CN106054090A - Stirring bar detection system and detection method thereof - Google Patents
Stirring bar detection system and detection method thereof Download PDFInfo
- Publication number
- CN106054090A CN106054090A CN201610352935.5A CN201610352935A CN106054090A CN 106054090 A CN106054090 A CN 106054090A CN 201610352935 A CN201610352935 A CN 201610352935A CN 106054090 A CN106054090 A CN 106054090A
- Authority
- CN
- China
- Prior art keywords
- stirrer
- permanent magnet
- phase
- rotating disk
- magnetic field
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000003756 stirring Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 title abstract description 12
- 238000012937 correction Methods 0.000 claims description 32
- 238000000034 method Methods 0.000 claims description 26
- 238000013019 agitation Methods 0.000 claims description 15
- 230000003321 amplification Effects 0.000 claims description 8
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 5
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical compound O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 4
- 238000013508 migration Methods 0.000 claims description 4
- 230000005012 migration Effects 0.000 claims description 4
- 230000010349 pulsation Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000003760 magnetic stirring Methods 0.000 description 6
- 239000000203 mixture Substances 0.000 description 5
- 230000005284 excitation Effects 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000005622 photoelectricity Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
- G01R33/07—Hall effect devices
Landscapes
- Physics & Mathematics (AREA)
- Condensed Matter Physics & Semiconductors (AREA)
- General Physics & Mathematics (AREA)
- Mixers With Rotating Receptacles And Mixers With Vibration Mechanisms (AREA)
Abstract
The invention discloses a stirring bar detection system comprising a container, a stirring bar, a magnetic stirrer, a first phototube, a Hall sensor, a second phototube, and a controller. The system can be used to detect the motion state of the stirring bar. The detection method comprises the steps as follows: S1, acquiring the rotation phase (theta 1') of a stirring bar; S2, acquiring the magnetic field phase (theta 0) of a permanent magnet turntable and the magnetic field phase (theta 1) of the stirring bar; S3, correcting the magnetic field phase of the stirring bar according to the rotation phase of the stirring bar to get the corrected phase (theta 1'') of the stirring bar; and S4, acquiring the phase difference between the permanent magnet turntable and the stirring bar according to theta 0 acquired in S2 and theta 1'' acquired in S3, and judging the motion state of the stirring bar according to the phase difference. The system detects the motion state of the stirring bar in real time, so that the occurrence of out-of-step phenomenon can be detected out in a timely manner, and adjustment can be made to return to normal stirring.
Description
Technical field
The present invention relates to field of experiment equipment, be specifically related to a kind of magnetic stirring apparatus, especially, relate to a kind of stirrer inspection
Examining system and detection method thereof.
Background technology
Agitator is that one makes liquid or gas medium forced convection mixed uniformly device, especially biological, chemistry,
As a kind of conventional experimental provision in the experiment in multiple field such as material or species analysis, conventional agitator includes that machinery is even
Bar agitator and magnetic stirring apparatus, mechanical linkage agitator is stirring part and the structure driving electric machine rotational axis to connect together,
It will not occur " step-out " phenomenon.
Magnetic stirring apparatus is that the rotating excitation field utilizing external container drives magnetic stirrer rotary motion, rotates by generating
The method in magnetic field can be divided into two kinds: a kind of method is to be filled with the rotating disk of permanent magnet by driven by motor, and another kind of method is based on many
Individual coil generates the alternating current of out of phase.Relative to mechanical linkage agitator, magnetic stirring apparatus has simple in construction, volume
The advantages such as less pollution little, that agitated liquid is caused, but, stirrer in rotary course it may happen that " step-out " phenomenon.
There is the inertia that main cause is the solution resistance that is subject in rotary course of stirrer and stirrer self of step-out phenomenon, lead
Causing stirrer and cannot catch up with or be significantly faster than that the rotation of outside rotating excitation field, appearance can not rotate or stirrer flies out container etc. is existing
As.Therefore, the aspects such as experimental situation, experimental result, safety can be caused various impact by " step-out " phenomenon.In prior art
In, in order to avoid there is " step-out " phenomenon of stirrer, conventional strategy is to limit relatively low outside rotating excitation field rotating speed, its turn
Speed sets according to different situations, but this method can cause the mixing uniformity of agitating solution, even has influence on reality
The result test, analyzed.
For above-mentioned reasons, existing magnetic stirring apparatus is improved by the present inventor, proposes a kind of stirrer detection and is
System, can detect the kinestate of stirrer, corrects " step-out " phenomenon of stirrer in time so that it is normally stir, thus
Complete the present invention.
Summary of the invention
In order to overcome the problems referred to above, present inventor has performed and study with keen determination, design a kind of stirrer detecting system, this is
System can detect the kinestate of stirrer, " step-out " phenomenon detected in time, and automatically corrects " step-out " phenomenon, makes
It recovers to run well.
Specifically, it is an aspect of the invention to provide a kind of stirrer detecting system:
(1) a kind of stirrer detecting system, wherein, this system is for detecting the kinestate of stirrer, and it includes container
1, stirrer 2, agitator the 3, first photocell 4, Hall element the 5, second photocell 6 and controller, wherein,
Described stirrer includes normal agitation and correction stirrer, and described normal agitation is pure white, described correction
One end of stirrer is black for white, the other end；
Described agitator 3 includes permanent magnet rotating disk 31 and driven by rotary disc device 32；
Described first photocell 4 is arranged at the lower section of permanent magnet rotating disk 31, for detecting the original position of permanent magnet rotating disk；
Described Hall element 5 is arranged at the top of permanent magnet rotating disk 31, the lower section of stirrer 2, and it turns to permanent magnet
The distance in the center of circle of dish is more than the radius of permanent magnet rotating disk, for detecting stirrer and the field signal of permanent magnet rotating disk, wherein,
Described stirrer is normal agitation；
Described second photocell 6 is positioned at the top of stirrer 2, for measuring the rotation phase of stirrer 2, wherein, described
Stirrer is correction stirrer；
Described controller is for controlling the rotation of agitator 3, and receives and store the first photocell 4, Hall element 5 and
The output signal of the second photocell 6；
(2) according to the system described in above-mentioned (1), wherein,
Described permanent magnet rotating disk 31 is provided with the contrary permanent magnet of two Block direction 311, is used for forming external magnetic field,
And/or
Described driven by rotary disc device 32 is motor, and described motor includes driving chip, and described motor rotates
Umber of pulse required for one week is N=Np·Na·Nd, wherein, NpFor the number of pole-pairs of motor, NaCommutation for driving chip
Beat number, NdSegmentation step number for driving chip；And/or
Described controller is single-chip microcomputer；
(3) according to the system described in above-mentioned (1) or (2), wherein,
Described Hall element is connected formation hall signal amplifying circuit with signal amplification circuit, be used for detecting stirrer with
Field signal between permanent magnet rotating disk, the magnetic field that wherein stirrer produces is stirrer magnetic field, is designated asPermanent magnet rotating disk
The magnetic field produced is permanent magnet rotating disk magnetic field, is designated asMagnetic field behind stirrer magnetic field and permanent magnet rotating disk magnetic field superposition is folded
Add magnetic field, be designated as
Described signal amplification circuit is for amplifying the output signal of Hall element, it is preferable that described signal amplification circuit
For electric capacity AC coupled amplifying circuit 8.
A kind of method that it is another aspect of the invention to provide kinestate detecting stirrer, is embodied in:
(4) above-mentioned (1) to the system one of (3) Suo Shu is utilized to detect the method for kinestate of stirrer, wherein, described
Method comprises the following steps:
Step 1, the rotation phase of acquisition stirrer, be designated as θ1’；
The magnetic phase of step 2, respectively acquisition permanent magnet rotating disk, is designated as θ0, and the magnetic phase of stirrer, it is designated as θ1；
The magnetic phase of stirrer is corrected by step 3, the rotation phase of stirrer obtained according to step 1, must stir
Mix the phase calibration of son, be designated as θ1”；
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", it is thus achieved that permanent magnet rotating disk and the phase place of stirrer
Difference, and the kinestate of stirrer is judged according to phase contrast；
(5) according to the method described in above-mentioned (4), wherein,
Step 1 includes following sub-step:
Step 1-1, correction stirrer is put in container, starts agitator；
Step 1-2, the second photocell 6 send Infrared, and correction stirrer its white one end when rotated detects red
UV light, and Infrared is reflected back the second photocell 6；
Step 1-3, the second photocell 6 are according to the signal of the reflection light output pulsation of step 1-2, it is thus achieved that the rotation of stirrer
Phase place；
And/or
Step 2 includes following sub-step:
Step 2-1, correction stirrer is changed to normal agitation, start agitator；
Step 2-2, detect field signal by Hall element 5, use motor to carry out field signal data simultaneously
The synchronous acquisition of point；
Step 2-3, the field signal gathered according to step 2-2 obtain the magnetic phase of permanent magnet rotating disk and the magnetic of stirrer
Field phase；
And/or
Step 3 includes following sub-step:
Step 3-1, the magnetic phase θ of acquisition stirrer1Rotation phase θ with stirrer1Error between ', and by described
The incoming controller of error stores；
The magnetic phase of stirrer is corrected by step 3-2, the error obtained by step 3-1, obtains the school of stirrer
Positive phase θ1”；
(6) according to the method described in above-mentioned (4) or (5), wherein,
In step 1-3, the rotation phase of gained correction stirrer is identical with the rotation phase of normal agitation, i.e. represents
The rotation phase of stirrer, is designated as θ1’；And/or
Described step 1 or operates once before dispatching from the factory before described system uses for the first time, optionally carries out in follow-up use
Step 1；And/or
In step 2-2, motor count down to N in a control unitdOccur during individual pulse once to interrupt, i.e. in stepping
Motor can gather N in rotating a circlep·NaIndividual data point, the signal data in described data point magnetic field, it is designated as x [n], wherein n=1,
2 ..., N, described N are data acquisition number of times；
(7) according to the method above-mentioned (4) to one of (6) Suo Shu, wherein, magnetic phase is obtained by formula (1)-(3):
Wherein, a represents the cosine component in magnetic field, and b represents the sinusoidal component in magnetic field, and θ represents magnetic phase, and x [n] is detection
The data point arrived, n ωsThe magnetic field rotating angle corresponding for gathering data；
(8) according to the method above-mentioned (4) to one of (7) Suo Shu, wherein,
Relevant parameter a is obtained according to formula (1)-(3)0、b0And θ0, wherein, a0Cosine for permanent magnet rotating disk magnetic field divides
Amount, b0For the sinusoidal component in permanent magnet rotating disk magnetic field, x [1] is not have the data point detected in the case of stirrer, θ0For forever
The magnetic phase of Magnet rotating disk, θ0Reflection permanent magnet rotating disk is relative to the deviation angle between the original position of photocell；And/or
The magnetic phase of stirrer is obtained by formula (4)-(6):
a1=a2-a0Formula (4)
b1=b2-b0Formula (5)
Wherein, a2RepresentCosine component, b2RepresentSinusoidal component, a1Cosine for stirrer magnetic field divides
Amount, b1For the sinusoidal component in stirrer magnetic field, θ1Magnetic phase for stirrer；
(9) according to the method above-mentioned (4) to one of (8) Suo Shu, wherein, in step 4, described phase contrast is obtained by formula (7)
:
Δ θ=θ1”-θ0Formula (7)
Wherein, Δ θ is phase contrast, gained phase contrast reflection stirrer and the differential seat angle of permanent magnet rotating disk；
(10) according to the method above-mentioned (4) to one of (9) Suo Shu, wherein, in step 4, according to differential seat angle (θm) judge
The kinestate of stirrer:
As differential seat angle (θm) when being a fixed value, stirrer carries out uniform rotation along with permanent magnet rotating disk,
As differential seat angle (θm) unstable time, stirrer is in swing or the state of migration,
When differential seat angle is zero, stirrer flies out stirring system.
Accompanying drawing explanation
Fig. 1 illustrates the structural representation of the stirrer detecting system according to a kind of preferred implementation of the present invention；
Fig. 2 illustrates the permanent magnet rotating disk magnetic field according to a kind of preferred implementation of the present invention and stirrer magnetic vector
Superposition schematic diagram；
Fig. 3 illustrates the permanent magnet rotating disk according to a kind of preferred implementation of the present invention and stirrer surrounding magnetic field schematic diagram；
Fig. 4 illustrate the stirrer according to a kind of preferred implementation of the present invention in uniform magnetic field by moment schematic diagram；
Fig. 5 illustrates the hall signal method circuit diagram according to a kind of preferred implementation of the present invention；
Fig. 6 illustrates the block diagram of the stirrer detecting system according to a kind of preferred implementation of the present invention；
Fig. 7 illustrates the stirrer motion state detection according to a kind of preferred implementation of the present invention and compensates schematic diagram.
Drawing reference numeral illustrates:
1-container
2-stirrer
3-magnetic stirring apparatus
31-permanent magnet rotating disk
32-driven by rotary disc device
4-the first photocell
5-Hall element
6-the second photocell
7-pitman
8-electric capacity AC coupled amplifying circuit
Detailed description of the invention
Below by drawings and Examples, the present invention is described in more detail.Illustrated by these, the feature of the present invention
To become more apparent from clearly with advantage.
Wherein, although the various aspects of embodiment shown in the drawings, but unless otherwise indicated, it is not necessary to paint in proportion
Accompanying drawing processed.
A kind of stirrer detecting system provided according to the present invention, this system is used for detecting the kinestate of stirrer, as
Shown in Fig. 1, it includes container 1, stirrer 2, agitator the 3, first photocell 4, Hall element the 5, second photocell 6 and controls
Device.
According to one of the present invention preferred embodiment, described stirrer includes normal agitation and correction stirrer.
In further preferred embodiment, described normal agitation is pure white, one end of described correction stirrer
It is black for white, the other end.
Wherein, use normal agitation when normal stirring uses, before normal use, carry out timing use correction to stir
Mix son.
Described agitator 3 includes that permanent magnet rotating disk 31 and driven by rotary disc device 32, described first photocell 4 are arranged at permanent magnet
The lower section of rotating disk 31, for detecting the original position of permanent magnet rotating disk, described Hall element 5 is arranged at permanent magnet rotating disk 31
Top, the lower section of stirrer 2, and its to the distance in the permanent magnet rotating disk center of circle more than the radius of permanent magnet rotating disk, stir for detection
Mix son 2 and the field signal of permanent magnet rotating disk 31.
Wherein, as in figure 2 it is shown, the magnetic field that permanent magnet rotating disk produces is permanent magnet field, it is designated asThe magnetic that stirrer produces
Field is stirrer magnetic field, is designated asWithMagnetic field after superposition is superposition magnetic field, is designated asFurther, θmRepresent forever
Differential seat angle between Magnet rotating disk magnetic field and stirrer magnetic field, the differential seat angle between its reflection stirrer and permanent magnet rotating disk.
According to one of the present invention preferred embodiment, as it is shown on figure 3, be provided with two pieces on described permanent magnet rotating disk 31
Permanent magnet 311 in opposite direction, is used for being formed external magnetic field, and stirrer is also a permanent magnet, therefore at permanent magnet rotating disk magnetic
Under the effect of field, the directional steering of stirrer is the parallel direction that rotating disk generates magnetic field, wherein, stirs under rotating disk not rotational case
The power suffered by son of mixing is gravity, external magnetic field captivation and the holding power of container, and power suffered during turntable rotation is weight
Power, external magnetic field captivation, the holding power of container, the resistance of solution, wherein, in figure 3, N represents the N pole in magnetic field, and S represents magnetic
The S pole of field.
According to one of the present invention preferred embodiment, as it is shown on figure 3, when permanent magnet rotating disk does not rotates stirrer parallel
In the external magnetic force line that permanent magnet rotating disk generates, there is not any moment composition.But, as shown in Figure 4, when permanent magnet rotating disk
During rotation, stirrer and external magnetic field generate certain angle, and note external magnetic field isStirrer can produce certain power
Square, stirrer starts to rotate.
Wherein, produce stirrer after angle and rotate, then produce angle stirrer and be rotated further by, back and forth so that stirrer does even
Speed motion, its angle produced is the most almost equal；But when container internal resistance is excessive, during more than the moment of stirrer, stirrer
Rotation will be restricted, rotate blunt or stop operating, and now permanent magnet rotating disk is being rotated further, stirrer does not catches up with forever
The rotation of Magnet rotating disk, its angle produced comes and go, and produces " step-out " phenomenon；Or, when the rotator inertia mistake of stirrer
Time big, stirrer rotated the rotation being faster than permanent magnet rotating disk, and even can fly out during stirrer rotation stirring system, now, and its
The angle produced comes and go, same generation " step-out " phenomenon.
Therefore, according to above-mentioned principle, stirring can be detected by the angle change in stirrer magnetic field with permanent magnet field
The kinestate of son.
According to one of the present invention preferred embodiment, described driven by rotary disc device 32 is motor, described motor
Including driving chip THB6128.
In further preferred embodiment, the described motor required umber of pulse that rotates a circle is N=Np·
Na·Nd, wherein, NpFor the number of pole-pairs of motor, NaFor the commutation beat number of driving chip, NdSegmentation for driving chip walks
Number.
According to one of the present invention preferred embodiment, as it is shown in figure 5, described Hall element connects with signal amplification circuit
Connect formation hall signal amplifying circuit, for detecting the field signal between stirrer and permanent magnet rotating disk, and then according to magnetic field
Signal respectively obtains magnetic phase and the magnetic phase of permanent magnet rotating disk of stirrer.
In further preferred embodiment, in order to, while amplifying the output signal of Hall element, suppression is put
The big circuit impact on signal, uses electric capacity AC coupled amplifying circuit 8.
Wherein, in order to reduce the AC coupled impact on alternating signal, the resistance of signal amplification circuit input stage and electric capacity
Time constant more than the swing circle under stirrer low-rotate speed.
According to one of the present invention preferred embodiment, as shown in Figure 6, described controller uses single-chip microcomputer, preferably
STM32F103C8T6, for controlling the rotation of agitator 3, and receives and stores the first photocell 4, Hall element 5 and second
The output signal of photocell 6.
Wherein, as shown in Figure 6, for drive stepping motor, single-chip microcomputer controls motor by the pulse frequency of CLK end
Rotating speed, control direction of rotation by the low and high level of DIR end, and in order to control synchronous acquisition, the pulse signal of CLK end be again
Receiving the pin that Singlechip clock is relevant, wherein, A phase is respectively the biphase of single-chip microcomputer with B phase.
According to one of the present invention preferred embodiment, described second photocell 6 is used for detecting the rotation phase of stirrer,
Then according to the error between this rotation phase and magnetic phase of stirrer, the magnetic phase of stirrer is corrected, obtains
The phase calibration of stirrer.
Wherein, owing to mixing plant often existing some errors, it is respectively from permanent magnet rotating disk, the first photocell
Or the alignment error of Hall element, the differential seat angle making acquisition is inaccurate, and described differential seat angle is reflected in stirrer and turns with permanent magnet
In the phase contrast of dish, wherein, the phase place of permanent magnet rotating disk uses the first photocell 4 to be demarcated, and therefore, the source of error is
The phase place of stirrer, there is error in the magnetic phase of the stirrer that the field signal i.e. gathered is obtained by Hall element, because of
This, need to be corrected it.
In further preferred embodiment, correction when the second photocell 6 detects the rotation phase of stirrer, is used to stir
Mixing son, wherein, the second photocell 6 is the photocell of a miniature transceiver, and it sends Infrared, and can receive infrared
Light, specific as follows:
Starting agitator, correction stirrer rotates, and the second photocell 6 sends Infrared, the white one of correction stirrer
End can be by this Infrared of reflection, and black one end absorbs Infrared, and the Infrared after the reflection of white one end is by the second photoelectricity
Pipe 6 absorbs, and along with the rotation of correction stirrer, the reflection Infrared that the second photocell 6 is absorbed fluctuates, the second photoelectricity
The signal of pipe 6 output pulsation, this signal reflection correction stirrer is by the time point below the second photocell 6, then according to
The rotary speed known can calculate the rotation phase of stirrer, and this rotation phase is the actual phase of stirrer, therefore uses it
The magnetic phase of stirrer is corrected.
Wherein, the error of the magnetic phase of stirrer Yu the rotation phase of stirrer is stored in single-chip microcomputer, afterwards
Use in can automatically be corrected, therefore, the Error Calculation between rotation phase and the magnetic phase of stirrer of stirrer
Once.It is corrected before agitator being corrected or uses before preferably dispatching from the factory.
According to one of the present invention preferred embodiment, described second photocell is arranged at the lower end of pitman 7, described company
Taking over the baton and fixed by support, such as iron stand, described pitman is preferably Glass rod.
Another aspect of the present invention provides a kind of method utilizing said system to detect the kinestate of stirrer,
The method comprises the following steps:
Step 1, the rotation phase of acquisition stirrer, be designated as θ1’。
According to one of the present invention preferred embodiment, described step 1 includes following sub-step:
Step 1-1, correction stirrer is put in container, starts agitator；
Step 1-2, the second photocell 6 send Infrared, and correction stirrer its white one end when rotated detects red
UV light, and Infrared is reflected back the second photocell 6；
Wherein, correction stirrer is reflected back the Infrared of the second photocell 6 in rotary course and has undulatory property, this ripple
Dynamic property depends on the rotation phase correcting stirrer, therefore, it can the rotation phase utilizing this undulatory property to obtain correcting stirrer.
Step 1-3, the second photocell 6 are according to the signal of the reflection light output pulsation of step 1-2, it is thus achieved that the rotation of stirrer
Phase place.
Wherein, the signal of described fluctuation reflects correction stirrer when rotated by the time point of the second photocell 6, root
The rotation phase of correction stirrer, this rotation phase can be calculated according to the time point of this undulatory property and known rotary speed
The actual actual phase for correction stirrer.
In step 1, the purpose using correction stirrer is to enable fluctuation signal actual reflection rotation phase,
This it may be noted that obtained rotation phase is not limited to correct stirrer, and it is also the rotation phase of normal agitation, can be referred to as
For the rotation phase of stirrer, because the rotation phase of stirrer is unrelated with the color of stirrer.
According to one of the present invention preferred embodiment, step 1 operates before described system uses for the first time or before dispatching from the factory
Once, follow-up use optionally carries out step 1.
The magnetic phase of step 2, respectively acquisition permanent magnet rotating disk, is designated as θ0, and the magnetic phase of stirrer, it is designated as θ1。
According to one of the present invention preferred embodiment, described step 2 includes following sub-step:
Step 2-1, correction stirrer is changed to normal agitation, start agitator；
Step 2-2, detect field signal by Hall element 5, use motor to carry out field signal data simultaneously
The synchronous acquisition of point；
Wherein, motor count down to N in a control unitdOccur during individual pulse once to interrupt, i.e. revolve at motor
N can be gathered in circlingp·NaIndividual data point, described data point is the signal data in magnetic field, is designated as x [n], wherein n=1,
2 ..., N, described N be data acquisition number of times, wherein, the starting point of data acquisition by system first photocell 4 produce
Signal determines.
Step 2-3, the field signal gathered according to step 2-2 obtain the magnetic phase of permanent magnet rotating disk and the magnetic of stirrer
Field phase.
According to one of the present invention preferred embodiment, magnetic phase is obtained by formula (1)-(3):
Wherein, a is the cosine component in magnetic field, represents the magnetic field amplitude in coordinate system horizontal direction, and b is that the sine in magnetic field divides
Amount, represents the magnetic field amplitude in coordinate system vertical direction, and θ is the phase place in magnetic field, and x [n] is the data point detected, ωsFor magnetic
Field angular velocity of rotation, n ωsIt is expressed as gathering the magnetic field rotating angle that data are corresponding.Wherein, formula (1)-(3) are magnetic phase
Computation formula, described magnetic field can be any magnetic field.
According to one of the present invention preferred embodiment, calculate the magnetic phase of permanent magnet rotating disk according to formula (1)-(3), its
In, the magnetic field of permanent magnet rotating disk is the magnetic field not having the permanent magnet rotating disk in the case of stirrer to produce, i.e. the rising of detection during n=1
Beginning data point, obtains relevant parameter a according to formula (1)-(3)0=x [1] cos (n ωs)、b0=x [1] sin (n ωs) and
θ0, wherein, obtained θ0For the phase place in permanent magnet rotating disk magnetic field, θ0Reflection permanent magnet rotating disk is relative to the start bit of photocell
Deviation angle between putting.
According to one of the present invention preferred embodiment, the magnetic phase of stirrer is obtained by formula (4)-(6):
a1=a-a0Formula (4)
b1=b-b0Formula (5)
Wherein, a2Represent superposition magnetic fieldCosine component, b2Represent superposition magnetic fieldSinusoidal component, a1For stirring
The cosine component in sub-magnetic field, b1For the sinusoidal component in stirrer magnetic field, θ1Magnetic phase for stirrer.
The magnetic phase of stirrer is corrected by step 3, the rotation phase of stirrer obtained according to step 1, must stir
Mix the phase calibration of son, be designated as θ1”。
Wherein, at first time timing as described in step 3, according to the rotation phase of the stirrer magnetic phase to stirrer
It is corrected, but, after having carried out once correction, θ1With θ1Error between ' is stored in single-chip microcomputer, therefore, and making afterwards
Directly according to the error in single-chip microcomputer, the magnetic phase of stirrer can be corrected in.
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", it is thus achieved that permanent magnet rotating disk and the phase place of stirrer
Difference, and the kinestate of stirrer is judged according to phase contrast.
According to one of the present invention preferred embodiment, described phase contrast is obtained by formula (7):
Δ θ=θ1-θ0Formula (7)
Wherein, Δ θ is phase contrast, the differential seat angle (θ between described phase contrast reflection stirrer and permanent magnet rotating diskm)；
According to one of the present invention preferred embodiment, as it is shown in fig. 7, according to differential seat angle (θm) judge the motion of stirrer
State:
As differential seat angle (θm) when being a fixed value, illustrate that the rotation of stirrer follows the rotation of permanent magnet rotating disk, Liang Zheji closely
Synchronous rotary, stirrer carries out uniform rotation along with permanent magnet rotating disk, occurs without " step-out " phenomenon, in stir mode；
As differential seat angle (θm) when being a changing value (unstable), now differential seat angle can produce frequency, and turning of stirrer is described
Dynamic inconsistent with the rotation of permanent magnet rotating disk, the rotation of stirrer does not catches up with the rotation of permanent magnet rotating disk or is faster than permanent magnet rotating disk
Rotation, occur swinging or migration phenomenon, occur " step-out ", now, system can reduce rotating speed automatically to half, the most slowly
Improve the rotating speed of permanent magnet rotating disk, make stirrer follow permanent magnet rotating disk and again operate；
As differential seat angle (θm) when being zero, illustrate that stirrer flies out or do not puts into stirrer, now system can stop operating, and
Point out, need to be put into by stirrer artificially, then start system and again rotate.
The present invention is had the advantage that to include:
(1) system structure provided by the present invention is simple, easily realizes；
(2) system provided by the present invention can detect the kinestate of stirrer in real time；
(3) system provided by the present invention can detect the generation of " step-out " phenomenon in time, and adjusts stirrer in time
Kinestate make it recover normal rotation；
(4) the invention provides a kind of method detecting stirrer kinestate, the method step is simple, and detection is accurately.
In describing the invention, it should be noted that term " on ", the orientation of the instruction such as D score and " outward " or position close
System, for based on the orientation under duty of the present invention or position relationship, is for only for ease of the description present invention and simplification describes, and
It not to indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore
It is not considered as limiting the invention.
Above in association with preferred embodiment describing the present invention, but these embodiments are only exemplary
, only play illustrative effect.On this basis, the present invention can be carried out multiple replacement and improvement, these each fall within this
In the protection domain of invention.
Claims (10)
1. a stirrer detecting system, it is characterised in that this system is for detecting the kinestate of stirrer, and it includes container
(1), stirrer (2), agitator (3), the first photocell (4), Hall element (5), the second photocell (6) and controller, its
In,
Described stirrer (2) includes normal agitation and correction stirrer, and described normal agitation is pure white, and described correction is stirred
The one end mixing son is black for white, the other end；
Described agitator (3) includes permanent magnet rotating disk (31) and driven by rotary disc device (32)；
Described first photocell (4) is arranged at the lower section of permanent magnet rotating disk (31), for detecting the original position of permanent magnet rotating disk；
Described Hall element (5) is arranged at the top of permanent magnet rotating disk (31), the lower section of stirrer (2), and it is to permanent magnet
The distance in the center of circle of rotating disk (31) more than the radius of permanent magnet rotating disk, is used for detecting stirrer (2) and permanent magnet rotating disk (31)
Field signal, wherein, described stirrer is normal agitation；
Described second photocell (6) is positioned at the top of stirrer (2), is used for detecting the rotation phase of stirrer (2), wherein, institute
State stirrer for correction stirrer；
Described controller is used for controlling the rotation of agitator (3), and receives and store the first photocell (4), Hall element (5)
Output signal with the second photocell (6).
System the most according to claim 1, it is characterised in that
Described permanent magnet rotating disk (31) is provided with the contrary permanent magnet of two Block direction (311), is used for forming external magnetic field；
And/or
Described driven by rotary disc device (32) is motor, and described motor includes driving chip, and described motor rotates one
Umber of pulse required for week is N=Np·Na·Nd, wherein, NpFor the number of pole-pairs of motor, NaCommutation for driving chip saves
Umber of beats, NdSegmentation step number for driving chip；And/or
Described controller is single-chip microcomputer.
System the most according to claim 1 and 2, it is characterised in that
Described Hall element (5) is connected formation hall signal amplifying circuit with signal amplification circuit, be used for detecting stirrer with
Field signal between permanent magnet rotating disk, the magnetic field that wherein stirrer produces is stirrer magnetic field, is designated asPermanent magnet rotating disk
The magnetic field produced is permanent magnet rotating disk magnetic field, is designated asMagnetic field behind stirrer magnetic field and permanent magnet rotating disk magnetic field superposition is folded
Add magnetic field, be designated as
Described signal amplification circuit is for amplifying the output signal of Hall element, it is preferable that described signal amplification circuit is electricity
Hold AC coupled amplifying circuit (8).
4. the system utilizing one of claim 1 to 3 described detects the method for the kinestate of stirrer, wherein, described method
Comprise the following steps:
Step 1, the rotation phase of acquisition stirrer, be designated as θ1’；
The magnetic phase of step 2, respectively acquisition permanent magnet rotating disk, is designated as θ0, and the magnetic phase of stirrer, it is designated as θ1；
The magnetic phase of stirrer is corrected by step 3, the rotation phase of stirrer obtained according to step 1, obtains stirrer
Phase calibration, be designated as θ1”；
Step 4, the θ obtained according to step 20And the θ that step 3 obtains1", it is thus achieved that permanent magnet rotating disk and the phase contrast of stirrer,
And the kinestate of stirrer is judged according to phase contrast.
Method the most according to claim 4, wherein,
Step 1 includes following sub-step:
Step 1-1, correction stirrer is put in container, starts agitator；
Step 1-2, the second photocell (6) send Infrared, and correction stirrer its white one end when rotated detects infrared
Light, and Infrared is reflected back the second photocell (6)；
Step 1-3, the second photocell (6) are according to the signal of the reflection light output pulsation of step 1-2, it is thus achieved that the rotation phase of stirrer
Position；
And/or
Step 2 includes following sub-step:
Step 2-1, correction stirrer is changed to normal agitation, start agitator；
Step 2-2, detect field signal by Hall element 5, use motor to carry out field signal data point simultaneously
Synchronous acquisition；
Step 2-3, the field signal gathered according to step 2-2 obtain the magnetic phase of permanent magnet rotating disk and the magnetic field phase of stirrer
Position；
And/or
Step 3 includes following sub-step:
Step 3-1, the magnetic phase θ of acquisition stirrer1Rotation phase θ with stirrer1Error between ', and by described error
Incoming controller stores；
The magnetic phase of stirrer is corrected by step 3-2, the error obtained by step 3-1, obtains the correction phase of stirrer
Position θ1”。
6. according to the method described in claim 4 or 5, wherein,
In step 1-3, the rotation phase of gained correction stirrer is identical with the rotation phase of normal agitation, i.e. represents stirring
The rotation phase of son, is designated as θ1’；And/or
Described step 1 or operates once before dispatching from the factory before described system uses for the first time, optionally carries out step in follow-up use
1；And/or
In step 2-2, motor count down to N in a control unitdOccur during individual pulse once to interrupt, i.e. at motor
N can be gathered in rotating a circlep·NaIndividual data point, described data point is the signal data in magnetic field, is designated as x [n], wherein n=1,
2 ..., N, described N be data acquisition number of times.
7. according to the method one of claim 4 to 6 Suo Shu, wherein, magnetic phase is obtained by formula (1)-(3):
Wherein, a represents the cosine component in magnetic field, and b represents the sinusoidal component in magnetic field, and θ represents magnetic phase, and x [n] is detect
Data point, n ωsThe magnetic field rotating angle corresponding for gathering data.
8. according to the method one of claim 4 to 7 Suo Shu, wherein,
Relevant parameter a is obtained according to formula (1)-(3)0、b0And θ0, wherein, a0For the cosine component in permanent magnet rotating disk magnetic field, b0For
The sinusoidal component in permanent magnet rotating disk magnetic field, x [1] is not have the data point detected in the case of stirrer, θ0Turn for permanent magnet
The magnetic phase of dish, θ0Reflection permanent magnet rotating disk is relative to the deviation angle between the original position of photocell；And/or
The magnetic phase of stirrer is obtained by formula (4)-(6):
a1=a2-a0Formula (4)
b1=b2-b0Formula (5)
Wherein, a2RepresentCosine component, b2RepresentSinusoidal component, a1For the cosine component in stirrer magnetic field, b1
For the sinusoidal component in stirrer magnetic field, θ1Magnetic phase for stirrer.
9. according to the method one of claim 4 to 8 Suo Shu, wherein, in step 4, described phase contrast is obtained by formula (7):
Δ θ=θ1”-θ0Formula (7)
Wherein, Δ θ is phase contrast, the differential seat angle between gained phase contrast reflection stirrer and permanent magnet rotating disk.
10. the fortune of stirrer according to the method one of claim 4 to 9 Suo Shu, wherein, in step 4, is judged according to differential seat angle
Dynamic state:
When differential seat angle is a fixed value, stirrer carries out uniform rotation along with permanent magnet rotating disk, is in stir mode；
When differential seat angle instability, stirrer is in swing or the state of migration, for weave mode or migration pattern；
When differential seat angle is zero, stirrer flies out stirring system, for the pattern of flying out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352935.5A CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610352935.5A CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106054090A true CN106054090A (en) | 2016-10-26 |
| CN106054090B CN106054090B (en) | 2018-04-20 |
Family
ID=57175878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610352935.5A Active CN106054090B (en) | 2016-05-25 | 2016-05-25 | A kind of stirrer detecting system and its detection method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106054090B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106901979A (en) * | 2017-03-16 | 2017-06-30 | 西安科技大学 | A kind of intelligent medicine box and its control system |
| CN109696707A (en) * | 2019-01-16 | 2019-04-30 | 珠海优特智厨科技有限公司 | The detection method of the material cup of kitchen device |
| CN119713326A (en) * | 2023-09-28 | 2025-03-28 | 华帝股份有限公司 | Stacked fire stove and control method thereof |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0511459A2 (en) * | 1991-04-27 | 1992-11-04 | Daimler-Benz Aerospace Aktiengesellschaft | Synchrosystem |
| CN1130253A (en) * | 1994-10-27 | 1996-09-04 | Lg电子株式会社 | Method and apparatus for detecting stirred fluid weight |
| CN2357815Y (en) * | 1998-09-22 | 2000-01-12 | 胡自立 | Electromagnetic stirrer |
| CN2527334Y (en) * | 2002-03-19 | 2002-12-25 | 河南农大机电技术开发中心 | Heating and magnetic constant speed stirrer |
| CN200968945Y (en) * | 2006-11-15 | 2007-10-31 | 鹤壁科力测控技术有限公司 | Sulfur measuring instrument electrolytic cell agitating apparatus |
| CN202590702U (en) * | 2011-11-02 | 2012-12-12 | 天津市欧诺仪器仪表有限公司 | Ultra-low speed magnetic stirring device with speed feedback |
| CN203480347U (en) * | 2013-09-27 | 2014-03-12 | 浙江师范大学 | Electric control device of magnetic stirrer |
| CN205055924U (en) * | 2015-07-28 | 2016-03-02 | 天津市欧诺仪器仪表有限公司 | Ultralow fast magnetic stirrers with speed change mechanism |
| CN105452000A (en) * | 2013-10-03 | 2016-03-30 | 株式会社日立产机系统 | Inkjet recording device |
-
2016
- 2016-05-25 CN CN201610352935.5A patent/CN106054090B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0511459A2 (en) * | 1991-04-27 | 1992-11-04 | Daimler-Benz Aerospace Aktiengesellschaft | Synchrosystem |
| CN1130253A (en) * | 1994-10-27 | 1996-09-04 | Lg电子株式会社 | Method and apparatus for detecting stirred fluid weight |
| CN2357815Y (en) * | 1998-09-22 | 2000-01-12 | 胡自立 | Electromagnetic stirrer |
| CN2527334Y (en) * | 2002-03-19 | 2002-12-25 | 河南农大机电技术开发中心 | Heating and magnetic constant speed stirrer |
| CN200968945Y (en) * | 2006-11-15 | 2007-10-31 | 鹤壁科力测控技术有限公司 | Sulfur measuring instrument electrolytic cell agitating apparatus |
| CN202590702U (en) * | 2011-11-02 | 2012-12-12 | 天津市欧诺仪器仪表有限公司 | Ultra-low speed magnetic stirring device with speed feedback |
| CN203480347U (en) * | 2013-09-27 | 2014-03-12 | 浙江师范大学 | Electric control device of magnetic stirrer |
| CN105452000A (en) * | 2013-10-03 | 2016-03-30 | 株式会社日立产机系统 | Inkjet recording device |
| CN205055924U (en) * | 2015-07-28 | 2016-03-02 | 天津市欧诺仪器仪表有限公司 | Ultralow fast magnetic stirrers with speed change mechanism |
Non-Patent Citations (4)
| Title |
|---|
| OSMAN KALENDER等: "A PIC Microcontroller Based Electromagnetic Stirrer", 《IEEE TRANSACTIONS ON MAGNETICS》 * |
| 李祁琪等: "基于电磁技术的搅拌测控系统设计", 《实验室研究与探索》 * |
| 陈士清等: "磁力驱动搅拌器的发展和应用", 《化工机械》 * |
| 黄德松等: "库仑法测硫仪中磁力搅拌问题探讨", 《煤质技术》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106901979A (en) * | 2017-03-16 | 2017-06-30 | 西安科技大学 | A kind of intelligent medicine box and its control system |
| CN109696707A (en) * | 2019-01-16 | 2019-04-30 | 珠海优特智厨科技有限公司 | The detection method of the material cup of kitchen device |
| CN109696707B (en) * | 2019-01-16 | 2021-01-08 | 珠海优特智厨科技有限公司 | Method for detecting cup of kitchen device |
| CN119713326A (en) * | 2023-09-28 | 2025-03-28 | 华帝股份有限公司 | Stacked fire stove and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106054090B (en) | 2018-04-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105529967B (en) | Fan starting state detection and starting control method | |
| US8228013B2 (en) | Method and apparatus for automatically identifying electrical parameters in a sensor-less PMSM | |
| CN1233087C (en) | Driving device and method for brushless motor | |
| CN101854144B (en) | For detection of the method for step loss condition | |
| CN103021233B (en) | Turntable type Coriolis force experimental instrument | |
| CN106054090B (en) | A kind of stirrer detecting system and its detection method | |
| CN104579045B (en) | A kind of phase change method of the brshless DC motor based on angular transducer | |
| CN105675029B (en) | A kind of wind generator system and speed-position detection device and method | |
| CN106130430A (en) | The detection method at permanent-magnetic synchronous motor rotor initial positional deviation angle and off-line test device | |
| CN109889114A (en) | The calibration method and calibrating installation of magnetic coder, motor, peristaltic pump and perfusion machine | |
| CN102679970A (en) | Static balance test method applied to gyroscope position marker spindle | |
| CN109039176A (en) | A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle | |
| US9966884B2 (en) | Method and device for determining the rotor position and speed of a rotating field machine | |
| CN211429147U (en) | Rotary-transformation zero-adjusting system for permanent magnet synchronous motor | |
| CN113630053A (en) | Method, device and equipment for detecting initial position angle of permanent magnet synchronous motor rotor | |
| CN106982020A (en) | The method and system of motor cogging torque size are evaluated using servo-driver | |
| CN109974574A (en) | The swing angle detection method and cooking machine of mixing arm in a kind of cooking machine | |
| CN105973270B (en) | A method for detecting and compensating the angular momentum of a gyro directional instrument | |
| CN105915132A (en) | Magnetic closed-loop stepper motor controller | |
| CN106066188B (en) | A kind of stirrer detecting system and its detection method | |
| CN110323987A (en) | A kind of parameter verification method and system for permanent magnet synchronous motor | |
| US12355374B2 (en) | Field weakening for BLDC stand mixer | |
| CN201725224U (en) | A New Control Mechanism for Motor Rotation Angle Detection | |
| CN1365536A (en) | Method and apparatus for initialization and operation of field-communication motors and method incorporating field-communicated motors | |
| JP6907543B2 (en) | Vacuum valve |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |