Control method and control system for agitating mechanism
A control method and control system for an agitating mechanism are provided. The control method includes receiving a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction; determining whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current; and controlling the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met. The present invention can reduce the possibility of the electrical components of the agitating mechanism being burnt out and prolong the lifespan of the agitating mechanism. The present invention can improve agitation results of the agitating mechanism. At low speed, the agitating mechanism can perform the agitation gently without damaging the texture of the solid food. At high speed, the agitating mechanism can more homogeneously and finely agitate the mushy food with enhanced agitating efficiency.
1. A control method for an agitating mechanism, comprising:
an electrical current obtaining step of receiving a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction;
a trigger determination step of determining whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current; and
a rotation control step of controlling the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met,
wherein the trigger determination step comprises a torque calculation step of calculating a load torque based on the load current, the trigger condition is that the load torque is continuously less than a preset torque threshold within a preset time duration, the preset torque threshold is less than a rated maximum output torque of the agitating mechanism.
2. The control method of claim 1 , wherein the agitating mechanism is driven by a motor, the torque calculation step calculates the load torque according to the formula T load =3/2*P n *(ψ f *i d +(L d −L q )*i d *i q ),
where,
T load is the load torque;
i d is a detected d-axis current, i q is a detected q-axis current;
ψ f is the magnetic linkage, L d is a d-axis inductance, L q is a q-axis inductance, P n is the number of pole pairs of the motor, all of which are pre-obtained and are preset.
3. A control method for an agitating mechanism, comprising:
an electrical current obtaining step of receiving a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction;
a trigger determination step of determining whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current;
a speed obtaining step of receiving a rotation speed of the agitating mechanism that is detected by a speed detecting apparatus; and
a rotation control step of controlling the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met;
wherein the trigger determination step comprises a torque calculation step of calculating a load torque based on the load current and the rotation speed; the trigger condition is that the load torque is continuously less than a preset torque threshold within a preset time duration.
4. The control method of claim 3 , wherein the agitating mechanism is driven by a motor; at the torque calculating step, the corresponding load torque is looked up in a preset torque lookup table according to the detected load current i d and i q , the detected rotation speed ω r , and preset motor losses P fe and temperature T.
5. A control system or an agitating mechanism, comprising:
an electrical current obtaining module configured to receive a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction;
a trigger determination module configured to determine whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current; and
a rotation control module configured to control the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met;
wherein the trigger determination module comprising, a torque calculation unit configured to calculate a load torque based on the load current; and a trigger judgment unit configured to determine whether the rotation of the agitating mechanism meets the trigger condition based on the load torque, the trigger condition is that the load torque is continuously less than a preset torque threshold within a preset time duration.
6. The control system of claim 5 , wherein the agitating mechanism is driven by a motor, the torque calculation unit calculates the load torque according to the formula T load =3/2*P n *(ψ f *i d +(L d −L q )*i d *i q ),
where,
T load is the load torque;
i d is a detected d-axis current, i q is a detected q-axis current;
ψ f is the magnetic linkage, L d is a d-axis inductance, L q is a q-axis inductance, P n is the number of pole pairs of the motor, all of which are pre-obtained and are preset in the torque calculation unit.
7. A control system for an agitating mechanism, comprising:
an electrical current obtaining module configured to receive a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction;
a trigger determination module configured to detettitine whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current;
a speed obtaining module configured to receive a rotation speed of the agitating mechanism that is detected by a speed detecting apparatus; and
a rotation control module configured to control the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met;
wherein the trigger condition is that the load current is continuously less than a preset current threshold within a preset time duration and the rotation speed is continuously greater than a preset rotation speed threshold within another preset time duration.
8. A control system for an agitating mechanism, comprising:
an electrical current obtaining module configured to receive a load current detected by a current detecting apparatus when the agitating mechanism is rotating along a specific direction;
a trigger determination module configured to determine whether the rotation of the agitating mechanism meets a preset trigger condition based on the load current;
a speed obtaining module configured to receive a rotation speed of the agitating mechanism that is detected by a speed detecting apparatus; and
a rotation control module configured to control the agitating mechanism to rotate in a direction opposite from the specific direction when the trigger condition is met;
wherein the trigger determination module comprises a torque calculation unit configured to calculate a load torque based on the load current and the rotation speed; and a trigger judgment unit configured to determine whether the rotation of the agitating mechanism meets the trigger condition based on the load torque;
wherein the trigger condition is that the load torque is continuously less than a preset torque threshold within a preset time duration.
9. The control system of claim 8 , wherein the agitating mechanism is driven by a motor, and the torque calculation unit is configured to look up in a preset torque lookup table for the corresponding load torque according to the detected load current i d and i q , the detected rotation speed ω r , and preset motor losses P fe and temperature T.