CN112332721A - Control method, control device and control circuit of direct current motor - Google Patents
Control method, control device and control circuit of direct current motor Download PDFInfo
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- CN112332721A CN112332721A CN202011186933.6A CN202011186933A CN112332721A CN 112332721 A CN112332721 A CN 112332721A CN 202011186933 A CN202011186933 A CN 202011186933A CN 112332721 A CN112332721 A CN 112332721A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- 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
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
The invention discloses a control method, a control device, a control circuit, cooking equipment, a storage medium and computer equipment of a direct current motor. The method comprises the following steps: outputting a pulse signal according to a first preset duty ratio to drive the direct current motor to enter a starting state; periodically acquiring a current signal of the direct current motor, and detecting whether the falling period number of the current signal is less than a first threshold value; if the number of the falling cycles of the current signal is smaller than a first threshold value, the output duty ratio of the pulse signal is periodically increased; and if the output duty ratio of the pulse signal is increased to the second preset duty ratio, stopping increasing the output duty ratio of the pulse signal so as to enable the direct current motor to enter the running state. The method can slowly increase the driving voltage of the direct current motor, reduce the damage of the direct current motor caused by the impact current when the direct current motor is in an overload state, and also can detect whether the direct current motor is in the overload state in time, thereby improving the timeliness of overload detection of the direct current motor and reducing the overload detection cost.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method, a control device, a control circuit, cooking equipment, a storage medium and computer equipment of a direct current motor.
Background
The direct current motor has the advantages of low price, easy control, large starting torque and the like, and is a common transmission part in food processing appliances. When the voltage of the direct current motor is suddenly changed, the load is too heavy or the mechanical transmission part is in fault, the direct current motor can have overload fault condition, the direct current motor is in overload condition for a long time, the current flowing through the motor is increased, and the motor can be burnt out seriously, so that the detection of the overload condition of the direct current motor is very necessary.
The common direct current motor of commercial desk-top proportioning machine is made unloading, stirring power source, and the motor overload situation will appear when limit switch became invalid, the unloading screw rod card is dead, sauce material or starch block up the rubber tube. In order to improve the reliability of the dc motor, an overload detection method of the dc motor needs to be added. The conventional over-detection method mainly detects the rotating speed of the motor by means of sensors such as a photoelectric encoder or a magnetic encoder after the direct current motor is started, so as to judge whether the direct current motor is overloaded or not. However, the existing detection method needs to add an additional detection element, the added detection element has the risk of failure, and the detection cost is also increased.
Disclosure of Invention
In view of this, the present application provides a control method, a control device, a control circuit, a cooking device, a storage medium, and a computer device for a dc motor, and mainly aims to solve the technical problems that overload detection of a dc motor in the prior art needs to detect overload by using an additional detection element, which has a failure risk and a high detection cost.
According to a first aspect of the present invention, there is provided a method of controlling a direct current motor, the method comprising:
outputting a pulse signal according to a first preset duty ratio to drive the direct current motor to enter a starting state;
periodically acquiring a current signal of the direct current motor, and detecting whether the falling period number of the current signal is less than a first threshold value;
if the number of the falling cycles of the current signal is smaller than a first threshold value, the output duty ratio of the pulse signal is periodically increased;
and if the output duty ratio of the pulse signal is increased to the second preset duty ratio, stopping increasing the output duty ratio of the pulse signal so as to enable the direct current motor to enter the running state.
Optionally, outputting the pulse signal according to a first preset duty cycle includes: and outputting the PWM pulse signal according to a first preset duty ratio, wherein the first preset duty ratio is less than 100%, and the first preset duty ratio is less than a second preset duty ratio.
Optionally, the number of falling periods of the current signal is the number of periods of the current signal in the falling period, and the method for acquiring the number of falling periods of the current signal includes: if the current signal of the current period is smaller than the current signal of the previous period, determining that the current signal is in a descending stage; counting the acquisition period of the current signal in the descending stage of the current signal to obtain the descending period number of the current signal; if the current signal of the current period is greater than or equal to the current signal of the previous period, determining that the current signal is in a non-descending stage; and performing zero clearing operation on the falling period number of the current signal in the non-falling stage of the current signal.
Optionally, after detecting whether the number of falling cycles of the current signal is less than the first threshold, the method further includes: if the falling period number of the current signal is larger than or equal to a first threshold value, performing accumulation operation on the overload count value; judging whether the overload count value is greater than or equal to a preset overload count value or not; if the overload count value is greater than or equal to the preset overload count value, outputting a motor protection signal to control the direct current motor to stop running; and if the overload count value is smaller than the preset overload count value, periodically increasing the output duty ratio of the pulse signal.
Optionally, after periodically acquiring a current signal of the dc motor and detecting whether the number of falling cycles of the current signal is less than a first threshold, the method further includes: detecting whether the current signal is smaller than a second threshold value; and if the current signal is smaller than the second threshold and the falling period number of the current signal is smaller than the first threshold, periodically increasing the output duty ratio of the pulse signal.
Optionally, the method further includes: if the current signal is larger than or equal to the second threshold value, performing accumulation operation on the locked-rotor count value; judging whether the locked-rotor count value is greater than or equal to a preset locked-rotor count value or not; if the locked-rotor count value is greater than or equal to the preset locked-rotor count value, outputting a motor protection signal to control the direct current motor to stop running; and if the locked-rotor count value is smaller than the preset locked-rotor count value, periodically increasing the output duty ratio of the pulse signal.
According to a second aspect of the present invention, there is provided a control apparatus for a direct current motor, the apparatus comprising:
the pulse signal output module is used for outputting a pulse signal according to a first preset duty ratio so as to drive the direct current motor to enter a starting state;
the current signal acquisition module is used for periodically acquiring a current signal of the direct current motor;
the duty ratio adjusting module is used for periodically increasing the output duty ratio of the pulse signal;
and the duty ratio judging module is used for stopping increasing the output duty ratio of the pulse signal if the output duty ratio of the pulse signal is increased to a second preset duty ratio so as to enable the direct current motor to enter an operating state.
According to a third aspect of the present invention, a control circuit of a dc motor is provided, the control circuit of the dc motor is used for driving the dc motor, the control circuit of the dc motor includes a main control circuit, a current signal sampling circuit and a motor driving circuit, wherein the main control circuit is respectively connected to the current signal sampling circuit and the motor driving circuit, the current signal sampling circuit is connected to the motor driving circuit, the motor driving circuit is connected to the dc motor, and the control method of the dc motor is implemented when the main control circuit is executed.
According to a fourth aspect of the present invention, a cooking apparatus is provided, which comprises the control circuit of the dc motor, wherein the control circuit of the dc motor realizes the control method of the dc motor when executing.
According to a fifth aspect of the present invention, there is provided a storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described control method of a direct current motor.
According to a sixth aspect of the present invention, there is provided a computer apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned control method of the dc motor when executing the program.
The invention provides a control method, a control device, a control circuit, cooking equipment, a storage medium and computer equipment of a direct current motor, which drive the direct current motor from a starting state to an operating state by gradually increasing the duty ratio of a pulse signal, can gradually increase the driving voltage of the direct current motor, reduce the damage of impact current to the direct current motor when the direct current motor is in an overload state, and simultaneously, the method can detect whether the direct current motor is in the overload state or not in time by periodically collecting current signals flowing through the direct current motor in the starting state of the direct current motor and detecting the descending period number of the current signal by utilizing the characteristic that the descending time of the overload current signal is longer in the process of experiencing pulsating current, thereby improving the timeliness of overload detection of the direct current motor, in addition, the whole overload detection process only needs to obtain the current signals of each period in the starting state of the direct current motor, and other additional detection elements are not needed, so that the overload detection cost is reduced.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a schematic view illustrating a steering process of a dc motor according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a current variation curve in a starting process of a dc motor according to an embodiment of the present invention;
fig. 3 is a schematic flow chart illustrating a control method of a dc motor according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating a control apparatus of a dc motor according to an embodiment of the present invention;
fig. 5 is a schematic circuit diagram illustrating a control circuit of a dc motor according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
In the embodiment of the present application, a control method of a dc motor is provided, which is described by taking the application of the method to a single chip, an embedded chip, a computer and other computer devices as an example, and the method includes the following steps:
step 101, outputting a pulse signal according to a first preset duty ratio to drive a direct current motor to enter a starting state.
Step 102, periodically collecting a current signal of the direct current motor, and detecting whether the falling period number of the current signal is less than a first threshold value.
And 103, if the number of the descending cycles of the current signal is smaller than a first threshold, periodically increasing the output duty ratio of the pulse signal.
And 104, if the output duty ratio of the pulse signal is increased to a second preset duty ratio, stopping increasing the output duty ratio of the pulse signal so as to enable the direct current motor to enter a running state.
The direct current motor is a rotating electrical machine that can convert direct current electrical energy into mechanical energy (a direct current motor) or convert mechanical energy into direct current electrical energy (a direct current generator). In short, a dc motor is a motor that can convert dc electric energy and mechanical energy into each other. In this embodiment, the dc motor may specifically be a dc brush motor.
Further, before describing the control method of the dc motor provided in this embodiment, first, a brief description is made of an operation principle of the dc motor: as shown in fig. 1, the commutation process of the dc motor may go through three states (a), (b), (c) as shown in fig. 1. Assuming that an excitation voltage between carbon brushes of a direct current motor is u, 3 windings on a rotor are respectively L1, L2 and L3, induced potentials of the 3 windings are respectively e1, e2 and e3, a resistance of a branch 1 on the right of two carbon brushes is R1, a resistance of a branch 2 on the left of the two carbon brushes is R2, and the motor rotor rotates anticlockwise, the direct current motor sequentially goes through three states (a), (b) and (c) in the reversing process, and a voltage balance equation of the branches is listed according to the three states as follows:
from the above formula, it can be seen that the exciting current is increased from the state (a) to the state (b), the exciting current is decreased from the state (b) to the state (c), and a current pulsation is generated each time the commutator segment gap passes through the carbon brush.
Specifically, the control method for the dc motor provided in this embodiment may be applied to practical application scenarios such as a control circuit of the dc motor, in which a single chip, an embedded chip, a computer, and other computer devices may be connected to the dc motor through a current detection circuit and a motor driving circuit, and the dc motor is driven to enter an operating state from a start state by the method provided in this embodiment.
Further, the control method for the dc motor provided in this embodiment may be used to detect whether an overload condition occurs in the dc motor in a starting state, where the specific detection method includes the following steps: firstly, outputting a pulse signal according to a first preset duty ratio, driving a direct current motor to enter a starting state through the pulse signal of the first preset duty ratio, then periodically acquiring a current signal of the direct current motor in the starting state of the direct current motor, detecting whether the number of the reduction cycles of the current signal is smaller than a first threshold value, if the number of the reduction cycles of the current signal is smaller than the first threshold value, periodically increasing the output duty ratio of the pulse signal until the number of the reduction cycles is increased to a second preset duty ratio, and enabling the direct current motor to enter an operating state.
In this embodiment, the first preset duty cycle and the second preset duty cycle are preset duty cycle values, wherein the first preset duty cycle is smaller than the 100% duty cycle and smaller than the second preset duty cycle. Specifically, in a case where the current signal of the dc motor satisfies a preset condition (the number of falling cycles of the current signal is smaller than a first threshold), the first preset duty ratio may be gradually increased to the second preset duty ratio according to a set increase gradient (for example, the duty ratio is increased by 1% per cycle), so that the driving voltage is gradually increased from the start state to the operating state, instead of suddenly increasing the driving voltage to the operating state. It should be noted that, an overload condition is relatively easy to occur during the starting process of the dc motor, so it is particularly important to detect the overload condition of the dc motor during the starting process, so as to prevent the dc motor from being continuously affected by a high current after entering the running state, thereby causing damage to the dc motor.
Further, as shown in fig. 2, the current variation curve of the dc motor started in the overload state is obviously different from the current variation curve of the dc motor started in the normal state, firstly, the current value of the dc motor started in the overload state is larger than the current value of the dc motor started in the normal state, secondly, in the process that the dc motor experiences pulsating current, the current value of the dc motor started in the overload state is increased more, the current value reduction time is longer, the current value of the dc motor started in the normal state is increased less, the current value reduction time is shorter, and whether the dc motor is in the overload state can be determined by using the difference of the current value variations in the two states.
Under the judgment indexes of various current signals, the judgment of the current reduction time omits the operation of setting a current threshold value, and can be suitable for the detection of the overload state of the direct current motor under more types and more scenes, therefore, the method selects the reduction time length as the judgment index to detect whether the direct current motor is in the overload state, and the specific method is as follows: detecting whether the number of the current signals of the direct current motor in the descending period is smaller than a first threshold value, if so, determining that the direct current motor has no overload condition, and at the moment, periodically increasing the output duty ratio of the pulse signals. The number of the falling periods of the current signal refers to the number of current signal acquisition periods of the current signal in a falling stage, and the falling time length of the current signal can be converted through the number of the current signal acquisition periods and the length of the current signal acquisition periods. It should be noted that the current signal acquisition period and the increase period of the pulse signal may be the same period, or may be different periods, and the setting of the two periods may be determined according to actual situations, and this embodiment is not particularly limited.
The control method for the dc motor provided in this embodiment drives the dc motor from the start state to the running state by gradually increasing the duty ratio of the pulse signal, so as to gradually increase the driving voltage of the dc motor, thereby reducing the damage of the dc motor caused by the impact current when the dc motor is in the overload state, and meanwhile, the method can detect whether the dc motor is in the overload state by periodically collecting the current signal flowing through the dc motor in the start state of the dc motor and detecting the number of falling cycles of the current signal by using the characteristic that the falling time of the overload current signal is longer in the process of experiencing the pulsating current, thereby improving the timeliness of the overload detection of the dc motor, in addition, the whole overload detection process only needs to obtain the current signal of each cycle in the start state of the dc motor without using other additional detection elements, the overload detection cost is reduced.
In this embodiment of the present application, the specific implementation method of step 101 may be: and outputting the PWM pulse signal according to a first preset duty ratio, wherein the first preset duty ratio is less than 100%, and the first preset duty ratio is less than a second preset duty ratio. Specifically, the pulse signal can be output by selecting a PWM pulse signal which is used more often, so that the stability of the output pulse signal can be stronger. In addition, the first preset duty ratio and the second preset duty ratio may be set to duty ratio values more suitable for the performance of the dc motor itself according to practical situations, for example, the first preset duty ratio may be set to 50%, the second preset duty ratio may be set to 100%, and the increase gradient of the duty ratio may be set to 1%.
In this embodiment, the number of falling periods of the current signal refers to the number of periods of the current signal in the falling period, and the method for acquiring the number of falling periods of the current signal may specifically include the following steps:
step 201, if the current signal of the current period is smaller than the current signal of the previous period, it is determined that the current signal is in a descending stage.
Step 202, in the descending stage of the current signal, counting the collection period of the current signal to obtain the descending period number of the current signal.
Step 203, if the current signal in the current period is greater than or equal to the current signal in the previous period, it is determined that the current signal is in a non-decreasing stage.
And step 204, in the non-falling stage of the current signal, performing zero clearing operation on the falling period number of the current signal.
In this embodiment, step 201 and step 203 may determine whether the current signal is in a falling phase or a non-falling phase, as shown in fig. 2, a vertical line in fig. 2 may represent an acquisition period of a current signal, and a distance between two vertical lines may represent a length of an acquisition period of a current signal, so as to be seen from fig. 2, when the dc motor is in a falling phase, the current signal in the current period is smaller than the current signal in the previous period, and therefore, it may be determined whether the current signal is in a falling phase according to this characteristic. Further, after the falling stage and the non-falling stage of the current signal are determined, the step 202 and the step 204 may perform counting or zero clearing operation on the collection period of the current signal, so as to obtain the falling period number of the current signal after the direct current motor experiences the pulsating current each time, and by comparing the falling period number of the current signal with the first threshold, it may be determined whether the direct current motor is in the overload state. Referring to fig. 2, it can be seen from fig. 2 that the number of falling periods of the dc motor started in the overload state is significantly greater than that of the dc motor started in the normal state.
In the embodiment of the present application, after step 102, the method for controlling a dc motor further includes the steps of:
and 105, if the falling period number of the current signal is greater than or equal to a first threshold value, performing accumulation operation on the overload count value.
And step 106, judging whether the overload count value is greater than or equal to a preset overload count value.
And step 107, if the overload count value is greater than or equal to the preset overload count value, outputting a motor protection signal to control the direct current motor to stop running.
And step 108, if the overload count value is smaller than the preset overload count value, periodically increasing the output duty ratio of the pulse signal.
In this embodiment, a parameter of an overload count value is added, and the parameter can be used to prevent the situation that whether the dc motor is in the overload state and is prone to erroneous judgment from being directly judged by the number of falling cycles of the dc signal, through the overload count value, when the number of falling cycles of the current signal is greater than or equal to a first threshold value each time, the overload count value is accumulated, and when the overload count value is accumulated to a certain value and exceeds a preset overload count value, a motor protection signal can be output, so that the dc motor stops operating, and when the overload count value does not exceed the preset overload count value, the dc motor can increase the output duty ratio of the pulse signal according to an originally set mode, so that the dc motor is driven to enter the operating state from the starting state. In this embodiment, the motor protection signal may be a single signal or a superposition of multiple signals, for example, the motor protection signal may include a pulse signal with a duty ratio of 0, an enable signal of an inactive dc motor driving circuit, and the like.
In an embodiment of the present application, the method for controlling a dc motor further includes:
step 301, detecting whether the current signal is smaller than a second threshold value.
Step 302, if the current signal is smaller than the second threshold and the number of falling cycles of the current signal is smaller than the first threshold, the output duty ratio of the pulse signal is periodically increased.
The method provided by this embodiment may also be used to detect whether the dc motor is in a locked-rotor state, where the current amplitude of the dc motor is larger when the dc motor is in the locked-rotor state than when the dc motor is in a normal state and an overload state, and therefore, whether the dc motor is in the locked-rotor state may be detected by detecting whether the current signal is smaller than a set second threshold, and if the current signal is smaller than the second threshold and the number of cycles of a drop of the current signal is also smaller than a first threshold, it indicates that the dc motor is not in the locked-rotor state or the overload state, and at this time, the output duty ratio of the pulse signal may be increased according to an originally set manner, so as to drive the dc motor to enter an operating state from a start state. It should be noted that the methods for detecting a locked rotor and detecting an overload may be performed simultaneously or separately, and if the methods are performed simultaneously, that is, whether the current signal is smaller than the second threshold value is detected simultaneously, and whether the number of cycles of the current signal is smaller than the first threshold value is detected, it may be detected simultaneously whether the dc motor is in a locked rotor or an overload state, so as to improve the safety and stability of the operation of the dc motor, and at the same time, the additional detection cost may not be increased.
In this embodiment of the present application, after step 301, the method for controlling a dc motor further includes the following steps:
step 303, if the current signal is greater than or equal to the second threshold, performing an accumulation operation on the locked-rotor count value.
And step 304, judging whether the locked-rotor count value is greater than or equal to a preset locked-rotor count value.
And 305, if the locked-rotor count value is greater than or equal to the preset locked-rotor count value, outputting a motor protection signal to control the direct current motor to stop running.
And step 306, if the locked-rotor count value is smaller than the preset locked-rotor count value, periodically increasing the output duty ratio of the pulse signal.
In this embodiment, a parameter of a locked-rotor count value is added, the parameter can be used to prevent the situation that whether the dc motor is in the locked-rotor state and is prone to erroneous judgment by directly judging the level of the dc signal, through the locked-rotor count value, when the current signal is greater than or equal to the second threshold value, the locked-rotor count value is accumulated, and when the locked-rotor count value is accumulated to a certain value and exceeds the preset locked-rotor count value, a motor protection signal can be output, so that the dc motor stops operating, when the locked-rotor count value does not exceed the preset locked-rotor count value, the dc motor can increase the output duty ratio of the pulse signal according to the originally set mode, so that the dc motor is driven to enter the operating state from the starting state. In this embodiment, the motor protection signal may be a single signal or a superposition of multiple signals, for example, the motor protection signal may include a pulse signal with a duty ratio of 0, an enable signal of an inactive dc motor driving circuit, and the like.
In the embodiment of the present application, as shown in fig. 3, an example is provided to describe a specific implementation process of a control method of a dc motor. In this example, the computer device first outputs a PWM pulse signal with a duty ratio of 50% to enable the dc motor to enter a start state, then periodically collects a current signal of the dc motor, and detects whether a falling period number of the current signal is smaller than a first threshold and whether the current signal is smaller than a second threshold, if the falling period number of the current signal is smaller than the first threshold and the current signal is smaller than the second threshold, the output duty ratio of the PWM pulse signal is increased by 1; if the descending periodicity of the current signal is larger than or equal to a first threshold value, adding 1 to the overload count value, correspondingly, if the current signal is larger than or equal to a second threshold value, adding 1 to the locked-rotor count value, if the overload count value exceeds a preset overload count value or the locked-rotor count value exceeds a preset locked-rotor count value, outputting a motor protection signal to stop the direct current motor; and if the overload count value is smaller than the preset overload count value and the locked-rotor count value is smaller than the preset locked-rotor count value, adding 1 to the output duty ratio of the PWM pulse signal, continuously circulating the judging process, and stopping increasing the output duty ratio of the pulse signal until the output duty ratio of the pulse signal is increased to 100% so as to enable the direct current motor to enter the running state. The above example completely describes the method for detecting locked rotor and overload of the dc motor during the starting process, which effectively prevents the dc motor from being affected by high current during the starting stage, thereby causing damage to the dc motor, and the whole detection process does not need to use other additional detection elements, thereby reducing the detection cost of locked rotor and overload.
Further, as a specific implementation of the method shown in fig. 1 to fig. 3, the present embodiment provides a control device for a dc motor, as shown in fig. 4, the device includes: the device comprises a pulse signal output module 41, a current signal acquisition module 42, a duty ratio regulation module 43 and a duty ratio judgment module 44.
The pulse signal output module 41 is configured to output a pulse signal according to a first preset duty ratio to drive the dc motor to enter a start state;
the current signal acquisition module 42 is used for periodically acquiring a current signal of the direct current motor;
a duty ratio adjusting module 43, configured to periodically increase an output duty ratio of the pulse signal;
the duty ratio determining module 44 is configured to stop increasing the output duty ratio of the pulse signal if the output duty ratio of the pulse signal increases to a second preset duty ratio, so that the dc motor enters an operating state.
In this embodiment of the application, the pulse signal output module 41 may be specifically configured to output a PWM pulse signal according to a first preset duty ratio, where the first preset duty ratio is less than 100%, and the first preset duty ratio is less than the second preset duty ratio.
In this embodiment of the present application, the apparatus further includes a cycle number obtaining module 45, where the cycle number obtaining module 45 is specifically configured to determine that the current signal is in a falling stage if the current signal in the current cycle is smaller than the current signal in the previous cycle; counting the acquisition period of the current signal in the descending stage of the current signal to obtain the descending period number of the current signal; if the current signal of the current period is larger than or equal to the current signal of the previous period, determining that the current signal is in a non-descending stage; and performing zero clearing operation on the falling period number of the current signal in the non-falling stage of the current signal.
In this embodiment, the apparatus further includes an overload count determining module 46, where the overload count determining module 46 is specifically configured to perform an accumulation operation on an overload count value if the number of cycles of drop of the current signal is greater than or equal to the first threshold; judging whether the overload count value is greater than or equal to a preset overload count value or not; if the overload count value is greater than the preset overload count value, outputting a motor protection signal to control the direct current motor to stop running; and if the overload count value is less than or equal to the preset overload count value, periodically increasing the output duty ratio of the pulse signal.
In this embodiment of the present application, the apparatus further includes a current value detecting module 47, where the current value detecting module 47 is specifically configured to detect whether the current signal is smaller than a second threshold; and if the current signal is smaller than the second threshold value and the falling period number of the current signal is smaller than the first threshold value, periodically increasing the output duty ratio of the pulse signal.
In the embodiment of the present application, the apparatus further includes a locked-rotor count determining module 48, where the locked-rotor count determining module 48 is specifically configured to perform an accumulation operation on a locked-rotor count value if the current signal is greater than or equal to the second threshold; judging whether the locked-rotor count value is greater than or equal to a preset locked-rotor count value or not; if the locked-rotor count value is larger than the preset locked-rotor count value, outputting a motor protection signal to control the direct current motor to stop running; and if the locked-rotor count value is less than or equal to the preset locked-rotor count value, periodically increasing the output duty ratio of the pulse signal.
It should be noted that other corresponding descriptions of the functional units related to the control device of the dc motor provided in this embodiment may refer to the corresponding descriptions in fig. 1 to fig. 3, and are not repeated herein.
Further, as a specific implementation of the method shown in fig. 1 to fig. 3, this embodiment provides a control circuit of a dc motor, where the control circuit of the dc motor is used to drive the dc motor to operate, and specifically, the control circuit of the dc motor includes a main control circuit, a current signal sampling circuit and a motor driving circuit, where the main control circuit is connected to the current signal sampling circuit and the motor driving circuit, the current signal sampling circuit is connected to the motor driving circuit, the motor driving circuit is connected to the dc motor, and when the main control circuit executes, the control method of the dc motor according to the above embodiment is implemented. For the specific implementation process of the control method of the dc motor, this embodiment is not described again, and the related description may refer to the related embodiments of the control method of the dc motor.
In this embodiment, as shown in fig. 5, the main control circuit may be connected to the current signal sampling circuit through the sampling signal input pin, so as to receive the current signal of the dc motor through the sampling signal input pin. Furthermore, the main control circuit can be connected with the motor driving circuit through a steering control pin, an enabling control pin and a PWM speed regulation pin, so that the pins are used for controlling the running direction of the direct current brush motor, outputting a PWM pulse signal and enabling the motor driving circuit to enter a starting state. Specifically, in the starting stage of the direct current brush motor, the main control circuit can control the driving voltage of the motor driving circuit to be periodically increased through the PWM speed regulation pin, and can detect the exciting current flowing through the direct current brush motor through the sampling signal input pin.
In this embodiment, as shown in fig. 5, the current signal sampling circuit may include a sampling resistor, wherein one end of the sampling resistor is connected to the current signal output pin of the motor driving circuit and the sampling signal input pin of the main control circuit, and the other end of the sampling resistor is connected to the ground terminal.
In this embodiment, as shown in fig. 5, the motor driving circuit may include a current detection circuit and an H-bridge driving circuit, wherein an input terminal of the current detection circuit is connected to the H-bridge driving circuit, an output terminal of the current detection circuit is connected to the current signal sampling circuit, the H-bridge driving circuit is connected to a power supply terminal and a ground terminal, and the H-bridge driving circuit is further connected to the dc brush motor, so as to drive the dc brush motor to operate. In an alternative embodiment, the current detection circuit may be a current mirror circuit.
Further, as a specific implementation of the method shown in fig. 1 to fig. 3, this embodiment provides a cooking apparatus with a dc motor, where the cooking apparatus includes the control circuit of the dc motor described in the above embodiment, and the control circuit of the dc motor implements the control method of the dc motor described in the above embodiment when executed, and for specific implementation of the control circuit of the dc motor and the control method of the dc motor, this embodiment is not repeated, and related descriptions may refer to related embodiments of the control circuit of the dc motor and the control method of the dc motor.
Based on the above-mentioned methods as shown in fig. 1 to 3, correspondingly, the present embodiment further provides a storage medium, on which a computer program is stored, and the program is executed by a processor to implement the above-mentioned control method for the dc motor as shown in fig. 1 to 3.
Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, and the software product to be identified may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, or the like), and include several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the method according to the implementation scenarios of the present application.
Based on the method shown in fig. 1 to fig. 3 and the embodiment of the control apparatus of a dc motor shown in fig. 4, in order to achieve the above object, this embodiment further provides an entity device for controlling the dc motor, which may specifically be a personal computer, a server, a smart phone, a tablet computer, a smart watch, or other network devices, and the entity device includes a storage medium and a processor; a storage medium for storing a computer program; a processor for executing a computer program for implementing the above-described method as shown in fig. 1 to 3.
Optionally, the entity device may further include a user interface, a network interface, a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WI-FI module, and the like. The user interface may include a Display screen (Display), an input unit such as a keypad (Keyboard), etc., and the optional user interface may also include a USB interface, a card reader interface, etc. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface), etc.
Those skilled in the art will appreciate that the physical device structure of the control of the dc motor provided in the present embodiment does not constitute a limitation to the physical device, and may include more or less components, or combine some components, or arrange different components.
The storage medium may further include an operating system and a network communication module. The operating system is a program for managing the hardware of the above-mentioned entity device and the software resources to be identified, and supports the operation of the information processing program and other software and/or programs to be identified. The network communication module is used for realizing communication among components in the storage medium and communication with other hardware and software in the information processing entity device.
Through the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus a necessary general hardware platform, and the following schemes can also be implemented by hardware: outputting a pulse signal according to a first preset duty ratio to drive the direct current motor to enter a starting state; periodically acquiring a current signal of the direct current motor, and detecting whether the falling period number of the current signal is less than a first threshold value; if the number of the falling cycles of the current signal is smaller than a first threshold value, the output duty ratio of the pulse signal is periodically increased; and if the output duty ratio of the pulse signal is increased to the second preset duty ratio, stopping increasing the output duty ratio of the pulse signal so as to enable the direct current motor to enter the running state. Compared with the prior art, the technical scheme can slowly promote the driving voltage of the direct current motor, reduce the damage of the current to the direct current motor when the overload condition occurs, can also detect whether the direct current motor is in the overload state in time, improve the timeliness of overload detection of the direct current motor, and reduce the overload detection cost without other additional detection elements in the whole detection process.
Those skilled in the art will appreciate that the figures are merely schematic representations of one preferred implementation scenario and that the blocks or flow diagrams in the figures are not necessarily required to practice the present application. Those skilled in the art will appreciate that the modules in the devices in the implementation scenario may be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or may be located in one or more devices different from the present implementation scenario with corresponding changes. The modules of the implementation scenario may be combined into one module, or may be further split into a plurality of sub-modules.
The above application serial numbers are for description purposes only and do not represent the superiority or inferiority of the implementation scenarios. The above disclosure is only a few specific implementation scenarios of the present application, but the present application is not limited thereto, and any variations that can be made by those skilled in the art are intended to fall within the scope of the present application.
Claims (11)
1. A method of controlling a dc motor, the method comprising:
outputting a pulse signal according to a first preset duty ratio to drive the direct current motor to enter a starting state;
periodically acquiring a current signal of the direct current motor, and detecting whether the falling period number of the current signal is less than a first threshold value;
if the number of the falling cycles of the current signal is smaller than a first threshold value, the output duty ratio of the pulse signal is increased periodically;
and if the output duty ratio of the pulse signal is increased to a second preset duty ratio, stopping increasing the output duty ratio of the pulse signal so as to enable the direct current motor to enter a running state.
2. The method of claim 1, wherein outputting the pulse signal at the first preset duty cycle comprises:
and outputting a PWM pulse signal according to a first preset duty ratio, wherein the first preset duty ratio is less than 100%, and the first preset duty ratio is less than the second preset duty ratio.
3. The method according to claim 1, wherein the number of falling periods of the current signal is the number of periods during which the current signal is in a falling phase, and the method for obtaining the number of falling periods of the current signal comprises:
if the current signal of the current period is smaller than the current signal of the previous period, determining that the current signal is in a descending stage;
counting the acquisition period of the current signal in the descending stage of the current signal to obtain the descending period number of the current signal;
if the current signal of the current period is larger than or equal to the current signal of the previous period, determining that the current signal is in a non-descending stage;
and performing zero clearing operation on the falling period number of the current signal in the non-falling stage of the current signal.
4. The method of any of claims 1-3, wherein after detecting whether the number of falling cycles of the current signal is less than a first threshold, the method further comprises:
if the falling period number of the current signal is larger than or equal to the first threshold value, performing accumulation operation on an overload count value;
judging whether the overload count value is greater than or equal to a preset overload count value or not;
if the overload count value is greater than or equal to the preset overload count value, outputting a motor protection signal to control the direct current motor to stop running;
and if the overload count value is smaller than the preset overload count value, periodically increasing the output duty ratio of the pulse signal.
5. The method of claim 1, wherein after periodically acquiring the current signal of the dc motor and detecting whether the number of falling cycles of the current signal is less than a first threshold, the method further comprises:
detecting whether the current signal is less than a second threshold;
and if the current signal is smaller than the second threshold value and the falling period number of the current signal is smaller than the first threshold value, periodically increasing the output duty ratio of the pulse signal.
6. The method of claim 5, further comprising:
if the current signal is larger than or equal to the second threshold value, accumulating the locked-rotor count value;
judging whether the locked-rotor count value is greater than or equal to a preset locked-rotor count value or not;
if the locked-rotor count value is greater than or equal to the preset locked-rotor count value, outputting a motor protection signal to control the direct current motor to stop running;
and if the locked-rotor count value is smaller than the preset locked-rotor count value, periodically increasing the output duty ratio of the pulse signal.
7. A control device for a direct current motor, the device comprising:
the pulse signal output module is used for outputting a pulse signal according to a first preset duty ratio so as to drive the direct current motor to enter a starting state;
the current signal acquisition module is used for periodically acquiring a current signal of the direct current motor;
the duty ratio adjusting module is used for periodically increasing the output duty ratio of the pulse signal;
and the duty ratio judging module is used for stopping increasing the output duty ratio of the pulse signal if the output duty ratio of the pulse signal is increased to a second preset duty ratio so as to enable the direct current motor to enter an operating state.
8. A control circuit of a direct current motor is characterized in that the control circuit of the direct current motor is used for driving the direct current motor, the control circuit of the direct current motor comprises a main control circuit, a current signal sampling circuit and a motor driving circuit, wherein,
the main control circuit is respectively connected with the current signal sampling circuit and the motor driving circuit, the current signal sampling circuit is connected with the motor driving circuit, the motor driving circuit is connected with the direct current motor, and the method of any one of claims 1 to 6 is realized when the main control circuit is executed.
9. Cooking device, characterized in that it comprises a control circuit of a direct current motor according to claim 8, wherein the control circuit of the direct current motor, when executed, implements the method of any one of claims 1 to 6.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method of any of claims 1 to 6.
11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the computer program realizes the method of any of claims 1 to 6 when executed by the processor.
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| CN112332721B (en) | 2022-04-08 |
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