CN111224588A - Servo driver regeneration control method, system, equipment and storage medium - Google Patents
Servo driver regeneration control method, system, equipment and storage medium Download PDFInfo
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- 238000001514 detection method Methods 0.000 claims description 14
- 238000004146 energy storage Methods 0.000 claims description 14
- 230000017525 heat dissipation Effects 0.000 claims description 8
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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
- H02P8/00—Arrangements for controlling dynamo-electric motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating or step-out; Indicating faults
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The invention discloses a servo driver regeneration control method, a system, equipment and a storage medium, wherein the servo driver regeneration control method comprises the steps of obtaining a bus voltage value; updating a regeneration enable bit according to the bus voltage value; acquiring a regenerative thermal estimation value of the regenerative resistor; the regeneration drive bit is updated based on the regeneration thermal estimate of the regeneration resistance and the state of the regeneration enable bit. The invention takes the bus voltage value and the regenerative thermal estimation value of the regenerative resistor as the regenerative control parameter, which can not only improve the accuracy of regenerative control and expand the application occasions of the servo driver, but also effectively protect the regenerative resistor and reduce the damage rate of the regenerative resistor, thereby prolonging the service life of the regenerative resistor.
Description
Technical Field
The present invention relates to the field of servo system regeneration control, and in particular, to a method, a system, a device, and a storage medium for servo driver regeneration control.
Background
With the advance of the national automation industry, a large number of servo systems are put into the automation production line. In an application with a large load inertia, if the motor performs a sudden deceleration or braking action, the motor is used as a generator to feed back electric energy to the servo driver, and the feedback energy may exceed the bearing capacity of the power supply of the driver, causing damage to the driver.
The conventional servo system regeneration control usually adopts a pulse width modulation wave with a specified duty ratio to control the operation of a regeneration unit. This method is usually determined when the driver leaves the factory, and when the usage condition becomes worse, the user needs to replace the regenerative resistor with smaller resistance and larger power to ensure that the feedback energy can be released in time, which causes inconvenience in use. In addition, because the parameters of the external regenerative resistor are not included in the control parameters, the external regenerative resistor is easily damaged when the external regenerative resistor is small or changed.
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 servo driver regeneration control method, which takes the resistance power of a regeneration resistor and the heat dissipation condition of the actual environment as regeneration control parameters, can effectively protect the regeneration resistor and expand the application occasions of the servo driver.
The invention also provides a servo driver regeneration control system.
The invention also provides servo driver regeneration control equipment.
The invention also provides a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides a servo drive regeneration control method, including:
acquiring a bus voltage value;
updating a regeneration enable bit according to the bus voltage value;
acquiring a regenerative thermal estimation value of the regenerative resistor;
the regeneration drive bit is updated based on the regeneration thermal estimate of the regeneration resistance and the state of the regeneration enable bit.
According to the servo driver regeneration control method, the bus voltage value and the regeneration heat estimation value of the regeneration resistor are used as regeneration control parameters, so that the accuracy of regeneration control is improved, the regeneration resistor is effectively protected, and the application occasions of the servo driver are expanded.
According to another embodiment of the present invention, a servo driver regeneration control method for updating a regeneration enable bit according to a bus voltage value includes:
setting a regeneration enabling bit if the bus voltage value is greater than a regeneration starting threshold value; or
And resetting the regeneration enable bit if the bus voltage value is less than the regeneration cutoff threshold value.
According to the servo driver regeneration control method provided by the embodiment of the invention, the bus voltage value can be controlled within a safe range by setting the regeneration starting threshold and the regeneration stopping threshold.
According to another embodiment of the present invention, a servo driver regeneration control method for obtaining a regeneration heat estimation value of a regeneration resistance includes:
acquiring the resistance value, power and heat dissipation coefficient of the regenerative resistor;
and calculating a regenerative heat estimation value of the regenerative resistor according to the bus voltage value, and the resistance value, the power and the heat dissipation coefficient of the regenerative resistor.
According to the regeneration control method of the servo driver, the bus voltage value, the resistance value, the power and the heat dissipation coefficient of the regeneration resistor are used as calculation parameters of the regeneration heat estimation value, the inherent property of the regeneration resistor and the heat dissipation condition of the actual environment are effectively combined, the accuracy of regeneration control is improved, the regeneration resistor is effectively protected, and the application occasions of the servo driver are expanded.
According to still other embodiments of the present invention, a servo driver regeneration control method for updating a regeneration drive bit based on a regeneration heat estimate value of a regeneration resistance and a state of a regeneration enable bit, includes:
resetting the regeneration enable bit, and ending the updating process of the regeneration drive bit; or
Setting a regeneration enabling position, setting a regeneration driving position if the regeneration thermal estimation value of the regeneration resistor is smaller than a regeneration starting threshold value; or
The regeneration enabling position bit, the regeneration heat estimation value of the regeneration resistor are not less than the regeneration starting threshold value, and the regeneration heat estimation value of the regeneration resistor are less than the regeneration stopping threshold value, and then the updating process of the regeneration driving position is finished; or
The regeneration enable bit is set, and the regeneration thermal estimate of the regeneration resistance is not less than the regeneration start threshold, and the regeneration thermal estimate of the regeneration resistance is not less than the regeneration stop threshold, then the regeneration drive bit is reset.
The servo driver regeneration control method provided by the embodiment of the invention at least has the following beneficial effects:
1. by setting the regeneration start threshold and the regeneration stop threshold, the regeneration heat estimation value of the regeneration resistor can be controlled within a safe range;
2. the state of the regeneration enable bit is determined by the bus voltage value, and the bus voltage value and the regeneration heat estimation value of the regeneration resistor are used as regeneration control parameters, so that the accuracy of regeneration control can be improved, the regeneration resistor can be effectively protected, and the application occasions of the servo driver can be enlarged.
In a second aspect, an embodiment of the present invention provides a servo driver regeneration control system, including a power supply, a servo driver and a motor, for executing a servo driver regeneration control method according to any one of some embodiments of the present invention, where the servo driver includes a rectifier module, an energy storage module, a regeneration module, a voltage detection module, a driving module and a control module;
the rectification module is used for rectifying alternating current input by a power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting a bus voltage signal to obtain a bus voltage value and transmitting the bus voltage signal to the control module;
the driving module is used for driving the motor to operate;
the input end of the energy storage module is connected with the output end of the rectification module, and the output end of the energy storage module is respectively and independently connected with the input end of the regeneration module, the input end of the voltage detection module and one input end of the driving module and used for storing electric energy so as to stabilize bus voltage;
the control module is respectively and independently connected with the input end of the regeneration module, the output end of the voltage detection module and the other input end of the driving module and used for data processing and control instruction output.
The servo driver regeneration control system of the embodiment of the invention at least has the following beneficial effects:
1. the control module of the servo driver is used as a core component of the regeneration control system, integrates data processing and control output functions, and can perform real-time monitoring and dynamic adjustment on the regeneration control system;
2. the servo driver is provided with a rectifying module, an energy storage module, a regeneration module, a voltage detection module, a control module and a driving module, can drive the motor to normally work, and stabilizes the bus voltage.
According to another embodiment of the present invention, a servo driver regeneration control system, the regeneration module comprises a regeneration resistor and a switch circuit, the regeneration resistor is used for releasing bus energy; the switch circuit is driven by the regeneration driving position of the control module and is used for controlling the connection on-off of the regeneration module.
According to other embodiments of the present invention, a servo driver regeneration control system, the driving module comprises an inverter unit for converting a dc input into an ac output.
According to another embodiment of the present invention, a servo driver regeneration control system, the control module includes a timing unit for timing an interrupt to complete one regeneration drive bit update.
According to the servo driver regeneration control system provided by the embodiment of the invention, the timing unit is arranged, the interruption is triggered at regular time, the regeneration control of the servo driver is realized, and the continuous high-load work of the regeneration control system is avoided, so that the fault probability of the servo driver is reduced, and the reliability of the regeneration control system is improved.
In a third aspect, an embodiment of the present invention provides a servo drive regeneration control apparatus including:
at least one processor, and,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a servo drive regeneration control method according to any of the embodiments of the invention.
The servo driver regeneration control device of the embodiment of the invention can execute the servo driver regeneration control method of any specific embodiment of some embodiments of the invention, can improve the accuracy of regeneration control, effectively protect the regeneration resistor, and expand the application occasions of the servo driver.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform a servo drive regeneration control method of any one of some of the embodiments of the present invention.
A computer-readable storage medium of an embodiment of the present invention is capable of storing computer-executable instructions for causing a computer to perform a servo drive regeneration control method of any one of some embodiments of the present invention.
Drawings
FIG. 1 is a flow chart illustrating an embodiment of a servo driver regeneration control method according to the present invention;
FIG. 2 is a flowchart illustrating an embodiment of step S2 of FIG. 1;
FIG. 3 is a flowchart illustrating an embodiment of step S4 of FIG. 1;
FIG. 4 is a system architecture diagram of an embodiment of a servo drive regeneration control system according to the present invention.
Detailed Description
The concept and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments to fully understand the objects, features and effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention.
In the description of the present invention, if a feature is referred to as being "disposed", "fixed", "connected", or "mounted" to another feature, it can be directly disposed, fixed, or connected to the other feature or indirectly disposed, fixed, connected, or mounted to the other feature.
In the description of the embodiments of the present invention, if "a plurality" is referred to, two or more are meant, if "greater than", "less than" or "more than" is referred to, the number is not included, and if "greater than", "lower" or "inner" is referred to, the number is included. If reference is made to "first" or "second", this should be understood to distinguish between features and not to indicate or imply relative importance or to implicitly indicate the number of indicated features or to implicitly indicate the precedence of the indicated features.
Example 1
Referring to FIG. 1, a flow chart of an embodiment of a servo driver regeneration control method according to an embodiment of the invention is shown. As shown in fig. 1, the method for controlling regeneration of a servo driver in this embodiment specifically includes the following steps:
s1, obtaining a bus voltage value;
s2, updating a regeneration enabling bit according to the bus voltage value;
s3, obtaining a regeneration heat estimation value of the regeneration resistor;
and S4, updating the regeneration driving bit according to the regeneration heat estimation value of the regeneration resistor and the state of the regeneration enabling bit.
In the embodiment of the present invention, the state of the regeneration enable bit is determined by the magnitude of the bus voltage value, the state of the regeneration drive bit is determined by the state of the regeneration enable bit, and the magnitude of the regeneration heat estimate value of the regeneration resistance. In the embodiment, the bus voltage value and the regeneration heat estimation value of the regeneration resistor are used as regeneration control parameters, so that the accuracy of regeneration control can be improved, the application occasions of the servo driver are expanded, the regeneration resistor can be effectively protected, the damage rate of the regeneration resistor is reduced, and the service life of the regeneration resistor is prolonged.
In other embodiments of the present invention, based on embodiment 1, the regeneration enable bit is a flag bit in the program for the program internal logic determination. The regeneration driving bit is a driving control signal and is used for controlling the working state of the regeneration module.
Example 2
Referring to fig. 2, a flowchart of an embodiment of step S2 in fig. 1 is shown. As shown in fig. 2, according to embodiment 1, when the bus voltage value is larger than the regeneration start threshold value, the regeneration enable bit is set; when the bus voltage value is smaller than the regeneration cut-off threshold value, resetting the regeneration enable bit; and when the bus voltage value is not greater than the regeneration starting threshold value and not less than the regeneration stopping threshold value, ending the updating process of the regeneration driving bit.
In the embodiment of the invention, the values of the regeneration starting threshold and the regeneration stopping threshold are close to and less than the withstand voltage value of the energy storage module and are greater than the bus voltage value when the servo driver works normally. In the present embodiment, the bus voltage value can be controlled within a safe range by setting the regeneration start threshold and the regeneration stop threshold.
In other embodiments of the present invention, the regeneration initiation threshold U is based on embodiment 21The value of (A) is as shown in formula (1):
U1＝0.8×(Um-U0)+U0(1)
regeneration cut-off threshold U2The value of (A) is as shown in formula (2):
U2＝0.6×(Um-U0)+U0(2)
in the formulae (1) and (2), UmIs the withstand voltage value of the energy storage module, U0The bus voltage value is the bus voltage value when the servo driver works normally.
When the bus voltage value U0Greater than regeneration start threshold U1When so, the regeneration enable bit is set; when the bus voltage value U0Less than regeneration cutoff threshold U2When so, the regeneration enable bit is reset;when the bus voltage value U0Not greater than regeneration start threshold value U1And is not less than regeneration cutoff threshold U2Then, the update process of the current regenerative drive bit is ended.
Example 3
Referring to fig. 3, a flowchart of an embodiment of step S4 in fig. 1 is shown. As shown in fig. 3, based on example 1, the regeneration heat estimation value of the regeneration resistance is calculated, the state of the regeneration enable bit is first determined, and when the regeneration enable bit is reset, the updating process of the current regeneration drive bit is ended; when the regeneration enable bit is set, the state of the regeneration drive bit is determined based on the regeneration heat estimation value of the regeneration resistance. When the regeneration heat estimation value of the regeneration resistor is smaller than the regeneration starting threshold value, the regeneration driving position is set, and the regeneration action is started; when the regeneration heat estimation value of the regeneration resistor is not smaller than the regeneration starting threshold value and the regeneration heat estimation value of the regeneration resistor is smaller than the regeneration stopping threshold value, ending the updating process of the regeneration driving bit; when the regenerative thermal estimation value of the regenerative resistance is not less than the regeneration start threshold and the regenerative thermal estimation value of the regenerative resistance is not less than the regeneration stop threshold, the regeneration drive bit is reset to stop the regeneration operation.
Wherein, the value of the regenerative thermal estimation value Q (n) of the regenerative resistor is shown as the formula (3):
in the formula (3), Q (n) is a regenerative thermal estimation value to be updated, Q (n-1) is a regenerative thermal estimation value before T time, U is a bus voltage value, R is a resistance value of the regenerative resistor, P is a power of the regenerative resistor, and U is a heat dissipation coefficient of the regenerative resistor. R, P and u can be configured according to actual application scenes so as to deal with different working conditions. The initial value Q (0) of the regenerative heat estimation of the regenerative resistance is 0.
Regeneration start threshold Q1And a regeneration stop threshold Q2The value of (A) is as shown in formula (4):
in equation (4), t is the longest duration for which the regenerative drive bit is in the set state.
In one aspect, the present embodiment sets the regeneration start threshold Q1And a regeneration stop threshold Q2The regenerative thermal estimation value of the regenerative resistor can be controlled within a safe range, and on the other hand, the bus voltage value and the regenerative thermal estimation value of the regenerative resistor are used as regenerative control parameters, so that the accuracy of regenerative control is improved, the regenerative resistor is effectively protected, the damage rate of the regenerative resistor can be reduced, and the service life of the regenerative resistor is prolonged.
Example 4
Referring to FIG. 4, a system architecture diagram of an embodiment of a servo drive regeneration control system according to the present invention is shown. As shown in fig. 4, a servo driver regeneration control system of this embodiment includes a power supply, a servo driver and a motor, and is configured to execute a servo driver regeneration control method according to any specific embodiment of some embodiments of the present invention, where the servo driver includes a rectifying module, an energy storage module, a regeneration module, a voltage detection module, a driving module and a control module;
the rectification module is used for rectifying alternating current input by a power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting a bus voltage signal to obtain a bus voltage value and transmitting the bus voltage signal to the control module;
the driving module is used for driving the motor to operate;
the input end of the energy storage module is connected with the output end of the rectification module, and the output end of the energy storage module is respectively and independently connected with the input end of the regeneration module, the input end of the voltage detection module and one input end of the driving module and used for storing electric energy so as to stabilize bus voltage;
the control module is respectively and independently connected with the input end of the regeneration module, the output end of the voltage detection module and the other input end of the driving module and used for data processing and control instruction output.
The embodiment is provided with the rectifying module, the energy storage module, the regeneration module, the voltage detection module, the control module and the driving module in the servo driver, and can drive the motor to normally work and stabilize the bus voltage. Furthermore, the control module integrates data processing and control output functions, and can perform real-time monitoring and dynamic adjustment on the regeneration control system.
In other specific embodiments of the present invention, based on embodiment 4, the energy storage module includes at least one capacitor, and when a plurality of capacitors exist, the plurality of capacitors are connected in parallel with each other.
In other embodiments of the present invention, based on embodiment 4, the control module is further connected to the motor to obtain position information of the motor.
In other specific embodiments of the present invention, based on embodiment 4, the regeneration module includes a regeneration resistor and a switch circuit, the regeneration resistor is used to release the bus energy, and the switch circuit is driven by the regeneration driving bit of the control module to control the connection and disconnection of the regeneration module. When the regeneration driving position is set, the switch is closed, and the regeneration module starts regeneration; when the regeneration driving position is reset, the switch is switched off, and the regeneration module stops the regeneration action.
In other embodiments of the present invention, based on embodiment 4, the driving module includes an inverter unit, and the inverter unit converts a dc input into an ac output to drive the motor to operate.
In other embodiments of the present invention, based on embodiment 4, the control module includes a timing unit, the timing unit triggers an interrupt according to a set time interval, and the servo driver regeneration control system completes an update of the regeneration driving bit in one interrupt time interval.
Example 5
A servo drive regeneration control apparatus of the present embodiment includes at least one processor, and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a servo drive regeneration control method according to any of the embodiments of the invention.
Example 6
A computer-readable storage medium of the present embodiment stores computer-executable instructions for causing a computer to perform a servo drive regeneration control method of any one of some of the embodiments of the present invention.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
In the embodiments provided in the present invention, it should be understood that the disclosed technical contents can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, the division of the modules may be a logical division, and in actual implementation, there may be another division, for example, multiple units or modules may be combined or integrated into another system, or some features may be omitted, or not executed.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Claims (10)
1. A servo drive regeneration control method, comprising:
acquiring a bus voltage value of a servo driver;
updating a regeneration enable bit according to the bus voltage value;
acquiring a regenerative thermal estimation value of the regenerative resistor;
and updating the regeneration driving bit according to the regeneration heat estimation value of the regeneration resistor and the state of the regeneration enabling bit.
2. The servo driver regeneration control method of claim 1, wherein the updating the regeneration enable bit according to the bus voltage value comprises:
setting the regeneration enable bit if the bus voltage value is greater than a regeneration start threshold value;
or,
and resetting the regeneration enabling bit if the bus voltage value is less than the regeneration cut-off threshold value.
3. The servo driver regeneration control method according to claim 2, wherein the obtaining of the regeneration heat estimation value of the regeneration resistance comprises:
acquiring the resistance value, power and heat dissipation coefficient of the regenerative resistor;
and calculating a regenerative heat estimation value of the regenerative resistor according to the bus voltage value, and the resistance value, the power and the heat dissipation coefficient of the regenerative resistor.
4. The servo driver regeneration control method of claim 3, wherein said updating the regeneration drive bit based on the regeneration heat estimate of the regeneration resistance and the state of the regeneration enable bit comprises:
resetting the regeneration enable bit, and ending the updating process of the regeneration drive bit;
or,
setting the regeneration drive bit if the regeneration enable bit and the regeneration thermal estimation value of the regeneration resistor are smaller than a regeneration start threshold;
or,
the regeneration enabling position bit, the regeneration heat estimation value of the regeneration resistor are not smaller than a regeneration starting threshold, and the regeneration heat estimation value of the regeneration resistor are smaller than a regeneration stopping threshold, so that the updating process of the regeneration driving position is finished;
or,
and resetting the regeneration drive bit if the regeneration enable bit, the regeneration thermal estimate of the regeneration resistance are not less than a regeneration start threshold, and the regeneration thermal estimate of the regeneration resistance are not less than a regeneration stop threshold.
5. A servo drive regeneration control system comprising a power supply, a servo drive and a motor, for performing a servo drive regeneration control method according to any one of claims 1 to 4, the servo drive comprising a rectifier module, an energy storage module, a regeneration module, a voltage detection module, a drive module and a control module;
the rectification module is used for rectifying alternating current input by the power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting a bus voltage signal to obtain a bus voltage value and transmitting the bus voltage signal to the control module;
the driving module is used for driving the motor to operate;
the input end of the energy storage module is connected with the output end of the rectification module, and the output end of the energy storage module is respectively and independently connected with the input end of the regeneration module, the input end of the voltage detection module and one input end of the driving module and used for storing electric energy so as to stabilize bus voltage;
the control module is respectively and independently connected with the input end of the regeneration module, the output end of the voltage detection module and the other input end of the driving module and used for data processing and control instruction output.
6. The servo driver regeneration control system of claim 5, wherein the regeneration module comprises a regeneration resistor and a switching circuit, the regeneration resistor is configured to release the bus energy; the switch circuit is driven by the regeneration driving position of the control module and is used for controlling the connection on-off of the regeneration module.
7. The servo driver regeneration control system of claim 5 or 6, wherein the drive module comprises an inverter unit for converting a DC input to an AC output.
8. The servo drive regeneration control system of claim 7, wherein the control module comprises a timing unit, the timing unit is configured to time trigger an interrupt to perform a servo drive regeneration control method according to any one of claims 1 to 4, and complete a regeneration drive bit update.
9. A servo drive regeneration control apparatus, comprising:
at least one processor, and,
a memory communicatively coupled to at least one of the processors; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a servo drive regeneration control method according to any one of claims 1 to 4.
10. A computer-readable storage medium having stored thereon computer-executable instructions for causing a computer to perform a servo drive regeneration control method according to any one of claims 1 to 4.
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| CN103166540A (en) * | 2013-03-20 | 2013-06-19 | 泉州市桑川电气设备有限公司 | Protection processing method for brake resistor in alternating current servo driving system |
| CN105824267A (en) * | 2015-01-05 | 2016-08-03 | 沈阳新松机器人自动化股份有限公司 | Intelligent power supply for robot servo driver |
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