tooth socket between the two neighboring stator teeth, multiple stator teeths limit with it is described fixed
The coaxial stator hole in sub- yoke portion, the maximum radial dimension of the stator yoke are D；
Rotor core, the rotor core is rotatably arranged in the stator hole and, the rotor coaxial with the stator hole
The maximum radial dimension of iron core is d, wherein D and d meets: 0.4≤d/D≤0.55.
Priority Applications (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810187835.0A CN110247613B (en) | 2018-03-07 | 2018-03-07 | Food processor and motor stalling prevention control method and device thereof |
| PCT/CN2018/099233 WO2019169831A1 (en) | 2018-03-07 | 2018-08-07 | Food processor and rotational speed increase control method and apparatus therefor |
| EP18908959.2A EP3730014B1 (en) | 2018-03-07 | 2018-08-07 | Food processing machine |
| JP2020540490A JP7073505B2 (en) | 2018-03-07 | 2018-08-07 | Food cooker and its rotation speed increase control method, device |
| US16/966,901 US20210050807A1 (en) | 2018-03-07 | 2018-08-07 | Food processor and rotational speed increase control method and apparatus therefor |
| KR1020207021068A KR102319867B1 (en) | 2018-03-07 | 2018-08-07 | Control method, apparatus for increasing the rotation speed of food processing machine and food processing machine |
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| CN111800059A (en) * | 2020-08-17 | 2020-10-20 | 珠海格力电器股份有限公司 | Motor control method and device |
| CN111907341A (en) * | 2020-07-31 | 2020-11-10 | 合肥巨一动力系统有限公司 | Locked-rotor protection system and method of motor drive controller for electric vehicle |
| CN113690850A (en) * | 2021-06-24 | 2021-11-23 | 苏州朝程锂能科技有限公司 | Anti-blocking system and anti-blocking method |
| CN114415571A (en) * | 2022-01-24 | 2022-04-29 | 浙江三锋实业股份有限公司 | Control method for anti-stalling of brushless garden tool |
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