CN111244898A - Protection circuit and method for interphase short circuit of output end of alternating current servo driver - Google Patents
Protection circuit and method for interphase short circuit of output end of alternating current servo driver Download PDFInfo
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- CN111244898A CN111244898A CN201911399911.5A CN201911399911A CN111244898A CN 111244898 A CN111244898 A CN 111244898A CN 201911399911 A CN201911399911 A CN 201911399911A CN 111244898 A CN111244898 A CN 111244898A
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- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/085—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against excessive load
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Abstract
The invention discloses a protection circuit and a method for interphase short circuit of an output end of an alternating current servo driver. The circuit comprises a main control unit, a servo motor, a U-phase Hall sensor, a V-phase Hall sensor, a user upper computer, a U-phase upper bridge power tube, a V-phase upper bridge power tube, a W-phase upper bridge power tube, a U-phase lower bridge power tube, a V-phase lower bridge power tube and a W-phase lower bridge power tube. The method comprises the following steps: after the driver is electrified, the main control unit sends out PWM driving pulses to enable the upper bridge arm and the lower bridge arm of the power device to be sequentially conducted according to the set time width and the set sequence, phase currents of U, V phases are sent to the main control unit through the driver current sampling circuit to be read, the main control unit analyzes current values of U, V phases, whether short circuits occur between phases of the servo motor is judged according to the output current, if the short circuits occur, the driver gives an output short circuit alarm, and the output short circuit alarm is uploaded to a user upper computer. The method is simple and accurate in fault location, and has the advantages of high real-time performance and good protection effect.
Description
Technical Field
The invention belongs to the technical field of alternating current servo drivers, and particularly relates to a protection circuit and a method for interphase short circuit of an output end of an alternating current servo driver.
Background
The ac servo driver is widely used in various automatic control systems, such as machine tools, robots and other civil fields, and has a wide application in the military field, such as artillery follow-up systems, fire control systems, radars, irradiators and the like. In the use process, short circuit may occur between the output ends of the driver due to cable installation, insulation layer damage and the like, and if fault detection and protection are not performed, the current flowing through the power device rapidly rises in a short time, and the power device is damaged.
Most of the existing AC servo driver products do not have a detection and protection circuit for interphase short circuit of the output end of the driver, and a small part of the drivers have an interphase short circuit detection circuit of the output end. The detection principle of the driver is that a sampling resistor, a current hall sensor or other current detection means are mostly adopted to detect the current of the output end, when the output end is in a short circuit condition, the current of the output end rapidly rises, and after the detected current exceeds a set threshold value, the driver performs alarming and protecting actions. The detection means is based on that the power device has overcurrent caused by short circuit, the set threshold value is higher than the rated current of the power device in order to prevent error protection, the action of the protection circuit needs a certain time, when the action of the protection circuit is not finished, the current rise of the output end can cause unrecoverable damage to the power device due to short-time overcurrent impact, even damage to the power device, influence on the performance of the device and reduce the reliability of the driver.
Disclosure of Invention
The invention aims to provide a protection circuit and a method for interphase short circuit of an output end of an alternating current servo driver, which have the advantages of simple implementation method, accurate fault positioning, high real-time performance and good protection effect, so that the driver is prevented from being damaged and damaged due to short circuit and overcurrent.
The technical solution for realizing the purpose of the invention is as follows: a protection circuit for interphase short circuit of an output end of an alternating current servo driver comprises a main control unit, a servo motor, a U-phase Hall sensor, a V-phase Hall sensor, a user upper computer and a power device;
the power device is connected with the servo motor through a U-phase cable, a V-phase cable and a W-phase cable, the U-phase cable penetrates through the U-phase Hall sensor, and the V-phase cable penetrates through the V-phase Hall sensor;
the U-phase Hall sensor and the V-phase Hall sensor respectively sample U, V-phase current and send the current to the main control unit;
the main control unit is connected with the power device on one hand and used for collecting bus voltage; on the other hand, the U, V-phase current is subjected to A/D conversion through a built-in ADC sampling interface, and is analyzed and judged, and a driving signal is sent to a power device according to a judgment result to control the conduction of a power tube; meanwhile, the judgment result is uploaded to the user upper computer through the CAN interface.
Further, the power device comprises a U-phase upper bridge power tube, a V-phase upper bridge power tube, a W-phase upper bridge power tube, a U-phase lower bridge power tube, a V-phase lower bridge power tube and a W-phase lower bridge power tube;
the U-phase upper bridge power tube and the U-phase lower bridge power tube are connected with the servo motor through U-phase cables, the V-phase upper bridge power tube and the V-phase lower bridge power tube are connected with the servo motor through V-phase cables, and the W-phase upper bridge power tube and the W-phase lower bridge power tube are connected with the servo motor through W-phase cables.
Further, the main control unit adopts an STM32F105VCT6 chip.
Further, the U-phase Hall sensor and the V-phase Hall sensor adopt a Hall sensor HAC600-S of LEM.
Further, the U-phase upper bridge power tube and the U-phase lower bridge power tube are power devices, the V-phase upper bridge power tube and the V-phase lower bridge power tube are power devices, the W-phase upper bridge power tube and the W-phase lower bridge power tube are power devices, a British flying double-circuit integrated IGBT is adopted, the model is FF600R12ME4, and the rated current is 600A.
A protection method for interphase short circuit of an output end of an alternating current servo driver comprises the following steps:
step 1, after a driver is powered on, the power-on reset of the hardware of a main control unit is completed, and a user upper computer controls software to start executing;
step 2, the user upper computer control software reads the bus voltage value of the driver through an ADC sampling port of the main control unit, then judgment is carried out, after the bus voltage value of the driver reaches a set value, the driver is judged to be powered on, and the user upper computer control software is shifted to step 3 to carry out output end short circuit detection;
step 3, the user upper computer control software sends out drive signals of a U-phase upper bridge and a V-phase lower bridge, the drive signals are output to a power device through a PWM output port of the main control unit to drive a U-phase upper bridge power tube and a V-phase lower bridge power tube to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by the U-phase Hall sensor and the V-phase Hall sensor are read through an ADC (analog to digital converter) sampling port of the main control unit and compared with a set current threshold, if the current of the U-phase cable and the current of the V-phase cable exceed the threshold, it is judged that short circuit occurs at a U, V two-phase output end; otherwise, turning to step 5;
step 4, the control software of the user upper computer gives an alarm of the short circuit of the output end of the driver, the operation of receiving the instruction of the user is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of U, V is uploaded to the user upper computer through the CAN interface of the main control unit;
step 5, if the fault of the short circuit of the U, V two-phase output end is not detected, the upper computer control software of a user sends out drive signals of a V-phase upper bridge and a W-phase lower bridge, the drive signals are output to a power device through a PWM output port of a main control unit to drive a V-phase upper bridge power tube and a W-phase lower bridge power tube to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by a U-phase Hall sensor and a V-phase Hall sensor are read through an ADC (analog to digital converter) sampling port of the main control unit and are compared with a set current threshold, if the current of the V-phase cable exceeds the threshold, the situation that the short circuit occurs at the 35; otherwise, turning to step 7;
step 6, the control software of the user upper computer gives an alarm of the short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of V, W is uploaded to the user upper computer through the CAN interface of the main control unit;
7, if the fault of the short circuit of the V, W two-phase output end is not detected, the upper computer control software of a user sends out drive signals of a W-phase upper bridge and a U-phase lower bridge, the drive signals are output to a power device through a PWM (pulse width modulation) output port of the main control unit to drive a W-phase upper bridge power tube and a U-phase lower bridge power tube to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by a U-phase Hall sensor and a V-phase Hall sensor are read through an ADC (analog to digital converter) sampling port of the main control unit and are compared with a set current threshold, if the current of the U-phase cable exceeds the threshold, the situation that the short circuit of the two-phase;
step 8, the control software of the user upper computer gives an alarm of the short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of W, U is uploaded to the user upper computer through the CAN interface of the main control unit;
and 9, if the W, U-phase short circuit is not detected, judging that the short circuit detection of the output end is normal by the control software of the upper computer of the user, switching to a standby state, receiving an instruction of the upper computer of the user at any time, and entering a working state according to the instruction of the user.
Further, the pulse width of the driving signal in steps 3, 5 and 7 is 2 us.
Further, the current threshold values set in steps 3, 5, and 7 are all 50A.
Compared with the prior art, the invention has the following remarkable advantages: (1) the current detection circuit of the current loop closed loop in the driver is used for detection without adding an additional circuit, so that the detection is simple to realize; (2) interphase short circuit detection is carried out on the power-on output end, so that damage or damage of power components is avoided; (3) through the detection of interphase short circuit of the power-on output end, the rated value of the device is not exceeded, and the fault location is accurate.
Drawings
Fig. 1 is a schematic structural diagram of a protection circuit for interphase short circuit at an output end of an alternating current servo driver.
FIG. 2 is a schematic flow diagram of the process of the present invention.
Detailed Description
With reference to fig. 1, the protection circuit for interphase short circuit at the output end of the alternating current servo driver comprises a main control unit 1, a servo motor 2, a U-phase hall sensor 3, a V-phase hall sensor 4, a user upper computer 5 and a power device;
the power device is connected with the servo motor 2 through a U-phase cable, a V-phase cable and a W-phase cable, the U-phase cable penetrates through the U-phase Hall sensor 3, and the V-phase cable penetrates through the V-phase Hall sensor 4;
the U-phase Hall sensor 3 and the V-phase Hall sensor 4 respectively sample U, V-phase currents and send the currents to the main control unit 1;
the main control unit 1 is connected with a power device on one hand and collects bus voltage; on the other hand, the U, V-phase current is subjected to A/D conversion through a built-in ADC sampling interface, and is analyzed and judged, and a driving signal is sent to a power device according to a judgment result to control the conduction of a power tube; meanwhile, the judgment result is uploaded to the user upper computer 5 through the CAN interface.
Further, the power device comprises a U-phase upper bridge power tube 6, a V-phase upper bridge power tube 7, a W-phase upper bridge power tube 8, a U-phase lower bridge power tube 9, a V-phase lower bridge power tube 10 and a W-phase lower bridge power tube 11;
the U-phase upper bridge power tube 6 and the U-phase lower bridge power tube 9 are connected with the servo motor 2 through U-phase cables, the V-phase upper bridge power tube 7 and the V-phase lower bridge power tube 10 are connected with the servo motor 2 through V-phase cables, and the W-phase upper bridge power tube 8 and the W-phase lower bridge power tube 11 are connected with the servo motor 2 through W-phase cables.
Further, the main control unit 1 adopts an STM32F105VCT6 chip.
Further, the U-phase Hall sensor 3 and the V-phase Hall sensor 4 adopt a Hall sensor HAC600-S of LEM.
Further, the U-phase upper bridge power tube 6 and the U-phase lower bridge power tube 9 are power devices, the V-phase upper bridge power tube 7 and the V-phase lower bridge power tube 10 are power devices, the W-phase upper bridge power tube 8 and the W-phase lower bridge power tube 11 are power devices, and are both formed by adopting a double-path integrated IGBT of english-flying-ice, the model is FF600R12ME4, and the rated current is 600A.
With reference to fig. 2, the method for protecting an interphase short circuit at an output end of an ac servo driver of the present invention includes the following steps:
step 1, after a driver is powered on, the hardware power-on reset of the main control unit 1 is completed, and the user upper computer 5 controls software to start executing;
step 2, the user upper computer 5 control software reads the bus voltage value of the driver through an ADC sampling port of the main control unit 1, then judgment is carried out, after the bus voltage value of the driver reaches a set value, the driver is judged to be powered on, and the user upper computer 5 control software is transferred to step 3 to carry out output end short circuit detection;
step 3, the user upper computer 5 controls software to send out driving signals of a U-phase upper bridge and a V-phase lower bridge, the driving signals are output to a power device through a PWM (pulse-width modulation) output port of the main control unit 1 to drive a U-phase upper bridge power tube 6 and a V-phase lower bridge power tube 10 to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by the U-phase Hall sensor 3 and the V-phase Hall sensor 4 are read through an ADC (analog-to-digital converter) sampling port of the main control unit 1 and are compared with a set current threshold, if the current of the U-phase cable and the current of the V-phase cable exceed the threshold, it is judged that a short circuit; otherwise, turning to step 5;
step 4, the user upper computer 5 controls software to give a driver output end short circuit alarm, the operation of receiving a user instruction is not allowed, and meanwhile fault information of U, V two-phase output end short circuit is uploaded to the user upper computer 5 through a CAN interface of the main control unit 1;
step 5, if the fault of short circuit of U, V two-phase output ends is not detected, the user upper computer 5 controls software to send out driving signals of a V-phase upper bridge and a W-phase lower bridge, the driving signals are output to a power device through a PWM (pulse-width modulation) output port of the main control unit 1 to drive a V-phase upper bridge power tube 7 to be conducted with a W-phase lower bridge power tube 11, current values of a U-phase cable and a V-phase cable collected by the U-phase Hall sensor 3 and the V-phase Hall sensor 4 are read through an ADC (analog-to-digital converter) sampling port of the main control unit 1 and are compared with a set current threshold, if the current of the V-phase cable exceeds the threshold, the situation that short circuit occurs at the; otherwise, turning to step 7;
step 6, the user upper computer 5 controls software to give a driver output end short circuit alarm, the operation of receiving a user instruction is not allowed, and meanwhile fault information of V, W two-phase output end short circuit is uploaded to the user upper computer 5 through a CAN interface of the main control unit 1;
7, if the fault that the two-phase output ends of V, W are short-circuited is not detected, the user upper computer 5 controls software to send out drive signals of a W-phase upper bridge and a U-phase lower bridge, the drive signals are output to a power device through a PWM (pulse-width modulation) output port of the main control unit 1 to drive a W-phase upper bridge power tube 8 and a U-phase lower bridge power tube 9 to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by the U-phase Hall sensor 3 and the V-phase Hall sensor 4 are read through an ADC (analog to digital converter) sampling port of the main control unit 1 and compared with a set current threshold, if the current of the U-phase cable exceeds the threshold, the situation that the two-phase output ends of W, U;
step 8, the user upper computer 5 controls software to give a driver output end short circuit alarm, the operation of receiving a user instruction is not allowed, and meanwhile fault information of W, U two-phase output end short circuit is uploaded to the user upper computer 5 through a CAN interface of the main control unit 1;
and 9, if W, U-phase short circuit is not detected, the control software of the user upper computer 5 judges whether the detection of the short circuit at the output end is normal, the user upper computer 5 is switched to a standby state, receives an instruction of the user upper computer 5 at any time, and enters a working state according to the instruction of the user.
Further, the pulse width of the driving signal in steps 3, 5 and 7 is 2 us.
Further, the current threshold values set in steps 3, 5, and 7 are all 50A.
The invention is described in further detail below with reference to the figures and specific examples.
Examples
The invention relates to an alternating-current servo driver output end interphase short circuit protection circuit, a hardware circuit uses a circuit when a driver current loop works in a closed loop mode, and does not need to be added with a hardware circuit, and the hardware circuit is shown in figure 1 and comprises a main control unit 1, a servo motor 2, a U-phase Hall sensor 3, a V-phase Hall sensor 4, a user upper computer 5, a U-phase upper bridge power tube 6, a V-phase upper bridge power tube 7, a W-phase upper bridge power tube 8, a U-phase lower bridge power tube 9, a V-phase lower bridge power tube 10 and a W-phase lower bridge power tube 11.
The main control unit 1 is connected with a U-phase upper bridge power tube 6, a V-phase upper bridge power tube 7, a W-phase upper bridge power tube 8, a U-phase lower bridge power tube 9, a V-phase lower bridge power tube 10 and a W-phase lower bridge power tube 11, the main control unit 1 sends a driving signal to the U-phase upper bridge power tube 6, the V-phase upper bridge power tube 7, the W-phase upper bridge power tube 8, the U-phase lower bridge power tube 9, the V-phase lower bridge power tube 10 and the W-phase lower bridge power tube 11, and the conduction of the power tubes is controlled.
U looks upper bridge power tube 6, V looks upper bridge power tube 7, W looks upper bridge power tube 8, U looks lower bridge power tube 9, V looks lower bridge power tube 10, W looks lower bridge power tube 11 passes through cable junction with servo motor 2, U looks Hall sensor U looks cable passes through U looks Hall sensor 3, V looks cable passes V looks Hall sensor 4 for detect U, V looks phase current. The outputs of the U-phase hall sensor 3 and the V-phase hall sensor 4 are connected to the main control unit 1, and the current of U, V phases is a/D converted by an ADC sampling interface built in the main control unit 1 and analyzed and judged by software. The main control unit 1 is connected with the user upper computer 5 through a CAN interface, and uploads the judgment result of software through the CAN interface.
The main control unit 1 adopts a chip STM32F105VCT6, and is mainly responsible for completing functions of closed-loop control, AD sampling, external interface communication and the like of a position loop, a speed loop and a current loop through a control algorithm in servo control, and is mainly responsible for bus voltage sampling, phase current sampling, judgment and communication with the user upper computer 5 in the embodiment.
After the driver is powered on, after the initialization of the main control unit 1 hardware is finished, the AD sampling port of the main control unit 1 samples the bus voltage of the driver, and the control software judges whether the driver is powered on or not and whether other fault alarms exist or not according to the voltage value of the bus voltage, and if the driver is powered on and does not have other fault alarms, the output end short circuit detection is switched to.
A driving signal is sent to a U-phase upper bridge power tube 6, a V-phase upper bridge power tube 7, a W-phase upper bridge power tube 8, a U-phase lower bridge power tube 9, a V-phase lower bridge power tube 10 and a W-phase lower bridge power tube 11 by control software of a main control unit 1, a control power device is sequentially conducted according to sequence and pulse width, meanwhile phase current of U, V phases is sampled by a U-phase Hall sensor 3 and a V-phase Hall sensor 4 and is sent to the main control unit 1 to be read, and the U-phase Hall sensor 3 and the V-phase Hall sensor 4 are Hall sensors HAC600-S of LEM.
The control power device is conducted in sequence and pulse width, and specifically comprises:
the U-phase upper bridge power tube 6 and the U-phase lower bridge power tube 9 are power devices, are England-flying IGBTs, are FF600R12ME4 in type, are the same as the V-phase upper bridge power tube 7 and the V-phase lower bridge power tube 10 in type, are the W-phase upper bridge power tube 8 and the W-phase lower bridge power tube 11 in type, are also FF600R12ME4 in type, are double-path integrated IGBTs, and have rated current of 600A.
The drive signal firstly controls the conduction of the U-phase upper bridge power tube 6 and the V-phase lower bridge power tube 10, the pulse width is 2 microseconds, the V-phase upper bridge power tube 7 and the W-phase lower bridge power tube 11 are sequentially conducted after the detection is finished, and the W-phase upper bridge power tube 8 and the U-phase lower bridge power tube 9 are sequentially conducted.
In the detection process, the phase current of U, V phases is sampled by the U-phase Hall sensor 3 and the V-phase Hall sensor 4, the current signal is converted into a voltage signal, and the voltage signal is sent to the 12-bit ADC integrated in the main control unit 1 for A/D conversion.
The control software compares the read U, V phase current value with a set threshold value, the short circuit of the output end is considered to occur when the current value exceeds the threshold value, the short circuit between the two phases can be judged according to the numerical values of the currents of the two phases, the control software outputs a short circuit alarm, and the short circuit alarm is uploaded to the user upper computer 5 through communication.
The specific method of the set threshold is as follows: when the output end is not in a short-circuit state, and the driver performs short-circuit detection, the motor is used as a load, is influenced by the inductance and the internal resistance of the motor, has a pulse width of 2 microseconds, and the current actually rises to be not more than 20A, when an interphase short-circuit state occurs, the load is only a cable from the output end of the driver to a short-circuit point, the inductance and the internal resistance are very small, the current of the pulse of 2 microseconds can rise to 100A-300A and is far more than the current in a normal state, and the short-circuit judgment threshold value in the design is set to be 50A, so that the short-circuit state can be judged correctly, the protection is.
The method for judging which two phases are short-circuited according to the current value specifically comprises the following steps: and judging U, W that the two-phase output end is short-circuited only if the U-phase current value exceeds the threshold value, judging V, W that the two-phase output end is short-circuited only if the V-phase current value exceeds the threshold value, and judging U, V that the two-phase output end is short-circuited if the U, V-phase current exceeds the threshold value.
If the short circuit of the output end occurs, the main control unit 1 sends the fault information to the user upper computer through CAN communication, and if the fault does not occur, the driver enters a normal standby state and is ready to receive a user instruction to enter a working state at any time.
Fig. 2 is a working flow chart of the control software, and the detection and protection processes of the control software are as follows:
firstly, after the driver is powered on, the hardware power-on reset of the main control unit 1 is completed, and the control software starts to execute.
Secondly, the control software reads the bus voltage value of the driver through the ADC sampling port of the main control unit 1, then the judgment is carried out, after the bus voltage value of the driver reaches a set value, the judgment that the power-on of the driver is completed is carried out, and the control software switches to the output end short circuit detection, which specifically comprises the following steps:
(1) firstly, a control software sends out drive signals of a U-phase upper bridge and a V-phase lower bridge, the drive signals have a pulse width of 2us, the drive signals are output to a power device through a PWM output port of a main control unit 1 to drive a U-phase upper bridge power tube 6 and a V-phase lower bridge power tube 10 to be conducted, meanwhile, the control software reads a current value of U, V through an ADC sampling port of the main control unit 1 and compares the current value with a set threshold value 50A, if the current of U, V phases exceeds the threshold value, it is judged that short circuit occurs at a U, V two-phase output end, and the control software is switched into a protection function: the control software gives an alarm of short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the U, V phase output end is uploaded to a user upper computer through a CAN interface of the main control unit 1.
(2) If U, V phase short circuit is not detected, the control software switches to V, W phase detection, the control software sends out drive signals of a V-phase upper bridge and a W-phase lower bridge, the drive signals are 2us in pulse width and output to a power device through a PWM output port of the main control unit 1 to drive a V-phase upper bridge power tube 7 and a W-phase lower bridge power tube 11 to be conducted, meanwhile, the control software reads a U, V current value through an ADC (analog to digital converter) sampling port of the main control unit 1 and compares the current value with a set threshold value 50A, if the current of the V phase exceeds the threshold value, it is judged that short circuit occurs at the V, W two-phase output end, and the control software switches to a protection: the control software gives an alarm of short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the V, W phase output end is uploaded to a user upper computer through a CAN interface of the main control unit 1.
(3) If V, W-phase short circuit is not detected, the control software switches to U, U-phase detection, the control software sends out drive signals of a W-phase upper bridge and a U-phase lower bridge, the drive signals are 2us in pulse width and output to a power device through a PWM (pulse width modulation) output port of the main control unit 1 to drive the W-phase upper bridge power tube 7 and the U-phase lower bridge power tube 11 to be conducted, meanwhile, the control software reads a U, V current value through an ADC (analog to digital converter) sampling port of the main control unit 1 and compares the current value with a set threshold value 50A, if the current of the U-phase exceeds the threshold value, it is judged that short circuit occurs at the W, U two-phase output end: the control software gives an alarm of short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the W, U phase output end is uploaded to a user upper computer through a CAN interface of the main control unit 1.
(4) If the W, U-phase short circuit is not detected, the control software judges that the detection of the short circuit of the output end is normal, the control software is switched to a standby state, can receive the instruction of the user upper computer at any time and enters a working state according to the instruction of the user.
In conclusion, the invention does not add extra circuits, uses the current detection circuit of the current loop closed loop in the driver to detect, and is simple to realize; the interphase short circuit detection of the power-on output end avoids the damage or the damage of power components; the detection current is adjustable, the rated value of the device is not exceeded, and the fault location is accurate.
Claims (8)
1. A protection circuit for interphase short circuit of an output end of an alternating current servo driver is characterized by comprising a main control unit (1), a servo motor (2), a U-phase Hall sensor (3), a V-phase Hall sensor (4), a user upper computer (5) and a power device;
the power device is connected with the servo motor (2) through a U-phase cable, a V-phase cable and a W-phase cable, the U-phase cable penetrates through the U-phase Hall sensor (3), and the V-phase cable penetrates through the V-phase Hall sensor (4);
the U-phase Hall sensor (3) and the V-phase Hall sensor (4) respectively sample U, V-phase currents and send the U, V-phase currents to the main control unit (1);
the main control unit (1) is connected with the power device on one hand and used for collecting bus voltage; on the other hand, the U, V-phase current is subjected to A/D conversion through a built-in ADC sampling interface, and is analyzed and judged, and a driving signal is sent to a power device according to a judgment result to control the conduction of a power tube; meanwhile, the judgment result is uploaded to the user upper computer (5) through the CAN interface.
2. The protection circuit for interphase short circuit at the output end of the alternating current servo driver according to claim 1, wherein the power device comprises a U-phase upper bridge power tube (6), a V-phase upper bridge power tube (7), a W-phase upper bridge power tube (8), a U-phase lower bridge power tube (9), a V-phase lower bridge power tube (10) and a W-phase lower bridge power tube (11);
the U-phase upper bridge power tube (6) and the U-phase lower bridge power tube (9) are connected with the servo motor (2) through U-phase cables, the V-phase upper bridge power tube (7) and the V-phase lower bridge power tube (10) are connected with the servo motor (2) through V-phase cables, and the W-phase upper bridge power tube (8) and the W-phase lower bridge power tube (11) are connected with the servo motor (2) through W-phase cables.
3. An alternating current servo driver output end interphase short circuit protection circuit according to claim 1 or 2, characterized in that the main control unit (1) adopts an STM32F105VCT6 chip.
4. An alternating current servo driver output end interphase short circuit protection circuit according to claim 1 or 2, characterized in that the U-phase Hall sensor (3) and the V-phase Hall sensor (4) adopt a Hall sensor HAC600-S of LEM.
5. The protection circuit for interphase short circuit at the output end of an alternating current servo driver according to claim 1 or 2, wherein the U-phase upper bridge power tube (6) and the U-phase lower bridge power tube (9) are power devices, the V-phase upper bridge power tube (7) and the V-phase lower bridge power tube (10) are power devices, the W-phase upper bridge power tube (8) and the W-phase lower bridge power tube (11) are power devices, and both adopt a double-path integrated IGBT of Yingfei, the model is FF600R12ME4, and the rated current is 600A.
6. A protection method for interphase short circuit of an output end of an alternating current servo driver is characterized by comprising the following steps:
step 1, after a driver is powered on, the hardware power-on reset of a main control unit (1) is completed, and a user upper computer (5) controls software to start executing;
step 2, the control software of the user upper computer (5) reads the bus voltage value of the driver through an ADC sampling port of the main control unit (1), then judgment is carried out, after the bus voltage value of the driver reaches a set value, the fact that the power-on of the driver is finished is judged, and the control software of the user upper computer (5) is shifted to step 3 to carry out output end short circuit detection;
step 3, a user upper computer (5) controls software to send out driving signals of a U-phase upper bridge and a V-phase lower bridge, the driving signals are output to a power device through a PWM (pulse-width modulation) output port of a main control unit (1), a U-phase upper bridge power tube (6) and a V-phase lower bridge power tube (10) are driven to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by a U-phase Hall sensor (3) and a V-phase Hall sensor (4) are read through an ADC (analog-to-digital converter) sampling port of the main control unit (1) and are compared with a set current threshold, if the current of the U-phase cable and the current of the V-phase cable exceed the threshold, it is judged that a short; otherwise, turning to step 5;
step 4, the control software of the user upper computer (5) gives an alarm of the short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of U, V is uploaded to the user upper computer (5) through the CAN interface of the main control unit (1);
step 5, if the fault that the two-phase output ends of U, V are short-circuited is not detected, the user upper computer (5) controls software to send out driving signals of a V-phase upper bridge and a W-phase lower bridge, the driving signals are output to a power device through a PWM (pulse width modulation) output port of the main control unit (1) to drive a V-phase upper bridge power tube (7) and a W-phase lower bridge power tube (11) to be conducted, meanwhile, current values of a U-phase Hall sensor (3) and a U-phase cable and a V-phase cable collected by a V-phase Hall sensor (4) are read through an ADC (analog to digital converter) sampling port of the main control unit (1), the current values are compared with a set current threshold, if the current of the V-phase cable exceeds the threshold, the situation that; otherwise, turning to step 7;
step 6, the control software of the user upper computer (5) gives an alarm of the short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of V, W is uploaded to the user upper computer (5) through the CAN interface of the main control unit (1);
7, if the fault of the short circuit of the two-phase output ends of V, W is not detected, a user upper computer (5) controls software to send out drive signals of a W-phase upper bridge and a U-phase lower bridge, the drive signals are output to a power device through a PWM (pulse width modulation) output port of a main control unit (1) to drive a W-phase upper bridge power tube (8) and a U-phase lower bridge power tube (9) to be conducted, meanwhile, current values of a U-phase cable and a V-phase cable collected by a U-phase Hall sensor (3) and a V-phase Hall sensor (4) are read through an ADC (analog to digital converter) sampling port of the main control unit (1) and compared with a set current threshold, if the current of the U-phase cable exceeds the threshold, the situation that the two-phase output ends of W, U;
step 8, the control software of the user upper computer (5) gives an alarm of the short circuit of the output end of the driver, the operation of receiving a user instruction is not allowed, and meanwhile, the fault information of the short circuit of the two phase output ends of W, U is uploaded to the user upper computer (5) through the CAN interface of the main control unit (1);
and 9, if the W, U-phase short circuit is not detected, the control software of the user upper computer (5) judges that the short circuit detection of the output end is normal, the user upper computer is switched to a standby state, receives an instruction of the user upper computer (5) at any time, and enters a working state according to the instruction of the user.
7. The method for protecting the interphase short circuit at the output end of the alternating current servo driver as claimed in claim 6, wherein the pulse width of the driving signal in steps 3, 5 and 7 is 2 us.
8. The method for protecting the interphase short circuit at the output end of the alternating-current servo driver as claimed in claim 6, wherein the current threshold values set in steps 3, 5 and 7 are all 50A.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034385A (en) * | 2020-08-05 | 2020-12-04 | 苏州汇川联合动力系统有限公司 | Motor system fault detection method, device and computer readable storage medium |
| WO2024055190A1 (en) * | 2022-09-14 | 2024-03-21 | 威刚科技股份有限公司 | Motor driver provided with detection circuit |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034385A (en) * | 2020-08-05 | 2020-12-04 | 苏州汇川联合动力系统有限公司 | Motor system fault detection method, device and computer readable storage medium |
| CN112034385B (en) * | 2020-08-05 | 2023-10-27 | 苏州汇川联合动力系统股份有限公司 | Motor system fault detection method, apparatus and computer readable storage medium |
| WO2024055190A1 (en) * | 2022-09-14 | 2024-03-21 | 威刚科技股份有限公司 | Motor driver provided with detection circuit |
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