CN101169165A - Permanent-magnet type electricity loss brake electricity-saving control device - Google Patents
Permanent-magnet type electricity loss brake electricity-saving control device Download PDFInfo
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- CN101169165A CN101169165A CNA2007101443810A CN200710144381A CN101169165A CN 101169165 A CN101169165 A CN 101169165A CN A2007101443810 A CNA2007101443810 A CN A2007101443810A CN 200710144381 A CN200710144381 A CN 200710144381A CN 101169165 A CN101169165 A CN 101169165A
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Abstract
A power saving control device for a permanent-magnet safe brake relates to the technical field of energy conservation and heat-production reducing of permanent-magnet brakes. The invention aims at solving the problem that the prior permanent-magnet safe brake when working after turned on can consume much power (energy), most of which is transformed into heat, quickly raising the surface temperature of the brake. The output end of a PWM duty ratio adjustment controller connects with one input end of the permanent-magnet safe brake via a first operational-amplifier comparer U1, a two-way and-gate comparer U2, a triode B1 and a field-effect transistor B2; the other input end of the permanent-magnet safe brake connects with the input end of the PWM duty ratio adjustment controller via a voltage amplifier U3 and a second operational-amplifier comparer U4; the PWM duty ratio adjustment controller is provided with an electromotor controlling an enabling input end. The invention can automatically adjust the working voltage of the brake according to the distance between the magnet of the permanent-magnet safe brake and a keeper, thereby reducing the power consumption to about 75 percent of the previous amount.
Description
Technical field
What the present invention relates to is the energy-conservation of permanent magnetism break and the technical field that reduces heating value.
Background technique
Sophisticated machine people's development is mainly towards high integration, multisensor, little weight, big moment output, aspect such as energy-conservation.Most of permanent-magnet brushless DC electric machine driving and harmonic speed reducer of adopting exported as moment in the existing mechanical shoulder joint.Yet for most sophisticated machine people, the loading moment in joint is greater than the anti-driving moment of the no-load of harmonic speed reducer.Therefore most mechanical arm system has all assembled power-off brake, and it can guarantee effectively that the powering-off state hypozygal still keeps pose, thereby is unlikely to produce beyond thought motion damage equipment.
The dry type single plate friction type permanent magnetism break of no slip ring mainly comprises break magnet, electromagnetic coil and armature three parts.Armature is attracteding under the effect of permanent magnetism power on the rubbing surface of break magnet during the break dead electricity, produces the moment of torsion of zero slip.Driving or braking torque are by the leaf spring transmission, and zero slip during operation connects the no abrasion in back; Energising back electromagnetic coil produces the electromagnetic force of offsetting permanent magnetism power, and armature leaves break magnet preparation action next time under the effect of leaf spring power, and the loss of machine of torque during idle running is zero.
Because advantages such as it is little, in light weight that this power-off brake possesses volume, and motor does not have friction when running well, and braking response is fast, present sophisticated machine people more and more favors in use.But break can consume bigger power when proper functioning, and these energy are almost with the form of heat conversion, and the brake surfaces temperature can raise fast.Simultaneously, mechanical arm needs light and handy profile, and heat can't effectively conduction from the mechanical structure of compactness, will cause like this that temperature progressively raises in the joint, has a strong impact on the delivery efficiency of the electrical properties in joint and motor, harmonic speed reducer.
Summary of the invention
The present invention is in order to overcome existing permanent-magnet type electricity loss brake when the energising work, can to consume bigger power (energy), and these energy major parts convert heat to, the problem that the brake surfaces temperature can be raise fast.Simultaneously, because of the mechanical arm of robot is light and handy profile, heat can't effectively conduction from the mechanical structure of compactness, will cause like this that temperature progressively raises in the joint, and has a strong impact on the delivery efficiency of the electrical properties in joint and motor, harmonic speed reducer.And then a kind of electricity-saving control device of permanent-magnet type electricity loss brake proposed.
The present invention by resistance R 1, resistance R 2, resistance R 3, resistance R 4, resistance R 5, the first amplifier comparator U1, the two tunnel and door comparator U2, voltage amplifier U3, the second amplifier comparator U4, triode B1, field effect transistor B2, PWM duty cycle adjustment controller 1 form;
One end of resistance R 1 connects power supply+Vcc end, the other end of resistance R 1, one end of resistance R 2 connects the inverting input of the first amplifier comparator U1, the other end ground connection of resistance R 2, the in-phase input end of the first amplifier comparator U1 connects the inverting input of the second amplifier comparator U4 and connects reference power supply+vdd terminal, the output terminal of the first amplifier comparator U1 connect two the tunnel with the input end of door comparator U2, two the tunnel are connected the output terminal of PWM duty cycle adjustment controller 1 with another input end of door comparator U2, the signal input part of PWM duty cycle adjustment controller 1 connects the output terminal of the second amplifier comparator U4, two the tunnel are connected the base stage of triode B1 with the output terminal of door comparator U2, the grounded-emitter connection of triode B1, the collector electrode of triode B1 connects an end of resistance R 3, the other end of resistance R 3, one end of resistance R 4 connects the grid of field effect transistor B2, the drain electrode of field effect transistor B2 connects the other end of resistance R 4 and connects power supply+Vcc end, the source electrode of field effect transistor B2 connects the input end of permanent-magnet type electricity loss brake 2, the output terminal of permanent-magnet type electricity loss brake 2, one end of resistance R 5 connects the positive input terminal of voltage amplifier U3, the other end of resistance R 5 connects negative input end and the ground connection of voltage amplifier U3, the output terminal of voltage amplifier U3 connects the in-phase input end of the second amplifier comparator U4, and PWM duty cycle adjustment controller 1 is provided with motor control and enables input end 1-1.
Working principle:
1, when the control enable signal of motor was imported, PWM duty cycle adjustment controller 1 was started working.At first the constant pwm signal of controller output guarantees the cut-in voltage when break is worked under normal drive voltage+Vcc.For example driving voltage is 28V, and the break normal working voltage is 24V, then exports the dutycycle 24/28=86% of PWM, and the output frequency of PWM is set at 20K.
2, voltage protection circuit is started working simultaneously, compares by amplifier comparator U1 with reference potential+VDD after driving power+Vcc process resistance R 1, the R2 dividing potential drop.When the voltage of+Vcc during less than protection voltage, amplifier comparator U1 is output as low level 0, shows that the driving voltage input is undesired; Otherwise amplifier comparator U1 is output as high level 1, shows that break can be worked under this driving voltage.
3, then the PWM of PWM duty cycle adjustment controller 1 output and voltage protection circuit (amplifier comparator U1) output signal by a two-way and a comparator U2; The output signal of two-way and door comparator U2 is through triode B1, and this is the driving force that is used for strengthening field effect transistor B2; Drive signal combines with driving power+Vcc, through R4, R3 dividing potential drop rear driving field effect transistor B2, thereby drives permanent-magnet type electricity loss brake 2.
4, voltage feedback circuit mainly by with the be in series resistance R 5 of a little resistance of permanent-magnet type electricity loss brake 2, behind voltage amplifier U3 amplification voltage, compare by amplifier comparator U4 with reference potential+VDD, will relatively export to send in the PWM duty cycle adjustment controller 1 and be used for the PWM duty cycle adjustment.
5, according to permanent-magnet type electricity loss brake 2 design standards of being bought, suppose that the time that permanent-magnet type electricity loss brake 2 is opened is T, in PWM duty cycle adjustment controller 1, set a timer, when permanent-magnet type electricity loss brake 2 is opened the time during greater than 2T, just can gather the output voltage of amplifier comparator U4 in real time, automatically regulate the PWM of output in real time, add the PWM that feedforward compensation just can real-time regulated be exported by PI (proportional integral) control, the experiment of feedforward amount basis of design determines that (for example: with the 28V driving voltage is example, when break when armature distance is 0.5mm, the operating voltage of selected break is reduced to 18V and just keeps the break proper functioning, promptly selects the PWM dutycycle 18/28=65% of feedforward compensation for use).And realized reducing again after the permanent-magnet type electricity loss brake 2 energising actions purpose that can also keep "on" position behind the power supply voltage.
The present invention is according to the distance of the magnet and the armature of permanent-magnet type electricity loss brake, and according to the minimum switching voltage of the definite permanent magnetism break of experiment, its switching voltage is more little when distance is big more.PI control by band feedforward is the operating voltage of regulating brake automatically just, and the reduction power consumption is about 75% of former power consumption, and therefore, it has effectively saved power consumption (energy), and the inside temperature of reduction mechanical arm that can be by a relatively large margin.And has with low cost a, advantage of simple structure of cost.
Description of drawings
Fig. 1 is an integrated circuit structural representation of the present invention.
Embodiment
Embodiment one: in conjunction with Fig. 1 present embodiment is described, present embodiment by resistance R 1, resistance R 2, resistance R 3, resistance R 4, resistance R 5, the first amplifier comparator U1, the two tunnel and door comparator U2, voltage amplifier U3, the second amplifier comparator U4, triode B1, field effect transistor B2, PWM duty cycle adjustment controller 1 form;
One end of resistance R 1 connects power supply+Vcc end, the other end of resistance R 1, one end of resistance R 2 connects the inverting input of the first amplifier comparator U1, the other end ground connection of resistance R 2, the in-phase input end of the first amplifier comparator U1 connects the inverting input of the second amplifier comparator U4 and connects reference power supply+vdd terminal, the output terminal of the first amplifier comparator U1 connect two the tunnel with the input end of door comparator U2, two the tunnel are connected the output terminal of PWM duty cycle adjustment controller 1 with another input end of door comparator U2, the signal input part of PWM duty cycle adjustment controller 1 connects the output terminal of the second amplifier comparator U4, two the tunnel are connected the base stage of triode B1 with the output terminal of door comparator U2, the grounded-emitter connection of triode B1, the collector electrode of triode B1 connects an end of resistance R 3, the other end of resistance R 3, one end of resistance R 4 connects the grid of field effect transistor B2, the drain electrode of field effect transistor B2 connects the other end of resistance R 4 and connects power supply+Vcc end, the source electrode of field effect transistor B2 connects the input end of permanent-magnet type electricity loss brake 2, the output terminal of permanent-magnet type electricity loss brake 2, one end of resistance R 5 connects the positive input terminal of voltage amplifier U3, the other end of resistance R 5 connects negative input end and the ground connection of voltage amplifier U3, the output terminal of voltage amplifier U3 connects the in-phase input end of the second amplifier comparator U4, and PWM duty cycle adjustment controller 1 is provided with motor control and enables input end 1-1.
Reference power supply+VDD is the voltage stabilizing DC source between 2.5V～5V.The model that the first amplifier comparator U1, the second amplifier comparator U4 select for use all is LM393, two tunnel models of selecting for use with door comparator U2 are NC7SZ08M5, the model that voltage amplifier U3 selects for use is INA337, the model that triode B1 selects for use is BSS138, the model that field effect transistor B2 selects for use is NTGS3455, the model that PWM duty cycle adjustment controller 1 is selected for use is FPGA-ALTERA-Cyclone EP1c20, and the model of permanent-magnet type electricity loss brake 2 is the dry type single plate friction type permanent magnetism break of the no slip ring of KEB COMBIPERM 06.P1.230.
Claims (1)
1. the electricity-saving control device of permanent-magnet type electricity loss brake, it by resistance R 1, resistance R 2, resistance R 3, resistance R 4, resistance R 5, the first amplifier comparator U1, the two tunnel and door comparator U2, voltage amplifier U3, the second amplifier comparator U4, triode B1, field effect transistor B2, PWM duty cycle adjustment controller (1) form;
An end that it is characterized in that resistance R 1 connects power supply+Vcc end, the other end of resistance R 1, one end of resistance R 2 connects the inverting input of the first amplifier comparator U1, the other end ground connection of resistance R 2, the in-phase input end of the first amplifier comparator U1 connects the inverting input of the second amplifier comparator U4 and connects reference power supply+vdd terminal, the output terminal of the first amplifier comparator U1 connect two the tunnel with the input end of door comparator U2, two the tunnel are connected the output terminal of PWM duty cycle adjustment controller (1) with another input end of door comparator U2, the signal input part of PWM duty cycle adjustment controller (1) connects the output terminal of the second amplifier comparator U4, two the tunnel are connected the base stage of triode B1 with the output terminal of door comparator U2, the grounded-emitter connection of triode B1, the collector electrode of triode B1 connects an end of resistance R 3, the other end of resistance R 3, one end of resistance R 4 connects the grid of field effect transistor B2, the drain electrode of field effect transistor B2 connects the other end of resistance R 4 and connects power supply+Vcc end, the source electrode of field effect transistor B2 connects the input end of permanent-magnet type electricity loss brake (2), the output terminal of permanent-magnet type electricity loss brake (2), one end of resistance R 5 connects the positive input terminal of voltage amplifier U3, the other end of resistance R 5 connects negative input end and the ground connection of voltage amplifier U3, the output terminal of voltage amplifier U3 connects the in-phase input end of the second amplifier comparator U4, and PWM duty cycle adjustment controller (1) is provided with motor control and enables input end (1-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101443810A CN100497986C (en) | 2007-09-28 | 2007-09-28 | Permanent-magnet type electricity loss brake electricity-saving control device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101443810A CN100497986C (en) | 2007-09-28 | 2007-09-28 | Permanent-magnet type electricity loss brake electricity-saving control device |
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| Publication Number | Publication Date |
|---|---|
| CN101169165A true CN101169165A (en) | 2008-04-30 |
| CN100497986C CN100497986C (en) | 2009-06-10 |
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| CNB2007101443810A Expired - Fee Related CN100497986C (en) | 2007-09-28 | 2007-09-28 | Permanent-magnet type electricity loss brake electricity-saving control device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108004973A (en) * | 2017-12-25 | 2018-05-08 | 深圳市威捷机电股份公司 | The banister circuit of energy manual fluctuation restrictor bar when control has a power failure |
| CN109015751A (en) * | 2018-07-12 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and its steering engine, overcurrent protection structure |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103744463B (en) * | 2013-11-30 | 2016-02-10 | 成都岷创科技有限公司 | The variable reference power supply of dutycycle can be detected |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4423363A (en) * | 1981-07-27 | 1983-12-27 | General Electric Company | Electrical braking transitioning control |
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2007
- 2007-09-28 CN CNB2007101443810A patent/CN100497986C/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108004973A (en) * | 2017-12-25 | 2018-05-08 | 深圳市威捷机电股份公司 | The banister circuit of energy manual fluctuation restrictor bar when control has a power failure |
| CN108004973B (en) * | 2017-12-25 | 2023-11-21 | 深圳市威捷机电股份公司 | Barrier gate circuit capable of manually lifting and falling gate rod during power failure control |
| CN109015751A (en) * | 2018-07-12 | 2018-12-18 | 深圳市优必选科技有限公司 | Robot and its steering engine, overcurrent protection structure |
| CN109015751B (en) * | 2018-07-12 | 2023-12-29 | 深圳市优必选科技有限公司 | Robot and steering engine and overload protection structure thereof |
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| CN100497986C (en) | 2009-06-10 |
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Granted publication date: 20090610 Termination date: 20091028 |