WO2009082918A1 - Cooking machine using several motors position loop, speed loop parallel control - Google Patents

Abstract

A control module, which is used for an automatic or semiautomatic cooking machine and controls several motors in the execution portion in the cooking machine, comprises a speed measuring circuit for measuring the speed of the several motors, a position measuring circuit for measuring the positions of the execution portion driven by the motors and an initialization circuit to initialize the position of the execution portions. The measured speed signal and the measured position signal are fed back to the controller, in order to parallelly control the speed loop and the position loop of the motors. It also discloses an automatic or semiautomatic cooking machine using said control module.

Description

 Cooking device using multi-motor position loop and speed loop parallel control

 The present invention relates to a control module for use in an automatic/semi-automatic cooking apparatus and an automatic/semi-automatic cooking apparatus using such a control module. More particularly, the present invention relates to a control module for multi-motor position loops, speed loop parallel control, and an automatic/semi-automatic cooking apparatus employing such a control module for use in an automatic/semi-automatic cooking apparatus. Background technique

 In automation equipment, a key control is the control of the motor. Several solutions for controlling the speed of the electrodes and the position of the motor are also disclosed in the prior art. For example, Chinese Patent No. 97182149. 6 discloses a position control device for controlling the position of a motor, comprising: a position control unit that makes a position command of the command generating portion coincide with a position of the motor; and outputs a speed command that matches the speed of the motor. A speed control unit that performs torque control by a torque command; and a current control unit that receives the command and performs current control. The speed control unit further includes: a speed feedback filter that performs low-pass filtering on the speed; a subtractor that subtracts the signal from the speed command and obtains the speed deviation; and performs time integration on the speed deviation to obtain an integral of the speed deviation integral value a multiplier that multiplies the speed command by a coefficient α; an adder subtractor that adds a signal of the multiplier to the integral value of the speed deviation and subtracts the velocity; a multiplier that multiplies the output of the subtractor by the speed loop gain Κν; Low pass filtered torque filter.

Chinese Patent No. 96197955. 0 discloses a robot control device and a flexible control device which work by converting between position control and flexible control. When performing the conversion from the position control to the flexible control, the integral operation of the speed control system is stopped, and then an integral value of the speed control system is stored in a memory, and the integral value is added to a torque reference, or according to one The joint angle of the robot arm, the connection quality of the robot, and the gravity compensation value calculated from the center of gravity are added to the torque reference. In soft When the control returns to the position control, it processes a current position as an instruction position. The flexible control device of the patent comprises: means for controlling the torque of a servo motor to drive a joint portion; means for measuring the joint angle; means for calculating a very small displacement between the coordinate systems based on the measurement information; Means for converting the extreme value of a force or moment by giving the aforementioned very small displacement correspondence of the aforementioned computing device; and means for limiting the torque.

 Chinese Patent No. 02807904. 3 discloses a motor controller and a mechanical device characteristic measuring method, so that the frequency response of the mechanical device can be accurately measured without positional displacement and torque saturation, and simultaneously measured. Frequency characteristics and confirmation of inertia. The detector detects the position of the motor and the differentiator calculates the speed of the motor based on the position of the motor. The command generation unit fixes a position command to the current position. The position control unit generates a speed command to align the position command with the position of the motor. The speed control unit generates a torque command to align the speed command with the speed of the motor. The adder adds the torque disturbance generated by the interference signal generating unit and the torque command output from the torque filtering unit, and outputs the resultant signal as a new torque command. The current control unit converts the torque command into a current command to drive the motor. The frequency response measuring unit receives the torque command output from the adder and the motor speed calculated by the differentiator to measure the frequency response.

 However, the above prior art is directed to the automatic control of a single electrode. For the automatic control of multi-electrodes, the prior art mostly uses an embedded motion control card embedded in the industrial computer. The embedded motion control card includes an arithmetic processor to complete the control calculation for multiple motors.

Generally speaking, the embedded motion control card uses a bus such as ISA or PCI to complete high-speed data exchange with the industrial computer, and the industrial computer uses an operating system such as Windows or Linux; the embedded motion control card contains algorithms such as PID, and the industrial computer uses a high-level language. Send commands to the embedded motion control card, the motion control card feeds back the current motion parameters, and each motor uses an encoder to complete the speed feedback. Such motor control methods generally enable parallel control of 3 to 4 motors. The above-mentioned motor control method greatly increases the cost of the control part due to the use of the industrial computer, and the use of the encoder for each motor increases the complexity of the wiring and increases the cost. This leads to the excessive volume of the control part, but the number of controlled motors is not much, generally only 3 ~ 4; and the motion parameters are fed back to the industrial computer through the motion control card, which reduces the real-time control, and the industrial computer uses Windows operation. The system also makes real-time performance worse.

 Cooking, especially Chinese cuisine, is a difficult and even artistic creation process. If automatic or semi-automatic cooking equipment is used to simulate manual cooking, it is required to control the movement of the various actuators of the cooking apparatus. This control of motion involves multiple motors of the various actuators in the cooking device (the number of motors is much higher than 3-4), and requires real-time control to complete the control of the actuator in an instant.

 Therefore, it is necessary to provide a motor control module for automatic/semi-automatic cooking equipment that can control multiple motors and is highly real-time. Summary of the invention

 SUMMARY OF THE INVENTION An object of the present invention is to provide a control module for an automatic/semi-automatic cooking apparatus capable of real-time control of a multi-motor, and an automatic/semi-automatic cooking apparatus using the same.

In order to achieve the above object of the invention, in one aspect, the present invention provides a control module for controlling a plurality of motor(s) executing in a cooking device in an automatic/semi-automatic cooking apparatus, the control module comprising a speed measuring circuit for measuring the speed of the multi-motor, a position measuring circuit for measuring the position of the execution portion driven by the multi-motor, and an initializing circuit for initializing the position of the execution portion, wherein the speed measured by the speed measuring circuit The position signal measured by the signal and position measuring circuit is fed back to the controller, thereby enabling parallel control of the speed loop and the position loop of the multi-motor. In fact, the measurement of the execution of the partial position and the initialization of the position of the execution part can be converted into a measurement of the motor (for example, a measurement of the stroke of the motor) and an initialization of the position of the motor. In the above control module, the speed signal measured by the speed measuring circuit and the position signal measured by the position measuring circuit can be fed back to the controller provided by the control module itself, such as a processor executing the algorithm, or can be fed back to the control of the peripheral of the control module. The controller, for example, the controller in the motion control module of each execution part of the cooking device or the overall controller of the cooking device.

 In the control module of the present invention, the speed measuring circuit used can measure a plurality of motors by using a gear sensor, a magnetic encoder or a photoelectric pulse encoder, obtain a pulse frequency signal about the speed of the motor, and then apply the pulse frequencies. The signal is converted into a voltage signal by frequency voltage conversion (F/V conversion), and the speed signal of the multi-motor is obtained by conversion (linear conversion).

 For example, in the above speed measuring circuit, a multi-motor can be measured using a high-precision strong magnetic gear sensor; of course, the speed of the multi-motor can be measured in other ways, such as using a magnetic encoder or photoelectric pulse coding. To feedback the speed at which the current motor is running. The magnetic encoder is a non-contact mounted cylindrical magnet above a specific magnetic induction chip. When the motor moves, the magnet rotates axially. The speed of the magnet rotation is linear with the speed of the motor movement. By measuring the current magnet distribution. Obtain the absolute position of the current motor rotation, and obtain the current motor rotation speed by measuring the current magnet magnetic field change rate; the photoelectric pulse encoder rotates the rotation shaft of the photoelectric encoder together during the rotation of the motor, and the rotation axis of the photoelectric encoder The gratings with different precisions are distributed. These gratings generate pulsating light and convert the pulsating light into corresponding pulse voltage signals. The frequency of such pulse signals can reflect the current motor running speed.

 In the control module of the present invention, the position measuring circuit employed can integrate the voltage signal obtained by the frequency-voltage conversion to obtain the position signal of the current position. Preferably, the position measuring circuit of the present invention realizes position measurement by measuring the stroke of a multi-motor.

The control module of the present invention may further comprise filtering means for filtering the speed signal measured by the speed measuring circuit and the position signal measured by the position measuring circuit. Circuit.

 Further, the control module of the present invention may further comprise an analog-to-digital converter (ADC) and a processor executing the algorithm, and the processor can perform algorithm processing for multiple motors, such as a PID algorithm, in the background. In this case, the processor can accept the speed signal fed back by the speed measuring circuit and the position signal fed back by the position measuring circuit to complete closed-loop parallel control for the speed loop and the position loop.

 In the above PID algorithm, P refers to the ratio, I refers to the integral, and D refers to the differential. Among them, P (ratio) control increases the speed of the system's response, I (integral) control eliminates system statics, and D (differential) control minimizes or eliminates system deviations.

 Preferably, the processor is capable of outputting a pulse width modulation signal (P) to the power transistor, thereby controlling driving for the multi-motor. Such a power transistor is preferably a high power transistor.

 In another aspect, the present invention also provides a motion control module for controlling an automatic/semi-automatic cooking apparatus capable of controlling a partial motion in the cooking apparatus, wherein the motion control module includes a multi-motor as described above Control module. Generally, the cooking apparatus of the present invention includes two or more motion control modules that can communicate via a bus structure, such as by a redundant structure of a dual bus, to ensure system reliability.

 In still another aspect, the present invention provides an automatic/semi-automatic cooking apparatus including a control portion and an execution portion controlled by the control portion, and the execution portion may include a pan movement mechanism, a feeding mechanism, an ignition mechanism, and Actuators such as firepower control mechanisms. Wherein, the control portion includes one or more control modules as described above. Or the control portion includes two or more motion control modules that communicate via a bus structure, such as a dual bus redundancy structure, wherein at least one of the motion control modules includes the control module as described above.

For example, in the above dual bus redundancy structure, the bus can use a CAN bus. CAN bus communication frame contains ID number and data, which can realize point-to-point transmission, and can also realize wide Broadcast transmission, data sharing. It can expand up to 255 nodes, the data transmission rate is up to 1MB/S, and its own CRC redundancy check method ensures the reliability of data transmission.

 Since the CAN bus uses a differential form of physical connection, the stability of data transmission can be improved, even up to the kilometer level, so network control over a wide range can be achieved. In this configuration, each motion control module defines a unique ID number, and basic information of the motion control module can be obtained according to the ID number. Adding a hot-swap protection circuit to the physical connection of the CAN bus and the power interface can dynamically add and delete nodes at power-on.

 In the cooking apparatus of the present invention, the above-described pan moving mechanism has a snapback movement mechanism capable of realizing a wobble pot and/or a pan turning operation by generating an acceleration. For example, by driving a high-power motor to complete the action, and matching the gear sensor, the magnetic encoder or the photoelectric pulse encoder to obtain the current motor speed information, converting the speed pulse signal into a speed voltage signal and by differentially waiting for the current acceleration information, The speed voltage signal is integrated to obtain the current position information, so three states of speed, acceleration and position of the current motor running can be obtained, and the acceleration and speed closed-loop control of the specific position of the motor can be completed by a specific algorithm. The closed-loop control of speed and acceleration at this particular location is the basis for the quick-turn action of the pan.

In the cooking apparatus of the present invention described above, an actuator such as a material agitation mechanism, an intermediate material, and/or a dish holding mechanism may be further included. The control module for multiple motors of the present invention has many advantages over existing motor control techniques. For example, by using the multi-motor control module of the present invention, the use of the industrial computer can be avoided, thereby reducing the size of the control portion and greatly reducing the cost of the automatic/semi-automatic cooking device; and each motor does not need to use a separate encoder. Therefore, the complexity of the wiring can be greatly reduced; in the range of a certain speed and position control accuracy, multiple motors can be controlled in parallel; in addition, the real-time performance of the control system can be improved by using a task processing algorithm. Compared with the cooking equipment of the prior art, the cooking apparatus of the invention adopts a control module for parallel control of the speed loop and the position loop of the multi-motor, thereby improving the accuracy of cooking actions of various machines, and ensuring that each of the cooking operations can be completed quickly. A complex movement. Embedding such a control module into a motion control module that communicates through a bus redundant structure can also greatly increase the reliability of the cooking device.

 The present invention is further described by the following detailed description of the embodiments of the invention, and the invention Those skilled in the art can fully modify the specific embodiments of the present invention or make equivalent replacement of certain technical features, but these improved or replaced technical solutions still belong to the present invention. protected range. DRAWINGS

 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of one embodiment of processing a speed signal and a position signal in a control module of the present invention.

 Fig. 2 is a schematic view showing a specific structure of a gear sensor acquisition speed signal in the control module of the present invention.

 Fig. 3 is a schematic diagram showing a specific structure of a magnetic encoder acquisition speed signal in the control module of the present invention.

 Fig. 4 is a circuit diagram showing a specific embodiment of frequency and voltage conversion employed in the present invention.

 Figure 5 is a circuit diagram of one embodiment of integrating a speed signal employed in the control module of the present invention.

 Figure 6 is a circuit diagram of one embodiment of filtering used in the control module of the present invention.

Figure 7 is a schematic illustration of parallel control of speed loop and position loop in the control module of the present invention. Figure 8 is a schematic view showing the structure of a dual bus control system used in the cooking apparatus of the present invention. Intention. detailed description

 Figure 7 shows a dual loop position control system for position loop and speed loop parallel control employed in the control module of the present invention, which allows for precise control of the position of the control object. The entire control framework can be divided into an outer loop and an inner loop, wherein the outer loop is a closed loop negative feedback control of the position loop, and the inner loop is a speed closed loop negative feedback control.

 In the dual loop position control system shown in Fig. 7, the "target position" refers to the target value of the position at which the motor is controlled, and it changes in real time according to the current operating state of the entire system throughout the control process; "position control" The target position and the detected current motor running position are calculated. The most typical operation mode is PID control or fuzzy control. It outputs the target signal of speed as the control target of the inner loop speed feedback control.

 In Figure 7, "speed control" belongs to the inner loop of the entire double loop control, and calculates the current speed of the feedback and the target speed generated by the outer loop to generate the final motor controlled speed signal, which is transmitted to the power drive, the most typical speed control signal. It is a P doctor (pulse width modulation) or a voltage signal.

 In Figure 7, "power drive" means that the speed signal is obtained for power amplification, and the drive controls different motor speeds; "pulse acquisition" converts the current speed signal into a pulse signal, and the obtained pulse frequency value and current motor operation The speed value is linear, and the next step is used as the feedback raw data; "signal processing" is to convert the current pulse signal into a voltage signal to obtain a voltage signal linearly related to the speed.

 The “position feedback” and “speed feedback” in Fig. 7 refer to the current motor running speed signal and displacement signal obtained by processing the current pulse collected according to the processing shown in Fig. 1. By such position signal feedback and speed signal feedback, the closed loop control of the present invention can be formed.

The operation process of the entire control framework shown in FIG. 7 can be as shown in FIG. The process of "pulse acquisition" can be realized by means of the gear sensor shown in Fig. 2 or the magnetic encoder shown in Fig. 3. Of course, other kinds of sensors such as photoelectric pulse encoders can also be used to collect the speed signal; The circuit diagram shown in Figure 4 can realize the frequency voltage conversion in "signal processing", but it is not difficult to understand that Figure 4 is only a schematic circuit diagram that can complete the pulse voltage conversion. There are many similar circuits.

 The integration circuit shown in FIG. 5 can implement the integral processing of the speed signal in the control module of the present invention, thereby completing the "position feedback" function of FIG. 7; and the circuit diagram shown in FIG. 6 can implement the filtering processing in the control module of the present invention. In order to perform low-pass filtering on the obtained position or speed signal to remove noise, the denoised signal is sent to the processor. Similarly, any circuit capable of implementing the integration and filtering functions of Figure 5 or Figure 6 can be used in the control module of the present invention.

 FIG. 8 is a schematic diagram showing the connection of each motion control module of a bus control system structure used in the cooking apparatus of the present invention. The bus structure may be in the form of a single bus or a multi-bus, and is not limited to FIG. The dual bus structure shown. Among them, 1 represents CAN dual bus, 2-4 is four different motion control modules, there is no main control and slave control in the whole control system, each motion control module runs independently, data sharing, and the required tasks are completed efficiently and reliably.

 The cooking apparatus of the present invention described above is an automatic/semi-automatic cooking apparatus including a control portion and an execution portion controlled by the control portion, and the execution portion may include a pot moving mechanism, a feeding mechanism, an ignition mechanism, and a firepower Execution mechanism such as strength control mechanism. Wherein, the control portion includes one or more control modules of the present invention; or the control portion includes two or more motion control modules that communicate via a bus structure, wherein at least one motion control module includes the control of the present invention Module.

For example, in the control system shown in FIG. 8, the motion control module used may include a turn-over control module, a feed control module, and a fire control module. Among these motion control modules, at least one motion control module includes the control module of the present invention. among them: The turn-over control module consists of a high-power motor drive control section, an encoder or proximity signal feedback section, an external environmental information acquisition section, and a bus communication section. Completing the entire turn-over motion relies on several high-power motor speed loops and position loop control circuits, as well as other feedback information, such as the collection of various external environmental variables associated with the turn-over pot. The turning pot control needs to generate a relatively high acceleration in a short time, so that the material in the pot can be reliably and efficiently turned over, so that the speed and acceleration closed-loop control of the high-power motor needs to be completed.

 The feed control module consists of a motor drive control section (one or more motors), a motor position and speed feedback section, a current feed state feedback section, and a bus communication section. According to the current cooking conditions, the material 'J pot' input process is completed according to the set procedure.

 The purpose of setting the fire control module is to automatically match the firepower of the corresponding intensity according to the current cooking state to complete the cooking of different dishes. The module may include an ignition portion, a fire size control portion, a valve size feedback portion, an ignition detection portion, a firepower feedback portion, and a bus interface portion. The ignition part uses high-voltage electric spark ignition to ignite the combustible gas; the fire force control part controls the valve opening degree to control the flow of the combustible gas to control the firepower; the valve size feedback part reflects the current valve flow information; Part of the state information of the success or failure of the ignition is fed back to the processor; the firepower feedback part detects the current fire intensity by measuring the fire radiation value of the fixed position.

 In the control system shown in Figure 8, the motion control module may further include a material agitation control module. The purpose of setting up the module is to fully agitate the cooking material in the current pan to allow for more uniform heating. If the actuator of the cooking device includes a stirring mechanical claw to complete the stirring action, the material stirring module may be driven by the motor control part (one or more of the motor), the stirring mechanical claw rotating speed feedback part, various valve control parts and bus communication Part of the composition.

Claims

Rights request  A control module for controlling a multi-motor of an execution portion of an automatic/semi-automatic cooking apparatus, characterized in that the control module comprises a speed measurement for measuring a speed of the multi-motor a circuit, a position measuring circuit that measures a position of an execution portion driven by the multi-motor, and an initialization circuit that initializes a position of the execution portion, a speed signal measured by the speed measuring circuit, and the position The position signal measured by the measuring circuit is fed back to the controller to realize parallel control of the speed loop and the position loop of the multi-motor. 2. The control module according to claim 1, wherein in the speed measuring circuit, the multi-motor is measured to obtain a pulse frequency signal thereof, and the pulse frequency signal is subjected to a frequency voltage. The transformation is converted into a voltage signal to obtain a speed signal of the multi-motor. The control module according to claim 2, wherein in the position measuring circuit, the voltage signal obtained by the frequency-to-voltage conversion is integrated to obtain a position signal of the current position. 4. The control module according to claim 1, wherein said position measuring circuit realizes position measurement by measuring a stroke of said multi-motor. The control module according to claim 1, wherein the control module further comprises: filtering the speed signal measured by the speed measuring circuit and the position signal measured by the position measuring circuit Filter processing circuit. 6. The control module of claim 1, wherein the control module further comprises an analog to digital converter and a processor that executes an algorithm, and wherein the processor is capable of executing in the background for the multi-motor Algorithm processing. 7. The control module of claim 6, wherein the processor outputs a pulse width modulated signal to the power transistor to control driving of the multi-motor. 8. A motion control module for controlling the execution of a partial motion in an automatic/semi-automatic cooking device, wherein the motion control module comprises the control of any one of claims 1-7 Module. 9. An automatic/semi-automatic cooking apparatus, comprising: a control portion and an execution portion controlled by said control portion, said execution portion comprising a pan moving mechanism, a feeding mechanism, an ignition mechanism, and a fire strength control mechanism, It is characterized in that the control portion comprises the control module according to one of claims 1-7. 10. An automatic/semi-automatic cooking apparatus, the cooking apparatus comprising a control portion and an execution portion controlled by the control portion, the execution portion comprising a pot moving mechanism, a feeding mechanism, an ignition mechanism, and a fire strength control mechanism, The control portion includes two or more motion control modules that communicate through a dual bus redundant structure, wherein at least one of the motion control modules includes one of claims 1-7. The control module.