CN106816854A - A kind of excessively stream cascade protection method of response servo-drive high - Google Patents
A kind of excessively stream cascade protection method of response servo-drive high Download PDFInfo
- Publication number
- CN106816854A CN106816854A CN201510849916.9A CN201510849916A CN106816854A CN 106816854 A CN106816854 A CN 106816854A CN 201510849916 A CN201510849916 A CN 201510849916A CN 106816854 A CN106816854 A CN 106816854A
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- Prior art keywords
- current
- servo
- igbt
- servomotor
- excessively stream
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/08—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current
- H02H3/083—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection responsive to excess current for three-phase systems
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H3/00—Emergency protective circuit arrangements for automatic disconnection directly responsive to an undesired change from normal electric working condition with or without subsequent reconnection ; integrated protection
- H02H3/02—Details
- H02H3/04—Details with warning or supervision in addition to disconnection, e.g. for indicating that protective apparatus has functioned
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0854—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load responsive to rate of change of current, couple or speed, e.g. anti-kickback protection
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
- H02H7/0856—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load characterised by the protection measure taken
Landscapes
- Protection Of Generators And Motors (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention belongs to numerical control servo control field, specifically a kind of excessively stream cascade protection method of response servo-drive high.The present invention is by the research to height response servo-driver current detecting link; excessively stream cascade protection model is set up in the structure of conventional servo system; a kind of method that how can carry out effective protection to servo and motor again while servo response high is realized is proposed, through proving the fast dynamic response characteristic for realizing servo that the method can be safe and reliable.
Description
Technical field
The invention belongs to numerical control servo control field, specifically a kind of flow point excessively of response servo-drive high
Level guard method.
Background technology
High-performance AC servo system is used as high-speed high-precision Digit Control Machine Tool, high-speed digitization be mechanical, integrated electricity
Road manufactures the important drive device with sealed in unit etc., is widely used in electromechanical equipment is modernized.
With the requirement more and more higher of product processing quality, the performance requirement to AC servo is also increasingly harsher.
The responding ability of feed servo-system be largely fixed the machining accuracy of digital control system, surface quality and
Production efficiency, height response has become the important symbol of high performance servo.
Meanwhile, the stability and reliability of servo controller protection system are also that the performance of servo-control system refers to
One of mark.Servo is frequently encountered various working conditions when working, such as：Overload, load short circuits, bridge arm are straight
Logical, too high increase in current rate, the too high rate of voltage rise, the bad or failure that radiates cause device to overheat
Deng these factors can all influence the normal work of servo.Particularly under severe industrial environment, protection system
System can also often occur protecting by mistake or protect slow phenomenon, and then cause system to work abnormal or even damage
Bad device.With deepening continuously for AC Servo Technology research, being rationally designed to for system protection link is non-
One of often important content.One control system can normal work, except each link can guarantee that normal work,
It is also contemplated that some influences of external disturbing factor to system, system should have self-protection function.Perfect
Link of protection, not only can greatly improve also its reliability with the service life of extension fixture.
With the development of advanced manufacturing industry, to the performance requirement of servo-drive also more and more higher.High-quality is watched
Clothes should possess quick dynamic response characteristic, so that system has good dynamic following performance, eliminate as early as possible
Influence of the load disturbance to motor speed.And to realize response high, it is necessary to suffer from a problem that be exactly
Start and stop, to the impact of machinery when particularly commutating.Traditional response servo high causes excessively stream due to this impact
The fault rate of damage is very high always, therefore, giving full play to motor performance, it is ensured that servo quick response it is same
When how to design and a set of seem particularly heavy with real-time and reliable and stable servo controller protection system
Will.
The content of the invention
For the part of above shortcomings in the prior art, the technical problem to be solved in the present invention is to provide one
Plant the excessively stream cascade protection method of response servo-drive high.
The technical scheme that is used to achieve the above object of the present invention is：A kind of excessively stream of response servo-drive high
Cascade protection method, including：
The Vce voltage changes of IGBT are detected according to special drive module, detects that IGBT electric currents are not less than
The over-current state of itself 4 times of rated current, and turn off IGBT；
According to the mode of detection bus current, bus current is detected more than IGBT rated current and is less than
The over-current state that 4 times of IGBT rated current, and the grid voltage of IGBT is reduced first, if in setting time
Over-current state does not disappear still, then turn off IGBT；
According to the detection to servomotor phase current, detect that current of electric is specified not less than 3 times of servomotor
Electric current and less than the over-current state of IGBT rated current, and produce excessively stream to alarm；
According to the detection to servomotor phase current, detect current of electric more than servomotor rated current and
Less than 3 times of overload of servomotor rated current, and the motor overload provided according to servomotor manufacturer
The corresponding relation of multiple and time graph, is alarmed by the way of integration is cumulative.
The special drive module is chip EXB841, M57962L, IR2110 when for high-power servo
In one kind, be the one kind in HCPL-316J, ACPL-332J, PC929 when for middle low power servo.
It is described detection busbar voltage mode be：Added using Hall current sensor or sampling resistor on bus
Hardware protection circuit.
The detection on servomotor three-phase, specially：Using the Hall current on servomotor three-phase
Sensor or sampling resistor obtain sampled value, by being detected through A/D after amplifier.
It is described to be alarmed by the way of integration is cumulative, specially：If electric current is tired in setting time
Plus and more than given threshold, then assert load capacity of the electric current beyond servomotor, send alarm signal.
The present invention has advantages below and beneficial effect：
1. with strong points, the excessively stream that different operating modes are caused its protection want seeking time difference, using cascade protection
Measure, utilization rate and service life are elongated；
2. different processing modes is used according to excessively stream size and time length, ensure servo and motor not by
Its performance is given full play to while damage, high speed, the requirement of response high is reached；
3. in addition to each link can guarantee that normal work, it is also contemplated that various site of deployment environment are complicated, outside some
In influence of the disturbing factor to servo, it is to avoid servo misoperation, its reliability is improved；
4. the cascade protection method that pair high speed, high accuracy, response servo high are used is preventing the same of servo misoperation
When can effectively be protected, greatly enhance the reliability of servo-drive.
Brief description of the drawings
Fig. 1 is servo-drive cascade protection curve map of the invention；
Fig. 2 is short circuit figure between servo upper and lower bridge arm of the invention；
Fig. 3 is servo side of the invention power terminal short circuit figure；
Fig. 4 is the short-circuit protection circuit figure based on special chip ACPL-332J of the invention；
Fig. 5 is motor side power terminal of the invention short circuit figure；
Fig. 6 is bus current foldback circuit figure of the invention；
Fig. 7 is motor overload curve map of the invention；
Fig. 8 is servo-drive system excessively stream cascade protection figure.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment the present invention is described in further detail.
Overall plan of the invention as shown in Fig. 1, Fig. 8, according to the corresponding relation of electric current in curve and time,
Fig. 1 curves lower section is the reliable area of servo operation, and the current value obtained using detection can monitor in real time servo
State, is allowed to give full play to high responsiveness energy in reasonable interval, and is unlikely to be damaged.
Specific implementation process is as follows：
1. Fig. 2 is the upper and lower bridge arm short circuit that servo hardware or software failure are caused, and Fig. 3 is servo side power end
Sub- short circuit, the inductance value very little in its short-circuit loop, about 100nH grades, current changing rate is exceedingly fast, wink
When the energy that produces it is also very huge, both short circuits have a common ground, that is, IGBT occurs and " moves back
Saturated phenomenon ", when IGBT once exits saturation region, hundred times of past rising is understood into its loss, then allow
The time for continuing this state is very harsh, it is necessary to less than 10us, can be using the Vce of detection IGBT
Voltage changes to timely respond to be switched off, and the electric current is typically larger than 4 times of IGBT rated current.Tool
Body acupuncture can use special drive module, such as EXB841, M57962L, IR2110 etc. to high-power servo,
For middle low power servo also can use the more preferable special chip of cost performance, such as HCPL-316J, ACPL-332J,
PC929 etc., Fig. 4 are the short-circuit protection circuit figure based on special chip ACPL-332J, when detecting IGBT
Vce be more than 6.5V when Fo output alarm signals.
2. Fig. 5 is the short circuit of motor side power terminal, and the inductance value in its short-circuit loop is slightly larger, about uH
Level, electric current climbs slightly slow (relative to short circuit), and IGBT will not move back saturated phenomenon, but due to electric current
It is more much higher than nominal situation, therefore by after several switch periods, the loss of IGBT also can be higher,
Junction temperature can also rise rapidly, so as to cause failure.At this moment, IGBT drivers can not usually find in time
This phenomenon, because the saturation voltage drop Vce changes of IGBT are very faint, driver is the generally recognized less than this
Change is planted, it is necessary to effectively be protected by the way of bus current is monitored, its guard time generally exists
First grid voltage can be dropped between 10us-100us, when monitoring exception to IGBT to be turned off without horse back, it is different after 100us
Often do not disappear still, turn off, be prevented effectively from interference signal misoperation, the electric current is usually IGBT rated current
1-4 times.The side of hardware protection circuit can specifically be added using Hall current sensor or sampling resistor on bus
Formula, as shown in fig. 6, adding sampling resistor between P, P1, SC is notice host computer abnormal signal, LV after excessively stream
It is drop gate voltage signal.
3. for the situation of load changing particularly motor rotation blockage, rated current of its electric current less than IGBT, but
During more than 2.5-3 times of rated current of servomotor, Hall current sensor or sampling can be added on the three-phase of motor
Resistance, is detected after amplifier using A/D, and its guard time is usual between 100us-1s, the signal
Continue more than 1s then software alarms, it is to avoid motor damage.
4. Rated motor torque or the too fast situation of servo acceleration and deceleration are more than for load, its electric current is in servo electricity
When between 1-3 times of machine rated current, current sensor or sampling resistor can also be used carries out A/D detections.
As shown in fig. 7, the corresponding relation of the motor overload multiple provided according to motor manufacturer and time graph, takes
Different measure, by the way of integration is cumulative, if electric current within a certain period of time cumulative and more than setting
Threshold values, the ability beyond motor is then alarmed.Allow to provide corresponding for servo response high in this mode short time
Electric current, it is ensured that the rapidity and followability of system, improve motor utilization rate, while also effectively protection electricity
Machine.
Claims (5)
1. it is a kind of it is high response servo-drive excessively stream cascade protection method, it is characterised in that including：
The Vce voltage changes of IGBT are detected according to special drive module, detects that IGBT electric currents are not less than
The over-current state of itself 4 times of rated current, and turn off IGBT；
According to the mode of detection bus current, bus current is detected more than IGBT rated current and is less than
The over-current state that 4 times of IGBT rated current, and the grid voltage of IGBT is reduced first, if in setting time
Over-current state does not disappear still, then turn off IGBT；
According to the detection to servomotor phase current, detect that current of electric is specified not less than 3 times of servomotor
Electric current and less than the over-current state of IGBT rated current, and produce excessively stream to alarm；
According to the detection to servomotor phase current, detect current of electric more than servomotor rated current and
Less than 3 times of overload of servomotor rated current, and the motor overload provided according to servomotor manufacturer
The corresponding relation of multiple and time graph, is alarmed by the way of integration is cumulative.
2. the excessively stream cascade protection method of a kind of response servo-drive high according to claim 1, it is special
Levy and be, the special drive module when for high-power servo for chip EXB841, M57962L,
One kind in IR2110, is HCPL-316J, ACPL-332J, PC929 when for middle low power servo
In one kind.
3. the excessively stream cascade protection method of a kind of response servo-drive high according to claim 1, it is special
Levy and be, the mode of the detection busbar voltage is：Using Hall current sensor or sampling electricity on bus
Resistance plus hardware protection circuit.
4. the excessively stream cascade protection method of a kind of response servo-drive high according to claim 1, it is special
Levy and be, the detection on servomotor three-phase, specially：Using the Hall on servomotor three-phase
Current sensor or sampling resistor obtain sampled value, by being detected through A/D after amplifier.
5. the excessively stream cascade protection method of a kind of response servo-drive high according to claim 1, it is special
Levy and be, it is described to be alarmed by the way of integration is cumulative, specially：If electric current is in setting time
It is cumulative and more than given threshold, then assert load capacity of the electric current beyond servomotor, send alarm signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849916.9A CN106816854A (en) | 2015-11-27 | 2015-11-27 | A kind of excessively stream cascade protection method of response servo-drive high |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510849916.9A CN106816854A (en) | 2015-11-27 | 2015-11-27 | A kind of excessively stream cascade protection method of response servo-drive high |
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| Publication Number | Publication Date |
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| CN106816854A true CN106816854A (en) | 2017-06-09 |
Family
ID=59103247
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510849916.9A Pending CN106816854A (en) | 2015-11-27 | 2015-11-27 | A kind of excessively stream cascade protection method of response servo-drive high |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108390547A (en) * | 2018-02-05 | 2018-08-10 | 北京交通大学 | It is a kind of based on current threshold judge inverse conductivity type IGBT gate poles move back driven saturated method in advance |
| CN108599670A (en) * | 2018-05-07 | 2018-09-28 | 孟晓丽 | Speed regulation control method for special frequency converter for heavy-load motor |
| CN108829173A (en) * | 2018-09-19 | 2018-11-16 | 无锡镭可施光电技术有限公司 | A kind of galvanometer analog servomechanism driver |
| CN111371065A (en) * | 2020-04-03 | 2020-07-03 | 宁波安信数控技术有限公司 | Servo driver IGBT overcurrent turn-off stage protection circuit |
| CN112993939A (en) * | 2019-12-12 | 2021-06-18 | 奥特润株式会社 | Apparatus and method for protecting over-current of clutch control system |
| CN114172356A (en) * | 2020-09-10 | 2022-03-11 | 比亚迪股份有限公司 | Overload processing method and device for bidirectional DC/DC converter, storage medium and terminal |
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| CN104363011A (en) * | 2014-10-11 | 2015-02-18 | 浙江大学 | Over-current detection and protection circuit for IGBT (insulated gate bipolar transistor) |
| CN105048414A (en) * | 2015-07-29 | 2015-11-11 | 中国科学院长春光学精密机械与物理研究所 | IGBT (Insulated Gate Bipolar Transistor) protection circuit and protection method in stepping motor driver |
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| CN102005730A (en) * | 2010-11-11 | 2011-04-06 | 陈会甫 | Overload protection device and method for electric tool |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108390547A (en) * | 2018-02-05 | 2018-08-10 | 北京交通大学 | It is a kind of based on current threshold judge inverse conductivity type IGBT gate poles move back driven saturated method in advance |
| CN108390547B (en) * | 2018-02-05 | 2019-08-27 | 北京交通大学 | It is a kind of based on current threshold judgement inverse conductivity type IGBT gate pole move back driven saturated method in advance |
| CN108599670A (en) * | 2018-05-07 | 2018-09-28 | 孟晓丽 | Speed regulation control method for special frequency converter for heavy-load motor |
| CN108829173A (en) * | 2018-09-19 | 2018-11-16 | 无锡镭可施光电技术有限公司 | A kind of galvanometer analog servomechanism driver |
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| CN112993939A (en) * | 2019-12-12 | 2021-06-18 | 奥特润株式会社 | Apparatus and method for protecting over-current of clutch control system |
| CN111371065A (en) * | 2020-04-03 | 2020-07-03 | 宁波安信数控技术有限公司 | Servo driver IGBT overcurrent turn-off stage protection circuit |
| CN114172356A (en) * | 2020-09-10 | 2022-03-11 | 比亚迪股份有限公司 | Overload processing method and device for bidirectional DC/DC converter, storage medium and terminal |
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Application publication date: 20170609 |