CN113176793A - Motor servo system, control method and device thereof, electronic equipment and storage medium - Google Patents
Motor servo system, control method and device thereof, electronic equipment and storage medium Download PDFInfo
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- CN113176793A CN113176793A CN202110396941.1A CN202110396941A CN113176793A CN 113176793 A CN113176793 A CN 113176793A CN 202110396941 A CN202110396941 A CN 202110396941A CN 113176793 A CN113176793 A CN 113176793A
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- 230000006870 function Effects 0.000 claims description 54
- 238000001514 detection method Methods 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 7
- 230000000977 initiatory effect Effects 0.000 claims 2
- 230000008569 process Effects 0.000 abstract description 11
- 230000005347 demagnetization Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 10
- 238000005070 sampling Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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Abstract
The application provides a motor servo system, a control method and a control device thereof, electronic equipment and a storage medium, wherein the method comprises the following steps: when the motor servo system is detected to meet the starting condition of the dynamic braking function, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off; and performing turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor. According to the motor servo system and the control method and device, the electronic equipment and the storage medium thereof, when the motor runs at a high speed, if an error occurs, the motor can be rapidly stopped by the dynamic braking function, resistance can be added for the motor by the dynamic braking function under the condition that the motor is out of service, and permanent damage such as demagnetization to the motor can not be caused due to controllable current in the braking process.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies, and in particular, to a motor servo system, a control method and apparatus thereof, an electronic device, and a storage medium.
Background
In some industrial applications, it is desirable to stop the motor as quickly as possible in the event that the motor is running at high speed and a system fault is detected, and to increase the resistance of the system in the event that the motor is disabled. In the related technology, a relay is added at the lower bridge of an inverter of a motor servo system, when a system error or the motor is out of the enable is detected, the relay is closed, and the counter electromotive force of the motor is short-circuited by the relay, so that the motor is stopped as soon as possible or the resistance is increased. However, when the motor runs at a high speed, although the relay can stop the motor as soon as possible or increase resistance, the motor may have a large current, which may cause permanent damage to the motor.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present application is to provide a control method for a motor servo system, in which when a motor is operated at a high speed and an error occurs, a dynamic braking function can stop the motor quickly, and when the motor is not enabled, the dynamic braking function can add resistance to the motor without causing permanent damage to the motor.
A second object of the present application is to provide a control device of a motor servo system.
A third object of the present application is to provide a motor servo system.
A fourth object of the present application is to provide an electronic device.
A fifth object of the present application is to propose a computer-readable storage medium.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a control method for a motor servo system, including: when the motor servo system is detected to meet the starting condition of the dynamic braking function, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off; and performing turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
The control method of the motor servo system provided by the embodiment of the application, when the condition that the motor servo system meets the starting condition of the dynamic braking function is detected, one of an upper bridge and a lower bridge of three phases of an inverter is turned off, the inverter is turned off according to the phase current of the motor, the other of the upper bridge and the lower bridge corresponding to the phase is controlled to be turned off, when the motor runs at a high speed, if an error occurs, the dynamic braking function can enable the motor to be rapidly stopped, the dynamic braking function can increase resistance for the motor under the condition that the motor is enabled, and the current is controllable in the braking process, so that permanent damage such as demagnetization can not be caused to the motor.
According to an embodiment of the present application, the shutdown control of the other of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor includes: if the phase current is identified to be larger than a preset phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is switched off; and if the phase current is identified to be equal to or less than the phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is opened.
According to an embodiment of the application, the dynamic braking function enabling condition comprises at least one of: the method comprises the steps of detecting a system error, detecting a system disable, not damaging an inverter, not controlling the inverter through a current controller to stop the motor, feeding current normally and not overvoltage the voltage of the motor.
According to an embodiment of the application, the detecting that the motor servo system meets the dynamic braking function starting condition and then shutting down one of the three-phase upper bridge or the three-phase lower bridge of the inverter comprises: setting a dynamic braking flag bit when the motor servo system is detected to meet the starting condition of the dynamic braking function; and when the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
According to an embodiment of the present application, a control period of the turn-off control of the other of the upper bridge or the lower bridge of the corresponding phase of the inverter is less than a preset current loop control period.
According to an embodiment of the present application, the control method of the motor servo system further includes: and if the motor servo system is detected not to meet the dynamic braking function starting condition, controlling the inverter through a current controller.
In order to achieve the above object, a second aspect of the present application provides a control device for a motor servo system, including: the detection module is used for switching off one of the three-phase upper bridge or the three-phase lower bridge of the inverter when detecting that the motor servo system meets the starting condition of the dynamic braking function; and the control module is used for carrying out turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
The control device of motor servo that this application embodiment provided, when detecting motor servo and satisfying dynamic braking function start condition, turn off one in the upper bridge of inverter three-phase or the lower bridge, and it is right according to the phase current of motor the inverter is to another kind in the upper bridge or the lower bridge of looks, when the motor runs at a high speed, if the mistake has taken place, dynamic braking function can make its rapid stop, under the condition that the motor falls the enable, dynamic braking function can be for its increase resistance, and owing to in braking process the electric current controllable, can not cause permanent damage such as demagnetization to the motor.
According to an embodiment of the present application, the control module is specifically configured to: if the phase current is identified to be larger than a preset phase current threshold value, the other one of the upper bridge and the lower bridge of the inversion corresponding phase is switched off; and if the phase current is identified to be equal to or less than the phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is opened.
According to an embodiment of the application, the dynamic braking function enabling condition comprises at least one of: the method comprises the steps of detecting a system error, detecting a system disable, not damaging an inverter, not controlling the inverter through a current controller to stop the motor, feeding current normally and not overvoltage the voltage of the motor.
According to an embodiment of the present application, the detection module is specifically configured to: setting a dynamic braking flag bit when the motor servo system is detected to meet the dynamic braking function condition; and when the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
According to an embodiment of the present application, a control period of the turn-off control of the other of the upper bridge or the lower bridge of the corresponding phase of the inverter is less than a preset current loop control period.
According to an embodiment of the application, the detection module is further configured to: and if the motor servo system is detected not to meet the dynamic braking function starting condition, controlling the inverter through a current controller.
To achieve the above object, a third aspect of the present invention provides a motor servo system, including: the motor, the inverter and the control device of the motor servo system according to the embodiment of the second aspect of the application.
To achieve the above object, a fourth aspect of the present application provides an electronic device, including: the present invention relates to a motor servo system, and more particularly to a motor servo system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor.
To achieve the above object, a fifth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a control method of a motor servo system according to the first aspect of the present application.
Drawings
FIG. 1 is a schematic diagram of the operation of a motor servo system according to one embodiment of the present application;
FIG. 2 is a flow chart diagram of a method of controlling a motor servo system according to one embodiment of the present application;
FIG. 3 is a flow chart diagram of a control method of a motor servo system according to another embodiment of the present application;
FIG. 4 is a flow chart diagram of a control method of a motor servo system according to another embodiment of the present application;
FIG. 5 is a flow chart diagram of a control method of a motor servo system according to another embodiment of the present application;
FIG. 6 is a schematic structural diagram of a control device of a motor servo system according to an embodiment of the present application;
FIG. 7 is a schematic diagram of a motor servo system according to one embodiment of the present application;
FIG. 8 is a schematic view of an electronic device according to one embodiment of the present application.
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 and intended to be used for explaining the present application and should not be construed as limiting the present application.
A motor servo system, a control method thereof, an apparatus thereof, an electronic device, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings.
For clarity of description of the motor servo system and the control method, device, electronic device and storage medium thereof according to the embodiments of the present application, the following description is made with reference to the schematic diagram of the operating principle of the motor servo system shown in fig. 1. As shown in fig. 1, includes: the position control device comprises a position generator 10, a position controller 11, a speed controller 12, a current controller 13, a position differentiator 14, a current transformation module 15, a current sampling module 16, an inverter 17, a motor 18 and a control device 19 of a motor servo system. The position differentiator 14 performs differentiation processing on the acquired actual position information of the motor 18 to obtain an actual speed of the motor. The current sampling module 16 may sample phase currents of the motor 18, and obtain quadrature axis currents and direct axis currents through the current transforming module 15. When the motor 18 is normally operated at a high speed, the dynamic braking function is not activated, and the position generator 10 generates given position information to control the inverter 17, and thus the motor 18, via the position controller 11, the speed controller 12, and the current controller 13. When the motor 18 runs at a high speed, an error occurs, the dynamic braking function is started, and the control device 19 of the motor servo system controls the inverter 17 according to the phase current obtained by the current sampling module 16, so as to control the motor 18 to stop or increase the resistance as soon as possible.
Fig. 2 is a flowchart illustrating a control method of a motor servo system according to an embodiment of the present application. The control method of the motor servo system provided by the embodiment of the application can be executed by the control device of the motor servo system provided by the embodiment of the application, and the control device can be arranged on the motor. As shown in fig. 2, the control method of the motor servo system according to the embodiment of the present application may specifically include the following steps:
s201, when the condition that the motor servo system meets the starting condition of the dynamic braking function is detected, one of the three-phase upper bridge and the three-phase lower bridge of the inverter is shut down.
In the embodiment of the application, a dynamic braking function starting condition of the motor servo system can be preset, and when the motor servo system is detected to meet the dynamic braking function starting condition, the dynamic braking function is started, and one of a three-phase upper bridge and a three-phase lower bridge of an inverter in the motor servo system is turned off, namely the three-phase upper bridge is turned off or the three-phase lower bridge is turned off. The dynamic braking function starting condition may specifically include, but is not limited to, at least one of the following: system error detection, system disable detection, inverter not damaged, inability to control the inverter via the current controller to stop the motor, normal current feedback, and no over-voltage condition of the motor. For example, in practical application, when a motor servo system error is detected, the inverter is not damaged, the current feedback is normal, and the voltage of the motor is not in an overvoltage state, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off. Or when the condition that the motor servo system is out of the enable state, the inverter is not damaged, the current feedback is normal, and the voltage of the motor is not in an overvoltage state is detected, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
And S202, performing turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
In the embodiment of the present application, the phase current of the motor is obtained through the current sampling module, and the other of the upper bridge and the lower bridge of the corresponding phase of the inverter is controlled to be turned off according to the phase current, that is, when the three-phase upper bridge is turned off in step S201, the lower bridge of the corresponding phase is controlled to be turned off, and when the three-phase lower bridge is turned off in step S201, the upper bridge of the corresponding phase is controlled to be turned off. And performing turn-off control on the other of the upper bridge or the lower bridge of the U phase according to the phase current of the U phase, performing turn-off control on the other of the upper bridge or the lower bridge of the V phase according to the phase current of the V phase, and performing turn-off control on the other of the upper bridge or the lower bridge of the W phase according to the phase current of the W phase. And the other one of the upper bridge or the lower bridge of the corresponding phase is subjected to turn-off control, namely, the other one of the upper bridge or the lower bridge of the corresponding phase is controlled to be turned off or on, namely bang-bang control.
It should be noted here that, during the operation of the motor, a back electromotive force is present on a phase winding of the motor, and if an upper bridge (or a lower bridge) of the inverter is turned off and a lower bridge (or the upper bridge) is turned on, the back electromotive force is short-circuited, the phase current becomes large, and at this time, the kinetic energy of the motor is converted into electric energy and further into heat energy. If the upper bridge (or the lower bridge) of the inverter is turned off and the lower bridge (or the upper bridge) is turned off, the phase current is reduced. Therefore, the other one of the upper bridge or the lower bridge corresponding to the motor is controlled to be switched off according to the phase current of the motor, so that the current in the braking process of the motor can be controlled, and permanent damage such as demagnetization to the motor can not be caused. In addition, the control method of the motor servo system does not need to additionally increase a relay, and cost is reduced.
According to the control method of the motor servo system, when the condition that the motor servo system meets the starting condition of the dynamic braking function is detected, one of an upper bridge and a lower bridge of three phases of the inverter is turned off, the inverter is turned off according to the phase current of the motor, the other of the upper bridge and the lower bridge of the corresponding phase of the inverter is controlled to be turned off, when the motor runs at a high speed, if an error occurs, the dynamic braking function can enable the motor to be rapidly stopped, the dynamic braking function can increase resistance for the motor under the condition that the motor is enabled, and due to the fact that the current is controllable in the braking process, permanent damage such as demagnetization can not be caused to the motor.
Fig. 3 is a flowchart illustrating a control method of a motor servo system according to another embodiment of the present application. As shown in fig. 3, based on the embodiment shown in fig. 2, the method for controlling a motor servo system according to the embodiment of the present application may specifically include the following steps:
s301, when the motor servo system is detected to meet the starting condition of the dynamic braking function, one of the three-phase upper bridge and the three-phase lower bridge of the inverter is shut down.
In the embodiment of the present application, step S301 is the same as step S201 in the above embodiment, and the detailed process is not described herein again.
Step S202 "performing turn-off control on the other of the upper bridge and the lower bridge of the corresponding phase of the inverter according to the phase current of the motor" in the above embodiment may specifically include the following steps S302 to S303:
and S302, if the phase current is identified to be larger than the preset phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is switched off.
In the embodiment of the present application, each corresponding phase current threshold may be preset. If the phase current is greater than the corresponding phase current threshold, the other of the upper bridge or the lower bridge of the phase of the inverter is turned off, that is, when the three-phase upper bridge is turned off in step S301, the lower bridge of the phase is turned off, and when the three-phase lower bridge is turned off in step S301, the lower bridge of the phase is turned off.
And S303, if the phase current is equal to or less than the phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is opened.
In the embodiment of the present application, if the phase current is equal to or smaller than the corresponding phase current threshold, the other of the upper bridge and the lower bridge of the phase of the inverter is opened, that is, when the three-phase upper bridge is turned off in step S301, the lower bridge of the phase is opened, and when the three-phase lower bridge is turned off in step S301, the lower bridge of the phase is opened.
It should be noted here that, in the dynamic braking process, the current change is affected by the inductance and the resistance of the motor, and the current rises and falls quickly, and if bang-bang control is performed on the other of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the common current loop period of 31.25 microseconds (us), the phase current fluctuates greatly, so that the current fluctuation can be reduced by reducing the period of the bang-bang control, and specifically, the control period for performing turn-off control on the other of the upper bridge or the lower bridge of the corresponding phase of the inverter can be set to be smaller than the preset current loop control period, so as to reduce the current fluctuation.
In an embodiment of the present application, as shown in fig. 4, the step S301 "detecting that the motor servo system satisfies the dynamic braking function starting condition, and turning off one of the three-phase upper bridge and the three-phase lower bridge of the inverter" may specifically include the following steps:
s401, setting a dynamic braking zone bit when detecting that a motor servo system meets a dynamic braking function starting condition.
In the embodiment of the application, when the condition that the motor servo system meets the starting condition of the dynamic braking function is detected, the dynamic braking zone bit is set.
And S402, if the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge and the three-phase lower bridge of the inverter is switched off.
In the embodiment of the application, when the dynamic braking flag bit is detected to be set, the dynamic braking function is started, and one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
In an embodiment of the present application, the control method of the motor servo system of the embodiment of the present application may further include the steps of: and if the motor servo system is detected not to meet the dynamic braking function starting condition, controlling the inverter through a current controller.
According to the control method of the motor servo system, when the condition that the motor servo system meets the starting condition of the dynamic braking function is detected, one of an upper bridge and a lower bridge of three phases of the inverter is turned off, the inverter is turned off according to the phase current of the motor, the other of the upper bridge and the lower bridge of the corresponding phase of the inverter is controlled to be turned off, when the motor runs at a high speed, if an error occurs, the dynamic braking function can enable the motor to be rapidly stopped, the dynamic braking function can increase resistance for the motor under the condition that the motor is enabled, and due to the fact that the current is controllable in the braking process, permanent damage such as demagnetization can not be caused to the motor.
For clearly explaining the control method of the motor servo system according to the embodiment of the present application, the following describes in detail the control method of the motor servo system according to the embodiment of the present application with reference to fig. 5 by taking an example of performing shutdown control on the lower bridge by shutting off the upper bridge. Fig. 5 is a flowchart illustrating a control method of a motor servo system according to another embodiment of the present application. As shown in fig. 5, the control method according to the embodiment of the present application may specifically include the following steps:
s501, judging whether the motor servo system meets the starting condition of the dynamic braking function.
If yes, go to step S502. If not, step S515 is performed.
And S502, setting a dynamic braking flag bit.
And S503, when the dynamic braking flag bit is detected to be set, the three-phase upper bridge of the inverter is turned off.
And S504, collecting phase current.
And S505, judging whether the U-phase current is greater than a preset U-phase current threshold value.
If yes, go to step S506. If not, go to step S507.
And S506, turning off the lower bridge of the U phase of the inverter.
And S507, opening a lower bridge of the U phase of the inverter.
And S508, judging whether the V-phase current is greater than a preset V-phase current threshold value.
If yes, go to step S509. If not, go to step S510.
And S509, shutting down the lower bridge of the V phase of the inverter.
And S510, opening a lower bridge of the V phase of the inverter.
And S511, judging whether the W-phase current is greater than a preset W-phase current threshold value.
If yes, go to step S512. If not, step S513 is executed.
And S512, turning off the lower bridge of the W phase of the inverter.
And S513, opening a lower bridge of the W phase of the inverter.
And S514, judging whether the control period is reached.
If yes, the process returns to step S503. If not, the process returns to step S514.
And S515, controlling the inverter through the current controller.
In order to implement the foregoing embodiments, an embodiment of the present application further provides a control device of a motor servo system, where the control device of the motor servo system can implement the control method of the motor servo system in any of the foregoing embodiments. Fig. 6 is a schematic structural diagram of a control device of a motor servo system according to an embodiment of the present application. As shown in fig. 6, the control device 19 of the motor servo system according to the embodiment of the present application may specifically include: a detection module 61 and a control module 62.
And the detection module 61 is configured to turn off one of the three-phase upper bridge and the three-phase lower bridge of the inverter when detecting that the motor servo system meets a dynamic braking function starting condition.
And the control module 62 is used for performing turn-off control on the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
Further, in a possible implementation manner of the embodiment of the present application, the control module 62 is specifically configured to: if the phase current is identified to be larger than the preset phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inversion is switched off; and recognizing that the phase current is equal to or less than the phase current threshold value, opening the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter.
Further, in a possible implementation manner of the embodiment of the present application, the dynamic braking function starting condition includes at least one of the following conditions: system error is detected, system disable is detected, the inverter is not damaged, the inverter cannot be controlled by the current controller to stop the motor, current feedback is normal, and the voltage of the motor is not in an overvoltage state.
Further, in a possible implementation manner of the embodiment of the present application, the detection module 61 is specifically configured to: setting a dynamic braking flag bit when detecting that a motor servo system meets a dynamic braking function condition; and when the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge and the three-phase lower bridge of the inverter is switched off.
Further, in a possible implementation manner of the embodiment of the present application, a control period for performing turn-off control on the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is less than a preset current loop control period.
Further, in a possible implementation manner of the embodiment of the present application, the detecting module 61 is further configured to: and when the motor servo system is detected not to meet the starting condition of the dynamic braking function, the inverter is controlled by the current controller.
It should be noted that the foregoing explanation of the embodiment of the control method of the motor servo system is also applicable to the control device of the motor servo system of this embodiment, and details are not repeated here.
The control device of the motor servo system of the embodiment of the application, when detecting that the motor servo system meets the starting condition of the dynamic braking function, one of an upper bridge and a lower bridge of a three-phase inverter is turned off, the phase current of the motor is right, the inverter is turned off in the corresponding upper bridge or the corresponding lower bridge, when the motor runs at a high speed, if an error occurs, the dynamic braking function can enable the motor to be rapidly stopped, the dynamic braking function can increase resistance for the motor under the condition that the motor is enabled, and the current is controllable in the braking process, permanent damage such as demagnetization can not be caused to the motor.
In order to implement the above embodiment, a motor servo system 70 is further provided in the embodiment of the present application, and fig. 7 is a schematic diagram of a motor servo system according to an embodiment of the present application. As shown in fig. 7, the motor servo system 70 may specifically include: a motor 18, an inverter 17, and a control device 19 of the motor servo system described in the above embodiment.
In order to implement the foregoing embodiments, an electronic device 80 is further provided in an embodiment of the present application, as shown in fig. 8, the electronic device 80 may specifically include a memory 81, a processor 82, and a computer program stored in the memory 81 and executable on the processor 82, and when the processor 82 executes the program, the method for controlling the motor servo system as shown in the foregoing embodiments is implemented.
In order to implement the above embodiments, the present application also proposes a computer-readable storage medium on which a computer program is stored, the program being executed by a processor to implement the control method of the motor servo system as shown in the above embodiments.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (15)
1. A control method of a motor servo system is characterized by comprising the following steps:
when the motor servo system is detected to meet the starting condition of the dynamic braking function, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off;
and performing turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
2. The control method according to claim 1, wherein the turn-off control of the other of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor includes:
if the phase current is identified to be larger than a preset phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is switched off;
and if the phase current is identified to be equal to or less than the phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is opened.
3. The control method of claim 1, wherein the dynamic braking function initiation condition comprises at least one of:
the method comprises the steps of detecting a system error, detecting a system disable, not damaging an inverter, not controlling the inverter through a current controller to stop the motor, feeding current normally and not overvoltage the voltage of the motor.
4. The control method according to claim 1, wherein the detecting that the motor servo system satisfies a dynamic braking function start condition, and turning off one of the inverter three-phase upper bridge or lower bridge comprises:
setting a dynamic braking flag bit when the motor servo system is detected to meet the starting condition of the dynamic braking function;
and when the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
5. The control method according to claim 1, wherein a control period for performing turn-off control on the other of the upper bridge or the lower bridge of the corresponding phase of the inverter is shorter than a preset current loop control period.
6. The control method according to claim 1, characterized by further comprising:
and if the motor servo system is detected not to meet the dynamic braking function starting condition, controlling the inverter through a current controller.
7. A control device of a motor servo system, characterized by comprising:
the detection module is used for switching off one of the three-phase upper bridge or the three-phase lower bridge of the inverter when detecting that the motor servo system meets the starting condition of the dynamic braking function;
and the control module is used for carrying out turn-off control on the other one of the upper bridge or the lower bridge of the corresponding phase of the inverter according to the phase current of the motor.
8. The control device of claim 7, wherein the control module is specifically configured to:
if the phase current is identified to be larger than a preset phase current threshold value, the other one of the upper bridge and the lower bridge of the inversion corresponding phase is switched off;
and if the phase current is identified to be equal to or less than the phase current threshold value, the other one of the upper bridge and the lower bridge of the corresponding phase of the inverter is opened.
9. The control apparatus of claim 7, wherein the dynamic braking function initiation condition comprises at least one of:
the method comprises the steps of detecting a system error, detecting a system disable, not damaging an inverter, not controlling the inverter through a current controller to stop the motor, feeding current normally and not overvoltage the voltage of the motor.
10. The control device according to claim 7, wherein the detection module is specifically configured to:
and when the motor servo system is detected to meet the dynamic braking function condition, setting a dynamic braking zone bit:
and when the dynamic braking flag bit is detected to be set, one of the three-phase upper bridge or the three-phase lower bridge of the inverter is switched off.
11. The control device according to claim 7, wherein a control period for performing turn-off control on the other of the upper bridge or the lower bridge of the corresponding phase of the inverter is shorter than a preset current loop control period.
12. The control device of claim 7, wherein the detection module is further configured to:
and if the motor servo system is detected not to meet the dynamic braking function starting condition, controlling the inverter through a current controller.
13. A motor servo system, comprising: control device for a motor, an inverter and a motor servo system according to any of claims 7-12.
14. An electronic device, comprising: memory, processor and computer program stored on said memory and executable on said processor, said processor implementing a method of controlling a motor servo system according to any of claims 1-6 when executing said program.
15. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a control method of a motor servo system according to any one of claims 1 to 6.
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| CN202110396941.1A CN113176793B (en) | 2021-04-13 | Motor servo system, control method and device thereof, electronic equipment and storage medium |
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