CN108880391A - A kind of current detection means and motor driver of motor driver - Google Patents
A kind of current detection means and motor driver of motor driver Download PDFInfo
- Publication number
- CN108880391A CN108880391A CN201810757833.0A CN201810757833A CN108880391A CN 108880391 A CN108880391 A CN 108880391A CN 201810757833 A CN201810757833 A CN 201810757833A CN 108880391 A CN108880391 A CN 108880391A
- Authority
- CN
- China
- Prior art keywords
- sampled signal
- phase
- current
- voltage
- signal
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/25—Arrangements for measuring currents or voltages or for indicating presence or sign thereof using digital measurement techniques
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/10—Calibration or testing
- H03M1/1009—Calibration
-
- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
- H03M1/124—Sampling or signal conditioning arrangements specially adapted for A/D converters
- H03M1/1245—Details of sampling arrangements or methods
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
This application provides the detecting device for output current of motor driver and motor drivers, three current sampling module acquisition three-phase output electric currents are respectively adopted in the device, and the corresponding voltage magnitude of signal obtained to sampling is adjusted to corresponding voltage range, the corresponding voltage magnitude of first phase sampled signal is adjusted to first voltage range, the corresponding voltage magnitude of second phase sampled signal is adjusted to second voltage range, the corresponding voltage magnitude of third phase sampled signal is adjustable to first voltage range, second voltage range or tertiary voltage range, to eliminate the common cause failure due to caused by the failure of sampling module.Moreover, three sampling modules at least use two independent power supply power supplies, to eliminate the common cause failure due to caused by the failure of power supply.And then can to sampling obtain output electric current carry out plausibility check, by plausibility check detect sampled signal whether accurate and effective, finally can be avoided the uncontrollable risk of motor driver output torque.
Description
Technical field
The invention belongs to the detecting device for output current of motor control technology field more particularly to a kind of motor driver and
Motor driver.
Background technique
The system variable of motor driver such as exports electric current parameter for controlling output torque, when output current sample not
It accurately may result in motor driver output torque inaccuracy or uncontrollable.
Currently, there is the possibility of common cause failure to the sampling of the output electric current of motor driver, lead to not to acquisition
Output electric current carry out plausibility check or plausibility check result inaccuracy, eventually lead to the torque control of motor driver
Precision processed is low or output torque is out of control.Wherein, common cause failure, which refers to, causes two due to certain common cause in a system
A or more than two units fail simultaneously.
Summary of the invention
In view of this, the purpose of the present invention is to provide a kind of detecting device for output current of motor driver and motor to drive
Dynamic device to eliminate common cause failure factor, and carries out plausibility check to output electric current；Its specific technical solution is as follows：
In a first aspect, this application provides a kind of detecting device for output current of motor driver, including the first electric current is adopted
Egf block, the second current sampling module, third current sampling module and controller；
First current sampling module obtains sampling for the output electric current of the first phase of sample motor driver
The corresponding voltage magnitude of signal, which is adjusted, to be obtained the first sampled signal to first voltage range and is transmitted to the controller；
Second current sampling module obtains sampling for the output electric current of the second phase of sample motor driver
The corresponding voltage magnitude of signal, which is adjusted, to be obtained the second sampled signal to second voltage range and is transmitted to the controller；
The third current sampling module, for the output electric current of sample motor driver third phase, the letter sampled
Number corresponding voltage magnitude adjustment predetermined voltage range obtains third sampled signal and is transmitted to the controller, the default electricity
Pressure range is any of the first voltage range, the second voltage range and tertiary voltage range, wherein the first electricity
Press range, second voltage range and tertiary voltage range different；
The controller, for being closed to the sampled signal according to each corresponding sampled signal received
Rationality verification；When determining any corresponding sampled signal inaccuracy in three-phase output electric current, output shutdown control signal, with
Make motor driver shutdown output；
Wherein, any two in first current sampling module, the second current sampling module and third current sampling module
A module is powered using the first power supply, and a remaining module is powered using the second power supply；Alternatively, three module difference
It is powered using different power supply.
Optionally, controller believes the corresponding sampling of output electric current according to each corresponding sampled signal received
Number carry out plausibility check, be specifically used for：
Plausibility check is carried out to the voltage magnitude of each corresponding sampled signal received, and, it is opposite to three
The phase for the sampled signal answered carries out reasonability and is verified；
When the voltage magnitude inaccuracy of corresponding sampled signal any in three-phase, the corresponding sampling of output electric current is determined
Signal inaccuracy；
When the corresponding phase inaccuracy of the sampled signal of three-phase output electric current, the corresponding sampled signal of output electric current is determined
Inaccuracy.
Optionally, the controller carries out plausibility check to the amplitude of each corresponding sampled signal received
When, it is specifically used for：
The corresponding voltage magnitude of sampled signal for the current phase that controller judgement receives whether adopting in current phase
In the corresponding voltage range of sample signal；When the corresponding voltage magnitude of sampled signal is not in the corresponding voltage of sampled signal of current phase
When in range, current corresponding sampled signal inaccuracy is determined.
Optionally, when the controller carries out plausibility check to the phase of three corresponding sampled signals, it is specifically used for：
The voltage magnitude of three-phase sampled signal is adjusted to same voltage range；
Calculate the summation absolute value of the voltage magnitude of three-phase sampled signal adjusted, and the summation absolute value with
Size relation between predetermined voltage threshold；
When the summation absolute value is greater than the predetermined voltage threshold, the phase inaccuracy of three-phase sampled signal is determined；
When the summation absolute value is less than or equal to the predetermined voltage threshold, the phase level of three-phase sampled signal is determined
Really.
Optionally, when size relation between the controller summation absolute value and predetermined voltage threshold, tool
Body is used for：
Compare whether the summation absolute value is greater than the predetermined voltage threshold；
Alternatively,
Whether the difference compared between the summation absolute value and the predetermined voltage threshold is greater than zero.
Optionally, the controller is used for when corresponding sampled signal inaccuracy any in determining three-phase output electric current
When, when output shutdown controls signal, it is specifically used for：
When the voltage magnitude inaccuracy of the corresponding sampled signal of phase any in three-phase output electric current, via the first output end
Mouth output shutdown control signal, so that motor driver shutdown exports；
It is defeated via second when the voltage magnitude inaccuracy of the corresponding sampled signal of phase any in other two-phases output electric current
Exit port output shutdown control signal, so that motor driver shutdown output；
When determining the phase inaccuracy of three-phase output electric current according to the first verification mode, via first output port
Export the shutdown control signal；
When determining the phase inaccuracy of three-phase output electric current according to the second verification mode, via the second output terminal mouth
Export the shutdown control signal；
Wherein, first verification mode be compare three it is corresponding output electric currents summation absolute values whether be greater than it is default
Current threshold；Second verification mode is to compare the summation absolute value and the predetermined current threshold of three corresponding output electric currents
Whether the difference of value is greater than zero.
Optionally, the controller includes processing module and analog-digital converter, and there are two voltages for the analog-digital converter tool
The different reference voltage of amplitude；
The analog-digital converter, for the sampled signal received to be converted into digital signal and is transmitted to the processing mould
Block, so that the processing module carries out plausibility check to output electric current according to the digital signal；
The processing module is also used to obtain the first reference voltage sampled signal and the second reference of the analog-digital converter
Voltage sampling signal, according to the first reference voltage sampled signal or the second reference voltage sampled signal to the modulus
Converter is verified；When determining analog-digital converter failure according to the first reference voltage sampled signal, via the
One output port output shutdown control signal；When determining that the analog-digital converter loses according to the second reference voltage sampled signal
When effect, shutdown control signal is exported via second output terminal mouth.
Optionally, the processing module is sampled according to the first reference voltage sampled signal or second reference voltage
When signal verifies the analog-digital converter, it is specifically used for：
The absolute difference between the first reference voltage sampled signal and first voltage threshold value is calculated, and described in comparison
Size relation between absolute difference and preset difference value；When the absolute difference is greater than the preset difference value, institute is determined
It is incorrect to state analog-digital converter；
Alternatively,
The absolute difference between the second reference voltage sampled signal and second voltage threshold value is calculated, and described in comparison
Size relation between absolute difference and preset difference value；When the absolute difference is greater than the preset difference value, institute is determined
It is incorrect to state analog-digital converter.
Optionally, appointing in first current sampling module, the second current sampling module and third current sampling module
Two modules of anticipating are not identical as the product type of remaining module；
Alternatively,
Any two module in first current sampling module, the second current sampling module and third sampling module
Product type is not identical.
Second aspect, present invention also provides a kind of motor drivers, including any one of inverter and first aspect institute
The detecting device for output current for the motor driver stated.
Three current sampling module acquisitions are respectively adopted in the detecting device for output current of motor driver provided by the present application
Three-phase exports electric current, and the corresponding voltage magnitude of signal obtained to sampling is adjusted to corresponding voltage range, and is supplied to control
Device processed.Controller carries out plausibility check to the signal of sampling according to the sampled signal of three-phase output electric current.The device is by first
The corresponding voltage magnitude of phase sampled signal is adjusted to first voltage range, the corresponding voltage magnitude of the second phase sampled signal adjust to
Second voltage range, the corresponding voltage magnitude of third phase sampled signal are adjustable to first voltage range, second voltage range
Or tertiary voltage range, wherein first voltage range, second voltage range and tertiary voltage range are different, to eliminate
The common cause failure due to caused by the failure of sampling module.Moreover, three sampling modules at least use two independent power supplies
Power supply, to eliminate the common cause failure due to caused by the failure of power supply.And then can to sampling obtain output electric current into
Row plausibility check, by plausibility check detect sampled signal whether accurate and effective, finally avoid motor driver output
The uncontrollable risk of torque.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of block diagram for the detecting device for output current that the embodiment of the present application provides motor driver；
Fig. 2 is the control logic schematic diagram in two shutdown paths in controller provided by the embodiments of the present application；
Fig. 3 is the flow chart of the phase checking procedure of output electric current provided by the embodiments of the present application.
Specific embodiment
The output current sample mode of current motor driver is not handled for common cause failure, is led to not pair
It samples obtained voltage signal and carries out plausibility check.This application provides a kind of output electric current measure of motor driver dresses
It sets, which samples the output electric current of motor driver using three-phase current sampling sensor.In output current sample
It is correspondingly processed respectively to the conditioning range etc. of the power supply of sampling module, sampled signal in circuit, to subtract as much as possible
Common cause failure factor that may be present in few sampling circuit.Then, plausibility check is carried out to the sampled signal of acquisition, guaranteed defeated
The accuracy of current sample out finally avoids the uncontrollable risk of motor driver output torque.
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Figure 1, it shows the embodiment of the present application and provides a kind of detecting device for output current of motor driver
Block diagram, the present embodiment are illustrated so that the device is applied in motor driver as an example.In other embodiments, which can be with
In the application scenarios detected applied to other any need to the output electric current of inverter.
In the present embodiment, which includes the first current sampling module, the second current sampling module, third current sample mould
Block and controller 110；
The three-phase of three current sampling module difference sample motor drivers exports electric current, and is supplied to controller.
In one embodiment of the application, current sampling module includes current acquisition module and sampling processing module,
Wherein, current acquisition module is used to acquire the output electric current of motor driver, and sampling processing module is for adopting current sensor
The signal that sample obtains is handled and is supplied to controller 110.
As shown in Figure 1, the first current sampling module includes current acquisition module CT1 and the first sampling processing circuit 120；The
Two current sampling modules include current acquisition module CT2 and the second sampling processing circuit 130；Third current sampling module includes electricity
Flow acquisition module CT3 and third sampling processing circuit 140.
CT1, CT2 and CT3 acquire the three-phase output electric current of motor driver respectively, for example, CT1 acquisition motor driver
U phase exports electric current, and CT2 acquisition V phase exports electric current, and CT3 acquisition W phase exports electric current.It certainly, in other embodiments, can also be with
It is that CT2 or CT3 acquisition U phase exports electric current, CT3 or CT1 acquisition V phase export electric current, and CT1 or CT2 acquisition W phase export electric current, this
Apply without limitation.
CT1, CT2 and CT3 can use current transformer or current sensor, such as current Hall sensor, the application
It is without limitation.
In one preferred embodiment of the application, CT1, CT2 are identical with the product type that any two in CT3 use, and
Different from remaining one product type；For example, CT1 and CT2 are all made of the current Hall sensor of same model, and CT3 is adopted
It is different from the current Hall sensor of CT1, CT2 with model, alternatively, CT 3 is realized using current transformer；For another example, CT1, CT2
It is different with the model of CT3.The common cause failure as caused by current acquisition module failure can be eliminated in this way.
First sampling processing circuit 120 is for adjusting the signal collected corresponding voltage range of CT1 to first voltage model
Enclose [V1, V2].
It should be noted that current transformer output is current signal if CT1 uses current transformer, at this point, the
Current signal can be converted to voltage signal by one sampling processing circuit 120, then again to the range-adjusting of voltage signal to
One voltage range.
Second sampling processing circuit 130 is for adjusting the signal collected corresponding voltage range of CT2 to second voltage model
Enclose [V3, V4]；Wherein, second voltage range is different from first voltage range, i.e. V1 ≠ V3, V2 ≠ V4.
In one embodiment of the application, third sampling processing circuit 140 is used for the signal collected corresponding electricity of CT3
Pressure range is adjusted to first voltage range or second voltage range；I.e. the voltage adjusting range of third sampling processing circuit 140 with
First sampling processing circuit 120 or the second sampling processing circuit 130 it is identical；That is, two-phase in three sampling processing circuits
Voltage adjusting range is identical and is different from the voltage adjusting range of a remaining phase sampling processing circuit.
In another embodiment of the application, the voltage adjusting range of third sampling processing circuit 140 and the first sampling
Processing circuit 120, the second sampling processing circuit 130 adjusting range be all different, such as third sampling processing circuit 140 will
The signal collected corresponding voltage range of CT3 is adjusted to tertiary voltage range [V5, V6], wherein and V1 ≠ V3 ≠ V5, V2 ≠ V4 ≠
V6。
The voltage range that different sampling processing circuits export is adjusted to different voltage ranges, can be eliminated due to electric current
It is a certain fixed value that acquisition module signal, which is shorted the operational amplifier clamping stagnation in the sampling processing circuit for leading to rear class, alternatively, three
Clamping stagnation is common cause failure caused by a certain fixed value to operational amplifier in a sampling processing circuit simultaneously.
In order to eliminate common cause failure caused by the power supply of sampling processing circuit, the first sampling processing circuit 120, second
Sampling processing circuit 130 and third sampling processing circuit 140 use independent power supply.As shown in Figure 1, the first sampling processing
Circuit 120 and the power supply of the second sampling processing circuit 130 are power1, the power supply of third sampling processing circuit 140
It is power2.
Certainly, in the other embodiments of the application, the first sampling processing circuit 120 and third sampling processing electricity be can be
Road 140 is powered using same power supply, and the second sampling processing circuit 130 is powered using another power supply；Alternatively, first adopts
Sample processing circuit 120 using a power supply power supply, adopt by the second sampling processing circuit 130 and third sampling processing circuit 140
It is powered with another power supply.Alternatively, three independent power supply power supplies are respectively adopted in three sampling processing circuits.
The output electric current of motor driver is one of the moment of torsion control of motor driver and the important parameter of torque monitoring, because
This, after the output electric current that sampling obtains motor driver, it is also necessary to which plausibility check is carried out to the signal that sampling obtains.To mention
The safety of the moment of torsion control of high motor driver.The checking procedure for the signal that sampling obtains is completed by controller.
For controller 110 according to the corresponding sampled signal of three-phase output electric current received, it is reasonable to carry out to the sampled signal
Property verification；When determining any corresponding sampled signal inaccuracy in three-phase, output shutdown control signal.Motor driver root
According to shutdown control signal shutdown output, to improve the safety of the moment of torsion control of motor driver.
When exporting the verification of the corresponding sampled signal of electric current to the three-phase of motor driver, respectively to the amplitude of each phase current
It is verified, and, the phase of three-phase current is verified.
Electric current is exported with CT1 acquisition U phase below, CT2 acquisition V phase exports electric current, CT3 acquisition W phase exports electric current, and U phase
It adjusts with the sampled signal that V phase exports electric current to [V1, V2] range, the sampled signal that W phase exports electric current is adjusted to [V3, V4]
The amplitude checking procedure to each phase current is introduced in range：
After controller 110, which receives U phase, exports electric current corresponding sampled signal, the corresponding voltage of the sampled signal is detected
Whether amplitude Uu_sample is in [V1, V2] range；When the corresponding voltage magnitude of the sampled signal is in [V1, V2] range,
Determine that the amplitude of U phase sampled signal is correct；When the corresponding voltage magnitude of the sampled signal is not in [V1, V2] range, U is determined
Phase sampled signal is incorrect, and exports shutdown control signal, so that motor driver shutdown output；
V, W phase export electric current amplitude checking procedure it is identical, as the corresponding voltage magnitude Uw_sample of W phase sampled signal
It when not in [V3, V4] range, determines that W phase sampled signal is incorrect, and exports shutdown control signal；When V phase sampled signal pair
When the voltage magnitude Uv_sample answered is not in [V1, V2] range, determine that V phase sampled signal is incorrect, and export shutdown control
Signal.
In one preferred embodiment of the application, as shown in Fig. 2, two independent shutdown roads are arranged inside controller 110
Diameter, and every shutdown path has a port, for example, the port Err1 and the port Err2, can be avoided only setting one in this way
Shutdown path leads to common cause failure caused by turning off path failure.
As shown in Fig. 2, when any one sampled signal voltage magnitude exception for mutually exporting electric current in U with V two-phase, via
The port Err1 output shutdown control signal, when W phase exports the voltage magnitude exception of the sampled signal of electric current, via the port Err2
Output shutdown control signal.
If the corresponding voltage magnitude of sampled signal that three-phase exports electric current is correct, continue to verify three-phase output electric current
Phase it is whether accurate.
As shown in figure 3, may include steps of to the phase checking procedure of three-phase output electric current：
The voltage magnitude of three-phase sampled signal is adjusted to same voltage range by S110, and is calculated three-phase adjusted and adopted
The summation absolute value of the voltage magnitude of sample signal.
Because three sampling processing circuits are adjusted to different voltage ranges to the voltage magnitude of output current sampling signal,
So needing to export three-phase the voltage magnitude of the sampled signal of electric current before the phase to three-phase output electric current verifies
It is adjusted to same voltage range again.For example, the sampled signal for the three-phase output electric current being adjusted to after unified voltage range is respectively
Uu, Uv and Uw are then calculated | Uu+Uv+Uw |.
S120 compares the size relation between the summation absolute value and predetermined voltage threshold.When the summation absolute value is greater than
When predetermined voltage threshold, S130 is executed；When the summation absolute value is less than or equal to predetermined voltage threshold, S140 is executed.
Then, compare | Uu+Uv+Uw | with the size relation between predetermined voltage threshold Uth.
Theoretically the sum of three-phase output electric current is equal to 0, it is contemplated that control precision, the corresponding maximum deflection difference value of security target etc.
Predetermined voltage threshold can be set greater than 0 numerical value by actual demand.
In one embodiment of the application, for | Uu+Uv+Uw on two shutdown paths | it can be with Uth manner of comparison
Including following two mode：
The first verification mode is：Directly relatively | Uu+Uv+Uw | with Uth, if | Uu+Uv+Uw | > Uth is executed
S130；If | Uu+Uv+Uw |≤Uth executes S140；
Second of verification mode be：First calculate | Uu+Uv+Uw | the difference with Uth, i.e., | Uu+Uv+Uw |-Uth, then compare |
Uu+Uv+Uw | the size relation between-Uth and 0, if | Uu+Uv+Uw |-Uth > 0 executes S130；If | Uu+Uv+Uw
|-Uth≤0 then executes S140.
Referring to fig. 2, determined when using the first verification mode | Uu+Uv+Uw | when > Uth, exports and close via the port Err1
Disconnected control signal, so that motor driver shutdown output.Determined when using second of verification mode | Uu+Uv+Uw |-Uth > 0
When, shutdown control signal is exported via the port Err2, so that motor driver shutdown output.Two shutdown paths are respectively adopted two
Kind phase verification mode, can eliminate common cause failure caused by software failure.
S130 determines the phase inaccuracy of three-phase sampled signal.
S140 determines that the phase of three-phase sampled signal is accurate.
In addition, controller 110 includes that processing module (such as CPU) and modulus turn in the preferred embodiment of the application
Parallel operation (Analog-to-Digital Converter, ADC).ADC is used to the sampled signal received being converted into digital signal
And it is transmitted to CPU.CPU carries out plausibility check according to sampled signal of the digital signal received to output electric current.
In order to eliminate common cause failure caused by ADC fails, reference voltages ADC different using two voltage class, CPU is needed
Two reference voltages for acquiring ADC are used to verify the correctness of ADC.
For example, two reference voltages of ADC are Vref1 and Vref2 respectively, and Vref1 ≠ Vref2；One reference voltage
As reference voltage when working normally, another reference voltage is as state reference voltage, according to the two reference voltages
Voltage magnitude may determine that whether ADC fails or break down.
CPU is sampled to obtain Vref1_sample to the reference voltage Vref 1 of ADC, is adopted to reference voltage Vref 2
Sample obtains Vref2_sample；Then, judge the sampled signal Vref1_sample and first voltage threshold value of the first reference voltage
The difference of Vrefset1 | Vref1_sample-Vrefset1 | with the size relation between preset difference value △ V；And judge
The difference of the sampled signal Vref2_sample and second voltage threshold value Vrefset2 of two reference voltages | Vref2_sample-
Vrefset2 | with the size relation between preset difference value △ V.
As | Vref1_sample-Vrefset1 | > △ V or | Vref2_sample-Vrefset2 | when > △ V, show
ADC failure is broken down, output shutdown control signal, so that motor driver closes output.
In one embodiment of the application, when | Vref1_sample-Vrefset1 | when > △ V, via the port Err1
Output shutdown control signal；When | Vref2_sample-Vrefset2 | when > △ V, shutdown control letter is exported via the port Err2
Number.
Wherein, Vrefset1 indicates that the voltage magnitude of the first reference voltage Vref 1 of ADC, Vrefset2 indicate the of ADC
The voltage magnitude of two reference voltage Vrefs 2.
In conjunction with Fig. 2, the shutdown logic in two shutdown paths is as shown in table 1：
Table 1
The detecting device for output current of motor driver provided in this embodiment is respectively adopted three current sampling modules and adopts
Collect three-phase and export electric current, and the corresponding voltage magnitude of signal obtained to sampling is adjusted to corresponding voltage range, and is supplied to
Controller.Controller carries out plausibility check to the signal of sampling according to the sampled signal of three-phase output electric current.The device is by
The corresponding voltage magnitude of one phase sampled signal is adjusted to first voltage range, the corresponding voltage magnitude adjustment of the second phase sampled signal
To second voltage range, the corresponding voltage magnitude of third phase sampled signal is adjustable to first voltage range, second voltage model
It encloses or tertiary voltage range, wherein first voltage range, second voltage range and tertiary voltage range are different, to disappear
Except common cause failure caused by the failure due to sampling module.Moreover, three sampling modules at least use two independent power supply electricity
Source power supply, to eliminate the common cause failure due to caused by the failure of power supply.And then the output electric current that sampling can be obtained
Carry out plausibility check, by plausibility check detect sampled signal whether accurate and effective, it is defeated to finally avoid motor driver
The uncontrollable risk of torque out.
On the other hand, present invention also provides a kind of motor drivers, including motor driver provided by the above embodiment
Detecting device for output current and inverter, detect the output electric current of the motor driver using the detection device, motor drives
Dynamic device is exported according to the torque of the state modulators motor drivers such as the output electric current of sampling.The detection device, which eliminates, may lead
The factor of common cause failure is played, plausibility check can be carried out to the output electric current that sampling obtains, be adopted by plausibility check detection
Sample signal whether accurate and effective, finally avoid the uncontrollable risk of motor driver output torque.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments can be realized those skilled in the art or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and the general principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
It is formed on the embodiments shown herein, and is to fit to consistent with the principles and novel features disclosed in this article widest
Range.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of detecting device for output current of motor driver, which is characterized in that including the first current sampling module, the second electricity
Flow sampling module, third current sampling module and controller；
First current sampling module, for the output electric current of the first phase of sample motor driver, the signal that sampling is obtained
Corresponding voltage magnitude, which is adjusted, to be obtained the first sampled signal to first voltage range and is transmitted to the controller；
Second current sampling module, for the output electric current of the second phase of sample motor driver, the signal that sampling is obtained
Corresponding voltage magnitude, which is adjusted, to be obtained the second sampled signal to second voltage range and is transmitted to the controller；
The third current sampling module, for the output electric current of sample motor driver third phase, the signal pair sampled
The voltage magnitude adjustment predetermined voltage range answered obtains third sampled signal and is transmitted to the controller, the predeterminated voltage model
It encloses for any of the first voltage range, the second voltage range and tertiary voltage range, wherein first voltage model
Enclose, second voltage range and tertiary voltage range it is different；
The controller, for carrying out reasonability to the sampled signal according to each corresponding sampled signal received
Verification；When determining any corresponding sampled signal inaccuracy in three-phase output electric current, output shutdown control signal, so that electric
The shutdown output of machine driver；
Wherein, any two mould in first current sampling module, the second current sampling module and third current sampling module
Block is powered using the first power supply, and a remaining module is powered using the second power supply；Alternatively, three modules are respectively adopted
Different power supply power supply.
2. the apparatus according to claim 1, which is characterized in that controller is according to each corresponding sampling letter received
Number, plausibility check is carried out to the corresponding sampled signal of output electric current, is specifically used for：
Plausibility check is carried out to the voltage magnitude of each corresponding sampled signal received, and, it is corresponding to three
The phase of sampled signal carries out reasonability and is verified；
When the voltage magnitude inaccuracy of corresponding sampled signal any in three-phase, the corresponding sampled signal of output electric current is determined
Inaccuracy；
When the corresponding phase inaccuracy of the sampled signal of three-phase output electric current, determine that the corresponding sampled signal of output electric current is inaccurate
Really.
3. the apparatus of claim 2, which is characterized in that each corresponding sampling of the controller to receiving
When the amplitude of signal carries out plausibility check, it is specifically used for：
The controller judges whether the corresponding voltage magnitude of sampled signal of the current phase received is believed in the sampling of current phase
In number corresponding voltage range；When the corresponding voltage magnitude of sampled signal is not in the corresponding voltage range of sampled signal of current phase
When interior, current corresponding sampled signal inaccuracy is determined.
4. the apparatus of claim 2, which is characterized in that phase of the controller to three corresponding sampled signals
When carrying out plausibility check, it is specifically used for：
The voltage magnitude of three-phase sampled signal is adjusted to same voltage range；
Calculate the summation absolute value of the voltage magnitude of three-phase sampled signal adjusted, and the summation absolute value and default
Size relation between voltage threshold；
When the summation absolute value is greater than the predetermined voltage threshold, the phase inaccuracy of three-phase sampled signal is determined；
When the summation absolute value is less than or equal to the predetermined voltage threshold, determine that the phase of three-phase sampled signal is accurate.
5. device according to claim 4, which is characterized in that the controller summation absolute value and default electricity
When pressing the size relation between threshold value, it is specifically used for：
Compare whether the summation absolute value is greater than the predetermined voltage threshold；
Alternatively,
Whether the difference compared between the summation absolute value and the predetermined voltage threshold is greater than zero.
6. the apparatus according to claim 1, which is characterized in that the controller is used to appoint when in determining three-phase output electric current
When one corresponding sampled signal inaccuracy, when output shutdown controls signal, it is specifically used for：
It is defeated via the first output port when the voltage magnitude inaccuracy of the corresponding sampled signal of phase any in three-phase output electric current
Shutdown control signal out, so that motor driver shutdown output；
When the voltage magnitude inaccuracy of the corresponding sampled signal of phase any in other two-phases output electric current, via second output terminal
Mouth output shutdown control signal, so that motor driver shutdown exports；
When determining the phase inaccuracy of three-phase output electric current according to the first verification mode, exported via first output port
The shutdown controls signal；
When determining the phase inaccuracy of three-phase output electric current according to the second verification mode, exported via the second output terminal mouth
The shutdown controls signal；
Wherein, first verification mode is to compare whether the three corresponding summation absolute values for exporting electric currents are greater than predetermined current
Threshold value；Second verification mode is to compare the summation absolute value and the predetermined current threshold of three corresponding output electric currents
Whether difference is greater than zero.
7. the apparatus according to claim 1, which is characterized in that the controller includes processing module and analog-digital converter,
The analog-digital converter tool reference voltage different there are two voltage magnitude；
The analog-digital converter, for the sampled signal received to be converted into digital signal and is transmitted to the processing module,
So that the processing module carries out plausibility check to output electric current according to the digital signal；
The processing module is also used to obtain the first reference voltage sampled signal and the second reference voltage of the analog-digital converter
Sampled signal, according to the first reference voltage sampled signal or the second reference voltage sampled signal to the analog-to-digital conversion
Device is verified；It is defeated via first when determining analog-digital converter failure according to the first reference voltage sampled signal
Exit port output shutdown control signal；When determining analog-digital converter failure according to the second reference voltage sampled signal
When, shutdown control signal is exported via second output terminal mouth.
8. device according to claim 7, which is characterized in that the processing module is sampled according to first reference voltage
When signal or the second reference voltage sampled signal verify the analog-digital converter, it is specifically used for：
Calculate the absolute difference between the first reference voltage sampled signal and first voltage threshold value, and the difference
Size relation between absolute value and preset difference value；When the absolute difference is greater than the preset difference value, the mould is determined
Number converter is incorrect；
Alternatively,
Calculate the absolute difference between the second reference voltage sampled signal and second voltage threshold value, and the difference
Size relation between absolute value and preset difference value；When the absolute difference is greater than the preset difference value, the mould is determined
Number converter is incorrect.
9. device according to claim 1-8, which is characterized in that first current sampling module, the second electricity
It is not identical as the product type of remaining module to flow any two module in sampling module and third current sampling module；
Alternatively,
The product of any two module in first current sampling module, the second current sampling module and third sampling module
Model is not identical.
10. a kind of motor driver, which is characterized in that driven including inverter and the described in any item motors of claim 1-9
The detecting device for output current of dynamic device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810757833.0A CN108880391B (en) | 2018-07-11 | 2018-07-11 | Current detection device of motor driver and motor driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810757833.0A CN108880391B (en) | 2018-07-11 | 2018-07-11 | Current detection device of motor driver and motor driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108880391A true CN108880391A (en) | 2018-11-23 |
| CN108880391B CN108880391B (en) | 2020-08-28 |
Family
ID=64301050
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810757833.0A Active CN108880391B (en) | 2018-07-11 | 2018-07-11 | Current detection device of motor driver and motor driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108880391B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988441A (en) * | 2019-12-25 | 2020-04-10 | 联合汽车电子有限公司 | DC bus voltage monitoring system and method |
| CN112540211A (en) * | 2020-12-04 | 2021-03-23 | 上海辛格林纳新时达电机有限公司 | Current checking method and system, upper computer and storage medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122810A (en) * | 2011-03-11 | 2011-07-13 | 上海诺雅克电气有限公司 | Current diagnosing device and method for monitoring state of current transformer |
| CN103499736A (en) * | 2013-10-22 | 2014-01-08 | 重庆长安汽车股份有限公司 | Over-current detection circuit and over-current protection circuit |
| CN103560491A (en) * | 2013-10-29 | 2014-02-05 | 安徽安凯汽车股份有限公司 | Circuit and method for protecting phase current balance of automobile frequency converter |
| CN207457337U (en) * | 2017-11-06 | 2018-06-05 | 湖北汽车工业学院 | Induction heating power electric current timely collection circuit |
-
2018
- 2018-07-11 CN CN201810757833.0A patent/CN108880391B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122810A (en) * | 2011-03-11 | 2011-07-13 | 上海诺雅克电气有限公司 | Current diagnosing device and method for monitoring state of current transformer |
| CN103499736A (en) * | 2013-10-22 | 2014-01-08 | 重庆长安汽车股份有限公司 | Over-current detection circuit and over-current protection circuit |
| CN103560491A (en) * | 2013-10-29 | 2014-02-05 | 安徽安凯汽车股份有限公司 | Circuit and method for protecting phase current balance of automobile frequency converter |
| CN207457337U (en) * | 2017-11-06 | 2018-06-05 | 湖北汽车工业学院 | Induction heating power electric current timely collection circuit |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110988441A (en) * | 2019-12-25 | 2020-04-10 | 联合汽车电子有限公司 | DC bus voltage monitoring system and method |
| CN110988441B (en) * | 2019-12-25 | 2023-11-28 | 联合汽车电子有限公司 | DC bus voltage monitoring system and method |
| CN112540211A (en) * | 2020-12-04 | 2021-03-23 | 上海辛格林纳新时达电机有限公司 | Current checking method and system, upper computer and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108880391B (en) | 2020-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2848947A1 (en) | Method and Device for Measuring Electrical Quantities | |
| CN108880391A (en) | A kind of current detection means and motor driver of motor driver | |
| JP2010231793A (en) | Interface system | |
| KR19980015274A (en) | Motor abnormal condition detection device and abnormal condition detection method | |
| CN101394146A (en) | Parameter recognition system and method for DC electric motor speed control object | |
| JP4393873B2 (en) | Transmitter | |
| CN102170091A (en) | Laser power correcting method | |
| WO2005121823A1 (en) | Method for diagnosing status of burn-in apparatus | |
| CN106501718B (en) | A kind of motor calibration system, adjusting method and calibrated and calculated method | |
| WO2024032824A1 (en) | Torque control method, torque control device and computer-readable medium | |
| JP3374337B2 (en) | Mass flow controller | |
| CN105891591A (en) | Large-power energy-storage inverter current detection and control system | |
| CN108362937A (en) | A kind of input power circuit for detecting and POL | |
| CN104675735A (en) | Fan control and detection system and method | |
| CN210166454U (en) | Electrical measurement and calibration device of comprehensive protection measurement and control device | |
| CN101666769A (en) | Intelligent gas sensor residual service life prediction device and method | |
| CN101000361A (en) | Wind analog device | |
| CN110411628B (en) | Slip ring type wheel force sensor dynamic transmission error correction system and correction method thereof | |
| CN105628296A (en) | Universal thermocouple vacuum gauge | |
| KR20170092904A (en) | Steering motor control apparatus and steering motor control method | |
| CN205581287U (en) | High voltage divider automatic check platform | |
| CN110736491A (en) | detection device based on temperature and humidity sensor and detection method thereof | |
| CN111602095A (en) | Method for error-free checking of time-discrete signal values of a sensor | |
| CN212360372U (en) | Portable hydraulic system pressure switch detects and debugging apparatus | |
| CN204044254U (en) | Semiconductor transducer output noise pick-up unit |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |