CN113030783A - Servo motor broken line detection method, system and storage medium - Google Patents
Servo motor broken line detection method, system and storage medium Download PDFInfo
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Abstract
The application belongs to the technical field of servo motors, and provides a servo motor disconnection detection method, a servo motor disconnection detection system and a storage medium, wherein the method comprises one of the following modes: detecting the current value of each first loop in three first loops formed by combining each two phases of three phases of the servo motor, and determining that the servo motor has a broken line if at least two of the three current values are low levels; and detecting current values of three second loops formed by combining each two phases of the three phases of the servo motor as parallel branches with the other phase in series, and determining that the servo motor has broken lines if at least one of the current values of the three second loops is a low level. According to the scheme, the servo motor can be accurately subjected to disconnection detection under the condition that a hardware circuit is not required to be added.
Description
Technical Field
The present disclosure relates to the field of servo motor technologies, and in particular, to a method and a system for detecting a disconnection of a servo motor, and a storage medium.
Background
The service environment of the servo motor in an industrial field is generally poor, and during operation, due to dirt, wiring, vibration, oxidation, repeated bending, friction and the like, the power line of the servo motor may be broken, so that the servo driver cannot accurately transmit voltage and current to the terminal of the servo motor through the power line. In order to avoid the phenomena of out-of-control, overload and the like caused by the broken line of the power line of the servo motor and guarantee the personal safety, the broken line detection of the power line of the servo motor is needed.
At present, one method is that a current error threshold value is set, or a voltage modulation ratio threshold value is set, both of which set time threshold values, when a current or a feedback current exceeds the current error threshold value or when the voltage modulation ratio is greater than the voltage modulation ratio threshold value, timing is started, and when the timing exceeds a preset time threshold value, it is determined that a power line of a servo motor is broken; the other is introduced in patent document CN 105988058A, by sequentially turning on a lower bridge arm (Insulated Gate Bipolar Transistor) of an inverter circuit and using an AD sampling chip to measure voltages of bootstrap capacitors of the other two phases, a disconnection condition of the servo motor is determined, however, in this method, a hardware circuit needs to be added, and further, complexity of the circuit and production cost are increased.
Disclosure of Invention
The present application is directed to at least one of the technical problems in the prior art, and therefore, the present application provides a method, a system and a storage medium for detecting a disconnection of a servo motor, which can accurately detect the disconnection of the servo motor without adding a hardware circuit.
In a first aspect of the present application, a method for detecting a broken line of a servo motor is provided, which includes one of the following modes: detecting the current value of each first loop in three first loops formed by combining each two phases of three phases of the servo motor, and determining that the servo motor has a broken line if at least two of the three current values are low levels; and detecting current values of three second loops formed by combining each two phases of the three phases of the servo motor as parallel branches with the other phase in series, and determining that the servo motor has broken lines if at least one of the current values of the three second loops is a low level.
According to the servo motor disconnection detection method in the embodiment of the first aspect of the application, at least the following beneficial effects are achieved: by detecting the current values of the three first loops or the current values of the three second loops, whether the three phase lines of the servo motor are broken can be accurately judged, and specifically, which phase line is broken can be judged according to which loop current values are low levels. In the whole process, only a controller of the servo motor is required to apply certain voltage, and the current is sampled in the loop, so that the detection cost can be saved without adding an additional hardware circuit. Therefore, the scheme of the application can save the detection cost and accurately detect the disconnection condition of the three phase lines of the servo motor.
According to some embodiments of the present application, the current values of the first loops include a first current, a second current, and a third current, and detecting the current value of each of three first loops formed by combining each of two phases of three phases of the servo motor includes: combining a U phase and a V phase of a servo motor to form a first loop, applying a first direct current voltage between the U phase and the V phase, and obtaining a first current between the U phase and the V phase; combining the U phase and the W phase of the servo motor to form a second first loop, applying a second direct current voltage between the U phase and the W phase, and obtaining a second current between the U phase and the W phase; and the V phase and the W phase of the servo motor are combined to form a third first loop, a third direct current voltage is applied between the V phase and the W phase, and a third current between the V phase and the W phase is obtained. The three phase lines of the servo motor are combined into three first loops in pairs, direct-current voltage is applied to each first loop, corresponding current is detected, and whether the phase line of the three phase lines is broken can be simply and conveniently judged according to whether at least two currents of the three first current values are always at low level.
According to some embodiments of the present application, a first loop is formed by combining U-phase and V-phase of a servo motor, applying a first dc voltage between the U-phase and the V-phase, and obtaining a first current between the U-phase and the V-phase, including: controlling a U-phase upper bridge arm and a V-phase lower bridge arm in a three-phase voltage inverter circuit to be connected, and switching off the U-phase lower bridge arm, the V-phase upper bridge arm, the W-phase upper bridge arm and the W-phase lower bridge arm; applying first direct-current voltage with gradually increased duty ratio in PWM waveforms between a U-phase upper bridge arm and a V-phase lower bridge arm; and acquiring a first current between the U phase and the V phase, and enabling the first current to be smaller than the rated current of the servo motor. And controlling the U-phase upper bridge arm and the V-phase lower bridge arm to be conducted, and switching off the U-phase lower bridge arm, the V-phase upper bridge arm, the W-phase upper bridge arm and the W-phase lower bridge arm to obtain a current loop input from a U-phase line and output from a V-phase line.
According to some embodiments of the present application, the current values of the second loop include a fourth current, a fifth current and a sixth current, and the detecting of the current values of three phases of the servo motor, each of which two phases are combined in series with the other phase line as a parallel branch to form three second loops, includes: the U-phase line and the V-phase line of the servo motor are used as parallel branches to be combined with the W-phase line in series to form a second loop, fourth direct-current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and fourth current of the second loop is obtained; the U-phase line and the W-phase line of the servo motor are used as parallel branches to be combined with the V-phase line in series to form a second loop, fifth direct-current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and fifth current of the second loop is obtained; and the W-phase line and the V-phase line of the servo motor are used as parallel branches to be combined with the U-phase line in series to form a third second loop, sixth direct-current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and sixth current of the second loop is obtained. Every two phase lines of the servo motor are used as parallel branches to be connected with another phase line in series to form three second loops, then the current corresponding to the main circuit is detected, and when the current of the main circuit is always at a low level, the two parallel phase lines are simultaneously broken or the phase lines of the main circuit are broken, or the three phase lines are all in a broken state. Therefore, whether the three phase lines are broken can be determined according to whether the fourth current, the fifth current and the sixth current are always at low level, and which phase line is broken can also be obtained from the three second current values. Of course, the fourth current, the fifth current and the sixth current may include a current of each of the three phase lines, and whether the phase line is broken is conveniently determined according to whether the current in each phase line is at a low level.
According to some embodiments of the present application, the U-phase line and the V-phase line of the servo motor are combined in series with the W-phase line as parallel branches to form a second loop, a fourth dc voltage is applied between the U-phase line, the V-phase line and the W-phase line of the servo motor, and a fourth current of the second loop is obtained, including: controlling a U-phase upper bridge arm, a V-phase upper bridge arm and a W-phase lower bridge arm in a three-phase voltage inverter circuit to be connected, and controlling the U-phase upper bridge arm, the V-phase upper bridge arm and the W-phase lower bridge arm to be disconnected; applying fourth direct-current voltage with gradually increased duty ratio in PWM waveforms among the U-phase upper bridge arm, the V-phase upper bridge arm and the W-phase lower bridge arm; and acquiring a fourth current of the W-phase line, and enabling the fourth current to be smaller than the rated current of the servo motor. The method comprises the steps of controlling a U-phase upper bridge arm, a V-phase upper bridge arm and a W-phase lower bridge arm in a three-phase voltage inverter circuit to be conducted, and turning off the rest of the upper bridge arm and the lower bridge arm to obtain a phase line which takes the U-phase and the V-phase in parallel connection as an input phase line, then the phase line is connected with the W-phase in series, and the W-phase is taken as an output phase line. Therefore, whether the three phase lines are broken or not can be determined according to whether the fourth current, the fifth current and the sixth current are always in a low level or not, and which phase line is broken can also be judged. Of course, the fourth current, the fifth current and the sixth current may include a current of each of the three phase lines, and whether the phase line is broken is conveniently determined according to whether the current in each phase line is at a low level.
According to some embodiments of the present application, the U-phase line and the V-phase line of the servo motor are combined in series with the W-phase line as parallel branches to form a second loop, a fourth dc voltage is applied between the U-phase line, the V-phase line and the W-phase line of the servo motor, and a fourth current of the second loop is obtained, including: controlling a U-phase lower bridge arm, a V-phase lower bridge arm and a W-phase upper bridge arm in a three-phase voltage inverter circuit to be connected, and controlling the U-phase upper bridge arm, the V-phase upper bridge arm and the W-phase lower bridge arm to be disconnected; applying fourth direct-current voltage with gradually increased duty ratio in PWM waveforms among the U-phase lower bridge arm, the V-phase lower bridge arm and the W-phase upper bridge arm; and acquiring a fourth current of the second loop, and enabling the fourth current to be smaller than the rated current of the servo motor. The method comprises the steps of controlling a U-phase lower bridge arm, a V-phase lower bridge arm and a W-phase upper bridge arm in a three-phase voltage inverter circuit to be connected, and turning off the other upper bridge arms and the other lower bridge arms to obtain a phase line which takes the U-phase and the V-phase in parallel connection as an output phase line, then the phase line is connected with the W-phase in series, and the W-phase is taken as an input phase line. Similarly, whether the three phase lines are broken or not can be determined according to whether the fourth current, the fifth current and the sixth current are always at low level or not, and which phase line is broken can also be obtained from the three second current values. Of course, the fourth current, the fifth current and the sixth current may include the current of each of the three phase lines at the same time, and whether the phase line is broken is conveniently determined according to whether the current in each phase line is at a low level.
According to some embodiments of the application, further comprising: and if the servo motor is determined to have a broken line, sending a power line breakage early warning signal. When the servo motor is broken, a corresponding power line breaking prompt can be sent out. When determining which phase line of the three phase lines has the broken line, the condition of indicating the broken line of different phase lines can be distinguished, so that an operator can perform corresponding operation.
According to some embodiments of the present application, if the current values of the three first loops and the current values of the three second loops are both greater than the low level, it is determined that there is no wire break in the servo motor. When the current values of the three first loops and the current values of the three second loops are both greater than the low level, that is, the 6 currents are not always at the low level but have current changes, it is indicated that the three first loops and the three second loops are all kept on, and the three phase lines of the servo motor are not broken.
In a second aspect of the present application, a system for detecting a broken line of a servo motor is provided, including: the servo motor disconnection detection method comprises at least one memory, at least one processor and at least one program instruction, wherein the program instruction is stored on the memory and can be operated on the processor, and the processor is used for executing the servo motor disconnection detection method provided by the first aspect.
In a third aspect of the present application, a storage medium is provided, where program instructions are stored on the storage medium, and the program instructions are used to execute the method for detecting a broken line of a servo motor provided in the first aspect of the present application.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flowchart of a servo motor disconnection detection method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a servo motor disconnection detection method according to another embodiment of the present disclosure;
FIG. 3 is a logic diagram of a servo motor disconnection detection method according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of an overall circuit structure of a servo motor disconnection detection method according to an embodiment of the present application;
fig. 5 is a schematic circuit diagram of a part of a circuit structure of a servo motor disconnection detection method according to an embodiment of the present application.
Reference numerals:
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the positional descriptions, such as the directions of up, down, front, rear, left, right, etc., referred to herein are based on the directions or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the present application.
In the description of the present application, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and larger, smaller, larger, etc. are understood as excluding the present number, and larger, smaller, inner, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless otherwise expressly limited, terms such as set, mounted, connected and the like should be construed broadly, and those skilled in the art can reasonably determine the specific meaning of the terms in the present application by combining the detailed contents of the technical solutions. The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
In a first aspect of the present application, a method for detecting a broken line of a servo motor is provided, which includes one of the following modes:
referring to fig. 1, the first method is:
s101, applying voltage between three phase lines of the servo motor 100;
s102, combining each two phases of three phase lines of the servo motor 100 to form three first loops;
s103, detecting the current value of each first loop to obtain the current values of the three first loops;
s104, if at least two of the current values of the three first loops are low levels;
s105, determining that the servo motor 100 is in a power line disconnection state, and determining that a disconnected phase line exists in the three phase lines.
Specifically, the current value is low level, meaning that the current is always at low level. Whether the loop is broken can be judged by detecting whether the currents in the three first loops are always at a low level. And according to the current values of the three first loops, which phase line has a broken line can be accurately judged.
Referring to table 1, table 1 is a discrimination table of the power line disconnection state of the servo motor in the first loop:
if two first loops in the UV phase, the UW phase and the VW phase are all conducted, it can be proved that there is no disconnection in the three phase lines of the servo motor 100, and it is not necessary to measure whether the third first loop is conducted;
if two first loops in the UV phase, the UW phase and the VW phase are detected to be open circuits, and the other first loop is conducted, the phase line shared by the two open circuits in the first loop is proved to be in an open circuit state, and the other two phase lines are proved to be in a normal state;
of course, if all three first loops in the UV phase, UW phase, and VW phase are open, U, V, W is proved to be open.
TABLE 1
Referring to fig. 2, the second method is:
s201, applying voltage between three phase lines of the servo motor 100;
s202, taking each two phases of the three phases of the servo motor 100 as parallel branches to be combined with the other phase in series to form three second loops;
s203, detecting the current value in each second loop to obtain the current values of the three second loops;
s204, if at least one of the three second current values is low level;
s205, determining that the servo motor 100 is in a power line disconnection state, and determining that a disconnected phase line exists in the three phase lines.
Specifically, whether the loop is broken can be judged by detecting whether the currents in the three second loops are always at a low level. And according to the three second current values, which phase line has a broken line can be accurately judged.
Referring to table 2, table 2 is a discrimination table of the power line disconnection state of the servo motor in the second loop:
if the three second loops in the UV parallel connection, the UW parallel connection and the VW parallel connection are all conducted, it is indicated that the three phase lines of the servo motor 100 are not broken;
if only one second circuit in the UV parallel connection, the UW parallel connection and the VW parallel connection is broken, and the other two branches are conducted, the phase lines connected in series in the second circuit are broken, and the other two phase lines are conducted;
of course, if all three first loops in the UV phase, UW phase, and VW phase are open, U, V, W is proved to be open.
TABLE 2
By detecting the current values of the three first loops or the current values of the three second loops, whether the three phases of the servo motor 100 are broken can be accurately determined, and a result of which phase line is broken can be obtained. In the whole process, only a controller of the servo motor 100 is required to apply a certain voltage and sample current in a loop, and the detection cost can be saved without adding an additional hardware circuit. Therefore, the scheme of the application can save the detection cost and accurately detect the disconnection condition of the three phase lines of the servo motor 100.
Referring to fig. 3, in some embodiments of the present application, the current values of the first loops include a first current, a second current, and a third current, three first loops are formed in combination of each two phases in three phases of the servo motor 100, and the current value of each first loop is detected to obtain the current values of the three first loops, including: the U-phase and the V-phase of the servo motor 100 are combined to form a first loop, a first direct current voltage is applied between the U-phase and the V-phase, and a first current between the U-phase and the V-phase is obtained; the U phase and the W phase of the servo motor 100 are combined to form a second first loop, a second direct current voltage is applied between the U phase and the W phase, and a second current between the U phase and the W phase is obtained; the V-phase and W-phase combination of the servo motor 100 forms a third first loop, applies a third dc voltage between the V-phase and W-phase, and obtains a third current between the V-phase and W-phase. Two of the three phase lines of the servo motor 100 are combined into three first loops, a direct current voltage is applied to each first loop, corresponding currents are detected, and whether the phase line of the three phase lines is broken can be simply and conveniently judged according to whether at least two current values of the three first loops are electrical levels.
Referring to fig. 4, the specific detection method includes applying a PWM wave with a gradually increasing duty ratio to the three-phase voltage inverter circuit through the controller MCU of the servo motor 100, measuring a current in the loop through the phase current sampling resistor via the current sampling sensor, transmitting an obtained sampled current value to the controller MCU of the servo motor 100 by the current sampling sensor, determining whether a corresponding phase line is broken according to a preset logic by the controller MCU, and if the phase line is broken, sending a line break prompt signal. Of course, the loop current is always kept smaller than the rated current of the servo motor 100 in the process of gradually increasing the duty ratio of the PWM wave. The method can judge whether the second loop is broken or not step by step, and can also quickly obtain the condition that only branch phase lines in the second loop are broken, and simply and conveniently obtain the conclusion of which branch phase line is broken.
It can be understood that when a first direct current voltage is applied between the UV phases, a first current between the UV phases can be measured with one end of the U-phase line as an input end and one end of the V-phase line as an output end; one end of the V-phase line may be an input end, and one end of the U-phase line may be an output end, to measure the current in the opposite direction to the first current. The results obtained in the two cases do not influence the conclusion of judging whether the phase line of the servo motor 100 is broken or not.
Similarly, when a second direct-current voltage is applied between the UW phases, a second current between the UW phases can be measured by taking one end of the U-phase line as an input end and taking one end of the W-phase line as an output end; one end of the W-phase line may be an input end, and one end of the U-phase line may be an output end, to measure the current in the opposite direction to the second current. The results obtained in the two cases do not influence the conclusion of judging whether the phase line of the servo motor 100 is broken or not.
Of course, when the third dc voltage is applied between the VW phases, the third current between the VW phases can be measured with one end of the V-phase line as the input end and one end of the W-phase line as the output end; one end of the W-phase line may be an input end, and one end of the V-phase line may be an output end, and a current in the opposite direction to the third current may be measured. The results obtained in the two cases do not influence the conclusion of judging whether the phase line of the servo motor 100 is broken or not.
Referring to fig. 5, in some embodiments of the present application, the combining of the U-phase and the V-phase of the servo motor 100 to form a first loop, applying a first dc voltage between the U-phase and the V-phase, and obtaining a first current between the U-phase and the V-phase includes: controlling the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240 in the three-phase voltage inverter circuit to be connected, and switching off the other upper bridge arms and the other lower bridge arms; applying a first direct-current voltage with gradually increasing duty ratio in the PWM waveform between the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240; a first current between the U-phase and the V-phase is obtained, and the first current is made smaller than a rated current of the servo motor 100. And controlling the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240 to be connected, and the other upper bridge arm and the lower bridge arm to be disconnected, so that a current loop input from the U-phase lines and output from the V-phase lines can be obtained, if one of the U-phase lines and the V-phase lines is disconnected, the loop current can be always in a low level, otherwise, if the loop current is always in the low level, at least one of the U-phase lines and the V-phase lines is disconnected.
Similarly, the U-phase lower bridge arm 220 and the V-phase upper bridge arm 230 in the three-phase voltage inverter circuit can be controlled to be connected, and the other upper bridge arms and the lower bridge arms are controlled to be disconnected; applying a first direct-current voltage with gradually increasing duty ratio in the PWM waveform between the U-phase lower bridge arm 220 and the V-phase upper bridge arm 230; a first current between the U-phase and the V-phase is obtained, and the first current is made smaller than a rated current of the servo motor 100. And controlling the U-phase lower bridge arm 220 and the V-phase upper bridge arm 230 to be connected, and the other upper bridge arm and the lower bridge arm to be disconnected, so that a current loop input from the V-phase line and output from the U-phase line can be obtained, if one of the U-phase line and the V-phase line is disconnected, the current of the loop is always in a low level, otherwise, if the current of the loop is always in the low level, at least one of the U-phase line and the V-phase line is disconnected.
It can be understood that, when measuring the second current of the UW phase and the third current between the VW phases, the current in the loop can be measured in one of the two manners, so as to determine whether the phase line is broken in the loop.
In some embodiments of the present application, the current values of the second loops include a fourth current, a fifth current and a sixth current, each two phases of the three phases of the servo motor 100 are combined in series with another phase line as parallel branches to form three second loops, and the current value in each second loop is detected to obtain the current values of the three second loops, including: a U-phase line and a V-phase line of the servo motor 100 are used as parallel branches to be combined with a W-phase line in series to form a second loop, a fourth direct current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor 100, and a fourth current of the W-phase line is obtained; a U-phase line and a W-phase line of servo motor 100 are used as parallel branches to be combined in series with the V-phase line to form a second loop, a fifth direct current voltage is applied among the U-phase line, the V-phase line and the W-phase line of servo motor 100, and a fifth current of the V-phase line is obtained; the W-phase line and the V-phase line of servo motor 100 are connected in series with the U-phase line as parallel branches to form a third second loop, and a sixth dc voltage is applied among the U-phase line, the V-phase line, and the W-phase line of servo motor 100, and a sixth current of the U-phase line is obtained. Every two phase lines of the servo motor 100 are used as parallel branches to be combined with another phase line in series to form three second loops, then the current corresponding to the main circuit is detected, and when the current of the main circuit is always at a low level, the two parallel phase lines are simultaneously broken or the phase lines of the main circuit are broken, or the three phase lines are all in a broken state. Therefore, whether the three phase lines are broken can be determined according to whether the fourth current, the fifth current and the sixth current are always at low level, and which phase line is broken can also be obtained from the three second current values.
In an embodiment of the present application, U-phase line and V-phase line of servo motor 100 are combined as parallel branches in series with W-phase line to form a first second loop, a fourth dc voltage is applied between U-phase line, V-phase line and W-phase line of servo motor 100, and a fourth current of W-phase line is obtained, including: controlling a U-phase upper bridge arm 210, a V-phase upper bridge arm 230 and a W-phase lower bridge arm 260 in the three-phase voltage inverter circuit to be connected, and switching off the other upper bridge arms and the other lower bridge arms; applying fourth direct-current voltage with gradually increased duty ratio in the PWM waveform to the positions among the U-phase upper bridge arm 210, the V-phase upper bridge arm 230 and the W-phase lower bridge arm 260; and acquiring a fourth current of the W-phase line, and enabling the fourth current to be smaller than the rated current of the servo motor 100. The method comprises the steps of controlling a U-phase upper bridge arm 210, a V-phase upper bridge arm 230 and a W-phase lower bridge arm 260 in a three-phase voltage inverter circuit to be conducted, and turning off the rest of the upper bridge arms and the rest of the lower bridge arms to obtain a phase line which takes the parallel combination of the U phase and the V phase as an input phase line, then the phase line is connected with the W phase line in series, and the W phase line as an output phase line. Therefore, whether the three phase lines are broken can be determined according to whether the fourth current, the fifth current and the sixth current are always at low level, and which phase line is broken can also be obtained from the three second current values.
It can be understood that, when the UW phase line combination is measured as a parallel branch to be connected in series with the V phase line, the fifth current can also be measured by the above method; when the VW phase line combination is used as a parallel branch and is connected with the U phase line in series, the sixth current can be measured by the method.
In some embodiments of the present application, U-phase line and V-phase line of servo motor 100 are combined as parallel branches in series with W-phase line to form a second loop, a fourth dc voltage is applied between U-phase line, V-phase line and W-phase line of servo motor 100, and a fourth current of W-phase line is obtained, including: controlling a U-phase lower bridge arm 220, a V-phase lower bridge arm 240 and a W-phase upper bridge arm 250 in the three-phase voltage inverter circuit to be connected, and switching off the other upper bridge arms and the lower bridge arms; applying fourth direct-current voltage with gradually increased duty ratio in the PWM waveform to the positions among the U-phase lower bridge arm 220, the V-phase lower bridge arm 240 and the W-phase upper bridge arm 250; and acquiring a fourth current of the W-phase line, and enabling the fourth current to be smaller than the rated current of the servo motor 100. The method comprises the steps of controlling a U-phase lower bridge arm 220, a V-phase lower bridge arm 240 and a W-phase upper bridge arm 250 in a three-phase voltage inverter circuit to be connected, and turning off the other upper bridge arms and the other lower bridge arms to obtain a phase line which takes the parallel combination of the U phase and the V phase as an output phase line, then the phase line is connected with the W phase line in series, and the W phase line as an input phase line. Similarly, whether the three phase lines are broken or not can be determined according to whether the fourth current, the fifth current and the sixth current are always at low level or not, and which phase line is broken can also be obtained from the three second current values.
Similarly, when the UW phase line combination is measured as a parallel branch to be connected in series with the V phase line, the fifth current can also be measured by the above method; when the VW phase line combination is used as a parallel branch and is connected with the U phase line in series, the sixth current can be measured by the method.
In some embodiments of the present application, if it is determined that there is a wire break in the servo motor 100 and a broken phase line is determined to exist among three phase lines, a power line break warning signal is sent. When the servo motor 100 is disconnected, a corresponding power line disconnection prompt can be sent out. When determining which phase line of the three phase lines has the broken line, the condition of indicating the broken line of different phase lines can be distinguished, so that an operator can perform corresponding operation.
In some embodiments of the present application, if the current values of the three first loops and the current values of the three second loops are both greater than the low level, the servo motor 100 is determined to be in the normal state. When the current values of the three first loops and the current values of the three second loops are both greater than the low level, that is, the 6 currents are not always at the low level but have current changes, it is proved that the three first loops and the three second loops are all kept on, and the three phase lines of the servo motor 100 are not broken.
In a second aspect of the present application, a system for detecting a broken line of a servo motor is provided, including: the servo motor disconnection detection method comprises at least one memory, at least one processor and at least one program instruction, wherein the program instruction is stored on the memory and can be operated on the processor, and the processor is used for executing the servo motor disconnection detection method provided by the first aspect.
In a third aspect of the present application, a storage medium is provided, where program instructions are stored on the storage medium, and the program instructions are used to execute the method for detecting a broken line of a servo motor provided in the first aspect of the present application.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
The method for detecting a broken line of a servo motor according to an embodiment of the present application is described in detail with reference to fig. 1 and 5. It is to be understood that the following description is illustrative only and is not intended to be in any way limiting.
Referring to fig. 1 to 5, an embodiment of the present application provides a method for detecting a broken line of a servo motor, including: controlling the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240 in the three-phase voltage inverter circuit to be connected, and switching off the other upper bridge arms and the other lower bridge arms; applying a first direct-current voltage with gradually increasing duty ratio in the PWM waveform between the U-phase upper bridge arm 210 and the V-phase lower bridge arm 240; acquiring a first current between a U phase and a V phase, and enabling the first current to be smaller than the rated current of the servo motor 100; controlling the W-phase upper bridge arm 250 and the U-phase lower bridge arm 220 in the three-phase voltage inverter circuit to be connected, and switching off the other upper bridge arms and the other lower bridge arms; applying a second direct-current voltage with gradually increasing duty ratio in the PWM waveform between the W-phase upper bridge arm 250 and the U-phase lower bridge arm 220; acquiring a second current between the U phase and the W phase, and enabling the second current to be smaller than the rated current of the servo motor 100; controlling the V-phase upper bridge arm 230 and the W-phase lower bridge arm 260 in the three-phase voltage inverter circuit to be connected, and the rest upper bridge arm and the rest lower bridge arm to be disconnected; applying a third direct-current voltage with gradually increasing duty ratio in the PWM waveform between the V-phase upper arm 230 and the W-phase lower arm 260; acquiring a third current between the V phase and the W phase, and enabling the third current to be smaller than the rated current of the servo motor 100; if at least two current values of the first current, the second current and the third current are low levels, determining that the servo motor 100 is in a power line disconnection state, and determining that a disconnected phase line exists in the three phase lines; if the servo motor 100 is determined to be in a power line disconnection state and a disconnected phase line is determined to exist in the three phase lines, a power line disconnection early warning signal is sent out; if the first current, the second current, the third current, the fourth current, the fifth current, and the sixth current are all greater than the low level, it is determined that the servo motor 100 is not disconnected.
The foregoing description has been directed to specific embodiments of this disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The program instructions comprise computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The storage medium includes: any entity or device capable of carrying computer program code, recording medium, computer memory, Read Only Memory (ROM), Random Access Memory (RAM), electrical carrier signals, telecommunications signals, software distribution medium, and the like. It should be noted that the storage medium may include contents that are appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, the storage medium does not include electrical carrier signals and telecommunication signals according to legislation and patent practice.
It should be noted that, for the sake of simplicity, the above-mentioned method embodiments are described as a series of acts or combinations, but those skilled in the art should understand that the present application is not limited by the described order of acts, as some steps may be performed in other orders or simultaneously according to the present application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.
In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
The embodiments of the present application have been described in detail with reference to the drawings, but the present application is not limited to the embodiments, and various changes can be made without departing from the spirit of the present application within the knowledge of those skilled in the art.
Claims (10)
1. A servo motor disconnection detection method is characterized by comprising one of the following modes:
detecting the current value of each first loop in three first loops formed by combining each two phases of three phases of a servo motor, and determining that the servo motor has a broken line if at least two of the current values of the three first loops are low levels;
and detecting current values of three second loops formed by combining each two phases of three phases of the servo motor as parallel branches with the other phase in series, and determining that the servo motor has a broken line if at least one of the current values of the three second loops is a low level.
2. The servo motor disconnection detecting method according to claim 1, wherein the current values of the first loop include a first current, a second current, and a third current, and the detecting of the current value of each of three first loops formed by combining each of two phases of the servo motor includes:
combining a U phase and a V phase of a servo motor to form a first loop, applying a first direct current voltage between the U phase and the V phase, and obtaining a first current between the U phase and the V phase;
the U phase and the W phase of the servo motor are combined to form a second first loop, a second direct current voltage is applied between the U phase and the W phase, and a second current between the U phase and the W phase is obtained;
and the V phase and the W phase of the servo motor are combined to form a third first loop, a third direct current voltage is applied between the V phase and the W phase, and a third current between the V phase and the W phase is obtained.
3. The method for detecting a disconnection of a servo motor according to claim 2, wherein the combining of the U-phase and the V-phase of the servo motor forms a first loop, the applying a first dc voltage between the U-phase and the V-phase and obtaining a first current between the U-phase and the V-phase comprises:
controlling a U-phase upper bridge arm and a V-phase lower bridge arm in a three-phase voltage inverter circuit to be connected, and switching off the U-phase lower bridge arm, the V-phase upper bridge arm, the W-phase upper bridge arm and the W-phase lower bridge arm;
applying a first direct-current voltage with gradually increasing duty ratio in a PWM waveform between the U-phase upper bridge arm and the V-phase lower bridge arm;
and acquiring a first current between the U phase and the V phase, and enabling the first current to be smaller than the rated current of the servo motor.
4. The method according to claim 1, wherein the current values of the second loop include a fourth current, a fifth current and a sixth current, and the detecting of the current values of three second loops formed by combining each two of three phases of the servo motor as a parallel branch in series with another phase comprises:
a U-phase line and a V-phase line of the servo motor are used as parallel branches to be combined with a W-phase line in series to form a second loop, fourth direct-current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and fourth current of the second loop is obtained;
the U-phase line and the W-phase line of the servo motor are used as parallel branches to be combined with the V-phase line in series to form a second loop, fifth direct-current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and fifth current of the second loop is obtained;
the servo motor is characterized in that the W phase line and the V phase line are used as parallel branches to be combined with the U phase line in series to form a third second loop, sixth direct current voltage is applied among the U phase line, the V phase line and the W phase line of the servo motor, and sixth current of the second loop is obtained.
5. The method for detecting the disconnection of the servo motor according to claim 4, wherein a U-phase line and a V-phase line of the servo motor are used as parallel branches to be combined with a W-phase line in series to form a second loop, a fourth direct current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and a fourth current of the second loop is obtained, and the method comprises the following steps:
controlling a U-phase upper bridge arm, a V-phase upper bridge arm and a W-phase lower bridge arm in a three-phase voltage inverter circuit to be connected, and controlling the W-phase upper bridge arm, the U-phase lower bridge arm and the V-phase lower bridge arm to be disconnected;
applying fourth direct-current voltage with gradually increasing duty ratio in PWM waveforms among the U-phase upper bridge arm, the V-phase upper bridge arm and the W-phase lower bridge arm;
and acquiring a fourth current of the second loop, and enabling the fourth current to be smaller than the rated current of the servo motor.
6. The method for detecting the disconnection of the servo motor according to claim 4, wherein a U-phase line and a V-phase line of the servo motor are used as parallel branches to be combined with a W-phase line in series to form a second loop, a fourth direct current voltage is applied among the U-phase line, the V-phase line and the W-phase line of the servo motor, and a fourth current of the second loop is obtained, and the method comprises the following steps:
controlling a U-phase lower bridge arm, a V-phase lower bridge arm and a W-phase upper bridge arm in a three-phase voltage inverter circuit to be connected, and controlling the U-phase upper bridge arm, the V-phase upper bridge arm and the W-phase lower bridge arm to be disconnected;
applying fourth direct-current voltage with gradually increasing duty ratio in PWM waveforms to the U-phase lower bridge arm, the V-phase lower bridge arm and the W-phase upper bridge arm;
and acquiring a fourth current of the second loop, and enabling the fourth current to be smaller than the rated current of the servo motor.
7. The servo motor disconnection detecting method according to any one of claims 1 to 6, further comprising:
and if the servo motor is determined to have a broken line, sending a power line breakage early warning signal.
8. The servo motor disconnection detecting method according to claim 1, further comprising:
and if the current values of the three first loops and the current values of the three second loops are both greater than a low level, determining that the servo motor is not broken.
9. A servo motor disconnection detection system is characterized by comprising: at least one memory, at least one processor, and at least one program instruction stored on the memory and executable on the processor, the processor being configured to perform the method of servo motor disconnection detection of any of claims 1 to 8.
10. A storage medium, characterized by: the storage medium has stored thereon program instructions for executing the servo motor disconnection detection method according to any one of claims 1 to 8.
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