CN112152519A - Brake control system and method for direct-current brush motor - Google Patents
Brake control system and method for direct-current brush motor Download PDFInfo
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- CN112152519A CN112152519A CN202010977246.XA CN202010977246A CN112152519A CN 112152519 A CN112152519 A CN 112152519A CN 202010977246 A CN202010977246 A CN 202010977246A CN 112152519 A CN112152519 A CN 112152519A
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000007423 decrease Effects 0.000 claims 2
- 230000008569 process Effects 0.000 description 9
- 230000003068 static effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/08—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a dc motor
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/03—Arrangements for regulating or controlling the speed or torque of electric DC motors for controlling the direction of rotation of DC motors
-
- 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
- H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
- H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
- H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
- H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
- H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
- H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
- H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Direct Current Motors (AREA)
Abstract
A braking control system and method for a direct current brush motor comprises the direct current brush motor, a forward and reverse rotation driving circuit and a driving circuit, wherein a control chip is used for alternately outputting two paths of PWM control signals, the forward and reverse rotation driving circuit is in communication connection with the control chip, and the forward and reverse rotation of the motor is alternately controlled according to the two paths of PWM signals so as to achieve that the direct current brush motor keeps dynamic balance after braking is completed. In the technical scheme, after the direct current motor stops running, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals, and the direct current motor keeps dynamic balance in a reverse rotation-forward rotation mode, so that the direct current motor can rotate with smaller torque at the moment of restarting. According to the invention, after the motor is braked, the forward and reverse rotation of the motor are alternately controlled according to the two paths of PWM signals, and the dynamic balance of the direct current motor is kept in a reverse rotation-forward rotation mode, so that the motor can be rotated with smaller torque at the moment of restarting the direct current motor.
Description
Technical Field
The invention relates to the field of direct-current brush motor braking, in particular to a system and a method for controlling braking of a direct-current brush motor.
Background
The direct current motor is used as a power element and can drive the terminal load to move up and down, and when the terminal load needs to stop at a certain stroke position, the motor correspondingly stops running, namely the motor is called as a brake. The traditional implementation mode is as follows: the magnetic force between the damping magnetic ring and the magnetic steel of the motor is used for reducing the speed of the motor, and the motor is finally kept in a static state, so that a terminal load is kept at a certain position, for example, a hysteresis motor disclosed in the application number CN 201821758340.0.
However, at the moment of restarting the dc motor, a large static torque force is required to rotate the motor, and further improvement is needed.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a direct-current brush motor brake control system and a direct-current brush motor brake control method.
A brake control system of a direct current brush motor comprises a direct current brush motor, a positive and negative rotation drive circuit and a control chip;
the control chip is used for alternately outputting two paths of PWM control signals;
the positive and negative rotation driving circuit is in communication connection with the control chip, and controls the motor to alternately rotate positively and negatively according to the two PWM control signals so as to realize that the direct current brush motor keeps dynamic balance in a reverse rotation-positive rotation mode after braking is finished, wherein the duty ratio of the PWM control signal for controlling the motor to rotate reversely is larger than that of the PWM control signal for controlling the motor to rotate positively.
In the technical scheme, after the loaded direct current motor is braked, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to two paths of PWM signals, the direct current motor keeps dynamic balance in a reverse rotation-forward rotation mode, wherein the terminal load is raised by the reverse rotation of the motor, the terminal load is lowered by the forward rotation of the motor, the direct current motor is in dynamic balance after the brake, and the direct current motor can be restarted and can rotate the motor with smaller torque.
Preferably, in the braking process of the motor with load, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals to realize the braking of the direct current brush motor, wherein the duty ratio of the PWM signal for controlling the reverse rotation of the motor is larger than that of the PWM signal for controlling the forward rotation of the motor.
Preferably, the forward and reverse rotation driving circuit controls the forward and reverse rotation of the motor alternately within time T to realize motor braking, wherein the time T is 0-300 ms.
Preferably, during the braking process of the motor with load, the duty ratio of the PWM signal for controlling the motor to reversely rotate is adjustable and is reduced along with the reduction of the load. The brake is suitable for the brakes of the motors with different loads.
Preferably, the forward and reverse rotation driving circuit comprises an H-bridge motor forward and reverse rotation driving circuit formed by discrete elements or an a4950 direct current motor integrated forward and reverse rotation driving circuit.
Preferably, the PWM signal is output by a microprocessor control chip.
A braking control method for a direct current brush motor is characterized in that a forward and reverse rotation driving circuit alternately controls forward and reverse rotation of the motor according to two paths of PWM signals so as to realize braking of the direct current brush motor and keep dynamic balance of the direct current motor in a reverse rotation-forward rotation mode after braking.
Preferably, in the braking process of the motor with load, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals to realize the braking of the direct current brush motor, wherein the duty ratio of the PWM signal for controlling the reverse rotation of the motor is larger than that of the PWM signal for controlling the forward rotation of the motor.
In conclusion, the invention has the following beneficial effects:
1: after the loaded direct current motor finishes braking, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals, and the direct current motor keeps dynamic balance in a reverse rotation-forward rotation mode, so that the direct current motor can rotate with smaller torque at the moment of restarting.
2: during the braking process of the loaded direct current motor, the point-braking deceleration of the motor is realized through PWM pulse signal control, so that the motor brake is more stable, the impact force is small, and the fault of the motor is reduced.
Drawings
FIG. 1 is a schematic diagram of a brake control system of a DC brush motor;
fig. 2 is a graph relating to PWM signals.
Detailed Description
The invention will be further explained by means of specific embodiments with reference to the drawings.
Example (b): as shown in fig. 1-2, a brake control system for a dc brush motor comprises a dc brush motor, a forward and reverse rotation driving circuit, and a control chip; the direct current brush motor is connected with the power supply circuit, the power supply circuit supplies power to the direct current brush motor, the control chip is used for alternately outputting two paths of PWM control signals, the controller can be an STM32F103C8T6 LQFP48 MCU singlechip or an IMP809REUR SOT-23 chip, a forward and reverse rotation driving circuit is in communication connection with the control chip, after the direct current motor completes braking, namely the speed of the motor is reduced, due to the fact that a terminal load is carried, the motor can rotate, at the moment, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of input PWM signals, the direct current motor is kept in dynamic balance in a reverse rotation-forward rotation mode, wherein the motor rotates in reverse to raise the end load, and the motor rotates in forward to lower the end load, and, because of the end load itself, therefore, in the two paths of PWM signals, the duty ratio of the PWM signal for controlling the motor to rotate reversely is larger than that of the PWM signal for controlling the motor to rotate forwardly. The direct current motor is kept in a dynamic balance control mode in a reverse rotation-forward rotation repeated mode through the forward and reverse rotation driving circuit, so that the direct current motor can be rotated with smaller torque at the moment of restarting. For the forward and reverse rotation driving circuit, it is a mature circuit commonly available on the market, and can adopt a forward and reverse rotation driving circuit of an H-bridge motor composed of common discrete components, see the H-bridge circuit IN CN201610792998.2 application number, see the H-bridge circuit IN CN201510906734.0 application number, and the forward and reverse rotation driving circuit can also adopt an a4950 direct current motor integrated forward and reverse rotation driving circuit, see the description IN fig. 1, the circuit is internally provided with an a4950 chip, and has two receiving terminals IN1 and IN2, which are respectively used for receiving a path of PWM signal, and also has an output terminal OUT1 and an output terminal OUT2 for controlling the forward and reverse rotation of the direct current motor, when the receiving terminal IN2 receives the PWM signal, the output terminal OUT2 outputs a high level, the motor rotates reversely, and when the receiving terminal IN1 receives the PWM signal, the output terminal OUT1 outputs a high level, the motor rotates forwardly. Preferably, the time for completing one positive or reverse rotation of the motor is 0-25 ms, that is, after the motor is braked, the motor rotates in a very short time in a rotation amplitude which cannot be seen by human eyes, the motor is equivalent to a static state, and the position of a terminal load connected with the motor is ensured.
And in the braking process of the motor with load, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals to realize the braking of the direct current brush motor, wherein the duty ratio of the PWM signal for controlling the reverse rotation of the motor is larger than that of the PWM signal for controlling the forward rotation of the motor. In the braking process, the motor reversely rotates to enable the terminal load to rise, the motor forwardly rotates to enable the terminal load to fall, in order to balance the terminal load to drive the direct current motor to forwardly rotate, the duty ratio of a PWM signal for controlling the motor to reversely rotate must be larger than that of the PWM signal for controlling the motor to forwardly rotate, which is a precondition of motor braking, when the terminal load reaches a stroke point, the direct current motor can directly forwardly and reversely rotate to realize braking, and does not need to start to decelerate before the load reaches the stroke point like a common motor, therefore, the influence of various adverse factors of the load before the load reaches the stroke point, such as suddenly increased external force, can be avoided, relatively speaking, the load is stopped at the stroke point or near the stroke point, the braking control of the motor in the embodiment is more accurate, in addition, when the motor brakes, the spot braking of the motor is realized through the control of a pulse signal, the motor brake is more stable, the impact force is small, and the faults of the motor are reduced.
When braking, there are generally two types of time nodes for the control chip to output the PWM control signal, the first type: when the load reaches a stroke point, the motor is powered off, the control chip immediately outputs a PWM control signal, at the moment, the speed of the motor is V0, when the forward and reverse drive circuit receives the PWM signal for controlling the motor to reversely rotate, an electrified coil in the motor is electrified and generates magnetism resistance, under the action of the magnetism resistance, the motor reversely rotates, the load rises and moves to the position above the stroke point, after the control of the PWM signal, the speed of the motor is changed into V1, V1 is smaller than V0, when the forward and reverse drive circuit receives the PWM signal for controlling the motor to forwardly rotate, the motor forwardly rotates, the load falls, the load moves to the position below the stroke point, the speed of the motor is changed into V1-1, V1-1 is smaller than V0, then the motor and the load repeat the above movement, and the pulse duration of the PWM control signal for controlling the motor to reversely rotate at the next time is smaller than that of the PWM control signal for controlling the motor, the pulse duration of the PWM control signal for controlling the motor to rotate forwards at the next time is shorter than that of the PWM control signal for controlling the motor to rotate forwards at the previous time, so that the speed reached by the motor in the next reverse rotation is lower than the speed reached by the previous reverse rotation, the height of the motor for driving the load to ascend in the next reverse rotation is lower than the height of the motor for driving the load to ascend in the previous reverse rotation, the speed reached by the motor in the next forward rotation is lower than the speed reached by the previous forward rotation, the height of the motor for driving the load to descend in the next forward rotation is lower than the height of the motor for driving the load to descend in the previous forward rotation, after the motor rotates forwards and backwards alternately for several times, the speed of the.
Under the condition, when the brake is actually carried out, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor within the time T to realize the motor brake, wherein the time T is 0-300ms, and the quick brake is realized.
The second case is: when a load reaches a stroke point, the motor is powered off, the speed of the motor is reduced to 0 or is close to 0 within a certain time, at the moment, the control chip outputs a PWM control signal, firstly, the forward and reverse rotation driving circuit receives the PWM signal for controlling the motor to reversely rotate, the energized coil in the motor generates magnetic resistance, under the action of the magnetic resistance, the motor reversely rotates, the load rises and moves to the position above the stroke point, the distance of the load rising can be controlled within a small range as long as the frequency of the PWM signal is proper, then, the forward and reverse rotation driving circuit receives the PWM signal for controlling the motor to forwardly rotate, the motor forwardly rotates, the load falls, the load moves to the stroke point or the position close to the stroke point, then, the motor and the load repeat the above movement, and the brake control under the condition has less damage to.
In order to ensure that the control chip outputs the PWM signal when the rotating speed of the motor is 0 or close to 0, the control chip is internally provided with a register unit, a timing unit, a judging unit and a control unit, wherein the register unit stores the time T0 of the interval between the power failure and the restart of the motor, the timing unit is used for starting timing after the load reaches the travel point and the power failure of the motor, the judging unit is in communication connection with the register unit and the timing unit, judges whether the timing value T of the timing unit is more than or equal to T0, and when the T is more than or equal to T0, the control unit outputs the PWM signal.
In the process of braking the motor with a load, the duty ratio of a PWM signal for controlling the motor to reversely rotate is adjustable and is reduced along with the reduction of the load, so that the motor brake control device is suitable for braking motors with different loads, and the adjustment of the duty ratio of the PWM signal can be specifically realized by the control of the MCU microprocessing control chip.
A brake control method for a direct current brush motor comprises the following steps: the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals so as to realize the braking of the direct current brush motor and keep the dynamic balance of the direct current motor in a reverse rotation-forward rotation mode after the braking. So that the direct current motor can rotate with smaller torque at the moment of restarting.
And in the braking process of the motor with load, the forward and reverse rotation driving circuit alternately controls the forward and reverse rotation of the motor according to the two paths of PWM signals to realize the braking of the direct current brush motor, wherein the duty ratio of the PWM signal for controlling the reverse rotation of the motor is larger than that of the PWM signal for controlling the forward rotation of the motor. In the braking process, the motor reversely rotates to enable the terminal load to rise, the motor forwardly rotates to enable the terminal load to fall, in order to balance the terminal load to drive the direct current motor to forwardly rotate, the duty ratio of a PWM signal for controlling the motor to reversely rotate must be larger than that of the PWM signal for controlling the motor to forwardly rotate, which is a precondition of motor braking, when the terminal load reaches a stroke point, the direct current motor can directly forwardly and reversely rotate to realize braking, and does not need to start to decelerate before the load reaches the stroke point like a common motor, therefore, the influence of various adverse factors of the load before the load reaches the stroke point, such as suddenly increased external force, can be avoided, relatively speaking, the load is stopped at the stroke point or near the stroke point, the braking control of the motor in the embodiment is more accurate, in addition, when the motor brakes, the spot braking of the motor is realized through the control of a pulse signal, the motor brake is more stable, the impact force is small, and the faults of the motor are reduced.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention. Various modifications and improvements of the technical solutions of the present invention may be made by those skilled in the art without departing from the design concept of the present invention, and the technical contents of the present invention are all described in the claims.
Claims (7)
1. A brake control system of a direct current brush motor is characterized by comprising a direct current brush motor, a forward and reverse rotation driving circuit and a control chip;
the control chip is used for alternately outputting two paths of PWM control signals;
the positive and negative rotation driving circuit is in communication connection with the control chip, and controls the motor to alternately rotate positively and negatively according to the two PWM control signals so as to realize that the direct current brush motor keeps dynamic balance in a reverse rotation-positive rotation mode after braking is finished, wherein the duty ratio of the PWM control signal for controlling the motor to rotate reversely is larger than that of the PWM control signal for controlling the motor to rotate positively.
2. The system of claim 1, wherein during braking with motor load, the forward/reverse driving circuit alternately controls forward/reverse rotation of the motor according to the two PWM signals to realize braking with dc brushed motor, wherein a duty ratio of the PWM signal for controlling the motor to rotate in reverse is greater than a duty ratio of the PWM signal for controlling the motor to rotate in forward.
3. The dc brushed motor brake control system of claim 2, wherein the PWM control signal for controlling the motor to reverse rotation has an adjustable duty cycle and decreases as the load decreases during motor braking with load.
4. The system of claim 3, wherein the forward/reverse drive circuit controls the motor to alternately rotate forward and reverse within a time T to achieve motor braking during braking with the motor loaded, wherein the time T is 0-300 ms.
5. The direct current brush motor brake control system according to claim 1, wherein the forward and reverse drive circuit comprises an H-bridge motor forward and reverse drive circuit composed of discrete components or an a4950 direct current motor integrated forward and reverse drive circuit.
6. A brake control method for a direct current brush motor is characterized by comprising the following steps: the positive and negative rotation driving circuit controls the motor to alternately rotate positively and negatively according to two paths of PWM control signals alternately input, so that the direct current brush motor keeps dynamic balance in a reverse rotation-positive rotation mode after braking is finished.
7. The method as claimed in claim 6, wherein during braking with motor loaded, the forward/reverse driving circuit controls the motor to alternatively rotate forward and reverse according to the two PWM control signals to realize braking with the dc brushed motor, wherein the duty ratio of the PWM control signal for controlling the motor to rotate in reverse is greater than the duty ratio of the PWM control signal for controlling the motor to rotate in forward.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977246.XA CN112152519A (en) | 2020-09-17 | 2020-09-17 | Brake control system and method for direct-current brush motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977246.XA CN112152519A (en) | 2020-09-17 | 2020-09-17 | Brake control system and method for direct-current brush motor |
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| CN112152519A true CN112152519A (en) | 2020-12-29 |
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| CN202010977246.XA Pending CN112152519A (en) | 2020-09-17 | 2020-09-17 | Brake control system and method for direct-current brush motor |
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Citations (5)
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|---|---|---|---|---|
| JPS6469279A (en) * | 1987-09-09 | 1989-03-15 | Alpine Electronics Inc | Disk rotating device |
| JPH10118507A (en) * | 1996-10-22 | 1998-05-12 | Iseki & Co Ltd | Rice milling device in unmanned rice milling facility |
| TW441156B (en) * | 1999-06-08 | 2001-06-16 | Ind Tech Res Inst | Starting method for DC brushless motor and the device thereof |
| CN102570947A (en) * | 2011-12-05 | 2012-07-11 | 江苏浩峰汽车附件有限公司 | Switch control speed regulating circuit of direct current motor with braking function |
| CN110142486A (en) * | 2019-06-06 | 2019-08-20 | 深圳市普耐尔科技有限公司 | A kind of electric arc control method and circuit based on SCM PWM generator |
-
2020
- 2020-09-17 CN CN202010977246.XA patent/CN112152519A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6469279A (en) * | 1987-09-09 | 1989-03-15 | Alpine Electronics Inc | Disk rotating device |
| JPH10118507A (en) * | 1996-10-22 | 1998-05-12 | Iseki & Co Ltd | Rice milling device in unmanned rice milling facility |
| TW441156B (en) * | 1999-06-08 | 2001-06-16 | Ind Tech Res Inst | Starting method for DC brushless motor and the device thereof |
| CN102570947A (en) * | 2011-12-05 | 2012-07-11 | 江苏浩峰汽车附件有限公司 | Switch control speed regulating circuit of direct current motor with braking function |
| CN110142486A (en) * | 2019-06-06 | 2019-08-20 | 深圳市普耐尔科技有限公司 | A kind of electric arc control method and circuit based on SCM PWM generator |
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| Title |
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| 硬石技术论坛: "[直流有刷电机]正反转互补PWM和单路PWM驱动直流点击的疑问", 《URL：HTTP://ING10BBS.COM/FORUM.PHP?MOD=VIEWTHREAD&TID=1791》 * |
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Application publication date: 20201229 |