CN107623465B - Braking method, braking unit and robot - Google Patents
Braking method, braking unit and robot Download PDFInfo
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- CN107623465B CN107623465B CN201710859471.1A CN201710859471A CN107623465B CN 107623465 B CN107623465 B CN 107623465B CN 201710859471 A CN201710859471 A CN 201710859471A CN 107623465 B CN107623465 B CN 107623465B
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Abstract
The invention discloses a braking method, a braking unit and a robot, and relates to the technical field of motor control. The method comprises the following steps: acquiring the attribute of regenerative energy generated when the motor is braked; according to the attribute of the regenerative energy, the brake resistors in the brake units are opened in a grading mode to consume the regenerative energy. The embodiment of the invention provides a braking method, a braking unit and a robot, which realize that the braking power of the braking unit is matched with the regenerative energy generated when a motor is braked.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor control, in particular to a braking method, a braking unit and a robot.
Background
With the development of technology, robots have gradually come into our lives. A robot is known to include a robot arm, in which a plurality of arms are coupled via joint portions, and the robot arm is moved by rotation of the joint portions. Wherein, the joint part is driven by a motor, and the driving of the motor is controlled by a control system of the robot.
For a control system of a robot, the problem of acceleration and deceleration of multiple motors can be faced in the process of moving a robot arm, and particularly, in the process of braking the whole robot, the motors are decelerated to 0 from different rotating speeds. The reduction of the rotating speed of the motor cannot keep up with the reduction of the synchronous rotating speed of the motor, namely the actual speed of the motor is higher than the synchronous speed of the motor, at the moment, the direction of a rotor winding of the motor cutting a magnetic line of a rotating magnetic field is just opposite to the direction of the induced electromotive force and the current of the rotor winding during the constant-speed operation of the motor, and the reverse electromotive force is generated. The motor is actually a generator, and the motor runs in a power generation state to generate regenerative energy, and the regenerative energy feeds back kinetic energy of a dragging system to the direct current bus, so that the voltage of the direct current bus continuously rises, and even dangerous ground steps (damage of a driver and the like) are achieved. The brake unit in the prior art is designed for consuming the regenerative energy generated during the braking of the motor and inhibiting the back electromotive force of the robot. The specific process is as follows: the braking unit is connected in parallel to a power supply of the control system, after the back electromotive force is increased to a certain degree to enable the bus voltage to exceed the set threshold voltage, the braking unit is started, and the regenerative energy generated during the motor braking is consumed by using a braking resistor in the braking unit; then, after the bus voltage is lower than the set threshold voltage, the brake unit is automatically turned off.
The inventor finds that the prior art has the following defects in the process of implementing the invention: the joint robot aims at different motion tracks and loads, and the regenerative energy generated when the motor is required to be consumed for braking is different. If the braking unit is started uniformly after the bus voltage exceeds the set threshold voltage, the design power of the braking unit is usually large, and the internal resistance of the braking unit is very small, so that the energy of a power supply is usually consumed while the regenerative energy generated during the braking of the motor is consumed, and unnecessary loss is caused. Meanwhile, the bus voltage can even be reduced after the brake unit is started, which affects the stability of the control system.
Disclosure of Invention
The invention provides a braking method, a braking unit and a robot, which aim to realize matching of braking power of the braking unit and regenerative energy generated when a motor brakes.
In a first aspect, an embodiment of the present invention provides a braking method, including:
acquiring the attribute of regenerative energy generated when the motor is braked;
according to the attribute of the regenerative energy, the brake resistors in the brake units are opened in a grading mode to consume the regenerative energy.
Further, according to the attribute of the regenerated energy, the brake resistors in the brake units are opened in a grading way to consume the regenerated energy, and the method comprises the following steps:
and determining the number of the braking resistors in the braking unit to be started according to the length of the bus voltage overrun time so as to accelerate the consumption of the regenerated energy, wherein the bus voltage overrun time is the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold.
Further, determining the number of the braking resistors in the braking unit to be turned on according to the length of the bus voltage overrun time includes:
and determining the quantity and the sequence of starting the brake resistors in the brake unit according to the length of the bus voltage overrun time and the acquired current environment temperature.
Further, according to the length of the bus voltage overrun time and the collected current environment temperature, determining the number and the sequence of the brake resistors in the brake unit, including:
and when the acquired current environment temperature values are in different set temperature ranges, determining the quantity and the sequence of starting the brake resistors in the brake unit according to the length of the bus voltage overrun time and the set brake starting time threshold.
Further, after determining the number and sequence of the brake resistors in the brake unit, the method further comprises:
and if the time for maintaining the bus voltage to be normal is greater than a set brake closing time threshold value, closing the brake unit, wherein the set brake opening time threshold value is greater than the set brake closing time threshold value.
Further, according to the attribute of the regenerated energy, the brake resistor in the brake unit is opened in a grading way, and the method comprises the following steps:
judging whether the brake unit is frequently opened and closed;
if so, gradually shortening the set brake on time threshold and the set brake off time threshold so as to ensure that a power supply system of the motor has better dynamic performance.
Further, the attribute of the regenerative energy generated when the motor is braked is obtained, and the attribute comprises the following steps:
collecting the direct current bus voltage of the motor according to a set period;
acquiring the times that the direct current bus voltage continuously exceeds a set bus voltage threshold according to the direct current bus voltage;
and determining the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold according to the times and the set period.
According to the embodiment of the invention, the brake resistors in the brake unit are opened in a grading manner according to the attribute of the regenerative energy generated when the motor brakes, so that the brake power of the brake unit is matched with the regenerative energy generated when the motor brakes. The problem of if open the braking unit after the busbar voltage surpasss the threshold voltage of settlement, because the design power of braking unit often is great, and internal resistance itself is very little, like this when consuming the regenerative energy that produces when the motor braking, still often can consume the energy of power to draw down the busbar voltage is solved.
In a second aspect, embodiments of the present invention also provide a brake unit, including:
the enabling trigger circuit is used for setting a set bus voltage threshold according to a power supply of the motor and generating a triggering enabling signal when the collected direct-current bus voltage of the motor is greater than the set bus voltage threshold;
the micro-control circuit is connected with the enabling trigger circuit and is used for acquiring the triggering enabling signal, determining the attribute of regenerated energy generated when the motor is braked according to the triggering enabling signal and sending an instruction for opening the brake resistor in the brake unit in a grading manner according to the attribute of the regenerated energy;
and the braking circuit is connected with the micro-control circuit and is used for opening braking resistors in the braking unit in a grading manner after receiving the command so as to consume the regenerated energy.
Further, the brake unit further includes:
and the forced air cooling circuit is connected with the micro control circuit and used for starting a fan in the forced air cooling circuit after receiving a refrigeration starting instruction so as to reduce the temperature of the brake unit, wherein the micro control circuit sends the refrigeration starting instruction according to the working state and/or the current temperature of the brake unit.
According to the embodiment of the invention, the setting of the set bus voltage threshold is realized through the enabling trigger circuit, and when the direct current bus voltage is greater than the set bus voltage threshold, the micro control circuit is triggered to control the brake circuit to open the brake resistor in stages according to the regenerative energy generated during the braking of the motor.
In a third aspect, embodiments of the present invention further provide a robot, where the robot includes a brake unit as described in any of the embodiments of the present invention.
According to the implementation of the invention, the regenerative energy is consumed in a grading way through the braking unit, so that the braking power of the braking unit is matched with the regenerative energy generated by the robot in the braking process.
Drawings
Fig. 1 is a flowchart of a braking method according to an embodiment of the present invention;
FIG. 2 is a flow chart of a braking method according to a second embodiment of the present invention;
FIG. 3 is a flow chart of another braking method provided by the second embodiment of the invention;
fig. 4 is a schematic structural diagram of a brake unit according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an enable trigger circuit in a brake unit according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a braking method according to an embodiment of the present invention. The embodiment can be suitable for generating the reverse electromotive force when the motor decelerates to form regenerated energy, so that the voltage of the direct current bus continuously rises, and the motor is typically applied to a shutdown robot. The method may be performed by a braking unit, which may be implemented in software and/or hardware. Referring to fig. 1, the braking method provided by the present embodiment includes:
and S110, acquiring the attribute of the regenerative energy generated during the braking of the motor.
Optionally, the attribute of the regenerated energy may be the magnitude of the regenerated energy, or may be another attribute reflecting the magnitude of the regenerated energy, for example, the time when the sampled dc bus voltage exceeds the set bus voltage threshold, or may be a combination of multiple attributes. Furthermore, the combination of at least one attribute reflecting the magnitude of the regenerated energy and other relevant factors may also be used, for example, the attribute of the regenerated energy may be a combination of the magnitude of the regenerated energy and the current ambient temperature, which is not limited in any way by the embodiment.
Specifically, the magnitude of the regenerative energy may be determined by sampling the magnitude of the dc bus voltage exceeding a set bus voltage threshold.
The determination of the time when the sampled dc bus voltage exceeds the set bus voltage threshold may be:
collecting the direct current bus voltage of the motor according to a set period;
acquiring the times that the direct current bus voltage continuously exceeds a set bus voltage threshold according to the direct current bus voltage;
and determining the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold according to the times and the set period.
The setting period can be set according to requirements, and if the direct current bus voltage with higher accuracy is required to be obtained, the setting period is set to be slightly smaller; otherwise, it is set slightly larger. Typically 2 microseconds. Specifically, the product of the number of times and the set period may be used as the time when the sampled dc bus voltage exceeds the set bus voltage threshold.
And S120, according to the attribute of the regenerated energy, opening the brake resistors in the brake unit in a grading mode to consume the regenerated energy.
Wherein, according to the attribute of the regenerated energy, the graded opening of the brake resistors in the brake unit comprises: if the property of the regenerative energy reflects the greater and/or longer the duration of the regenerative energy, the more braking resistors in the brake unit are activated to match the braking power of the brake unit to the regenerative energy generated when the motor brakes.
According to the technical scheme of the embodiment of the invention, the brake resistors in the brake unit are opened in a grading manner according to the attribute of the regenerative energy generated when the motor is braked, so that the brake power of the brake unit is matched with the regenerative energy generated when the motor is braked. The problem of if open the braking unit after the busbar voltage surpasss the threshold voltage of settlement, because the design power of braking unit often is great, and internal resistance itself is very little, like this when consuming the regenerative energy that produces when the motor braking, still often can consume the energy of power to draw down the busbar voltage is solved.
If the attribute of the regenerated energy is bus voltage overrun time, according to the attribute of the regenerated energy, the brake resistors in the brake unit are opened in a grading mode to consume the regenerated energy, and the method comprises the following steps:
and determining the number of the braking resistors in the braking unit to be started according to the length of the bus voltage overrun time so as to accelerate the consumption of the regenerated energy, wherein the bus voltage overrun time is the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold.
The bus voltage overrun time reflects the magnitude of the regenerative energy, and the longer the bus voltage overrun time is, the larger the regenerative energy generated when the motor is braked is. At this time, the number of starts of the brake resistor is increased to accelerate the consumption of the regenerative energy and shorten the time for consuming the regenerative energy. The set bus voltage threshold value can be set according to the power supply voltage of the power supply and by combining with actual requirements. For example, if the supply voltage of the power supply is 48V, the corresponding set bus voltage threshold may be 52V.
In order to more accurately determine the number of the brake resistors to be turned on, on the premise of not consuming the energy of the power supply, the step of consuming the regenerated energy as soon as possible, wherein the step of determining the number of the brake resistors to be turned on in the brake unit according to the length of the bus voltage overrun time comprises the following steps:
and determining the quantity and the sequence of starting the brake resistors in the brake unit according to the length of the bus voltage overrun time and the acquired current environment temperature.
It should be noted that the current ambient temperature is an important factor affecting the consumption of regenerative energy. Because the consumption of the regenerative energy by the brake resistor is realized in a heat dissipation mode, if the current environment temperature is higher, the heat dissipation effect is not good, and therefore, the consumption efficiency of the regenerative energy by the brake resistor is low. Therefore, the current environment temperature is combined, and when the current environment temperature is higher, the opening number of the brake resistor is increased, so that the consumption efficiency of the regenerative energy is improved.
In order to realize the closing of the brake resistors, after determining the number and the sequence of the brake resistors in the brake unit, the method further comprises the following steps:
and if the time for maintaining the bus voltage to be normal is greater than a set braking closing time threshold value, closing the braking unit.
And the time for maintaining the bus voltage to be normal is the time for the sampled direct-current bus voltage to be lower than the set bus voltage threshold.
Example two
Fig. 2 is a flowchart of a braking method according to a second embodiment of the present invention. The present embodiment is an alternative proposed on the basis of the first embodiment. Referring to fig. 2, the braking method provided by the present embodiment includes:
and S210, collecting the direct current bus voltage of the motor according to a set period.
S220, acquiring the frequency of the direct current bus voltage continuously exceeding a set bus voltage threshold according to the direct current bus voltage.
And S230, determining the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold according to the times and the set period.
S240, when the collected current environment temperature values are in different set temperature ranges, determining the number and the sequence of brake resistors in the brake unit to be started according to the length of the bus voltage overrun time and the set brake starting time threshold.
The set temperature range can be set according to actual needs, and two or more temperature ranges can be set.
Typically, three temperature ranges can be set, namely, the low temperature range is set from-10 ℃ to 10 ℃, the normal temperature range is set from 10 ℃ to 30 ℃, and the high temperature range is set from 30 ℃ to 50 ℃.
The set brake on time threshold may also be set as desired, too short a setting may result in frequent switching on and off of the brake unit, too long a setting may result in the inability to dissipate somewhat less regenerated energy of a duration that is not particularly large or long, and a typical set brake on time threshold may be 20 microseconds.
It should be noted that such a problem can be solved by setting the brake-on time threshold for the bus voltage overrun time: during the movement of the joint robot, from the complex electromagnetic field environment of the system and the outside, instantaneous voltage disturbances can be generated, and the voltage disturbances can temporarily enable the sampled direct current bus voltage to exceed the set bus voltage threshold value. In addition, the back emf generated during motor braking may also cause the sampled dc bus voltage to exceed the set bus voltage threshold for a very short period of time. Meanwhile, there is a possibility that the brake unit is opened a plurality of times at short intervals in some cases depending on the operation of the robot. In these cases, if the brake unit is switched on, it can have an effect on the dynamics of the control system, for example fluctuations in the bus voltage.
Specifically, when the set temperature range is the set normal temperature range, the number and the sequence of the brake resistors in the brake unit are determined to be turned on according to the length of the bus voltage overrun time and the set brake turn-on time threshold, and the method includes:
if the time that the sampled direct current bus voltage exceeds the set bus voltage threshold is greater than the set time threshold, the first group of braking resistors and the second group of braking resistors are simultaneously started;
and then, when the set bus voltage threshold is increased by one time, namely two times, three times and the like of the set time threshold, the corresponding group of braking resistors are continuously started. For example, if the time that the sampled dc bus voltage exceeds the set bus voltage threshold is greater than twice the set time threshold, the third set of braking resistors continues to be turned on.
Specifically, when the set temperature range is the set low temperature range, determining the number and the sequence of the brake resistors in the brake unit according to the length of the bus voltage overrun time and the set brake starting time threshold, including:
if the time that the sampled direct current bus voltage exceeds the set bus voltage threshold is greater than the set time threshold, a first group of brake resistors are started;
and then, when the set bus voltage threshold is increased by one time, namely two times, three times and the like of the set time threshold, the corresponding group of braking resistors are continuously started. For example, if the time that the sampled dc bus voltage exceeds the set bus voltage threshold is greater than twice the set time threshold, the second set of braking resistors continues to be turned on.
Specifically, when the set temperature range is the set high temperature range, determining the number and the sequence of the brake resistors in the brake unit according to the length of the bus voltage overrun time and the set brake starting time threshold, including:
if the time that the sampled direct current bus voltage exceeds the set bus voltage threshold is greater than the set time threshold, the first group and the second brake resistor are started;
and then, when the set bus voltage threshold is increased by one time, namely two times, three times and the like of the set time threshold, the corresponding two groups of brake resistors are continuously opened. For example, if the time that the sampled dc bus voltage exceeds the set bus voltage threshold is greater than twice the set time threshold, the third and fourth sets of braking resistors continue to be turned on.
And S250, if the time for maintaining the bus voltage to be normal is greater than a set brake closing time threshold, closing the brake unit, wherein the set brake opening time threshold is greater than the set brake closing time threshold.
Referring to fig. 3, in practical applications, when the collected current ambient temperature value is within different set temperature ranges, the number and the sequence of turning on the brake resistors in the brake unit are determined according to the length of the bus voltage overrun time and the set brake turn-on time threshold, which may be described as follows: setting the period of sampling bus voltage to be 2 microseconds, setting through a timer, and determining the quantity and the sequence of starting the brake resistors in the brake unit according to the times that the direct-current bus voltage continuously exceeds the set bus voltage threshold value and the collected current environment temperature. For example, when the set temperature range is a set normal temperature range, if the number of times that the direct current bus voltage continuously exceeds a set bus voltage threshold is greater than a set number of times threshold, the first group and the second brake resistor are turned on; and then, when the times that the direct current bus voltage continuously exceeds the set bus voltage threshold value is increased by one time, namely two times, three times and the like of the set time threshold value, continuously opening the corresponding group of braking resistors. For example, if the number of times that the dc bus voltage continuously exceeds a set bus voltage threshold is greater than twice the set number threshold, the third group of braking resistors continues to be turned on.
Thereby achieving the following effects: the longer the time continuously exceeding the set bus voltage threshold value is, the more the brake resistors are turned on, because the braking power of one group of brake resistors is constant, and the longer the duration time is, the larger the regenerative energy is, the number of the brake resistors needs to be increased, so that the consumption of the regenerative energy is accelerated.
According to the technical scheme of the embodiment of the invention, the number and the sequence of the brake resistors in the brake unit are more accurately determined by increasing different set temperature ranges and setting the judgment of the brake starting time threshold.
It should be noted that even though the setting of the brake on time threshold has been passed, the condition of short bus voltage overrun time is filtered, avoiding frequent turning on and off of the brake unit. Since it is frequent, relatively speaking, there are still situations of frequent opening and closing with respect to the frequency of opening and closing of the brake unit present, after the above situation has been avoided.
In order to avoid the latter situation as much as possible, the braking resistors in the braking unit are switched on in stages according to the nature of the regenerative energy, comprising:
judging whether the brake unit is frequently opened and closed;
if so, gradually shortening the set brake on time threshold and the set brake off time threshold so as to ensure that a power supply system of the motor has better dynamic performance.
Specifically, the determining whether the brake unit is frequently turned on and off may include:
and judging whether the brake unit is frequently opened or closed or not according to the time and frequency that the voltage of the sampled direct-current bus is lower than the set bus voltage threshold.
For example, when counting the time when the dc bus voltage is normal, the time from one time of turning on the brake unit to the next time of turning on the brake unit is taken as a cycle, and if the time t when the bus voltage is maintained normal for h times occurs in k cycles, the following conditions are met: and n x T < T < m x T, the robot is considered to be in a stage of frequently starting the braking unit at present, wherein T is a period set by a timer and adopting a direct current bus voltage, n is the number of times that the direct current bus voltage is continuously lower than a set bus voltage threshold value, n x T is the set braking closing time threshold value, m is the number of times that the direct current bus voltage continuously exceeds the set bus voltage threshold value, and m x T is the set braking opening time threshold value. T is a time for maintaining the normal voltage, and although T satisfies a condition for turning off the brake resistor, T is considered to be in a frequent braking state because T is a short time (less than m × T) for maintaining the normal voltage and corresponds to a short time interval between two times of braking.
At this time, the set brake on time threshold and the set brake off time threshold are all subtracted by 1, namely the set brake on time threshold of the whole brake unit is changed into (m-1) × T, and the set brake off time threshold is changed into (n-1) × T. And in the next k cycles, if the time T for maintaining the bus voltage to be normal continuously occurs h times and satisfies (n-1) × T < T < (m-1) × T, continuously shortening the set brake opening time threshold value and the set brake closing time threshold value of the brake unit to be (m-2) × T and (n-2) × T respectively until the limit response time (m-i) × T ═ Mmin is reached, (n-i) × T ═ Nmin, not reducing the response time, wherein the Mmin is the set minimum brake opening time threshold value, and the Nmin is the set minimum brake closing time threshold value.
Correspondingly, if the number of the maintaining normal time of the direct current bus voltage in k cycles is less than h, the response time should be automatically increased, namely, the set braking on time threshold and the set braking off time threshold of the braking unit are respectively increased to (m-i +1) T and (n-i +1) T until the upper limit (m-i) T of the limit response time is reached, (n-i) T is Nmax, and (n-i) T is Nmax, so that the response time is dynamically adjusted according to the switching frequency of the braking unit to achieve the purpose of stabilizing the power supply system, the Mmax is the set maximum braking on time threshold, and the Nmax is the set maximum braking off time threshold. Wherein k and h can be set as required.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a brake unit according to a third embodiment of the present invention. Referring to fig. 4, the present embodiment provides a brake unit including: enabling the trigger circuit 10, the micro control circuit 20 and the braking circuit 30.
The enabling trigger circuit 10 is configured to set a set bus voltage threshold according to a power supply of the motor, and generate a trigger enabling signal when the acquired dc bus voltage of the motor is greater than the set bus voltage threshold.
Preferably, referring to fig. 5, the enable trigger circuit 10 further includes: the circuit comprises a coarse-grained voltage grading sub-circuit, a voltage fine-tuning sub-circuit and a high-speed optical coupling isolation sub-circuit. The coarse-granularity voltage grading sub-circuit is connected with a plurality of voltage stabilizing diodes in series, and the voltage stabilizing diodes are connected with the dial switch and used for controlling the starting number of the voltage stabilizing diodes through the dial switch so as to reduce the input power voltage to a fixed value and realize coarse adjustment of the voltage. The voltage fine-tuning sub-circuit and the coarse-granularity voltage grading sub-circuit comprise a precise rotary sliding rheostat and are used for finely adjusting the voltage value after coarse adjustment. The setting of the set bus voltage threshold value aiming at different power supply voltages can be realized through the coarse-granularity voltage grading sub-circuit and the voltage fine-tuning sub-circuit, and meanwhile, the brake unit also has bus voltage threshold value adjusting capability with different granularities aiming at different applications of the joint robot, namely different conditions of power supply, battery supply and the like, so that the application requirements of the cooperative robot and the composite robot are met. The high-speed optical coupling isolation sub-circuit is connected with the voltage fine adjustment sub-circuit and used for triggering and generating an enabling signal when the input voltage is larger than a set bus voltage threshold value. In order to meet the requirement, a 6N137 isolator is adopted as a high-speed optical coupling isolator in the high-speed optical coupling isolator sub-circuit, and the turning speed of the optical coupling level can reach 10 Mbps.
Illustratively, under a standard power supply voltage, such as 24V, 48V or 58V, the voltage value of the input voltage fine-tuning circuit is all constant through coarse tuning of the coarse-grained voltage classification sub-circuit, so that the set bus voltage threshold can be set to be 27V, 52V or 60V respectively through adjusting the precise rotary sliding rheostat of the voltage fine-tuning circuit. When the direct current bus voltage is greater than the set bus voltage threshold value, the direct current bus voltage input from the voltage fine tuning circuit enables the triode of the high-speed optical coupling isolation circuit to be opened, the high-speed optical coupling circuit is conducted, and the trigger enabling signal of the trigger micro control circuit 20 is turned over and changed from 0 to 1 or from 1 to 0. When the timer in the micro control circuit 20 is interrupted, the enable signal is read in for subsequent processing.
And the micro control circuit 20 is connected with the enable trigger circuit 10 and is used for acquiring the trigger enable signal, determining the attribute of the regenerated energy generated during the motor braking according to the trigger enable signal, and sending a command of opening the brake resistor in a grading manner according to the attribute of the regenerated energy. And acquiring the trigger enabling signal according to a set period. The set period may typically be 2 microseconds, because it takes some time for the enable trigger circuit 10 to generate the trigger enable signal, and the set period may prevent the micro control circuit 20 from acquiring the enable trigger signal in an unstable state.
Typically, the micro-control circuit 20 comprises a single-chip microcomputer, preferably an STM32F103C8T6 chip, through whose internal temperature sensor the current ambient temperature can be acquired. Specifically, the general purpose input/output of the chip is configured as an input, and the timer of the chip is enabled to acquire the trigger enabling signal level in a timing period of 2 microseconds. Under the condition of meeting the program requirement, a general input/output pin connected to the braking circuit 30 is configured as a push-pull output and is connected with the gate level of an MOS (metal oxide semiconductor) tube of the braking resistance circuit so as to control the on and off of the braking resistance circuit.
And the braking circuit 30 is connected with the micro control circuit 20 and is used for opening the braking resistors in the braking unit in a grading way after receiving the command of opening the braking resistors in a grading way so as to consume the regenerated energy.
Specifically, the braking circuit 30 includes multiple stages of braking resistor sub-circuits, each stage of braking resistor sub-circuit has the same structure, that is, the high-power braking resistor and the MOS transistor are connected in series, and then the multiple stages of braking resistor sub-circuits are connected in parallel. The action of the micro-control circuit 20 is controlled, wherein the MOS transistor model is BSC070N10NS 3.
Specifically, the brake unit is installed in parallel with the positive and negative poles of the power supply.
According to the technical scheme of the embodiment of the invention, the setting of the set bus voltage threshold is realized through the enabling trigger circuit, but when the direct current bus voltage is greater than the set bus voltage threshold, the micro control circuit is triggered to control the braking circuit 30 to switch on the braking resistors in a grading manner according to the regenerative energy generated during the braking of the motor.
In order to accelerate the consumption of regenerative energy by the brake resistor, the brake unit further comprises: forced air cooling circuit.
The micro control circuit is used for sending a refrigeration starting instruction to the air cooling circuit, wherein the micro control circuit is connected with the micro control circuit and used for starting a fan in the forced air cooling circuit after receiving the refrigeration starting instruction so as to reduce the temperature of the brake unit, and the micro control circuit sends the refrigeration starting instruction according to the working state and/or the current temperature of the brake unit. For example, when the micro-control circuit detects that the direct current bus voltage exceeds a set bus voltage threshold value, the fan is controlled to be started.
From the above, the temperature directly affects the braking power of the braking unit, and the current environment in the braking unit is cooled by the fan, so that the heat dissipation speed of the braking resistor is increased, and the braking power of the braking unit is increased.
Furthermore, the forced air cooling circuit also comprises a plurality of paths of LED lamp circuits for prompting different working states of the brake unit, and specific prompting information can be set according to requirements.
Illustratively, in this example, 5 LED lamp circuits are provided, respectively representing: the first path of LED lamp is normally on to indicate that the power supply is electrified, and is normally off to indicate that the power supply is not electrified; the second path of LED lamp is normally on to indicate that the braking unit is started, and is normally off to indicate that the braking unit is not started; the third path of LED lamps are normally on to indicate that the fan is started, and are normally off to indicate that the fan is not started; the fourth way of LED lamps are normally on to indicate that the braking unit is completely started, and are normally off to indicate that the braking unit is not completely started; the fifth LED lamp is normally on to indicate that the micro-control circuit normally operates, and is normally off to indicate that the micro-control circuit does not normally operate.
Example four
This embodiment is a robot provided with the brake unit according to the third embodiment on the basis of the above-described embodiments, and it is understood that the robot is an articulated robot or a compound robot having joints. The embodiment provides a robot, which comprises a braking unit.
The braking unit is connected with a motor for driving a joint part in the robot and is used for performing graded consumption on regenerative energy generated by the motor due to braking in the moving process of the robot. Specifically, the brake unit is connected in parallel with the motor and then connected into a loop formed by a power supply of the motor.
According to the technical scheme, the regenerative energy is consumed in a grading mode through the braking unit, so that the braking power of the braking unit is matched with the regenerative energy generated by the robot in the braking process.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A method of braking, comprising:
acquiring the attribute of regenerative energy generated when the motor is braked;
according to the attribute of the regenerated energy, the brake resistors in the brake units are opened in a grading mode to consume the regenerated energy;
wherein, according to the attribute of the regenerated energy, the brake resistors in the brake unit are opened in a grading way to consume the regenerated energy, and the method comprises the following steps:
and determining the number of the braking resistors in the braking unit to be started according to the length of the bus voltage overrun time so as to accelerate the consumption of the regenerated energy, wherein the bus voltage overrun time is the time when the sampled direct-current bus voltage exceeds a set bus voltage threshold.
2. The method of claim 1, wherein determining the number of brake resistors to open in the brake unit based on the length of the bus voltage overrun time comprises:
and determining the quantity and the sequence of starting the brake resistors in the brake unit according to the length of the bus voltage overrun time and the acquired current environment temperature.
3. The method of claim 2, wherein determining the number and sequence of brake resistors to turn on in the brake unit based on the length of the bus voltage overrun time and the collected current ambient temperature comprises:
and when the acquired current environment temperature values are in different set temperature ranges, determining the quantity and the sequence of starting the brake resistors in the brake unit according to the length of the bus voltage overrun time and the set brake starting time threshold.
4. The method of claim 3, after determining the number and sequence of turning on the braking resistors in the braking unit, further comprising:
and if the time for maintaining the bus voltage to be normal is greater than a set brake closing time threshold value, closing the brake unit, wherein the set brake opening time threshold value is greater than the set brake closing time threshold value.
5. The method of claim 4, wherein the step of activating braking resistors in a braking unit according to the properties of the regenerated energy comprises:
judging whether the brake unit is frequently opened and closed;
if so, gradually shortening the set brake on time threshold and the set brake off time threshold so as to ensure that a power supply system of the motor has better dynamic performance.
6. The method of claim 1, wherein deriving attributes of regenerative energy generated when the motor is braking comprises:
collecting the direct current bus voltage of the motor according to a set period;
acquiring the times that the direct current bus voltage continuously exceeds a set bus voltage threshold according to the direct current bus voltage;
and determining the time when the sampled direct-current bus voltage exceeds the set bus voltage threshold according to the times and the set period.
7. A brake unit, comprising:
the enabling trigger circuit is used for setting a set bus voltage threshold according to a power supply of the motor and generating a triggering enabling signal when the collected direct-current bus voltage of the motor is greater than the set bus voltage threshold;
the micro-control circuit is connected with the enabling trigger circuit and is used for acquiring the triggering enabling signal, determining the attribute of the regenerated energy generated when the motor is braked according to the triggering enabling signal and sending an instruction for opening the brake resistor in the brake unit in a grading manner according to the attribute of the regenerated energy,
wherein sending an instruction to turn on the brake resistors in the brake units in stages according to the attributes of the regenerated energy comprises: determining the number of brake resistors in the brake unit to be started according to the length of the bus voltage overrun time, and sending a command for starting the number of the brake resistors, wherein the bus voltage overrun time is the time when the sampled direct-current bus voltage exceeds a set bus voltage threshold;
and the braking circuit is connected with the micro-control circuit and is used for opening braking resistors in the braking unit in a grading manner after receiving the command so as to consume the regenerated energy.
8. The brake unit of claim 7, further comprising:
and the forced air cooling circuit is connected with the micro control circuit and used for starting a fan in the forced air cooling circuit after receiving a refrigeration starting instruction so as to reduce the temperature of the brake unit, wherein the micro control circuit sends the refrigeration starting instruction according to the working state and/or the current temperature of the brake unit.
9. A robot, characterized in that it comprises a brake unit according to any of claims 7 and 8.
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