Motor control method and circuit for mixing powdered food

Abstract

The present invention relates to a motor control method for stirring powdered food, comprising the steps of: S10: obtaining a work instruction for starting stirring, extracting the operation plan of various working modes of the motor contained in the work instruction, and the working modes of the motor contained in the same work instruction are: normal stirring mode, loose powder stirring mode, stall repair mode, and fault alarm mode. S20: controlling the motor to start running and continuously monitoring the real-time sampled current during the operation of the motor. S30: comparing the real-time sampled current with the current range corresponding to each working mode, and switching the motor to the working mode corresponding to the current range into which the real-time sampled current falls. A motor control circuit for stirring powdered food is also provided. The uniformity of the stirred mixture is improved, the quality of the brewed beverage and the consistency of the taste uniformity are improved, and the probability of motor stalling and powder lowering track being stuck is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of food stirring, and in particular to a motor control method for stirring powdered food, and a motor control circuit for stirring powdered food. Background Art

[0002] As beverages brewed from powdered foods are becoming more and more popular among consumers, various brewers with stirring functions have emerged. As one of the core components of the brewer, the stirring module has a critical impact on the quality of the brewed beverage, such as consistency of quality and uniformity of taste.

[0003] In the traditional brewing device design, the motor control method during the stirring process is relatively simple, and most of them are stirring in one direction and at a fixed stirring speed. This stirring method will cause the mixture of powdered food and liquid to become more and more solid, and the uniformity of the stirred mixture is poor, resulting in uneven quality and taste uniformity of the brewed beverage. In serious cases, the motor will be blocked and the powder feeding track will be stuck. Summary of the invention

[0004] Based on this, the present invention provides a motor control method for stirring powdered food, which controls the motor to operate by changing direction and speed, thereby improving the uniformity of the stirred mixture, improving the quality of the brewed beverage and the consistency of the taste uniformity, and in response to the blocking problem, powder loosening, unblocking, and alarm processing are set to reduce the probability of motor blocking and the powder lowering track being stuck.

[0005] A motor control method for stirring powdered food, comprising the steps of:

[0006] S10: obtaining a work instruction for starting stirring, extracting operation plans of various working modes of the motor contained in the work instruction, and the working modes of the motor contained in the same work instruction include: normal stirring mode, loose powder stirring mode, stall repair mode, and fault alarm mode;

[0007] S20: Control the motor to start running and continuously monitor the real-time sampling current during the motor running process;

[0008] S30: Compare the real-time sampled current with the current range corresponding to each working mode, and switch the motor to the working mode corresponding to the current range within which the real-time sampled current falls:

[0009] When I≤X1, the motor is switched to the normal stirring mode; in the normal stirring mode, the motor stirs according to the preset number of forward rotations, reverse rotations, forward and reverse switching time base, pause time during forward and reverse switching, and variable speed; where I is the real-time sampling current, and X1 is the preset critical current of the normal stirring state;

[0010] When X1<I<X2, the motor is switched to loose powder stirring mode; in the loose powder stirring mode, the motor sequentially performs pause, reverse rotation, pause, and forward rotation; wherein X2 is the preset critical current of the stall state;

[0011] When X2≤I<X3, the motor is switched to the stall repair mode; in the stall repair mode, the motor sequentially performs pause, reverse rotation, pause, and forward rotation with increased voltage; wherein X3 is the preset critical current of the overcurrent protection;

[0012] When I≥X3, the motor is switched to a fault alarm mode; in the fault alarm mode, the motor stops working and is locked in a standby state, and after receiving a fault elimination signal, the motor is unlocked from the standby state.

[0013] The motor control method for powdered video stirring, in the work instruction for starting stirring, presets the operation plan of the motor's normal stirring mode, loose powder stirring mode, stall repair mode, and fault alarm mode, and switches the motor to the corresponding working mode according to the real-time sampling current when the motor is running. In the normal stirring mode, the motor operates by changing direction and speed, and performs a variety of different stirring actions on the mixture of powdered food and liquid to improve the uniformity of the stirred mixture. The loose powder stirring mode and stall repair mode are the equipment self-adjustment and repair processes implemented for the resistance of the mixture suffered during the motor stirring process. The fault alarm mode is a protection scheme for forcing the motor to standby when the equipment cannot be self-repaired. Through the above design, the motor is controlled to operate by changing direction and speed, improve the uniformity of the stirred mixture, improve the consistency of the quality and taste uniformity of the brewed beverage, and set loose powder, unblocking, and alarm processing for the stall problem, reducing the probability of motor stalling and powder track being stuck.

[0014] In one of the embodiments, in step S30, the fault elimination signal includes one or more of: a stirring restart signal, a manual fault clearing confirmation signal, and a current self-test passing signal.

[0015] In one embodiment, in step S30, in the powder loosening and stirring mode, the powder loosening and stirring actions performed by the motor are as follows: pause A1 second, reverse B1 turn, pause C1 second, and forward D1 turn. By changing the direction of rotation, the mixture is stirred back and forth, thereby breaking up the powder lumps with large resistance and achieving the purpose of loosening the powder.

[0016] In one embodiment, in step S30, in the stall repair mode, the motor performs the following stall repair actions: pause A for 2 seconds, reverse B for 2 seconds, pause C for 2 seconds, increase the working voltage of the motor and rotate forward D for 2 seconds before restoring the working voltage of the motor. By changing the direction of rotation and increasing the working voltage, the motor can break through the powder agglomeration that caused the stall, thereby achieving the purpose of unblocking.

[0017] In one embodiment, when the motor rotates forward for D2 seconds, the working voltage of the motor is set to a preset maximum voltage. When the motor is blocked, the motor is driven to rotate at a preset maximum voltage during forward rotation, so that the motor can output the maximum torque under the maximum allowable safety voltage to break the powder agglomeration caused by the blockage.

[0018] In one embodiment, in step S30, if the motor enters the stall repair mode N times in a row, the motor is forced to switch to the fault alarm mode. If the motor enters the stall repair mode multiple times in a row, it means that after multiple stall repair processes, the powder agglomeration that caused the stall still cannot be broken. In order to reduce damage to the motor, the motor is forced to switch to the fault alarm mode.

[0019] In one embodiment, in step S30, in the normal stirring mode, the pause time of the motor when switching between forward and reverse rotations is A0 seconds.

[0020] In one embodiment, in step S30, during the execution of the same work instruction, the running progress of the normal stirring mode of the motor is stored and accumulated; when the running progress of the normal stirring mode of the motor reaches 100%, the stirring is considered to be completed and the stirring operation is exited. The completion of a complete normal stirring mode is used as the basis for judging whether the stirring of the powdered food is completed, while other working modes are regarded as the process of handling abnormal conditions and are not counted in the normal stirring progress.

[0021] In one embodiment, in step S30, when the motor enters the corresponding working mode, a corresponding working state warning signal is issued. In different working modes, different warning signals are used to remind the user of the current working mode of the device, which can reduce user intervention and allow the user to intuitively know the operating status of the device, meeting the needs of intelligence and humanization.

[0022] At the same time, the invention also provides a motor control circuit for stirring powdered food.

[0023] A motor control circuit for stirring powdered food is controlled by using the motor control method for stirring powdered food of any of the above embodiments.

[0024] The motor control circuit for stirring powdered food controls the motor to operate by changing direction and speed when working, thereby improving the uniformity of the stirred mixture, improving the quality of the brewed beverage and the consistency of the taste uniformity, and in response to the problem of stalling, powder loosening, unblocking and alarm processing are set to reduce the probability of motor stalling and the powder lowering track being stuck. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The present invention is a flowchart of a motor control method for stirring powdered food according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0027] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0028] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0032] like Figure 1 As shown, it is a motor control method for stirring powdered food according to an embodiment of the present invention.

[0033] like Figure 1 As shown, the motor control method for stirring powdered food comprises the following steps:

[0034] S10: Obtain a work instruction for starting stirring, extract the operation plans of various working modes of the motor contained in the work instruction, and the working modes of the motor contained in the same work instruction are: normal stirring mode, loose powder stirring mode, jam repair mode, and fault alarm mode.

[0035] When receiving a work instruction to start mixing, the operation plan of all work modes that may be applied in this work instruction (including the executed action, duration, direction, speed, etc.) can be extracted from the work instruction. When the user operates the human-machine interface (HMI) of the equipment, the corresponding work instruction will be generated on the human-machine interface.

[0036] S20: Control the motor to start running and continuously monitor the real-time sampled current during the motor running process.

[0037] S30: Compare the real-time sampled current with the current range corresponding to each working mode, and switch the motor to the working mode corresponding to the current range within which the real-time sampled current falls (i.e., enter one of the following execution steps ABCD, and dynamically switch according to the real-time sampled current):

[0038] S30-A: When I≤X1, switch the motor to normal stirring mode. In the normal stirring mode, the motor stirs according to the preset number of forward rotations, reverse rotations, forward and reverse switching time base, pause time during forward and reverse switching, and the changing speed. Among them, I is the real-time sampling current, and X1 is the preset critical current of the normal stirring state. Here, the changing speed can be understood as that in the normal stirring mode, the speed can be dynamically adjusted for forward or reverse rotation, for example, it rotates according to V1 in some circles and V2 in some circles. Forward and reverse rotation are opposite in direction, but can be the same or different in speed, and can be dynamically adjusted. That is, in the normal stirring mode, the speed and direction are adjusted according to the running progress of the normal stirring mode, not a single fixed setting.

[0039] It should be noted that at the moment of starting the motor, the corresponding working voltage is applied to the motor according to the normal stirring mode operation plan, and real-time sampling current monitoring is immediately started, and dynamic working mode switching is entered according to the real-time sampling current monitored.

[0040] In the present scheme, the number of forward rotations, the number of reverse rotations, the forward-reverse switching timing, the pause time when switching forward-reverse, and the change in speed are all achieved by controlling the working voltage of the motor. For example, the input voltage of the motor driver chip is dynamically adjusted to achieve changes in the speed, and the level input of the two steering control pins of the motor driver chip is controlled (for example, a fixed high level or low level is input, or a PWM modulated level is input to one of the steering control pins, and direction control is achieved by controlling the level difference between the two steering control pins).

[0041] In normal stirring mode, a pause time is introduced when switching between forward and reverse rotations. The purpose is to release the kinetic energy before switching and allow it to rotate naturally for a short distance under inertia, so as to better protect the motor. For example, in normal stirring mode, the pause time of the motor when switching between forward and reverse rotations is A0 seconds. Similarly, when the direction switching occurs in loose powder stirring mode and jam repair mode, a pause time is also introduced, and its purpose is also to protect the motor. Furthermore, the pause time when switching between forward and reverse rotations can be set to be positively correlated with the speed before switching, that is, a higher speed corresponds to a longer pause time.

[0042] S30-B: When X1<I<X2, the motor is switched to the loose powder stirring mode. In the loose powder stirring mode, the motor sequentially performs pause, reverse rotation, pause, and forward rotation. Among them, X2 is the preset critical current of the stall state.

[0043] For example, in the powder loosening and stirring mode, the motor performs the following steps: pause A1 second, reverse B1 turn, pause C1 second, and forward D1 turn. By changing direction and stirring the mixture back and forth, the powder lumps with greater resistance are broken up, thus achieving the purpose of loosening the powder.

[0044] S30-C: When X2≤I<X3, the motor is switched to the stall repair mode. In the stall repair mode, the motor sequentially performs pause, reverse, pause, and increase voltage forward rotation. Among them, X3 is the preset critical current of overcurrent protection.

[0045] For example, in step S30, in the stall repair mode, the motor performs the following stall repair actions: pause A for 2 seconds, reverse B for 2 seconds, pause C for 2 seconds, increase the motor's working voltage and forward D for 2 seconds before restoring the motor's working voltage. By changing direction and increasing the working voltage, the motor can break through the powder agglomeration that caused the stall and achieve the purpose of unblocking.

[0046] In the stall repair mode, when the motor rotates forward for D2 seconds, the working voltage of the motor can be set to the preset maximum voltage (i.e., under the premise of satisfying I<X3, the highest working voltage is applied to the motor). During stall repair, the motor is driven to rotate at the preset maximum voltage during forward rotation, so that the motor can output the maximum torque under the maximum allowable safe voltage to break the powder agglomeration caused by the stall.

[0047] S30-D: When I≥X3, the motor is switched to a fault alarm mode. In the fault alarm mode, the motor stops working and is locked in a standby state, and after receiving a fault elimination signal, the motor is unlocked from the standby state.

[0048] Furthermore, in step S30, the troubleshooting signal may include: one or more of a stirring restart signal, a manual fault clearing confirmation signal, and a current self-test pass signal. For example, after the motor is locked in the standby state, upon receiving one of the above four signals, it can be unlocked from the standby state to resume rotation. For situations where safety requirements are high, it can also be set so that the standby state of the motor can be unlocked only when the above four signals are met at the same time.

[0049] In order to prevent the motor from being stuck in the stall repair mode, if the motor enters the stall repair mode N times in a row, the motor will be forced to switch to the fault alarm mode. If the motor enters the stall repair mode multiple times in a row, it means that after multiple stall repairs, the powder agglomeration that caused the stall still cannot be broken. In order to reduce damage to the motor, the motor will be forced to switch to the fault alarm mode.

[0050] In order to make the device both intelligent and user-friendly, in step S30, when the motor enters the corresponding working mode, a corresponding working state warning signal is issued. In different working modes, different warning signals are used to remind the user of the current working mode of the device, which can reduce user intervention and allow the user to intuitively know the operating status of the device, meeting the needs of intelligence and user-friendliness.

[0051] Design of the judgment node for the completion of the mixing operation: In step S30, during the execution of the same work instruction, the running progress of the motor in the normal mixing mode is stored and accumulated; when the running progress of the motor in the normal mixing mode reaches 100%, the mixing is considered to be completed and the mixing operation is exited. The completion of a complete normal mixing mode is used as the basis for judging whether the mixing of powdered food is completed, while other working modes are regarded as the process of handling abnormal conditions and are not counted in the normal mixing progress.

[0052] Brief description of working principle:

[0053] In the work instruction for starting mixing, the operation plans of the motor's normal mixing mode, loose powder mixing mode, stall repair mode, and fault alarm mode are preset, and the motor is switched to the corresponding working mode according to the real-time sampled current when the motor is running. In the normal mixing mode, the motor operates by changing direction and speed, performing a variety of different mixing actions on the mixture of powdered food and liquid to improve the uniformity of the mixed mixture. The loose powder mixing mode and the stall repair mode are self-adjustment and repair processes implemented by the equipment for the resistance of the mixture encountered during the motor mixing process. The fault alarm mode is a protection solution that forces the motor to standby when the equipment cannot be self-repaired.

[0054] The above-mentioned motor control method for powdered food stirring controls the motor to operate by changing direction and speed, thereby improving the uniformity of the stirred mixture, improving the quality of the brewed beverage and the consistency of the taste uniformity, and in response to the blocking problem, powder loosening, unblocking, and alarm processing are set to reduce the probability of motor blocking and the powder lowering track being stuck.

[0055] At the same time, the invention also provides a motor control circuit for stirring powdered food.

[0056] The motor control circuit for stirring powdered food is controlled by adopting the motor control method for stirring powdered food.

[0057] The motor control circuit for stirring powdered food controls the motor to operate by changing direction and speed when working, thereby improving the uniformity of the stirred mixture, improving the quality of the brewed beverage and the consistency of the taste uniformity, and in response to the problem of stalling, powder loosening, unblocking and alarm processing are set to reduce the probability of motor stalling and the powder lowering track being stuck.

[0058] It should be noted that the motor control circuit for stirring powdered food can be used not only in a powdered food brewer, but also in other equipment that needs to brew powdered food.

[0059] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0060] The above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A motor control method for stirring powdered food, characterized in that: Includes steps: S10: obtaining a work instruction for starting stirring, extracting operation plans of various working modes of the motor contained in the work instruction, and the working modes of the motor contained in the same work instruction include: normal stirring mode, loose powder stirring mode, stall repair mode, and fault alarm mode; S20: Control the motor to start running and continuously monitor the real-time sampling current during the motor running process; S30: Compare the real-time sampled current with the current range corresponding to each working mode, and switch the motor to the working mode corresponding to the current range within which the real-time sampled current falls: When I≤X1, the motor is switched to the normal stirring mode; in the normal stirring mode, the motor stirs according to the preset number of forward rotations, reverse rotations, forward and reverse switching time base, pause time during forward and reverse switching, and variable speed; where I is the real-time sampling current, and X1 is the preset critical current of the normal stirring state; When X1<I<X2, the motor is switched to loose powder stirring mode; in the loose powder stirring mode, the motor sequentially performs pause, reverse rotation, pause, and forward rotation; wherein X2 is the preset critical current of the stall state; When X2≤I<X3, the motor is switched to the stall repair mode; in the stall repair mode, the motor sequentially performs pause, reverse, pause, and forward rotation with increased voltage, and the working voltage of the motor is restored after the motor increases the voltage and rotates forward for a preset time; wherein X3 is the preset critical current of the overcurrent protection; When I≥X3, the motor is switched to a fault alarm mode; in the fault alarm mode, the motor stops working and is locked in a standby state, and after receiving a fault elimination signal, the motor is unlocked from the standby state.

2. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30 , the fault elimination signal includes one or more of: a stirring restart signal, a manual fault clearing confirmation signal, and a current self-test passing signal.

3. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30, in the loose powder stirring mode, the loose powder stirring actions performed by the motor are: pause A1 second, reverse rotation B1 circle, pause C1 second, and forward rotation D1 circle.

4. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30, in the stall repair mode, the stall repair actions performed by the motor are: pause A2 seconds, reverse B2 seconds, pause C2 seconds, increase the working voltage of the motor and restore the working voltage of the motor after forward rotation D2 seconds.

5. The motor control method for stirring powdered food according to claim 4, characterized in that: When the motor rotates forward for D2 seconds, the operating voltage of the motor is set to the preset highest voltage.

6. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30 , if the motor enters the stall repair mode N times in succession, the motor is forcibly switched to the fault alarm mode.

7. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30, in the normal stirring mode, the pause time of the motor when switching between forward and reverse rotations is A0 seconds.

8. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30, during the execution of the same work instruction, the running progress of the motor in the normal stirring mode is stored and accumulated; when the running progress of the motor in the normal stirring mode reaches 100%, the stirring is deemed to be completed and the stirring operation is exited.

9. The motor control method for stirring powdered food according to claim 1, characterized in that: In step S30, when the motor enters the corresponding working mode, a corresponding working state warning signal is issued.

10. A motor control circuit for stirring powdered food, characterized in that: The powdered food stirring motor control method according to any one of claims 1 to 9 is used for control.

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