CN112751520A - Computer equipment, storage medium, and method, device and system for detecting state of servo motor - Google Patents
Computer equipment, storage medium, and method, device and system for detecting state of servo motor Download PDFInfo
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- CN112751520A CN112751520A CN201911055025.0A CN201911055025A CN112751520A CN 112751520 A CN112751520 A CN 112751520A CN 201911055025 A CN201911055025 A CN 201911055025A CN 112751520 A CN112751520 A CN 112751520A
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
Abstract
The embodiment of the application provides a computer device, a storage medium, a method, a device and a system for detecting the state of a servo motor. The method comprises the following steps: sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number; generating a slope value according to the sampling value, the first set number and the sampling period; judging that the number of the accumulated slope values is less than or equal to an accumulation threshold value; if the number of the slope values is smaller than the accumulation threshold value, continuing to perform the step of sampling the feedback voltage output by the servo motor; and if the number of the slope values is equal to the accumulation threshold value, judging whether the slope values of the continuous accumulation threshold value are all smaller than the slope threshold value, and controlling the servo motor through a motor driving chip according to the judgment result. The embodiment of the application improves the detection timeliness and reduces the detection cost.
Description
[ technical field ] A method for producing a semiconductor device
The present application relates to the field of motor technologies, and in particular, to a method, an apparatus, and a system for detecting states of a computer device, a storage medium, and a servo motor.
[ background of the invention ]
In an automotive air conditioning control system, a servo motor inside an air conditioning box is an important control component. If the servo motor is abnormal in sampling of feedback voltage or is clamped firmly by a foreign object in the running process, the electric control board cannot receive abnormal information and still drives the servo motor to rotate, the motor is damaged due to heating or the clamped foreign object is broken, the servo motor cannot continue to rotate at the moment, and the situation is called locked rotation.
In the correlation technique, the accessible is gathered servo motor fuselage temperature and is judged servo motor stall or not, because the temperature rise needs the dead time, consequently detects the ageing relatively poor, and gathers the fuselage temperature and need set up temperature sampling circuit, consequently can promote the detection cost.
[ summary of the invention ]
In view of the above, embodiments of the present application provide a computer device, a storage medium, and a method, an apparatus, and a system for detecting a state of a servo motor, so as to improve detection timeliness and reduce detection cost.
In one aspect, an embodiment of the present application provides a method for detecting a state of a servo motor, including:
sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number;
generating a slope value according to the sampling value, the first set number and the sampling period;
judging that the number of the accumulated slope values is smaller than an accumulation threshold value or equal to the accumulation threshold value;
if the number of the slope values is smaller than the accumulation threshold value, continuing to perform the step of sampling the feedback voltage output by the servo motor;
and if the number of the slope values is equal to the accumulation threshold value, judging whether the slope values of the continuous accumulation threshold value are all smaller than a slope threshold value, and controlling the servo motor through a motor driving chip according to a judgment result.
Optionally, the controlling the servo motor through a motor driving chip according to the determination result includes:
if the slope values of the continuous accumulation threshold values are smaller than the slope threshold value, setting a locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register;
if any one of the continuous accumulated threshold values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register;
wherein the flag bits stored in the register comprise locked rotor flag bits.
Optionally, the generating a slope value according to the sampling value, the first set number, and the sampling period includes:
generating a sampling difference value according to the difference value between the maximum value and the minimum value of the sampling values of the first set number;
dividing the sampled difference by the sampling time, wherein the sampling time comprises a product of the sampling period and the first set number, to generate the slope value.
Optionally, the state detection method includes:
clearing a first open-circuit zone bit stored in a motor driving chip in the first four sampling periods for sampling the feedback voltage, reading the first open-circuit zone bit stored in the motor driving chip, and setting or clearing a second open-circuit zone bit according to the read first open-circuit zone bit; clearing a first overcurrent flag bit stored in a motor drive chip, reading the first overcurrent flag bit stored in the motor drive chip, and clearing a second overcurrent flag bit according to the read first overcurrent flag bit;
and controlling the servo motor through a motor driving chip according to the zone bits stored in the register, wherein the zone bits stored in the register further comprise the second open-circuit zone bit and the second overcurrent zone bit.
Optionally, a value range of the slope threshold includes 50 to 300.
On the other hand, the embodiment of the present application provides a state detection device of a servo motor, including: the device comprises a sampling module, a counting module, a generating module, a first judging module, a second judging module and a control module;
the sampling module is used for sampling the feedback voltage output by the servo motor according to a sampling period;
the counting module is used for accumulating the number of the sampling values and accumulating the number of the slope values;
the generating module is used for generating a slope value according to the sampling value, the first set number and the sampling period;
the first judging module is used for judging that the number of the accumulated slope values is smaller than an accumulation threshold value or equal to the accumulation threshold value, and if the number of the slope values is smaller than the accumulation threshold value, the sampling module continues to perform sampling processing on the feedback voltage output by the servo motor;
the second judging module is used for judging whether the slope values are all smaller than a slope threshold value or not when the number of the slope values is equal to an accumulation threshold value;
and the control module is used for controlling the servo motor through a motor driving chip according to the judgment result of the second judgment module.
On the other hand, the embodiment of this application provides a servo motor's state detecting system, provides servo motor, state detecting system includes: the system comprises a microcontroller and a motor driving chip;
the microcontroller is used for sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number; the sampling value generating unit is used for generating a slope value according to the sampling value, the first set number and the sampling period; the slope value calculating unit is used for calculating the slope value of the slope according to the slope value of the slope; and the servo motor is used for judging whether the slope values of the continuous accumulation threshold are all smaller than a slope threshold value or not if the number of the slope values is judged to be equal to the accumulation threshold value, and controlling the servo motor through a motor driving chip according to a judgment result.
Optionally, the microcontroller may set or clear the stall flag;
the microcontroller is used for setting a locked-rotor flag bit if judging that the slope values of the continuous accumulation threshold values are all smaller than the slope threshold value, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register; if any one of the continuous accumulated threshold values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register; wherein the flag bits stored in the register comprise locked rotor flag bits.
On the other hand, the embodiment of the application provides a storage medium, the storage medium comprises a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the state detection method of the servo motor.
In another aspect, an embodiment of the present application provides a computer device, including a memory for storing information including program instructions and a processor for controlling execution of the program instructions, where the program instructions are loaded and executed by the processor to implement the steps of the above-mentioned state detection method for a servo motor.
According to the technical scheme provided by the embodiment of the application, the feedback voltage output by the servo motor is sampled to obtain a sampling value, the slope value is calculated according to the sampling value, if the number of the accumulated slope values is equal to the accumulated threshold value, whether the continuous accumulated threshold value slope values are all smaller than the slope threshold value is judged, and the servo motor is controlled through the motor driving chip according to the judgment result, the state of the servo motor can be detected by accumulating the threshold value slope values, the detection time is short, the detection speed is high, and therefore the detection timeliness is improved; and a temperature sampling circuit is not required, so that the detection cost is reduced.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments 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 based on these drawings without inventive labor.
Fig. 1 is a system architecture diagram of a state detection system of a servo motor according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for detecting a state of a servo motor according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a feedback voltage during normal operation of a servo motor according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a feedback voltage when a stalling of a servo motor occurs in the embodiment of the present application;
FIG. 5 is a theoretical diagram of the slope values under the locked-rotor condition in the embodiment of the present application;
FIG. 6 is a schematic diagram of an actual application of the slope value in the locked-rotor state according to the embodiment of the present disclosure;
FIG. 7 is a schematic diagram of another practical application of the slope value in the locked-rotor state according to the embodiment of the present application;
FIG. 8 is a schematic diagram illustrating an actual application of a slope value when the servo motor operates in the embodiment of the present application;
FIG. 9 is a flowchart of another method for detecting a state of a servo motor according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a state detection apparatus of a servo motor according to an embodiment of the present disclosure;
fig. 11 is a schematic diagram of a computer device according to an embodiment of the present application.
[ detailed description ] embodiments
For better understanding of the technical solutions of the present application, the following detailed descriptions of the embodiments of the present application are provided with reference to the accompanying drawings.
It should be understood that the embodiments described are only a few embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the examples of this 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 understood that the term "and/or" as used herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., A and/or B, may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 1 is a system architecture diagram of a state detection system of a servo motor according to an embodiment of the present disclosure, and as shown in fig. 1, the detection system provides a servo motor 1, and the detection system includes a microcontroller 2 and a motor driver chip 3. The servo motor 1 is electrically connected with the microcontroller 2 and the motor driving chip 3, and the microcontroller 2 is electrically connected with the motor driving chip 3. Optionally, the microcontroller 2 and the motor driving chip 3 may be electrically connected through a Serial Peripheral Interface (SPI for short) bus; the motor driving chip 3 and the servo motor 1 can be electrically connected through a control line.
The motor driving chip 3 may be a dedicated chip, and as an alternative, the motor driving chip 3 may be a TLE94110 chip. In practical applications, the motor driving chip 3 may optionally include a Metal-Oxide-Semiconductor Field-Effect Transistor (MOSFET) circuit, that is: the motor driving chip 3 may be implemented by a MOSFET circuit.
The microcontroller 2 is used for sampling the feedback voltage output by the servo motor 1 according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number; the device is used for generating a slope value according to a sampling value, a first set number and the sampling period; the slope value calculating unit is used for judging that the number of the accumulated slope values is smaller than an accumulation threshold value or equal to the accumulation threshold value; and the controller is used for judging whether the slope values of the continuous accumulation threshold values are all smaller than the slope threshold value or not if the number of the slope values is equal to the accumulation threshold value, and controlling the servo motor 1 through the motor driving chip 3 according to the judgment result.
The flag bits stored in the registers of the microcontroller 2 include a stall flag bit, and the microcontroller 2 may set or clear the stall flag bit. The microcontroller 2 is used for setting a locked-rotor flag bit if judging that the slope values of the continuous accumulation threshold values are all smaller than the slope threshold value, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register; and if any one of the continuous accumulated threshold value slope values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through the motor driving chip according to the flag bit stored in the register.
Optionally, the flag bits stored in the register of the microcontroller 2 further include a second open flag bit and a second overcurrent flag bit. The microcontroller 2 is further configured to clear the first open-circuit flag bit stored in the motor driver chip 3, read the first open-circuit flag bit stored in the motor driver chip 3, and clear the second open-circuit flag bit according to the read first open-circuit flag bit or the read second open-circuit flag bit in the first four sampling periods in which the feedback voltage is sampled; the first overcurrent flag bit stored in the motor drive chip 3 is cleared first, then the first overcurrent flag bit stored in the motor drive chip 3 is read, and the second overcurrent flag bit is cleared according to the read first overcurrent flag bit.
In the embodiment of the present application, the locked rotor flag bit, the second open circuit flag bit, and the second overcurrent flag bit are stored in a register of the microcontroller 2; the first open flag bit and the first overcurrent flag bit are stored in a register of the motor drive chip 3.
In the technical scheme of the state detection system provided by the embodiment of the application, the microcontroller samples the feedback voltage output by the servo motor to obtain a sampling value, calculates the slope value according to the sampling value, judges whether the continuous accumulated threshold slope values are smaller than the slope threshold value or not when judging that the number of the accumulated slope values is equal to the accumulated threshold value, and controls the servo motor through the motor driving chip according to the judgment result, the detection of the state of the servo motor can be realized by accumulating the threshold slope values, the detection time is short, the detection speed is high, and the detection timeliness is improved; and a temperature sampling circuit is not required, so that the detection cost is reduced.
Based on the state detection system of the servo motor provided in fig. 1, the embodiment of the present application provides a state detection method of the servo motor, and the state detection method is executed in the microcontroller 2. Fig. 2 is a flowchart of a state detection method for a servo motor according to an embodiment of the present disclosure, and as shown in fig. 2, the state detection method includes:
102, sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number.
In the embodiment of the application, if the servo motor 1 is judged to be in the running state, sampling is carried out on the feedback voltage output by the servo motor according to the sampling period to obtain the sampling value, and the number of the sampling values is accumulated to obtain the first set number; if the servo motor 1 is judged to be in the stop state, namely the servo motor 1 is not in the running state, the state detection of the servo motor is not executed.
During the operation of the servo motor 1, the microcontroller 2 reads the feedback voltage of the servo motor 1, and the feedback voltage can be used for indicating the position state of the servo motor 1.
In the embodiment of the present application, the servo motor 1 is described as an example of a servo motor of an air conditioning box of an automobile air conditioning control system, and in practical application, the servo motor 1 may also be a servo motor of other equipment, which is not listed here. Fig. 3 is a schematic diagram of the feedback voltage during normal operation of the servo motor in the embodiment of the present application, as shown in fig. 3, the abscissa is the operation time t, the ordinate is the feedback voltage V, and the maximum value of the feedback voltage is theoretically 5V, but since the linearity of the feedback voltage output by the servo motor 1 during the operation process is not an ideal value, the value range of the feedback voltage may include 0.1V to 4.9V, that is, the variation range of the feedback voltage within one operation period Tx includes 0.1V to 4.9V. In the embodiment of the present application, Tx is 10s, and the effective motor operating time Te in one operating period Tx is 4 s.
Fig. 4 is a schematic diagram of feedback voltage when the servo motor is locked in rotation in the embodiment of the present application, as shown in fig. 4, if the servo motor 1 is stuck by a foreign object or meets the inner and outer circulation damper clips during operation, but the driving program is not stopped, a situation may occur in which the servo motor 1 is not operated but still applies torque. At this time, the feedback voltage output by the servo motor 1 keeps a certain value in the holding time Tb, and if Tb is long enough, for example, it reaches more than 6s, there is a risk that the servo motor 1 is burnt or the clip is broken. In order to solve the problem of the stalling of the servo motor 1, the holding time Tb needs to be shortened so as to stop the driving of the servo motor 1 in time before the loss of the servo motor 1 is caused.
In the embodiment of the application, the state of the servo motor 1 can be determined by judging the slope value of the feedback voltage, and the purpose of stopping driving the servo motor 1 in time before the loss of the servo motor 1 is caused is further achieved.
In this step, to calculate the slope value of the feedback voltage, the microcontroller 2 needs to perform AD sampling on the feedback voltage according to a sampling period to obtain a sampling value. As an alternative, the sampling period is denoted as T, and T is 5ms, and the microcontroller 2 performs sampling processing on the feedback voltage every 5ms to obtain a sampling value.
In this step, each time the microcontroller 2 obtains one sampling value, the number of the sampling values is added by 1 to obtain a first set number. As an alternative, the first set number is denoted N, N being 100, i.e. the microcontroller 2 obtains 100 sampled values by sampling the feedback voltage.
In the embodiment of the application, when the value of the first set number N is small, the calculation speed of the slope value can be effectively increased, so that the detection efficiency of the state of the servo motor 1 is improved. For example: the first set number N is 50.
Of course, the value of the first set number N may also be larger, for example: the first set number N is 200, which can effectively improve the calculation accuracy of the slope value, thereby improving the detection accuracy of the state of the servo motor 1.
And step 104, generating a slope value according to the sampling value, the first set number and the sampling period.
The method specifically comprises the following steps:
and 1041, generating a sampling difference value according to the difference value of the maximum value and the minimum value of the first set number of sampling values.
Selecting a maximum value Vmax and a minimum value Vmin from the N sampling values with the first set number, and subtracting the minimum value Vmin from the maximum value Vmax to generate a sampling difference value delta V, namely: Δ V is Vmax-Vmin.
Step 1042, dividing the sampling difference by the sampling time to generate a slope value, wherein the sampling time includes a product of the sampling period and the first set number.
The sampling time Δ T is 0.005 × 100 and N is 100, so that Δ T is 0.005 × 100 and 0.5 s.
The slope value K ═ Δ V/Δ T ═ Vmax-Vmin)/0.5.
In the embodiment of the present application, each time the microcontroller 2 obtains one slope value, the number of slope values is accumulated, that is, the number of slope values is added by 1, so as to obtain the number of accumulated slope values. And further judging that the number of the accumulated slope values is smaller than or equal to the accumulation threshold value. The accumulation threshold may be set according to actual needs, and as an alternative, the accumulation threshold includes 4.
And step 108, judging whether the slope values of the continuous accumulation threshold values are all smaller than a slope threshold value, and controlling the servo motor through a motor driving chip according to the judgment result.
In the step, if the slope values of the continuous accumulated threshold values are judged to be smaller than the slope threshold value, the servo motor 1 is in a locked-rotor state; and if any one of the continuous accumulated threshold values is judged to be greater than or equal to the slope threshold value, the servo motor 1 is indicated to be in a non-locked-rotor state.
In the embodiment of the application, when the continuous 4 slope values are all smaller than the slope threshold value, it can be determined that the servo motor is in the locked-rotor state, so that the accuracy of the detection result is further improved.
In the embodiment of the application, the time for generating each slope value is 0.5s, and if the continuous 4 slope values are all smaller than the slope threshold value, the locked-rotor state can be judged most quickly by calculating the 4 slope values, so that the time for judging the locked-rotor state can be compressed within 2s, and the detection efficiency of the state of the servo motor is improved. On the other hand, the locked-rotor state is judged once every 2s, the detection frequency is high, and the detection efficiency of the state of the servo motor can be improved.
Then, the controlling the servo motor through the motor driving chip according to the determination result in this step specifically includes:
and if the slope values of the continuous accumulation threshold values are smaller than the slope threshold value, setting a locked-rotor flag bit, and controlling the servo motor through the motor driving chip 3 according to the flag bit stored in the register. Wherein, the flag bit of storage includes the locked rotor flag bit in the register, and microcontroller 2 determines that servo motor 1 is in the locked rotor state, then after the locked rotor flag bit of setting, passes through motor drive chip 3 control servo motor 1 stall according to the locked rotor flag bit of setting.
And if any one of the continuous accumulated threshold value slope values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register. The flag bits stored in the register comprise locked rotor flag bits, the microcontroller 2 determines that the servo motor 1 is in a non-locked rotor state, and after the locked rotor flag bits are cleared, the servo motor 1 is controlled to continue to operate through the motor driving chip 3 according to the cleared locked rotor flag bits.
The slope threshold value may range from 0 to 500. As an alternative, the value range of the slope threshold value includes 50 to 300. In the embodiment of the present application, the slope threshold comprises 80. In the embodiment of the application, the value range of the slope threshold value is measured through experiments, and when the value range includes 50 to 300, the detection of the locked-rotor state of the servo motor 1 is more accurate. Especially when the slope threshold value is 80, the accuracy of detecting the locked-rotor state of the servo motor 1 is further improved.
The determination of the locked-rotor state by the slope value is described in detail below with a specific example by fig. 5 to 8.
In order to determine the locked-rotor state of the servo motor 1, the present embodiment introduces a concept of a slope value, where K is Δ V/Δ T. Fig. 5 is a theoretical schematic diagram of a slope value in a locked-rotor state in the embodiment of the present application, and as shown in fig. 5, a slope value of the servo motor 1 in a normal operation state is Kn, a slope value of the servo motor 1 in a locked-rotor state is Kb, and Kb is far smaller than Kn if Kb is 0 in an ideal state.
In practical application, the actual slope value of the servo motor in the locked-rotor state can be obtained by actually testing the servo motor 1. Fig. 6 is a schematic diagram of an actual application of a slope value in a locked-rotor state in the embodiment of the present application, and fig. 7 is a schematic diagram of another actual application of a slope value in a locked-rotor state in the embodiment of the present application. Fig. 6 and 7 show slope values obtained by actual tests performed on the servo motors 1 of two automotive air conditioning control systems. As shown in fig. 6 and 7, the ordinate is a slope value K, the abscissa is time t, the unit of the time t is ms, and the slope value K is calculated according to the sampling period of 0.5s and 100 sampling values, and both the slope value K in fig. 6 and 7 are smaller than 20 and larger than 0. Due to errors in the AD sampling, the actual slope value K is not exactly equal to 0.
Fig. 8 is a schematic diagram of an actual application of a slope value when the servo motor operates in the embodiment of the present application, as shown in fig. 8, a vertical coordinate is a slope value K, an horizontal coordinate is time t, a unit of the time t is ms, a slope value of the servo motor 1 in a normal operation state is K1, and a slope value of the servo motor 1 in a locked-rotor state is K2. As can be seen from fig. 8, in general K1 > 800 and K2 < 20, so that even if the slope value of the servomotor 1 in the locked state is not equal to 0, the slope value in the locked state is much smaller than that in the normal operating state, i.e. K2 is much smaller than K1. Based on the reason that the difference between the slope value in the locked-rotor state and the slope value in the normal running state is large, the slope value is adopted to detect the locked-rotor state of the servo motor 1 in the embodiment of the application, so that the accuracy of the detection result is further improved.
In this embodiment of the present application, as an optional method, the state detection method further includes: during the first four sampling periods in which the feedback voltage is sampled in step 102, the following steps may be performed:
step 1021, the microcontroller 2 clears the first open-circuit flag bit stored in the motor driving chip 3, reads the first open-circuit flag bit stored in the motor driving chip 3, and clears the second open-circuit flag bit according to the read first open-circuit flag bit.
And step 1022, the microcontroller 2 clears the first overcurrent flag bit stored in the motor drive chip 3, reads the first overcurrent flag bit stored in the motor drive chip 3, and clears the second overcurrent flag bit according to the read first overcurrent flag bit.
Step 1021 is a step performed in a first sampling period and a second sampling period for sampling the feedback voltage, and step 1022 is a step performed in a third sampling period and a fourth sampling period for sampling the feedback voltage.
It should be noted that: step 1022 may be performed prior to step 1021, namely: the microcontroller 2 first performs a set or clear operation on the second overcurrent flag, and then performs a set or clear operation on the second open flag.
As an alternative scheme, the embodiment of the application also provides a state detection method of the servo motor. Fig. 9 is a flowchart of another method for detecting a state of a servo motor according to an embodiment of the present disclosure, where as shown in fig. 9, the method for detecting a state includes:
in the embodiment of the present application, the method further includes:
And step 1021b, the microcontroller reads the first open-circuit flag bit stored in the motor driving chip, samples the feedback voltage output by the servo motor according to the read first open-circuit flag bit or clears the second open-circuit flag bit to obtain a sampling value, adds 1 to the number of the sampling values, and continues to execute step 1021c and step 1084.
And 1021c, clearing the first overcurrent flag bit stored in the motor driving chip by the microcontroller, sampling the feedback voltage output by the servo motor to obtain a sampling value, and adding 1 to the number of the sampling values.
And step 1021d, the microcontroller reads the first overcurrent flag bit stored in the motor driving chip, samples the feedback voltage output by the servo motor according to the read first overcurrent flag bit or clears the second overcurrent flag bit to obtain a sampling value, adds 1 to the number of the sampling values, and continues to execute the step 102a and the step 1084.
The steps 1021a to 1021d are performed in the first four cycles of sampling the feedback voltage, where the step 1021a is performed in the first sampling cycle of sampling the feedback voltage, the step 1021b is performed in the second sampling cycle of sampling the feedback voltage, the step 1021c is performed in the third sampling cycle of sampling the feedback voltage, and the step 1021d is performed in the fourth sampling cycle of sampling the feedback voltage.
And 102a, the microcontroller continuously samples the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and the number of the sampling values is accumulated to obtain a first set number.
And step 104a, the microcontroller generates a slope value according to the sampling value, the first set number and the sampling period.
And step 1084, the microcontroller controls the servo motor through the motor driving chip according to the flag bit stored in the register.
The flag bits stored in the register comprise a locked-rotor flag bit, a second open-circuit flag bit and a second overcurrent flag bit. In other words, the microcontroller 2 can control the servo motor 1 through the motor driving chip 3 according to the locked rotor flag bit, the second open circuit flag bit and the second overcurrent flag bit.
In the embodiment of the present application, as an alternative, the priority of the detection result of the overcurrent state and the detection result of the open-circuit state in the first four sampling periods is higher than that of the detection result of the locked rotor state. For example: if the second open-circuit flag bit is set in the step 1021, the microcontroller 2 immediately controls the servo motor 1 to stop running through the motor driving chip 3 without waiting for the detection result of the locked-rotor state obtained after 2 seconds; another example is: if the second overcurrent flag bit is set in step 1022, the microcontroller 2 immediately controls the servo motor 1 to stop running through the motor driver chip 3, and the detection result of the locked rotor state obtained after waiting for 2 seconds is not needed.
According to the embodiment of the application, the overcurrent state can be judged by reading the overcurrent flag bit, and the open-circuit state can be judged by reading the open-circuit flag bit, so that the overcurrent state, the open-circuit state and the locked rotor state can be respectively judged. In the embodiment of the application, only the overcurrent flag bit and the open-circuit flag bit are stored in the motor drive chip 3, the current when the servo motor 1 is in the locked-rotor state can reach 500mA, and the current when the servo motor 1 is in the overcurrent state is 600mA, so that the overcurrent flag bit in the motor drive chip 3 can not be made during the locked-rotor state of the servo motor 1, the overcurrent state and the locked-rotor state can not be confused in the state detection process of the servo motor 1, the misjudgment problem of the state of the servo motor 1 is avoided, and the accuracy of the detection result is improved. In addition, since the servo motor 1 has no driving current when the servo motor 1 is in the open state, the problem of erroneous judgment of the state of the servo motor 1 does not occur naturally.
According to the technical scheme of the state detection method, the feedback voltage output by the servo motor is sampled to obtain a sampling value, the slope value is calculated according to the sampling value, if the number of the accumulated slope values is equal to the accumulated threshold value, whether the slope values of the continuous accumulated threshold values are smaller than the slope threshold value is judged, and the servo motor is controlled through the motor driving chip according to the judgment result; and a temperature sampling circuit is not required, so that the detection cost is reduced.
Fig. 10 is a schematic structural diagram of a state detection apparatus of a servo motor according to an embodiment of the present application, and as shown in fig. 10, the apparatus includes: the device comprises a sampling module 11, a counting module 12, a generating module 13, a first judging module 14, a second judging module 15 and a control module 16. The sampling module 11, the counting module 12, the generating module 13, the first judging module 14, the second judging module 15 and the control module 16 are sequentially connected, and the counting module 12 is further connected with the first judging module 14.
The sampling module 11 is used for sampling the feedback voltage output by the servo motor according to a sampling period.
The counting module 12 is used for accumulating the number of sampled values and for accumulating the number of slope values.
The generating module 13 is configured to generate a slope value according to the sampling value, the first set number, and the sampling period.
The first determining module 14 is configured to determine that the number of the accumulated slope values is smaller than the accumulation threshold or equal to the accumulation threshold, and if the number of the slope values is smaller than the accumulation threshold, the sampling module 11 continues to perform sampling processing on the feedback voltage output by the servo motor.
The second judging module 15 is configured to, if the number of slope values is equal to the accumulation threshold, judge whether the slope values are all smaller than the slope threshold;
the control module 16 is configured to control the servo motor through the motor driving chip according to the determination result of the second determining module 15.
In this embodiment, the control module 16 is specifically configured to set the stalling flag bit if the second determining module 15 determines that the slope values of the consecutive accumulated thresholds are all smaller than the slope threshold value, and control the servo motor through the motor driving chip according to the flag bit stored in the register; if the second determination module 15 determines that any one of the continuous accumulated threshold slope values is greater than or equal to the slope threshold value, the locked-rotor flag bit is cleared, and the servo motor is controlled through the motor driving chip according to the flag bit stored in the register. The flag bits stored in the register include a locked-rotor flag bit.
In this embodiment of the application, the generating module 13 is specifically configured to generate a sampling difference value according to a difference value between a maximum value and a minimum value of a first set number of sampling values; the sample difference is divided by a sample time to generate a slope value, wherein the sample time comprises a product of a sample period and a first set number.
In this embodiment of the application, the control module 16 is configured to clear a first open-circuit flag bit stored in the motor driving chip, read the first open-circuit flag bit stored in the motor driving chip, and clear a second open-circuit flag bit according to the read first open-circuit flag bit or the read second open-circuit flag bit in the first four sampling periods in which the feedback voltage is sampled; clearing a first overcurrent zone bit stored in a motor drive chip, reading the first overcurrent zone bit stored in the motor drive chip, and clearing a second overcurrent zone bit according to the read first overcurrent zone bit or the second overcurrent zone bit. The control module 16 is configured to control the servo motor through the motor driving chip according to the flag bits stored in the register, where the flag bits stored in the register include a locked rotor flag bit, a second open circuit flag bit, and a second overcurrent flag bit.
According to the technical scheme of the state detection device, the feedback voltage output by the servo motor is sampled to obtain a sampling value, the slope value is calculated according to the sampling value, if the number of the accumulated slope values is equal to the accumulation threshold value, whether the continuous accumulated threshold value slope values are all smaller than the slope threshold value is judged, and the servo motor is controlled through the motor driving chip according to the judgment result, the state of the servo motor can be detected by accumulating the threshold value slope values, the detection time is short, the detection speed is high, and therefore the detection timeliness is improved; and a temperature sampling circuit is not required, so that the detection cost is reduced.
The present application provides a storage medium, where the storage medium includes a stored program, where, when the program runs, a device on which the storage medium is located is controlled to execute each step of the above-mentioned embodiment of the method for detecting the state of the servo motor, and for a specific description, reference may be made to the above-mentioned embodiment of the method for detecting the state of the servo motor.
Embodiments of the present application provide a computer device, including a memory and a processor, where the memory is used to store information including program instructions, and the processor is used to control execution of the program instructions, and the program instructions are loaded and executed by the processor to implement the steps of the embodiments of the method for detecting a state of a servo motor.
Fig. 11 is a schematic diagram of a computer device according to an embodiment of the present application. As shown in fig. 11, the computer device 20 of this embodiment includes: the processor 21, the memory 22, and the computer program 23 stored in the memory 22 and capable of running on the processor 21, where the computer program 23 is executed by the processor 21 to implement the state detection method applied to the servo motor in the embodiment, and in order to avoid repetition, details are not repeated herein. Alternatively, the computer program is executed by the processor 21 to implement the functions of each model/unit in the state detection apparatus applied to the servo motor in the embodiment, and for avoiding redundancy, the description is omitted here.
The computer device 20 includes, but is not limited to, a processor 21, a memory 22. Those skilled in the art will appreciate that fig. 11 is merely an example of a computer device 20 and is not intended to limit the computer device 20 and that it may include more or fewer components than shown, or some of the components may be combined, or different components, e.g., the computer device may also include input output devices, network access devices, buses, etc.
The Processor 21 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 device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The storage 22 may be an internal storage unit of the computer device 20, such as a hard disk or a memory of the computer device 20. The memory 22 may also be an external storage device of the computer device 20, such as a plug-in hard disk provided on the computer device 20, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like. Further, the memory 22 may also include both internal storage units of the computer device 20 and external storage devices. The memory 22 is used for storing computer programs and other programs and data required by the computer device. The memory 22 may also be used to temporarily store data that has been output or is to be output.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions in actual implementation, for example, a plurality of units or components may be combined or 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 integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a Processor (Processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only exemplary of the present application and should not be taken as limiting the present application, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the scope of protection of the present application.
Claims (10)
1. A method for detecting a state of a servo motor, comprising:
sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number;
generating a slope value according to the sampling value, the first set number and the sampling period;
judging that the number of the accumulated slope values is smaller than an accumulation threshold value or equal to the accumulation threshold value;
if the number of the slope values is smaller than the accumulation threshold value, continuing to perform the step of sampling the feedback voltage output by the servo motor;
and if the number of the slope values is equal to the accumulation threshold value, judging whether the slope values of the continuous accumulation threshold value are all smaller than a slope threshold value, and controlling the servo motor through a motor driving chip according to a judgment result.
2. The method for detecting the state of the servo motor according to claim 1, wherein the controlling the servo motor by the motor driving chip according to the determination result comprises:
if the slope values of the continuous accumulation threshold values are smaller than the slope threshold value, setting a locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register;
if any one of the continuous accumulated threshold values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register;
wherein the flag bits stored in the register comprise locked rotor flag bits.
3. The method of detecting the state of a servo motor according to claim 1, wherein the generating a slope value based on the sampling value, the first set number, and the sampling period comprises:
generating a sampling difference value according to the difference value between the maximum value and the minimum value of the sampling values of the first set number;
dividing the sampled difference by the sampling time, wherein the sampling time comprises a product of the sampling period and the first set number, to generate the slope value.
4. The state detection method of a servo motor according to claim 2, comprising:
clearing a first open-circuit zone bit stored in a motor driving chip in the first four sampling periods for sampling the feedback voltage, reading the first open-circuit zone bit stored in the motor driving chip, and setting or clearing a second open-circuit zone bit according to the read first open-circuit zone bit; clearing a first overcurrent flag bit stored in a motor drive chip, reading the first overcurrent flag bit stored in the motor drive chip, and clearing a second overcurrent flag bit according to the read first overcurrent flag bit;
and controlling the servo motor through a motor driving chip according to the zone bits stored in the register, wherein the zone bits stored in the register further comprise the second open-circuit zone bit and the second overcurrent zone bit.
5. The method for detecting the state of the servo motor according to any one of claims 1 to 4, wherein the value range of the slope threshold value comprises 50 to 300.
6. A state detection device of a servo motor, characterized by comprising: the device comprises a sampling module, a counting module, a generating module, a first judging module, a second judging module and a control module;
the sampling module is used for sampling the feedback voltage output by the servo motor according to a sampling period;
the counting module is used for accumulating the number of the sampling values and accumulating the number of the slope values;
the generating module is used for generating a slope value according to the sampling value, the first set number and the sampling period;
the first judging module is used for judging that the number of the accumulated slope values is smaller than an accumulation threshold value or equal to the accumulation threshold value, and if the number of the slope values is smaller than the accumulation threshold value, the sampling module continues to perform sampling processing on the feedback voltage output by the servo motor;
the second judging module is used for judging whether the slope values are all smaller than a slope threshold value or not when the number of the slope values is equal to an accumulation threshold value;
and the control module is used for controlling the servo motor through a motor driving chip according to the judgment result of the second judgment module.
7. A state detection system of a servo motor, providing a servo motor, the state detection system comprising: the system comprises a microcontroller and a motor driving chip;
the microcontroller is used for sampling the feedback voltage output by the servo motor according to a sampling period to obtain sampling values, and accumulating the number of the sampling values to obtain a first set number; the sampling value generating unit is used for generating a slope value according to the sampling value, the first set number and the sampling period; the slope value calculating unit is used for calculating the slope value of the slope according to the slope value of the slope; and the servo motor is used for judging whether the slope values of the continuous accumulation threshold are all smaller than a slope threshold value or not if the number of the slope values is judged to be equal to the accumulation threshold value, and controlling the servo motor through a motor driving chip according to a judgment result.
8. The servo motor status detection system of claim 7, wherein the microcontroller can set or clear a stall flag;
the microcontroller is used for setting a locked-rotor flag bit if judging that the slope values of the continuous accumulation threshold values are all smaller than the slope threshold value, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register; if any one of the continuous accumulated threshold values is judged to be greater than or equal to the slope threshold value, clearing the locked-rotor flag bit, and controlling the servo motor through a motor driving chip according to the flag bit stored in the register; wherein the flag bits stored in the register comprise locked rotor flag bits.
9. A storage medium characterized by comprising a stored program, wherein a device in which the storage medium is located is controlled to execute the state detection method of a servo motor according to any one of claims 1 to 5 when the program is executed.
10. A computer device comprising a memory for storing information comprising program instructions and a processor for controlling the execution of the program instructions, characterized in that the program instructions are loaded and executed by the processor to implement the steps of the method for detecting the state of a servo motor according to any of claims 1 to 5.
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