CN110971148A - Braking device and method of motor control system - Google Patents

Braking device and method of motor control system Download PDF

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Publication number
CN110971148A
CN110971148A CN201911394051.6A CN201911394051A CN110971148A CN 110971148 A CN110971148 A CN 110971148A CN 201911394051 A CN201911394051 A CN 201911394051A CN 110971148 A CN110971148 A CN 110971148A
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China
Prior art keywords
brake
switch
motor
resistor
controller
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CN201911394051.6A
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Chinese (zh)
Inventor
包晓军
刘远曦
李琳
王育才
刘会涛
刘素玲
刘航
吕刚立
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XTR SOLUTIONS Ltd
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XTR SOLUTIONS Ltd
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Priority to CN201911394051.6A priority Critical patent/CN110971148A/en
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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
    • 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
    • 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
    • H02P3/18—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 for stopping or slowing an ac motor
    • H02P3/22—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 for stopping or slowing an ac motor by short-circuit or resistive braking
    • 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
    • H02P3/18—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 for stopping or slowing an ac motor
    • H02P3/26—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 for stopping or slowing an ac motor by combined electrical and mechanical braking

Abstract

The invention discloses a braking device and a braking method of a motor control system, which comprise the following steps: a controller; the brake switch is connected with the controller; the running unit comprises a driver, a controllable resistor group, a motor and a brake, wherein the input end of the driver is connected with the controller, the brake switch is connected with the brake, the controllable resistor comprises a first switch and a first-stage brake resistor, the enabling end of the first switch is connected with the controller, and the motor is respectively connected with the first-stage brake resistor and the driver through the first switch; wherein, the operation units are at least two. The passive safety and active recovery of the whole machine equipment are realized through the high-reliability low-cost components such as the resistor and the switch, and compared with the traditional brake system, the cost and reliability can be optimized without increasing the volume, and the safety design scheme of a severe working occasion is realized.

Description

Braking device and method of motor control system
Technical Field
The invention relates to the field of motor control, in particular to a braking device and a braking method of a motor control system.
Background
The design of a braking system of motor power equipment with large kinetic energy capacity needs to realize the safe action of the whole equipment under the worst environment, such as the situation that the load continuously applies work after sudden power failure under the condition of heavy load output of the system. In addition, or in a multi-motor control system, when part of motors fail, a redundancy function is required, and the system is braked and electrified to recover. The motor redundancy technology can realize multiple working modes such as fault redundancy operation, electric backlash elimination, load balance and the like. Dual motor technology is being selected by an increasing number of systems as compared to single motor drive schemes. Dual or multi-motor systems, often used to drive heavy loads, typically have a large mass or moment of inertia; in terms of energy, the moving system device can be regarded as an energy pool, and the basis of the design of the system control scheme is as follows: controlling an electrical system to output electric energy to enable the system to move and convert the electric energy into mechanical energy; and the mechanical energy is consumed by controlling the braking system to decelerate the system. In the power scheme of the servo motor, the technical mode of system braking comprises the following steps: regenerative braking, converting mechanical energy into electrical energy for feedback to the grid or to the electrical energy storage unit of the device itself, as in patent publication nos.: CN106451713B file entitled "motor braking energy recovery system"; the independent mechanical braking device brakes the main shaft through the braking device, and mechanical energy is converted into heat energy through friction; the brake device is externally provided with a brake resistor, converts mechanical energy into electric energy and converts the electric energy into heat energy, for example, a patent with the name of patent publication No. CN109743000A, namely a brake circuit of a servo motor, a brake system of the servo motor and a brake method of the servo motor.
The regenerative braking scheme has the defects that when the energy storage capacity of the equipment reaches the limit and the power grid is disconnected due to faults, a regenerative braking system fails; further, when continuous load external force does work and kinetic energy accumulation of the moving device exceeds a design limit value of the whole machine, the equipment has great safety risk, and if a fault wind motor breaks down under typhoon load. The mechanical braking device and the servo motor are generally provided with built-in holding braking devices, but the servo motor can not be applied to occasions with high-capacity braking requirements; and the independent brake device which is designed by independently matching the system leads to the enlargement of the system volume and the increase of the cost. The external brake resistor scheme is characterized in that when a single motor fault occurs in a multi-motor system, the brake system acts by default, and other normal motors cannot run; when the system has uninterrupted external force load, the brake resistor works for a long time, and the heat productivity of the brake resistor usually needs to consider the design of a heat dissipation device; in case of overheating failure of the braking system, the equipment presents a great safety risk.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a braking device of a motor control system, which can realize motor braking on the premise of not increasing the system volume and cost.
The invention also provides a braking method of the motor control system based on the braking device.
A brake device of a motor control system according to an embodiment of a first aspect of the present invention includes: a controller; the brake switch is connected with the controller; the running unit comprises a driver, a controllable resistor group, a motor and a brake, wherein the input end of the driver is connected with the controller, the brake switch is connected with the brake, the controllable resistor comprises a first switch and a first-stage brake resistor, the enabling end of the first switch is connected with the controller, and the motor is respectively connected with the first-stage brake resistor and the driver through the first switch; wherein, the operation units are at least two.
According to the braking device of the motor control system in the embodiment of the first aspect of the invention, at least the following beneficial effects are achieved: when the power-on of the complete machine is abnormally restored, the controller controls the brake switch to enable the brake, so that the passive deceleration and the active reset of the complete machine are realized. The passive safety and active recovery of the whole machine equipment are realized through the high-reliability low-cost components such as the resistor and the switch, and compared with the traditional brake system, the cost and reliability can be optimized without increasing the volume, and the safety design scheme of a severe working occasion is realized.
According to some embodiments of the invention, the controllable resistor group further comprises a second switch and a second stage brake resistor, an enable terminal of the second switch is connected with the controller, and the second stage brake resistor is connected with the first stage brake resistor through the second switch.
According to some embodiments of the invention, the first switch comprises a first relay, an enable terminal of the first relay is connected with the controller, and the motor is respectively connected with the first stage brake resistor and the driver through a contact of the first relay.
According to some embodiments of the invention, the second switch comprises a second relay, an enable terminal of the second relay is connected with the controller, and the second stage brake resistor is connected with the first stage brake resistor through a contact of the second relay.
According to some embodiments of the invention, the brake switch comprises a third relay, an enabling end of the third relay is connected with the controller, and the brake is connected to an operating power supply of the brake through a contact of the third relay and forms a loop.
According to some embodiments of the invention, the operating power supply of the brake comprises an AC-DC conversion module for providing an operating voltage for the brake.
According to a braking method of a motor control system in an embodiment of a second aspect of the invention, the braking device according to the first aspect of the embodiment of the invention includes: when the power supply of the system is abnormally disconnected, passive deceleration protection is carried out; when the motor in a single operation unit fails, performing redundant operation; when the system is abnormally powered off and power supply is recovered, active braking is carried out.
According to the braking method of the motor control system in the embodiment of the second aspect of the present invention, the beneficial effects of the braking device in the first aspect are achieved, and details are not repeated herein.
According to some embodiments of the invention, the step of passive deceleration protection comprises: the controllable resistor group in each operation unit is switched to a default state, the first-stage brake resistor and the motor form a closed loop, the closed loop converts kinetic energy into heat energy, and the whole system is rapidly decelerated and braked until equipment stops or the low-speed operation state that the heat productivity of the first-stage brake resistor is balanced with the work done by the load is realized.
According to some embodiments of the invention, the step of redundantly operating comprises: the controller sends control signals to the first switch and the second switch of the controllable resistor group, so that the second-stage brake resistor group and the first-stage brake resistor group of the operation unit corresponding to the fault motor are connected in series and then form a closed loop with the motor, and the operation unit corresponding to the normal motor operates normally.
According to some embodiments of the invention, the active braking step comprises: the controller communicates with the drivers of all the operation units to enable the operation units to be recovered to a standby state, the controller outputs control signals to control the first switch, the first-stage brake resistor is disconnected, the motor is short-circuited and enters a brake deceleration state until the brake torque is balanced with the external load force again, then the controller outputs control signals to the brake switch, the brake switch starts the brake to close the brake, the whole machine stops moving, and the system resets.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a block diagram of a braking apparatus according to an embodiment of the present invention;
FIG. 2 is a block diagram of a controllable resistor bank according to an embodiment of the invention;
FIG. 3 is a block diagram of a brake switch according to an embodiment of the present invention;
FIG. 4 is a diagram of a three-phase Y-connection model of the resistor according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of an equivalent circuit model according to an embodiment of the present invention;
FIG. 6 is a flow chart of a braking method according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
A brake device of a motor control system, comprising: a controller 1; the brake switch 2 is connected with the controller 1; the running unit comprises a driver 3, a controllable resistor group 4, a motor 5 and a brake 6, wherein the input end of the driver 3 is connected with the controller 1, the brake switch 2 is connected with the brake 6, the controllable resistor comprises a first switch 42 and a first-stage brake resistor 41, the enabling end of the first switch 42 is connected with the controller 1, and the motor 5 is respectively connected with the first-stage brake resistor 41 and the driver 3 through the first switch 42; wherein, the operation units are at least two.
When the whole machine is powered off abnormally, the first switch 42 electrically connects the first-stage brake resistor 41 to the motor 5 by default, so that the motor 5 drags the whole machine, the whole machine enters a passive deceleration state, and after the power on of the whole machine is recovered abnormally, the controller 1 controls the brake switch 2 to enable the brake 6, so that the active deceleration and the reset of the whole machine are realized. The passive safety and active recovery of the whole machine equipment are realized through the high-reliability low-cost components such as the resistor and the switch, and compared with the traditional brake system, the cost and reliability can be optimized without increasing the volume, and the safety design scheme of a severe working occasion is realized.
In some embodiments, the second switch 44 and the second-stage brake resistor 43 may be added, the second switch 44 connects the second-stage brake resistor 43 with a high resistance value to the motor 5 together with the first-stage brake resistor 41, when a motor in a single operating unit fails, the controller controls the second switch 44 to be closed and the first switch 42 to be opened (to recover default), so that the second-stage brake resistor 43 and the first-stage brake resistor 41 are connected to the motor 5, the motor 5 is disconnected from the dragging state, and the controller 1 controls the motor actions of the remaining operating units, thereby implementing the redundant operation of the whole machine.
Referring to fig. 1, 2 and 3, in some embodiments, a controller 1; the brake switch 2 is connected with the controller 1; two parallel operation units, each operation unit comprises a driver 3, a controllable resistor group 4, a motor 5 and a brake 6, the input end of the driver 3 is connected with the controller 1, the brake switch 2 is connected with the brake 6, the controllable resistors comprise a first switch 42 and a first-stage brake resistor 41, a second switch 44 and a second-stage brake resistor 43, the enabling end of the first switch 42 is connected with the controller 1, the motor 5 is respectively connected with the first-stage brake resistor 41 and the driver 3 through the first switch 42, and the first switch 42 can selectively connect the first-stage brake resistor 41 to the motor 5 to form a motor 5-resistor discharge loop or connect the driver 3 to the motor 5 to enable the motor 5 to normally work; the enable terminal of the second switch 44 is connected to the controller 1, the second-stage braking resistor 43 is connected to the first-stage braking resistor 41 through the second switch 44, and the second switch 44 can select to connect the second-stage braking resistor 43 in series with the first-stage braking resistor 41 or not to connect the second-stage braking resistor 43. In other embodiments, the number of the operation units may vary according to the number of the actually required motors 5, and may also be an integer of 3, 4, 5, etc. The Y-Y connection type three-phase brake resistor-motor 5 system adopted by the embodiment of the invention can be changed into a Y-to-star connection, a star-to-Y connection and a star-to-star connection forming system, and the circuits are different but have the same function.
In some embodiments of the present invention, the first switch 42 includes a first relay, an enable terminal of the first relay is connected to the controller 1, and the motor 5 is connected to the first stage brake resistor 41 and the driver 3 through a contact of the first relay. The second switch 44 includes a second relay, an enable terminal of the second relay is connected to the controller 1, and the second-stage braking resistor 43 is connected to the first-stage braking resistor 41 through a contact of the second relay. The first switch 42 and the second switch 44 may be an electric switch or a single-pole double-throw switch. The brake switch 2 comprises a third relay 21, an enabling end of the third relay 21 is connected with the controller 1, and the brake 6 is connected to a working power supply of the brake 6 through a contact of the third relay 21 and forms a loop. The total power supply of the embodiment of the invention adopts AC input to supply power for each part of the system, the working power supply of the brake 6 comprises an AC-DC conversion module 7, and the AC-DC conversion module 7 is used for converting the AC input into the working voltage of the brake 6.
The working principle of the embodiment includes:
1. and (3) powering off the abnormal system of the whole machine, and carrying out passive deceleration protection by the control system:
(1) when the equipment system is in operation and power supply is suddenly cut off, the controllable resistor group 4 in each operation unit is switched to a default state, and the first relay and the second relay are closed at the moment;
(2) in a default state, the first-stage brake resistor 41 and the motor 5 form a closed loop, the load drives the motor 5 to generate electricity, the motor 5-resistor loop converts kinetic energy into heat energy, and the whole system can be quickly decelerated and braked in the period;
(3) along with the reduction of the running speed of the equipment, after 3 time constants, basically discharging the kinetic energy of the equipment; the device is in a stop state or a low-speed running state in which the heating value of the resistor is balanced with the work done by the load.
2. And (3) when the single motor 5 of the whole system fails, controlling the system to perform redundant operation:
(1) the controller 1 monitors the driver 3 to realize the fault judgment of the motor 5;
(2) when the controller 1 finds that one set of servo motor 5 has a fault, including the power failure or the fault of the driver 3, a control signal is output;
a. when the fault motor 5 is corresponding to the controllable resistor group 4 of the operation unit, the first relay drive is closed, and the second relay drive is opened;
b. and when the normal motor 5 corresponds to the controllable resistor group 4 of the running unit, opening the first relay for driving.
(3) At this time, the second-stage braking resistor 43 group and the first-stage braking resistor 41 group are connected in series to form a closed loop with the motor 5. The first stage braking resistor 41 is a low value resistor, and the second stage braking resistor 43 is a high value resistor, which limits the braking torque of the motor 5 by limiting the loop current, until the driving of the other motor 5 is not affected.
(4) At the time of the normal operation unit of the motor 5, the motor 5 disconnects the first-stage brake resistor 41 group and is communicated with the driver 3;
(5) the controller 1 sends a normal operation instruction to the normal servo motor 5, and the whole system is in a redundant operation state.
Obviously, in some embodiments, the second-stage braking resistor 43 may be replaced by a UVW three-phase air-connected design, and redundant operation of the single motor 5 may also be implemented; the difference is that when the scheme is operated redundantly, the anti-interference performance is reduced because the anti-backlash moment cannot be provided. And through switching on the second-stage brake resistance 43, the second-stage brake resistance 43 is a high-value resistance, and the braking torque of the motor 5 is limited by limiting the loop current, so that the driving of other motors 5 is not influenced, and the anti-interference performance is good.
3. After the system is abnormally powered off and power supply is recovered, the system actively decelerates under the condition of load, and the motor control system is reset.
(1) As can be seen from the above, after the power failure, the braking system is in the default state, the relay 1 and the relay 2 are both in the open state, and at this time, only the first-stage braking resistor 41 and the motor 5 form a closed loop.
(2) After power-on, the controller 1 communicates with the drivers 3 of the respective operating units to restore the standby state, that is, the UVW terminals of the drivers 3 are short-circuited.
(3) The controller 1 outputs a control signal to make the first relay in a closed state, the first stage braking resistor 41 is opened, and the motor 5UVW is short-circuited.
(4) Because the internal resistance of the motor 5 is extremely small, the motor 5 is in a braking and decelerating state after short circuit, until the braking torque is balanced with the external load force again.
(5) The controller 1 outputs a control signal to close a third relay 21 in a brake switch 2 of the brake system, a brake 6 closes the brake, and the whole machine stops moving. The brake 6 adopts a power-on enabling type holding brake 6 arranged in a motor 5, and can be changed into a power-off enabling type holding brake 6 or a direct external type brake, and the braking logic principles are the same.
(6) The controller 1 communicates with the driver 3 of each operating unit, commands its state to enable and outputs torque, and the device enters a control motion state.
The following presents a description of the principles of design of embodiments of the present invention in order for those skilled in the art to practice the invention:
the design principle of the first stage braking resistor 41 is illustrated as follows:
the resistance value is designed by matching the maximum value of the energy pool of the system; when the motor 5 works, the maximum discharge of system energy of the motor 5 in a rated overload working range is realized.
(1) Motor 5 analytical model:
back electromotive force constant of motor 5
Figure BDA0002345801300000081
Constant of torque
Figure BDA0002345801300000082
Constant of torque KtAnd the counter electromotive force KeThe relationship of (1):
Kt＝√3·Keformula 3
The coil internal resistance is z;
overload capacity: the withstand time of N times the rated current is T(s).
(3) And (3) analyzing a three-phase Y-connection model of the brake resistor:
resistor three-phase Y-connection model diagram referring to figure 4,
phase voltage
Figure BDA0002345801300000083
ULLine voltage: formula 4
The phase current is supplied to the phase current,
Figure BDA0002345801300000084
i is line current, z is internal resistance, R is brake resistance value formula 5
(4) Mechanical motion system analysis
Moment of inertia J (kg. m) of the system2)，
System energy E ═ ER+EF+Ef；ERRotational momentum, EFWork done by a load, EfFrictional force acting type 6
Momentum of rotation
Figure BDA0002345801300000091
J-moment of inertia, omega-speed formula 7
When the system switches, it can be equivalent to the circuit model diagram shown in fig. 5. The current I flowing through the brake resistor R is I1+ I2, I2 is the current formed by mechanical energy release, and I1 is the current formed by the load overcoming the dynamic friction force of the system to do work.
(5) In conclusion, the following conclusions can be concluded when the system is dynamically analyzed:
equivalent capacitance
Figure BDA0002345801300000092
The current at the time t of the equivalent network is as follows:
Figure BDA0002345801300000093
wherein U istIs the voltage value during the commutation.
(6) From the above formula, by matching and designing the R value of the brake resistor, the maximum overload current of the motor 5 within the T time can be realized, and thus the maximum release of mechanical energy, that is, the maximum deceleration performance of the designed system, can be realized.
The design principle of the second-stage braking resistor 43 is illustrated as follows:
the resistance value is designed by matching the maximum redundant operation speed of the system and the power of the resistor heat dissipation structure, so that the reverse torque generated by the redundant motor 5 does not influence the driving action of the normal motor 5.
Fixed rotating speed N of motor 5 of braking load systemxTime, line current effective value:
Figure BDA0002345801300000094
Figure BDA0002345801300000095
r1+ R2, R1-first stage brake resistor 41, R2-second stage brake resistor 43;
braking power p (w):
Figure BDA0002345801300000096
wherein U isL＝Ken×Nx；
Braking load T of motor 5z(％):
Figure BDA0002345801300000097
T-motor 5 rated torque,wherein
Figure BDA0002345801300000098
Figure BDA0002345801300000099
As can be seen from the above equation, the first-stage brake resistor 41R1, the motor 5 brake load maximum limit Tz (design value such as 20%), the brake power limit P (such as 200W) are determined; the second stage braking resistor 43R2 can be designed to match.
The embodiment of the present invention further provides a braking method of a motor control system, based on the braking device, referring to fig. 6, the braking method includes the following steps: when the power supply of the system is abnormally disconnected, passive deceleration protection is carried out; when the motor 5 in a single operation unit fails, performing redundant operation; when the system is abnormally powered off and power supply is recovered, active braking is carried out.
Further, the step of passive deceleration protection comprises: the controllable resistor group 4 in each operation unit is switched to a default state, the first-stage brake resistor 41 and the motor 5 form a closed loop, the closed loop converts kinetic energy into heat energy, and the whole system rapidly decelerates and brakes until equipment stops or the first-stage brake resistor 41 is in a low-speed operation state in which the heat productivity is balanced with the work done by the load.
Further, the step of redundantly operating comprises: the controller 1 sends a control signal to the first switch 42 and the second switch 44 of the controllable resistor group 4, so that the second-stage brake resistor 43 group and the first-stage brake resistor 41 group of the operation unit corresponding to the faulty motor 5 are connected in series and then form a closed loop with the motor 5, and the operation unit corresponding to the normal motor 5 operates normally.
Further, the active braking step includes: the controller 1 communicates with the drivers 3 of all the operation units to enable the operation units to recover the standby state, the controller 1 outputs a control signal to control the first switch 42, the first-stage brake resistor 41 is disconnected, the motor 5 is in short circuit and enters a brake deceleration state until the brake torque is balanced with the external load force again, then the controller 1 outputs a control signal to the brake switch 2, the brake switch 2 starts the brake 6 to close the brake, the whole machine stops moving, and the system resets.
The method of the embodiment realizes the functions of passive safety, active recovery and redundant operation of the whole equipment. Compared with the traditional brake braking system, the optimization of cost and reliability is realized, and the safety design scheme of severe working occasions is realized.

Claims (10)

1. A brake apparatus of a motor control system, characterized by comprising:
a controller (1);
the brake switch (2) is connected with the controller (1);
the running unit comprises a driver (3), a controllable resistor group (4), a motor (5) and a brake (6), wherein the input end of the driver (3) is connected with the controller (1), the brake switch (2) is connected with the brake (6), the controllable resistor comprises a first switch (42) and a first-stage brake resistor (41), the enabling end of the first switch (42) is connected with the controller (1), and the motor (5) is respectively connected with the first-stage brake resistor (41) and the driver (3) through the first switch (42);
wherein, the operation units are at least two.
2. The brake apparatus of a motor control system according to claim 1, wherein: the controllable resistor group (4) further comprises a second switch (44) and a second-stage brake resistor (43), an enabling end of the second switch (44) is connected with the controller (1), and the second-stage brake resistor (43) is connected with the first-stage brake resistor (41) through the second switch (44).
3. The brake apparatus of a motor control system according to claim 1, wherein: the first switch (42) comprises a first relay, an enabling end of the first relay is connected with the controller (1), and the motor (5) is respectively connected with the first-stage brake resistor (41) and the driver (3) through a contact of the first relay.
4. The brake apparatus of a motor control system according to claim 2, wherein: the second switch (44) comprises a second relay, an enabling end of the second relay is connected with the controller (1), and the second-stage brake resistor (43) is connected with the first-stage brake resistor (41) through a contact of the second relay.
5. The brake apparatus of a motor control system according to claim 1, wherein: the brake switch (2) comprises a third relay (21), an enabling end of the third relay (21) is connected with the controller (1), and the brake (6) is connected into a working power supply of the brake (6) through a contact of the third relay (21) and forms a loop.
6. The brake device of a motor control system according to claim 5, wherein: the working power supply of the brake (6) comprises an AC-DC conversion module (7), and the AC-DC conversion module (7) is used for providing working voltage for the brake (6).
7. A braking method of a motor control system based on the braking apparatus according to claims 1 to 6, characterized by comprising:
when the power supply of the system is abnormally disconnected, passive deceleration protection is carried out;
when the motor (5) in the single operation unit fails, performing redundant operation;
when the system is abnormally powered off and power supply is recovered, active braking is carried out.
8. The braking method of a motor control system according to claim 7, characterized in that: the step of passive deceleration protection comprises: the controllable resistor group (4) in each operation unit is switched to be in a default state, the first-stage brake resistor (41) and the motor (5) form a closed loop, the closed loop converts kinetic energy into heat energy, the whole machine system rapidly decelerates and brakes until equipment stops, or the first-stage brake resistor (41) is in a low-speed operation state that the heat productivity and the load work are balanced.
9. The braking method of a motor control system according to claim 7, characterized in that: the step of redundantly operating comprises: the controller (1) sends a control signal to the first switch (42) and the second switch (44) of the controllable resistor group (4), so that the second-stage brake resistor group (43) and the first-stage brake resistor group (41) of the running unit corresponding to the fault motor (5) are connected in series and then form a closed loop with the motor (5), and the running unit corresponding to the normal motor (5) runs normally.
10. The braking method of a motor control system according to claim 7, characterized in that: the active braking step includes: the controller (1) communicates with the drivers (3) of all the operation units to enable the operation units to recover to a standby state, the controller (1) outputs a control signal to control the first switch (42), the first-stage brake resistor (41) is disconnected, the motor (5) is in short circuit and enters a brake deceleration state until the brake torque is balanced with the external force of the load again, then the controller (1) outputs the control signal to the brake switch (2), the brake switch (2) starts the brake (6) to close the brake, the whole machine stops moving, and the system resets.
CN201911394051.6A 2019-12-30 2019-12-30 Braking device and method of motor control system Pending CN110971148A (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112031389A (en) * 2020-08-21 2020-12-04 济南城建集团有限公司 Automatic assembling system for adjustable support of coil buckle type scaffold
CN113972864A (en) * 2021-11-01 2022-01-25 北京轩宇空间科技有限公司 Shutdown interrupt control method for booster
CN115773200A (en) * 2022-11-23 2023-03-10 华锐风电科技(集团)股份有限公司 Safe shutdown system based on dual-motor drive and working method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112031389A (en) * 2020-08-21 2020-12-04 济南城建集团有限公司 Automatic assembling system for adjustable support of coil buckle type scaffold
CN112031389B (en) * 2020-08-21 2021-05-04 济南城建集团有限公司 Automatic assembling system for adjustable support of coil buckle type scaffold
CN113972864A (en) * 2021-11-01 2022-01-25 北京轩宇空间科技有限公司 Shutdown interrupt control method for booster
CN113972864B (en) * 2021-11-01 2023-09-05 北京轩宇空间科技有限公司 Stop interrupt control method for booster
CN115773200A (en) * 2022-11-23 2023-03-10 华锐风电科技(集团)股份有限公司 Safe shutdown system based on dual-motor drive and working method

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