CN112994533A - Brushless direct current motor control method and device, brushless direct current motor and electric appliance - Google Patents
Brushless direct current motor control method and device, brushless direct current motor and electric appliance Download PDFInfo
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- 230000001276 controlling effect Effects 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 9
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/06—Arrangements for speed regulation of a single motor wherein the motor speed is measured and compared with a given physical value so as to adjust the motor speed
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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Abstract
A control method and a control device of a brushless direct current motor are provided, wherein the control method comprises the following steps: acquiring input voltage of the brushless direct current motor at a preset rotating speed; judging whether the difference value of the input voltage and the first preset voltage is larger than a second preset voltage or not, wherein the first preset voltage and the second preset voltage are positively correlated with a preset rotating speed; and if the difference value is larger than the second preset voltage, controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor. A brushless DC motor and an electric appliance are also provided. The input voltage of the brushless direct current motor is detected, whether the difference value between the input voltage and the preset voltage is larger than a certain range or not is judged, the winding electrifying time of the brushless direct current motor is adjusted, the influence of input voltage change on the working state of the brushless direct current motor is avoided, and the stability of the working state of the brushless direct current motor when the input voltage changes is improved.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a brushless direct current motor control method and device, a brushless direct current motor and an electric appliance.
Background
The brushless direct current motor has the advantages of high efficiency, large starting torque, convenient control and the like, is applied to various electrical equipment, but has complex and various use environments, and the input voltage driving the brushless direct current motor to operate also has the condition that the voltage value fluctuates or the power supply voltage cannot reach the rated voltage, so that the output power and the rotating speed of the brushless direct current motor are changed, the working state of the electrical equipment is changed, and the requirements of users cannot be met.
Taking a portable vacuum cleaner as an example, in the using process of the portable vacuum cleaner, along with the continuous consumption of the electric quantity of a battery, the input voltage of a brushless direct current motor in the portable vacuum cleaner is also continuously reduced, if the control mode of the brushless direct current motor is kept unchanged, when the input voltage is reduced, the output power and the rotating speed of the brushless direct current motor are reduced along with the reduction of the input voltage, and then the suction force of the portable vacuum cleaner is reduced, so that the normal requirements of a user cannot be met.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect that the operating state of the electrical appliance is unstable due to the rotation speed fluctuation caused by the input voltage fluctuation of the brushless dc motor, so as to provide a method for controlling the brushless dc motor, comprising the following steps:
acquiring input voltage of the brushless direct current motor at a preset rotating speed;
judging whether the difference value of the input voltage and a first preset voltage is greater than a second preset voltage, wherein the first preset voltage and the second preset voltage are positively correlated with the preset rotating speed;
and if the difference is larger than the second preset voltage, controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor.
Preferably, if the difference is greater than the second preset voltage, controlling the output power of the brushless dc motor to be stable by adjusting the winding energization time of the brushless dc motor, includes:
if the input voltage is smaller than the first preset voltage, increasing the winding electrifying time of the brushless direct current motor so as to control the output power of the brushless direct current motor to keep stable;
and if the input voltage is greater than the first preset voltage, reducing the winding electrifying time of the brushless direct current motor so as to control the output power of the brushless direct current motor to keep stable.
Preferably, the increasing the winding energization time of the brushless dc motor includes:
and increasing the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through an MCU module of the brushless direct current motor.
Preferably, the number or duty ratio of the PWM waves increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the reducing the winding energization time of the brushless dc motor includes:
and the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period is reduced through the MCU module of the brushless direct current motor.
Preferably, the number or duty ratio of the PWM waves decreased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Correspondingly, the invention also provides a brushless direct current motor control device, which comprises:
the voltage detection module is used for acquiring the input voltage of the brushless direct current motor when the brushless direct current motor is at a preset rotating speed;
the judging module is used for judging whether the difference value of the input voltage and a first preset voltage is larger than a second preset voltage or not, and the first preset voltage and the second preset voltage are positively correlated with the preset rotating speed;
and the control module is used for controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor when the difference value is larger than the second preset voltage.
Preferably, the control module includes:
the first control unit is used for increasing the winding electrifying time of the brushless direct current motor when the input voltage is smaller than the first preset voltage so as to control the output power of the brushless direct current motor to keep stable;
and the second control unit is used for reducing the winding electrifying time of the brushless direct current motor when the input voltage is greater than the first preset voltage so as to control the output power of the brushless direct current motor to keep stable.
Preferably, the first control unit increases the number or duty ratio of the output PWM waves of the brushless dc motor in each hall period through an MCU module of the brushless dc motor, so as to increase the winding energization time of the brushless dc motor.
Preferably, the number or duty ratio of the PWM waves increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the second control unit reduces the number or duty ratio of the PWM waves output by the brushless dc motor in each hall period through the MCU module of the brushless dc motor, so as to reduce the winding energization time of the brushless dc motor.
Preferably, the number or duty ratio of the PWM waves decreased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
The invention also provides a brushless direct current motor which comprises a motor body and any one of the brushless direct current motor control devices.
The invention also provides an electric appliance which comprises the brushless direct current motor.
The invention also provides a storage medium, wherein the storage medium is stored with a computer program, and the computer program realizes the steps of any brushless direct current motor control method when being executed by a processor.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor realizes the steps of any brushless direct current motor control method when executing the program.
The technical scheme of the invention has the following advantages:
the brushless direct current motor control method and the device provided by the invention can adjust the winding electrifying time of the brushless direct current motor by detecting the input voltage of the brushless direct current motor and judging whether the difference value between the input voltage and the preset voltage is larger than a certain range, thereby avoiding the influence of the input voltage change on the working state of the brushless direct current motor and improving the stability of the working state of the brushless direct current motor when the input voltage changes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a flow chart of a method for controlling a brushless DC motor according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a method for controlling a brushless DC motor with an input voltage of 27.5V according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a method for controlling a brushless DC motor with an input voltage of 23V according to an embodiment of the present invention;
FIG. 4 is a block diagram of a brushless DC motor control device according to an embodiment of the present invention;
FIG. 5 is a block diagram of a control module in an embodiment of the invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
A first aspect of the embodiments of the present invention provides a method for controlling a brushless dc motor, referring to fig. 1, including the following steps:
and S100, acquiring the input voltage of the brushless direct current motor at a preset rotating speed.
Firstly, when the brushless dc motor operates at a predetermined rotation speed, the input voltage of the brushless dc motor should be kept stable to ensure that the output power of the brushless dc motor is kept stable, i.e. the operating state of the electrical appliance including the brushless dc motor is kept stable.
The input voltage of the brushless dc motor is positively correlated with its output power. When the brushless direct current motor operates according to the preset rotating speed, if the input voltage changes, the output power of the brushless direct current motor deviates from the preset power.
S200, judging whether the difference value of the input voltage and the first preset voltage is larger than a second preset voltage or not, wherein the first preset voltage and the second preset voltage are positively correlated with a preset rotating speed.
When the brushless direct current motor operates according to the preset rotating speed, the input voltage value corresponding to the preset rotating speed is a first preset voltage. The detected input voltage of the brushless direct current motor is compared with a first preset voltage, the difference value of the input voltage and the first preset voltage is calculated, and then the difference value is compared with a second preset voltage.
When the difference between the input voltage and the first preset voltage is greater than the second preset voltage, it indicates that the input voltage of the brushless dc motor has deviated from the value range that enables the brushless dc motor to operate according to the preset rotation speed, and the energization time of the winding of the brushless dc motor needs to be adjusted to ensure the output power to be stable.
When the difference value between the input voltage and the first preset voltage is smaller than the second preset voltage, the change of the rotating speed of the brushless direct current motor caused by the change value of the input voltage of the brushless direct current motor is smaller, the energization time of a winding of the brushless direct current motor does not need to be adjusted, and the brushless direct current motor is controlled to continue to be in the current working state.
By introducing the second preset voltage and comparing the difference value between the input voltage of the brushless direct current motor and the first preset voltage, the situation that the working state of the brushless direct current motor is improperly interfered when the difference value is very small and the winding electrifying time of the brushless direct current motor is not required to be adjusted is avoided, and the control accuracy of the brushless direct current motor is further enhanced.
And S300, if the difference value is larger than the second preset voltage, controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor.
Specifically, in step S300, if the difference between the input voltage and the first preset voltage is greater than the second preset voltage, the rotation speed of the brushless dc motor is controlled to be stable by adjusting the winding energization time of the brushless dc motor, which includes the following two cases: namely, the input voltage is less than the first preset voltage and the input voltage is greater than the first preset voltage.
In one embodiment of the present invention, when the input voltage of the brushless dc motor is less than the first preset voltage, the winding energization time of the brushless dc motor is increased to control the output power of the brushless dc motor to be stable.
Optionally, the winding energization time of the brushless dc motor is increased, and the number or duty ratio of the output PWM waves of the brushless dc motor in each hall period may be increased through an MCU module of the brushless dc motor.
Preferably, the number of increases or the duty ratio of the PWM waves in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
That is, when the input voltage of the brushless dc motor is smaller than the first preset voltage and the difference is larger, the number of PWM waves output by the brushless dc motor in each hall period is increased by the MCU module of the brushless dc motor, or the ratio of increasing the duty ratio of the PWM waves output by the brushless dc motor in each hall period is also larger.
In the present embodiment, when the input voltage of the brushless dc motor is greater than the first preset voltage, the winding energization time of the brushless dc motor is reduced to control the output power of the brushless dc motor to be stable.
Optionally, reducing the winding energization time of the brushless dc motor includes: the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period can be reduced through an MCU module of the brushless direct current motor.
Preferably, the number of the PWM waves decreased in each hall period or the duty ratio is positively correlated with the difference between the input voltage and the first preset voltage.
That is, when the input voltage of the brushless dc motor is greater than the first preset voltage and the difference is larger, the MCU module of the brushless dc motor reduces the number of PWM waves output by the brushless dc motor in each hall period, or the ratio of the duty ratio of the PWM waves output by the brushless dc motor in each hall period is larger.
When the difference value between the input voltage of the brushless direct current motor and the first preset voltage is smaller than the second preset voltage, the value of the rotating speed change caused by the change of the input voltage of the brushless direct current motor is judged to be smaller, the change of the working state of the electric appliance comprising the brushless direct current motor cannot be caused, and the existing working state is only required to be maintained.
Fig. 2 and 3 are schematic diagrams of a control method of the brushless dc motor when the input voltage is different. The input voltage of the brushless dc motor in fig. 2 is 27.5V, and the input voltage of the brushless dc motor in fig. 3 is 23V.
Referring to fig. 2 and 3, when the brushless dc motor operates at the first preset rotation speed and the input voltage of the brushless dc motor is 27.5V, the number of PWM waves output by the brushless dc motor in each hall period is 2. When the input voltage is reduced to 23V, the number of PWM waves output by the brushless direct current motor in each Hall period is adjusted to 3 through an MCU module of the brushless direct current motor, so that the output power of the brushless direct current motor can be stabilized within an acceptable range, and the difference value of the actual output power of the brushless direct current motor relative to the preset output power corresponding to the preset rotating speed is not more than 5% of the preset output power; meanwhile, the difference value of the actual rotating speed of the brushless direct current motor relative to the preset rotating speed does not exceed 5% of the preset rotating speed.
On the contrary, when the brushless direct current motor operates according to the second preset rotating speed and the input voltage of the brushless direct current motor is 23V, the number of PWM waves output by the brushless direct current motor in each Hall period is 3; when the input voltage is increased to 27.5V, the number of PWM waves output by the brushless direct current motor in each Hall period is adjusted to 2 through an MCU module of the brushless direct current motor, and the difference value of the actual output power of the brushless direct current motor relative to the preset power corresponding to the preset rotating speed is not more than 5% of the preset power; meanwhile, the output rotating speed of the brushless direct current motor can be stabilized within an acceptable range, namely the difference value of the actual rotating speed of the brushless direct current motor relative to the preset rotating speed does not exceed 5% of the preset rotating speed.
As shown in fig. 2 and 3, the jump edge of the hall waveform of the brushless dc motor corresponds to the zero-crossing point of the back electromotive force of the brushless dc motor; meanwhile, the jumping edge of the Hall waveform is a phase change point of the phase voltage of the brushless direct current motor, the phase current of the brushless direct current motor corresponds to the phase voltage, and when each phase winding of the brushless direct current motor is electrified, the current flowing through the winding is correspondingly increased.
A second aspect of the embodiment of the present invention provides a brushless dc motor control apparatus, referring to fig. 4, including: the device comprises a voltage detection module 1, a judgment module 2 and a control module 3. The voltage detection module 1 is used for acquiring an input voltage of the brushless direct current motor when the brushless direct current motor is at a preset rotating speed. The judgment module 2 is used for judging whether a difference value between the input voltage and the first preset voltage is greater than a second preset voltage, wherein the first preset voltage and the second preset voltage are positively correlated with the preset rotating speed. The control module 3 is configured to control the output power of the brushless dc motor to be stable by adjusting the winding energization time of the brushless dc motor when the difference is greater than the second preset voltage.
Optionally, referring to fig. 5, the control module 3 includes: a first control unit 31 and a second control unit 32.
The first control unit 31 is configured to increase a winding energization time of the brushless dc motor when the input voltage is less than a first preset voltage, so as to control the output power of the brushless dc motor to be stable.
The second control unit 32 is configured to reduce the winding energization time of the brushless dc motor when the input voltage is greater than the first preset voltage, so as to control the output power of the brushless dc motor to be stable.
Preferably, the first control unit 31 increases the number or duty ratio of the output PWM waves of the brushless dc motor in each hall period through the MCU module of the brushless dc motor, so as to increase the winding energization time of the brushless dc motor.
Specifically, the number or duty ratio of the PWM waves increased in each hall period is positively correlated with the difference between the input voltage and the first preset voltage.
Preferably, the second control unit 32 reduces the number or duty ratio of the output PWM waves of the brushless dc motor in each hall period through the MCU module of the brushless dc motor, so as to reduce the winding energization time of the brushless dc motor.
Specifically, the number of PWM waves reduced in each hall period or the duty ratio is positively correlated with the difference between the input voltage and the first preset voltage.
A third aspect of the embodiments of the present invention provides a brushless dc motor, including a motor body, and further including a brushless dc motor control apparatus in any one of the foregoing embodiments.
A fourth aspect of embodiments of the present invention provides an electrical appliance including the brushless dc motor provided in the third aspect of embodiments of the present invention.
A fifth aspect of the embodiments of the present invention provides a storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for controlling a brushless dc motor according to the first aspect of the embodiments of the present invention.
A sixth aspect of the embodiments of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method for controlling a brushless dc motor according to the first aspect of the embodiments of the present invention.
The brushless direct current motor control method and the device provided by the invention can adjust the winding electrifying time of the brushless direct current motor by detecting the input voltage of the brushless direct current motor and judging whether the difference value between the input voltage and the preset voltage is larger than a certain range, thereby avoiding the influence of the input voltage change on the working state of the brushless direct current motor and improving the stability of the working state of the brushless direct current motor when the input voltage changes.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (16)
1. A brushless direct current motor control method is characterized by comprising the following steps:
acquiring input voltage of the brushless direct current motor at a preset rotating speed;
judging whether the difference value of the input voltage and a first preset voltage is greater than a second preset voltage, wherein the first preset voltage and the second preset voltage are positively correlated with the preset rotating speed;
and if the difference is larger than the second preset voltage, controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor.
2. The method according to claim 1, wherein the controlling the output power of the brushless dc motor to be stable by adjusting the winding energization time of the brushless dc motor if the difference is greater than the second preset voltage comprises:
if the input voltage is smaller than the first preset voltage, increasing the winding electrifying time of the brushless direct current motor so as to control the output power of the brushless direct current motor to keep stable;
and if the input voltage is greater than the first preset voltage, reducing the winding electrifying time of the brushless direct current motor so as to control the output power of the brushless direct current motor to keep stable.
3. The method of controlling a brushless dc motor according to claim 2, wherein the increasing a winding energization time of the brushless dc motor includes:
and increasing the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through an MCU module of the brushless direct current motor.
4. The brushless DC motor control method according to claim 3,
the number or the duty ratio of the PWM waves increased in each Hall period is positively correlated with the difference value between the input voltage and the first preset voltage.
5. The method of controlling a brushless dc motor according to claim 2, wherein the reducing a winding energization time of the brushless dc motor includes:
and the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period is reduced through the MCU module of the brushless direct current motor.
6. The brushless DC motor control method according to claim 5,
the number or duty ratio of the PWM waves reduced in each Hall period is positively correlated with the difference between the input voltage and the first preset voltage.
7. A brushless DC motor control device, comprising:
the voltage detection module is used for acquiring the input voltage of the brushless direct current motor when the brushless direct current motor is at a preset rotating speed;
the judging module is used for judging whether the difference value of the input voltage and a first preset voltage is larger than a second preset voltage or not, and the first preset voltage and the second preset voltage are positively correlated with the preset rotating speed;
and the control module is used for controlling the output power of the brushless direct current motor to keep stable by adjusting the winding electrifying time of the brushless direct current motor when the difference value is larger than the second preset voltage.
8. The brushless dc motor control apparatus of claim 7, wherein the control module comprises:
the first control unit is used for increasing the winding electrifying time of the brushless direct current motor when the input voltage is smaller than the first preset voltage so as to control the output power of the brushless direct current motor to keep stable;
and the second control unit is used for reducing the winding electrifying time of the brushless direct current motor when the input voltage is greater than the first preset voltage so as to control the output power of the brushless direct current motor to keep stable.
9. The brushless DC motor control apparatus according to claim 8,
the first control unit increases the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through an MCU module of the brushless direct current motor so as to increase the winding electrifying time of the brushless direct current motor.
10. The brushless DC motor control apparatus according to claim 9,
the number or the duty ratio of the PWM waves increased in each Hall period is positively correlated with the difference value between the input voltage and the first preset voltage.
11. The brushless DC motor control apparatus according to claim 8,
the second control unit reduces the number or duty ratio of PWM waves output by the brushless direct current motor in each Hall period through an MCU module of the brushless direct current motor so as to reduce the winding electrifying time of the brushless direct current motor.
12. The brushless DC motor control apparatus according to claim 11,
the number or duty ratio of the PWM waves reduced in each Hall period is positively correlated with the difference between the input voltage and the first preset voltage.
13. A brushless dc motor comprising a motor body, and further comprising the brushless dc motor control device according to any one of claims 7 to 12.
14. An electrical appliance comprising a brushless dc motor according to claim 13.
15. A storage medium, characterized in that the storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the brushless dc motor control method according to any one of claims 1 to 6.
16. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, said processor implementing the steps of the brushless dc motor control method according to any of claims 1-6 when executing said program.
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| CN202856672U (en) * | 2012-05-28 | 2013-04-03 | 西北工业大学 | Brushless direct current motor control device |
| CN106464172A (en) * | 2014-06-24 | 2017-02-22 | 松下知识产权经营株式会社 | Compressor-driving device, compressor provided with same, and freezing cycle apparatus provided with compressor-driving device and with compressor |
| CN104993755A (en) * | 2015-08-03 | 2015-10-21 | 广东威灵电机制造有限公司 | DC voltage control method and system for brushless DC motor |
| CN109757125A (en) * | 2016-12-23 | 2019-05-14 | 翰昂汽车零部件有限公司 | Utilize the brshless DC motor driving method and device of voltage compensation |
| EP3479745A1 (en) * | 2017-11-07 | 2019-05-08 | Miele & Cie. KG | Method for operating an electric drive, preferably a ventilator and/or of a brush of a vacuum cleaner or a vacuum cleaning robot |
| CN110236418A (en) * | 2018-03-07 | 2019-09-17 | 广东美的生活电器制造有限公司 | Food processor and its constant-power control method and control device |
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