CN112886872A - Control method and device for driving motor, food processor and storage medium - Google Patents
Control method and device for driving motor, food processor and storage medium Download PDFInfo
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- CN112886872A CN112886872A CN201911204101.XA CN201911204101A CN112886872A CN 112886872 A CN112886872 A CN 112886872A CN 201911204101 A CN201911204101 A CN 201911204101A CN 112886872 A CN112886872 A CN 112886872A
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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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
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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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- 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
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/68—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more dc dynamo-electric motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- Food Science & Technology (AREA)
- Food-Manufacturing Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the field of motor control, and discloses a control method and device for a driving motor, a food processor and a storage medium. The method is applied to driving a first motor and a second motor, the first motor is controlled to operate according to a zero-crossing signal and a first driving pulse width by acquiring a zero-crossing signal of alternating current and polarity of the alternating current and then determining the first driving pulse width for driving the first motor to operate and the second driving pulse width for driving the second motor to operate under the condition that the polarity is a positive half period of the alternating current; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current. With this, the motor driving device can simultaneously control the running of the motors, and the speed regulation control of each motor can be realized independently, so that the cost is reduced, the size of the whole motor driving device is reduced, the miniaturization of the real motor driving device is facilitated, and the motor driving device is convenient to install in the miniaturized household appliance.
Description
Technical Field
The invention relates to the field of motor control, in particular to a control method and device for driving a motor, a food processer and a storage medium.
Background
In some household appliances, such as a blender, two motors are required to implement different torque application functions. At present, two motors are generally driven by two sets of independent motor controllers to independently control the operation of the two motors respectively, so that the whole motor controller has more components, higher cost and large occupied volume, and is not beneficial to the miniaturization of a stirrer; or two motors are connected in series or in parallel, and are controlled by a set of controller, but the scheme can not realize independent control of each motor.
Disclosure of Invention
The invention aims to solve the problems that in the household appliance in the prior art, a dual-motor driving circuit is high in cost and large in size or cannot be independently controlled, and provides a control method and device for a driving motor, a food processor and a storage medium.
In order to achieve the above object, a first aspect of the present invention proposes a control method for driving a motor including a first motor and a second motor, the control method comprising:
acquiring a zero-crossing signal of alternating current;
acquiring the polarity of alternating current;
determining a first driving pulse width for driving the first motor to operate and a second driving pulse width for driving the second motor to operate;
under the condition that the polarity is a positive half cycle of the alternating current, controlling the first motor to operate according to the zero-crossing signal and the first driving pulse width; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current.
Optionally, determining the first and second drive pulse widths comprises:
acquiring a first target rotating speed of a first motor and a second target rotating speed of a second motor;
a first drive pulse width is determined based on the first target rotational speed and a second drive pulse width is determined based on the second target rotational speed.
Alternatively,
acquiring the polarity of the alternating current includes:
determining the pulse attribute of the zero-crossing point moment in the zero-crossing signal, wherein the pulse attribute comprises a rising edge or a falling edge;
the polarity of the alternating current is determined as a positive half cycle in case the pulse property is a rising edge, or as a negative half cycle in case the pulse property is a falling edge.
Optionally, obtaining the polarity of the alternating current comprises:
determining the pulse level of the zero crossing point moment in the zero crossing signal;
the polarity of the alternating current is determined to be a positive half period in the case where the pulse level is high, or a negative half period in the case where the pulse level is low.
Optionally, the control method further includes:
acquiring zero-crossing time in the zero-crossing signal;
and determining the zero-crossing point moment as the starting moment of the first driving pulse width or the second driving pulse width.
A second aspect of the present invention provides a control apparatus for driving a motor, the motor including a first motor and a second motor, the control apparatus comprising:
the input end of the zero-crossing detection device is connected with one end of the power supply end of the alternating current commercial power and is used for detecting a zero-crossing signal of the alternating current;
the input end of the chopping device is connected with one end of a power supply end of the alternating current;
one end of the first power supply branch is connected with the output end of the chopping device, and the other end of the first power supply branch is connected with the other end of the power supply end of the alternating current and used for providing a first direct current for the first motor;
one end of the second power supply branch is connected with the output end of the chopping device, and the other end of the first power supply branch is connected with the other end of the power supply end of the alternating current and used for providing a second direct current for the first motor, wherein the polarities of the first direct current and the second direct current are opposite;
MCU, connect zero cross detection device's output and chopper's control end respectively, MCU is configured into:
acquiring a zero-crossing signal from zero-crossing detection equipment;
acquiring the polarity of alternating current;
determining a first driving pulse width for driving the first motor to operate and a second driving pulse width for driving the second motor to operate;
under the condition that the polarity is a positive half cycle of the alternating current, controlling the chopper device to work according to the zero-crossing signal and the first driving pulse width so as to drive the first motor to run; and in the case that the polarity is the negative half cycle of the alternating current, controlling the chopper device to work according to the zero-crossing signal and the second driving pulse width so as to drive the second motor to run.
Optionally, the MCU is further configured to:
acquiring a first target rotating speed of a first motor and a second target rotating speed of a second motor;
a first drive pulse width is determined based on the first target rotational speed and a second drive pulse width is determined based on the second target rotational speed.
Optionally, the MCU is further configured to:
determining the pulse attribute of the zero-crossing point moment in the zero-crossing signal, wherein the pulse attribute comprises a rising edge or a falling edge;
the polarity of the alternating current is determined as a positive half cycle in case the pulse property is a rising edge, or as a negative half cycle in case the pulse property is a falling edge.
Optionally, the MCU is further configured to:
determining the pulse level of the zero crossing point moment in the zero crossing signal;
the polarity of the alternating current is determined to be a positive half period in the case where the pulse level is high, or a negative half period in the case where the pulse level is low.
Optionally, the chopping device comprises:
the chopper control circuit comprises a bidirectional thyristor, a chopper device and a control circuit, wherein a first anode of the bidirectional thyristor is an input end of the chopper device, and a second anode of the bidirectional thyristor is an output end of the chopper device;
one end of the second resistor is connected with a second anode of the bidirectional thyristor;
one end of the third resistor is connected with the other end of the second resistor;
one end of a silicon controlled rectifier of the optical coupler is connected with the other end of the third resistor, the other end of the silicon controlled rectifier of the optical coupler is connected with a control electrode of the bidirectional silicon controlled rectifier, and a cathode of a light emitting diode of the optical coupler is a control end of the chopping device;
and one end of the sixth resistor is connected with the anode of a light-emitting diode of the optocoupler, and the other end of the sixth resistor is connected with the anode of the direct-current power supply.
Optionally, the zero-crossing detecting apparatus includes:
the anode of the first diode is the input end of the zero-crossing detection equipment;
one end of the tenth resistor is connected with the cathode of the first diode;
a base electrode of the first NPN triode is connected with the other end of the tenth resistor, and an emitting electrode of the first NPN triode is grounded;
and one end of the seventh resistor is connected with the collector of the first NPN triode, and the other end of the seventh resistor is connected with the anode of the direct-current power supply.
And one end of the eighth resistor is connected with the collector of the first NPN triode, and the other end of the eighth resistor is the output end of the zero-crossing detection device.
Optionally, the chopping device further comprises:
one end of the first resistor is connected with the second anode of the bidirectional thyristor;
and one end of the first capacitor is connected with the other end of the first resistor, and the other end of the first capacitor is connected with the first anode of the bidirectional thyristor.
The third aspect of the invention provides a food processor, which comprises the control device for driving the double motors.
Optionally, the food processor is a blender or a wall breaking machine.
A fourth aspect of the present invention is directed to a machine-readable storage medium having stored thereon instructions which, when executed by a processor, enable the processor to execute the above-described control method for driving a motor.
Through the technical scheme, the control method for driving the motor is applied to driving the first motor and the second motor, the zero-crossing signal of the alternating current is obtained, the polarity of the alternating current is obtained, the first driving pulse width for driving the first motor to operate and the second driving pulse width for driving the second motor to operate are determined, and the first motor is controlled to operate according to the zero-crossing signal and the first driving pulse width under the condition that the polarity is the positive half period of the alternating current; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current. With this, the motor driving device can simultaneously control the running of the motors, and the speed regulation control of each motor can be realized independently, so that the cost is reduced, the size of the whole motor driving device is reduced, the miniaturization of the real motor driving device is facilitated, and the motor driving device is convenient to install in the miniaturized household appliance.
Drawings
Fig. 1 schematically shows a flowchart of a control method for driving a motor according to an embodiment of the present invention;
fig. 2 schematically shows a block diagram of a control apparatus for driving a motor according to an embodiment of the present invention;
FIG. 3 schematically illustrates a waveform diagram of an AC power and zero crossing signal;
fig. 4 schematically shows a specific circuit diagram of a control apparatus for driving a motor according to an embodiment of the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the various embodiments can be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not be within the protection scope of the present invention.
The embodiment of the invention provides a control method for a driving motor. The motor which is powered by direct current is a brush direct current motor or a series excited motor, and is applied to small household appliances such as a stirrer, a soybean milk machine, a wall breaking machine and the like to realize the electric transmission function. Sometimes, two motors are needed for the household appliances, such as an application scenario in which different torques are implemented, or two scenarios in which the speed difference is particularly large, which cannot be implemented by one motor, and which can only be implemented by using two motors with different working parameters. The control method of the embodiment of the invention aims at the dual-motor application scene.
Fig. 1 schematically shows a flowchart of a control method for driving a motor according to an embodiment of the present invention.
Referring to fig. 1, the control method includes:
step S100: acquiring a zero-crossing signal of alternating current;
step S200: acquiring the polarity of alternating current;
step S300: determining a first driving pulse width for driving the first motor to operate and a second driving pulse width for driving the second motor to operate;
step S400: under the condition that the polarity is a positive half cycle of the alternating current, controlling the first motor to operate according to the zero-crossing signal and the first driving pulse width; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current.
In this embodiment, a description will be given with reference to a control device of a drive motor shown in fig. 2.
In step S100, the zero-crossing signal of the ac power may be detected by a zero-crossing detection device, where the zero-crossing detection device may be implemented by an existing general-purpose circuit for zero-crossing detection, such as an opto-coupler detection circuit or a triode-based detection circuit.
In step S200, to determine whether the polarity of the alternating current is a positive half cycle or a negative half cycle, the polarity of the voltage may be determined by a voltage detection circuit. The voltage detection circuit can adopt the existing general voltage detection circuit.
In steps S300 and S400, the drive pulse width is used to achieve the time to load the motor, in particular by the chopper device in fig. 2. The input of the chopper device is alternating current, and a control signal can be output by a controller such as an MCU in fig. 2, so that the chopper device can be controlled to output the voltage in a time period from a zero crossing point to a preset time in an alternating current period of the alternating current and load the voltage to the motor. The preset time is the pulse width length time of the driving pulse width.
In order to realize the respective speed regulation of the two motors, the voltages with the driving pulse width length are respectively output in the time periods of the positive half cycle and the negative half cycle of the alternating current and are loaded on the two motors according to the acquired polarity signals of the alternating current, so that the two motors are driven to operate. Because the two motors work in one half period of alternating current respectively and actually work in a direct current state, the two motors can adopt a brushed direct current motor or a series excited motor which can drive to work by alternating current and direct current. The time length of the driving pulse width determines the time length of the chopper device outputting the direct-current voltage in the alternating-current half period, namely macroscopically reflecting the voltage loaded on the two motors, so that the rotating speeds of the two motors are adjusted.
In the block diagram shown in fig. 2, the first motor and the second motor are respectively connected in series with diodes in parallel, and the series connection of the two diodes is reverse and opposite, so that the voltage in the branches of the two motors is rectified, and the polarities of the voltages in the two branches are opposite, namely, the voltages correspond to the direct current in the positive half cycle and the negative half cycle of the alternating current respectively. Meanwhile, when the chopping device outputs voltage with the polarity opposite to the normal working polarity of the branch circuit due to abnormal work, the branch circuit can not be conducted, the motor in the branch circuit is protected, and the effect of preventing the motor from being damaged due to reverse of loaded voltage is achieved. For example, according to the block diagram of fig. 2, the voltage passed by the first motor is a direct current in a positive half period of an alternating current, and the voltage passed by the second motor is a direct current in a negative half period of the alternating current, if the chopping device abnormally conducts due to an interference pulse, so that the chopping device outputs a voltage to be applied to the first motor in both the positive half period and the negative half period, the chopping device is only conducted in the positive half period and the negative half period due to the rectification of the diode D2 connected in series, and the negative half period is not conducted, so that the direct current motor is prevented from being damaged due to the fact that the direct current motor works in a direction voltage state due to the conduction in the negative half period, and the motor protection function is achieved.
The driving pulse width for determining the rotating speed of the motor, i.e. the pulse width lengths of the first driving pulse width of the first motor and the second driving pulse width of the second motor, can be determined by presetting time, and if the working rotating speeds of the first motor and the second motor are fixed, the pulse width lengths of the first driving pulse width and the second driving pulse width are fixed and unchangeable, so that the pulse width lengths can be prestored in a memory of the MCU; and aiming at the condition that the rotating speeds of the two motors are variable, data tables of pulse width lengths corresponding to different rotating speeds can be obtained through experiments in the early stage of research and development and stored in a memory, and when the motors work, the corresponding rotating speeds are obtained and then the tables are looked up, so that the corresponding pulse width lengths of the first driving pulse width and the second driving pulse width of the second motor can be obtained, and the motors can be controlled to work at the corresponding target rotating speeds.
The control method for driving the motor is applied to driving the first motor and the second motor, the zero-crossing signal of the alternating current is obtained, the polarity of the alternating current is obtained, the first driving pulse width for driving the first motor to operate and the second driving pulse width for driving the second motor to operate are determined, and the first motor is controlled to operate according to the zero-crossing signal and the first driving pulse width under the condition that the polarity is the positive half period of the alternating current; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current. With this, the motor driving device can simultaneously control the running of the motors, and the speed regulation control of each motor can be realized independently, so that the cost is reduced, the size of the whole motor driving device is reduced, the miniaturization of the real motor driving device is facilitated, and the motor driving device is convenient to install in the miniaturized household appliance.
In a preferred embodiment of the present invention, determining the first and second driving pulse widths comprises:
step S310: acquiring a first target rotating speed of a first motor and a second target rotating speed of a second motor;
step S320: a first drive pulse width is determined based on the first target rotational speed and a second drive pulse width is determined based on the second target rotational speed.
In this embodiment, the pulse width lengths of the first and second drive pulse widths are determined by, in particular, a first target rotational speed of the first motor and a second target rotational speed of the second motor. The first target rotating speed and the second target rotating speed can be set rotating speeds of the two motors set by a user or working positions of the motors set by the user, the MCU obtains corresponding target rotating speeds according to the working positions of the motors, and then the pulse width length of corresponding driving pulse width can be obtained by looking up a table according to a corresponding table of prestored rotating speeds and driving pulse widths.
In a preferred embodiment of the present invention, acquiring the polarity of the alternating current includes:
step S210: determining the pulse attribute of the zero-crossing point moment in the zero-crossing signal, wherein the pulse attribute comprises a rising edge or a falling edge;
step S220: the polarity of the alternating current is determined as a positive half cycle in case the pulse property is a rising edge, or as a negative half cycle in case the pulse property is a falling edge.
Fig. 3 schematically shows a waveform diagram of the alternating current and the zero-crossing signal. In the figure, it can be seen that the zero-crossing signal, which is pulsed only during the positive half cycle of the alternating current and is not pulsed during the negative half cycle, can be realized by stepping down the alternating current and then passing through a simple rectifier circuit, such as a rectifier circuit composed of rectifier diodes. At the zero time of the alternating current waveform, the corresponding zero-crossing signal is a rising-edge pulse, and at the zero-crossing t1 at the end of the positive half cycle of the alternating current, the corresponding zero-crossing signal is a falling-edge pulse until the zero-crossing signal is converted into a rising-edge pulse at the beginning of the next cycle of the alternating current, namely the t 2. Therefore, the positive half cycle of the alternating current is corresponding to the period from the rising edge pulse to the falling edge pulse of the zero-crossing signal, and the negative half cycle of the alternating current is corresponding to the period from the falling edge pulse to the rising edge pulse of the zero-crossing signal, so that the starting time of the positive and negative half cycles of the corresponding alternating current can be determined according to the time of the rising edge pulse and the falling edge pulse, and the identification of the polarity of the positive and negative cycles of the alternating current is realized.
The identification of the rising edge pulse and the falling edge pulse can be realized through a port with an interrupt function of the MCU, and particularly, the detection of the rising edge pulse and the falling edge pulse moment can be realized by setting the rising edge interrupt and the falling edge interrupt of the port.
The above embodiment requires that the detection port of the zero-crossing signal of the MCU has an interrupt detection function, but the detection port of the MCU does not have the interrupt detection function, and the scheme of the above embodiment cannot be implemented. To solve this problem, in a preferred embodiment of the present invention, acquiring the polarity of the alternating current includes:
step S230: determining the pulse level of the zero crossing point moment in the zero crossing signal;
step S240: the polarity of the alternating current is determined to be a positive half period in the case where the pulse level is high, or a negative half period in the case where the pulse level is low.
In this embodiment, for the case that the zero-crossing detection port of the MCU does not have the interrupt detection function, the scheme in this embodiment may be adopted to identify the high level and the low level time in the zero-crossing signal by detecting the level of the port, so as to determine the polarity of the corresponding alternating current. The waveform diagram according to fig. 3 may be such that the pulses of the zero crossing signal correspond to positive half-cycle periods of the alternating current during high levels and to negative half-cycle periods of the alternating current during low levels.
In contrast to the above-mentioned method of detecting a rising edge and a falling edge in a zero-crossing signal by using an interrupt method, the rising edge and the falling edge bring the MCU to actively trigger the MCU to enter the interrupt, so as to realize the identification, in this scheme, the MCU is required to actively detect the level of the port, because the internal software of the MCU also needs to perform other processing, the level state of the port cannot be always detected in real time, a suitable interval time can be selected according to the processing speed of the MCU and the time consumed by the MCU to process other programs, for example, the port level is actively detected every 100us to 1ms, for example, the port level is actively detected every 500us, if the port level is detected as a high level, the port level is determined as a positive half cycle, and if the port level is detected as a low level, the port level is determined as. Because the time interval cannot be too short, the detected time may have an error from the actual time, for example, an error of 500us may occur at a maximum every 500 us. According to the scheme, a port with interrupt detection is not required to be selected, a common port is selected, certain detection errors can be caused, and the method can be adopted in a scene with low control precision requirements.
After the MCU judges the polarity of the alternating current, corresponding driving pulses are output to the chopper device at the zero-crossing time according to the detected zero-crossing signal, and then the corresponding motor can be controlled to operate at the corresponding target rotating speed. As an example of the first scheme for determining the alternating current electric polarity, at the time when the MCU detects the rising edge zero-crossing pulse, the first driving pulse width is output to the chopper device, so that the chopper device outputs a direct current of a positive half cycle of the pulse width length of the first driving pulse width, and the direct current is loaded on the first motor to control and drive the first motor to operate, where the pulse width length of the first driving pulse width determines that the first motor operates at a corresponding target rotation speed; and when the MCU detects the zero-crossing pulse of the falling rising edge, outputting a second driving pulse width to the chopping device, so that the chopping device outputs direct current of the negative half cycle of the pulse width length of the second driving pulse width, and the direct current is loaded on a second motor to control and drive the second motor to operate, wherein the pulse width length of the second driving pulse width determines that the second motor operates at a corresponding target rotating speed. Thereby realizing that the two motors are respectively controlled to operate at respective target rotating speeds.
The embodiment of the invention provides a control device for driving a motor, wherein the motor comprises a first motor M1 and a second motor M2, so as to be applied to a two-motor application scene. Referring to fig. 2, the control device includes:
and the input end of the zero-crossing detection device 20 is connected with one end of the power supply end of the alternating current commercial power and is used for detecting a zero-crossing signal of the alternating current. The circuit zero-crossing detection of the zero-crossing detection device 20 is implemented by a general circuit, such as a detection circuit based on an optocoupler IC2 or a detection circuit based on a triode.
And a chopping device 10, wherein the input end of the chopping device 10 is connected with one end of the power supply end of the alternating current. The circuit of the chopper apparatus 10 may be implemented by controlling one of existing electronic switches such as a silicon controlled rectifier, a high power Transistor, a MOS (metal oxide semiconductor) Transistor, or an IGBT (Insulated Gate Bipolar Transistor) Transistor.
A first power supply branch 40, one end of the first power supply branch 40 being connected to the output terminal of the chopping device 10,
the other end of the first power supply branch 40 is connected to the other end of the power supply end of the alternating current for supplying a first direct current to the first motor M1.
And one end of the second power supply branch 50 is connected to the output end of the chopper device 10, and the other end of the first power supply branch 40 is connected to the other end of the power supply end of the alternating current, and is used for supplying a second direct current to the first motor M1, wherein the polarity of the first direct current is opposite to that of the second direct current. According to the block diagram of the control device shown in fig. 2, the first dc power of the first power supply branch 40 is the positive half cycle of the ac power, and the second dc power of the second power supply branch 50 is the negative half cycle of the ac power.
An MCU30 connected to an output terminal of the zero-crossing detection device 20 and a control terminal of the chopping device 10, respectively, the MCU30 configured to:
acquiring a zero-crossing signal from the zero-crossing detecting device 20;
acquiring the polarity of alternating current;
determining a first driving pulse width for driving the first motor M1 to operate and a second driving pulse width for driving the second motor M2 to operate;
in the case of a positive half cycle of alternating current, controlling the chopper device 10 to operate according to the zero-crossing signal and the first driving pulse width to drive the first motor M1 to operate; in the case where the polarity is the negative half cycle of the alternating current, the chopper device 10 is controlled to operate to drive the second motor M2 to operate according to the zero-crossing signal and the second drive pulse width.
Examples of the MCU30 herein may include, but are not limited to, a general purpose processor, a special purpose processor, a conventional processor, a Digital Signal Processor (DSP), a plurality of microprocessors, one or more microprocessors in association with a DSP core, a controller, a microcontroller, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), other any other type of Integrated Circuit (IC), a state machine, and the like.
In this embodiment, to determine whether the polarity of the alternating current is a positive half cycle or a negative half cycle, the polarity of the voltage may be determined by a voltage detection circuit. The voltage detection circuit can adopt the existing general voltage detection circuit.
The drive pulse width is used to achieve the time to load the motor, particularly by the chopper device 10 of fig. 2. The chopping device 10 is supplied with alternating current, and the MCU30 in fig. 2 can output control signals to control the chopping device 10 to output voltage during a time period from a zero crossing point to a preset time in an alternating current cycle of the alternating current, and the voltage is applied to the motor. The preset time is the pulse width length time of the driving pulse width.
In order to realize the respective speed regulation of the two motors, the voltages with the driving pulse width length are respectively output in the time periods of the positive half cycle and the negative half cycle of the alternating current and are loaded on the two motors according to the acquired polarity signals of the alternating current, so that the two motors are driven to operate. Because the two motors work in one half period of alternating current respectively and actually work in a direct current state, the two motors can adopt a brushed direct current motor or a series excited motor which can drive to work by alternating current and direct current. The length of time for driving the pulse width determines the length of time for which the chopper device 10 outputs the dc voltage within the ac half-cycle, i.e., macroscopically reflects the magnitude of the voltage applied to the two motors, thereby achieving the purpose of adjusting the rotational speeds of the two motors.
In the block diagram shown in fig. 2, the first motor M1 and the second motor M2 are connected in parallel after being connected in series with diodes, and the series connection of the two diodes is reverse, so that the voltage in the branches of the two motors is rectified, and the polarities of the voltages in the two branches are opposite, that is, the voltages correspond to the direct current in the positive half cycle and the negative half cycle of the alternating current. Meanwhile, when the chopping device 10 outputs a voltage with a polarity opposite to the normal working polarity of the branch circuit due to abnormal working, the branch circuit can not be conducted, the motor in the branch circuit is protected, and the motor is prevented from being damaged due to reverse of the loaded voltage. For example, according to the block diagram of fig. 2, if the voltage passed by the first motor M1 is a direct current in a positive half period of an alternating current, and the voltage passed by the second motor M2 is a direct current in a negative half period of an alternating current, if the chopping device 10 abnormally conducts due to an interference pulse, so that the chopping device 10 outputs a voltage to be applied to the first motor M1 in both the positive half period and the negative half period, the direct current motor can only conduct in the positive half period and the negative half period due to the rectification of the diode D2 connected in series, so that the direct current motor is prevented from being damaged due to the fact that the direct current motor works in a direction voltage state due to the conduction in the negative half period, thereby protecting the motor.
The pulse width length of the driving pulse width for determining the rotation speed of the motor, i.e. the pulse width length of the first driving pulse width of the first motor M1 and the pulse width length of the second driving pulse width of the second motor M2, can be determined by a preset time, and if the operating rotation speeds of the first motor M1 and the second motor M2 are fixed, the pulse width lengths of the first driving pulse width and the second driving pulse width are fixed and are therefore prestored in the memory of the MCU 30; and aiming at the condition that the rotating speeds of the two motors are variable, data tables of pulse width lengths corresponding to different rotating speeds can be obtained through experiments in the early development stage and stored in a memory, and when the motors work, the corresponding rotating speeds are obtained and then the tables are looked up, so that the pulse width lengths of the corresponding first driving pulse width and the second driving pulse width of the second motor M2 can be obtained, and the motors can be controlled to work at the corresponding target rotating speeds.
The control device for driving the motor according to the embodiment of the present invention is applied to drive the first motor M1 and the second motor M2, and includes a zero-crossing detection apparatus 20, a chopper apparatus 10, a first power supply branch 40, a second power supply branch 50, and an MCU 30. The MCU30 is respectively connected with the output end of the zero-crossing detection device 20 and the control end of the chopper device 10, determines a first driving pulse width for driving the first motor M1 to operate and a second driving pulse width for driving the second motor M2 to operate by acquiring a zero-crossing signal from the zero-crossing detection device 20 and acquiring the polarity of alternating current, and finally controls the chopper device 10 to operate according to the zero-crossing signal and the first driving pulse width to drive the first motor M1 to operate under the condition that the polarity is a positive half period of the alternating current; in the case where the polarity is the negative half cycle of the alternating current, the chopper device 10 is controlled to operate to drive the second motor M2 to operate according to the zero-crossing signal and the second drive pulse width. With this, the motor driving device can simultaneously control the running of the motors, and the speed regulation control of each motor can be realized independently, so that the cost is reduced, the size of the whole motor driving device is reduced, the miniaturization of the real motor driving device is facilitated, and the motor driving device is convenient to install in the miniaturized household appliance.
In a preferred embodiment of the present invention, the MCU30 is further configured to: acquiring a first target rotating speed of a first motor M1 and a second target rotating speed of a second motor M2; a first drive pulse width is determined based on the first target rotational speed and a second drive pulse width is determined based on the second target rotational speed.
In this embodiment, the pulse width lengths of the first and second driving pulse widths are specifically determined by the first target rotation speed of the first motor M1 and the second target rotation speed of the second motor M2. The first target rotation speed and the second target rotation speed may be set rotation speeds of the two motors set by a user, or a motor operating range set by the user, and the MCU30 obtains the corresponding target rotation speed according to the motor operating range, and then obtains the pulse width length of the corresponding driving pulse width according to a table look-up of a pre-stored correspondence table of the rotation speed and the driving pulse width.
In a preferred embodiment of the present invention, the MCU30 is further configured to: determining the pulse attribute of the zero-crossing point moment in the zero-crossing signal, wherein the pulse attribute comprises a rising edge or a falling edge; the polarity of the alternating current is determined as a positive half cycle in case the pulse property is a rising edge, or as a negative half cycle in case the pulse property is a falling edge.
Fig. 3 schematically shows a waveform diagram of the alternating current and the zero-crossing signal. In the figure, it can be seen that the zero-crossing signal, which is pulsed only during the positive half cycle of the alternating current and is not pulsed during the negative half cycle, can be realized by stepping down the alternating current and then passing through a simple rectifier circuit, such as a rectifier circuit composed of rectifier diodes. At the zero time of the alternating current waveform, the corresponding zero-crossing signal is a rising-edge pulse, and at the zero-crossing t1 at the end of the positive half cycle of the alternating current, the corresponding zero-crossing signal is a falling-edge pulse until the zero-crossing signal is converted into a rising-edge pulse at the beginning of the next cycle of the alternating current, namely the t 2. Therefore, the positive half cycle of the alternating current is corresponding to the period from the rising edge pulse to the falling edge pulse of the zero-crossing signal, and the negative half cycle of the alternating current is corresponding to the period from the falling edge pulse to the rising edge pulse of the zero-crossing signal, so that the starting time of the positive and negative half cycles of the corresponding alternating current can be determined according to the time of the rising edge pulse and the falling edge pulse, and the identification of the polarity of the positive and negative cycles of the alternating current is realized.
The identification of the rising edge pulse and the falling edge pulse can be realized through a port with an interrupt function of the MCU30, and specifically, the detection of the rising edge pulse and the falling edge pulse timing can be realized by setting the rising edge interrupt and the falling edge interrupt of the port.
The above embodiment requires that the detection port of the zero crossing signal of the MCU30 has an interrupt detection function, and the detection port of the MCU30 has no interrupt detection function, which cannot be realized by the above embodiment. To address this issue, in a preferred embodiment of the invention, the MCU30 is further configured to: determining the pulse level of the zero crossing point moment in the zero crossing signal; the polarity of the alternating current is determined to be a positive half period in the case where the pulse level is high, or a negative half period in the case where the pulse level is low.
In this embodiment, in the case where the zero-cross detection port of the MCU30 does not have the interrupt detection function, the scheme in this embodiment may be adopted to identify the high level and the low level time in the zero-cross signal by detecting the level of the port, thereby determining the polarity of the corresponding alternating current. The waveform diagram according to fig. 3 may be such that the pulses of the zero crossing signal correspond to positive half-cycle periods of the alternating current during high levels and to negative half-cycle periods of the alternating current during low levels.
In contrast to the above-mentioned method of detecting a rising edge and a falling edge in a zero-crossing signal by using an interrupt, the rising edge and the falling edge bring an active trigger to the MCU30 to enter an interrupt to realize identification, in this scheme, the MCU30 is required to actively detect the level of the port, because the internal software of the MCU30 needs to perform other processing, the level state of the port cannot be detected in real time, an appropriate interval time can be selected according to the processing speed of the MCU30 and the time consumed by the MCU30 to process other programs, for example, the port level is actively detected every 100us to 1ms, for example, every 500us cycle, if a high level is detected, the port level is determined to be a positive half cycle, and if a low level is detected, the port level is determined to be a negative half cycle. Because the time interval cannot be too short, the detected time may have an error from the actual time, for example, an error of 500us may occur at a maximum every 500 us. According to the scheme, a port with interrupt detection is not required to be selected, a common port is selected, certain detection errors can be caused, and the method can be adopted in a scene with low control precision requirements.
After the MCU30 determines the polarity of the ac power, the corresponding motor can be controlled to operate at the corresponding target speed by outputting the corresponding driving pulse to the chopper apparatus 10 at the zero-crossing time according to the detected zero-crossing signal. As an example of the first scheme for determining the alternating current electric polarity, at the time when the MCU30 detects the rising edge zero-crossing pulse, a first driving pulse width is output to the chopping device 10, so that the chopping device 10 outputs a direct current of a positive half cycle of a pulse width length of the first driving pulse width, and the direct current is loaded to the first motor M1 to control the operation of the first motor M3526, where the pulse width length of the first driving pulse width determines that the first motor M1 operates at the corresponding target rotation speed; and at the moment when the MCU30 detects the falling-rising-edge zero-crossing pulse, outputting a second driving pulse width to the chopper device 10, so that the chopper device 10 outputs a dc power of a negative half cycle of the pulse width length of the second driving pulse width, thereby loading the dc power to the second motor M2 to control the operation of the second motor M2, and the pulse width length of the second driving pulse width determines that the second motor M2 operates at the corresponding target rotation speed. Thereby realizing that the two motors are respectively controlled to operate at respective target rotating speeds.
Fig. 4 schematically shows a specific circuit diagram of a control apparatus for driving a motor according to an embodiment of the present invention. Referring to fig. 4, the zero-cross detection apparatus 20 includes:
a first diode D1, an anode of the first diode D1 being an input terminal of the zero-crossing detection device 20;
a tenth resistor R10 having one end of the tenth resistor R10 connected to the cathode of the first diode D1;
a base electrode of the first NPN triode Q1 is connected with the other end of the tenth resistor R10, and an emitting electrode of the first NPN triode Q1 is grounded;
one end of the seventh resistor R7, one end of the seventh resistor R7 is connected to the collector of the first NPN transistor Q1, and the other end of the seventh resistor R7 is connected to the positive electrode of the dc power supply.
One end of the eighth resistor R8 and one end of the eighth resistor R8 are connected to the collector of the first NPN transistor Q1, and the other end of the eighth resistor R8 is an output end of the zero-crossing detection device 20.
The voltage-reducing circuit further comprises an eleventh resistor R11 and a twelfth resistor R12 which are connected with the tenth resistor R10 in series in sequence and both play a role in reducing voltage.
The ac power is rectified by the first diode D1, voltage input for one period, such as a positive half cycle, is allowed, and voltage is dropped by the tenth to twelfth resistors R10 to R12, thereby controlling the switching state of the first NPN transistor Q1 to be switched, the controller is turned on at a zero-crossing point at the beginning of the positive half cycle, and is turned off at a zero-crossing point at the end, and the ac power is output from the collector of the first NPN transistor Q1 to the MCU30, so as to output the waveform of the zero-crossing signal as shown in fig. 3.
The circuit may further include a ninth resistor R9 and a third capacitor C3 connected in parallel to the base and emitter of the first NPN transistor Q1 to filter the base signal input to the first NPN transistor Q1.
The chopping device 10 includes:
a bidirectional thyristor TR1, a first anode of the bidirectional thyristor TR1 being an input end of the chopper device 10, and a second anode of the bidirectional thyristor TR1 being an output end of the chopper device 10;
one end of a second resistor R2 and one end of a second resistor R2 are connected with a second anode of the bidirectional thyristor TR 1;
one end of a third resistor R3 and one end of a third resistor R3 are connected with the other end of the second resistor R2;
one end of a thyristor of the optocoupler IC2, one end of a thyristor of the optocoupler IC2 is connected with the other end of the third resistor R3, the other end of the thyristor of the optocoupler IC2 is connected with a control electrode of a bidirectional thyristor TR1, and a cathode of a light emitting diode of the optocoupler IC2 is a control end of the chopper device 10;
one end of the sixth resistor R6 and one end of the sixth resistor R6 are connected with the anode of the light emitting diode of the optocoupler IC2, and the other end of the sixth resistor R6 is connected with the anode of the direct current power supply.
The first power supply branch 40 includes a second diode D2, an anode of the second diode D2 is one end of the first power supply branch 40, a cathode of the second diode D2 is connected to the first motor M1, and the other end of the first motor M1 is the other end of the first power supply branch 40.
The second power supply branch 50 includes a third diode D3, an anode of the third diode D3 is one end of the second power supply branch 50, a cathode of the third diode D3 is connected to the second motor M2, and the other end of the second motor M2 is the other end of the second power supply branch 50.
When the MCU30 identifies a positive half cycle of alternating current according to the zero-crossing signal, a first driving pulse width is output at the zero-crossing time when the positive half cycle starts, so that the optical coupler IC2 is switched on, and further the bidirectional thyristor TR1 is controlled to be switched on, the positive half cycle voltage of the alternating current is output and loaded on the first motor M1 through the second diode D2, so that the first motor M1 starts to operate, the optical coupler IC2 is cut off at the end time of the first driving pulse width, and further the bidirectional thyristor TR1 is controlled to be cut off, the voltage loaded on the first motor M1 is stopped being output, and the first motor M1 continues to operate due to inertia; and outputting a second driving pulse width at the zero-crossing time at which the negative half cycle starts, so that the optocoupler IC2 is switched on, further controlling the bidirectional thyristor TR1 to be switched on, outputting the negative half cycle voltage of the alternating current and loading the negative half cycle voltage to the first motor M1 through the third diode D3, so that the second motor M2 starts to operate, stopping the optocoupler IC2 at the end time of the second driving pulse width, further controlling the bidirectional thyristor TR1 to be stopped, stopping outputting the voltage loaded on the second motor M2, and continuing to operate the second motor M2 due to inertia. By controlling the lengths of the first driving pulse width and the second driving pulse width, the time lengths of the positive half-cycle voltage applied to the first motor M1 and the negative half-cycle voltage applied to the second motor M2 can be controlled respectively, that is, the voltages applied to the two motors are controlled respectively, so that the rotational speeds of the motors are controlled respectively.
Further, the chopper apparatus 10 described above further includes: one end of the first resistor is connected with a second anode of the bidirectional thyristor TR 1; and one end of the first capacitor is connected with the other end of the first resistor, and the other end of the first capacitor is connected with a first anode of the bidirectional thyristor TR 1.
An RC filter circuit is formed by the first capacitor and the first resistor, and the high voltage of the spike pulse is prevented from breaking down the bidirectional controllable silicon TR1 under the filtering effect of the interference spike pulse loaded on the bidirectional controllable silicon TR 1.
Further, the first power supply branch 40 further includes a fourth diode D4 and a fourth resistor R4, wherein an anode of the fourth diode D4 is connected to one end of the fourth resistor R4, a cathode of the fourth diode D4 is connected to a cathode of the second diode D2, and another end of the fourth resistor R4 is connected to another end of the first motor M1.
Further, the second power supply branch 50 further includes a fifth diode D5 and a fifth resistor R5, wherein an anode of the fifth diode D5 is connected to one end of the fifth resistor R5, a cathode of the fifth diode D5 is connected to the other end of the second motor M2, and the other end of the fifth resistor R5 is connected to an anode of the third diode D3.
Because the coil is arranged in the motor and belongs to an inductive load, when discontinuous voltage output by the chopper device 10 is loaded on the motor, based on the electromagnetic induction principle, induced electromotive force can be generated on the coil, the polarity of the induced electromotive force is opposite to that of the loaded voltage, in order to prevent the induced electromotive force from being damaged for a long time due to impact formed by high voltage of the induced electromotive force on elements in the circuit, such as the second diode D2, the third diode D3, the bidirectional triode thyristor TR1 and the like, the induced electromotive force needs to be released, and a branch circuit formed by the fourth diode D4, the fourth resistor R4, the fifth diode D5 and the fifth resistor R5 is respectively released from the induced electromotive force generated when the first motor M1 and the second motor M2 work, so that the reliable work of the circuit of the whole control device is ensured.
The embodiment of the invention also provides a food processor, which comprises the control device for driving the motor. This cooking machine can be mixer and broken wall machine etc. and use the small household electrical appliances of two motors to this realizes different application scenarios. By arranging the control device, the miniaturization and cost reduction of the whole control device can be realized, and the miniaturization and low-cost application trend of the equipment can be conveniently realized.
Embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions, which when executed by a processor, enable the processor to execute the control method for driving a motor described in any of the above embodiments.
Those skilled in the art can understand that all or part of the steps in the method for implementing the above embodiments may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a (which may be a single chip, a chip, etc.) or a processor (processor) to execute all or part of the steps in the method for implementing each embodiment of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, various different embodiments of the present invention may be arbitrarily combined with each other, and the embodiments of the present invention should be considered as disclosed in the disclosure of the embodiments of the present invention as long as the embodiments do not depart from the spirit of the embodiments of the present invention.
Claims (15)
1. A control method for driving a motor, the motor including a first motor and a second motor, the control method comprising:
acquiring a zero-crossing signal of alternating current;
acquiring the polarity of the alternating current;
determining a first driving pulse width for driving the first motor to operate and a second driving pulse width for driving the second motor to operate;
controlling the first motor to operate according to the zero-crossing signal and the first driving pulse width in the case that the polarity is a positive half cycle of the alternating current; and controlling the second motor to operate according to the zero-crossing signal and the second driving pulse width under the condition that the polarity is the negative half cycle of the alternating current.
2. The control method of claim 1, wherein determining the first and second drive pulse widths comprises:
acquiring a first target rotating speed of the first motor and a second target rotating speed of the second motor;
determining the first drive pulse width according to the first target rotational speed and determining the second drive pulse width according to the second target rotational speed.
3. The control method according to claim 1, wherein the acquiring the polarity of the alternating current includes:
determining a pulse attribute at a zero-crossing time in the zero-crossing signal, the pulse attribute comprising a rising edge or a falling edge;
determining the polarity of the alternating current as the positive half cycle in case the pulse attribute is a rising edge, or determining the polarity of the alternating current as the negative half cycle in case the pulse attribute is a falling edge.
4. The control method according to claim 1, wherein the acquiring the polarity of the alternating current includes:
determining a pulse level at a zero-crossing point time in the zero-crossing signal;
determining the polarity of the alternating current as the positive half cycle in case the pulse level is a high level, or determining the polarity of the alternating current as the negative half cycle in case the pulse level is a low level.
5. The control method according to claim 1, characterized by further comprising:
acquiring zero-crossing time in the zero-crossing signal;
determining the zero-crossing point time as a starting time of the first driving pulse width or the second driving pulse width.
6. A control device for driving a motor, the motor including a first motor and a second motor, the control device comprising:
the input end of the zero-crossing detection device is connected with one end of the power supply end of the alternating current commercial power and is used for detecting a zero-crossing signal of the alternating current;
the input end of the chopping device is connected with one end of the power supply end of the alternating current;
one end of the first power supply branch is connected with the output end of the chopping device, and the other end of the first power supply branch is connected with the other end of the power supply end of the alternating current and is used for providing a first direct current for the first motor;
one end of the second power supply branch is connected with the output end of the chopping device, and the other end of the first power supply branch is connected with the other end of the power supply end of the alternating current and used for providing a second direct current for the first motor, wherein the first direct current and the second direct current are opposite in polarity;
an MCU connected to an output of the zero-crossing detection device and a control of the chopper device, respectively, the MCU configured to:
acquiring the zero-crossing signal from the zero-crossing detection device;
acquiring the polarity of the alternating current;
determining a first driving pulse width for driving the first motor to operate and a second driving pulse width for driving the second motor to operate;
under the condition that the polarity is the positive half cycle of the alternating current, controlling the chopping device to work according to the zero-crossing signal and the first driving pulse width so as to drive the first motor to operate; and under the condition that the polarity is the negative half cycle of the alternating current, controlling the chopping device to work according to the zero-crossing signal and the second driving pulse width so as to drive the second motor to operate.
7. The control device of claim 6, wherein the MCU is further configured to:
acquiring a first target rotating speed of the first motor and a second target rotating speed of the second motor;
determining the first drive pulse width according to the first target rotational speed and determining the second drive pulse width according to the second target rotational speed.
8. The control device of claim 6, wherein the MCU is further configured to:
determining a pulse attribute at a zero-crossing time in the zero-crossing signal, the pulse attribute comprising a rising edge or a falling edge;
determining the polarity of the alternating current as the positive half cycle in case the pulse attribute is a rising edge, or determining the polarity of the alternating current as the negative half cycle in case the pulse attribute is a falling edge.
9. The control device of claim 6, wherein the MCU is further configured to:
determining a pulse level at a zero-crossing point time in the zero-crossing signal;
determining the polarity of the alternating current as the positive half cycle in case the pulse level is a high level, or determining the polarity of the alternating current as the negative half cycle in case the pulse level is a low level.
10. The control apparatus according to claim 6, characterized in that the chopping device comprises:
the chopper device comprises a bidirectional thyristor, a first anode of the bidirectional thyristor and a second anode of the bidirectional thyristor, wherein the first anode of the bidirectional thyristor is the input end of the chopper device, and the second anode of the bidirectional thyristor is the output end of the chopper device;
one end of the second resistor is connected with a second anode of the bidirectional thyristor;
one end of the third resistor is connected with the other end of the second resistor;
one end of a silicon controlled rectifier of the optical coupler is connected with the other end of the third resistor, the other end of the silicon controlled rectifier of the optical coupler is connected with a control electrode of the bidirectional silicon controlled rectifier, and a cathode of a light emitting diode of the optical coupler is a control end of the chopping device;
and one end of the sixth resistor is connected with the anode of a light emitting diode of the optocoupler, and the other end of the sixth resistor is connected with the anode of the direct-current power supply.
11. The control apparatus according to claim 6, characterized in that the zero-cross detection device includes:
the anode of the first diode is the input end of the zero-crossing detection equipment;
a tenth resistor, one end of which is connected to the cathode of the first diode;
a base electrode of the first NPN triode is connected with the other end of the tenth resistor, and an emitting electrode of the first NPN triode is grounded;
one end of the seventh resistor is connected with the collector of the first NPN triode, and the other end of the seventh resistor is connected with the anode of the direct-current power supply.
One end of the eighth resistor is connected with the collector of the first NPN triode, and the other end of the eighth resistor is the output end of the zero-crossing detection device.
12. The control apparatus of claim 10, wherein the chopping device further comprises:
one end of the first resistor is connected with the second anode of the bidirectional controllable silicon;
and one end of the first capacitor is connected with the other end of the first resistor, and the other end of the first capacitor is connected with the first anode of the bidirectional controllable silicon.
13. A food processor characterized in that it comprises a control device for driving dual motors according to any one of claims 6 to 12.
14. The food processor of claim 13, wherein the food processor is a blender or a wall breaking machine.
15. A machine-readable storage medium having stored thereon instructions which, when executed by a processor, enable the processor to execute the control method for driving a motor according to any one of claims 1 to 5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114326455A (en) * | 2021-09-10 | 2022-04-12 | 金华好哥信息技术有限公司 | Method and system for eliminating induced electricity of intelligent clothes airing machine |
| CN117713591A (en) * | 2023-07-21 | 2024-03-15 | 荣耀终端有限公司 | Vibration unit driving circuit and electronic equipment |
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| US5410330A (en) * | 1993-05-26 | 1995-04-25 | Simson; Anton K. | Scroll displaying device |
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| CN109391213A (en) * | 2017-08-04 | 2019-02-26 | 广东美的生活电器制造有限公司 | Food cooking machine and its constant speed control method and device |
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| GB2107537A (en) * | 1981-10-05 | 1983-04-27 | David Silvester Lane | Improvements in model train systems |
| US4996470A (en) * | 1989-07-14 | 1991-02-26 | Allen-Bradley Company, Inc. | Electric motor speed control apparatus and method |
| US5410330A (en) * | 1993-05-26 | 1995-04-25 | Simson; Anton K. | Scroll displaying device |
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| CN114326455A (en) * | 2021-09-10 | 2022-04-12 | 金华好哥信息技术有限公司 | Method and system for eliminating induced electricity of intelligent clothes airing machine |
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| CN112886872B (en) | 2023-05-30 |
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