CN106329506A - Over-voltage discharge protection device and method for server controller with adjustable protection threshold - Google Patents
Over-voltage discharge protection device and method for server controller with adjustable protection threshold Download PDFInfo
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- CN106329506A CN106329506A CN201610975780.0A CN201610975780A CN106329506A CN 106329506 A CN106329506 A CN 106329506A CN 201610975780 A CN201610975780 A CN 201610975780A CN 106329506 A CN106329506 A CN 106329506A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
- H02H9/04—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage
- H02H9/045—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection responsive to excess voltage adapted to a particular application and not provided for elsewhere
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03K—PULSE TECHNIQUE
- H03K5/00—Manipulating of pulses not covered by one of the other main groups of this subclass
- H03K5/22—Circuits having more than one input and one output for comparing pulses or pulse trains with each other according to input signal characteristics, e.g. slope, integral
- H03K5/24—Circuits having more than one input and one output for comparing pulses or pulse trains with each other according to input signal characteristics, e.g. slope, integral the characteristic being amplitude
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- Nonlinear Science (AREA)
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- Protection Of Static Devices (AREA)
Abstract
The invention discloses an over-voltage discharge protection device for a server controller with adjustable protection threshold. The protection device comprises a microcontroller, a DC bus voltage collecting circuit, a protection threshold setting circuit and a comparison circuit. The input end of the microcontroller is connected with an A/D conversion circuit. The input end of the DC bus voltage collecting circuit is connected with a DC bus. The output end of the DC bus voltage collecting circuit is connected with the input end of the A/D conversion circuit and the input end of the comparison circuit. The input end of the comparison circuit is further connected with the output end of the protection threshold setting circuit. The output end of the protection threshold setting circuit is further connected with the input end of the A/D conversion circuit. The output end of the comparison circuit is connected with an over-voltage discharge circuit. The output end of the microcontroller is connected with an inverter circuit. The invention further discloses an over-voltage discharge protection method for the server controller with adjustable protection threshold. Discharge real-time performance is ensured, the setting flexibility of the discharge protection threshold is improved, and the reliability of the server controller is improved.
Description
Technical field
The invention belongs to servo controller over-voltage protection technology field, be specifically related to a kind of protection adjustable servo control of threshold value
Device overvoltage processed is released protection device and method.
Background technology
Servo controller is used to control servomotor and realizes the equipment of hi-Fix or pursuit movement.At present, main flow
Servo controller all use microcontroller (single-chip microcomputer, DSP etc.) to realize complete control as control core, monitor and protect
Function.
Servo controller includes control circuit and power circuit.Power circuit generally comprises rectification circuit and and inversion electricity
Road, rectification circuit and inverter circuit are attached by bus (i.e. dc bus), occur during for preventing work load generating (as
The situations such as brake, suitable load) make DC bus-bar voltage too high and cause circuit to damage, typically can bridge between bus by switch electricity
The leakage path that road is constituted, after detecting that busbar voltage is too high, panel controls leakage path conducting, carries out busbar voltage
Electric discharge so that voltage returns to normality value, and then panel controls leakage path disconnection.
Current overpressure vent protection uses the release hardware of control or fixed threshold of software to release control.
Software is released and is controlled to be carried out sampling and A/D change-over circuit in real time to DC bus-bar voltage by micro-controller program
Detection, when the protection threshold value that DC bus-bar voltage exceedes setting being detected, controls leakage path and carries out overpressure vent, reach to protect
The purpose of protecting system.But software is released, control has a following deficiency: (1) releases protection relative to hardware, and reliability is low.When on software
When breaking down, defencive function of releasing is lost；(2) software protection is the most also intended to by hardware action, relative hardware protection, real
Time property is poor；
The hardware of fixed threshold is released, and control is general passes through sampling circuit samples DC bus-bar voltage, by comparator and base
Quasi-level compares, and the control signal producing control leakage path switch realizes protection of releasing.The hardware of fixed threshold is released control
Making owing to the reference level compared is fixed value, the magnitude of voltage of boiled water of therefore releasing is fixed, and flexibility ratio is inadequate.
Summary of the invention
The technical problem to be solved is for above-mentioned deficiency of the prior art, it is provided that a kind of protection threshold value
Adjustable servo controller overvoltage is released protection device, and its simple in construction is reasonable in design, it is achieved convenient, is ensureing to release reality
On the basis of time property, add the motility that protection threshold voltage of releasing is arranged, add overpressure vent shielding failure prison simultaneously
Control function, improves the reliability of servo controller, and practical, using effect is good, it is simple to promote the use of.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of protection adjustable SERVO CONTROL of threshold value
Device overvoltage is released protection device, it is characterised in that: include microcontroller and the power supply electricity powered for each power unit in device
Road, and DC bus-bar voltage collection circuit, protection threshold set circuit and comparison circuit；Described power circuit and dc bus
Connecting, the input of described microcontroller is connected to A/D change-over circuit, and the input of described DC bus-bar voltage collection circuit is with straight
Stream bus connection, the outfan of described DC bus-bar voltage collection circuit and the input of A/D change-over circuit and comparison circuit
Input is all connected with, and the input of described comparison circuit is also connected with the outfan protecting threshold set circuit, described protection threshold
The outfan also input with A/D change-over circuit of value initialization circuit is connected, and the outfan of described comparison circuit is connected to overvoltage and lets out
Electric discharge road, described overpressure vent circuit is connected with dc bus, and the outfan of described microcontroller is connected with inverter circuit, described
Inverter circuit is connected with dc bus；Described microcontroller, A/D change-over circuit, protection threshold set circuit and comparison circuit are equal
It is connected with the outfan of power circuit.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described power supply
Circuit includes 15V voltage conversion circuit, 5V voltage conversion circuit, 3.3V voltage conversion circuit and 1.8V voltage conversion circuit, institute
State 15V voltage conversion circuit and include chip 7815, fast recovery diode D2 and fast recovery diode D3, the of described chip 7815
1 pin is connected by the negative electrode of resistance R24 and fast recovery diode D2, and nonpolar electric capacity C4 in parallel and polar capacitor
C5 ground connection；The anode of described fast recovery diode D2 is connected with dc bus, and the negative electrode of described fast recovery diode D2 is by non-
Polar capacitor C3 ground connection；The anode of described fast recovery diode D3 is connected with the 3rd pin of chip 7815, described fast recovery two pole
The negative electrode of pipe D3 is connected with the 1st pin of chip 7815, the 2nd pin ground connection of described chip 7815；The 3rd of described chip 7815
Pin is the outfan of described 15V voltage conversion circuit, and nonpolar electric capacity C8, polar capacitor C6 in parallel and polarity electricity
Hold C7 ground connection；Described 5V voltage conversion circuit includes chip 7805 and fast recovery diode D4, the 1st pin of described chip 7805
It is connected by the outfan of resistance R25 with described 15V voltage conversion circuit, and nonpolar electric capacity C9 in parallel and polarity electricity
Hold C10 ground connection；The anode of described fast recovery diode D4 is connected with the 3rd pin of chip 7805, described fast recovery diode D4
Negative electrode be connected with the 1st pin of chip 7805, the 2nd pin ground connection of described chip 7805；3rd pin of described chip 7805
For the outfan of described 5V voltage conversion circuit, and nonpolar electric capacity C14 in parallel and polar capacitor C13 ground connection；Described
3.3V voltage conversion circuit includes chip PS767D301, resistance R15, polar capacitor C11 and nonpolar electric capacity C12, described chip
1st pin, the 5th pin, the 6th pin, the 11st pin and the 12nd pin of PS767D301 all with described 5V voltage conversion circuit
Outfan connects, the 2nd pin of described chip PS767D301, the 3rd pin, the 7th～10 pins, the 13rd～16 pins, the 19th～
21 pins, the 26th pin and the 27th equal ground connection of pin, one end of described resistance R15 is drawn with the 22nd of described chip PS767D301
Foot and the 28th pin connect, the negative pole of described polar capacitor C11 and the equal ground connection in one end of nonpolar electric capacity C12, described resistance R15
The other end of the other end, the positive pole of polar capacitor C11 and nonpolar electric capacity C12 connect and for described 3.3V voltage conversion circuit
Outfan；Described 1.8V voltage conversion circuit includes chip PS767D301, resistance R16, resistance R23 and polar capacitor C15,
The positive pole of described polar capacitor C15 is connected with the 23rd pin and the 24th pin of described chip PS767D301, described resistance R23
One end and one end all the 25th pins with described chip PS767D301 of resistance R16 be connected, described polar capacitor C15's is negative
The equal ground connection of the other end of pole and resistance R23, the positive pole of described polar capacitor C15 and the other end of resistance R16 connect and are described
The outfan of 1.8V voltage conversion circuit.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described micro-control
Device processed is DSP TMS320F2808, and described A/D change-over circuit is integrated in described DSP
Inside TMS320F2808.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described protection
Threshold set circuit includes multi-turn precision potentiator VR1, accurate fixed resister R13 and nonpolar electric capacity C1, described multi-turn essence
One of close potentiometer VR1 is fixing, and end is connected with the outfan of power circuit, and another of described multi-turn precision potentiator VR1 is solid
Fixed end is connected with one end of accurate fixed resister R13, the sliding end of described multi-turn precision potentiator VR1 and nonpolar electric capacity C1
One end connect and for the outfan VBreakSet of protection threshold set circuit, the other end of described accurate fixed resister R13
The equal ground connection of the other end with nonpolar electric capacity C1；Outfan VBreakSet Yu the A/D conversion electricity of described protection threshold set circuit
The input on road and the input of comparison circuit are all connected with.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described direct current
Busbar voltage Acquisition Circuit include resistor voltage divider circuit, nurse one's health for upper voltage limit that DC bus-bar voltage is fluctuated
The secondary signal modulate circuit that one signal conditioning circuit and the lower voltage limit that fluctuates DC bus-bar voltage are nursed one's health, described
One signal conditioning circuit and secondary signal modulate circuit are all connected with the outfan of resistor voltage divider circuit.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described resistance
Bleeder circuit includes resistance R2, resistance R3 and the resistance R4 of series connection, and one end of resistance R2 is connected with dc bus, the one of resistance R4
End ground connection, resistance R3 and resistance R4 connects the outfan that end is described resistor voltage divider circuit；Described first signal conditioning circuit
Including first operational amplifier U1A in chip TL082 and resistance R12, first operation amplifier in described chip TL082
The in-phase input end of device U1A is connected with the outfan of described resistor voltage divider circuit by resistance R8, and by resistance R7 ground connection, institute
The inverting input stating first operational amplifier U1A in chip TL082 passes through resistance R9 ground connection, in described chip TL082
First operational amplifier U1A inverting input and outfan between be connected to resistance R10, in described chip TL082
The outfan of one operational amplifier U1A is connected with one end of resistance R12, and the other end of described resistance R12 is described first letter
The outfan of number modulate circuit；Described secondary signal modulate circuit include second operational amplifier U1B in chip TL082 and
Resistance R11, the in-phase input end of second operational amplifier U1B in described chip TL082 is by resistance R5 and described resistance
The outfan of bleeder circuit connects, and by resistance R6 ground connection, second operational amplifier U1B's in described chip TL082
Inverting input pass through resistance R17 ground connection, the inverting input of second operational amplifier U1B in described chip TL082 with
Being connected to resistance R18 between outfan, the outfan of second operational amplifier U1B in described chip TL082 is with resistance R11's
One end connects, and the other end of described resistance R11 is the outfan of described secondary signal modulate circuit；Described first signal condition electricity
The outfan on road and the outfan of described secondary signal modulate circuit and the input of A/D change-over circuit and the input of comparison circuit
End is all connected with.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described comparison
Circuit includes comparator chip LM293, resistance R14 and audion Q1, first comparator in described comparator chip LM293
The in-phase input end of the in-phase input end of U2A and second comparator U2B all with protection threshold set circuit outfan
VBreakSet connects, the inverting input of first comparator U2A in described comparator chip LM293 and described first letter
The outfan of number modulate circuit connects, the inverting input of second comparator U2B in described comparator chip LM293 and institute
The outfan stating secondary signal modulate circuit connects, one end of described resistance R14 and first in described comparator chip LM293
The in-phase input end of individual comparator U2A and the in-phase input end of second comparator U2B are all connected with, another of described resistance R14
Hold equal with the outfan of the outfan of first comparator U2A in described comparator chip LM293 and second comparator U2B
Connect, the outfan and second of first comparator U2A in the base stage of described audion Q1 and described comparator chip LM293
The outfan of individual comparator U2B is all connected with, and is connected with the outfan of power circuit by resistance R1, and described audion Q1 sends out
Emitter grounding, the outfan of the current collection extremely comparison circuit of described audion Q1, and by the output of resistance 19 with power circuit
End connects.
Above-mentioned protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: described overvoltage
Leadage circuit includes release switching tube Q2, sustained diode 1 and Zener diode D5, described in release switching tube Q2 grid lead to
The negative electrode crossing resistance R21 and Zener diode D5 is connected, and by resistance R20 ground connection, described resistance R21 and Zener diode D5
The end that connects of negative electrode be connected with the outfan of comparison circuit, described in release the source electrode of switching tube Q2 and the sun of Zener diode D5
Extremely all ground connection, described in the release drain electrode of switching tube Q2 is connected with dc bus by resistance R23, and pass through the resistance R22 connected
With nonpolar electric capacity C2 ground connection, the anode of described sustained diode 1 is connected with the drain electrode of the switching tube Q2 that releases, described afterflow two
The negative electrode of pole pipe D1 is connected with dc bus.
Present invention also offers that a kind of method step is simple, it is the most electric to realize the protection adjustable servo controller of threshold value easily
Press guard method of releasing, it is characterised in that the method comprises the following steps:
Dc bus is exported and is converted to described microcontroller, A/D to its DC bus-bar voltage by step one, power circuit
Supply voltage needed for change-over circuit, protection threshold set circuit and comparison circuit, and be microcontroller, A/D change-over circuit, guarantor
Protect threshold set circuit and comparison circuit is powered；
Step 2, operation protection threshold set circuit set protection threshold voltage VBreakSet, protect threshold set circuit
Power circuit is exported and exports to comparison circuit to its Voltage Cortrol after protection threshold voltage VBreakSet, will protect meanwhile
Protect threshold voltage VBreakSet export carry out A/D conversion to A/D change-over circuit after export to microcontroller；
The dc bus electricity that dc bus is exported by the resistor voltage divider circuit in step 3, DC bus-bar voltage collection circuit
Pressure detects in real time, the DC bus-bar voltage detected is exported in real time to A/D change-over circuit carry out after A/D conversion output to
Microcontroller；Meanwhile, the while of the DC bus-bar voltage that the resistor voltage divider circuit in DC bus-bar voltage collection circuit will detect
Output is to the first signal conditioning circuit in DC bus-bar voltage collection circuit and secondary signal modulate circuit, described first signal
DC bus-bar voltage is fluctuated and exports the real-time sampling value of DC bus-bar voltage after upper voltage limit is nursed one's health by modulate circuit
VBus_Up is to comparison circuit and microcontroller, the described secondary signal modulate circuit fluctuation lower voltage limit to DC bus-bar voltage
Real-time sampling value VBus_Down of DC bus-bar voltage be exported to comparison circuit and microcontroller after nursing one's health；
Step 4, comparison circuit are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold value
Voltage VBreakSet compares, when real-time sampling value VBus_Up of DC bus-bar voltage is more than protection threshold voltage
During VBreakSet, comparison circuit produces control signal BREAK of releasing of 5V and exports to overpressure vent circuit, when dc bus electricity
When real-time sampling value VBus_Down of pressure is less than protection threshold voltage VBreakSet, the output signal that comparison circuit produces 0V is defeated
Go out to overpressure vent circuit；
Step 5, when comparison circuit produce 5V control signal BREAK of releasing export to overpressure vent circuit time, overvoltage is let out
Put circuit realiration overpressure vent defencive function, when the output signal that comparison circuit produces 0V exports to overpressure vent circuit, mistake
Pressure leadage circuit does not works；
Step 6, microcontroller are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold value
Voltage VBreakSet compares, when, in calculating cycle T, when there is any one operating mode in following two operating mode, assert
Occur in that fault, microprocessor controls inverter circuit quit work for overpressure vent circuit；
Operating mode one, protection threshold voltage VBreakSet are than microcontroller real-time sampling value VBus_ to DC bus-bar voltage
Up is low, and the DC bus-bar voltage that receives of microcontroller is constant or persistently rises；
Operating mode two, protection threshold voltage VBreakSet are than microcontroller real-time sampling value VBus_ to DC bus-bar voltage
Down is high, and the DC bus-bar voltage continuous decrease that microcontroller receives.
Above-mentioned method, it is characterised in that: calculating cycle T described in step 6 is 1ms.
The present invention compared with prior art has the advantage that
1, the release circuit structure of protection circuit of servo controller overvoltage of the present invention is simple, reasonable in design, it is achieved convenient.
2, the present invention is by arranging protection threshold set circuit, utilizes the multi-turn precision current potential in protection threshold set circuit
Device, can set according to servo controller application scenario and release protection threshold voltage, utilizes hardware circuit to realize releasing control, takes into account
Motility and real-time, simple to operate.
3, the present invention is by arranging microcontroller and A/D change-over circuit, and is controlled inverter circuit, increases releasing
The monitoring of protection effectiveness, in the case of shielding failure of releasing, disconnects input and output circuit, it is ensured that system and safety.
4, existing servo controller is changed and can be realized by the present invention a little, and exploitativeness is strong, and increases low cost.
5, busbar voltage can protection near threshold voltage fluctuate up and down, the present invention by arrange by resistor voltage divider circuit,
The first signal conditioning circuit of nursing one's health for upper voltage limit that DC bus-bar voltage is fluctuated and to DC bus-bar voltage
The DC bus-bar voltage collection circuit that the secondary signal modulate circuit that fluctuation lower voltage limit carries out nursing one's health is constituted, more stagnant chain rate is set
Relatively circuit, it is possible to eliminate busbar voltage and fluctuate up and down the problem that the switching tube of releasing caused frequently switches on, it is possible to extend and release out
Close the service life of pipe, thus extend the service life of overpressure vent circuit.
6, the release method step of guard method of servo controller overvoltage of the present invention is simple, it is achieved convenient.
7, the present invention's is practical, and using effect is good, it is simple to promote the use of.
In sum, the present invention's is reasonable in design, it is achieved convenient, utilizes hardware circuit to realize DC bus-bar voltage bleeder pipe
Reason, on the basis of real-time is released in guarantee, adding the motility that protection threshold voltage of releasing is arranged, adding overvoltage simultaneously
Releasing shielding failure control function, improve the reliability of servo controller, practical, using effect is good, it is simple to promotes and makes
With.
Below by drawings and Examples, technical scheme is described in further detail.
Accompanying drawing explanation
Fig. 1 is that the present invention protects threshold value adjustable servo controller overvoltage to release the schematic block circuit diagram of protection device.
Fig. 2 is the circuit theory diagrams of power circuit of the present invention.
Fig. 3 is microcontroller of the present invention and the circuit theory diagrams of A/D change-over circuit.
Fig. 4 is the circuit theory diagrams of DC bus-bar voltage collection circuit of the present invention.
Fig. 5 is the circuit theory diagrams that the present invention protects threshold set circuit.
Fig. 6 is the circuit theory diagrams of comparison circuit of the present invention.
Fig. 7 is the circuit theory diagrams of overpressure vent circuit of the present invention.
Description of reference numerals:
1 power circuit；2 microcontrollers；3 A/D change-over circuits；
4 DC bus-bar voltage collection circuits；5 protection threshold set circuit；6 comparison circuits；
7 overpressure vent circuit；8 inverter circuits；9 dc bus.
Detailed description of the invention
The protection device as it is shown in figure 1, the protection threshold value adjustable servo controller overvoltage of the present invention is released, including micro-control
Device 2 processed and the power circuit 1 powered for each power unit in device, and DC bus-bar voltage collection circuit 4, protection threshold value set
Determine circuit 5 and comparison circuit 6；Described power circuit 1 is connected with dc bus 9, and the input of described microcontroller 2 is connected to A/D
Change-over circuit 3, the input of described DC bus-bar voltage collection circuit 4 is connected with dc bus 9, and described DC bus-bar voltage is adopted
The outfan of collector 4 is all connected with the input of A/D change-over circuit 3 and the input of comparison circuit 6, described comparison circuit 6
Input also with protection threshold set circuit 5 outfan be connected, the outfan of described protection threshold set circuit 5 also with A/
The input of D change-over circuit 3 connects, and the outfan of described comparison circuit 6 is connected to overpressure vent circuit 7, described overpressure vent electricity
Road 7 is connected with dc bus 9, and the outfan of described microcontroller 2 is connected with inverter circuit 8, and described inverter circuit 8 is female with direct current
Line 9 connects；Described microcontroller 2, A/D change-over circuit 3, protection threshold set circuit 5 and comparison circuit 6 all with power circuit 1
Outfan connect.
In the present embodiment, as in figure 2 it is shown, described power circuit 1 include 15V voltage conversion circuit, 5V voltage conversion circuit,
3.3V voltage conversion circuit and 1.8V voltage conversion circuit, described 15V voltage conversion circuit includes chip 7815, fast recovery two poles
Pipe D2 and fast recovery diode D3, the 1st pin of described chip 7815 is by the negative electrode of resistance R24 and fast recovery diode D2 even
Connect, and nonpolar electric capacity C4 in parallel and polar capacitor C5 ground connection；The anode of described fast recovery diode D2 is female with direct current
Line 9 connects, and the negative electrode of described fast recovery diode D2 passes through nonpolar electric capacity C3 ground connection；The anode of described fast recovery diode D3
Being connected with the 3rd pin of chip 7815, the negative electrode of described fast recovery diode D3 is connected with the 1st pin of chip 7815, described
2nd pin ground connection of chip 7815；The outfan VDD_ that 3rd pin is described 15V voltage conversion circuit of described chip 7815
15V, and nonpolar electric capacity C8, polar capacitor C6 in parallel and polar capacitor C7 ground connection；Described 5V voltage conversion circuit bag
Including chip 7805 and fast recovery diode D4, the 1st pin of described chip 7805 is changed with described 15V voltage by resistance R25
The outfan VDD_15V of circuit connects, and nonpolar electric capacity C9 in parallel and polar capacitor C10 ground connection；Described fast recovery
The anode of diode D4 is connected with the 3rd pin of chip 7805, the negative electrode of described fast recovery diode D4 and the 1st of chip 7805 the
Pin connects, the 2nd pin ground connection of described chip 7805；3rd pin of described chip 7805 is described 5V voltage conversion circuit
Outfan VDD_5V, and nonpolar electric capacity C14 in parallel and polar capacitor C13 ground connection；Described 3.3V voltage conversion electricity
Road includes chip PS767D301, resistance R15, polar capacitor C11 and nonpolar electric capacity C12, the 1st of described chip PS767D301
Pin, the 5th pin, the 6th pin, the 11st pin and the 12nd pin are all with the outfan VDD_5V of described 5V voltage conversion circuit even
Connect, the 2nd pin of described chip PS767D301, the 3rd pin, the 7th～10 pins, the 13rd～16 pins, the 19th～21 pins,
22nd pin and the 28th of the 26th pin and the 27th equal ground connection of pin, one end of described resistance R15 and described chip PS767D301
Pin connects, the negative pole of described polar capacitor C11 and the equal ground connection in one end of nonpolar electric capacity C12, another of described resistance R15
End, the other end of the positive pole of polar capacitor C11 and nonpolar electric capacity C12 connect and for the output of described 3.3V voltage conversion circuit
End 3.3V；Described 1.8V voltage conversion circuit includes chip PS767D301, resistance R16, resistance R23 and polar capacitor C15, institute
23rd pin and the 24th pin of the positive pole and described chip PS767D301 of stating polar capacitor C15 are connected, described resistance R23's
One end of one end and resistance R16 all the 25th pins with described chip PS767D301 are connected, the negative pole of described polar capacitor C15
The equal ground connection with the other end of resistance R23, the positive pole of described polar capacitor C15 and the other end of resistance R16 connect and are described
The outfan 1.8V of 1.8V voltage conversion circuit.
In the present embodiment, as it is shown on figure 3, described microcontroller 2 is DSP TMS320F2808, described
A/D change-over circuit 3 is integrated in inside described DSP TMS320F2808.When being embodied as, described microcontroller
Device 2 and A/D change-over circuit 3 all outfan 3.3V with described 3.3V voltage conversion circuit are connected.
In the present embodiment, as it is shown in figure 5, described protection threshold set circuit 5 includes multi-turn precision potentiator VR1, precision
Fixed resister R13 and nonpolar electric capacity C1, the fixing end of of described multi-turn precision potentiator VR1 is defeated with power circuit 1
Going out end to connect, another fixing end of described multi-turn precision potentiator VR1 is connected with one end of accurate fixed resister R13, institute
The sliding end stating multi-turn precision potentiator VR1 is connected with one end of nonpolar electric capacity C1 and for protecting the defeated of threshold set circuit 5
Go out and hold VBreakSet, the other end of described accurate fixed resister R13 and the equal ground connection of the other end of nonpolar electric capacity C1；Described
The input of outfan VBreakSet and the A/D change-over circuit 3 of protection threshold set circuit 5 and the input of comparison circuit 6 are equal
Connect.When being embodied as, the fixing end of of described multi-turn precision potentiator VR1 and the output of described 3.3V voltage conversion circuit
End 3.3V connects.
In the present embodiment, described DC bus-bar voltage collection circuit 4 includes resistor voltage divider circuit, for dc bus 9
The fluctuation upper voltage limit of voltage carries out the first signal conditioning circuit of nursing one's health and enters the fluctuation lower voltage limit of dc bus 9 voltage
The secondary signal modulate circuit of row conditioning, described first signal conditioning circuit and secondary signal modulate circuit are all electric with electric resistance partial pressure
The outfan on road connects.
In the present embodiment, as shown in Figure 4, described resistor voltage divider circuit includes resistance R2, resistance R3 and the resistance R4 of series connection,
One end of resistance R2 is connected with dc bus 9, one end ground connection of resistance R4, and the connection end of resistance R3 and resistance R4 is described resistance
The outfan VBus_Dsp of bleeder circuit；Described first signal conditioning circuit includes first operation amplifier in chip TL082
Device U1A and resistance R12, the in-phase input end of first operational amplifier U1A in described chip TL082 passes through resistance R8 and institute
The outfan VBus_Dsp stating resistor voltage divider circuit connects, and by resistance R7 ground connection, first fortune in described chip TL082
The inverting input calculating amplifier U1A passes through resistance R9 ground connection, first operational amplifier U1A's in described chip TL082
Resistance R10, the output of first operational amplifier U1A in described chip TL082 it is connected between inverting input and outfan
End is connected with one end of resistance R12, and the other end of described resistance R12 is the outfan VBus_ of described first signal conditioning circuit
Up；Described secondary signal modulate circuit includes second operational amplifier U1B in chip TL082 and resistance R11, described chip
The in-phase input end of second operational amplifier U1B in TL082 is by the outfan of resistance R5 with described resistor voltage divider circuit
VBus_Dsp connects, and by resistance R6 ground connection, the anti-phase input of second operational amplifier U1B in described chip TL082
Hold by resistance R17 ground connection, the inverting input of second operational amplifier U1B in described chip TL082 and outfan it
Between be connected to resistance R18, one end of the outfan of second operational amplifier U1B in described chip TL082 and resistance R11 is even
Connecing, the other end of described resistance R11 is the outfan VBus_Down of described secondary signal modulate circuit；Described first signal is adjusted
The outfan VBus_Up of reason circuit and the outfan VBus_Down of described secondary signal modulate circuit and A/D change-over circuit 3
The input of input and comparison circuit 6 is all connected with.When being embodied as, described resistance R2, resistance R3 and resistance R4 are precision
Resistance, uses resistance R2, resistance R3 and resistance R4 that dc bus 9 voltage carries out dividing potential drop of connecting.First signal conditioning circuit is
Voltage change ratio is the signal conditioning circuit of 0.0658, secondary signal modulate circuit be voltage change ratio be 0.0694 signal condition electricity
Road.
In the present embodiment, as shown in Figure 6, described comparison circuit 6 includes comparator chip LM293, resistance R14 and audion
Q1, the in-phase input end of first comparator U2A in described comparator chip LM293 and the homophase of second comparator U2B
Input is all connected with the outfan VBreakSet protecting threshold set circuit 5, first in described comparator chip LM293
The inverting input of individual comparator U2A is connected with the outfan VBus_Up of described first signal conditioning circuit, described comparator core
The inverting input of second comparator U2B in sheet LM293 and the outfan VBus_Down of described secondary signal modulate circuit
Connect, the in-phase input end of first comparator U2A in one end of described resistance R14 and described comparator chip LM293 and
The in-phase input end of second comparator U2B is all connected with, in the other end of described resistance R14 and described comparator chip LM293
The outfan of first comparator U2A and the outfan of second comparator U2B be all connected with, the base stage of described audion Q1 with
The outfan of first comparator U2A and the outfan of second comparator U2B in described comparator chip LM293 all connect
Connect, and be connected with the outfan of power circuit 1 by resistance R1, the grounded emitter of described audion Q1, described audion Q1
The outfan BREAK of current collection extremely comparison circuit 6, and be connected with the outfan of power circuit 1 by resistance 19.It is embodied as
Time, the base stage of described audion Q1 is connected with the outfan VDD_5V of described 5V voltage conversion circuit by resistance R1, and described three
The colelctor electrode of pole pipe Q1 is connected with the outfan VDD_15V of described 15V voltage conversion circuit by resistance 19.Described comparator core
8th pin of sheet LM293 is connected with the outfan VDD_5V of described 5V voltage conversion circuit, described comparator chip LM293's
4th pin ground connection.
In the present embodiment, as it is shown in fig. 7, described overpressure vent circuit 7 includes release switching tube Q2, sustained diode 1 and
Zener diode D5, described in the release grid of switching tube Q2 be connected by the negative electrode of resistance R21 and Zener diode D5, and pass through
Resistance R20 ground connection, the end that connects of the negative electrode of described resistance R21 and Zener diode D5 is connected with the outfan of comparison circuit 6, institute
State the source electrode of the switching tube Q2 that releases and the equal ground connection of anode of Zener diode D5, described in the release drain electrode of switching tube Q2 pass through resistance
R23 is connected with dc bus 9, and by the resistance R22 connected and nonpolar electric capacity C2 ground connection, the sun of described sustained diode 1
Pole is connected with the drain electrode of the switching tube Q2 that releases, and the negative electrode of described sustained diode 1 is connected with dc bus 9.
The protection threshold value adjustable servo controller overvoltage of the present invention is released guard method, comprises the following steps:
Step one, power circuit 1 dc bus 9 is exported to its DC bus-bar voltage be converted to described microcontroller 2,
Supply voltage needed for A/D change-over circuit 3, protection threshold set circuit 5 and comparison circuit 6, and be microcontroller 2, A/D conversion
Circuit 3, protection threshold set circuit 5 and comparison circuit 6 are powered；
Step 2, operation protection threshold set circuit 5 set protection threshold voltage VBreakSet, and protection threshold value sets electricity
Power circuit 1 is exported and exports to comparison circuit 6 to its Voltage Cortrol after protection threshold voltage VBreakSet by road 5, with
Time, protection threshold voltage VBreakSet is exported and exports to microcontroller 2 after carrying out A/D conversion to A/D change-over circuit 3；Specifically
During enforcement, it is to set protection threshold voltage by the multi-turn precision potentiator VR1 in regulation protection threshold set circuit 5
VBreakSet；
The dc bus that dc bus 9 is exported by the resistor voltage divider circuit in step 3, DC bus-bar voltage collection circuit 4
Voltage detects in real time, is exported by the DC bus-bar voltage detected after carrying out A/D conversion to A/D change-over circuit 3 defeated in real time
Go out to microcontroller 2；Meanwhile, the dc bus electricity that the resistor voltage divider circuit in DC bus-bar voltage collection circuit 4 will detect
Pressure exports to the first signal conditioning circuit in DC bus-bar voltage collection circuit 4 and secondary signal modulate circuit simultaneously, described
Dc bus 9 voltage is fluctuated after upper voltage limit is nursed one's health and exports the real-time of DC bus-bar voltage by the first signal conditioning circuit
Sampled value VBus_Up is to comparison circuit 6 and microcontroller 2, the fluctuation to dc bus 9 voltage of the described secondary signal modulate circuit
Lower voltage limit exports real-time sampling value VBus_Down of DC bus-bar voltage to comparison circuit 6 and microcontroller after nursing one's health
2；
Step 4, comparison circuit 6 are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold
Threshold voltage VBreakSet compares, when real-time sampling value VBus_Up of DC bus-bar voltage is more than protection threshold voltage
During VBreakSet, comparison circuit 6 produces control signal BREAK of releasing of 5V and exports to overpressure vent circuit 7, works as dc bus
When real-time sampling value VBus_Down of voltage is less than protection threshold voltage VBreakSet, comparison circuit 6 produces the output letter of 0V
Number output to overpressure vent circuit 7；
Step 5, when control signal BREAK of releasing that comparison circuit 6 produces 5V exports to overpressure vent circuit 7, overvoltage
Leadage circuit 7 realizes overpressure vent defencive function, exports to overpressure vent circuit 7 when comparison circuit 6 produces the output signal of 0V
Time, overpressure vent circuit 7 does not works；
Step 6, microcontroller 2 are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold
Threshold voltage VBreakSet compares, and when in calculating cycle T, when there is any one operating mode in following two operating mode, recognizes
It is set to overpressure vent circuit 7 and occurs in that fault, microcontroller 2 control inverter circuit 8 and quit work；
Operating mode one, protection threshold voltage VBreakSet are than the microcontroller 2 real-time sampling value to DC bus-bar voltage
VBus_Up is low, and the DC bus-bar voltage that receives of microcontroller 2 is constant or persistently rises；
Operating mode two, protection threshold voltage VBreakSet are than the microcontroller 2 real-time sampling value to DC bus-bar voltage
VBus_Down is high, and the DC bus-bar voltage continuous decrease that microcontroller 2 receives.
In the present embodiment, calculating cycle T described in step 6 is 1ms.
The above, be only presently preferred embodiments of the present invention, not impose any restrictions the present invention, every according to the present invention
Any simple modification, change and the equivalent structure change that above example is made by technical spirit, all still falls within skill of the present invention
In the protection domain of art scheme.
Claims (10)
1. a protection threshold value adjustable servo controller overvoltage is released protection device, it is characterised in that: include microcontroller
(2) power circuit (1) and for each power unit in device powered, and DC bus-bar voltage collection circuit (4), protection threshold value
Initialization circuit (5) and comparison circuit (6)；Described power circuit (1) is connected with dc bus (9), described microcontroller (2) defeated
Entering to be terminated with A/D change-over circuit (3), the input of described DC bus-bar voltage collection circuit (4) is connected with dc bus (9),
The outfan of described DC bus-bar voltage collection circuit (4) and the input of A/D change-over circuit (3) and comparison circuit (6) defeated
Entering end to be all connected with, the input of described comparison circuit (6) is also connected with the outfan protecting threshold set circuit (5), described guarantor
Protect the outfan of threshold set circuit (5) input also with A/D change-over circuit (3) to be connected, the output of described comparison circuit (6)
Being terminated with overpressure vent circuit (7), described overpressure vent circuit (7) is connected with dc bus (9), described microcontroller (2)
Outfan is connected with inverter circuit (8), and described inverter circuit (8) is connected with dc bus (9)；Described microcontroller (2), A/D
Change-over circuit (3), protection threshold set circuit (5) and comparison circuit (6) all outfans with power circuit (1) are connected.
2. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 1, its feature exists
In: described power circuit (1) includes 15V voltage conversion circuit, 5V voltage conversion circuit, 3.3V voltage conversion circuit and 1.8V electricity
Voltage conversion circuit, described 15V voltage conversion circuit includes chip 7815, fast recovery diode D2 and fast recovery diode D3, institute
The 1st pin stating chip 7815 is connected by the negative electrode of resistance R24 and fast recovery diode D2, and nonpolar electricity in parallel
Hold C4 and polar capacitor C5 ground connection；The anode of described fast recovery diode D2 is connected with dc bus (9), described fast recovery two pole
The negative electrode of pipe D2 passes through nonpolar electric capacity C3 ground connection；The anode of described fast recovery diode D3 connects with the 3rd pin of chip 7815
Connecing, the negative electrode of described fast recovery diode D3 is connected with the 1st pin of chip 7815, the 2nd pin ground connection of described chip 7815；
The outfan that 3rd pin is described 15V voltage conversion circuit of described chip 7815, and nonpolar electric capacity C8 in parallel,
Polar capacitor C6 and polar capacitor C7 ground connection；Described 5V voltage conversion circuit includes chip 7805 and fast recovery diode D4, institute
The 1st pin stating chip 7805 is connected with the outfan of described 15V voltage conversion circuit by resistance R25, and in parallel
Nonpolar electric capacity C9 and polar capacitor C10 ground connection；The anode of described fast recovery diode D4 connects with the 3rd pin of chip 7805
Connecing, the negative electrode of described fast recovery diode D4 is connected with the 1st pin of chip 7805, the 2nd pin ground connection of described chip 7805；
The outfan that 3rd pin is described 5V voltage conversion circuit of described chip 7805, and nonpolar electric capacity C14 in parallel and
Polar capacitor C13 ground connection；Described 3.3V voltage conversion circuit includes chip PS767D301, resistance R15, polar capacitor C11 and non-
Polar capacitor C12, the 1st pin, the 5th pin, the 6th pin, the 11st pin and the 12nd pin of described chip PS767D301 all with
The outfan of described 5V voltage conversion circuit connects, and the 2nd pin of described chip PS767D301, the 3rd pin, the 7th～10 draws
Foot, the 13rd～16 pins, the 19th～21 pins, the 26th pin and the 27th equal ground connection of pin, one end of described resistance R15 is with described
22nd pin of chip PS767D301 and the 28th pin connect, the negative pole of described polar capacitor C11 and nonpolar electric capacity C12's
The equal ground connection in one end, the other end of the other end of described resistance R15, the positive pole of polar capacitor C11 and nonpolar electric capacity C12 connect and
Outfan for described 3.3V voltage conversion circuit；Described 1.8V voltage conversion circuit include chip PS767D301, resistance R16,
23rd pin and the 24th of resistance R23 and polar capacitor C15, the positive pole of described polar capacitor C15 and described chip PS767D301
Pin connects, and one end of described resistance R23 and one end of resistance R16 all the 25th pins with described chip PS767D301 are connected,
The negative pole of described polar capacitor C15 and the equal ground connection of the other end of resistance R23, the positive pole of described polar capacitor C15 and resistance R16's
The other end connects and is the outfan of described 1.8V voltage conversion circuit.
3. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 1, its feature exists
In: described microcontroller (2) is DSP TMS320F2808, and described A/D change-over circuit (3) is integrated in described
Inside DSP TMS320F2808.
4. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 1, its feature exists
In: described protection threshold set circuit (5) includes multi-turn precision potentiator VR1, accurate fixed resister R13 and nonpolar electric capacity
C1, of described multi-turn precision potentiator VR1 is fixing, and end is connected with the outfan of power circuit (1), described multi-turn precision electricity
Another fixing end of position device VR1 is connected with one end of accurate fixed resister R13, the cunning of described multi-turn precision potentiator VR1
Moved end is connected with one end of nonpolar electric capacity C1 and for protecting the outfan VBreakSet of threshold set circuit (5), described precision
The other end of fixed resister R13 and the equal ground connection of the other end of nonpolar electric capacity C1；Described protection threshold set circuit (5) defeated
Go out to hold the input of VBreakSet with A/D change-over circuit (3) and the input of comparison circuit (6) to be all connected with.
5. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 1, its feature exists
In: described DC bus-bar voltage collection circuit (4) includes resistor voltage divider circuit, for the fluctuation to dc bus (9) voltage
Voltage limit carries out the first signal conditioning circuit of nursing one's health and the lower voltage limit that fluctuates dc bus (9) voltage is nursed one's health
Binary signal modulate circuit, described first signal conditioning circuit and secondary signal modulate circuit all with the outfan of resistor voltage divider circuit
Connect.
6. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 5, its feature exists
In: described resistor voltage divider circuit includes resistance R2, resistance R3 and the resistance R4 of series connection, one end of resistance R2 and dc bus (9)
Connecting, one end ground connection of resistance R4, resistance R3 and resistance R4 connects the outfan that end is described resistor voltage divider circuit；Described
One signal conditioning circuit includes first operational amplifier U1A in chip TL082 and resistance R12, in described chip TL082
The in-phase input end of first operational amplifier U1A is connected with the outfan of described resistor voltage divider circuit by resistance R8, and logical
Crossing resistance R7 ground connection, the inverting input of first operational amplifier U1A in described chip TL082 passes through resistance R9 ground connection,
Resistance R10 it is connected between inverting input and the outfan of first operational amplifier U1A in described chip TL082, described
The outfan of first operational amplifier U1A in chip TL082 is connected with one end of resistance R12, another of described resistance R12
End is the outfan of described first signal conditioning circuit；Described secondary signal modulate circuit includes second in chip TL082
Operational amplifier U1B and resistance R11, the in-phase input end of second operational amplifier U1B in described chip TL082 is by electricity
Resistance R5 is connected with the outfan of described resistor voltage divider circuit, and by resistance R6 ground connection, second fortune in described chip TL082
The inverting input calculating amplifier U1B passes through resistance R17 ground connection, second operational amplifier U1B's in described chip TL082
Resistance R18, the output of second operational amplifier U1B in described chip TL082 it is connected between inverting input and outfan
End is connected with one end of resistance R11, and the other end of described resistance R11 is the outfan of described secondary signal modulate circuit；Described
The input of the outfan of the first signal conditioning circuit and the outfan of described secondary signal modulate circuit and A/D change-over circuit (3)
The input of end and comparison circuit (6) is all connected with.
7. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 5, its feature exists
In: described comparison circuit (6) includes comparator chip LM293, resistance R14 and audion Q1, in described comparator chip LM293
The in-phase input end of first comparator U2A and the in-phase input end of second comparator U2B all set electricity with protection threshold value
The outfan VBreakSet on road (5) connects, the inverting input of first comparator U2A in described comparator chip LM293
Being connected with the outfan of described first signal conditioning circuit, second comparator U2B's in described comparator chip LM293 is anti-
Phase input is connected with the outfan of described secondary signal modulate circuit, one end of described resistance R14 and described comparator chip
The in-phase input end of first comparator U2A in LM293 and the in-phase input end of second comparator U2B are all connected with, described
The outfan of first comparator U2A in the other end of resistance R14 and described comparator chip LM293 and second comparator
The outfan of U2B is all connected with, the base stage of described audion Q1 and first comparator U2A in described comparator chip LM293
Outfan and the outfan of second comparator U2B be all connected with, and by the outfan of resistance R1 and power circuit (1) even
Connect, the grounded emitter of described audion Q1, the outfan of the current collection extremely comparison circuit (6) of described audion Q1, and pass through
Resistance 19 is connected with the outfan of power circuit (1).
8. releasing protection device according to the protection threshold value adjustable servo controller overvoltage described in claim 1, its feature exists
In: described overpressure vent circuit (7) includes release switching tube Q2, sustained diode 1 and Zener diode D5, described in release out
The grid closing pipe Q2 is connected by the negative electrode of resistance R21 and Zener diode D5, and by resistance R20 ground connection, described resistance R21
Be connected with the outfan of comparison circuit (6) with the connection end of negative electrode of Zener diode D5, described in release the source electrode of switching tube Q2
The equal ground connection with the anode of Zener diode D5, described in release switching tube Q2 drain electrode by resistance R23 and dc bus (9) even
Connect, and by the resistance R22 connected and nonpolar electric capacity C2 ground connection, the anode of described sustained diode 1 and the switching tube Q2 that releases
Drain electrode connect, the negative electrode of described sustained diode 1 is connected with dc bus (9).
9. one kind utilizes device as claimed in claim 5 to carry out servo controller protecting the adjustable overvoltage of threshold value to release guarantor
The method protected, it is characterised in that the method comprises the following steps:
Dc bus (9) is exported and is converted to described microcontroller to its DC bus-bar voltage by step one, power circuit (1)
(2), A/D change-over circuit (3), supply voltage needed for protection threshold set circuit (5) and comparison circuit (6), and be microcontroller
Device (2), A/D change-over circuit (3), protection threshold set circuit (5) and comparison circuit (6) power supply；
Step 2, operation protection threshold set circuit (5) set protection threshold voltage VBreakSet, protect threshold set circuit
(5) power circuit (1) is exported to its Voltage Cortrol to protection threshold voltage VBreakSet after export to comparison circuit (6),
Meanwhile, protection threshold voltage VBreakSet is exported carry out A/D conversion to A/D change-over circuit (3) after export to microcontroller
(2)；
The dc bus that dc bus (9) is exported by the resistor voltage divider circuit in step 3, DC bus-bar voltage collection circuit (4)
Voltage detects in real time, is exported in real time by the DC bus-bar voltage detected after carrying out A/D conversion to A/D change-over circuit (3)
Output is to microcontroller (2)；Meanwhile, the direct current that the resistor voltage divider circuit in DC bus-bar voltage collection circuit (4) will detect
Busbar voltage exports simultaneously nurses one's health electricity to the first signal conditioning circuit in DC bus-bar voltage collection circuit (4) and secondary signal
Road, described first signal conditioning circuit exports dc bus after nursing one's health the fluctuation upper voltage limit of dc bus (9) voltage
Real-time sampling value VBus_Up of voltage is to comparison circuit (6) and microcontroller (2), and described secondary signal modulate circuit is to direct current
Bus (9) voltage fluctuation lower voltage limit nurse one's health after export DC bus-bar voltage real-time sampling value VBus_Down give than
Relatively circuit (6) and microcontroller (2)；
Step 4, comparison circuit (6) are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold value
Voltage VBreakSet compares, when real-time sampling value VBus_Up of DC bus-bar voltage is more than protection threshold voltage
During VBreakSet, comparison circuit (6) produces control signal BREAK of releasing of 5V and exports to overpressure vent circuit (7), works as direct current
When real-time sampling value VBus_Down of busbar voltage is less than protection threshold voltage VBreakSet, comparison circuit (6) produces 0V's
Output signal exports to overpressure vent circuit (7)；
Step 5, when comparison circuit (6) produce 5V control signal BREAK of releasing export to overpressure vent circuit (7) time, overvoltage
Leadage circuit (7) realizes overpressure vent defencive function, when the output signal of comparison circuit (6) generation 0V exports to overpressure vent electricity
During road (7), overpressure vent circuit (7) does not works；
Step 6, microcontroller (2) are to real-time sampling value VBus_Up of DC bus-bar voltage and VBus_Down and protection threshold value
Voltage VBreakSet compares, when, in calculating cycle T, when there is any one operating mode in following two operating mode, assert
Occurring in that fault for overpressure vent circuit (7), microcontroller (2) controls inverter circuit (8) and quits work；
Operating mode one, protection threshold voltage VBreakSet are than the microcontroller (2) real-time sampling value VBus_ to DC bus-bar voltage
Up is low, and the DC bus-bar voltage that receives of microcontroller (2) is constant or persistently rises；
Operating mode two, protection threshold voltage VBreakSet are than the microcontroller (2) real-time sampling value VBus_ to DC bus-bar voltage
Down is high, and the DC bus-bar voltage continuous decrease that microcontroller (2) receives.
The most in accordance with the method for claim 9, it is characterised in that: calculating cycle T described in step 6 is 1ms.
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