CN112731874B - Power-off shutdown control method and device for industrial control equipment - Google Patents
Power-off shutdown control method and device for industrial control equipment Download PDFInfo
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- CN112731874B CN112731874B CN202011516329.5A CN202011516329A CN112731874B CN 112731874 B CN112731874 B CN 112731874B CN 202011516329 A CN202011516329 A CN 202011516329A CN 112731874 B CN112731874 B CN 112731874B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
- G05B19/41865—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM] characterised by job scheduling, process planning, material flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application is suitable for the technical field of industrial equipment, and provides a power-off shutdown control method and a power-off shutdown control device for industrial control equipment, wherein the method comprises the following steps: acquiring a three-phase voltage value of industrial control equipment; detecting whether the industrial control equipment is in a power-off working condition or not based on the obtained three-phase voltage value; when the industrial control equipment is detected to be in a power-off working condition, the industrial control equipment is controlled to operate in a speed reduction mode to generate corresponding feedback energy until the industrial control equipment stops, wherein the feedback energy provides power for a bus of the industrial control equipment to improve the real-time bus voltage of the industrial control equipment. Therefore, when the industrial control equipment is in power-off industrial control, the power supply is supplied by utilizing the deceleration feedback energy, so that the industrial control equipment can decelerate to stop according to the process requirements in a power-on state.
Description
Technical Field
The application belongs to the technical field of industrial equipment, and particularly relates to a power-off shutdown control method and device for industrial control equipment.
Background
With the continuous popularization of industrial automation, industrial control equipment is widely applied. The industrial control equipment generally comprises various control equipment units such as a frequency converter, a PLC, an HMI (human machine interface), a servo and the like, and when the input power supply is cut off, the PLC, the servo and the like lose power quickly due to no energy storage unit, so that the controlled transmission equipment is out of control and cannot act according to the process requirement, and the raw materials are wasted. For example, in a spinning machine, the power failure of the input power supply can cause the transmission module to be out of control and not act according to the process requirement, so that yarn breakage occurs, a large amount of labor and time are wasted for yarn splicing when production is resumed again, and the production continuity is poor.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for controlling power-off and shutdown of an industrial control device, so as to at least solve the problems in the prior art that a transmission module is out of control and production continuity is poor due to power-off of an input power supply of the industrial control device.
A first aspect of an embodiment of the present application provides a power-off shutdown control method for industrial control equipment, including: acquiring a three-phase voltage value of industrial control equipment; detecting whether the industrial control equipment is in a power-off working condition or not based on the obtained three-phase voltage value; when the industrial control equipment is detected to be in a power-off working condition, the industrial control equipment is controlled to run in a speed reduction mode to generate corresponding feedback energy until the industrial control equipment stops, wherein the feedback energy is used for providing power for a bus of the industrial control equipment so as to improve the real-time bus voltage of the industrial control equipment.
The second aspect of the embodiments of the present application provides a power-off shutdown control device for industrial control equipment, including: a phase voltage acquisition unit configured to acquire three-phase voltage values of the industrial control device; the power failure condition detection unit is configured to detect whether the industrial control equipment is in a power failure condition or not based on the acquired three-phase voltage value; the deceleration energy feedback unit is configured to control the industrial control equipment to perform deceleration operation to generate corresponding feedback energy when the industrial control equipment is detected to be in a power-off working condition until the industrial control equipment stops, wherein the feedback energy is used for providing power for a bus of the industrial control equipment so as to improve the real-time bus voltage of the industrial control equipment.
A third aspect of the embodiments of the present application provides an industrial control device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the steps of the method.
A fourth aspect of embodiments of the present application provides a computer-readable storage medium, in which a computer program is stored, which, when executed by a processor, implements the steps of the method as described above.
A fifth aspect of the embodiments of the present application provides a computer program product, which, when running on an industrial control device, enables the industrial control device to implement the steps of the above method.
Compared with the prior art, the embodiment of the application has the advantages that:
through this application embodiment, the controller can acquire industrial control equipment's three-phase voltage value, utilizes the three-phase voltage value who acquires to detect whether industrial control equipment is in the outage operating mode to when industrial control equipment is in the outage operating mode, can control industrial control equipment deceleration operation and produce the real-time bus voltage of repayment energy in order to promote industrial control equipment. Therefore, real-time bus voltage of the industrial control equipment is improved by utilizing feedback energy generated during braking of the industrial control equipment, the bus voltage can still be maintained at a normal level when the industrial control equipment is powered off, the industrial control equipment can be decelerated until shutdown according to process requirements in an electrified state, the continuity of production operation of the industrial control equipment is guaranteed, and raw materials can be prevented from being wasted.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a flowchart illustrating an example of a power-off shutdown control method for an industrial control device according to an embodiment of the present application;
FIG. 2 is a flow chart illustrating an example of controlling the industrial control equipment to operate at a reduced speed to generate corresponding feedback energy according to an embodiment of the application;
FIG. 3 illustrates a flowchart of one example of determining a target deceleration time based on a current operating speed in accordance with an embodiment of the present application;
FIG. 4 is a flowchart illustrating an example of controlling the industrial control equipment to operate for a target deceleration time according to an embodiment of the present application;
fig. 5 is a flowchart illustrating an example of controlling the industrial control equipment to perform deceleration operation in each deceleration execution cycle according to the embodiment of the present application;
fig. 6 is a block diagram showing an example of a power-off shutdown control apparatus of an industrial control device according to an embodiment of the present application;
FIG. 7 shows a schematic diagram of an example of an industrial control device according to an embodiment of the application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In particular implementations, various applications that may be executed on the industrial control device may use at least one common physical user interface device, such as a touch-sensitive surface. One or more functions of the touch-sensitive surface and corresponding information displayed on the terminal can be adjusted and/or changed between applications and/or within respective applications. In this way, a common physical architecture (e.g., touch-sensitive surface) of the terminal can support various applications with user interfaces that are intuitive and transparent to the user.
It should be noted that, in order to enable the equipment to continue to stop smoothly according to the process requirements when the input power supply is powered off, all the electric control power supplies need to have power supplies capable of continuously operating before the equipment stops.
In view of this, experts and scholars in the related art are now imagining some embodiments: on one hand, the hardware circuit can check that the UPS continues to provide energy when the UPS is powered off, and the system stops according to the process; on the other hand, the system can be shut down by sharing the bus of the integrated machine and detecting the bus voltage to judge the power failure and reducing the speed according to the main frequency conversion of the bus voltage so as to feed back energy to the frequency converter.
However, the addition of a UPS power supply to the equipment results in increased hardware costs. In addition, the integration level is high, so that the cost of transformation or later maintenance is high, the device cannot be replaced by other brands conveniently, the speed of the system is unstable due to the mode of detecting the bus voltage adjusting frequency, the effect is poor, and the requirements cannot be met when the device is applied to occasions with requirements on partial speed change.
Fig. 1 is a flowchart illustrating an example of a power-off shutdown control method for an industrial control device according to an embodiment of the present application. Regarding the execution subject of the method of the embodiment of the application, it may be a controller in an industrial control device.
As shown in fig. 1, in step 110, the controller obtains three-phase voltage values of the industrial control device. In one example of the embodiment of the present application, the controller may directly acquire the phase voltage of the industrial control device through the phase voltage sensing module. In another example of the embodiment of the present application, the controller may collect other electrical parameters of the industrial control device and determine the three-phase voltage value of the industrial control device through calculation.
In step 120, the controller detects whether the industrial control equipment is in a power-off working condition based on the acquired three-phase voltage values. Here, the controller may adopt various power failure detection methods to detect whether the industrial control device is in a power failure condition, and all of them belong to the implementation scope of the embodiments of the present application.
And if the industrial control equipment is detected to be in the power-off condition, jumping to step 130. And if the industrial control equipment is not detected to be in the power-off working condition, jumping back to the step 120 to continuously detect the power-off state of the industrial control equipment.
In step 130, the controller controls the industrial control equipment to operate at a reduced speed to generate corresponding feedback energy until the industrial control equipment is shut down. Here, the feedback energy is used for providing power to the bus of the industrial control equipment so as to improve the real-time bus voltage of the industrial control equipment. For example, an energy recovery module connected with the bus may be disposed in the industrial control device, and when the energy recovery module works, feedback energy generated when the industrial control device decelerates may be converted into electric energy, and the voltage of the bus may be increased.
It should be noted that the term "industrial control device" may refer to a device that has a corresponding kinetic or potential energy during normal operation, such that kinetic or potential energy is converted into electrical energy during deceleration.
Through this application embodiment, the controller can be when detecting industrial control equipment's outage operating mode, and automatic control industrial control equipment slows down the operation and utilizes the repayment energy that the speed reduction corresponds to promote busbar voltage for industrial control equipment can shut down the operation in an orderly manner under the electrified state, is favorable to guaranteeing the continuation of production operation.
In some examples of the embodiments of the present application, the controller may collect real-time line voltages of the industrial control device, and calculate a relationship according to the collected real-time line voltages and preset phase voltages to determine corresponding three-phase voltage values.
Specifically, the controller may collect line voltages of the industrial control device, such as RS line voltage sampling values RS _ AD, ST line voltage sampling values ST _ AD, through the AD sampler, where the accuracy of the AD sampler may be 12 bits.
Illustratively, the sampling circuit may convert the line voltage sample values to the actual line voltage according to the following:
InputRS (RS line voltage) ═ RS _ AD × MAX _ AD/4095-MAX _ AD/2
InputST (ST line voltage) TS _ AD × MAX _ AD/4095-MAX _ AD/2
Wherein, MAX _ AD is a voltage value corresponding to the full scale of the AD sampler.
Further, the three-phase voltages may be calculated from a vector relationship between the line voltages and the phase voltages, and instantaneous values InputT of the R-phase voltage InputR, the S-phase voltage InputS, and the T-phase voltage:
InputR＝-(InputST+2×InputRS)/3，
InputS＝(InputRS-InputST)/3，
InputT＝(InputRS+2×InputST)/3。
regarding the implementation details of step 120, in some examples of the embodiments of the present application, the controller may compare the acquired voltage values of the phases with preset phase voltage thresholds, respectively. If the voltage value of each phase is smaller than the phase voltage threshold value, determining that the industrial control equipment is in a power-off working condition; in addition, if the voltage value of a certain phase is larger than the phase voltage threshold value, the industrial control equipment is determined to be in the electrified working condition.
Specifically, the effective value RateVol _ Phase of the Phase voltage under nominal conditions can be calculated:
where RateVol _ L is the input power supply rated line voltage, which may be predefined by a parameter.
Further, the amplitude RateVol _ AMP in the case of an intersection can be calculated:
further, the corresponding power down threshold is calculated from RateVol _ AMP:
the detection method includes that the input lossgap is RateVol _ AMP × input losslevel/100, where the input losslevel may be preset according to a detection level, for example, a fluctuation range of a power grid may be considered according to national standards, and it may be suggested that the input losslevel is set to be less than 75, so that false detection due to power grid fluctuation can be prevented.
Furthermore, the magnitude between the instantaneous value of each phase voltage and InputLossGap can be detected, so that the condition of power failure detection is satisfied when InputR, InputS and InputT are simultaneously smaller than InputLossGap, and if the condition is satisfied, the accumulated power failure count value inputlossscnt is increased by 1, otherwise, the accumulated power failure count value inputlossscnt is decreased by 1.
And if the accumulated count value of the InputLossCnt is greater than or equal to a preset threshold value, for example, the accumulated count value is converted into the preset threshold value according to the accumulated time exceeding 10ms, determining that the industrial control equipment is in a power-off working condition. Therefore, the process of calculating the phase voltage through the line voltage and detecting the power failure is realized.
Fig. 2 is a flowchart illustrating an example of controlling the industrial control equipment to operate at a reduced speed to generate corresponding feedback energy according to an embodiment of the application.
As shown in fig. 2, in step 210, the controller obtains the current operating speed of the industrial control equipment. For example, the controller may receive a current operating speed of the industrial control device, such as a motor speed, from a speed sensor.
In step 220, the controller determines a corresponding target deceleration time based on the current operating speed.
In step 230, the controller controls the industrial control equipment to operate for the target deceleration time to generate corresponding feedback energy.
In the embodiment of the application, the controller can execute different deceleration time according to the current running speed, so that the feedback energy can be adjusted according to different running speeds, and the shutdown requirement of the industrial control equipment under different running scenes can be met. In combination with the application scenario, assuming that the corresponding deceleration time is adopted no matter the operation speed, if the current operation speed is too high, the feedback energy is too high, which results in the bus voltage exceeding the safety range, and if the current operation speed is too low, the feedback energy is too low, which results in the bus voltage not meeting the voltage requirement corresponding to the shutdown.
Fig. 3 shows a flowchart of an example of determining a target deceleration time according to a current operating speed according to an embodiment of the present application.
As shown in fig. 3, in step 310, the controller compares the current operating speed with the rated operating speed and the set operating speed of the industrial control equipment, respectively. Here, the nominal operating speed is greater than the set operating speed, which may be 1/10 of the nominal operating speed, for example.
In step 320, control determines the target deceleration time to be a first deceleration time threshold if the current operating speed is greater than or equal to the nominal operating speed. Here, the first deceleration time threshold is a first deceleration time threshold when the industrial control equipment decelerates from the rated operation speed to stop generating the feedback energy. It should be noted that the industrial control equipment may not be able to generate feedback energy when the speed is too low (e.g., below a certain value).
In step 330, the controller determines the target deceleration time to be a second deceleration time threshold if the current operating speed is less than or equal to the set operating speed. Here, the second deceleration time threshold is a second deceleration time threshold when the industrial control equipment decelerates from the set operation speed to stop generating the feedback energy.
For example, the first deceleration time threshold and the second deceleration time threshold may be preset by a user, for example, by the user through multiple experiments.
In step 340, if the current operating speed is greater than the set operating speed and less than the rated operating speed, the controller determines a corresponding target deceleration time according to the current operating speed and a preset deceleration time relation. Here, the deceleration time is positively correlated with the running speed in the deceleration time relation.
Through this application embodiment, industrial control equipment can adopt suitable speed reduction time respectively to the functioning speed of difference for the produced repayment energy of industrial control equipment speed reduction can satisfy the shut down voltage demand, and can avoid appearing the condition that voltage exceeds the width of a cloth.
In some examples of embodiments of the present application, the deceleration time boundary may be predetermined. Specifically, the first deceleration time threshold DecTime _ Rate corresponding to the energy can be fed back when the industrial control equipment starts to stop from the rated rotating speed RateSpeed. Further, the test may be set to 10% of the rated speed from the set operating speed RateSpeed _ P10, and may be able to feed back energy at the start of the shutdown for a second deceleration time threshold DecTime _ P10.
If the detected running speed CurSpeed is larger than or equal to RateSpeed during the power-off, the target deceleration time DecTime _ Cur is equal to DecTime _ Rate.
If CurSpeed ≦ RateSpeed _ P10, DecTime _ Cur ═ DecTime _ P10.
If RateSpeed _ P10 < CurSpeed < RateSpeed, then intermediate interpolation can be used to obtain:
DecTime_Cur＝|DecTime_Rate-DecTime_P10|×CurSpeed/(RateSpeed-RateSpeed_P10)。
fig. 4 is a flowchart illustrating an example of controlling the industrial control device to decelerate the operation target deceleration time according to the embodiment of the present application.
As shown in fig. 4, in step 410, the controller determines a corresponding number of deceleration cycles according to the target deceleration time and a preset deceleration execution cycle. Here, the deceleration execution period may be a suitable value that is personalized according to the service requirement, for example, an excessively long period may cause a voltage drop too fast to recover the bus voltage by feeding back energy, and this should not be limited herein.
In step 420, the controller determines a cycle speed increment amount corresponding to each deceleration execution cycle according to the deceleration cycle number and the current operation speed. In an example of the embodiment of the present application, the deceleration may be performed in a uniform deceleration manner, that is, the speed decreasing amount in each deceleration execution cycle is the same; in another example of the embodiment of the present application, the deceleration may be performed in a preset progressive deceleration manner, that is, the speed increment amount in each deceleration execution cycle is different, and all of them fall within the implementation range of the embodiment of the present application.
In step 430, the controller controls the industrial control equipment to perform deceleration operation in each deceleration execution period according to the corresponding periodic speed decreasing amount in sequence to generate corresponding feedback energy.
In the embodiment of the application, the industrial control equipment is periodically decelerated, and the industrial control equipment is stopped through multiple continuous deceleration operations, so that a stable stopping process is realized.
In some examples of the embodiment of the present application, if the deceleration execution period is T milliseconds, the period speed decrement DecSpeed corresponding to each period is:
DecSpeed＝RateSpeed×T/(1000×DecTime_Cur)。
after each deceleration execution cycle, the current operating speed CurSpeed may be updated accordingly as:
CurSpeed＝CurSpeed–DecSpeed。
in some application scenarios, when the motor executes the corresponding cycle speed increment amount in the deceleration execution cycle, if the cycle speed increment amounts are all used for generating feedback energy, the bus voltage may be increased above the safe range, and the device may be easily damaged.
In view of this, fig. 5 shows a flowchart of an example of controlling the industrial control device to perform deceleration operation in each deceleration execution cycle according to the embodiment of the present application.
As shown in fig. 5, in step 510, the controller obtains the current bus voltage and the bus voltage threshold of the industrial control device. Here, the bus voltage threshold may be preset to ensure that the bus voltage is within a safe range.
In step 520, the controller calculates, for each cycle speed decrement, a corresponding bus voltage calculation value after the industrial control device performs the simulation of the corresponding cycle speed decrement according to the current bus voltage. For example, the voltage increment of the industrial control equipment when the corresponding cycle speed increment is completed can be simulated, and the corresponding bus voltage calculated value can be obtained by combining the current bus voltage.
In step 530, the controller determines whether each bus voltage calculation value is greater than a bus voltage threshold.
If the determination in step 530 indicates that the calculated bus voltage value is greater than the bus voltage threshold, then the process skips to step 540. If the determination in step 530 indicates that the calculated bus voltage value is less than or equal to the bus voltage threshold, then the process jumps to step 550.
In step 540, the controller activates the energy consumption unit to consume the feedback energy in the corresponding deceleration execution period, so that the bus voltage at the time of deceleration is less than or equal to the bus voltage threshold. For example, the energy consumption unit may be an external resistor, which may generate heat when the circuit is closed, so as to consume feedback energy to avoid the bus voltage from being too high, for example, to maintain the bus voltage stable at a rated voltage.
In step 550, the controller deactivates the energy consuming unit.
In the embodiment of the application, the bus voltage calculation value of the industrial control equipment can be simulated when the periodic speed increment and decrement is completely completed through feedback type deceleration in each deceleration execution period, and when the bus voltage calculation value exceeds the bus voltage threshold, the energy consumption unit can be used for consuming deceleration energy, so that the problem of equipment overpressure caused when the voltage is improved by completely converting the deceleration process into feedback energy is prevented, and the safety of equipment shutdown is guaranteed.
In some examples of embodiments of the present application, the controller may obtain the bus voltage real-time AD sample value as DCVOL _ AD, where the AD sampler precision may be 12 bits.
The real-time voltage value DCVOL of the bus obtained by conversion according to the sampling circuit is as follows:
DCVOL＝DCVOL_AD×K/4095。
k is a conversion coefficient between a bus voltage sampling value and a real-time voltage value, and 4095 can represent the maximum sampling range value of the AD sampler.
Further, the bus voltage may be subjected to a low-pass filtering process:
TempLAx＝DCVOL+DCVOL_Af×3+DCVOL_Remain×3/4
DCVOL_Af＝TempLAx/4
DCVOL_Remain＝TempLAx-DCVOL_Af×4
wherein TempLAx represents a temporary calculation intermediate variable, DCVOL _ remaining represents a low-pass filtering auxiliary variable, and DCVOL _ Af represents a filtered real-time bus voltage.
In addition, the highest direct-current bus voltage of each peripheral device of the industrial control device can be obtained, and the minimum value of the direct-current bus voltages can be taken as the highest bus voltage value Dcbus _ Act _ Max of the frequency converter for controlling the action of the energy consumption unit. In addition, considering the delay of the circuit and ensuring the power supply safety of the peripheral equipment, the actual brake voltage (i.e. the bus voltage threshold) can be taken as: dcbus _ Act _ Max × 90%.
Further, if DCVOL _ Af is more than or equal to Dcbus _ Act _ Max multiplied by 90%, the brake of the brake circuit is effective, otherwise, the brake is stopped. In addition, the deceleration execution period may require less than 1ms to reach a more stable bus voltage, which may otherwise be unstable due to excessive drop of the bus voltage due to braking for an excessively long time, and thus, the stability of the bus voltage may be controlled to a desired level. Therefore, energy is fed back by adopting an emergency stop and deceleration method, and the energy consumption unit can be controlled by judging the bus voltage to discharge the energy, so that the aim of stabilizing the bus voltage is fulfilled.
According to the power-off and shutdown control method of the industrial control equipment, extra hardware cost is not required to be added, and the implementation is convenient and reliable; moreover, the equipment system can be stopped at a constant speed, the fluctuation of the bus voltage is small, and the stability is good; in addition, the electronic control device has good compatibility with other electronic control devices and can be mixed for use.
In some application scenes, the industrial control equipment can be a spinning frame, and can realize the novel spinning frame input power supply power-off detection and stable halt by aiming at the spinning frame input power supply power-off detection and the equipment stable halt after the bus voltage continues to be stabilized for a period of time. Specifically, the peripheral equipment can be a PLC, a touch screen and a servo driver, the peripheral equipment can be completely powered by a frequency converter bus, and the core of the peripheral equipment is two functional modules of input power supply outage detection and bus voltage stabilization of the frequency converter.
Specifically, as described above, the input power outage detection function may operate by: and judging whether the phase voltages InputR, InputS and InputT are simultaneously lower than a detection threshold InputPhaseLossGap. The stable bus voltage module operates by: after the input power supply outage detection function module judges that the outage state is achieved, the frequency converter is forced to rapidly decelerate the parking machine to enable the feedback energy to be larger than the consumed energy and simultaneously to cause the bus voltage to rise, meanwhile, the fluctuation range of the bus voltage is large when the feedback energy possibly occurs due to the change of different frequencies and loads, and the bus voltage is ensured to be stabilized in a set value or a set range through externally increasing braking.
Fig. 6 shows a block diagram of an example of a power-off shutdown control device of an industrial control device according to an embodiment of the present application.
As shown in fig. 6, the power-off shutdown control apparatus 600 of the industrial control device includes a phase voltage obtaining unit 610, a power-off condition detecting unit 620, and a deceleration energy feedback unit 630.
The phase voltage acquisition unit 610 is configured to acquire three-phase voltage values of the industrial control device.
The power outage condition detection unit 620 is configured to detect whether the industrial control equipment is in a power outage condition based on the obtained three-phase voltage values.
The deceleration energy feedback unit 630 is configured to, when it is detected that the industrial control device is in a power-off condition, control the industrial control device to perform deceleration operation to generate corresponding feedback energy until the industrial control device is stopped, where the feedback energy provides power to the bus of the industrial control device to boost the real-time bus voltage of the industrial control device.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Fig. 7 is a schematic diagram of an example of an industrial control device according to an embodiment of the present application. As shown in fig. 7, the industrial control apparatus 700 of this embodiment includes: a processor 710, a memory 720, and a computer program 730 stored in said memory 720 and executable on said processor 710. The processor 710, when executing the computer program 730, implements the steps in the above-mentioned method embodiment for controlling power-off and shutdown of an industrial control device, such as steps 110 to 130 shown in fig. 1. Alternatively, the processor 710, when executing the computer program 930, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 610 to 630 shown in fig. 6.
Illustratively, the computer program 730 may be partitioned into one or more modules/units that are stored in the memory 720 and executed by the processor 710 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 730 in the industrial control device 700. For example, the computer program 730 may be divided into a phase voltage acquisition program module, a power-off condition detection program module and a deceleration energy feedback program module, wherein the specific functions of the program modules are as follows:
a phase voltage acquisition program module configured to acquire three-phase voltage values of the industrial control equipment;
the power failure condition detection program module is configured to detect whether the industrial control equipment is in a power failure condition or not based on the acquired three-phase voltage value;
and the deceleration energy feedback program module is configured to control the industrial control equipment to perform deceleration operation to generate corresponding feedback energy when the industrial control equipment is detected to be in a power-off working condition until the industrial control equipment is stopped, wherein the feedback energy provides power for a bus of the industrial control equipment to improve the real-time bus voltage of the industrial control equipment.
The industrial control device 700 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The industrial control equipment may include, but is not limited to, a processor 710, a memory 720. Those skilled in the art will appreciate that fig. 7 is merely an example of an industrial control device 700 and does not constitute a limitation of the industrial control device 700 and may include more or fewer components than shown, or some components may be combined, or different components, e.g., the industrial control device may also include input output devices, network access devices, buses, etc.
The Processor 710 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 720 may be an internal storage unit of the industrial control device 700, such as a hard disk or a memory of the industrial control device 700. The memory 720 may also be an external storage device of the industrial control device 700, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the industrial control device 700. Further, the memory 720 may also include both an internal storage unit and an external storage device of the industrial control device 700. The memory 720 is used for storing the computer program and other programs and data required by the industrial control equipment. The memory 720 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/industrial control device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/industrial control device are merely illustrative, and for example, the division of the modules or units is only one logical function division, and there may be other division manners in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The above units can be implemented in the form of hardware, and also can be implemented in the form of software.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (9)
1. A power-off shutdown control method for industrial control equipment is characterized by comprising the following steps:
acquiring a three-phase voltage value of industrial control equipment;
detecting whether the industrial control equipment is in a power-off working condition or not based on the obtained three-phase voltage value;
when the industrial control equipment is detected to be in a power-off working condition, controlling the industrial control equipment to run at a reduced speed to generate corresponding feedback energy until the industrial control equipment is stopped, wherein the feedback energy provides power for a bus of the industrial control equipment so as to improve the real-time bus voltage of the industrial control equipment;
the three-phase voltage value of industrial control equipment is obtained, and the method comprises the following steps:
collecting real-time line voltage of the industrial control equipment, wherein the real-time line voltage comprises an RS line voltage sampling value and an ST line voltage sampling value;
and determining corresponding three-phase voltage values according to the acquired real-time line voltage and a preset phase voltage calculation relation.
2. The method of claim 1, wherein the detecting whether the industrial control device is in a power-off condition based on the obtained three-phase voltage values comprises:
comparing the acquired voltage values of the phases with a preset phase voltage threshold value respectively;
and when the voltage value of each phase is smaller than the phase voltage threshold value, determining that the industrial control equipment is in a power-off working condition.
3. The method of claim 1, wherein controlling the industrial control device to operate at a reduced speed to generate the corresponding feedback energy comprises:
acquiring the current running speed of the industrial control equipment;
determining corresponding target deceleration time according to the current running speed;
and controlling the industrial control equipment to operate in a deceleration mode for the target deceleration time so as to generate corresponding feedback energy.
4. The method of claim 3, wherein controlling the industrial control device to operate at the target deceleration time for deceleration to generate corresponding feedback energy comprises:
determining a corresponding deceleration period number according to the target deceleration time and a preset deceleration execution period;
determining cycle speed increment and decrement respectively corresponding to each deceleration execution cycle according to the deceleration cycle number and the current running speed;
and controlling the industrial control equipment to sequentially run in a deceleration mode according to the corresponding cycle speed decreasing amount in each deceleration execution cycle so as to generate corresponding feedback energy.
5. The method of claim 4, wherein controlling the industrial control equipment to perform the deceleration operation sequentially according to the corresponding cycle speed decreasing amount in each deceleration execution cycle to generate the corresponding feedback energy comprises:
acquiring the current bus voltage and the bus voltage threshold of the industrial control equipment;
aiming at each cycle speed decrement, calculating a corresponding bus voltage calculation value after the industrial control equipment simulates and executes the corresponding cycle speed decrement according to the current bus voltage;
judging whether each bus voltage calculation value is larger than the bus voltage threshold value;
and when the calculated bus voltage value is larger than the bus voltage threshold value, starting an energy consumption unit to consume the feedback energy in a corresponding deceleration execution period, so that the bus voltage during deceleration is smaller than or equal to the bus voltage threshold value.
6. The method of claim 3, wherein said determining a corresponding target deceleration time based on said current operating speed comprises:
respectively comparing the current running speed with a rated running speed and a set running speed of the industrial control equipment, wherein the rated running speed is greater than the set running speed;
if the current running speed is greater than or equal to the rated running speed, determining that the target deceleration time is a first deceleration time threshold, wherein the first deceleration time threshold is a first deceleration time threshold when the industrial control equipment decelerates from the rated running speed to stops generating feedback energy;
if the current running speed is less than or equal to the set running speed, determining that the target deceleration time is a second deceleration time threshold, wherein the second deceleration time threshold is a second deceleration time threshold when the industrial control equipment decelerates from the set running speed to stops generating feedback energy; and
and if the current running speed is greater than the set running speed and less than the rated running speed, determining corresponding target deceleration time according to the current running speed and a preset deceleration time relational expression, wherein the deceleration time and the running speed in the deceleration time relational expression are in positive correlation.
7. The utility model provides a power failure shutdown control device of industrial control equipment which characterized in that includes:
a phase voltage acquisition unit configured to acquire three-phase voltage values of the industrial control device, including:
collecting real-time line voltage of the industrial control equipment, wherein the real-time line voltage comprises an RS line voltage sampling value and an ST line voltage sampling value; calculating a relational expression according to the collected real-time line voltage and a preset phase voltage, and determining a corresponding three-phase voltage value;
the power failure condition detection unit is configured to detect whether the industrial control equipment is in a power failure condition or not based on the acquired three-phase voltage value;
the deceleration energy feedback unit is configured to control the industrial control equipment to perform deceleration operation to generate corresponding feedback energy when the industrial control equipment is detected to be in a power-off working condition until the industrial control equipment stops, wherein the feedback energy provides power for a bus of the industrial control equipment to improve the real-time bus voltage of the industrial control equipment.
8. An industrial control device comprising a memory, a processor and a computer program stored in said memory and executable on said processor, said processor implementing the steps of the method for power-down shutdown control of an industrial control device according to any of claims 1-6 when executing said computer program.
9. A computer-readable storage medium, which stores a computer program that, when being executed by a processor, implements the steps of the method for controlling power-off and shutdown of an industrial control device according to any one of claims 1 to 6.
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