CN111812432A - Electromagnetic brake detection method and device - Google Patents
Electromagnetic brake detection method and device Download PDFInfo
- Publication number
- CN111812432A CN111812432A CN202010579056.2A CN202010579056A CN111812432A CN 111812432 A CN111812432 A CN 111812432A CN 202010579056 A CN202010579056 A CN 202010579056A CN 111812432 A CN111812432 A CN 111812432A
- Authority
- CN
- China
- Prior art keywords
- current
- brake
- sag
- driving current
- steady
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 230000036541 health Effects 0.000 claims abstract description 25
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 11
- 230000000630 rising effect Effects 0.000 claims abstract description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000001914 filtration Methods 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/003—Environmental or reliability tests
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/005—Testing of electric installations on transport means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Valves And Accessory Devices For Braking Systems (AREA)
Abstract
The invention provides an electromagnetic brake detection method and system, wherein the method comprises the following steps: acquiring a driving current of a brake driver during braking; and detecting whether the current sinking occurs in the process of rising the driving current to the steady-state current, if so, judging that the braking is effective, and otherwise, judging that the braking is ineffective. The technical scheme of the invention can be used for diagnosing the health condition of the electromagnetic brake and detecting the execution condition of each brake.
Description
Technical Field
The invention relates to the technical field of electromagnetic control, in particular to an electromagnetic brake detection method and device.
Background
Electric braking is the mainstream technique that adopts in motion control, and it is simple to have the device, and the technology is mature, nevertheless because lack braking force feedback, whether the braking is effective to be gone on can not know by the instruction sender, leads to the control failure because of the circumstances that the braking mechanism became invalid but control system can't know easily, triggers the incident. Therefore, there is a need for a brake detection technique to diagnose brake health and detect whether each braking action is performed correctly.
Disclosure of Invention
The invention aims to provide an electromagnetic brake detection method and device, which are used for diagnosing the health condition of electromagnetic brakes, detecting the execution condition of each brake and feeding back related information to an execution mechanism so as to ensure that an electromagnetic brake device stably and reliably operates.
In an embodiment of the present invention, an electromagnetic brake detection method is provided, which includes:
acquiring a driving current of a brake driver during braking;
and detecting whether the current sinking occurs in the process of rising the driving current to the steady-state current, if so, judging that the braking is effective, and otherwise, judging that the braking is ineffective.
In the embodiment of the invention, when the driving current rises to the steady-state current after the current sinking, if the current sinking is detected again, the brake is determined to be released.
In the embodiment of the invention, the brake sinking current and the brake steady-state current when the driving current sinks are recorded, and the health coefficient of the brake driver is calculated by adopting the following formula:
Hf＝1-I1/Is，
wherein Hf Is a health coefficient, I1 Is a brake sag current, and Is a brake steady-state current.
In the embodiment of the invention, the HDLC frame is adopted to output the detection result.
In the embodiment of the present invention, after obtaining the driving current of the brake driver during braking, the method further includes:
low-pass filtering the drive current;
and performing analog-to-digital conversion on the filtered driving current.
In an embodiment of the present invention, there is also provided an electromagnetic brake detection apparatus, including:
the current detector is used for acquiring the driving current of the brake driver during braking;
and the processor is used for detecting whether the current sinks in the process of rising the driving current to the steady-state current, if so, the brake is judged to be effective, and otherwise, the brake is judged to be ineffective.
In the embodiment of the invention, when the driving current rises to the steady-state current after the current sinking, if the current sinking is detected again, the brake is determined to be released.
In the embodiment of the present invention, the processor is further configured to record a brake sag current and a brake steady-state current when the driving current has a current sag, and calculate a health coefficient of the brake driver by using the following formula:
Hf＝1-I1/Is，
wherein Hf Is a health coefficient, I1 Is a brake sag current, and Is a brake steady-state current.
In the embodiment of the invention, the processor outputs the detection result by adopting the HDLC frame.
In an embodiment of the present invention, the electromagnetic brake detection apparatus further includes:
the low-pass filter is used for performing low-pass filtering on the driving current of the brake driver during braking, which is acquired by the current detector;
and the AD converter is used for carrying out analog-to-digital conversion on the filtered driving current and outputting the converted result to the processor.
Compared with the prior art, the electromagnetic brake detection method and the electromagnetic brake detection device can detect whether the current sinking occurs in the process of increasing the driving current of the brake driver to the steady-state current during braking, judge that the braking is effective if the current sinking occurs, judge that the braking is invalid if the current sinking occurs, diagnose the health condition of the electromagnetic brake and detect the execution condition of each braking, and feed back related information to the execution mechanism so as to ensure the stable and reliable operation of the electromagnetic brake device.
Drawings
Fig. 1 is a schematic structural diagram of an electromagnetic brake detection device according to an embodiment of the present invention.
Fig. 2 is a schematic structural view of the brake actuator.
Fig. 3 is a waveform diagram of a driving current of the brake actuator.
FIG. 4 is a schematic diagram of an HDLC frame output by a processor according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following describes the implementation of the present invention in detail with reference to specific embodiments.
As shown in fig. 1, an embodiment of the present invention provides an embodiment of the present invention, and further provides an electromagnetic brake detection apparatus, which includes a current detector, a low-pass filter, an AD converter, and a processor. The following description will be made separately.
The current detector is used for obtaining the driving current of the brake driver when braking.
The low-pass filter is used for performing low-pass filtering on the driving current of the brake driver during braking, which is acquired by the current detector;
and the AD converter is used for carrying out analog-to-digital conversion on the filtered driving current and outputting the converted result to the processor.
And the processor is used for detecting whether the current sinks in the process of increasing the driving current to the steady-state current, if so, judging that the brake is effective, and otherwise, judging that the brake is ineffective.
Fig. 2 is a schematic structural view of the brake actuator. When braking, the brake driver is provided with a fixed direct current voltage, after the coil in the magnetic yoke 2 inputs the direct current voltage, the magnetic yoke 2 is magnetized to generate magnetic force, the armature 5 is attracted to overcome the spring resistance of the return spring 3, the magnetic yoke 2 and the armature 5 are forced to be tightly closed, the brake on the moving shaft 6 is completed, and the electromagnetic brake action is completed. The electromagnetic brake is equivalent to a reactor, and during the braking process, the magnetic loop of the reactor is changed from the existence of a magnetic gap (a gap between the magnet yoke 2 and the armature 5) to the absence of the magnetic gap, so that the inductance of the reactor is suddenly increased, and the driving current of a brake driver generates a depression due to the sudden increase of the inductance. Therefore, whether the brake is effective can be judged by detecting whether the driving current sinks in the process of rising to the steady-state current.
As shown in fig. 3, the variation of the driving current of the brake actuator is shown. The brake actuator starts braking at time t0, the driving voltage is a fixed dc voltage, and the driving current is a step-up process because the driving voltage needs to magnetize the coil in the yoke 2. At time t1, the magnetic loop of the brake actuator becomes free of magnetic gap due to the existence of magnetic gap, the inductance of the brake actuator increases suddenly, resulting in a sudden drop in the drive current, which appears as a current sag in the waveform, and a sag current I1 exists, and the drive current continues to increase immediately after the sag until it becomes a steady-state current Is, at which time the brake actuator Is in a braking state. When the driving current rises to the steady-state current Is after the current sag occurs, if the current sag Is detected again, the brake release Is explained.
In the embodiment of the invention, the processor further records the brake sinking current and the brake steady-state current when the current sinking occurs in the brake during the braking, and calculates the health coefficient of the brake driver by adopting the following formula:
Hf＝1-I1/Is，
wherein Hf Is a health coefficient, I1 Is a brake sag current, and Is a brake steady-state current.
For example, assuming that the sag point current is 5A and the steady state current is 10A, the health factor of the brake actuator is (1-5A/10A) to 0.5, and a larger health factor indicates a healthier brake. The health warning point needs to be determined by combining the influence factors because the health coefficient is greatly related to the brake driving and braking characteristics, and if the health coefficient is lower than 0.2, the health warning point is a health warning point and needs to send out a vehicle alarm to remind a vehicle owner to overhaul the brake.
As shown in fig. 4, in the embodiment of the present invention, the processor outputs the detection result by using an HDLC frame. In HDLC frames, flags are used to achieve frame synchronization. The address is used for addressing the brake, if a system has a plurality of brakes to be monitored, the byte can be used for addressing the brake, a plurality of brakes can be detected through one interface line, and at most 256 brakes can be detected. The control word designates the data content read: 1: health coefficient, 2: sag current, 3: the saturation current. The information field is the value read. The frame check sequence is used to check whether the address control and information fields are in error.
After the braking action is finished, a random delay time is generated in the processor, the level state on the output bus is checked, the high level indicates that the output bus is idle, and the health coefficient HDLC frame is output and continuously sent for 5 times, so that other control devices can accurately read the health coefficient and other data when the bus is interfered.
In summary, by using the electromagnetic brake detection method and device of the present invention, it is detected whether the current sinking occurs in the process of the driving current of the brake driver rising to the steady state current during braking, if yes, the brake is determined to be valid, otherwise, the brake is determined to be invalid, the health condition of the electromagnetic brake can be diagnosed, the execution condition of each brake can be detected, and the related information is fed back to the execution mechanism, so that the electromagnetic brake device can operate stably and reliably.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. An electromagnetic brake detection method is characterized by comprising the following steps:
acquiring a driving current of a brake driver during braking;
and detecting whether the current sinking occurs in the process of rising the driving current to the steady-state current, if so, judging that the braking is effective, and otherwise, judging that the braking is ineffective.
2. The electromagnetic brake detection method of claim 1, wherein after the driving current rises to a steady state current after a current sag occurs, if a current sag is detected again, it is determined that the brake is released.
3. The electromagnetic brake detection method of claim 1, wherein the brake sag current and the brake steady state current when the drive current has a current sag are recorded, and the health factor of the brake actuator is calculated using the following formula:
Hf＝1-I1/Is，
wherein Hf Is a health coefficient, I1 Is a brake sag current, and Is a brake steady-state current.
4. The electromagnetic brake detection method of claim 3, wherein HDLC frames are used to output the detection results.
5. The electromagnetic brake detection method of claim 1, wherein after obtaining the driving current of the brake actuator during braking, the method further comprises:
low-pass filtering the drive current;
and performing analog-to-digital conversion on the filtered driving current.
6. An electromagnetic brake detection device, comprising:
the current detector is used for acquiring the driving current of the brake driver during braking;
and the processor is used for detecting whether the current sinks in the process of rising the driving current to the steady-state current, if so, the brake is judged to be effective, and otherwise, the brake is judged to be ineffective.
7. The electromagnetic brake sensing apparatus of claim 6, wherein after the driving current rises to a steady state current after a current sag occurs, if a current sag is again sensed, it is determined that the brake is released.
8. The electromagnetic brake sensing device of claim 6, wherein the processor is further configured to record a brake sag current and a brake steady state current when a current sag occurs in the driving current, and calculate a health factor of the brake actuator using the following formula:
Hf＝1-I1/Is，
wherein Hf Is a health coefficient, I1 Is a brake sag current, and Is a brake steady-state current.
9. The electromagnetic brake detection device of claim 8, wherein the processor outputs the detection result using HDLC frames.
10. The electromagnetic brake sensing apparatus of claim 6, further comprising:
the low-pass filter is used for performing low-pass filtering on the driving current of the brake driver during braking, which is acquired by the current detector;
and the AD converter is used for carrying out analog-to-digital conversion on the filtered driving current and outputting the converted result to the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010579056.2A CN111812432A (en) | 2020-06-23 | 2020-06-23 | Electromagnetic brake detection method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010579056.2A CN111812432A (en) | 2020-06-23 | 2020-06-23 | Electromagnetic brake detection method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111812432A true CN111812432A (en) | 2020-10-23 |
Family
ID=72845805
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010579056.2A Pending CN111812432A (en) | 2020-06-23 | 2020-06-23 | Electromagnetic brake detection method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111812432A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1997578A (en) * | 2004-09-24 | 2007-07-11 | 三菱电机株式会社 | Armature movement detection device and armature position estimation device for an elevator brake |
| CN108167356A (en) * | 2017-12-26 | 2018-06-15 | 北京金风科创风电设备有限公司 | State detection circuit and state detection method for electromagnetic brake |
| CN207877048U (en) * | 2017-02-08 | 2018-09-18 | 东芝电梯株式会社 | Electro-magnetic braking device |
| CN109070361A (en) * | 2016-04-06 | 2018-12-21 | 川崎重工业株式会社 | Robot controller and the robot for having the control device |
| CN109541349A (en) * | 2018-11-29 | 2019-03-29 | 汽解放汽车有限公司 | Proportion magnetic valve on-line performance detection method and proportion magnetic valve on-line performance detection device |
| CN110207728A (en) * | 2018-02-28 | 2019-09-06 | 北京金风科创风电设备有限公司 | Brake pad wear detection method and device and wind generating set yaw system |
-
2020
- 2020-06-23 CN CN202010579056.2A patent/CN111812432A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1997578A (en) * | 2004-09-24 | 2007-07-11 | 三菱电机株式会社 | Armature movement detection device and armature position estimation device for an elevator brake |
| CN109070361A (en) * | 2016-04-06 | 2018-12-21 | 川崎重工业株式会社 | Robot controller and the robot for having the control device |
| CN207877048U (en) * | 2017-02-08 | 2018-09-18 | 东芝电梯株式会社 | Electro-magnetic braking device |
| CN108167356A (en) * | 2017-12-26 | 2018-06-15 | 北京金风科创风电设备有限公司 | State detection circuit and state detection method for electromagnetic brake |
| CN110207728A (en) * | 2018-02-28 | 2019-09-06 | 北京金风科创风电设备有限公司 | Brake pad wear detection method and device and wind generating set yaw system |
| CN109541349A (en) * | 2018-11-29 | 2019-03-29 | 汽解放汽车有限公司 | Proportion magnetic valve on-line performance detection method and proportion magnetic valve on-line performance detection device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106740441B (en) | Method and apparatus for diagnosing brake lamp | |
| CN103459880A (en) | Electromagnetic brake condition diagnosis device and method therefor | |
| US9465683B2 (en) | Apparatus and a method for providing an error signal for a control unit | |
| CN111812432A (en) | Electromagnetic brake detection method and device | |
| CN110966106B (en) | Vehicle system, motor control method, and readable medium | |
| CN100546895C (en) | The armature movement detecting device of elevator brake and armature position estimating apparatus | |
| KR101332022B1 (en) | ECU monitoring system and monitoring method | |
| CN201980225U (en) | System for preventing accelerator stepping by mistake | |
| CN110539739A (en) | Unmanned vehicle line control braking system and braking method | |
| CN108399757B (en) | Battery car safety monitoring tamper-proof method | |
| CN207315913U (en) | A kind of electromagnetism parking brake of double brake arm configuration | |
| JPWO2020044569A1 (en) | Brake diagnostic device and brake diagnostic system | |
| CN211426532U (en) | Speed measuring device and traffic vehicle | |
| CN209400875U (en) | A kind of anti-tug device of electric locomotive | |
| CN106395542A (en) | Friction hoist overwinding-preventing and failure alarm system based on ABS | |
| CN206202288U (en) | Electric automobile intelligent braking assisted control system | |
| CN107031596B (en) | A kind of electric booster braking displacement sensor diagnostic method | |
| CN106394540A (en) | Intelligent brake boosting control system and method of electric vehicle | |
| CN202641676U (en) | Electronic emergency braking system of automotive vehicle for incorrect operation of urgent stepping on gas pedal | |
| CN218937757U (en) | Functional state detection system of HCU solenoid valve | |
| CN114988247A (en) | Current detection-based power-off brake control method and system | |
| CN214151020U (en) | Brake chuck electromagnet release time measuring circuit | |
| CN216558733U (en) | Real-time state monitoring and early warning device for electromagnetic brake | |
| CN109828450A (en) | A kind of anti-tug device of electric locomotive and method | |
| CN208350824U (en) | A kind of harness V-type welding structure of wheel speed sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201023 |
|
| RJ01 | Rejection of invention patent application after publication |