CN110149073A - Braking method and system - Google Patents
Braking method and system Download PDFInfo
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- CN110149073A CN110149073A CN201910360671.1A CN201910360671A CN110149073A CN 110149073 A CN110149073 A CN 110149073A CN 201910360671 A CN201910360671 A CN 201910360671A CN 110149073 A CN110149073 A CN 110149073A
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- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000009467 reduction Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
- H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Stopping Of Electric Motors (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention provides a braking method and a system, wherein the method comprises the following steps: when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction; according to the deceleration instruction, decelerating from the current speed value to a first speed value within preset deceleration time; judging whether the first speed value reaches a preset reference speed value or not, and if so, outputting a brake closing instruction; when a braking closing instruction is output, enabling signals of the frequency converter are in an effective state; so, when closing the instruction because of the output braking of converter, the enable signal of converter still is in effective state, consequently can make the motor have enough big moment to support load equipment, ensures that equipment still is in the state that receives the control power, avoids appearing "swift current car" phenomenon.
Description
Technical Field
The invention relates to the technical field of motor control, in particular to a braking method and a braking system.
Background
The lifting equipment used in the field of metallurgy generally adopts motor control with an internal electromagnetic brake, can transmit the torque force of a driving side to a driven side, and can cut off or brake the equipment according to the field use requirement.
The operation of the electromagnetic brake is mainly realized through the action of the armature, and the electromagnetic brake has higher requirements on the size, uniformity and the like of an air gap of the action of the armature. In the actual operation and adjustment process, the air gap can be adjusted by means of a feeler gauge and the like, and inevitable artificial measurement errors exist, so that the action time of the armature is different. For the equipment with lifting action, the phenomenon of 'vehicle sliding' often occurs due to the self weight of the equipment.
Disclosure of Invention
Aiming at the problems in the prior art, the embodiment of the invention provides a braking method and a braking system, which are used for solving the technical problem of 'vehicle sliding' phenomenon when a lifting device is braked in the prior art.
The embodiment of the invention provides a braking method, which comprises the following steps:
when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction;
according to the deceleration instruction, decelerating from a current speed value to a first speed value within preset deceleration time, wherein the first speed value is different from an initial speed value;
judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling a frequency converter to output a braking closing instruction; when the speed reduction instruction is output, the enabling signal of the frequency converter is in an effective state.
In the above scheme, the first speed value is 15 HZ.
In the foregoing solution, after the brake off command is output, the method further includes:
and controlling the enabling signal to be in an invalid state within a preset delay time.
In the foregoing aspect, when outputting the brake off command, the method further includes:
detecting the voltage value of the direct-current bus of the frequency converter;
and judging whether the voltage value reaches a preset reference voltage value, and if so, controlling the enabling signal to be in an invalid state.
In the scheme, the preset deceleration time is 1.4-1.6 s.
In the above scheme, the method further comprises:
when a lifting starting instruction is received, outputting a speed increasing instruction according to the starting instruction;
increasing the speed from the initial speed value to the current speed value according to the speed increasing instruction;
and when the frequency converter reaches the current speed value, judging whether the current value of the frequency converter reaches a preset reference current value, and if so, controlling the frequency converter to output a brake opening instruction.
An embodiment of the present invention further provides a braking system, where the braking system includes: the device comprises a controller, a frequency converter and an electromagnetic brake; wherein,
the controller is used for outputting a deceleration instruction according to the received stop instruction;
the frequency converter is used for decelerating from a current speed value to a first speed value within preset deceleration time according to the deceleration instruction, and the first speed value is different from the initial speed value;
the controller is used for judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling the frequency converter to output a braking closing instruction to the electromagnetic brake; when the speed reduction instruction is output, the enabling signal of the frequency converter is in an effective state.
In the above scheme, the first speed value is 15 HZ.
In the foregoing solution, the controller is further configured to: and after the brake closing instruction is output, controlling the enabling signal to be in an invalid state within a preset delay time.
In the foregoing solution, the controller is further configured to:
when a braking closing instruction is output, detecting the voltage value of the direct-current bus of the frequency converter;
and judging whether the voltage value reaches a preset reference voltage value, and if so, controlling the enabling signal to be in an invalid state.
The embodiment of the invention provides a braking method and a system, wherein the method comprises the following steps: when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction; according to the deceleration instruction, decelerating from a current speed value to a first speed value within preset deceleration time, wherein the first speed value is different from an initial speed value; judging whether the first speed value reaches a preset reference speed value or not, and if so, outputting a brake closing instruction; when a braking closing instruction is output, enabling signals of the frequency converter are in an effective state; so, when closing the instruction because of the output braking of converter, the enable signal of converter still is in effective state, consequently can make the motor have enough big moment to support load equipment, ensures that equipment still is in the state that receives the control power, avoids appearing "swift current car" phenomenon.
Drawings
Fig. 1 is a schematic flow chart of a braking method according to a first embodiment of the present invention;
fig. 2 is a schematic structural diagram of a braking system according to a second embodiment of the present invention.
Detailed Description
In order to avoid the technical problem of 'vehicle sliding' when the lifting equipment is braked, the invention provides a braking method and a braking system, wherein the braking method comprises the following steps: when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction; according to the deceleration instruction, decelerating from a current speed value to a first speed value within preset deceleration time, wherein the first speed value is different from an initial speed value; judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling a frequency converter to output a braking closing instruction; when the speed reduction order is output, the enabling signal of the frequency converter is in an effective state.
The technical solution of the present invention is further described in detail by the accompanying drawings and the specific embodiments.
Example one
The embodiment provides a braking method, which is applied to a lifting device, and as shown in fig. 1, the method includes:
s110, outputting a deceleration instruction according to a stop instruction when receiving a lifting stop instruction;
when the lifting equipment needs to be stopped, a user can press a stop button on the operation box, and the controller receives a lifting stop instruction. When the ascending and descending stop command is received, a deceleration command is immediately output to the frequency converter (zero speed can also be understood to be output to the frequency converter).
When the speed reduction instruction is output, the enabling signal of the frequency converter is still in an effective state.
S111, according to the deceleration instruction, decelerating from the current speed value to a first speed value within preset deceleration time;
when the frequency converter receives a deceleration instruction, the current speed value is decelerated to a first speed value within preset deceleration time, and the first speed value is different from the initial speed value. In this embodiment, the current speed value is 15HZ, i.e. the frequency converter will start to decelerate from 15 HZ. The preset deceleration time is 1.4-1.6 s, and preferably 1.5 s. Here, 1.5s is also the time for the frequency converter to decelerate from 50HZ to an initial speed value, which is typically 0 HZ.
S112, judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling a frequency converter to output a braking closing instruction;
when the speed is reduced to the first speed value, the controller can judge whether the first speed value reaches a preset reference speed value, and if the first speed value reaches the preset reference speed value, the controller controls the frequency converter to output a braking closing instruction so that the brake is closed in a power-off mode.
Here, the preset reference speed value is a reference speed value of the internal brake module of the frequency converter, and in the embodiment, the reference speed value is 7 HZ. In actual production, the time taken to decelerate from 15Hz to 7Hz was 240 ms.
At the moment, because the enabling signal of the frequency converter is still in an effective state, the motor has enough large moment to support the load lifting equipment, and the lifting equipment is still in a controlled force state, so that the phenomenon of vehicle sliding can be avoided.
Here, after the brake-off command is output, the method further includes: and controlling the enabling signal to be in an invalid state within a preset delay time. The delay time is generally set to 8ms, i.e. in this embodiment, after delaying for 8ms, the controller will withdraw the enable signal of the frequency converter, so that the enable signal is in an inactive state.
In order to avoid an overvoltage when the brake off command is output, the method further includes:
detecting the voltage value of the direct-current bus of the frequency converter; and judging whether the voltage value reaches a preset reference voltage value, and if so, immediately controlling the enable signal to be in an invalid state even if the voltage value is still in the delay time. Here, the preset reference voltage value is 630V.
As an alternative embodiment, when the lifting device needs to be operated, the user presses the start button through the operation box, and the controller receives the lifting start command.
When a lifting starting instruction is received, the controller outputs a speed increasing instruction to the frequency converter, and the frequency converter increases the frequency converter from an initial speed value to a current speed value according to the speed increasing instruction. The initial speed value is generally 0HZ, and the current speed value is generally 15 HZ.
When the frequency converter reaches the current speed value, judging whether the current value of the frequency converter reaches a preset reference current value, if so, controlling the frequency converter to output a brake opening instruction, and enabling the electromagnetic brake to be powered on and opened. Wherein the preset reference current value is 1A.
Based on the same inventive concept, the application also provides a brake system, which is detailed in embodiment two.
Example two
The present embodiment provides a braking system, as shown in fig. 2, the system including: the device comprises a controller 1, a frequency converter 2, an electromagnetic brake 3, a relay 4, a contactor 5, a motor 6 and a machine-side operation box 7;
when the lifting equipment needs to be stopped, a user can press a stop button on the operation box 7, and the operation box 7 outputs a lifting stop instruction. The controller 1 is configured to output a deceleration command (which may also be understood as outputting a zero speed to the frequency converter 2) according to the received lift stop command. The controller 1 may be a Programmable Logic Controller (PLC).
Wherein, when the deceleration instruction is output, the enable signal of the frequency converter 2 is still in an active state.
When the frequency converter 2 receives a deceleration instruction, the current speed value is decelerated to a first speed value within preset deceleration time according to the deceleration instruction, and the first speed value is different from the initial speed value; in this embodiment, the current speed value is 15HZ, i.e. the frequency converter will start to decelerate from 15 HZ. The preset deceleration time is 1.4-1.6 s, and preferably 1.5 s. Here, 1.5s is also the time for the frequency converter to decelerate from 50HZ to an initial speed value, which is typically 0 HZ.
When the speed is reduced to a first speed value, the controller 1 judges whether the first speed value reaches a preset reference speed value, if so, the frequency converter 2 is controlled to output a braking closing instruction to the electromagnetic brake, and the relay 5 and the contactor 6 are controlled to act so that the brake 3 is closed when power is lost.
Here, the preset reference speed value is a reference speed value of the internal brake module of the frequency converter 2, and in the embodiment, the reference speed value is 7 HZ. In actual production, the time taken for decelerating from 15HZ to 7HZ is 240ms
At this time, because the enable signal of the frequency converter 2 is still in an effective state, the motor 6 has enough torque to support the load lifting equipment, and the lifting equipment is still in a controlled force state, so that the phenomenon of vehicle sliding can be avoided.
Here, after outputting the brake-off command, the controller 1 is further configured to:
the control enable signal is in an invalid state within a preset delay time. The delay time is generally set to 8ms, i.e. in this embodiment, after delaying 8ms, the controller 1 will withdraw the enable signal of the frequency converter, so that the enable signal is in an inactive state.
In order to avoid an overvoltage when the brake off command is output, the controller 1 is further configured to:
detecting the voltage value of the direct-current bus of the frequency converter 2; and judging whether the voltage value reaches a preset reference voltage value, and if so, immediately controlling the enable signal to be in an invalid state even if the voltage value is still in the delay time. Here, the preset reference voltage value is 630V.
As an alternative embodiment, when the user presses the start button through the operation box 7 when the lifting device needs to be operated, the controller 1 receives the lifting start command.
When a lifting starting instruction is received, the controller 1 outputs a speed increasing instruction to the frequency converter 2, and the frequency converter 2 increases the frequency converter 2 from an initial speed value to a current speed value according to the speed increasing instruction. The initial speed value is generally 0HZ, and the current speed value is generally 15 HZ.
When the frequency converter 2 reaches the current speed value, whether the current value of the frequency converter 2 reaches a preset reference current value is judged, if yes, the frequency converter 2 is controlled to output a brake opening instruction, so that the relay 5 and the contactor 6 are controlled to act, and the electromagnetic brake 3 is powered on and opened. Wherein the preset reference current value is 1A.
The braking method and the braking system provided by the embodiment have the following beneficial effects that:
the embodiment of the invention provides a braking method and a system, wherein the method comprises the following steps: when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction; according to the deceleration instruction, decelerating from the current speed value to a first speed value within preset deceleration time, wherein the first speed value is different from the initial speed value; judging whether the first speed value reaches a preset reference speed value or not, and if so, outputting a brake closing instruction; when a braking closing instruction is output, enabling signals of the frequency converter are in an effective state; so, when closing the instruction because of the output braking of converter, the enable signal of converter still is in effective state, consequently can make the motor have enough big moment to support load equipment, ensures that equipment still is in the state that receives the control power, avoids appearing "swift current car" phenomenon.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, and any modifications, equivalents, improvements, etc. that are within the spirit and principle of the present invention should be included in the present invention.
Claims (10)
1. A method of braking, the method comprising:
when a lifting stop instruction is received, outputting a deceleration instruction according to the stop instruction;
according to the deceleration instruction, decelerating from a current speed value to a first speed value within preset deceleration time, wherein the first speed value is different from an initial speed value;
judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling a frequency converter to output a braking closing instruction; when the speed reduction instruction is output, the enabling signal of the frequency converter is in an effective state.
2. The method of claim 1, wherein the first speed value is 15 HZ.
3. The method of claim 1, wherein after outputting the brake off command, the method further comprises:
and controlling the enabling signal to be in an invalid state within a preset delay time.
4. The method of claim 1, wherein outputting the brake off command further comprises:
detecting the voltage value of the direct-current bus of the frequency converter;
and judging whether the voltage value reaches a preset reference voltage value, and if so, controlling the enabling signal to be in an invalid state.
5. The method according to claim 1, wherein the predetermined deceleration time is 1.4 to 1.6 s.
6. The method of braking according to claim 1, wherein the method further comprises:
when a lifting starting instruction is received, outputting a speed increasing instruction according to the starting instruction;
increasing the speed from the initial speed value to the current speed value according to the speed increasing instruction;
and when the frequency converter reaches the current speed value, judging whether the current value of the frequency converter reaches a preset reference current value, and if so, controlling the frequency converter to output a brake opening instruction.
7. A braking system, characterized in that the system comprises: the device comprises a controller, a frequency converter and an electromagnetic brake; wherein,
the controller is used for outputting a deceleration instruction according to the received stop instruction;
the frequency converter is used for decelerating from a current speed value to a first speed value within preset deceleration time according to the deceleration instruction, and the first speed value is different from the initial speed value;
the controller is used for judging whether the first speed value reaches a preset reference speed value or not, and if so, controlling the frequency converter to output a braking closing instruction to the electromagnetic brake; when the speed reduction instruction is output, the enabling signal of the frequency converter is in an effective state.
8. The system of claim 7, wherein the first speed value is 15 HZ.
9. The system of claim 7, wherein the controller is further configured to: and after the brake closing instruction is output, controlling the enabling signal to be in an invalid state within a preset delay time.
10. The system of claim 7, wherein the controller is further configured to:
when a braking closing instruction is output, detecting the voltage value of the direct-current bus of the frequency converter;
and judging whether the voltage value reaches a preset reference voltage value, and if so, controlling the enabling signal to be in an invalid state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910360671.1A CN110149073B (en) | 2019-04-30 | 2019-04-30 | Braking method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910360671.1A CN110149073B (en) | 2019-04-30 | 2019-04-30 | Braking method and system |
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| Publication Number | Publication Date |
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| CN110149073A true CN110149073A (en) | 2019-08-20 |
| CN110149073B CN110149073B (en) | 2021-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910360671.1A Active CN110149073B (en) | 2019-04-30 | 2019-04-30 | Braking method and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021098316A1 (en) * | 2019-11-22 | 2021-05-27 | 珠海格力智能装备有限公司 | Control method and device for robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011131971A (en) * | 2009-12-22 | 2011-07-07 | Toshiba Elevator Co Ltd | Braking control device for elevator |
| CN103501135A (en) * | 2013-10-15 | 2014-01-08 | 苏州汇川技术有限公司 | High-voltage frequency converter braking deceleration protection system and method |
| CN105129682A (en) * | 2015-08-28 | 2015-12-09 | 武汉船用机械有限责任公司 | Lifting platform control method |
| CN105384084A (en) * | 2015-12-28 | 2016-03-09 | 中科院成都信息技术股份有限公司 | Variable-frequency-speed-adjusting control system and method of tower-crane lifting mechanism |
-
2019
- 2019-04-30 CN CN201910360671.1A patent/CN110149073B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011131971A (en) * | 2009-12-22 | 2011-07-07 | Toshiba Elevator Co Ltd | Braking control device for elevator |
| CN103501135A (en) * | 2013-10-15 | 2014-01-08 | 苏州汇川技术有限公司 | High-voltage frequency converter braking deceleration protection system and method |
| CN105129682A (en) * | 2015-08-28 | 2015-12-09 | 武汉船用机械有限责任公司 | Lifting platform control method |
| CN105384084A (en) * | 2015-12-28 | 2016-03-09 | 中科院成都信息技术股份有限公司 | Variable-frequency-speed-adjusting control system and method of tower-crane lifting mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021098316A1 (en) * | 2019-11-22 | 2021-05-27 | 珠海格力智能装备有限公司 | Control method and device for robot |
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| CN110149073B (en) | 2021-08-20 |
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