Dental implant machine and motor speed regulation method thereof

Abstract

The application provides a dental implant machine and a motor rotating speed regulation method thereof. In the motor rotating speed regulation method, the absolute value of the motor rotating speed deviation is increased to a first preset value every first preset time, the output torque of the motor is periodically increased to a large value, that is, the load is periodically applied with an additional force to help the motor drag the load, so that the stopped motor can finally resume operation, that is, operate at the set rotating speed under the current load. Secondly, since only the feedback rotating speed needs to be assigned in the above regulation, the above regulation will not change the set rotating speed of the motor, and the stopped motor cannot operate at the set rotating speed under the current load, so that the motor can operate at a lower output rotating speed under the current load after the above regulation. Therefore, the motor rotating speed regulation method of the dental implant machine provided by the application reduces the minimum output rotating speed of the dental implant machine under the current load.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a dental implant machine and a method for controlling the speed of its motor. Background Technology

[0002] There are many factors that usually affect the success or failure of dental implant surgery, such as the hardware circuit design of the implant machine, the doctor's mastery of dental implant technology, the patient's bone condition, and postoperative care.

[0003] Currently, 20 prm has been proven to be the best implant insertion speed. However, the output speed of traditional dental implant machines is severely affected by the load. For example, when a traditional dental implant machine is under a load of 80 N·cm, the minimum output speed is 40 prm, otherwise the traditional dental implant machine will not be able to operate normally.

[0004] Therefore, how to reduce the minimum output speed of dental implant machines under current load is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] In view of this, the present invention provides a dental implant machine and a method for controlling the speed of its motor, so as to reduce the minimum output speed of the dental implant machine under the current load.

[0006] To achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0007] This application provides a method for controlling the motor speed of a dental implant machine, wherein the output speed of the motor in the dental implant machine is controlled by the speed control loop of the main unit in the dental implant machine; the method for controlling the motor speed of the dental implant machine includes:

[0008] Determine whether the motor has stopped;

[0009] If the motor stops, then every first preset time interval, by assigning a value to the feedback speed in the speed control loop, the absolute value of the motor speed deviation in the speed control loop is increased to above the first preset value.

[0010] Optionally, the value assigned to the feedback rotational speed at each first preset time interval is less than the reference rotational speed in the rotational speed control loop.

[0011] Optionally, if the current load of the motor is 80 N·cm and the set speed of the motor represented by the reference speed is 20 prm, then the value of the feedback speed is assigned to zero every first preset time interval.

[0012] Optionally, the speed control loop includes a proportional-integral (PI) controller; the PI algorithm executed by the PI controller includes:

[0013] Determine whether the previous output of the PI controller is less than or equal to the minimum value of the preset limit range;

[0014] If the previous output is less than or equal to the minimum value of the preset limit range, the PI controller will only integrate the motor speed deviation that is greater than zero this time.

[0015] If the previous output is greater than the minimum value of the preset limit range, then determine whether the previous output is greater than or equal to the maximum value of the preset limit range;

[0016] If the previous output is greater than or equal to the maximum value of the preset limit range, the PI controller will only integrate the motor speed deviation that is less than zero this time.

[0017] Optional, also includes:

[0018] After each time the absolute value of the motor speed deviation is increased above the first preset value, it is determined whether the motor has resumed operation.

[0019] If the motor resumes operation, then every second preset time interval, by assigning a value to the feedback speed, the absolute value of the motor speed deviation is increased to above the second preset value.

[0020] Optionally, the value of the feedback rotation speed is assigned at every second preset time interval that is greater than the reference rotation speed in the rotation speed control loop.

[0021] Optionally, if the current load torque is 80 N·cm, then the value of the feedback speed is assigned to 2500 every second preset time interval.

[0022] This application also provides a dental implant machine, comprising: a main unit and a motor; the main unit includes: an inverter circuit, a drive circuit, a controller, and three Hall position sensors; wherein:

[0023] The three Hall position sensors are installed inside the motor to detect the position of the rotor in the motor; the output terminals of the three Hall position sensors are respectively connected to the corresponding signal receiving terminals of the controller.

[0024] The AC side of the inverter circuit is connected to the motor; the control terminal of the inverter circuit is connected to the signal output terminal of the controller through the drive circuit, and is controlled by the speed control loop in the controller.

[0025] The controller is used to perform the motor speed control method for a dental implant machine as described in any of the preceding aspects of this application.

[0026] Optionally, it also includes: a multi-functional foot pedal; the main unit further includes: a speed module; wherein:

[0027] The controller is used to determine the set speed of the motor based on the real-time voltage of the multi-functional pedal sampled by the speed module.

[0028] Optionally, the host computer further includes: a current module and a voltage module; wherein:

[0029] The controller monitors the AC side voltage of the inverter circuit through the voltage module;

[0030] The controller detects the AC side current of the inverter circuit through the current module.

[0031] As can be seen from the above technical solution, the present invention provides a method for controlling the motor speed of a dental implant machine. In this method, by increasing the absolute value of the motor speed deviation to above a first preset value every first preset time interval, the output torque of the motor is periodically increased to a larger value, that is, an additional force is periodically applied to the load to help the motor drive the load. Therefore, the stopped motor can eventually be restarted, that is, it can run at the set speed under the current load. Secondly, since only the feedback speed needs to be assigned in the above control, the above control will not change the set speed of the motor. Since the stopped motor cannot run at the set speed under the current load, after the above control, the motor can run at a lower output speed under the current load. Therefore, the motor speed control method of the dental implant machine provided in this application reduces the minimum output speed of the dental implant machine under the current load. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0033] Figure 1 This is the control block diagram for the speed control loop;

[0034] Figure 2 A flowchart illustrating one implementation of the motor speed control method for a dental implant machine provided in this application embodiment;

[0035] Figure 3 A flowchart illustrating a PI algorithm executed by the PI controller provided in an embodiment of this application;

[0036] Figure 4A schematic flowchart illustrating another implementation of the motor speed control method for a dental implant machine provided in this application embodiment;

[0037] Figures 5-9 These are schematic diagrams illustrating five different implementations of the dental implant machine provided in this application. Detailed Implementation

[0038] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0039] In this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0040] In order to reduce the minimum output speed of a dental implant machine under the current load, this application provides a method for controlling the motor speed of a dental implant machine.

[0041] like Figure 5 As shown, in the dental implant machine, the motor 200 and the curved handpiece 300 are connected together through the transmission mechanism 400, and the output of the motor 200 is transmitted to the curved handpiece 300 by the transmission mechanism 400, that is, the motor 200 drives the curved handpiece 300 to move; in addition, the output speed of the motor 200 is controlled by the speed control loop in the main unit 100 connected to the motor 200. In practical applications, the speed control loop is equivalent to negative feedback of the output speed of the motor 200, that is, to ensure the stability of the output speed of the motor 200.

[0042] It should be noted that the curved handpiece 300 is a tool held by the doctor to drive the implant surgery instruments to complete the dental implant surgery. It is the same as existing technology and will not be described in detail here.

[0043] In practical applications, the speed control loop is used to adjust the output torque of the motor 200 by adjusting the duty cycle of the switching transistor of the inverter circuit 110 in the host 100 based on the motor speed deviation, that is, the difference between the reference speed of the motor 200 and the feedback speed. This achieves the regulation of the output speed of the motor 200.

[0044] The reference speed is used to characterize the set speed of motor 200, that is, there is a mapping relationship between the reference speed and the set speed. The set speed of motor 200 is set by the user. However, in actual application, the set speed of motor 200 is indirectly set by the user. That is, the set speed of motor 200 is determined by the output speed of bending handpiece 300 set by the user and the speed ratio between bending handpiece 300 and motor 200.

[0045] For example, assuming the output speed of the bending handpiece 300 is set to 40 prm, and the ratio between the output speed of the bending handpiece 300 and the output speed of the motor 200 is 20:1, then the set speed of the motor 200 is 800 prm.

[0046] The feedback speed is used to characterize the output speed of motor 200, that is, there is a mapping relationship between the feedback speed and the output speed; in practical applications, the output speed is calculated based on the rotor position information collected by three Hall position sensors installed inside the motor.

[0047] The process of controlling the output torque of motor 200 based on the duty cycle is the same as that in the prior art, and will not be repeated here. The following is a detailed description of the speed control loop:

[0048] like Figure 1 As shown, the speed control loop includes a PI controller 10, a limiting module 20, a filtering module 30, and a duty cycle generation module 40.

[0049] The relationship between the output and input of PI controller 10 is: outZ=Kp×up+ui=Kp×(Ref-Fbk)+ui, where outZ is the output of PI controller 10, Kp is the proportional coefficient, up is the motor speed deviation, ui is the integral term output parameter, Ref is the reference speed, and Fbk is the feedback speed.

[0050] The relationship between the output and input of the limiting module 20 is: outX = IQsat(outZ, Umax, Umin), where outX is the output of the limiting module 20, IQsat is the limiting function, Umax is the maximum limiting value, and Umin is the minimum limiting value. In practical applications, Umax and Umin are set according to specific circumstances. By setting Umax and Umin, the smooth operation of the control can be ensured.

[0051] The relationship between the input and output of the filter module 30 is: outF = outX × K2 / (1-K1), where outF is the output of the filter module 30, K1 is the first coefficient, and K2 is the second coefficient.

[0052] The relationship between the input and output of the duty cycle generation module 40 is: duty2 = duty1 + outF, where duty2 is the duty cycle of the current output of the speed control loop, and duty1 is the duty cycle of the previous output of the speed control loop.

[0053] As can be seen from the above, the specific control process of the speed control loop is as follows: when the output speed of the motor is less than the preset speed, that is, when the motor speed deviation up is greater than zero, the output outZ of the PI controller 10 is greater than zero, the output outX of the limiting module 20 is greater than zero, the output outF of the filtering module 30 is greater than zero, and the duty cycle duty2 of the current output of the speed control loop is greater than zero. Therefore, the output torque of the motor is increased, thereby increasing the output speed of the motor.

[0054] Therefore, it can be deduced that: if the output speed of the motor is lower, that is, the feedback speed Fbk is lower, the motor speed deviation up is greater, the output outZ of PI controller 10 is greater, the output outX of limiting module 20 is greater, the output outF of filtering module 30 is greater, and the duty cycle duty2 of the current output of the speed control loop is greater. Therefore, the speed control loop improves the output torque of the motor more, and thus improves the output speed of the motor more.

[0055] The specific process of this motor speed control method is as follows: Figure 2 As shown, the specific steps include:

[0056] S110, Determine if the motor has stopped.

[0057] If the motor stops, proceed to step S120; if the motor continues to run, end the motor speed control method.

[0058] In practical applications, a motor stopping means that the motor's output speed is zero. In other words, the motor cannot operate at the set speed under the current load; for example, the motor cannot operate at an output speed of 20 prm under a load of 80 N·cm.

[0059] S120. Every first preset time interval, by assigning a value to the feedback speed in the speed control loop, the absolute value of the motor speed deviation in the speed control loop is increased to above the first preset value.

[0060] The feedback speed in the speed control loop has been described in detail above and will not be repeated here. Optionally, the value of the feedback speed assigned in step S120 can be less than or greater than the reference speed. No specific limitation is made here, and it can be determined according to the specific situation. All of these are within the protection scope of this application. However, in practical applications, it is preferred that the value of the feedback speed assigned in step S120 is less than the reference speed. For example, assuming that the reference speed of the speed control loop is 300, then the value of the feedback speed assigned in step S120 is 100.

[0061] When the absolute value of the motor speed deviation is greater than the first preset value, it indicates that the absolute value of the motor speed deviation is relatively large. Therefore, increasing the absolute value of the motor speed deviation above the first preset value is equivalent to increasing the absolute value of the motor speed deviation to a relatively large value. Furthermore, since the larger the motor speed deviation, the greater the increase in the output torque of the motor by the speed control loop, further speaking, increasing the absolute value of the motor speed deviation above the first preset value is equivalent to increasing the output torque of the motor to a relatively large value.

[0062] Therefore, executing step S120 is equivalent to periodically increasing the output torque of the motor to a larger value, that is, periodically applying additional force to the load to help the motor overcome the load, thereby enabling the stopped motor to resume operation, that is, to run at a set speed under the current load.

[0063] Furthermore, since only the feedback speed needs to be assigned in step S120, step S120 will not change the set speed of the motor.

[0064] As can be seen from the above, the stopped motor cannot operate at the set speed under the current load. After executing step S120, the motor can finally operate at the set speed under the current load, and step S120 does not change the set speed of the motor. Therefore, after executing step S120, the motor can operate at a lower output speed under the current load. Thus, the motor speed control method of the dental implant machine provided in this application reduces the minimum output speed of the dental implant machine under the current load.

[0065] It should be noted that in order to restart a stopped motor, the first preset time and the first preset value need to be set appropriately. In practical applications, the first preset time and the first preset value need to be set based on the results of a large number of simulation experiments.

[0066] In practical applications, if the motor is under a load of 80 N·cm, the set speed of the motor is 20 prm, and the reference speed corresponding to the set speed is 300, then the first preset time can be set to 10 ms, the first preset value can be set to 200, and the preferred feedback speed is assigned to zero.

[0067] In addition, it is important to keep the absolute increase in motor speed deviation within a reasonable range to avoid damage to the motor due to excessive increment.

[0068] Typically, speed control loops include a PI (proportional-integral) controller. However, in practical applications, the output of the PI controller often remains in its saturation region for extended periods, meaning the PI controller cannot effectively control the controlled object, thus impacting the performance of the speed control loop. To address this issue, this application provides another PI controller. The specific flow of the PI algorithm executed by this controller is as follows: Figure 3 As shown, the specific steps include:

[0069] S210. Determine whether the previous output of the PI controller is less than or equal to the minimum value of the preset limit range.

[0070] If the previous output of the PI controller is less than or equal to the minimum value of the preset limit range, then proceed to step S220; if the previous output of the PI controller is greater than the minimum value of the preset limit range, then proceed to step S230.

[0071] The preset limit range refers to the range of the PI controller's output when it is in the non-saturation region. That is, when the output of the PI controller is within the preset limit range, the controlled object will respond to the output of the PI controller.

[0072] The S220 PI controller only integrates motor speed deviations greater than zero in this instance.

[0073] In practical applications, when the previous output of the PI controller is less than or equal to the minimum value of the preset limit range, it indicates that the PI controller has exceeded the lower limit of the response range of the controlled object due to long-term integration of the motor speed deviation which is less than zero. This is recorded as the PI controller entering the lower saturation region.

[0074] Since the controlled object will not respond to the current output of the PI controller when the PI controller enters the lower saturation region, regardless of whether the motor speed deviation less than zero is integrated, the execution of step S220 at this time will not only not affect the control of the controlled object by the PI controller, but also make the output of the PI controller increase faster, thereby shortening the time that the PI controller stays in the lower saturation region.

[0075] Assuming the preset limit range is (-50, 100), the previous output of the PI controller is -100, and the current motor speed deviation is less than zero, if the existing PI algorithm is executed, i.e., the PI controller needs to integrate the motor speed deviation, the output of the PI controller will be less than -100, for example, -200. However, if the PI algorithm provided in this embodiment is executed, i.e., the PI controller does not integrate the motor speed deviation, the output of the PI controller will be greater than -200. Therefore, the time required to recover from a value greater than -200 to above -50 is less than the time required to recover from -200 to above -50, thereby shortening the time the PI controller stays in the lower saturation region through step S220.

[0076] S230. Determine whether the previous output of the PI controller is greater than or equal to the maximum value of the preset limit range.

[0077] If the previous output of the PI controller is greater than or equal to the maximum value of the preset limit range, then step S240 is executed; if the previous output of the PI controller is less than the maximum value of the preset limit range, then step S250 is executed.

[0078] The S240 PI controller only integrates motor speed deviations that are less than zero.

[0079] In practical applications, when the previous output of the PI controller is greater than or equal to the maximum value of the preset limit range, it indicates that the PI controller has exceeded the upper limit of the response range of the controlled object due to the long-term integration of the motor speed deviation greater than zero. This is recorded as the PI controller entering the upper saturation region.

[0080] Since the controlled object will not respond to the current output of the PI controller when the PI controller enters the upper saturation region, regardless of whether the motor speed deviation greater than zero is integrated, the execution of step S240 at this time will not only not affect the control of the controlled object by the PI controller, but also make the output of the PI controller decrease faster, thereby shortening the time that the PI controller stays in the upper saturation region.

[0081] Assuming the preset limit range is (-50, 100), the previous output of the PI controller is 200, and the current motor speed deviation is greater than zero, if the existing PI algorithm is executed, i.e., the PI controller needs to integrate the motor speed deviation, the output of the PI controller will be greater than 200, for example, 500. However, if the PI algorithm provided in this embodiment is executed, i.e., the PI controller does not integrate the motor speed deviation, the output of the PI controller will be less than 500. Therefore, the time required to recover from a value less than 500 to below 100 is greater than the time required to recover from 500 to below 100. Thus, step S240 can shorten the time the PI controller stays in the lower saturation region.

[0082] The S250 PI controller integrates the motor speed deviation in this test.

[0083] In summary, the PI algorithm provided in this embodiment can shorten the time that the PI controller stays in the saturation region, thereby avoiding the situation where the PI controller cannot control the controlled object to a certain extent, and thus reducing the impact on the performance of the speed control loop.

[0084] Although the motor speed control method provided in the above embodiments reduces the minimum output speed of the motor under the current load, when the motor runs at a lower output speed under the current load, the fluctuation of the motor's output speed is large, and it is impossible to achieve constant speed. To solve this problem, another embodiment of this application provides another implementation of the motor speed control method, the specific process of which is as follows: Figure 4 As shown, this embodiment, based on the above embodiment, further includes the following steps:

[0085] S310. After each time the absolute value of the motor speed deviation in the speed control loop is increased above the first preset value, determine whether the motor has resumed operation.

[0086] If the motor resumes operation, proceed to step S320; if the motor does not resume operation, continue with step S120.

[0087] S320. Every second preset time interval, by assigning a speed value to the feedback speed control loop, the absolute value of the motor speed deviation is increased to above the second preset value.

[0088] Optionally, the value of the feedback speed assigned in step S320 can be less than or greater than the reference speed. No specific limitation is made here, and it can be determined according to the specific situation. All of these are within the protection scope of this application. However, in practical applications, it is preferred that the value of the feedback speed assigned in step S320 is greater than the reference speed. For example, assuming that the reference speed of the speed control loop is 300, then the value of the feedback speed assigned in step S320 is 300.

[0089] The principle of step S320 is the same as that of step S120, both of which periodically increase the absolute value of the motor speed deviation to a larger value. However, since the motor has resumed operation at this time, that is, the output torque of the motor is always equal to the load, in step S320, periodically increasing the absolute value of the motor speed deviation to a larger value is equivalent to periodically increasing the speed of the motor output speed control, so that the output speed of the motor approaches the set speed more quickly. Therefore, constant speed can be achieved.

[0090] It should be noted that in order to achieve a constant output speed of the motor, it is necessary to set the second preset time and the second preset value appropriately. In practical applications, the second preset time and the second preset value need to be set based on the results of a large number of simulation experiments.

[0091] In practical applications, if the motor is under a load of 80 N·cm, the set speed of the motor is 20 prm, and the reference speed corresponding to the set speed is 300, then the second preset time can be set to 40 μs, the second preset value can be set to 2000, and the preferred feedback speed is assigned a value of 2500.

[0092] Another embodiment of this application provides a dental implant machine, the specific structure of which is as follows: Figure 5 As shown, it specifically includes: a main unit 100, a motor 200, and a bending handpiece 300; the main unit 100 specifically includes: an inverter circuit 110, a drive circuit 120, a controller 130, and three Hall position sensors (in... Figure 5 (The Hall sensor located inside the motor 200 is not shown in the image).

[0093] Three Hall position sensors are installed inside the motor 200 to detect the position of the rotor in the motor 200; the output terminals of the three Hall position sensors are respectively connected to the corresponding signal receiving terminals of the controller 130.

[0094] Motor 200 and bending handpiece 300 are connected via transmission mechanism 400 (in) Figure 5 (Only a simple diagram is shown in the figure, and the specific transmission method is not shown.) The power supply terminal of the motor 200 is connected to the AC side of the inverter circuit 110; the DC side of the inverter circuit 110 is connected to the power transmission terminal of the controller 130, and the power supply terminal of the controller 130 is connected to the grid power supply 500; under normal circumstances, the power supply of the grid power supply 500 is 220V.

[0095] The control terminal of the inverter circuit 110 is connected to the signal output terminal of the controller 130 through the drive circuit 120 and is controlled by the speed control loop in the controller 130. The specific contents of the speed control loop have been described above and will not be repeated here. The controller 130 is used to execute the motor speed control method of the dental implant machine provided in the above embodiment.

[0096] It should be noted that if the inverter circuit 110 adopts a three-phase two-level inverter topology, the drive circuit 120 consists of three drive chips, each corresponding to one phase bridge arm. In practical applications, the inverter circuit 110 and drive circuit 120 may include, but are not limited to, this implementation method, depending on the specific situation. No specific limitation is made here. However, it should be noted that the above implementation methods are all the same as the prior art, and will not be described again here.

[0097] Optionally, a common Hall signal processing module is provided between the three Hall position sensors and the controller 130 to filter the signals uploaded by the Hall position sensors, thereby improving the reliability of the uploaded signals.

[0098] This embodiment also provides another implementation of the dental implant machine, the specific structure of which is as follows: Figure 6 As shown, this embodiment, based on the above embodiment, further includes: a multi-functional foot pedal 600; in this embodiment, the main unit 100 also includes: a speed module 140.

[0099] The sampling terminal of the speed module 140 is connected to the multi-functional pedal 600, and the output terminal of the speed module 140 is connected to the sampling terminal of the controller 130. The controller 130 is used to determine the set speed of the motor 200 based on the real-time voltage of the multi-functional pedal 600 sampled by the speed module 140. Specifically, the higher the real-time voltage of the multi-functional pedal 600, the higher the set speed of the motor 200. However, it should be noted that the set speed of the motor 200 cannot exceed the specified maximum speed.

[0100] It should be noted that in practical applications, the multi-functional foot pedal 600 is equivalent to an adjustable resistor. The greater the pressure applied to the multi-functional foot pedal 600, the greater its resistance, and therefore the greater the voltage across its terminals. This is also the greater the real-time voltage of the multi-functional foot pedal 600 sampled by the speed module.

[0101] This embodiment provides another implementation of a dental implant machine, the specific structure of which is as follows: Figure 7 As shown, this embodiment, based on the above embodiment, further includes: a peristaltic pump 700; the peristaltic pump 700 is controlled by a controller 130, the peristaltic pump 700 is used to provide power for water cooling of the surgical area during the dental implantation process, and the controller 130 can control the flow rate of the coolant through the peristaltic pump 700.

[0102] This embodiment provides yet another implementation of a dental implant machine, the specific structure of which is as follows: Figure 7As shown, this embodiment, based on the above embodiment, also includes: an operation touch panel 800; the operation touch panel 800 is connected to the controller 130 in the host 100, and the operation touch panel can be used to operate or display the output speed of the bending machine 300, the speed ratio between the bending machine 300 and the motor 200, the maximum output torque of the bending machine 300, the rotation direction of the bending machine 300, the flow rate of the coolant, etc.

[0103] This embodiment provides another implementation of the host 100, the specific structure of which is as follows: Figure 8 As shown, this embodiment, based on the above embodiment, further includes a current module 160 and a voltage module 170.

[0104] The controller 130 monitors the AC side voltage of the inverter circuit 110 through the voltage module 170; the controller 130 detects the AC side current of the inverter circuit 110 through the current module 160.

[0105] Another embodiment of this application provides a specific implementation of the controller 130, the specific structure of which is as follows: Figure 9 As shown, it specifically includes: a microprocessor 131, a PWM logic processing module 132, and a bus voltage generation module 133; wherein:

[0106] The microprocessor 131 is connected to the output terminals of the speed module 140, the voltage module 170, and the current module 160 via the ADC interface; the communication terminal of the microprocessor 131 is connected to the operation touch panel 800.

[0107] The power supply terminal of the microprocessor 131 is connected to the mains power supply 500. The microprocessor 131 is connected to the input terminal of the bus voltage generation module 133 through the GPIO port. The output terminal of the bus voltage generation module 133 is connected to the DC side of the inverter module.

[0108] Each signal receiving terminal of the microprocessor 131 is connected to the output terminal of the three Hall position sensors.

[0109] The signal output terminal of the microprocessor 131 is connected to the input terminal of the PWM logic processing module 132, and the output terminal of the PWM logic processing module 132 is connected to the control terminal of the inverter circuit 110.

[0110] The microprocessor 131 includes a motor speed control module. Figure 9 (Not shown in the image), the motor speed control module is used to execute the motor speed control method of the dental implant machine provided in the above embodiments.

[0111] The microprocessor 131 is used to determine the set speed of the motor 200 based on the real-time voltage of the multi-functional foot pedal 600 sampled by the speed module 140; to control the flow rate of the coolant through the peristaltic pump 700; to control the rotation direction of the motor 200; and to determine the position of the rotor based on the information uploaded by the three Hall sensors, thereby further determining the output speed of the motor 200.

[0112] It should be noted that in this embodiment, the microprocessor 131 is the same as in the prior art. In addition to the functions mentioned above, it also includes other functions, such as voltage space vector control, which will not be described in detail here.

[0113] The PWM logic processing module 132 includes a speed control loop, which determines the duty cycle of the switching transistors in the inverter circuit 110 based on the output speed of the motor 200. In addition, the PWM logic processing module 132 also includes a commutation strategy module, which determines the commutation time for each commutation based on the rotor position, and commutates the power supply voltage of the motor at the corresponding commutation time according to the energizing phase sequence, that is, controls the on / off state of the corresponding switching transistors in the inverter circuit 110.

[0114] It should be noted that the speed control loop has been described in detail above and will not be repeated here.

[0115] The features described above in the disclosed embodiments can be substituted or combined with each other, enabling those skilled in the art to implement or use this application. The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. A method for regulating the rotational speed of a motor of a dental implant machine, characterized in that, The output rotation speed of the motor in the dental implant machine is controlled by a rotation speed control loop of a main machine in the dental implant machine; the motor rotation speed regulation method of the dental implant machine comprises: determining whether the motor is stalled; the motor is stalled, i.e. the output rotation speed of the motor is zero, and the motor cannot run at a set rotation speed under the current load; if the motor is stalled, every first preset time, the absolute value of the motor rotation speed deviation in the rotation speed control loop is increased to above a first preset value by assigning a value to a feedback rotation speed in the rotation speed control loop, wherein the first preset time and the first preset value are set in advance according to simulation experiment results.

2. The method of claim 1, wherein the step of controlling the speed of the motor of the dental implant machine is performed by a controller. The value assigned to the feedback rotation speed every first preset time is less than a reference rotation speed in the rotation speed control loop.

3. The method of claim 2, wherein the step of determining the target speed of the motor of the dental implant machine is performed by a controller of the dental implant machine. If the current load of the motor is 80 N.cm and the set rotation speed of the motor represented by the reference rotation speed is 20 rpm, the value assigned to the feedback rotation speed every first preset time is zero.

4. The method of claim 1, wherein the step of controlling the speed of the motor of the dental implant machine is performed by a controller. The rotation speed control loop comprises a proportional integral (PI) controller; the PI algorithm executed by the PI controller comprises: determining whether the last output of the PI controller is less than or equal to the minimum value of a preset limit range; if the last output is less than or equal to the minimum value of the preset limit range, the PI controller only integrates the motor rotation speed deviation greater than zero this time; if the last output is greater than the minimum value of the preset limit range, determining whether the last output is greater than or equal to the maximum value of the preset limit range; if the last output is greater than or equal to the maximum value of the preset limit range, the PI controller only integrates the motor rotation speed deviation less than zero this time.

5. The method of claim 1 to 4, wherein the method further comprises: Further comprising: after the absolute value of the motor rotation speed deviation is increased to above the first preset value each time, determining whether the motor resumes running; if the motor resumes running, every second preset time, the absolute value of the motor rotation speed deviation is increased to above a second preset value by assigning a value to the feedback rotation speed.

6. The method of claim 5, wherein the step of determining the target speed of the motor of the dental implant machine is performed by a controller of the dental implant machine. The value assigned to the feedback rotation speed every second preset time is greater than the reference rotation speed in the rotation speed control loop.

7. The method of claim 6, wherein the step of determining the target speed of the motor of the dental implant machine is performed by a controller of the dental implant machine. If the current load torque is 80 N.cm, the value assigned to the feedback rotation speed every second preset time is 2500.

8. A dental implant machine characterized by, comprising: a main machine and a motor; the main machine comprises an inverter circuit, a driving circuit, a controller and three Hall position sensors; wherein: the three Hall position sensors are arranged inside the motor to detect the position of the rotor in the motor; the output ends of the three Hall position sensors are respectively connected to the corresponding signal receiving ends of the controller; the alternating current side of the inverter circuit is connected to the motor; the control end of the inverter circuit is connected to the signal output end of the controller through the driving circuit and is controlled by the rotation speed control loop in the controller; the controller is used to execute the motor rotation speed regulation method of the dental implant machine according to any one of claims 1 to 7.

9. Dental implant unit according to claim 8, characterized in that Further comprising: a multifunctional foot pedal; the main machine further comprises a rotation speed module; wherein: The controller is used for determining the set rotating speed of the motor according to the real-time voltage of the multifunctional pedal sampled by the rotating speed module.

10. Dental implant unit according to claim 8 or 9, characterized in that The host further comprises a current module and a voltage module; wherein: The controller monitors the alternating current side voltage of the inverter circuit through the voltage module. The controller detects the alternating current side current of the inverter circuit through the current module.

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