CN112448641A - Motor rotating speed control method for food processing machine - Google Patents
Motor rotating speed control method for food processing machine Download PDFInfo
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- CN112448641A CN112448641A CN201910812620.8A CN201910812620A CN112448641A CN 112448641 A CN112448641 A CN 112448641A CN 201910812620 A CN201910812620 A CN 201910812620A CN 112448641 A CN112448641 A CN 112448641A
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47J—KITCHEN EQUIPMENT; COFFEE MILLS; SPICE MILLS; APPARATUS FOR MAKING BEVERAGES
- A47J43/00—Implements for preparing or holding food, not provided for in other groups of this subclass
- A47J43/04—Machines for domestic use not covered elsewhere, e.g. for grinding, mixing, stirring, kneading, emulsifying, whipping or beating foodstuffs, e.g. power-driven
- A47J43/07—Parts or details, e.g. mixing tools, whipping tools
- A47J43/08—Driving mechanisms
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Abstract
The invention provides a motor rotating speed control method for a food processing machine, which comprises the following steps: acquiring the actual rotating speed of the motor; determining the number of chopping points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and uniformly dividing the alternating current half-wave through a plurality of chopping points; the method comprises the steps of obtaining a zero crossing point of alternating current, comparing the actual rotating speed with the preset rotating speed of a motor, determining a target chopping point corresponding to a half-wave of the alternating current according to the comparison result of the actual rotating speed and the preset rotating speed of the motor, and controlling the half-wave of the alternating current to be conducted from the target chopping point of the half-wave of the alternating current.
Description
Technical Field
The invention relates to the technical field of food processing, in particular to a motor rotating speed control method for a food processing machine.
Background
With the prevalence of health preservation concepts, food processing machines such as wall breaking machines, mixers, grinders, meat grinder, stock machine play more and more important roles in people's life, and consumers purchase food processing machines more and more along with the trend, can satisfy the processing demand of consumer to different edible materials, and along with the continuous upgrading of product, the consumer is also constantly promoting to food processing machine's performance and functional requirement.
The adjustment and control of the power of the alternating current commercial power of the current food processor are basically controlled by a relay and a controllable silicon, concretely, the existing scheme is mainly to compare the actual power and the target power of the food processor, the conduction time of the controllable silicon is adjusted by the comparison structure, the main disadvantages of the existing scheme are two, firstly, the power adjustment precision of the food processor is not high, because the existing scheme is fuzzy adjustment of the conduction time of the controllable silicon according to the comparison result of actual power and target power, stepless smooth adjustment of power can not be realized, namely, the equal power control is carried out to cause the power of the food processor to be suddenly increased or decreased, when the motor is regulated, the rotating speed of the motor shows that the rotating speed is suddenly high and suddenly low, the noise is high due to poor rotating speed control, the consumer experience is poor, and the food processing effect is poor due to sudden high and sudden low temperature when the heating device is controlled; secondly, the fuzzy adjustment of the conduction time of the controllable silicon according to the comparison result of the actual power and the target power occupies a longer time of a control unit terminal, so that the processing speed of the control unit is reduced, the real-time performance of the operation of the food processor is influenced, and the operation experience of a user on the food processor is further influenced.
Disclosure of Invention
The present invention is directed to solve at least one of the above technical problems to some extent, and to overcome the disadvantages and shortcomings of the prior art, the present invention provides a method for controlling the rotational speed of a motor for a food processing machine.
In order to achieve the purpose, the invention adopts the following technical scheme: a motor speed control method for a food processor, the motor speed control method comprising:
acquiring the actual rotating speed of the motor;
determining the number of chopping points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and uniformly dividing the alternating current half-wave through a plurality of chopping points;
the method comprises the steps of obtaining a zero crossing point of alternating current, comparing the actual rotating speed with the preset rotating speed of a motor, determining a target chopping point corresponding to the half-wave of the alternating current according to the comparison result of the actual rotating speed and the preset rotating speed of the motor, and controlling the half-wave of the alternating current to be conducted from the target chopping point.
Preferably, the determining the number of the chopper points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and the uniformly dividing the alternating current half-wave through the plurality of chopper points includes: and carrying out equal-power division on the alternating current half-wave by the plurality of chopper points so as to enable the difference values of work done by two adjacent chopper points to be equal.
Preferably, the plurality of chopper points divide the alternating current half-wave with equal power, so that the difference values of work done by two adjacent chopper points are equal to satisfy the relation: pt（i+1）- Pti = Pti- Pt（i-1）Wherein ti is a chopping point, t (i-1), ti and ti, t (i + 1) are adjacent chopping points, Pt（i-1）、Pti、Pt（i+1）Respectively, the power of the chopping point.
Preferably, the determining the number of the chopper points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and the uniformly dividing the alternating current half-wave through the plurality of chopper points includes: calculating the power of a preset load in the alternating current half-wave, obtaining the total work of the alternating current half-wave through the power-to-time integration, and establishing a mapping relation according to the total work of the alternating current half-wave and the power modulation precision to determine the number of chopping points of the alternating current half-wave.
Preferably, comparing the actual rotating speed of the motor with a preset rotating speed, and determining the target chopping point corresponding to the alternating current half-wave according to the comparison result of the actual rotating speed and the preset rotating speed of the motor comprises: and calculating the difference value between the actual rotating speed and the preset rotating speed of the motor, and determining a target chopping point corresponding to the alternating current half-wave according to the difference value.
Preferably, the calculating a difference between the actual rotation speed of the motor and a preset rotation speed, and determining the target chopping point corresponding to the half-wave of the alternating current according to the difference includes: and calculating the target total output through the difference value, and establishing a mapping relation between the target total output and the target chopping point so as to determine the target chopping point corresponding to the alternating current half-wave.
Preferably, the calculating a target total output according to the difference value, and the establishing a mapping relationship between the target total output and the target chopping point includes: and calculating the increment adjustment quantity of the current total output through an incremental PID (proportion integration differentiation) based on the difference value to obtain a target total output, and performing per-unit processing on the target total output to establish a mapping relation between the target total output and the target chopping point.
Preferably, the incremental adjustment amount of the current total output calculated by the incremental PID satisfies the relation: dj=Kp*(Err_Cur-Err_Last)+Ki*Err_Cur，Dtg=Dc+DjWherein Err _ Cur = Sref-Scur, Sref is a preset rotation speed, Scur is an actual rotation speed, Err _ Cur is a difference value between the preset rotation speed and the actual rotation speed, Err _ Last is a difference value between the preset rotation speed and the actual rotation speed in the previous adjustment of the alternating current, Kp is a proportional adjustment coefficient, Ki is an integral adjustment coefficient, D is a differential value between the preset rotation speed and the actual rotation speed, and k is a proportional adjustment coefficientjFor incremental adjustment, DcFor the current total output, DtgPerforming per-unit processing on the target total output to establish that the mapping relation between the target total output and the target chopping point meets the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
Preferably, the controlling of the conduction starting from the target chopping point of the half-wave of the alternating current comprises: and timing to a target chopping point of the current half-wave by taking the zero crossing point of the alternating current as a time reference point so as to enable the target chopping point of the alternating current half-wave to be conducted.
Preferably, the method for controlling the rotation speed of the motor further includes: and taking the target chopping point as a reference point, and fixing the value to the set value of the half-wave pulse width of the alternating current so as to close the circuit.
The above technical scheme of this application has following beneficial effect:
the invention provides a motor rotating speed control method for a food processing machine, which is specific, the method determines the number of chopping points of an alternating current half-wave according to the power modulation precision required by the food processing machine and the total work of the alternating current half-wave, uniformly divides the alternating current half-wave through a plurality of chopping points, specifically, divides the alternating current half-wave through the plurality of chopping points in an equal power way so as to ensure that the difference value of work done by two adjacent chopping points is equal, calculates the difference value of the preset rotating speed and the actual rotating speed of the food processing machine, calculates the increment adjustment quantity of the current total output through an incremental PID (proportion integration differentiation) to obtain the target total output, thereby determining the target chopping point by establishing the mapping relation between the target total output and the target chopping point, and when modulating the rotating speed of the food processing machine, the stepless smooth adjustment of the rotating speed can be realized, namely, the equal power control of the equal rotating, in addition, the incremental PID algorithm is adopted to calculate the incremental adjustment quantity, and after interference occurs in the working process of the food processor, the situation that the adjustment quantity is suddenly increased can be avoided by adopting the incremental PID algorithm, and the problem of large power fluctuation is avoided. Specifically, when the motor is adjusted, the difference between the work done at the adjacent chopping points is equal, namely the work done at the same time is divided, the power change of the rotation speed adjustment of the motor is more stable, the rotation speed of the motor is prevented from being suddenly high and suddenly low, the problem of high noise caused by rotation speed control is solved, and the user experience degree is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a flow chart of a power modulation method for a food processor according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of dividing a half-wave chopper point of an alternating current according to a first embodiment of the present invention.
Fig. 3 is a flowchart of a power modulation method for a food processor according to a second embodiment of the present invention.
Fig. 4 is a time chart of the half-wave chopping point of the alternating current according to the second embodiment of the present invention.
Fig. 5 is a flowchart of a power modulation method for a food processor according to a third embodiment of the present invention.
Fig. 6 is a flowchart of determining a target chopping point corresponding to an alternating current half-wave according to a third embodiment of the present invention.
Fig. 7 is a flowchart illustrating a third embodiment of the present invention, wherein the flowchart is used for calculating a target total output and establishing a mapping relationship between the target total output and a target chopping point.
Fig. 8 is a schematic block diagram of the main components of a food processor according to a fourth embodiment of the present invention.
Fig. 9 is a flowchart of a motor power modulation method for a food processor according to a fourth embodiment of the present invention.
Fig. 10 is a flowchart of the motor power modulation according to the fourth embodiment of the present invention.
Fig. 11 is a schematic block diagram of the main components of a food processor according to a fifth embodiment of the present invention.
Fig. 12 is a flowchart of a method for modulating power of a heating device for a food processor according to a fifth embodiment of the present invention.
Fig. 13 is a flow chart of power modulation of the heating device according to the fifth embodiment of the present invention.
Fig. 14 is a schematic block diagram of the main components of a food processor according to a fifth embodiment of the present invention.
Fig. 15 is a schematic diagram of the electric circuit of the main components of the food processor according to the fifth embodiment of the present invention.
The corresponding reference numbers for the component names in the figures are as follows:
10. an EMC module; 20. a switching power supply module; 30. a control module; 40. a zero-crossing detection module; 50. a silicon controlled module; 60. and a voltage detection module.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It is to be understood that the embodiments are merely representative of possible variations, individual components and functions are optional unless explicitly required, and the sequence of operations may vary, and that the term "comprises", "comprising" or any other variation thereof as used herein is intended to cover a non-exclusive inclusion, such that a process, method or apparatus that comprises a list of elements does not include only those elements but may include other elements not explicitly listed, as will be described in detail below with reference to the accompanying drawings. It should be noted that the embodiments and features of the embodiments described herein may be combined with one another in any combination, and that logical order is shown in the flowcharts, but in some cases the steps shown or described may be performed in an order different than that shown or described herein, without conflict.
Example one
Referring to fig. 1, in an exemplary embodiment of the present invention, the present embodiment provides a motor rotation speed control method for a food processor, and as shown in fig. 1, the power modulation method for a food processor includes steps 101 and 102.
Step 101: determining the number of chopping points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and uniformly dividing the alternating current half-wave through a plurality of chopping points;
when the power of the food processing machine is modulated, in order to rapidly and accurately realize the modulation of the power of the food processing machine, the power modulation precision is improved, and the situation that the power in the power of the food processing machine fluctuates back and forth near the target power due to the fact that the power is suddenly high or suddenly low is avoided.
In the scheme of the embodiment, the number of the chopping points of the alternating current half-wave is determined according to the power modulation precision and the total work of the alternating current half-wave, wherein the power modulation precision refers to the minimum unit quantity of the adjusting power when the power of the food processor is adjusted, and the power modulation precision can be set as required in order to improve the smoothness of power modulation.
The alternating current half-wave is uniformly divided through the plurality of chopping points, and when the power is adjusted, one of the uniformly divided chopping points can be selected as a target chopping point of the current alternating current half-wave according to actual requirements, so that smooth modulation of the power can be realized.
It should be noted that, the chopping point uniformly divides the half-wave of the alternating current, including but not limited to the following ways: firstly, program setting of the food processor before delivery is completed, namely, according to the power adjustment requirement of the food processor when the food processor is delivered, uniform division of alternating current half-waves through a plurality of chopping points is completed, and when the food processor works, a target chopping point is selected in a table look-up mode and other modes according to the comparison result of actual power and target power; secondly, the number of the chopping points is determined in real time in the working process of the food processor, and the even division of the alternating current half-wave is completed through the plurality of chopping points.
It should be noted that, because the power requirements of different food processing functions have large differences, the power modulation accuracy in the present solution can set different power modulation accuracies according to the power requirements of different food processing functions, and this setting scheme of power modulation accuracy can improve the efficiency of power modulation during power modulation, and is convenient for rapidly modulating the food processing machine power to the target power.
Step 102: obtaining the zero crossing point of the alternating current, determining a target chopping point corresponding to the half-wave of the alternating current according to the power requirement of the food processor, and controlling the starting of conduction from the target chopping point of the half-wave of the alternating current.
According to the power requirement of the food processor, determining a target chopping point corresponding to the half-wave of the alternating current, which mainly comprises the following three conditions: when the current power is too small, the power needs to be increased; when the current power is too large, the power needs to be reduced; the current power is the target power, and the current power is kept unchanged, wherein the chopping point does not need to be adjusted if the current power is kept unchanged, the chopping point of the last alternating current half-wave is taken as the target chopping point of the alternating current half-wave, the chopping point needs to be adjusted when the power is increased or decreased, and the target chopping point suitable for the current alternating current half-wave is determined according to the amplitude of the power increase or decrease.
The method comprises the steps that an alternating current zero-crossing point is the zero-crossing point of an alternating current half-wave to be executed, after a target chopping point suitable for the current alternating current half-wave is determined, the alternating current half-wave is controlled to be conducted from the target chopping point of the alternating current half-wave, namely, the alternating current is chopped to realize the modulation of power.
The method comprises the following steps of determining the number of chopping points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and uniformly dividing the alternating current half-wave through a plurality of chopping points, wherein the step of: and carrying out equal-power division on the alternating current half-wave by the plurality of chopper points so as to enable the difference values of work done by two adjacent chopper points to be equal.
Specifically, the dividing of the alternating current half-wave by the chopper points affects a power modulation scheme and the smoothness of power modulation, where the smoothness of power modulation refers to that when the actual power of the food processing machine is modulated, a uniform mapping relationship exists between the power to be adjusted and the divided chopper points, so that the unit power can be adjusted when the power is adjusted every time.
Specifically, as shown in fig. 2, the horizontal axis in the graph is time, the vertical axis is amplitude, and the vertical 1 in the vertical axis represents the peak value of the utility power, and the specific value is
V, namely about 311V, the difference values of work done by two adjacent chopping points are equal to satisfy the relation:
Pt（i+1）- Pti = Pti- Pt（i-1）(formula 1)
Wherein ti is a chopping point, t (i-1), ti and ti, t (i + 1) are adjacent chopping points, Pt（i-1）、Pti、Pt（i+1）The power of the chopping point is respectively, and as shown in formula 1, the difference value of the power of the adjacent chopping points is a constant value.
Example two
In this embodiment, a mapping relationship is established to determine the number of chopping points of the alternating-current half-wave through the total power of the alternating-current half-wave and the power modulation precision, as shown in fig. 3, in the scheme of this embodiment, the power modulation method for the food processing machine determines the number of chopping points of the alternating-current half-wave according to the power modulation precision and the total power of the alternating-current half-wave, and uniformly dividing the alternating-current half-wave through a plurality of chopping points includes step 201 and step 202.
Step 201: and calculating the power of a preset load in the alternating current half-wave, and obtaining the total work of the alternating current half-wave through the time integration of the power.
The conventional food processor mostly adopts 220V and 50HZ commercial power for power supply, and in this embodiment, the commercial power of 220V and 50HZ is taken as an example for illustration, and the ac waveform function satisfies formula 2.
Wherein, U (t) is AC voltage, and t is time.
Therefore, for the preset load, assuming that the load resistance is R, the total work of the half-wave of the alternating current described in this embodiment is the total work of the preset load in the half-wave of the alternating current, and the total work is applied to the half-wave interval of the alternating current
And the time unit is S, the work done by the preset load satisfies the formula 3.
Wherein the content of the first and second substances,W（t）to be at timetWork done in, P is timetThe internal resistance is the power of the preset load of R.
Integral transformation and dequantization of equation 3 can be obtained:
Step 202: and establishing a mapping relation according to the total work of the alternating current half-wave and the power modulation precision so as to determine the number of chopping points of the alternating current half-wave.
In this embodiment, the power adjustment precision is determined by the total work of the alternating current half-wave and combining the power modulation requirements of different processing technologies of the food processor, so as to establish a mapping relationship between the total work of the alternating current half-wave and the power modulation precision, that is, the alternating current half-wave is equally divided by the chopping points according to the power modulation precision, and if the equal division number of the alternating current half-wave is n +1 (that is, the number of the chopping points is n), the power value of each equal division is assumed to be n +1
The calculation method is as follows:
In the formula 5, 0.01 means that the time of the half wave of the alternating current is 0.01S.
Thus, solving equations 4 and 5, and calculating each chopping point, i.e.:
The first station wave point can be calculated
Similarly, the second chopper point can be calculated by equation 7
。
Wherein the content of the first and second substances,W（x0，x1）the work performed by the load is preset for the time range from the first chopping point to the second chopping point.
Similarly, the nth chopping point can be calculated in sequence
The results of the calculation of the respective chopping points are shown in fig. 4, and the table shows the chopping time in the half-wave of the alternating current.
It is understood that the number of chopping points can also be directly set according to the power modulation precision, such as 300, 500, 800, 1200, 1500, 1800, 2000 chopping points per half-wave of alternating current.
EXAMPLE III
The difference between the first embodiment and the second embodiment is that, on the basis of the first embodiment and the second embodiment, an embodiment is provided for determining a target chopping point corresponding to a half-wave of the alternating current according to a comparison result between the preset power and the actual power of the food processor.
As shown in fig. 5, the power modulation method for the food processor of the present embodiment includes steps 301 and 302.
Step 301: the difference between the preset power and the actual power of the food processor is calculated.
Specifically, in this embodiment, the voltage detection module of the food processor may be used to implement the voltage detection, and for the preset load R, the actual power of the preset load may be obtained, and when the food processor operates, different power requirements may be met at different processing stages, so as to calculate the difference between the preset power and the actual power of the food processor in the current operating state.
It should be noted that there are various ways to obtain the actual power of the food processor, including but not limited to voltage detection, for example, the actual power of the food processor can be obtained by current detection.
Step 302: and determining a target chopping point corresponding to the alternating current half-wave according to the difference value.
The difference value between the preset power and the actual power is the power to be regulated, and the difference value and the target chopping point are corresponding through a preset algorithm, so that the power of the food processor is regulated.
Specifically, as shown in fig. 6, determining the target chopping point corresponding to the half-wave of the alternating current by the difference includes steps 401 and 402.
Step 401: and calculating the total target output according to the difference value, and establishing a mapping relation between the total target output and the target chopping point.
And determining the target total output of the current half-wave by adopting a preset adjusting mode according to the difference value of the preset power and the actual power, and establishing a mapping relation between the total output and the target chopping point by adopting a certain corresponding algorithm on the calculated target total output and the chopping point.
It should be noted that the target total output and the preset power have no direct equal or unequal relationship, the target total output is determined by combining a certain adjustment mode according to the difference between the preset power and the actual power, and the preset power is the power set or required by the current working state of the food processor.
Specifically, as shown in fig. 7, calculating a target total output according to the difference, and establishing a mapping relationship between the target total output and the target chopping point includes steps 501 and 502.
Step 501: and calculating the incremental adjustment quantity of the current total output through an incremental PID (proportion integration differentiation) based on the difference value so as to obtain the target total output.
In the processing of the food processor, the required power (i.e. the real-time preset power) is changed, in the scheme, based on the difference value between the preset power and the actual power, an incremental PID algorithm is used for calculating the increment of the actual power to be superposed, the increment can be power increase or power reduction, i.e. the increment can be a positive value or a negative value, the target total output is the sum of the current total output and the incremental adjustment quantity, and the incremental adjustment quantity calculated by using the incremental PID algorithm has the advantages that: if interference occurs in the working process of the food processor, the incremental PID algorithm can avoid the condition that the rotation speed is adjusted and fluctuated too much, avoid influencing the use experience of a user product, and can also ensure the service life of the product.
Specifically, the incremental adjustment amount of the current total output calculated by the incremental PID satisfies the relation:
Dj=kp (Err _ Cur-Err _ Last) + Ki Err _ Cur (formula 8)
Dtg=Dc+Dj(formula 9)
Wherein Err _ Cur = Wref-Wcur, Wref is a preset power, Wcur is an actual power, Err _ Cur is a difference value between the preset power and the actual power, Err _ Last is a difference value between the preset power and the actual power in previous adjustment of alternating current, Kp is a proportional adjustment coefficient, Ki is an integral adjustment coefficient, D is a reference valuejFor incremental adjustment, DcFor the current total output, DtgIs the target total output.
Step 502: and performing per-unit processing on the target total output to establish a mapping relation between the target total output and the target chopping point.
Performing per-unit processing on the target total output to establish that the mapping relation between the target total output and the target chopping point meets the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
It should be noted that there are various ways to establish the mapping relationship between the target total output and the target chopping point, and the method is not limited to establishing the mapping relationship between the target total output and the target chopping point through the mapping coefficient K as described herein.
Step 402: and determining a target chopping point corresponding to the half-wave of the alternating current.
And calculating a target chopping point corresponding to the target total output, namely calculating X, wherein X is the target chopping point corresponding to the current alternating current half-wave.
It will be appreciated that the target chopping point may be determined in a variety of ways, and is not limited to the determination by calculating the difference between the preset power and the actual power of the food processor as described in the present embodiment, and that power modulation may be used in the control of the food processor, such as the adjustment of the motor speed, the control of the heating device temperature, etc., so that the power to the motor and the heating device may be adjusted based on the difference between the actual value and the set value of the parameters such as the motor speed and the temperature.
Example four
The difference of the embodiment one, the embodiment two and the embodiment three is that the embodiment gives a scheme for modulating the motor power on the basis of the embodiment one, the embodiment two and the embodiment three.
Food preparation machine stirs the processing to eating the material through motor drive food preparation machine's stirring piece, and the power modulation of motor has decided the change of motor speed, including the increase or the reduction of motor speed, the range and the speed that increase or reduce etc. change that suddenly changes in motor speed not only causes the noise big, eat material processing effect not good, still directly influences user's directly perceived use impression.
As shown in fig. 8, fig. 8 is a schematic block diagram of the main components of a food processor, the food processor includes a voltage detection module 60, a zero-crossing detection module 40 for detecting the zero-crossing point of alternating current, an EMC module 10, a switching power supply module 20, a control module 30, a motor, and a silicon controlled module 50 for controlling the motor, and the food processor is provided with a speed measurement module for measuring the rotation speed of the motor.
As shown in fig. 9, the motor power modulation method for a food processor includes steps 601, 602, and 603.
Step 601: and calculating a rotating speed difference value between the actual rotating speed of the motor and the preset rotating speed, and calculating the target total output according to the rotating speed difference value.
As shown in fig. 10, the motor rotation speed is obtained through the speed detection module, the rotation speed difference between the actual rotation speed and the preset rotation speed of the motor is calculated, and the target total output of the current half-wave is determined by adopting a preset adjustment mode, in this embodiment, the required rotation speed (i.e. the real-time preset rotation speed) is changed in the food processing machine processing, in this scheme, based on the difference between the preset rotation speed and the actual rotation speed, the increment that the actual rotation speed needs to be overlapped is calculated through the PID control module by adopting an incremental PID algorithm, where the increment may be an increase rotation speed or a decrease rotation speed, that is, the increment may be a positive value or a negative value, the target total output is the sum of the current total output and the incremental adjustment amount, and the advantage of calculating the incremental adjustment amount by adopting the incremental: if interference occurs in the working process of the food processor, the incremental PID algorithm can avoid the condition that the rotation speed is adjusted and fluctuated too much, avoid influencing the use experience of a user product, and can also ensure the service life of the product.
In particular, Dj=Kp*(Err_Cur-Err_Last)+Ki*Err_Cur，Dtg=Dc+DjWherein Err _ Cur = Sref-Scur, Sref is a preset rotation speed, Scur is an actual rotation speed, Err _ Cur is a difference value between the preset rotation speed and the actual rotation speed, Err _ Last is a difference value between the preset rotation speed and the actual rotation speed in the previous adjustment of the alternating current, Kp is a proportional adjustment coefficient, Ki is an integral adjustment coefficient, D is a differential value between the preset rotation speed and the actual rotation speed, and k is a proportional adjustment coefficientjFor incremental adjustment, DcFor the current total output, DtgPerforming per-unit processing on the target total output to establish that the mapping relation between the target total output and the target chopping point meets the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
It should be noted that there is no direct equal or unequal relationship between the target total output and the preset rotation speed, the target total output is determined by combining a certain adjustment mode according to the difference between the preset rotation speed and the actual rotation speed, and the preset rotation speed is the rotation speed set or required in the current working state of the food processor.
Step 602: and establishing a mapping relation between the target total output and the target chopping point so as to determine the target chopping point corresponding to the alternating current half-wave.
Performing per-unit processing on the target total output to establish that the mapping relation between the target total output and the target chopping point meets the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
It should be noted that there are various ways to establish the mapping relationship between the target total output and the target chopping point, and the method is not limited to establishing the mapping relationship between the target total output and the target chopping point through the mapping coefficient K as described herein.
Step 603: and timing to a target chopping point of the current half-wave by taking the zero crossing point of the alternating current as a time reference point so as to enable the target chopping point of the alternating current half-wave to be conducted.
The food processor obtains a zero crossing point through the zero crossing detection module 40, takes the zero crossing point as a time reference point, adopts a timer T1 to time to a target chopping point X of the current half-wave, executes interruption when the time is up, controls conduction from the target chopping point through the silicon controlled rectifier, assigns a timer T1= k, k is a waveform pulse width of the driving silicon controlled rectifier, takes the target chopping point as the reference point, sets the value to a set value of the half-wave pulse width of the alternating current to close the circuit, closes the silicon controlled rectifier when the time is up, and controls a port to control the opening of the silicon controlled rectifier when the time is not up, thereby realizing the control of the pulse width.
It should be noted that, in this embodiment, the speed measurement module includes, but is not limited to, a bipolar latch type hall sensor and a magnetic ring disposed on the rotation speed, and the magnetic ring has 3 polarities or more.
EXAMPLE five
The difference between the first embodiment, the second embodiment and the third embodiment is that the present embodiment provides a scheme for modulating the power of the heating device on the basis of the first embodiment, the second embodiment and the third embodiment.
As shown in fig. 11, the food processor includes a voltage detection module 60, a zero-crossing detection module 40 for detecting a zero-crossing point of the alternating current, an EMC module 10, a switching power module 20, a control module 30, and a thyristor module 50 for controlling a heating device, the food processor heats the food material through the heating device, the heating power of the heating device determines the change of the temperature, and the change of the temperature directly affects the heating effect of the food material.
As shown in fig. 12, the modulation of the heating device power includes steps 701, 702, and 703.
Step 701: and calculating the target total output according to the temperature difference between the actual temperature of the heating food material and the preset temperature by the heating device.
As shown in fig. 13, the food material is heated by the heating device, the food processor is further provided with a temperature detecting device, the temperature of the food material is obtained by the temperature detection device, the temperature difference between the actual temperature of the food material and the preset temperature is calculated, and the target total output of the current half-wave is determined by adopting a preset adjustment mode, in the processing process of the food processing machine, the required temperature (namely the real-time preset temperature) is changed, in the scheme, the increment of the actual temperature to be superposed is calculated by adopting an incremental PID algorithm through a PID control module based on the temperature difference value between the actual temperature and the preset temperature of the food material, wherein the increment can be temperature rise or temperature reduction, that is, the increment can be a positive value or a negative value, the target total output is the sum of the current total output and the increment adjustment amount, and the advantage of adopting the incremental PID algorithm to calculate the increment adjustment amount is as follows: if interference occurs in the working process of the food processor, the incremental PID algorithm can avoid overlarge temperature regulation fluctuation, avoid influencing the use experience of a user product, and can also ensure the service life of the product.
It should be noted that the target total output and the preset temperature have no direct equal or unequal relationship, the target total output is determined by combining a certain adjustment mode according to the difference between the preset temperature and the actual temperature, and the preset temperature is the temperature set or required in the current working state of the food processor.
Step 702: and establishing a mapping relation between the target total output and the chopping point so as to determine the target chopping point corresponding to the alternating current half-wave.
As shown in fig. 13, the per-unit processing is performed on the target total output to establish that the mapping relationship between the target total output and the target chopping point satisfies the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
It should be noted that there are various ways to establish the mapping relationship between the target total output and the target chopping point, and the method is not limited to establishing the mapping relationship between the target total output and the target chopping point through the mapping coefficient K as described herein.
Step 703: and timing to a target chopping point of the current half-wave by taking the zero crossing point of the alternating current as a time reference point so as to enable the target chopping point of the alternating current half-wave to be conducted.
As shown in fig. 13, the food processor obtains a zero crossing point through the zero crossing point detection module 40, and uses the zero crossing point as a time reference point, and uses the timer T1 to time to a target chopping point X of a current half-wave, and executes interruption when the time is up, and controls conduction from the target chopping point through the thyristor, and assigns a timer T1= k, where k is a waveform pulse width of the driving thyristor, and the thyristor is closed when the time is up, and the thyristor is controlled to be opened by the control port when the time is not up, so as to control the pulse width.
It can be understood that, as shown in fig. 14 and 15, for a food processing machine that requires a motor to provide power to stir food and heat food, such as a wall breaking machine, a soymilk machine, etc., the power modulation method can simultaneously regulate and control the power of the motor and the heating device.
For the sake of brevity, all possible combinations of features in the above-described embodiments will not be described, but rather, the scope of the description should be construed as broadly as the claims, so long as there is no contradiction between the combinations of features.
It should be understood by those skilled in the art that the foregoing embodiments only represent several embodiments of the present invention, and that the embodiments of the present invention are disclosed above, but the present invention is only for the purpose of understanding the embodiments of the present invention and is not limited to the embodiments of the present invention.
Claims (10)
1. A method of controlling motor speed for a food processor, the method comprising:
acquiring the actual rotating speed of the motor;
determining the number of chopping points of the alternating current half-wave according to the power modulation precision and the total work of the alternating current half-wave, and uniformly dividing the alternating current half-wave through a plurality of chopping points;
the method comprises the steps of obtaining a zero crossing point of alternating current, comparing the actual rotating speed with the preset rotating speed of a motor, determining a target chopping point corresponding to the half-wave of the alternating current according to the comparison result of the actual rotating speed and the preset rotating speed of the motor, and controlling the half-wave of the alternating current to be conducted from the target chopping point.
2. The method of claim 1, wherein the determining the number of chopper points of the ac half-wave based on the power modulation accuracy and the total power of the ac half-wave comprises dividing the ac half-wave uniformly by a plurality of chopper points, and the dividing comprises: and carrying out equal-power division on the alternating current half-wave by the plurality of chopper points so as to enable the difference values of work done by two adjacent chopper points to be equal.
3. The method of claim 2, wherein the plurality of chopper points divide the half-wave of the alternating current equally, such that the difference between the work done by two adjacent chopper points is equal to satisfy the relationship: pt（i+1）- Pti = Pti- Pt（i-1）Where ti is the chopping point, PtiThe power at the chopping point.
4. The method of claim 1, wherein the determining the number of chopper points of the ac half-wave based on the power modulation accuracy and the total power of the ac half-wave comprises dividing the ac half-wave uniformly by a plurality of chopper points, and the dividing comprises: calculating the power of a preset load in the alternating current half-wave, obtaining the total work of the alternating current half-wave through the power-to-time integration, and establishing a mapping relation according to the total work of the alternating current half-wave and the power modulation precision to determine the number of chopping points of the alternating current half-wave.
5. The method of claim 1, wherein comparing the actual rotational speed of the motor to a predetermined rotational speed and determining the target chopper point corresponding to the half-wave of the alternating current according to the comparison of the actual rotational speed of the motor to the predetermined rotational speed comprises: and calculating the difference value between the actual rotating speed and the preset rotating speed of the motor, and determining a target chopping point corresponding to the alternating current half-wave according to the difference value.
6. The method of claim 5, wherein the calculating a difference between an actual speed of the motor and a predetermined speed of the motor, and the determining the target chopping point corresponding to the half-wave of the alternating current by the difference comprises: and calculating the target total output through the difference value, and establishing a mapping relation between the target total output and the target chopping point so as to determine the target chopping point corresponding to the alternating current half-wave.
7. The method of claim 6 wherein calculating a target total output from said difference and mapping said target total output to said target chopping point comprises: and calculating the increment adjustment quantity of the current total output through an incremental PID (proportion integration differentiation) based on the difference value to obtain a target total output, and performing per-unit processing on the target total output to establish a mapping relation between the target total output and the target chopping point.
8. The method of claim 7, wherein the incremental adjustment of the current total output calculated by the incremental PID satisfies the relationship: dj=Kp*(Err_Cur-Err_Last)+Ki*Err_Cur，Dtg=Dc+DjWherein Err _ Cur = Sref-Scur, Sref is a preset rotation speed, Scur is an actual rotation speed, Err _ Cur is a difference value between the preset rotation speed and the actual rotation speed, and Err _ Last is previous adjustment of the alternating currentThe difference value between the preset rotating speed and the actual rotating speed is determined, Kp is a proportional regulating coefficient, Ki is an integral regulating coefficient, DjFor incremental adjustment, DcFor the current total output, DtgPerforming per-unit processing on the target total output to establish that the mapping relation between the target total output and the target chopping point meets the relation:
and K is a mapping coefficient of the target total output and the target chopping point, and X is the target chopping point.
9. The method of any of claims 1 to 8, wherein controlling conduction from the target chopping point for the half-wave of the alternating current comprises: and timing to a target chopping point of the current half-wave by taking the zero crossing point of the alternating current as a time reference point so as to enable the target chopping point of the alternating current half-wave to be conducted.
10. The method of claim 9, further comprising: and taking the target chopping point as a reference point, and fixing the value to the set value of the half-wave pulse width of the alternating current so as to close the circuit.
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| CN101599733A (en) * | 2009-07-09 | 2009-12-09 | 浙江工商大学 | A kind of phase closed loop control direct current motor speed regulating method |
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