CN111224588B - 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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- CN111224588B CN111224588B CN202010014048.3A CN202010014048A CN111224588B CN 111224588 B CN111224588 B CN 111224588B CN 202010014048 A CN202010014048 A CN 202010014048A CN 111224588 B CN111224588 B CN 111224588B
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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 of the kind having motors rotating step by step
- H02P8/36—Protection against faults, e.g. against overheating, 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
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 enabling bit according to the bus voltage value; acquiring a regeneration heat estimated value of a regeneration resistor; the regeneration driving bit is updated according to the regeneration heat estimated value of the regeneration resistor and the state of the regeneration enabling bit. The invention takes the bus voltage value and the regeneration heat estimated value of the regeneration resistor as regeneration control parameters, not only can improve the accuracy of regeneration control and expand the application occasions of the servo driver, but also can effectively protect the regeneration resistor and reduce the damage rate of the regeneration resistor, thereby prolonging the service life of the regeneration resistor.
Description
Technical Field
The present invention relates to the field of servo system regeneration control, and in particular, to a servo driver regeneration control method, system, apparatus, and storage medium.
Background
With the advancement of the national automation industry, a large number of servo systems are put into an automatic production line. In applications where the load inertia is large, if the motor performs a sudden deceleration or braking action, the motor will act 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, resulting in damage to the driver, so that in order to avoid such risk, a load is required to consume the feedback energy, and typically, the servo driver uses a regenerative resistor as the load to consume the feedback energy of the motor.
The existing servo system regeneration control generally adopts pulse width modulation wave with a specified duty ratio to control the regeneration unit to work. This approach is generally established at the factory of the drive, and as the use conditions become worse, the user needs to replace a smaller and more powerful regeneration resistor to ensure that the feedback energy can be released in time, which is inconvenient in use. In addition, because the parameters of the external regeneration resistor are not included in the control parameters, the regeneration resistor is easy to damage when the external regeneration resistor is smaller or changed.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides a servo driver regeneration control method, which takes the resistance power of the regeneration resistor and the heat dissipation condition of the actual environment as regeneration control parameters, can effectively protect the regeneration resistor and expands 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 proposes a computer readable storage medium.
In a first aspect, an embodiment of the present invention provides a servo drive regeneration control method, including:
obtaining a bus voltage value;
updating a regeneration enabling bit according to the bus voltage value;
acquiring a regeneration heat estimated value of a regeneration resistor;
the regeneration driving bit is updated according to the regeneration heat estimated value of the regeneration resistor and the state of the regeneration enabling bit.
According to the servo driver regeneration control method, the bus voltage value and the regeneration heat estimated 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 enlarged.
According to still other embodiments of the present invention, a servo driver regeneration control method updates a regeneration enable bit according to a bus voltage value, including:
setting a regeneration enabling bit if the bus voltage value is larger than the regeneration starting threshold value; or alternatively
And if the bus voltage value is smaller than the regeneration cut-off threshold value, resetting the regeneration enabling bit.
According to the servo driver regeneration control method, the bus voltage value can be controlled within the safety range by setting the regeneration start threshold and the regeneration stop threshold.
According to still other embodiments of the present invention, a servo driver regeneration control method obtains a regeneration heat estimation value of a regeneration resistor, including:
obtaining the resistance, power and heat dissipation coefficient of the regeneration resistor;
and calculating a regeneration heat estimated value of the regeneration resistor according to the bus voltage value, the resistance value, the power and the heat dissipation coefficient of the regeneration resistor.
According to the servo driver regeneration control method, the bus voltage value, the resistance value, the power and the heat dissipation coefficient of the regeneration resistor are used as the calculation parameters of the regeneration heat estimated value, the inherent attribute 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 occasion of the servo driver is enlarged.
According to still other embodiments of the present invention, a servo drive regeneration control method updates a regeneration drive bit according to a regeneration heat estimation value of a regeneration resistor and a state of a regeneration enable bit, including:
resetting the regeneration enabling bit, and ending the updating process of the regeneration driving bit; or alternatively
Setting a regeneration enabling position, and setting a regeneration driving position when the regeneration heat estimated value of the regeneration resistor is smaller than a regeneration starting threshold value; or alternatively
The regeneration enabling position is set, the estimated value of the regeneration heat of the regeneration resistor is not smaller than the regeneration starting threshold value, and the estimated value of the regeneration heat of the regeneration resistor is smaller than the regeneration stopping threshold value, and then the updating process of the current regeneration driving position is ended; or alternatively
And resetting the regeneration driving bit if the regeneration enabling bit is set, the regeneration heat estimated value of the regeneration resistor is not smaller than the regeneration starting threshold value, and the regeneration heat estimated value of the regeneration resistor is not smaller than the regeneration stopping threshold value.
The servo driver regeneration control method of the embodiment of the invention has at least the following beneficial effects:
1. by setting the regeneration start threshold and the regeneration stop threshold, the estimated value of the regeneration heat of the regeneration resistor can be controlled within a safe range;
2. the state of the regeneration enabling bit is determined by the bus voltage value, and the bus voltage value and the regeneration heat estimated 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 performing a servo driver regeneration control method of any of the specific 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 the power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting bus voltage signals to obtain bus voltage values and transmitting the bus voltage signals 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 rectifying module, and the output end of the energy storage module is respectively and independently connected with the input end of the regenerating module, the input end of the voltage detection module and one input end of the driving module, and is used for storing electric energy so as to stabilize the 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 is used for data processing and outputting control instructions.
The servo driver regeneration control system provided by the embodiment of the invention has at least 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 monitor and dynamically adjust the regeneration control system in real time;
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, and can drive the motor to work normally and stabilize the bus voltage.
According to further embodiments of the present invention, a servo drive regeneration control system, a regeneration module includes a regeneration resistor and a switching circuit, the regeneration resistor configured to release bus energy; the switching circuit is driven by a regeneration driving bit of the control module and is used for controlling connection on-off of the regeneration module.
According to further embodiments of the present invention, a servo drive regeneration control system includes a driving module including an inverter unit for converting a direct current input into an alternating current output.
According to still further embodiments of the present invention, a servo drive regeneration control system includes a control module including a timing unit for timing an interrupt to complete an update of a regeneration drive bit.
According to the servo driver regeneration control system provided by the embodiment of the invention, the timing unit is arranged to trigger the interruption at fixed time, so that the regeneration control of the servo driver is realized, the continuous high-load work of the regeneration control system is avoided, 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 liquid crystal display device comprises a liquid crystal display device,
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 of any one of the specific embodiments of the present 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 enlarge 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 the specific embodiments of the present invention.
A computer-readable storage medium of an embodiment of the present invention can store computer-executable instructions for causing a computer to perform a servo drive reproduction control method of any one of the specific embodiments of the present invention.
Drawings
FIG. 1 is a flowchart of a servo driver regeneration control method according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating the step S2 of FIG. 1;
FIG. 3 is a flowchart illustrating the step S4 in FIG. 1;
FIG. 4 is a system architecture diagram of an embodiment of a servo drive regeneration control system according to an embodiment of the present invention.
Detailed Description
The conception and the technical effects produced by the present invention will be clearly and completely described in conjunction with the embodiments below to fully understand the objects, features and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention.
In the description of the present invention, if a feature is referred to as being "disposed", "fixed", "connected" or "mounted" on another feature, it can be directly disposed, fixed or connected to the other feature or be indirectly disposed, fixed or connected or mounted on the other feature.
In the description of the embodiments of the present invention, if "plurality" is referred to, it means two or more, if "greater than", "less than", "exceeding" is referred to, it should be understood that the number is not included, and if "above", "below", "within" is referred to, it should be understood that the number is included. If reference is made to "first", "second" it is to be understood as being used for distinguishing technical features and not 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.
Example 1
Referring to fig. 1, a flowchart of a servo driver regeneration control method according to an embodiment of the present invention is shown. As shown in fig. 1, a servo driver regeneration control method of the present embodiment specifically includes the following steps:
s1, acquiring a bus voltage value;
s2, updating a regeneration enabling bit according to the bus voltage value;
s3, obtaining a regeneration heat estimated value of the regeneration resistor;
s4, updating the regeneration driving bit according to the regeneration heat estimated 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, and the state of the regeneration drive bit is determined by the state of the regeneration enable bit and the magnitude of the regeneration heat estimated value of the regeneration resistor. In the embodiment, the bus voltage value and the estimated regeneration heat value of the regeneration resistor are used as regeneration control parameters, so that the accuracy of regeneration control can be improved, the application occasion of a servo driver can be enlarged, the regeneration resistor can be effectively protected, the damage rate of the regeneration resistor can be reduced, and the service life of the regeneration resistor can be prolonged.
In other embodiments of the present invention, based on embodiment 1, the regeneration enable bit is a flag bit in the program for 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 flow chart of an embodiment of step S2 in FIG. 1 is shown. As shown in fig. 2, based on embodiment 1, when the bus voltage value is greater than the regeneration start threshold value, the regeneration enable position is set; when the bus voltage value is smaller than the regeneration cut-off threshold value, resetting the regeneration enabling 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 start threshold and the regeneration stop threshold are close to and smaller than the withstand voltage value of the energy storage module and are larger than the bus voltage value of the servo driver in normal operation. The present embodiment can control the bus voltage value within the safe range by setting the regeneration start threshold value and the regeneration stop threshold value.
In other embodiments of the present invention, based on embodiment 2, the regeneration initiation threshold U 1 The value of (2) is shown as a formula (1):
U 1 ＝0.8×(U m -U 0 )+U 0 (1)
regeneration cut-off threshold U 2 The value of (2) is as shown in the formula:
U 2 ＝0.6×(U m -U 0 )+U 0 (2)
in the formula (1) and the formula (2), U m U is the withstand voltage value of the energy storage module 0 The bus voltage value is used for the servo driver in normal operation.
When the bus voltage value U 0 Greater than regeneration initiation threshold U 1 When the regeneration enabling position is set; when the bus voltage value U 0 Less than regeneration cut-off threshold U 2 Resetting the regeneration enabling bit; when the bus voltage value U 0 Not greater than regeneration start threshold U 1 And is not less than a regeneration cut-off threshold U 2 And ending the updating process of the current regeneration driving bit.
Example 3
Referring to FIG. 3, a flow chart of an embodiment of step S4 in FIG. 1 is shown. As shown in fig. 3, based on embodiment 1, the estimated value of the regenerative heat of the regenerative resistor is calculated, the state of the regeneration enable bit is first determined, and when the regeneration enable bit is reset, the update process of the current regeneration drive bit is ended; when the regeneration enabling position is set, the state of the regeneration driving position is determined according to the regeneration heat estimated value of the regeneration resistor. When the estimated value of the regeneration heat 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 estimated value of the regeneration heat of the regeneration resistor is not less than the regeneration starting threshold value and the estimated value of the regeneration heat of the regeneration resistor is less than the regeneration stopping threshold value, ending the updating process of the current regeneration driving bit; when the estimated value of the regenerative heat of the regenerative resistor is not smaller than the threshold value of the regenerative start and the estimated value of the regenerative heat of the regenerative resistor is not smaller than the threshold value of the regenerative stop, the regenerative drive bit is reset and the regenerative operation is stopped.
Wherein, the value of the estimated value Q (n) of the regenerative heat of the regenerative resistor is shown in the formula (3):
in the formula (3), Q (n) is a regenerative heat estimated value to be updated, Q (n-1) is a regenerative heat estimated value before the time T, U is a bus voltage value, R is a resistance value of a regenerative resistor, P is power of the regenerative resistor, and U is a heat dissipation coefficient of the regenerative resistor. Wherein, R, P, u can be configured according to the actual application scene to cope with different working conditions. The regenerative heat estimation initial value Q (0) =0 of the regenerative resistor.
Threshold value Q for regeneration initiation 1 And a regeneration stop threshold value Q 2 The value of (2) is shown in the formula (4):
in equation (4), t is the longest duration for which the regenerative drive bit is in the set state.
On the one hand, the present embodiment sets the regeneration start threshold Q 1 And a regeneration stop threshold value Q 2 The method can control the estimated value of the regenerative heat of the regenerative resistor in a safe range, and on the other hand, the bus voltage value and the estimated value of the regenerative heat of the regenerative resistor are used as the 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 an embodiment of the present invention is shown. As shown in fig. 4, a servo driver regeneration control system of the present embodiment includes a power supply, a servo driver, and a motor, for executing a servo driver regeneration control method of any of the specific 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 the power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting bus voltage signals to obtain bus voltage values and transmitting the bus voltage signals 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 rectifying module, and the output end of the energy storage module is respectively and independently connected with the input end of the regenerating module, the input end of the voltage detection module and one input end of the driving module, and is used for storing electric energy so as to stabilize the 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 is used for data processing and outputting control instructions.
According to the embodiment, the rectification module, the energy storage module, the regeneration module, the voltage detection module, the control module and the driving module are arranged in the servo driver, so that the motor can be driven to work normally, and the bus voltage is stabilized. Further, the control module integrates data processing and control output functions, and can monitor and dynamically adjust the regeneration control system in real time.
In other embodiments of the present invention, based on embodiment 4, the energy storage module includes at least one capacitor, where there are multiple capacitors, the multiple capacitors are connected in parallel with each other.
In other embodiments of the present invention, the control module is further coupled to the motor to obtain positional information of the motor based on embodiment 4.
In other embodiments of the present invention, based on embodiment 4, the regeneration module includes a regeneration resistor and a switching circuit, the regeneration resistor is used for releasing bus energy, and the switching circuit is driven by a regeneration driving bit of the control module to control connection on-off of the regeneration module. When the regeneration driving position is set, the switch is closed, and the regeneration module starts the regeneration action; when the regeneration driving bit is reset, the switch is opened, and the regeneration module stops the regeneration operation.
In other embodiments of the present invention, the drive module includes an inverter unit that converts a direct current input into an alternating current output to drive the motor to operate, based on embodiment 4.
In other embodiments of the present invention, based on embodiment 4, the control module includes a timing unit that triggers an interrupt at a set time interval, and the servo drive regeneration control system completes an update of the regeneration drive bit during the interrupt time interval.
Example 5
A servo drive regeneration control device of the present embodiment includes at least one processor, and a memory communicatively coupled to the at least one processor; 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 of any one of the embodiments of the present 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 reproduction control method of any one of the specific embodiments of the present embodiments.
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 one of ordinary skill in the art without departing from the spirit of the present invention. Furthermore, embodiments of the invention and features of the embodiments may be combined with each other without conflict.
In the several embodiments provided in the present invention, it should be understood that the disclosed technology may be implemented in other manners. The system embodiments described above are merely exemplary, and for example, the modules may be divided into a logic function, and there may be other division manners in actual implementation, for example, multiple units or modules may be combined or integrated into another system, or some features may be omitted, or not performed.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform 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-0nly Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or the like, which can store program codes.
Claims (8)
1. A servo drive regeneration control method, comprising:
acquiring a bus voltage value of a servo driver;
updating a regeneration enabling bit according to the bus voltage value;
acquiring a regeneration heat estimated value of a regeneration resistor;
updating a regeneration driving bit according to the regeneration heat estimated value of the regeneration resistor and the state of the regeneration enabling bit;
wherein the obtaining the estimated value of the regenerative heat of the regenerative resistor includes:
acquiring the resistance, power and heat dissipation coefficient of the regeneration resistor;
calculating a regenerative heat estimated value of the regenerative resistor according to the bus voltage value, the resistance value, the power and the heat dissipation coefficient of the regenerative resistor; the estimated value Q (n) of the regenerative heat of the regenerative resistor is represented by the following formula:
wherein Q (n) is the estimated value of the regenerative heat to be updated, Q (n-1) is the estimated value of the regenerative heat before the time T, U is the bus voltage value, R is the resistance value of the regenerative resistor, P is the power of the regenerative resistor,
is the heat dissipation coefficient of the regeneration resistor.
2. The servo driver regeneration control method according to claim 1, wherein updating the regeneration enable bit according to the bus voltage value comprises:
setting the regeneration enabling bit if the bus voltage value is larger than a regeneration starting threshold value;
or alternatively, the process may be performed,
and if the bus voltage value is smaller than the regeneration cut-off threshold value, resetting the regeneration enabling bit.
3. The servo drive regeneration control method according to claim 1, wherein updating the regeneration drive bit based on the regeneration heat estimation value of the regeneration resistor and the state of the regeneration enable bit comprises:
resetting the regeneration enabling bit, and ending the updating process of the regeneration driving bit;
or alternatively, the process may be performed,
the regeneration enabling position bit and the regeneration heat estimated value of the regeneration resistor are smaller than a regeneration starting threshold value, and the regeneration driving bit is set;
or alternatively, the process may be performed,
the regeneration enabling position bit, the regeneration heat estimated value of the regeneration resistor not smaller than the regeneration starting threshold value and the regeneration heat estimated value of the regeneration resistor smaller than the regeneration stopping threshold value finish the updating process of the current regeneration driving bit;
or alternatively, the process may be performed,
and resetting the regeneration driving bit if the regeneration enabling position bit, the regeneration heat estimated value of the regeneration resistor is not smaller than a regeneration starting threshold value and the regeneration heat estimated value of the regeneration resistor is not smaller than a regeneration stopping threshold value.
4. A servo driver regeneration control system comprising a power source, a servo driver and a motor, wherein the servo driver comprises 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 the power supply;
the regeneration module is used for consuming bus energy;
the voltage detection module is used for detecting bus voltage signals so as to acquire bus voltage values and transmitting the bus voltage signals to the control module;
the driving module is used for driving the motor to run;
the input end of the energy storage module is connected with the output end of the rectifying 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 is 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 is used for data processing and outputting control instructions;
wherein the control module comprises a timing unit for timing triggering an interrupt to perform a servo drive regeneration control method as claimed in any one of claims 1 to 3 and to complete an update of a regeneration drive bit.
5. A servo drive regeneration control system in accordance with claim 4 wherein said regeneration module comprises a regeneration resistor and a switching circuit, said regeneration resistor for discharging said bus energy; the switching circuit is driven by a regeneration driving bit of the control module and is used for controlling connection on-off of the regeneration module.
6. A servo drive regeneration control system according to claim 4 or 5, wherein the drive module comprises an inverter unit for converting a dc input into an ac output.
7. A servo drive regeneration control apparatus, characterized by comprising:
at least one processor, and,
a memory communicatively coupled to at least one of the processors; wherein, the liquid crystal display device comprises a liquid crystal display device,
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 as claimed in any one of claims 1 to 3.
8. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform a servo drive regeneration control method according to any one of claims 1 to 3.
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