CN110957943A - Band-type brake control method of servo motor - Google Patents
Band-type brake control method of servo motor Download PDFInfo
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- CN110957943A CN110957943A CN201911232071.3A CN201911232071A CN110957943A CN 110957943 A CN110957943 A CN 110957943A CN 201911232071 A CN201911232071 A CN 201911232071A CN 110957943 A CN110957943 A CN 110957943A
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- brake
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- 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
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
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Abstract
A brake control method of a servo motor comprises the following steps: the controller controls the switch tube to be conducted so as to enable the contracting brake electromagnetic coil to be electrified and work, wherein the switch tube is arranged on a path for supplying power to the contracting brake electromagnetic coil by contracting brake starting voltage; and after a preset time t1 from the time when the control switch tube is switched on, the controller outputs a PWM signal to the switch tube and adjusts the duty ratio of the PWM signal output to the switch tube, so that the working voltage of the band-type brake electromagnetic coil is gradually reduced until a preset maintaining voltage is reached, and the preset maintaining voltage is smaller than the band-type brake opening voltage. The invention can realize stable motor brake with lower energy consumption.
Description
Technical Field
The present invention relates to a servo motor control technique.
Background
The servo motor driver is one of the core components of an industrial robot. In most power supply modes of servo motor drivers, control power and power are separated, and the path of the control power needs to supply power to all weak current loops and also needs to supply power to an internal contracting brake of a servo motor. Fig. 1 shows a schematic diagram of a brake control circuit of a servo motor. As shown in fig. 1, the servo motor internal contracting brake control circuit comprises a controller 1, a switching tube driving circuit 2, a switching tube Q, an internal contracting brake electromagnetic coil L and a freewheeling diode D. The output end of the controller 1 is connected with the input end of the switch tube driving circuit 2, the output end of the switch tube driving circuit 2 is connected with the control end of the switch tube Q, the first conduction end of the switch tube Q is respectively connected with one end of the band-type brake electromagnetic coil L and the anode of the fly-wheel diode D, the second conduction end of the switch tube Q is grounded, and the other end of the band-type brake electromagnetic coil L and the cathode of the fly-wheel diode D are connected with a band-type brake opening voltage V1 (the band-type brake opening voltage V1 is provided by a servo motor driver and is generally 24V). When the controller 1 controls the switching tube Q to be conducted, current flows through the contracting brake electromagnetic coil L, and the electromagnetic force can control the brake pad of the motor brake to act, so that the servo motor is mechanically locked, and contracting brake is realized; when the controller 1 controls the switch tube Q to be switched off, the electromagnetic coil L loses power, the brake pad of the motor brake is released, and then the brake is switched off.
In the existing band-type brake control mode, the working voltage of the band-type brake electromagnetic coil L during the operation of the band-type brake is approximately equal to the band-type brake opening voltage (the voltage drop of the switching tube Q during the conduction is negligible), the current flowing through the band-type brake electromagnetic coil L is large, and the energy consumption is also large.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a brake control method of a servo motor, which can realize stable motor brake with lower energy consumption.
The embodiment of the invention provides a brake control method of a servo motor, which comprises the following steps:
the controller controls the switch tube to be conducted so as to enable the contracting brake electromagnetic coil to be electrified and work, wherein the switch tube is arranged on a path for supplying power to the contracting brake electromagnetic coil by contracting brake starting voltage;
and after a preset time t1 from the time when the control switch tube is switched on, the controller outputs a PWM signal to the switch tube and adjusts the duty ratio of the PWM signal output to the switch tube, so that the working voltage of the band-type brake electromagnetic coil is gradually reduced until a preset maintaining voltage is reached, and the preset maintaining voltage is smaller than the band-type brake opening voltage.
The invention has at least the following advantages:
1. according to the contracting brake control method of the servo motor, the contracting brake electromagnetic coil is supplied with power by high contracting brake starting voltage at the beginning stage of the contracting brake, after the contracting brake is stable, the power supply voltage of the contracting brake electromagnetic coil is gradually reduced in a PWM (pulse-width modulation) voltage regulating mode until the contracting brake electromagnetic coil is supplied with power by low maintaining voltage, so that the stable transition from the contracting brake starting voltage power supply to the maintaining voltage power supply is realized, the maintaining current flowing through the contracting brake electromagnetic coil is small, the contracting brake power consumption is reduced, the response time from the contracting brake to the closing brake is accelerated, and the main chip of the servo motor driver is not influenced to lose the power under the condition that the control power of the servo motor driver is cut off, and the system is prevented from being out of control;
2. the invention can be realized by a simple circuit structure, has low cost and is easy to implement.
Drawings
Fig. 1 shows a schematic diagram of a brake control circuit of a servo motor.
Fig. 2 and 3 show the detection results of the holding current when the brake solenoid coil is operated in the holding state by using the conventional brake control method and the brake control method of the present embodiment, respectively.
Fig. 4 and 5 respectively show the brake closing execution time detection results of the brake closing electromagnetic coil using the conventional brake control method and the brake control method of the embodiment when the brake closing phase is operated.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Please refer to fig. 1. The band-type brake control method of the servo motor comprises the following steps:
the controller 1 controls the switching tube Q to be conducted so as to enable the contracting brake electromagnetic coil L to be electrified and work, wherein the switching tube Q is arranged on a path for supplying power to the contracting brake electromagnetic coil L by contracting brake opening voltage V1;
after a preset time t1 from the time when the switching tube Q is controlled to be turned on, the controller 1 outputs a PWM signal to the switching tube Q, and adjusts the duty ratio of the PWM signal output to the switching tube Q, so that the working voltage of the band-type brake electromagnetic coil L is gradually reduced until a preset holding voltage is reached, and the preset holding voltage is smaller than the band-type brake opening voltage.
Optionally, the preset time t1 is 5s to 10s, and the preset time t1 is preferably sized to enable the motor brake to reach a stable brake operating state.
In this embodiment, the band-type brake opening voltage is 24V, and the preset holding voltage is greater than or equal to 16V and less than 24V. The switch tube Q is an NMOS tube. The controller 1 is a controller of a servo motor driver, which may be an MCU, but is not limited thereto.
The brake control method of the servo motor according to the present embodiment is specifically described below with reference to a specific application example.
After receiving an external band-type brake triggering signal, the controller 1 firstly sends a high-level signal to the switching tube Q to control the switching tube Q to be switched on, so that a band-type brake electromagnetic coil L obtains power supply of 24V band-type brake opening voltage and is electrified to work;
after 5 seconds from the time of controlling the switching tube Q to be switched on, the controller 1 outputs a PWM signal to the switching tube Q, and adjusts the duty ratio of the PWM signal output to the switching tube Q, so that the working voltage of the contracting brake electromagnetic coil L is gradually reduced until 21V is reached, thereby realizing contracting brake operation with a lower holding current.
Fig. 2 and 3 show the detection results of the holding current when the brake solenoid coil is operated in the holding state by using the conventional brake control method and the brake control method of the present embodiment, respectively. As can be seen from comparing fig. 2 and fig. 3, when a stable 24V power is supplied to the band-type brake solenoid, the holding current flowing through the band-type brake solenoid is 879mA, and when a 21V holding voltage is supplied to the band-type brake solenoid, the holding current flowing through the band-type brake solenoid is 707mA, which significantly reduces the power consumption.
Further, the brake control method of the servo motor in the embodiment of the present invention includes a step of detecting an execution time of the brake, and specifically includes the following sub-steps:
a. when the servo motor driver drives the servo motor to work, the current waveform of any phase U, V, W of the servo motor is detected through the oscilloscope;
b. inputting an execution contracting brake command signal to the servo motor driver, wherein the execution contracting brake command signal can be a trigger signal output to the servo motor driver by another external device, and is preferably supplied to the servo motor driver when the servo motor works at low speed and low torque;
c. and observing the current waveform of the oscilloscope, taking the time when the current waveform obviously changes as the starting time of the contracting brake, reading the time interval delta T between the time when the servo motor driver receives a contracting brake command signal and the starting time of the contracting brake, and taking the sum of the time interval delta T and the contact time of a contracting brake surface of a brake pad as the execution time of the contracting brake. The contact time of the brake pad locking surface is a known parameter, and is usually provided by a supplier of the motor brake, and in this embodiment, the time from the brake pad starting to contact the motor to the complete locking of the motor can be ignored.
Fig. 4 and 5 respectively show the brake closing execution time detection results of the brake closing electromagnetic coil using the conventional brake control method and the brake control method of the embodiment when the brake closing phase is operated. The EM in the figure represents a conventional brake control method, and the MS in the figure represents a brake control method adopting the present embodiment. When the brake is closed, the servo motor is firstly enabled to work in a torque mode, the torque is 200rpm, then a brake closing signal is manually sent to a servo motor driver, and the time from the stop moment of the brake closing voltage displayed on an oscilloscope to the moment when the motor current starts to rise is the time of the brake closing process. By comparison, the brake closing process time of the contracting brake control method is shorter, namely the brake closing response is faster. In fig. 4 and 5, the upper channel shows the operating voltage waveform of the band-type brake solenoid coil, the middle channel shows the operating current waveform of the band-type brake solenoid coil, and the lower channel shows the current waveform of the W phase of the servo motor.
According to the contracting brake control method of the servo motor, the contracting brake electromagnetic coil is supplied with power by high contracting brake starting voltage at the beginning stage of contracting brake, after the contracting brake is stable, the power supply voltage of the contracting brake electromagnetic coil is gradually reduced through a PWM voltage regulating mode until the contracting brake electromagnetic coil is supplied with power by low maintaining voltage, so that not only is the stable transition from the contracting brake starting voltage power supply to the maintaining voltage power supply realized, but also the maintaining current flowing through the contracting brake electromagnetic coil is small, the contracting brake power consumption is reduced, and the response time from the contracting brake to the closing brake is shortened.
Claims (6)
1. A brake control method of a servo motor is characterized by comprising the following steps:
the controller controls the switch tube to be conducted so as to enable the band-type brake electromagnetic coil to be electrified and work, wherein the switch tube is arranged on a path for supplying power to the band-type brake electromagnetic coil by a band-type brake starting voltage;
the controller outputs PWM signals to the switching tube after preset time t1 from the time when the switching tube is controlled to be switched on, and adjusts the duty ratio of the PWM signals output to the switching tube, so that the working voltage of the band-type brake electromagnetic coil is gradually reduced until the working voltage reaches preset maintaining voltage, and the preset maintaining voltage is smaller than the band-type brake starting voltage.
2. The brake control method of the servo motor according to claim 1, wherein the preset time t1 is 5s to 10 s.
3. The brake control method of the servo motor according to claim 1, wherein the brake opening voltage is 24V, and the predetermined holding voltage is greater than or equal to 16V and less than 24V.
4. The brake control method of a servo motor according to claim 1, wherein the switching tube is an NMOS tube.
5. The brake control method of a servo motor according to claim 1, wherein the controller is a controller of a servo motor driver.
6. The brake control method of the servo motor according to claim 5, wherein the brake control method of the servo motor comprises a step of detecting an execution time of a brake, and specifically comprises the following substeps:
a. when the servo motor driver drives the servo motor to work, the current waveform of any phase U, V, W of the servo motor is detected through the oscilloscope;
b. inputting an execution band-type brake command signal to a servo motor driver;
c. and observing the current waveform of the oscilloscope, taking the time when the current waveform obviously changes as the starting time of the contracting brake, reading the time interval delta T between the time when the servo motor driver receives a contracting brake command signal and the starting time of the contracting brake, and taking the sum of the time interval delta T and the contact time of a contracting brake surface of a brake pad as the execution time of the contracting brake.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911232071.3A CN110957943A (en) | 2019-12-05 | 2019-12-05 | Band-type brake control method of servo motor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911232071.3A CN110957943A (en) | 2019-12-05 | 2019-12-05 | Band-type brake control method of servo motor |
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| CN110957943A true CN110957943A (en) | 2020-04-03 |
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| CN201911232071.3A Pending CN110957943A (en) | 2019-12-05 | 2019-12-05 | Band-type brake control method of servo motor |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1551457A (en) * | 2003-05-07 | 2004-12-01 | 多摩川精机株式会社 | Motor with a brake |
| US20120133310A1 (en) * | 2009-07-02 | 2012-05-31 | Chong Uk Lee | Reconfigurable battery |
| CN103274326A (en) * | 2013-06-08 | 2013-09-04 | 安徽广德昌立制动器有限公司 | Mute energy-saving alternating current controller |
| CN104743466A (en) * | 2013-12-31 | 2015-07-01 | 刘培 | Elevator band-type brake power supply |
| CN105060037A (en) * | 2015-08-10 | 2015-11-18 | 上海新时达电气股份有限公司 | Brake control method and system |
| CN205136752U (en) * | 2015-10-12 | 2016-04-06 | 辽东学院 | Energy -conserving drive arrangement of low pressure electromagnetic type electrical apparatus |
| CN106838069A (en) * | 2017-01-20 | 2017-06-13 | 深圳锐特机电技术有限公司 | Electromagnetic brake controls circuit and electromagnetic brake controller |
-
2019
- 2019-12-05 CN CN201911232071.3A patent/CN110957943A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1551457A (en) * | 2003-05-07 | 2004-12-01 | 多摩川精机株式会社 | Motor with a brake |
| US20120133310A1 (en) * | 2009-07-02 | 2012-05-31 | Chong Uk Lee | Reconfigurable battery |
| CN103274326A (en) * | 2013-06-08 | 2013-09-04 | 安徽广德昌立制动器有限公司 | Mute energy-saving alternating current controller |
| CN104743466A (en) * | 2013-12-31 | 2015-07-01 | 刘培 | Elevator band-type brake power supply |
| CN104743466B (en) * | 2013-12-31 | 2017-12-15 | 重庆顺心仪器设备有限公司 | A kind of elevator internal contracting brake power supply |
| CN105060037A (en) * | 2015-08-10 | 2015-11-18 | 上海新时达电气股份有限公司 | Brake control method and system |
| CN205136752U (en) * | 2015-10-12 | 2016-04-06 | 辽东学院 | Energy -conserving drive arrangement of low pressure electromagnetic type electrical apparatus |
| CN106838069A (en) * | 2017-01-20 | 2017-06-13 | 深圳锐特机电技术有限公司 | Electromagnetic brake controls circuit and electromagnetic brake controller |
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Application publication date: 20200403 |