Food processor torque control method and device, equipment, storage medium and product

Abstract

The invention discloses a food processor torque control method and device, equipment, a storage medium and a product, and relates to the technical field of food processor control, and the disclosed food processor torque control method comprises the steps that after a food processor is started, the working state of a motor rotor in the food processor is obtained; obtaining an initial speed and an initial angle of a motor rotor according to the working state; determining current speed and current angle information of the motor rotor according to the initial speed and the initial angle; and controlling the torque of the motor rotor based on the current speed and the current angle information. The initial speed and the initial angle of the motor rotor are determined by acquiring the working state of the motor rotor, the current speed and the current angle information of the motor rotor are determined according to the initial speed and the initial angle, and finally the torque of the food processor is controlled based on the current speed and the current angle.

Description

Technical Field

[0001] This invention relates to the field of food processor control technology, and in particular to a food processor torque control method, device, equipment, storage medium, and product. Background Technology

[0002] For food processors, achieving high torque at low speeds is crucial, as it addresses situations where the motor cannot rotate due to hard food. Current technologies using magnetic encoders or Hall effect sensors increase costs. Furthermore, the accuracy of these sensors is affected by temperature and electromagnetic interference, leading to measurement errors. Secondly, the sensors require additional power supplies and signal processing circuitry, increasing system complexity and cost. Finally, current methods for sensorlessly estimating the motor rotor angle are unreliable at low speeds due to their low signal-to-noise ratio, making it difficult to accurately estimate the rotor angle when the food processor is running at low speeds. Summary of the Invention

[0003] The main objective of this invention is to provide a method, apparatus, device, storage medium, and product for controlling the torque of a food processor, aiming to solve the technical problem of insufficient low-speed torque in food processors.

[0004] To achieve the above objectives, the present invention proposes a torque control method for a food processor, the method comprising: After the food processor is started, the working status of the motor rotor inside the food processor is obtained; The initial speed and initial angle of the motor rotor are obtained based on the operating state. The current speed and current angle information of the motor rotor are determined based on the initial speed and the initial angle. The torque of the motor rotor is controlled based on the current speed and the current angle information.

[0005] In one embodiment, the step of obtaining the initial speed and initial angle of the motor rotor based on the operating state includes: When the operating state is detected to be a rotational state, the three back electromotive forces of the motor rotor are obtained; Each of the three back electromotive forces is compared with each other, and the initial speed and initial angle of the motor rotor are obtained based on the comparison results.

[0006] In one embodiment, the step of obtaining the initial speed and initial angle of the motor rotor based on the operating state further includes: When the operating state is detected to be a stationary state, a current of the same magnitude but opposite direction is injected into the motor rotor, and the feedback current of the motor rotor is collected. The initial speed and initial angle of the motor rotor are determined based on the feedback current, and the initial speed is determined to be zero.

[0007] In one embodiment, the step of determining the current speed and current angle information of the motor rotor based on the initial speed and the initial angle includes: When the initial speed reaches the first preset speed range, a high-frequency injection algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle. When the initial speed reaches the second preset speed range, an adaptive estimator algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle. The second preset speed range is greater than the first preset speed range.

[0008] In one embodiment, the step of controlling the torque of the motor rotor based on the current speed and the current angle information includes: Obtain the target speed and target angle information of the motor rotor; The torque of the motor rotor is controlled by adjusting the current speed to the target speed and the current angle information to the target angle information through a magnetic field orientation control strategy.

[0009] Furthermore, to achieve the above objectives, the present invention also proposes a torque control device for a food processor, the device comprising: The acquisition module is used to acquire the working status of the motor rotor inside the food processor after the food processor is started. The calculation module is used to obtain the initial speed and initial angle of the motor rotor based on the operating state; The determining module is used to determine the current speed and current angle information of the motor rotor based on the initial speed and the initial angle; The control module is used to control the torque of the motor rotor based on the current speed and the current angle information.

[0010] Furthermore, to achieve the above objectives, the present invention also proposes a food processor torque control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the food processor torque control method as described above.

[0011] Furthermore, to achieve the above objectives, the present invention also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the food processor torque control method described above.

[0012] In addition, to achieve the above objectives, the present invention also provides a computer program product, the computer program product comprising a computer program, which, when executed by a processor, implements the steps of the food processor torque control method described above.

[0013] One or more technical solutions proposed in this invention have at least the following technical effects: This invention first acquires the operating state of the motor rotor inside the food processor after it is started; then, based on the operating state, it obtains the initial speed and initial angle of the motor rotor; finally, it determines the current speed and current angle of the motor rotor based on the initial speed and initial angle; and finally, it controls the torque of the food processor based on the current speed and current angle. In other words, this invention determines the initial speed and initial angle of the motor rotor by acquiring its operating state, then determines the current speed and current angle of the motor rotor based on the initial speed and initial angle, and finally controls the torque of the food processor based on the current speed and current angle. Attached Figure Description

[0014] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0015] 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, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart illustrating an embodiment of the torque control method for a food processor according to the present invention. Figure 2 This is a flowchart illustrating Embodiment 2 of the torque control method for a food processor according to the present invention. Figure 3 This is a flowchart illustrating Embodiment 3 of the torque control method for a food processor according to the present invention. Figure 4 This is a schematic diagram of the module structure of the torque control device for a food processor according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the hardware operating environment involved in the torque control method of the food processor in this embodiment of the invention.

[0017] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0018] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of the present invention and are not intended to limit the present invention.

[0019] To better understand the technical solution of the present invention, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0020] The main solution of this invention is: In this embodiment, for ease of description, the following description uses "identification" as the execution subject.

[0021] Existing methods for determining the motor position and speed of blenders (such as back EMF detection, Hall effect sensors, and open-loop control) suffer from drawbacks including poor low-speed performance, high hardware costs, insufficient reliability, high computational complexity, and inadequate dynamic performance. These issues limit the performance of blenders under low-speed, high-torque, high-precision control, and complex operating conditions. Therefore, a more efficient and reliable method for position and speed detection is needed to overcome these shortcomings and improve the overall performance of blenders.

[0022] This invention provides a solution that, after a food processor is started, acquires the operating speed of the motor rotor; compares this operating speed with a preset speed range to determine the corresponding food processor algorithm strategy; and obtains the motor rotor's angle information and target speed based on the algorithm strategy. The torque of the food processor is then controlled based on the angle information and target speed. This invention, by determining the corresponding food processor algorithm strategy based on the motor rotor speed and obtaining the motor rotor's angle information and target speed based on the algorithm strategy, achieves torque control of the food processor. Compared with existing technologies, this solution addresses the issue of the motor not turning due to overly hard food, reducing costs and providing a better user experience.

[0023] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a food processor torque control device. The following description uses a controller as an example to illustrate this embodiment and the subsequent embodiments.

[0024] Based on this, embodiments of the present invention provide a torque control method for a food processor, referring to... Figure 1 , Figure 1This is a flowchart illustrating the first embodiment of the food processor torque control method of the present invention. In this embodiment, the food processor torque control method includes: Step S10: After the food processor is started, obtain the working status of the motor rotor inside the food processor.

[0025] It should be noted that the above working state can be either a rotating state or a stationary state.

[0026] In practical implementation, after the food processor is started, the operating state of the motor rotor is obtained through sensors installed inside the motor. These sensors can be current sensors, voltage sensors, etc. For example, if the motor rotor is rotating, the current sensor or voltage sensor will detect the current or voltage generated by the rotation of the motor rotor, and then the operating state of the motor rotor can be determined. It is also important to emphasize that there are two situations when the food processor is working: if the food processor is completely stationary and then it is started, the initial speed detected at the start is zero; if the food processor is rotating and the stop button is suddenly pressed and then the start button is immediately pressed, due to the working inertia of the motor rotor, the motor rotor is still moving when the stop button is pressed, and the operating state of the motor rotor detected after pressing the start button is rotating.

[0027] Step S20: Based on the operating state, obtain the initial speed and initial angle of the motor rotor.

[0028] It should be noted that the initial velocity mentioned above can be the initial velocity of the motor rotor driving the blade to rotate. The initial angle mentioned above can be the initial direction of motion of the motor rotor driving the blade.

[0029] In the specific implementation, if the operating state is detected as rotational, the three back electromotive forces of the motor rotor are acquired. Then, each of the three back electromotive forces is compared with the others, and the initial speed and initial angle of the motor rotor are obtained based on the comparison results. If the operating state is detected as stationary, currents of the same magnitude but opposite directions are injected into the motor rotor, and the feedback current of the motor rotor is collected. Then, the initial speed and initial angle of the motor rotor are determined based on the feedback current, and the initial speed is determined to be zero.

[0030] Step S30: Determine the current speed and current angle information of the motor rotor based on the initial speed and the initial angle.

[0031] It is understandable that the aforementioned current speed can be the speed generated by the motor rotor when it continues to move after acquiring the initial speed, and the aforementioned current angle information can be the angle information of the motor rotor as it continues to work.

[0032] In the specific implementation, the corresponding algorithm can be determined based on the initial speed to calculate the current speed of the motor rotor during subsequent operation. The initial angle is used to assist in calculating the current angle information of the motor rotor, that is, to provide the correct direction of the output torque of the motor rotor, so as to avoid the calculated current angle information being opposite to the actual angle information. For example, if the initial angle is not obtained, the calculated current angle information may differ from the actual angle information by 180 degrees.

[0033] It should be noted that the above-mentioned food processor algorithm strategy includes a high-frequency injection algorithm and an adaptive estimation method; It should be noted that the above angle information refers to the current position of the motor rotor relative to the stator or a fixed reference point. It should be noted that the target speed mentioned above refers to the rotational speed of the motor rotor at a certain moment.

[0034] Understandably, the aforementioned high-frequency injection algorithm utilizes the difference in high and low frequency characteristics of the motor stator windings to detect the motor rotor position. A high-frequency voltage or current signal (in this embodiment, a high-frequency current) is injected into the motor stator windings. Since the high-frequency characteristics of the motor rotor's inductance parameters differ at different positions, feature information related to the motor rotor position is extracted, thereby enabling the estimation of the motor rotor angle and target speed. Understandably, the aforementioned adaptive estimation method is an algorithm that automatically adjusts algorithm parameters to minimize estimation errors. By establishing a mathematical model of the system and continuously adjusting the model parameters based on the aforementioned running speed, angle information, and target speed, the error between the angle information and target speed output by the model and the actual angle information and current running speed output by the actual system is minimized, thereby achieving accurate estimation of the system state or parameters.

[0035] In its implementation, after the food processor starts, the operating speed of the motor rotor is obtained through a combination of high-frequency injection (HFI) algorithm and back EMF detection. During operation, high-frequency signals are continuously injected and the high-frequency current response is analyzed to calculate the motor rotor's operating speed in real time. It should be noted that the current operating speed of the motor rotor is constantly analyzed during the continuous injection of high-frequency signals, and the adaptive estimation method can be switched based on the current operating speed. Specifically, the high-frequency injection signal generates a high-frequency current response in the motor windings. Due to the salient pole effect of the motor, the high-frequency current response of the motor rotor varies at different positions. Signal processing (such as filtering and demodulation) allows the angle information of the motor rotor to be extracted. Simultaneously, the rotational speed is calculated based on the time interval of position changes, thereby achieving real-time tracking and control of the motor rotor's angle information and target speed. No additional sensors are required, and high-precision angle information and target speed can be provided during both low-speed and high-speed operation.

[0036] Step S40: Control the torque of the motor rotor based on the current speed and the current angle information.

[0037] In practical implementation, the target rotational speed and target angle information of the motor rotor are first obtained. It is understood that the target rotational speed and target angle information can be set according to the actual situation of the food processor. Then, through sensorless FOC (Field-Oriented Control) technology, the current speed is adjusted to the target rotational speed, and the target angle is kept at a 90-degree angle to the actual angle to ensure maximum force, thereby controlling the food processor to enter the ideal working mode. For example, based on the current speed and current angle information, the control unit controls the torque of the motor rotor. Based on the current speed and current angle, combined with the food processor's working mode (such as different blending modes) and load conditions (load information detected by current sensors, etc.), a suitable torque value is calculated. For example, when blending hard ingredients, the control unit, based on the current low speed and high load, adjusts the motor current and voltage to enable the motor to output a larger torque to overcome resistance, ensuring that the blending blades can effectively cut the ingredients. When blending soft ingredients, the control unit, based on the current high speed and low load, appropriately reduces the torque output, thereby achieving energy saving and protecting the motor. The control unit sends the calculated torque control signal to the motor drive circuit, which then adjusts the motor's operating parameters based on this signal, thereby achieving precise control of the motor rotor torque.

[0038] Furthermore, in order to obtain the initial speed and initial angle of the motor rotor, in this embodiment, the step of obtaining the initial speed and initial angle of the motor rotor based on the operating state includes: Step S201: When the operating state is detected to be a rotating state, the three back electromotive forces of the motor rotor are obtained.

[0039] Step S202: Compare each of the three back electromotive forces, and obtain the initial speed and initial angle of the motor rotor based on the comparison results.

[0040] It should be noted that the back electromotive force of the three phases mentioned above can be the back electromotive force of the UVW phase of the food processor motor.

[0041] In a specific implementation, the back electromotive force of the food processor motor is obtained through sensorless FOC control technology, so that the back electromotive force of the food processor can be obtained without relying on a Hall sensor. Exemplarily, by comparing the magnitudes of the three-phase back electromotive forces using two comparators, four states of 00, 01, 10, and 11 can be respectively output. The motor direction is judged according to the order of the above four state changes, and the initial speed of the food processor motor can be calculated based on the time and angle between each state change. The back electromotive forces of the U and V phases are respectively compared with the back electromotive force of the W phase, and there are four states: U>W, V>W (i.e., 00), U>W, V<W (i.e., 01), U<W, V>W (i.e., 10), U<W, V<W (i.e., 11). These four states will switch at four specific angles. As long as the current state and the state at the previous moment are detected during the switch, the initial angle of the motor rotor can be obtained. Recording the time interval and angle interval from the last switch to this switch can obtain the initial speed.

[0042] Further, in order to obtain the initial speed and initial angle of the motor rotor, in this embodiment, the step of obtaining the initial speed and initial angle of the motor rotor based on the working state further includes: Step S203: When it is detected that the working state is a stationary state, currents with the same magnitude and opposite directions are injected into the motor rotor, and the feedback current of the motor rotor is collected.

[0043] It should be noted that the above currents are two groups of high-frequency current signals with equal amplitudes but opposite directions (such as high-frequency sine waves or square waves) applied through the motor stator windings. The above feedback current can be an induced current.

[0044] It can be understood that an observable response is excited through the electromagnetic characteristics of the motor. High-frequency currents with opposite directions will generate magnetic fields with opposite directions, and then the magnetic circuit of the motor rotor is excited in different directions, highlighting the salient pole effect (i.e., reluctance difference) of the motor rotor. When the motor rotor rotates to a certain position, it will cut the magnetic induction lines generated by the stator windings, thereby generating an induced electromotive force in the rotor windings. Since the rotor windings are closed, the induced electromotive force will drive a current to flow in the rotor windings, forming an induced current.

[0045] In a specific implementation, first, a group of current signals with the same magnitude and opposite directions are injected into the motor through the motor drive circuit. Due to the saliency of the motor (i.e., the inductance is different when the rotor is in different positions), when the current is injected, the inductance of the motor windings will change with the rotor position, resulting in differences in the magnitude and waveform of the feedback current due to different rotor positions. Then, the above feedback current is collected through a high-precision current sensor.

[0046] Step S204: Determine the initial speed and initial angle of the motor rotor based on the feedback current, at which point the initial speed is determined to be zero.

[0047] In the specific implementation, a motor angle is first obtained using a high-frequency injection algorithm (which requires the salient polarity of the motor). Then, current of equal magnitude and duration is injected into both the forward and reverse directions of the motor. This is because injecting a magnetic field towards the motor's N pole strengthens the magnetic field, resulting in a larger current, while injecting a magnetic field towards the motor's S pole weakens the magnetic field, resulting in a smaller feedback current. If the forward current is larger, it indicates that the current angle is correct and no further processing is needed. If the reverse current is larger, it indicates that the motor angle is reversed and 180 degrees needs to be added. This allows us to obtain the initial position of the motor rotor, and the initial velocity at this point is determined to be zero. It is important to emphasize that the motor rotor may be in any position when the motor starts. To ensure that the motor can start correctly and output torque, the initial position of the motor rotor needs to be detected by injecting high-frequency current. The accuracy of this initial position directly determines the direction of torque and the control effect during motor startup.

[0048] This embodiment provides a method for first acquiring the working state of the motor rotor inside the food processor after it is started; obtaining the initial speed and initial angle of the motor rotor based on the working state; determining the current speed and current angle of the motor rotor based on the initial speed and initial angle; and controlling the torque of the motor rotor based on the current speed and current angle information. This invention determines the initial speed and initial angle of the motor rotor by acquiring its working state, determines the current speed and current angle of the motor rotor based on the initial speed and initial angle, and finally controls the torque of the food processor based on the current speed and current angle.

[0049] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the same or similar content as in the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2 This is a flowchart illustrating a second embodiment of the torque control method for a food processor according to the present invention. In this embodiment, the step of determining the current speed and current angle information of the motor rotor based on the initial speed and the initial angle includes: Step S301: When the initial speed reaches the first preset speed range, a high-frequency injection algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle.

[0050] It should be noted that the aforementioned first preset speed range can be a low speed range (0 to 20% of the full speed of the motor rotor). The specific value can be calibrated according to different models of motors, and this embodiment does not impose any restrictions on it.

[0051] Understandably, in this embodiment, a high-frequency injection algorithm is used to obtain the current speed and angle information of the motor rotor at low speeds. This is because the angle information of the motor rotor is relatively weak and difficult to detect directly when it is running at low speeds. The high-frequency injection algorithm injects a high-frequency signal into the motor stator windings, which modulates parameters such as the motor's inductance. Since the motor's inductance responds differently to high-frequency signals at different rotor positions, feature information related to the motor rotor position can be extracted by detecting and analyzing the high-frequency components in the stator current, thereby achieving estimation of the motor rotor position.

[0052] Understandably, when the initial speed reaches the first preset speed range, the speed will change continuously because the motor rotor is in motion (i.e., the number of revolutions of the motor rotor is constantly changing). Therefore, there is a difference in the timing of obtaining the initial speed and the current speed.

[0053] In the specific implementation, when the food processor starts working, the current speed of the motor rotor and the two-phase current of the motor are continuously monitored. It is understandable that the collected two-phase current is the actual current on the UV two phases of the motor rotor's three phases; therefore, the third phase current (W phase) can be derived, and a Clake transform is performed after the third phase current is derived. Finally, the collected two-phase current and the initial speed are processed and analyzed in real time. When the initial speed reaches the first preset speed range (lower speed range), the system switches to the high-frequency injection algorithm. At this time, a high-frequency voltage signal is injected into the motor. Utilizing the motor's salient polarity, the current speed of the motor rotor is extracted by analyzing the feedback two-phase current response. The high-frequency injection algorithm has high accuracy at low speeds and can effectively overcome the problem of insufficient back electromotive force at low speeds. If the obtained initial angle is consistent with the direction of the motor rotor's torque, then the initial angle is set as the current angle information; if the obtained initial angle is opposite to the direction of the motor rotor's torque, then the initial angle is increased by 180 degrees and used as the current angle information. The direction of the current speed is determined based on the initial angle.

[0054] Step S302: When the initial speed reaches the second preset speed range, an adaptive estimator algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle. The second preset speed range is greater than the first preset speed range.

[0055] It should be noted that the above-mentioned second preset speed range can be a high-speed range (20% to 100% of the full speed of the motor rotor). The specific value can be calibrated according to different models of motors, and this embodiment does not limit it.

[0056] Understandably, in this embodiment, an adaptive estimation method is used to obtain the angle information and target speed of the motor rotor at high speeds. This is because the dynamic characteristics of the motor are complex when the motor rotor is running at high speeds, and various parameters change rapidly and are coupled with each other. The adaptive estimation method can automatically adjust the parameters in the estimation algorithm in real time according to the actual operating state of the motor, thereby more accurately tracking the position (angle information) and speed changes of the motor rotor.

[0057] In practical implementation, a mathematical model of the motor is established based on its physical structure and working principle, including voltage equations, flux linkage equations, and motion equations. The mathematical model describes the relationship between the motor's input (high-frequency current) and output (angle information, target speed), as well as the interaction between internal state variables (such as rotor position and flux linkage). During motor operation, the actual output angle and speed information of the motor are collected in real time, and these signals are compared with the angle and speed information predicted by the model to calculate the error signal. Then, an adaptive algorithm is used to update the parameters in the model based on the error signal. These parameters include the motor's inductance, resistance, and flux linkage. By continuously adjusting the parameters, the output of the mathematical model gradually approximates the output of the actual system. With the continuous updating of the mathematical model parameters, the model can more accurately reflect the actual operating state of the motor. The current angle information of the motor rotor can be estimated through the state equations in the model. Simultaneously, based on the current operating speed, load conditions, and control requirements, a suitable target speed is determined using control algorithms such as model predictive control and sliding mode variable structure control to achieve high-precision speed control and stable operation of the motor in the high-speed range.

[0058] Based on the second embodiment of the present invention, in the third embodiment of the present invention, the same or similar content as in the second embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 , Figure 3 This is a flowchart illustrating a third embodiment of the torque control method for a food processor according to the present invention. In this embodiment, the step of controlling the torque of the motor rotor based on the current speed and the current angle information includes: Step S401: Obtain the target speed and target angle information of the motor rotor.

[0059] It should be noted that the aforementioned target speed and target angle information can be parameters preset by the system and set according to the actual situation of the food processor at the factory. Therefore, this embodiment does not impose any limitations on them.

[0060] In practice, the target revolutions and target angle information are obtained directly from the system.

[0061] Step S402: The current speed is adjusted to the target speed and the current angle information is adjusted to the target angle information through a magnetic field orientation control strategy, thereby controlling the torque of the motor rotor.

[0062] In practice, a field-oriented control strategy is used to adjust the current speed to the target speed and the current angle information to the target angle information, thereby controlling the torque of the motor rotor.

[0063] For example, based on the aforementioned current angle information, within a field-oriented control framework, the quadrature-axis high-frequency current component in a rotating coordinate system can be obtained by measuring the three-phase high-frequency current of the motor and applying appropriate coordinate transformations (such as Clarke and Park transformations). Based on the motor's target speed and load requirements, the required high-frequency current and voltage values ​​are calculated. These are used to adjust the inverter output to ensure the motor rotor can adjust the current angle information to the target angle information and the current speed to the target speed. The adjustment process involves closed-loop control algorithms, such as proportional-integral-derivative (PID) controllers. By comprehensively applying quadrature-axis component control, high-frequency current adjustment, and voltage adjustment, precise control of the food processor's torque can be achieved. This control is crucial for ensuring stable operation of the food processor, improving work efficiency, and meeting user needs.

[0064] It should be noted that the above examples are only for understanding the present invention and do not constitute a limitation on the torque control method of the food processor of the present invention. Any simple modifications based on this technical concept are within the protection scope of the present invention.

[0065] This invention also provides a torque control device for a food processor, please refer to... Figure 4 The torque control device for the food processor includes: The acquisition module 10 is used to acquire the working status of the motor rotor inside the food processor after the food processor is started. The calculation module 20 is used to obtain the initial speed and initial angle of the motor rotor based on the working state; The determining module 30 is used to determine the current speed and current angle information of the motor rotor based on the initial speed and the initial angle; The control module 40 is used to control the torque of the motor rotor based on the current speed and the current angle information.

[0066] The torque control device for a food processor provided by this invention, employing the torque control device method for a food processor in the above embodiments, can solve the technical problems of torque control devices for food processors. Compared with the prior art, the beneficial effects of the torque control device for a food processor provided by this invention are the same as those of the torque control device method for a food processor provided in the above embodiments, and other technical features in the torque control device for a food processor are the same as those disclosed in the method of the above embodiments, and will not be repeated here.

[0067] The present invention provides a torque control device for a food processor, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the torque control method for the food processor described in Embodiment 1 above.

[0068] The following is for reference. Figure 5 The diagram illustrates a structural schematic of a food processor torque control device suitable for implementing embodiments of the present invention. The food processor torque control device in the embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The torque control device for the food processor shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of the present invention.

[0069] like Figure 5As shown, the torque control device of the food processor may include a processing unit 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the food processor torque control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the blender torque control device to communicate wirelessly or wiredly with other devices to exchange data. Although blender torque control devices with various systems are shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0070] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this invention.

[0071] The torque control device for a food processor provided by this invention, employing the torque control method for a food processor in the above embodiments, can solve the technical problem of torque control in a food processor. Compared with the prior art, the beneficial effects of the torque control device for a food processor provided by this invention are the same as those of the torque control method for a food processor provided in the above embodiments, and other technical features of this torque control device are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0072] It should be understood that the various parts disclosed in this invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0073] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0074] The present invention provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the food processor torque control method in the above embodiments.

[0075] The computer-readable storage medium provided by this invention may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0076] The aforementioned computer-readable storage medium may be included in the torque control device of the food processor; or it may exist independently and not assembled into the torque control device of the food processor.

[0077] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the food processor torque control device, cause the food processor torque control device to: acquire the working state of the motor rotor inside the food processor after the food processor is started; obtain the initial speed and initial angle of the motor rotor based on the working state; determine the current speed and current angle information of the motor rotor based on the initial speed and the initial angle; and control the torque of the motor rotor based on the current speed and the current angle information.

[0078] Computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—and conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0079] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0080] The modules described in the embodiments of the present invention can be implemented in software or hardware. The names of the modules do not necessarily limit the specific unit itself.

[0081] The readable storage medium provided by this invention is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described torque control method for a food processor, thereby solving the technical problem of torque control in a food processor. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by this invention are the same as those of the torque control method for a food processor provided in the above embodiments, and will not be elaborated upon here.

[0082] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the food processor torque control method described above.

[0083] The computer program product provided by this invention can solve the technical problem of torque control in food processors. Compared with the prior art, the beneficial effects of the computer program product provided by this invention are the same as those of the torque control method for food processors provided in the above embodiments, and will not be repeated here.

[0084] The above description is only a part of the embodiments of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made under the technical concept of the present invention using the contents of the present invention specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A method for controlling the torque of a food processor, characterized in that, The torque control method for the food processor includes: After the food processor is started, the working status of the motor rotor inside the food processor is obtained; The initial speed and initial angle of the motor rotor are obtained based on the operating state. The current speed and current angle information of the motor rotor are determined based on the initial speed and the initial angle. The torque of the motor rotor is controlled based on the current speed and the current angle information.

2. The torque control method for a food processor as described in claim 1, characterized in that, The step of obtaining the initial speed and initial angle of the motor rotor based on the operating state includes: When the operating state is detected to be a rotational state, the three back electromotive forces of the motor rotor are obtained; Each of the three back electromotive forces is compared with each other, and the initial speed and initial angle of the motor rotor are obtained based on the comparison results.

3. The torque control method for a food processor as described in claim 1, characterized in that, The step of obtaining the initial speed and initial angle of the motor rotor based on the operating state further includes: When the operating state is detected to be a stationary state, a current of the same magnitude but opposite direction is injected into the motor rotor, and the feedback current of the motor rotor is collected. The initial speed and initial angle of the motor rotor are determined based on the feedback current, and the initial speed is determined to be zero.

4. The torque control method for a food processor as described in claim 1, characterized in that, The step of determining the current speed and current angle information of the motor rotor based on the initial speed and the initial angle includes: When the initial speed reaches the first preset speed range, a high-frequency injection algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle. When the initial speed reaches the second preset speed range, an adaptive estimator algorithm is applied to the motor rotor, and the current speed and current angle information of the motor rotor are obtained based on the initial angle. The second preset speed range is greater than the first preset speed range.

5. The torque control method for a food processor as described in claim 1, characterized in that, The step of controlling the torque of the motor rotor based on the current speed and the current angle information includes: Obtain the target speed and target angle information of the motor rotor; The torque of the motor rotor is controlled by adjusting the current speed to the target speed and the current angle information to the target angle information through a magnetic field orientation control strategy.

6. A torque control device for a food processor, characterized in that, The device includes: The acquisition module is used to acquire the working status of the motor rotor inside the food processor after the food processor is started. The calculation module is used to obtain the initial speed and initial angle of the motor rotor based on the operating state; The determining module is used to determine the current speed and current angle information of the motor rotor based on the initial speed and the initial angle; The control module is used to control the torque of the motor rotor based on the current speed and the current angle information.

7. A torque control device for a food processor, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the food processor torque control method as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the food processor torque control method as described in any one of claims 1 to 5.

9. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the food processor torque control method as described in any one of claims 1 to 5.

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