阅读说明：本技术 动态制动电路、基于该电路的状态检测和故障处理方法 (Dynamic braking circuit, state detection and fault processing method based on dynamic braking circuit ) 是由 杜佳星 苏智胜 于 2020-04-07 设计创作，主要内容包括：本发明公开了一种动态制动电路、基于该电路的状态检测和故障处理方法,设计了动态制动电路,并基于该系统提出一种状态检测电路,其利用主控处理器通过状态检测电路得到对应动态制动模块的工作状态,快速有效的控制动态制动模块；且设计了上、下两路动态制动模块,采用不同制动能耗电阻以适应不同的制动能耗要求；在动态制动过程中,主控处理器通过算法检测功率电路中是否存在功率器件“短路损坏”,存在“短路损坏”时切换动作动态制动单元。(The invention discloses a dynamic braking circuit, a state detection and fault processing method based on the dynamic braking circuit, wherein the dynamic braking circuit is designed, and a state detection circuit is provided based on the system, and a main control processor is utilized to obtain the working state of a corresponding dynamic braking module through the state detection circuit so as to quickly and effectively control the dynamic braking module; an upper dynamic braking module and a lower dynamic braking module are designed, and different braking energy consumption resistors are adopted to adapt to different braking energy consumption requirements; in the dynamic braking process, the main control processor detects whether a power device is in short-circuit damage or not through an algorithm, and the dynamic braking unit is switched to act when the power device is in short-circuit damage.)

1. A dynamic braking circuit comprises a power module, wherein the power module comprises a first switch tube T1, a second switch tube T2, a third switch tube T3, a fourth switch tube T4, a fifth switch tube T5 and a sixth switch tube T6, a T1, a T2 and a T3 form an upper bridge arm, a T4, a T5 and a T6 form a lower bridge arm, and a joint of the T1 and the T4, a joint of the T2 and the T5, and a joint of the T3 and the T6 are respectively a U-joint, a V-joint and a W-joint which are connected with a phase line of a motor U, V, W, and the dynamic braking circuit is characterized by further comprising a first dynamic braking module and a second dynamic braking module, wherein:

the first dynamic braking module comprises a first brake relay K1, the second dynamic braking module comprises a second brake relay K2; the K1 and the K2 are respectively provided with input ends of two normally open relay contacts and output ends corresponding to the two normally open relay contacts;

the first dynamic braking module further comprises a first diode D1, a second diode D2, and a third diode D3 connected in parallel; the second dynamic braking module comprises a fourth diode D4, a fifth diode D5, and a sixth diode D6 connected in parallel;

cathodes of D1, D2 and D3 are connected to a first normally open relay contact of K1, a first output end corresponding to the first normally open relay contact of K1 is connected to a lower bridge arm, a second normally open relay contact of K1 is connected to a 5V power supply through a first pull-up resistor R11, and a second output end corresponding to the second normally open relay contact of K1 is grounded to form a first state detection module;

anodes of D1, D2 and D3 are connected with cathodes of D4, D5 and D6 respectively, anodes of D4, D5 and D6 are connected to K2, a first normally-open relay contact of K2 is connected to an upper bridge arm, a first output end corresponding to the first normally-open relay contact of K2 is connected to anodes of D4, D5 and D6, a second normally-open relay contact of K2 is connected to a 5V power supply through a second pull-up resistor R21, and a second output end corresponding to the second normally-open relay contact of K2 is grounded to form a second state detection module;

the joint of D1 and D4, the joint of D2 and D5 and the joint of D3 and D6 are respectively a U joint, a V joint and a W joint which are connected with the phase line of the motor U, V, W.

2. The dynamic braking circuit according to claim 1, wherein cathodes of D1, D2 and D3 are connected to a first normally open relay contact of K1 through a first braking energy consumption resistor R1, wherein R1 adopts a thermistor.

3. The dynamic braking circuit of claim 2, wherein the anodes of D4, D5 and D6 are connected to the first output terminal corresponding to the first normally open relay contact of K2 through a second braking energy consumption resistor R2; the R2 adopts a thermistor, the resistance value of the R1 is 3-5 times of the resistance value of the R2 at the same temperature, and the first brake energy consumption resistor R1 can be used for protecting a dynamic brake circuit by inhibiting dynamic brake current generated in a system under the condition that dynamic brake energy consumption exceeds a preset rated load rate.

4. A method of condition detection using a dynamic braking circuit as claimed in any one of claims 1 to 3, comprising the steps of:

the brake relays K1 and K2 are used as state detection devices of the dynamic brake circuit;

the main control processor is connected to an OUT1 pin, an OUT2 pin, an IN1 pin and an IN2 pin of the dynamic braking circuit, and an 'opening' or 'closing' instruction sent by the main control processor is output to the first braking relay K1 or the second braking relay K2 through the OUT1 pin or the OUT2 pin to control the K1 or the K2 to enter a power-on or power-off state;

after controlling the K1 or the K2 to enter a power-on or power-off state, detecting a voltage value U1 output by a fault detection module connected with a 5V power supply IN the first dynamic braking module or detecting a voltage value U2 output by a fault detection module connected with a 5V power supply IN the second dynamic braking module by using a pin IN1 or a pin IN2 of the main control processor, and judging whether the first dynamic braking module or the second dynamic braking module immediately enters an on or off state according to an instruction sent by the main control processor.

5. The method of claim 4, wherein when the master processor determines that the first dynamic braking module does not execute the corresponding action according to the command, the master processor issues a "close" command to control the K1 to enter the power-off state, and issues an "open" command to output to the second braking relay K2 via the OUT2 pin to control the action of the second dynamic braking module, and currently, the voltage value U2 input to the master processor via the IN2 pin determines whether the second dynamic braking module immediately executes the command issued by the master processor;

when the main control processor judges that the second dynamic braking module does not execute corresponding actions according to the instructions, the main control processor sends an 'off' instruction to control the K2 to enter a power-off state on one hand, and sends an 'on' instruction to be output to a second braking relay K1 through an OUT1 pin on the other hand to control the action of the first dynamic braking module, and currently, the voltage value U1 input to the main control processor through an IN1 pin judges whether the first dynamic braking module executes the instructions sent by the main control processor IN time or not;

when the first dynamic braking module and the second dynamic braking module do not enter the corresponding working state in time according to the instruction sent by the main control processor, the main control processor sends an alarm signal to a user.

6. A method of power circuit fault detection using a dynamic braking circuit as claimed in any one of claims 1 to 3, comprising the steps of:

under the first and second state detection modules, when dynamic braking operation processing is executed, current values of a connection position of D1 and D4 and a connection position of D3 and D6 are respectively sampled, working states of the first and second dynamic braking modules are judged according to voltage values output by the state detection modules, whether a power circuit is damaged by a power device or not is determined, and switching of the dynamic braking modules is executed under the condition that the power circuit is damaged by the power device, so that dynamic braking is realized.

7. The method for fault handling according to claim 6, wherein the judgment of the short-circuit current value is performed by determining whether the power circuit is damaged, specifically by combining the current values obtained by sampling the connection between D1 and D4 and the connection between D3 and D6, and the voltage value output by the state detection module;

and comparing the short-circuit current value with the maximum working current value of the driver, and if the sampled current value is larger than the maximum working current value of the driver, judging that the power device in the corresponding power circuit is damaged.

Technical Field

The invention belongs to the field of dynamic brake control, and particularly relates to a dynamic brake circuit for state detection and fault processing, and a method for state detection and fault processing by using the dynamic brake circuit.

Background

When the servo driver needs to perform a stopping process in machine tool, automation and robot application occasions, because deceleration is too large (often occurring on a vertical shaft) or a servo power unit is damaged and cannot provide braking force, a dynamic braking unit is needed to limit the deceleration of a motor to realize safe stopping so as to prevent personnel injury or mechanical damage.

However, the existing dynamic braking scheme usually adopts an open-loop control method, and a main control processor sends an "on" or "off" command to the dynamic braking unit according to the current working condition, and then adds a "delay" wait to ensure the dynamic braking unit to act, but whether the dynamic braking unit is actually "on" or "off" cannot be known. Moreover, when the servo driver is enabled, the added 'delay' time is too short, so that the power device of the main module is turned on when the brake is not completely opened, and the servo driver is damaged; too long can cause the dynamic braking action to lag, greatly influencing the braking effect.

Disclosure of Invention

The invention aims to solve the technical problems that the working state of a dynamic braking unit cannot be effectively detected and the control of time delay is short in the prior art, and provides a dynamic braking circuit for state detection and fault processing and a method for state detection and fault processing by using the dynamic braking circuit.

The technical scheme adopted by the invention for solving the technical problems is as follows: a dynamic braking circuit for state detection and fault processing is constructed, the dynamic braking circuit comprises a power module, the power module comprises a first switch tube T1, a second switch tube T2, a third switch tube T3, a fourth switch tube T4, a fifth switch tube T5 and a sixth switch tube T6, an upper bridge arm is formed by T1, T2 and T3, a lower bridge arm is formed by T4, T5 and T6, a joint of the T1 and the T4, a joint of the T2 and the T5, and a joint of the T3 and the T6 are respectively a U-phase joint, a V-phase joint and a W-phase joint connected with a phase line U, V, W of a motor, the dynamic braking circuit further comprises a first dynamic braking module and a second dynamic braking module, wherein:

the first dynamic braking module comprises a first brake relay K1, the second dynamic braking module comprises a second brake relay K2; the K1 and the K2 are respectively provided with input ends of two normally open relay contacts and output ends corresponding to the two normally open relay contacts;

the first dynamic braking module further comprises a first diode D1, a second diode D2, and a third diode D3 connected in parallel; the second dynamic braking module comprises a fourth diode D4, a fifth diode D5, and a sixth diode D6 connected in parallel;

cathodes of D1, D2 and D3 are connected to a first normally open relay contact of K1, a first output end corresponding to the first normally open relay contact of K1 is connected to a lower bridge arm, a second normally open relay contact of K1 is connected to a 5V power supply through a first pull-up resistor R11, and a second output end corresponding to the second normally open relay contact of K1 is grounded to form a first state detection module;

anodes of D1, D2 and D3 are connected with cathodes of D4, D5 and D6 respectively, anodes of D4, D5 and D6 are connected to K2, a first normally-open relay contact of K2 is connected to an upper bridge arm, a first output end corresponding to the first normally-open relay contact of K2 is connected to anodes of D4, D5 and D6, a second normally-open relay contact of K2 is connected to a 5V power supply through a second pull-up resistor R21, and a second output end corresponding to the second normally-open relay contact of K2 is grounded to form a second state detection module;

the joint of D1 and D4, the joint of D2 and D5 and the joint of D3 and D6 are respectively a U joint, a V joint and a W joint which are connected with the phase line of the motor U, V, W.

The invention provides a method for detecting states by using a ownership dynamic braking circuit, which comprises the following steps:

the brake relays K1 and K2 are used as state detection devices of the dynamic brake circuit;

the main control processor is connected to an OUT1 pin, an OUT2 pin, an IN1 pin and an IN2 pin of the dynamic braking circuit, and an 'opening' or 'closing' instruction sent by the main control processor is output to the first braking relay K1 or the first braking relay K2 through the OUT1 pin or the OUT2 pin to control the K1 or the K2 to enter a power-on or power-off state;

after controlling the K1 or the K2 to enter a power-on or power-off state, detecting a voltage value U1 output by a fault detection module connected with a 5V power supply IN the first dynamic braking module or detecting a voltage value U2 output by a fault detection module connected with a 5V power supply IN the second dynamic braking module by using a pin IN1 or a pin IN2 of the main control processor, and judging whether the first dynamic braking module or the second dynamic braking module immediately enters an on or off state according to an instruction sent by the main control processor.

The invention provides a method for processing faults by using the dynamic braking circuit, which comprises the following steps:

under the first and second state detection modules, when dynamic braking operation processing is executed, current values of a connection position of D1 and D4 and a connection position of D3 and D6 are respectively sampled, working states of the first and second dynamic braking modules are judged according to voltage values output by the fault detection module, whether the first and second dynamic braking modules are damaged by power devices or not is determined, and switching of the dynamic braking modules is executed under the condition that the dynamic braking modules are damaged by the power devices, so that dynamic braking is realized.

The dynamic braking circuit and the state detection and fault processing method based on the dynamic braking circuit have the following beneficial effects that:

1. the main control processor obtains the current working state of the dynamic braking module through the detection circuit, and quickly and effectively controls the dynamic braking unit;

2. the dynamic braking units adopt different braking energy consumption resistors to better adapt to different braking energy consumption requirements, meanwhile, the dynamic braking units supplement each other to provide redundancy for the system, the main control processor detects whether a power device is in short-circuit damage or not in the power circuit through an algorithm in the dynamic braking process, and the dynamic braking units are switched to operate when the power device is in short-circuit damage, so that the reliability of the system is greatly improved.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

FIG. 1 is a circuit diagram of a dynamic braking circuit;

FIG. 2 is a schematic diagram of the flow of "short-circuit current" when there is "short-circuit damage" to the upper arm of the power module;

fig. 3 is a schematic flow diagram of "short-circuit current" when the power device "short-circuit damage" exists in the lower bridge arm of the power module.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.