CN112886872B - 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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- CN112886872B CN112886872B CN201911204101.XA CN201911204101A CN112886872B CN 112886872 B CN112886872 B CN 112886872B CN 201911204101 A CN201911204101 A CN 201911204101A CN 112886872 B CN112886872 B CN 112886872B
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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 comprises the steps of applying the first motor and the second motor to drive, obtaining a zero crossing signal of alternating current, obtaining 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, and controlling the first motor to operate according to the zero crossing signal and the first driving pulse width under the condition that the polarity is a positive half period of the alternating current; and under the condition that the polarity is the negative half period of the alternating current, controlling the second motor to operate according to the zero crossing signal and the second driving pulse width. Therefore, the motor driving device can control the operation of the motors simultaneously, and can independently realize the speed regulation control of each motor, thereby reducing the cost, reducing the volume of the whole motor driving device, being beneficial to realizing the miniaturization of the real motor driving device and being convenient to install in miniaturized household appliances.
Description
Technical Field
The present invention relates to the field of motor control, and in particular, to a control method and apparatus for driving a motor, a food processor, and a storage medium.
Background
In some home appliances, such as mixers, two motors are required to achieve the application of different moments. At present, two motors are driven by adopting two independent motor controllers to respectively and independently control the operation of the two motors, so that the whole motor controller has more components, higher cost and large occupied volume, and is not beneficial to the miniaturization of the stirrer; or two motors are controlled by adopting a series or parallel mode and adopting 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 a double-motor driving circuit in household appliances in the prior art is high in cost and large in size or independent control cannot be realized, and provides a control method and device for driving motors, 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 period of alternating current, controlling the first motor to operate according to the zero crossing signal and the first driving pulse width; and under the condition that the polarity is the negative half period of the alternating current, controlling the second motor to operate according to the zero crossing signal and the second driving pulse width.
Optionally, determining the first drive pulse width and the second drive pulse width includes:
acquiring a first target rotating speed of a first motor and a second target rotating speed of a second motor;
the first driving pulse width is determined according to the first target rotating speed, and the second driving pulse width is determined according to the second target rotating speed.
Alternatively, the process may be carried out in a single-stage,
acquiring the polarity of the alternating current includes:
determining pulse properties at zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges;
in the case where the pulse property is a rising edge, the polarity of the alternating current is determined to be a positive half cycle, or in the case where the pulse property is a falling edge, the polarity of the alternating current is determined to be a negative half cycle.
Optionally, obtaining the polarity of the alternating current includes:
Determining the pulse level at the zero crossing point moment in the zero crossing signal;
the polarity of the alternating current is determined to be a positive half cycle in the case where the pulse level is high, or a negative half cycle in the case where the pulse level is low.
Optionally, the control method further includes:
acquiring a zero crossing point moment in a zero crossing signal;
the zero crossing point time is determined as the starting time of the first driving pulse width or the second driving pulse width.
A second aspect of the present invention proposes 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 mains supply and is used for detecting zero-crossing signals 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 is used for providing second direct current for the first motor, wherein the polarity of the first direct current is opposite to that of the second direct current;
MCU connects the output of zero crossing detection equipment and the control end of chopper equipment respectively, and MCU is configured to:
acquiring a zero-crossing signal from a zero-crossing detection device;
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 period of 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 operate; and under the condition 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 operate.
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;
the first driving pulse width is determined according to the first target rotating speed, and the second driving pulse width is determined according to the second target rotating speed.
Optionally, the MCU is further configured to:
determining pulse properties at zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges;
in the case where the pulse property is a rising edge, the polarity of the alternating current is determined to be a positive half cycle, or in the case where the pulse property is a falling edge, the polarity of the alternating current is determined to be a negative half cycle.
Optionally, the MCU is further configured to:
determining the pulse level at the zero crossing point moment in the zero crossing signal;
the polarity of the alternating current is determined to be a positive half cycle in the case where the pulse level is high, or a negative half cycle in the case where the pulse level is low.
Optionally, the chopping device comprises:
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 the controllable silicon of the optical coupler is connected with the other end of the third resistor, the other end of the controllable silicon of the optical coupler is connected with the control electrode of the bidirectional controllable silicon, and the cathode of the light-emitting diode of the optical coupler is the control end of the chopper device;
and one end of the sixth resistor is connected with the anode of the 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 detection device includes:
the anode of the first diode is an input end of the zero-crossing detection equipment;
A tenth resistor, one end of which is connected with the cathode of the first diode;
the base electrode of the first NPN triode is connected with the other end of the tenth resistor, and the emitter electrode of the first NPN triode is grounded;
and one end of the seventh resistor is connected with the collector electrode 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 electrode of the first NPN triode, and the other end of the eighth resistor is an output end of the zero-crossing detection device.
Optionally, the chopping device further comprises:
one end of the first resistor is connected with a 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 stirrer or a wall breaking machine.
A fourth aspect of the present invention is directed to a machine-readable storage medium having stored thereon instructions that, when executed by a processor, enable the processor to perform the control method for driving a motor described above.
Through the technical scheme, the control method for driving the motors is applied to driving the first motor and the second motor, 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 by acquiring the zero-crossing signal of the alternating current and acquiring the polarity of the alternating current, and under the condition that the polarity is a positive half period of the alternating current, the first motor is controlled to operate according to the zero-crossing signal and the first driving pulse width; and under the condition that the polarity is the negative half period of the alternating current, controlling the second motor to operate according to the zero crossing signal and the second driving pulse width. Therefore, the motor driving device can control the operation of the motors simultaneously, and can independently realize the speed regulation control of each motor, thereby reducing the cost, reducing the volume of the whole motor driving device, being beneficial to realizing the miniaturization of the real motor driving device and being convenient to install in miniaturized household appliances.
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 device for driving a motor according to an embodiment of the present invention;
FIG. 3 schematically illustrates waveforms of alternating current and zero crossing signals;
fig. 4 schematically shows a specific circuit diagram of a control device for driving a motor according to an embodiment of the present invention.
Detailed Description
The following describes specific embodiments of the present invention in detail with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In addition, if a directional instruction (such as up, down, left, right, front, and rear … …) is included in the embodiment of the present invention, the directional instruction is merely used to explain a relative positional relationship, a movement condition, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional instruction is correspondingly changed.
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 a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those 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 within the scope of protection claimed in 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 soymilk machine, a wall breaking machine and the like to realize the electric transmission function. These home appliances sometimes need to use two motors, such as application scenes for realizing different moments or two scenes with extremely large speed differences, which cannot be realized by using one motor, and can be realized by using two motors with different working parameters. The control method of the embodiment of the invention aims at the double-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 period of alternating current, controlling the first motor to operate according to the zero crossing signal and the first driving pulse width; and under the condition that the polarity is the negative half period of the alternating current, controlling the second motor to operate according to the zero crossing signal and the second driving pulse width.
In this embodiment, a control device for a drive motor shown in fig. 2 will be described.
In step S100, the zero-crossing signal of the alternating current may be detected by a zero-crossing detection device, where the zero-crossing detection device may be implemented using an existing general circuit for zero-crossing detection, such as an optocoupler 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. Wherein the voltage detection circuit can adopt the existing general voltage detection circuit.
In step S300 and step S400, the driving pulse width is used to achieve the time to load the motor, in particular by the chopper apparatus in fig. 2. The alternating current is input to the chopper device, and the controller such as the MCU in fig. 2 can output a control signal to control the chopper device to output the voltage in a time period from a zero crossing point to a preset time period in one alternating current period of the alternating current, and the voltages are respectively loaded on the continuous motors. 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, voltages which output the driving pulse width lengths in the period of a half period of the positive half cycle and the negative half cycle of the alternating current are respectively loaded on the two motors according to the acquired polarity signals of the alternating current, so that the two motors are driven to operate. Since the two motors each operate in one half cycle of the ac power and thus actually operate in the dc power state, the two motors may be brushed dc motors or series excited motors that operate both ac and dc. The time length of the driving pulse width determines the time length of the chopper devices for respectively outputting the direct current voltage in the alternating current half period, namely the time length is macroscopically reflected as the voltage applied to the two motors, so that the rotation speeds of the two motors are regulated.
In the block diagram shown in fig. 2, the first motor and the second motor are respectively connected in series with diodes and then connected in parallel, and the series connection of the two diodes is opposite to the series connection of the two diodes, so that the rectification function is performed on the voltages in the branches of the two motors, and the polarities of the voltages in the two branches are opposite, namely, the voltages respectively correspond to direct currents in positive and negative half periods of alternating currents. Meanwhile, when the abnormal operation of the chopper equipment outputs the voltage with the polarity opposite to the normal operation polarity of the branch circuit, the branch circuit is not conducted, and the motor in the branch circuit is protected, so that the motor is prevented from being damaged due to the reverse loading voltage. For example, according to the block diagram of fig. 2, the voltage passed by the first motor is direct current in the positive half period of the alternating current, and the voltage passed by the second motor is direct current in the negative half period of the alternating current, if the chopping device is abnormally conducted due to the interference pulse, the chopping device outputs voltage to be applied to the first motor in both the positive half period and the negative half period, the voltage is conducted only in the positive half period due to the rectification of the diode D2 connected in series, the negative half period is not conducted, and the result that the direct current motor is damaged due to the fact that the negative half period is conducted to enable the direct current motor to work in the direction voltage state is avoided, so that the motor is protected.
The driving pulse width of the rotation speed of the motor, that is, the pulse width length of the first driving pulse width of the first motor and the second driving pulse width of the second motor, can be determined through preset time, for example, under the condition that the working rotation 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, so that the pulse width lengths can be pre-stored in a memory of the MCU; and aiming at the condition that the rotating speeds of the two motors are variable, a data table 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 the pulse width lengths of a corresponding first driving pulse width and a corresponding second driving pulse width of the second motor can be obtained through obtaining the corresponding rotating speeds and looking up a table when the motors work, so that the motors are 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, 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 a positive half period of the alternating current by acquiring the zero-crossing signal of the alternating current and acquiring the 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; and under the condition that the polarity is the negative half period of the alternating current, controlling the second motor to operate according to the zero crossing signal and the second driving pulse width. Therefore, the motor driving device can control the operation of the motors simultaneously, and can independently realize the speed regulation control of each motor, thereby reducing the cost, reducing the volume of the whole motor driving device, being beneficial to realizing the miniaturization of the real motor driving device and being convenient to install in miniaturized household appliances.
In a preferred embodiment of the present invention, determining the first drive pulse width and the second drive pulse width 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: the first driving pulse width is determined according to the first target rotating speed, and the second driving pulse width is determined according to the second target rotating speed.
In this embodiment, the pulse width lengths of the first drive pulse width and the second drive pulse width are determined specifically by the first target rotational speed of the first motor and the second target rotational speed of the second motor. The first target rotation speed and the second target rotation speed can be the set rotation speeds of the two motors set by a user, or the motor working gear set by the user, the MCU obtains the corresponding target rotation speed according to the motor working gear, and then the corresponding pulse width length of the driving pulse width can be obtained by looking up a table according to a pre-stored table of the rotation speed and the driving pulse width.
In a preferred embodiment of the present invention, obtaining the polarity of the alternating current includes:
step S210: determining pulse properties at zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges;
step S220: in the case where the pulse property is a rising edge, the polarity of the alternating current is determined to be a positive half cycle, or in the case where the pulse property is a falling edge, the polarity of the alternating current is determined to be a negative half cycle.
Fig. 3 schematically shows waveforms of alternating current and zero crossing signals. In this figure, it can be seen that the zero-crossing signal is pulsed only in the positive half cycle of the alternating current and is not pulsed in the negative half cycle, and this zero-crossing signal can be realized by a simple rectifier circuit, for example, a rectifier circuit comprising rectifier diodes, after the alternating current has been stepped down. 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 time of 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 the rising edge pulse at the beginning of the next cycle of the alternating current, namely at the time t 2. Therefore, the alternating current corresponding to the rising edge pulse until the falling edge pulse of the zero crossing signal is positive half cycle, and the alternating current corresponding to the falling edge pulse until the rising edge pulse of the zero crossing signal is negative half cycle, so that the starting time of the positive half cycle and the negative half cycle 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 half cycle and the negative half cycle of the alternating current is realized.
The identification of the rising edge pulse and the falling edge pulse can be realized through the port with the interrupt function of the MCU, and specifically, the detection of the rising edge pulse and the falling edge pulse time 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, while some detection ports of the MCU do not have an interrupt detection function, which cannot be achieved by adopting the scheme of the above embodiment. To solve this problem, in a preferred embodiment of the present invention, obtaining the polarity of the alternating current includes:
step S230: determining the pulse level at 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 cycle in the case where the pulse level is high, or a negative half cycle in the case where the pulse level is low.
In this embodiment, for the case where the zero-crossing detection port of the MCU does not have the interrupt detection function, the polarity of the corresponding alternating current may be determined by identifying the high level and the low level time in the zero-crossing signal by detecting the level of the port. According to the waveform diagram of fig. 3, the pulse of the zero crossing signal may correspond to a positive half cycle period of the alternating current during a high level and to a negative half cycle period of the alternating current during a low level.
In contrast to the above-mentioned method of detecting rising edges and falling edges in zero-crossing signals by using an interrupt mode, the rising edges and falling edges can actively trigger the MCU to enter the interrupt to realize 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 processes, and cannot always detect the level state of the port in real time, a proper 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 level of the port is actively detected once every 100us to 1ms, for example, every 500us of cycles is actively detected once, if the level is detected to be high, the positive half cycle is determined, and if the level is detected to be low, the negative half cycle is determined. Because the interval time cannot be too short, the detection time may be in error with the actual time, such as 500us at maximum every 500 us. The scheme does not need to select a port with interrupt detection, and a common port is selected, so that certain detection errors can be brought, and the scheme can be adopted in a scene with low control precision requirements.
After the MCU judges the polarity of the alternating current, the corresponding driving pulse is output to the chopper equipment at the zero crossing moment according to the detected zero crossing signal, and the corresponding motor can be controlled to operate at the corresponding target rotating speed. Taking the first scheme of determining the alternating current electric polarity as an example, outputting a first driving pulse width to the chopper device at the moment when the MCU detects the rising edge zero crossing pulse, so that the chopper device outputs direct current of 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 the first motor to drive the first motor to operate, wherein the pulse width length of the first driving pulse width determines that the first motor operates at a corresponding target rotating speed; and outputting a second driving pulse width to the chopping device at the moment when the MCU detects the falling edge zero crossing pulse, 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 second motor is controlled to drive the second motor to run, and the pulse width length of the second driving pulse width determines the corresponding target rotating speed of the second motor. Thereby realizing the control of the two motors to operate at the respective target rotation 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 double-motor application scene. Referring to fig. 2, the control apparatus includes:
The zero-crossing detection device 20, the input terminal of zero-crossing detection device 20 is connected with one end of the power supply terminal of alternating current commercial power, is used for detecting the zero-crossing signal of alternating current. A general circuit for detecting zero-crossing of the circuit of the zero-crossing detection device 20, such as a detection circuit based on an optocoupler IC2 or a triode, is implemented.
The chopper apparatus 10, the input terminal of the chopper apparatus 10 is connected with one end of the power supply terminal of the alternating current. The circuit of the chopper apparatus 10 may be realized by controlling one of existing electronic switches such as a thyristor, 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 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, and is used for providing a first direct current to the first motor M1.
And one end of the second power supply branch 50 is connected with the output end of the chopping device 10, and the other end of the first power supply branch 40 is connected with the other end of the power supply end of the alternating current, and is used for providing second direct current for the first motor M1, wherein the polarity of the first direct current is opposite to that of the second direct current. According to the control device block diagram shown in fig. 2, the first direct current of the first power supply branch 40 is the positive half cycle of the alternating current, and the second direct current of the second power supply branch 50 is the negative half cycle of the alternating current.
The MCU30 is connected to the output terminal of the zero-crossing detection device 20 and the control terminal of the chopping device 10, respectively, and the MCU30 is configured to:
acquiring a zero-crossing signal from the zero-crossing detection 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 that the polarity is the positive half period of the alternating current, the chopper apparatus 10 is controlled 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 apparatus 10 is controlled to operate according to the zero-crossing signal and the second driving pulse width to drive the second motor M2 to operate.
Examples of 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 conjunction with a DSP core, a controller, a microcontroller, an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) circuit, any other type of Integrated Circuit (IC), a state machine, and so forth.
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. Wherein 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, in particular by the chopper apparatus 10 in fig. 2. The alternating current is input to the chopping device 10, and the controller such as the MCU30 in fig. 2 can output a control signal to control the chopping device 10 to output the voltage in a period from the zero crossing point to a preset time in an alternating current period of the alternating current, and load the voltages to the motors respectively. 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, voltages which output the driving pulse width lengths in the period of a half period of the positive half cycle and the negative half cycle of the alternating current are respectively loaded on the two motors according to the acquired polarity signals of the alternating current, so that the two motors are driven to operate. Since the two motors each operate in one half cycle of the ac power and thus actually operate in the dc power state, the two motors may be brushed dc motors or series excited motors that operate both ac and dc. The length of the driving pulse width determines the length of time the chopper device 10 outputs the dc voltage in the ac half cycle, i.e. the magnitude of the voltage applied to the two motors is macroscopically reflected, thus achieving a regulation of the rotational speed of the two motors.
In the block diagram shown in fig. 2, the first motor M1 and the second motor M2 are respectively connected in series with diodes and then connected in parallel, and the series connection of the two diodes is reversed, so that the voltage in the branches of the two motors is rectified, and the polarities of the voltages in the branches are reversed, namely, the voltages respectively correspond to direct currents in positive and negative half periods of alternating current. Meanwhile, when the abnormal operation of the chopper device 10 outputs the voltage with the polarity opposite to the normal operation polarity of the branch circuit, the branch circuit is not conducted, and the motor in the branch circuit is protected, so that the motor is prevented from being damaged due to the reverse loading voltage. For example, according to the block diagram of fig. 2, the voltage passed by the first motor M1 is direct current in the positive half cycle of the alternating current, and the voltage passed by the second motor M2 is direct current in the negative half cycle of the alternating current, if the chopping device 10 is abnormally turned on due to abnormal operation of the chopping device 10, such as due to an interference pulse, so that the chopping device 10 outputs voltage to the first motor M1 in both the positive half cycle and the negative half cycle, the diode D2 connected in series is turned on only in the positive half cycle, and the negative half cycle is not turned on, thereby avoiding the damage caused by the direct current motor operating in the direction voltage state due to the conduction of the negative half cycle, and thus playing a role of protecting the motor.
The driving pulse width of the motor determined by the rotation speed, that is, the pulse width length of the first driving pulse width of the first motor M1 and the second driving pulse width of the second motor M2, may be determined by a preset time, for example, in the case that the working rotation speeds of the first motor M1 and the second motor M2 are both fixed, the pulse width lengths of the first driving pulse width and the second driving pulse width are both fixed, so that they may be pre-stored in the memory of the MCU 30; and aiming at the condition that the rotating speeds of the two motors are variable, a data table 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 the pulse width lengths of a corresponding first driving pulse width and a corresponding second driving pulse width of the second motor M2 can be obtained through obtaining the corresponding rotating speeds and looking up a table when the motors work, so that the motors are controlled to work at the corresponding target rotating speeds.
The control device for driving a motor of the embodiment of the invention is applied to driving a first motor M1 and a second motor M2, and comprises a zero-crossing detection device 20, a chopper device 10, a first power supply branch 40, a second power supply branch 50 and an MCU30. 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, and obtains a zero-crossing signal from the zero-crossing detection device 20, obtains the polarity of alternating current, 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, 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 apparatus 10 is controlled to operate according to the zero-crossing signal and the second driving pulse width to drive the second motor M2 to operate. Therefore, the motor driving device can control the operation of the motors simultaneously, and can independently realize the speed regulation control of each motor, thereby reducing the cost, reducing the volume of the whole motor driving device, being beneficial to realizing the miniaturization of the real motor driving device and being convenient to install in miniaturized household appliances.
In a preferred embodiment of the present invention, MCU30 is further configured to: acquiring a first target rotating speed of the first motor M1 and a second target rotating speed of the second motor M2; the first driving pulse width is determined according to the first target rotating speed, and the second driving pulse width is determined according to the second target rotating speed.
In this embodiment, the pulse width lengths of the first driving pulse width and the second driving pulse width are determined specifically by the first target rotational speed of the first motor M1 and the second target rotational speed of the second motor M2. The first target rotation speed and the second target rotation speed may be the set rotation speeds of the two motors set by the user, or the motor working gear set by the user, the MCU30 obtains the corresponding target rotation speeds according to the motor working gear, and then the corresponding pulse width lengths of the driving pulse widths may be obtained by looking up a table according to the pre-stored correspondence table of rotation speeds and driving pulse widths.
In a preferred embodiment of the present invention, MCU30 is further configured to: determining pulse properties at zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges; in the case where the pulse property is a rising edge, the polarity of the alternating current is determined to be a positive half cycle, or in the case where the pulse property is a falling edge, the polarity of the alternating current is determined to be a negative half cycle.
Fig. 3 schematically shows waveforms of alternating current and zero crossing signals. In this figure, it can be seen that the zero-crossing signal is pulsed only in the positive half cycle of the alternating current and is not pulsed in the negative half cycle, and this zero-crossing signal can be realized by a simple rectifier circuit, for example, a rectifier circuit comprising rectifier diodes, after the alternating current has been stepped down. 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 time of 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 the rising edge pulse at the beginning of the next cycle of the alternating current, namely at the time t 2. Therefore, the alternating current corresponding to the rising edge pulse until the falling edge pulse of the zero crossing signal is positive half cycle, and the alternating current corresponding to the falling edge pulse until the rising edge pulse of the zero crossing signal is negative half cycle, so that the starting time of the positive half cycle and the negative half cycle 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 half cycle and the negative half cycle of the alternating current is realized.
The identification of the rising edge pulse and the falling edge pulse can be realized through the port with the interrupt function of the MCU30, and specifically, the detection of the rising edge pulse and the falling edge pulse time 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, while some detection ports of the MCU30 do not have an interrupt detection function, which cannot be achieved by adopting the scheme of the above embodiment. To address this problem, in a preferred embodiment of the present invention, MCU30 is further configured to: determining the pulse level at the zero crossing point moment in the zero crossing signal; the polarity of the alternating current is determined to be a positive half cycle in the case where the pulse level is high, or a negative half cycle in the case where the pulse level is low.
In this embodiment, for the case where the zero-crossing detection port of the MCU30 does not have the interrupt detection function, the polarity of the corresponding alternating current may be determined by identifying the high level and the low level time in the zero-crossing signal by detecting the level of the port. According to the waveform diagram of fig. 3, the pulse of the zero crossing signal may correspond to a positive half cycle period of the alternating current during a high level and to a negative half cycle period of the alternating current during a low level.
In contrast to the above-mentioned method of detecting rising edges and falling edges in zero-crossing signals by using an interrupt mode, the rising edges and falling edges can actively trigger the MCU30 to enter the interrupt to realize identification, in this embodiment, the MCU30 is required to actively detect the level of the port, because the internal software of the MCU30 also needs to perform other processes, and cannot always detect the level state of the port in real time, a suitable interval time can be selected according to the processing speed of the MCU30 and the time required by other programs to be processed by the MCU30, for example, the level of the port is actively detected once every 100us to 1ms, for example, every 500us of periods is actively detected once, if the level is detected to be high, the positive half cycle is determined, and if the level is detected to be low, the negative half cycle is determined. Because the interval time cannot be too short, the detection time may be in error with the actual time, such as 500us at maximum every 500 us. The scheme does not need to select a port with interrupt detection, and a common port is selected, so that certain detection errors can be brought, and the scheme can be adopted in a scene with low control precision requirements.
After the MCU30 determines the polarity of the alternating current, the corresponding driving pulse is output to the chopper apparatus 10 at the zero crossing time according to the detected zero crossing signal, so that the corresponding motor can be controlled to operate at the corresponding target rotation speed. As an example of the first scheme for determining the polarity of the alternating current, at the moment when the MCU30 detects the rising edge zero crossing pulse, a first driving pulse width is output to the chopper device 10, so that the chopper device 10 outputs a direct current of positive half cycle of the pulse width length of the first driving pulse width, and the direct current is loaded on the first motor M1 to control and drive the first motor M1 to operate, wherein the pulse width length of the first driving pulse width determines that the first motor M1 operates at a corresponding target rotation speed; and at the moment when the MCU30 detects the falling edge zero crossing pulse, the second driving pulse width is output to the chopping device 10, so that the chopping device 10 outputs direct current of the negative half cycle of the pulse width length of the second driving pulse width, and the second motor M2 is loaded to control and drive the operation of the second motor, and the pulse width length of the second driving pulse width determines that the second motor M2 operates at the corresponding target rotating speed. Thereby realizing the control of the two motors to operate at the respective target rotation speeds.
Fig. 4 schematically shows a specific circuit diagram of a control device for driving a motor according to an embodiment of the present invention. Referring to fig. 4, wherein the zero-crossing detection device 20 includes:
A first diode D1, an anode of the first diode D1 is an input terminal of the zero-crossing detection device 20;
a tenth resistor R10, wherein one end of the tenth resistor R10 is connected with the cathode of the first diode D1;
the base electrode of the first NPN triode Q1 is connected with the other end of the tenth resistor R10, and the emitter electrode of the first NPN triode Q1 is grounded;
and one end of the seventh resistor R7 is connected with the collector electrode of the first NPN triode Q1, and the other end of the seventh resistor R7 is connected with the positive electrode of the direct current power supply.
And one end of the eighth resistor R8 is connected with the collector electrode of the first NPN triode Q1, and the other end of the eighth resistor R8 is the output end of the zero-crossing detection device 20.
The resistor further comprises an eleventh resistor R11 and a twelfth resistor R12 which are sequentially connected in series with the tenth resistor R10 to play a role in voltage reduction.
The alternating current is rectified by the first diode D1, is allowed to be input in one period, such as the voltage of the positive half period, is reduced in voltage by tenth to twelfth resistors R10 to R12, controls the switching state of the first NPN triode Q1 to switch, is turned on at the zero crossing point moment when the positive half period starts, is turned off at the zero crossing point moment when the positive half period ends, and is output from the collector of the first NPN triode Q1 to the MCU30 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 apparatus 10 includes:
the first anode of the bidirectional triode thyristor TR1 is an input end of the chopper device 10, and the second anode of the bidirectional triode thyristor TR1 is an output end of the chopper device 10;
one end of the second resistor R2 is connected with a second anode of the bidirectional thyristor TR 1;
one end of the third resistor R3 is connected with the other end of the second resistor R2;
one end of a controllable silicon of the optocoupler IC2 is connected with the other end of the third resistor R3, the other end of the controllable silicon of the optocoupler IC2 is connected with a control electrode of the bidirectional controllable silicon TR1, and a cathode of a light emitting diode of the optocoupler IC2 is a control end of the chopper device 10;
and one end of the sixth resistor R6 is 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 recognizes as the positive half cycle of alternating current according to the zero crossing signal, a first driving pulse width is output at the zero crossing moment at the beginning of the positive half cycle, so that the optocoupler IC2 is conducted, the bidirectional triode thyristor TR1 is controlled to be conducted, the positive half cycle voltage of the alternating current is output and is loaded onto the first motor M1 through the second diode D2, so that the first motor M1 starts to operate, the optocoupler IC2 is cut off at the ending moment of the first driving pulse width, the bidirectional triode thyristor TR1 is controlled to be cut off, the voltage loaded on the first motor M1 is stopped to be output, and the first motor M1 continues to operate due to inertia; the second driving pulse width is output at the zero crossing moment when the negative half cycle starts, so that the optocoupler IC2 is conducted, the bidirectional triode thyristor TR1 is controlled to be conducted, the negative half cycle voltage of alternating current is output and loaded onto the first motor M1 through the third diode D3, the second motor M2 starts to operate, the optocoupler IC2 is cut off at the end moment of the second driving pulse width, the bidirectional triode thyristor TR1 is controlled to be cut off, the voltage loaded onto the second motor M2 is stopped to be output, and the second motor M2 continues to operate due to inertia. By controlling the length of the first driving pulse width and the second driving pulse width, the time length of the positive half-cycle voltage loaded on the first motor M1 and the time length of the negative half-cycle voltage loaded on the second motor M2 can be respectively controlled, namely the voltage loaded on the two motors is respectively controlled, so that the control of the motor rotating speeds is realized.
Further, the above-described chopping apparatus 10 further includes: one end of the first resistor is connected with the 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 the first anode of the bidirectional thyristor TR1.
The RC filter circuit is formed by the first capacitor and the first resistor, so that the filtering effect of the interference spike pulse loaded on the bidirectional thyristor TR1 is achieved, and the high voltage of the spike pulse is prevented from breaking down the bidirectional thyristor TR1.
Further, the first power supply branch 40 further includes a fourth diode D4 and a fourth resistor R4, where 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, where 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 the chopper device 10 outputs discontinuous voltage to load the motor, based on the electromagnetic induction principle, induced electromotive force is generated on the coil, the polarity of the induced electromotive force is opposite to that of the loaded voltage, in order to prevent the high voltage of the induced electromotive force from impacting elements in a circuit, such as a second diode D2, a third diode D3, a bidirectional thyristor TR1 and the like, to damage the elements for a long time, the induced electromotive force needs to be discharged, and branches formed by a fourth diode D4, a fourth resistor R4, a fifth diode D5 and a fifth resistor R5 are used for discharging the induced electromotive force generated when the first motor M1 and the second motor M2 work respectively, 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. The food processor can be small household appliances such as a stirrer and a wall breaking machine and the like which use two motors, so that different application scenes are realized. By arranging the control device, the miniaturization and the cost reduction of the whole control device can be realized, and the miniaturization and the low-cost application trend of the equipment can be realized conveniently.
The embodiments of the present invention also provide a machine-readable storage medium having stored thereon instructions that, when executed by a processor, enable the processor to perform the control method for driving a motor described in any of the above embodiments.
Those skilled in the art will appreciate that implementing all or part of the steps in the methods of the embodiments described above may be accomplished by a program stored in a storage medium, comprising instructions for causing a (e.g., single-chip, etc.) or processor (processor) to perform all or part of the steps in the methods of the embodiments of the invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In addition, any combination of the various embodiments of the present invention may be made between the various embodiments, and should also be regarded as disclosed in the embodiments of the present invention as long as it does not deviate from the idea of the embodiments of the present invention.
Claims (13)
1. The control method for driving a motor, the motor including a first motor and a second motor, wherein the first motor and the second motor are respectively connected in series with diodes and then connected in parallel, and an MCU is respectively connected with an output end of a zero-crossing detection device and a control end of a chopper device, the control method is characterized by 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;
wherein determining the first drive pulse width and the second drive pulse width comprises:
acquiring a first target rotating speed of the first motor and a second target rotating speed of the second motor;
determining the first driving pulse width according to the first target rotating speed and determining the second driving pulse width according to the second target rotating speed;
controlling the first motor to operate according to the zero crossing signal and the first driving pulse width under the condition that the polarity is a positive half period of the alternating current;
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 a negative half period of the alternating current;
wherein, in the case where the polarity is a positive half cycle of the alternating current, the controlling the first motor to operate according to the zero crossing signal and the first driving pulse width includes:
the MCU outputs the first driving pulse width to the chopping device so as to control the chopping device to load the voltage from the zero crossing point moment of the zero crossing signal in the positive half period to the pulse width length of the first driving pulse width to the first motor, so that the first motor operates;
controlling the second motor operation in accordance with the zero crossing signal and the second drive pulse width in the event that the polarity is a negative half cycle of the alternating current comprises:
the MCU outputs the second driving pulse width to the chopping device so as to control the chopping device to load the voltage from the zero crossing point moment of the zero crossing signal in the negative half period to the pulse width length of the second driving pulse width to the second motor, so that the second motor operates.
2. The control method according to claim 1, characterized in that the acquiring the polarity of the alternating current includes:
Determining pulse properties of zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges;
and determining the polarity of the alternating current as the positive half cycle in the case that the pulse attribute is a rising edge, or determining the polarity of the alternating current as the negative half cycle in the case that the pulse attribute is a falling edge.
3. The control method according to claim 1, characterized in that the acquiring the polarity of the alternating current includes:
determining the pulse level of the zero crossing point moment in the zero crossing signal;
and determining the polarity of the alternating current as the positive half cycle when the pulse level is high, or determining the polarity of the alternating current as the negative half cycle when the pulse level is low.
4. The control method according to claim 1, characterized by further comprising:
acquiring a zero crossing point moment 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.
5. A control device for driving a motor, the motor comprising a first motor and a second motor, wherein the first motor and the second motor are connected in parallel after being respectively connected in series with a diode, the control device comprising:
The input end of the zero-crossing detection equipment is connected with one end of the power supply end of the alternating current mains supply 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 is used for providing second direct current for the first motor, wherein the polarity of the first direct current is opposite to that of the second direct current;
MCU connects the output of zero crossing detection equipment and the control end of chopper equipment respectively, MCU is 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;
Wherein determining the first drive pulse width and the second drive pulse width comprises:
acquiring a first target rotating speed of the first motor and a second target rotating speed of the second motor;
determining the first driving pulse width according to the first target rotating speed and determining the second driving pulse width according to the second target rotating speed;
under the condition that the polarity is a positive half period 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 operate;
controlling the chopper device to work according to the zero crossing signal and the second driving pulse width to drive the second motor to run under the condition that the polarity is the negative half cycle of the alternating current;
wherein, in the case where the polarity is a positive half cycle of the alternating current, the controlling the first motor to operate according to the zero crossing signal and the first driving pulse width includes:
the MCU outputs the first driving pulse width to the chopping device so as to control the chopping device to load the voltage from the zero crossing point moment of the zero crossing signal in the positive half period to the pulse width length of the first driving pulse width to the first motor, so that the first motor operates;
Controlling the second motor operation in accordance with the zero crossing signal and the second drive pulse width in the event that the polarity is a negative half cycle of the alternating current comprises:
the MCU outputs the second driving pulse width to the chopping device so as to control the chopping device to load the voltage from the zero crossing point moment of the zero crossing signal in the negative half period to the pulse width length of the second driving pulse width to the second motor, so that the second motor operates.
6. The control device of claim 5, wherein the MCU is further configured to:
determining pulse properties of zero crossing points in the zero crossing signals, wherein the pulse properties comprise rising edges or falling edges;
and determining the polarity of the alternating current as the positive half cycle in the case that the pulse attribute is a rising edge, or determining the polarity of the alternating current as the negative half cycle in the case that the pulse attribute is a falling edge.
7. The control device of claim 5, wherein the MCU is further configured to:
determining the pulse level of the zero crossing point moment in the zero crossing signal;
and determining the polarity of the alternating current as the positive half cycle when the pulse level is high, or determining the polarity of the alternating current as the negative half cycle when the pulse level is low.
8. The control apparatus according to claim 5, wherein the chopping device includes:
the first anode of the bidirectional thyristor is the input end of the chopping device, and the second anode of the bidirectional thyristor is the output end of the chopping 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 controllable silicon of the optical coupler is connected with the other end of the third resistor, the other end of the controllable silicon of the optical coupler is connected with a control electrode of the bidirectional controllable silicon, and the cathode of a light emitting diode of the optical coupler is the control end of the chopper device;
and one end of the sixth resistor is connected with the anode of the 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.
9. The control apparatus according to claim 5, wherein the zero-crossing detection device includes:
the anode of the first diode is an input end of the zero-crossing detection equipment;
a tenth resistor, one end of which is connected with the cathode of the first diode;
The base electrode of the first NPN triode is connected with the other end of the tenth resistor, and the emitting electrode of the first NPN triode is grounded;
one end of the seventh resistor is connected with the collector electrode of the first NPN triode, and the other end of the seventh resistor is connected with the positive electrode of the direct current power supply;
and one end of the eighth resistor is connected with the collector electrode of the first NPN triode, and the other end of the eighth resistor is the output end of the zero-crossing detection device.
10. The control apparatus according to claim 8, wherein 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.
11. A food processor characterized in that the food processor comprises a control device for driving a dual motor according to any one of claims 5 to 10.
12. The food processor of claim 11, wherein the food processor is a blender or a wall breaker.
13. A machine-readable storage medium having instructions stored thereon, which when executed by a processor, cause the processor to perform the control method for driving a motor according to any one of claims 1 to 4.
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| US4996470A (en) * | 1989-07-14 | 1991-02-26 | Allen-Bradley Company, Inc. | Electric motor speed control apparatus and method |
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| GB2107537A (en) * | 1981-10-05 | 1983-04-27 | David Silvester Lane | Improvements in model train systems |
| US5410330A (en) * | 1993-05-26 | 1995-04-25 | Simson; Anton K. | Scroll displaying device |
| CN2814802Y (en) * | 2005-06-27 | 2006-09-06 | 广东科龙电器股份有限公司 | Air conditioner fan motor stepless speed regulating device |
| 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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| US4996470A (en) * | 1989-07-14 | 1991-02-26 | Allen-Bradley Company, Inc. | Electric motor speed control apparatus and method |
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