CN113110196A - Robot parking control method and device - Google Patents
Robot parking control method and device Download PDFInfo
- Publication number
- CN113110196A CN113110196A CN202110445682.7A CN202110445682A CN113110196A CN 113110196 A CN113110196 A CN 113110196A CN 202110445682 A CN202110445682 A CN 202110445682A CN 113110196 A CN113110196 A CN 113110196A
- Authority
- CN
- China
- Prior art keywords
- robot
- switch group
- motor
- switch
- phase line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot parking control method and a device, which are applied to a robot.A first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; the method comprises the following steps: monitoring abnormal signals of the robot; when the abnormal signal is monitored, generating a parking instruction; and then according to the parking instruction, the first switch group is controlled to be switched off, and the second switch group is controlled to be switched on so as to short-circuit the three-phase line. The invention can realize that the robot is controlled to stop stably when the robot fails.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot parking control method and device.
Background
The existing service robot mostly adopts a permanent-magnet synchronous hub motor (PMSM) to move and walk. In order to ensure the operation performance and safety of the robot, a general motor driver has a perfect drive protection mechanism. When the abnormality occurs, the robot can be stopped in time, namely the speed of the robot is finally reduced to 0. The conventional shutdown mode has 0-speed control and 0-speed freedom. The 0-speed control is realized from the encoder level, and the parking is stable and cannot slide accidentally after parking; the disadvantage is that when some abnormity occurs, such as the abnormity of the encoder, the 0-speed is mistaken to cause the robot not to stop, and even a safety problem occurs. The 0-speed free, i.e. de-electrifying, removes the power for the robot to run, but the robot can move freely as being pushed by external force. The 0-speed free parking has the advantage that parking can be performed under any condition; a disadvantage is that it may slip accidentally after parking, for example on uneven roads.
Therefore, the current robot parking mode has the problem of unstable parking.
Disclosure of Invention
In view of the above problems, the present invention provides a robot parking control method and apparatus that can control a robot to stably park when the robot fails.
In a first aspect, the present application provides the following technical solutions through an embodiment:
a robot parking control method is applied to a robot, a first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; the method comprises the following steps:
monitoring abnormal signals of the robot; when the abnormal signal is monitored, generating a parking instruction; and controlling the first switch group to be switched off and controlling the second switch group to be switched on according to the parking instruction so as to enable the three-phase line to be in short circuit.
Optionally, the controlling, according to the parking instruction, the first switch group to be opened and the second switch group to be closed to short-circuit the three-phase line includes:
and sending the parking instruction to a driving chip so that the driving chip controls the first switch group to be disconnected and controls the second switch group to be closed to enable the three-phase line to be in short circuit.
Optionally, after controlling the first switch set to be turned off and controlling the second switch set to be turned on to short-circuit the three-phase line according to the parking instruction, the method further includes:
acquiring a current value of each line in the three-phase line; judging whether the current value of any line in the three-phase line is greater than a preset threshold value or not; and when the current value of any line in the three-phase line is greater than a preset threshold value, generating a disconnection instruction to control the second switch group to be disconnected.
Optionally, the preset threshold is 1.8-2.2 times of the rated current of the motor.
Optionally, the preset threshold is 2 times of the rated current of the motor.
In a second aspect, based on the same inventive concept, the present application provides the following technical solutions through an embodiment:
a robot parking control device is applied to a robot, a first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; the device comprises:
the monitoring module is used for monitoring an abnormal signal of the robot; the instruction generating module is used for generating a parking instruction when the abnormal signal is monitored; and the control module is used for controlling the first switch group to be switched off and controlling the second switch group to be switched on according to the parking instruction so as to enable the three-phase line to be in short circuit.
Optionally, the control module is specifically configured to:
and sending the parking instruction to a driving chip so that the driving chip controls the first switch group to be disconnected and controls the second switch group to be closed to enable the three-phase line to be in short circuit.
Optionally, the system further includes a protection module, configured to, after the first switch group is controlled to be opened and the second switch group is controlled to be closed according to the parking instruction, short-circuit the three-phase line:
acquiring a current value of each line in the three-phase line; judging whether the current value of any line in the three-phase line is greater than a preset threshold value or not; if yes, the second switch group is disconnected; if not, the second switch group is kept closed.
Optionally, the preset threshold is 1.8-2.2 times of the rated current of the motor.
In a third aspect, based on the same inventive concept, the present application provides the following technical solutions through an embodiment:
a computer-readable storage medium, having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of any of the first aspects.
The embodiment of the invention provides a robot parking control method and device, which are applied to a robot.A first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; monitoring abnormal signals of the robot; when the abnormal signal is monitored, generating a parking instruction; and then according to the parking instruction, the first switch group is controlled to be switched off, and the second switch group is controlled to be switched on so as to short-circuit the three-phase line. When the three phase lines of the motor are in short circuit, the motor generates kinetic energy when the motor has speed, the resistance is generated through the conversion of the kinetic energy, the electric energy, the magnetic energy and the torque, the motor can be automatically stopped, and the motor can be always kept in a static or controllable state. This parking control process can not carry out 0 fast feedback control to the motor after unusual appearing, so the safety problem can not appear, has avoided the unstable problem of parking.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts. In the drawings:
fig. 1 is a schematic structural diagram of a robot parking control circuit according to an embodiment of the present invention;
fig. 2 is a flowchart illustrating a robot parking control method according to still another embodiment of the present invention;
fig. 3 is another schematic structural diagram of a robot parking control circuit according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram illustrating a robot parking control apparatus according to still another embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Referring to fig. 1, in an embodiment of the present invention, a robot parking control circuit 100 is provided, the circuit being applied to a robot, the robot parking control circuit 100 including: the main chip 10, the driving chip, the power supply module 30, the motor 40, and the first switch T1 are combined into a second switch T2 group.
Specifically, since the motor 40 in the present embodiment is a three-phase motor, the first switch T1 group includes: a first switch T1, a second switch T2, and a third switch T3 for controlling three lines of the motor 40 to turn on or off the power of the motor 40. Likewise, the second group of switches T2 comprises: a fourth switch T4, a fifth switch T5, and a sixth switch T6, three switches for shorting the motor 40. Further, a control terminal of the first switch T1 and a control terminal of the fourth switch T4 are connected to the main chip 10 through the first driving chip 21, a control terminal of the second switch T2 and a control terminal of the fifth switch T5 are connected to the main chip 10 through the second driving chip 22, and a control terminal of the third switch T3 and a control terminal of the sixth switch T6 are connected to the main chip 10 through the third driving chip 23.
A main chip 10 for generating a control signal to control the driving chip; and meanwhile, the circuit is also used for receiving signals fed back by the driving chip. The driving chip is used for controlling the switch. Specifically, the main chip 10 may be an STM32 series chip or a TMS320 series chip, and the driver chip may be an IRS 2101S. A specific connection relationship between the driver chip and the main chip 10 is provided as follows: a PC6 port of the main chip 10 is connected with a HIN port of the first drive chip 21, a PA7 port of the main chip 10 is connected with a LIN port of the first drive chip 21, and an H0 port and an L0 port of the first drive chip 21 are respectively connected with control ports of a first switch T1 and a fourth switch T4; a PC7 port of the main chip 10 is connected with a HIN port of the second driver chip 22, a PB0 port of the main chip 10 is connected with a LIN port of the second driver chip 22, and an H0 port and an L0 port of the second driver chip 22 are connected with control ports of the second switch T2 and the fifth switch T5, respectively; the PC8 port of the main chip 10 is connected to the HIN port of the third driver chip 23, the PB1 port of the main chip 10 is connected to the LIN port of the third driver chip 23, and the H0 port and the L0 port of the third driver chip 23 are connected to the control ports of the third switch T3 and the sixth switch T6, respectively.
And the power supply module 30 is used for supplying power to the motor 40. The power supply module 30 is connected to the first line a of the motor 40 through the first switch T1, to the second line B of the motor 40 through the second switch T2, and to the third line C of the motor 40 through the third switch T3. The first line A and the second line B are in short circuit through a fourth switch T4 and a fifth switch T5, the first line A and the third line C are in short circuit through a fourth switch T4 and a fifth switch T5, and the second line B and the third line C are in short circuit through a fifth switch T5 and a sixth switch T6.
Short-circuiting or power supply control of the motor 40 can be achieved by the above-described circuit. Specifically, a more detailed method embodiment will be provided to explain the control logic of the robot parking control circuit 100 in the present invention.
Referring to fig. 2, based on the same inventive concept, an embodiment of the present invention provides a flowchart of a robot parking control method, which is applied to a robot and can be implemented based on the parking control circuit. The method comprises the following steps:
step S10: and monitoring abnormal signals of the robot.
In step S10, the abnormality signal indicates a signal indicating that the robot itself has failed or an abnormality has caused the robot to fail to operate normally. For example, a control system failure of the robot, a network card failure, low battery, etc. The abnormal signal may be a fault code generated correspondingly after a fault occurs. The abnormal signal is monitored and reacted by the main chip.
Step S20: and generating a parking instruction when the abnormal signal is monitored.
In step S20, the abnormal signal is generated by the master chip and sent to the driver chip by the master chip, and the control of the first switch group and the second switch group is realized by the driver chip.
Step S30: and controlling the first switch group to be switched off and controlling the second switch group to be switched on according to the parking instruction so as to enable the three-phase line to be in short circuit.
In step S30, a parking instruction is sent to the driver chip, so that the driver chip controls the first switch group to be opened and controls the second switch group to be closed to short-circuit the three-phase line. For example, when the robot works normally, the first switch, the second switch and the sixth switch are closed, the third switch, the fourth switch and the fifth switch are opened, and the control circuit is as shown in fig. 1. When the robot breaks down, the main chip sends the parking control instruction to the first driving chip, the second driving chip and the third driving chip respectively. The first driving chip controls the first switch to be switched off and controls the fourth switch to be switched on and switched off; the second driving chip controls the second switch to be switched off and controls the fifth switch to be switched on; the third driving chip will control the third switch to be turned off and the sixth switch to be turned on, and the control circuit is as shown in fig. 3. If the motor has speed at the moment, the motor can generate kinetic energy and generate resistance through the conversion of the kinetic energy, the electric energy, the magnetic energy and the torque, so that the motor can be automatically stopped; the resistance is generated due to the slight movement of the motor, so that the motor can be always kept in a static or controllable state. The control process can not carry out 0-speed feedback control on the motor after the abnormity occurs, so that the safety problem can not occur.
Of course, in some cases, it may happen that the worker needs to move the robot to forcibly push the robot to move; other external forces may also occur to push the robot to displace. At the moment, the safety of a robot motor circuit needs to be ensured, and the circuit is prevented from being damaged by current generated by the rotation of the motor in a short circuit state of the motor. One of the solutions provided in this embodiment is to monitor the current in the circuit. Specifically, after step S30, the method further includes the following steps:
step S41: and acquiring the current value of each line in the three-phase line.
In step S41, the current values in the three-phase lines of the motor may be collected by corresponding driving chips, and the current in the current may be calculated by connecting sampling resistors. In addition, if the main chip or the driving chip has a current acquisition function, the main chip or the driving chip can be directly read.
Step S42: and judging whether the current value of any line in the three-phase line is greater than a preset threshold value.
In step S42, the determination process is performed by the master chip. In this embodiment, the preset threshold is 1.8-2.2 times of the rated current of the motor, and the better controllable preset threshold is 2 times of the rated current of the motor, so that the safety of the current is ensured, the circuit burnout caused by overlarge current is avoided, and the poor parking effect caused by the undersize preset threshold is avoided.
Step S43: and when the current value of any line in the three-phase line is greater than a preset threshold value, generating a disconnection instruction to control the second switch group to be disconnected.
In step S43, when the current in any line of the three-phase lines is greater than the preset threshold, it indicates that the motor may be forced by an external force. At this time, in order to avoid the circuit damage, an opening instruction is generated and sent to the driving chip to control the second switch to be disconnected. Specifically, the disconnection instruction is sent to the first driving chip, the second driving chip and the third driving chip respectively, so as to drive the fourth switch, the fifth switch and the sixth switch to be turned off and on respectively.
In summary, the robot parking control method provided in this embodiment is applied to a robot, a first switch group is arranged between a motor of the robot and a power supply, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to travel; monitoring abnormal signals of the robot; when the abnormal signal is monitored, generating a parking instruction; and then according to the parking instruction, the first switch group is controlled to be switched off, and the second switch group is controlled to be switched on so as to short-circuit the three-phase line. When the three phase lines of the motor are in short circuit, the motor generates kinetic energy when the motor has speed, the resistance is generated through the conversion of the kinetic energy, the electric energy, the magnetic energy and the torque, the motor can be automatically stopped, and the motor can be always kept in a static or controllable state. This parking control process can not carry out 0 fast feedback control to the motor after unusual appearing, so the safety problem can not appear, has avoided the unstable problem of parking.
Referring to fig. 4, based on the same inventive concept, in another embodiment of the present invention, a robot parking control device 300 is further provided, which is applied to a robot, wherein a first switch set is disposed between a motor of the robot and a power supply, a second switch set is disposed between three phase lines of the motor, and the motor is used for driving the robot to walk; the apparatus 300 comprises:
the monitoring module 301 is used for monitoring an abnormal signal of the robot;
the instruction generating module 302 is configured to generate a parking instruction when the abnormal signal is monitored;
and the control module 303 is configured to control the first switch group to be turned off and control the second switch group to be turned on according to the parking instruction, so that the three-phase line is short-circuited.
As an optional implementation manner, the control module 303 is specifically configured to:
and sending the parking instruction to a driving chip so that the driving chip controls the first switch group to be disconnected and controls the second switch group to be closed to enable the three-phase line to be in short circuit.
As an optional implementation manner, the system further includes a protection module, configured to, after the controlling, according to the parking instruction, the first switch group to be opened and the second switch group to be closed to short-circuit the three-phase line:
acquiring a current value of each line in the three-phase line;
judging whether the current value of any line in the three-phase line is greater than a preset threshold value or not;
if yes, the second switch group is disconnected;
if not, the second switch group is kept closed.
In an optional embodiment, the preset threshold is 1.8 to 2.2 times of the rated current of the motor.
As an alternative embodiment, the preset threshold is 2 times the rated current of the motor.
It should be noted that the specific implementation and technical effects of the robot parking control device 300 provided in the embodiment of the present invention are the same as those of the foregoing method embodiment, and for the sake of brief description, reference may be made to corresponding contents in the foregoing method embodiment for parts of the embodiment of the device that are not mentioned.
Based on the same inventive concept, a computer-readable storage medium is also provided in yet another embodiment of the present invention, on which a computer program is stored, which when executed by a processor implements the steps of the method of any of the above-mentioned method embodiments.
It should be noted that, in the computer-readable storage medium provided by the embodiment of the present invention, the specific implementation and the generated technical effect of each step when the program is executed by the processor are the same as those of the foregoing method embodiment, and for the sake of brief description, reference may be made to the corresponding content in the foregoing method embodiment for the non-mentioned point of the embodiment.
The term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three 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; the word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A robot parking control method is characterized in that the method is applied to a robot, a first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; the method comprises the following steps:
monitoring abnormal signals of the robot;
when the abnormal signal is monitored, generating a parking instruction;
and controlling the first switch group to be switched off and controlling the second switch group to be switched on according to the parking instruction so as to enable the three-phase line to be in short circuit.
2. The method of claim 1, wherein said controlling the first switch set to open and the second switch set to close to short the three-phase line according to the parking instruction comprises:
and sending the parking instruction to a driving chip so that the driving chip controls the first switch group to be disconnected and controls the second switch group to be closed to enable the three-phase line to be in short circuit.
3. The method according to claim 1, wherein after controlling the first switch set to be open and the second switch set to be closed to short the three-phase line according to the parking instruction, the method further comprises:
acquiring a current value of each line in the three-phase line;
judging whether the current value of any line in the three-phase line is greater than a preset threshold value or not;
and when the current value of any line in the three-phase line is greater than a preset threshold value, generating a disconnection instruction to control the second switch group to be disconnected.
4. The method of claim 1, wherein the preset threshold is 1.8-2.2 times the rated current of the motor.
5. The method of claim 4, wherein the preset threshold is 2 times the rated current of the motor.
6. A robot parking control device is characterized in that the device is applied to a robot, a first switch group is arranged between a motor and a power supply of the robot, a second switch group is arranged between three phase lines of the motor, and the motor is used for driving the robot to walk; the device comprises:
the monitoring module is used for monitoring an abnormal signal of the robot;
the instruction generating module is used for generating a parking instruction when the abnormal signal is monitored;
and the control module is used for controlling the first switch group to be switched off and controlling the second switch group to be switched on according to the parking instruction so as to enable the three-phase line to be in short circuit.
7. The apparatus of claim 6, wherein the control module is specifically configured to:
and sending the parking instruction to a driving chip so that the driving chip controls the first switch group to be disconnected and controls the second switch group to be closed to enable the three-phase line to be in short circuit.
8. The apparatus of claim 6, further comprising a protection module configured to, after the controlling the first switch set to be open and the second switch set to be closed to short the three-phase line according to the parking instruction:
acquiring a current value of each line in the three-phase line;
judging whether the current value of any line in the three-phase line is greater than a preset threshold value or not;
if yes, the second switch group is disconnected;
if not, the second switch group is kept closed.
9. The device of claim 6, wherein the preset threshold is 1.8-2.2 times of the rated current of the motor.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445682.7A CN113110196A (en) | 2021-04-25 | 2021-04-25 | Robot parking control method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110445682.7A CN113110196A (en) | 2021-04-25 | 2021-04-25 | Robot parking control method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113110196A true CN113110196A (en) | 2021-07-13 |
Family
ID=76719846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110445682.7A Pending CN113110196A (en) | 2021-04-25 | 2021-04-25 | Robot parking control method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113110196A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103095196A (en) * | 2011-11-04 | 2013-05-08 | Juki株式会社 | Motor control device and motor control method |
| US20150303839A1 (en) * | 2013-01-31 | 2015-10-22 | Mitsubishi Electric Corporation | Motor drive |
| CN106427666A (en) * | 2016-10-31 | 2017-02-22 | 北京新能源汽车股份有限公司 | System, method and device for preventing car-rolling function of electric car from being out of control |
| US20170155344A1 (en) * | 2015-11-30 | 2017-06-01 | Denso Wave Incorporated | Robot system |
| CN209329988U (en) * | 2018-12-18 | 2019-08-30 | 深圳市优必选科技有限公司 | Servo motor braking circuit, servo motor braking system and robot |
| US20200112273A1 (en) * | 2018-10-04 | 2020-04-09 | Fanuc Corporation | Motor drive device |
| CN111030512A (en) * | 2019-12-16 | 2020-04-17 | 新代科技(苏州)有限公司 | Control system and control method for dynamic braking of motor |
| US20210006184A1 (en) * | 2018-02-28 | 2021-01-07 | Minebea Mitsumi Inc. | Motor driving control apparatus and motor driving control method |
-
2021
- 2021-04-25 CN CN202110445682.7A patent/CN113110196A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103095196A (en) * | 2011-11-04 | 2013-05-08 | Juki株式会社 | Motor control device and motor control method |
| US20150303839A1 (en) * | 2013-01-31 | 2015-10-22 | Mitsubishi Electric Corporation | Motor drive |
| US20170155344A1 (en) * | 2015-11-30 | 2017-06-01 | Denso Wave Incorporated | Robot system |
| CN106427666A (en) * | 2016-10-31 | 2017-02-22 | 北京新能源汽车股份有限公司 | System, method and device for preventing car-rolling function of electric car from being out of control |
| US20210006184A1 (en) * | 2018-02-28 | 2021-01-07 | Minebea Mitsumi Inc. | Motor driving control apparatus and motor driving control method |
| US20200112273A1 (en) * | 2018-10-04 | 2020-04-09 | Fanuc Corporation | Motor drive device |
| CN209329988U (en) * | 2018-12-18 | 2019-08-30 | 深圳市优必选科技有限公司 | Servo motor braking circuit, servo motor braking system and robot |
| CN111030512A (en) * | 2019-12-16 | 2020-04-17 | 新代科技(苏州)有限公司 | Control system and control method for dynamic braking of motor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8878474B2 (en) | Motor control device, current control method applied to motor control device, and electric power steering device using motor control device | |
| CN102957334B (en) | Methods, systems and apparatus for controlling a multi-phase inverter | |
| CN101267956B (en) | Multiple inverter system with single controller and related operating method | |
| US8054014B2 (en) | Control system for an electrical machine | |
| EP3865356A1 (en) | Electric braking device for vehicle and control method thereby | |
| US7402965B2 (en) | DC common bus self-protection method and system | |
| CN111786598B (en) | Motor control device and motor control method | |
| DE112017004939B4 (en) | power control device | |
| JP5731571B2 (en) | Separation detection method of power cable in inverter system | |
| JP2008043196A (en) | Failure treatment of inverter drive version pm motor drive unit | |
| WO2017037779A1 (en) | Electric power steering device | |
| US20120200248A1 (en) | Method for monitoring a drive state of an electric motor | |
| CN113110196A (en) | Robot parking control method and device | |
| CN110729928A (en) | Servo driver, and control method and device of servo motor | |
| CN104276112B (en) | The power-supply management system of automobile | |
| CN113428015A (en) | Motor control system and method and electric vehicle | |
| US11777436B2 (en) | Method and system for a safety concept for an AC battery | |
| CN113696737B (en) | Driving motor assembly, motor control module and control equipment thereof | |
| CN217396456U (en) | Vehicle power supply system | |
| CN117284274A (en) | Control method and control device of range extender system of vehicle and electronic equipment | |
| CN115800831A (en) | Start-stop control method and device for synchronous servo control system of electrically-driven special vehicle | |
| CN116533765A (en) | Control method and device for motor in vehicle, processor and vehicle | |
| CN117681661A (en) | Motor safety protection device and electric drive system comprising same | |
| CN114312423A (en) | Charging control method and device of charger, charger and storage medium | |
| CN114488768A (en) | Safety control circuit, control method and servo driver |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: Room 702, 7th floor, NO.67, Beisihuan West Road, Haidian District, Beijing 100089 Applicant after: Beijing Yunji Technology Co.,Ltd. Address before: Room 702, 7 / F, 67 North Fourth Ring Road West, Haidian District, Beijing Applicant before: BEIJING YUNJI TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210713 |
|
| RJ01 | Rejection of invention patent application after publication |