CN114400619A - Design and method for preventing misoperation of motor driving device - Google Patents
Design and method for preventing misoperation of motor driving device Download PDFInfo
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- CN114400619A CN114400619A CN202111638012.3A CN202111638012A CN114400619A CN 114400619 A CN114400619 A CN 114400619A CN 202111638012 A CN202111638012 A CN 202111638012A CN 114400619 A CN114400619 A CN 114400619A
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- 238000013461 design Methods 0.000 title claims abstract description 20
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- 230000002441 reversible effect Effects 0.000 claims description 19
- 230000007257 malfunction Effects 0.000 claims description 9
- 230000009471 action Effects 0.000 claims description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000012544 monitoring process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H7/00—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions
- H02H7/08—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors
- H02H7/097—Emergency protective circuit arrangements specially adapted for specific types of electric machines or apparatus or for sectionalised protection of cable or line systems, and effecting automatic switching in the event of an undesired change from normal working conditions for dynamo-electric motors against wrong direction of rotation
Abstract
The invention relates to the technical field of motor driving devices, in particular to a design and a method for preventing misoperation of a motor driving device. The invention provides hardware and software for monitoring misoperation, wherein a reflecting plate is arranged on a driving wheel, three optical sensors are operated from the outside, the invention has the advantage that the motor can be stopped immediately when being driven to an unexpected direction of an engine, the direction can be judged according to the input sequence, the control signal for controlling the motor is captured and compared and analyzed, the actual driving wheel rotation can be sensed, so the direction has definite definition, if the program command has forward operation, the driving wheel senses whether the optical sensors actually operate in the forward direction according to the sensing of the driving wheel, and if the driving direction is found to be opposite in normal condition, an error signal is transmitted to a driving controller, so the driving is stopped.
Description
Technical Field
The invention relates to the technical field of motor driving devices, in particular to a design and a method for preventing misoperation of a motor driving device.
Background
A servo motor, i.e., a servo motor, is an engine that controls the operation of mechanical elements in a servo system, and is an indirect transmission device of a supplementary motor. The servo motor can control the speed, the position precision is very accurate, can convert the voltage signal into torque and rotational speed to drive the controlled object, the rotor rotational speed of the servo motor is controlled by the input signal, and can react fast, in the automatic control system, used as the executive component, and have characteristics such as small electromechanical time constant, high linearity, can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft, divide into two categories of direct current and alternating current servo motor, its main characteristic is, when the signal voltage is zero, there is no autorotation phenomenon, the rotational speed is reduced with the increase of the torque at uniform velocity.
The optical sensor is a sensing device, mainly composed of a photosensitive element, and mainly classified into an ambient light sensor, an infrared light sensor, a solar light sensor, and an ultraviolet light sensor.
When the servo motor is operated, the encoder feedback information is driven in both the forward direction and the reverse direction, erroneous feedback information induces a malfunction of the motor, and if the power shaft and the feedback are reversed for various reasons, and the program command is in the forward direction, the motor is driven in the reverse direction, and as the positional deviation increases, the motor is accelerated to advance to the feedback position and finally to advance in an unintended direction, which is very dangerous.
Disclosure of Invention
The invention aims to provide a design and a method for preventing misoperation of a motor driving device, which have the advantage that the motor can be stopped immediately when being driven to an unexpected direction of an engine, and solve the problem that the motor is likely to fail due to misoperation, mechanical failure and other reasons, so that collision accidents are caused.
In order to achieve the purpose, the invention provides the following technical scheme: a design for preventing misoperation of a motor driving device comprises a servo motor, a driving wheel, an encoder, a reflecting plate and an optical sensor;
the servo motor is used for controlling the driving wheel to drive in the forward direction or in the reverse direction;
the encoder is used for feeding back information to the servo motor, and the information comprises a positive direction and a negative direction;
the optical sensor is arranged on the outer side of the motor driving wheel and distributed annularly, and is used for transmitting a light source signal and receiving the light source signal after reflection and regression;
the reflecting plate is arranged on the back of the motor driving wheel and used for reflecting light source signals sent by the light sensor.
Preferably, the number of the light sensors is three, and the type of the light sensors is E3Z-R61.
Preferably, the encoder has 5 lead lines, of which 3 are pulse output lines, 1 is a COM terminal line, and 1 is a power supply line.
A design method for preventing misoperation of a motor driving device comprises the following steps:
the method comprises the following steps: adding each constant 1, 2 and 3 data into the input x200, x201 and x202 of the three optical sensors, and extracting a forward rotation signal on the servo driver;
step two: when the servo driver commands the forward rotation signal to be turned ON, the data of the primary sensing optical sensor is set and then enters the next stage;
step three: sensing whether the optical sensor is consistent with a forward program or not, determining to compare with a forward signal according to a logic program, and judging whether the direction of an actual driving wheel is the forward direction or not;
step four: and analyzing the secondary sensor data, writing a program for confirming whether the direction is correct, and driving and stopping the equipment.
Preferably, in the first step, three light sensors are equipped with a function of preventing mutual interference.
Preferably, in the first step, the optical sensor further comprises a sensor IO connector capable of maintaining high durability even in a low-temperature environment, and the temperature range of the use environment is extended to-40 ℃ to 55 ℃.
Preferably, in the first step, the optical sensor is provided with an output reverse connection protection function, and a reverse connection protection diode is added to an output line.
Preferably, in the fourth step, the program runs to determine that there is no ERROR during the forward operation, and outputs ERROR during the reverse operation.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides hardware and software for monitoring misoperation, a reflecting plate is arranged on a driving wheel, three optical sensors are operated from the outside, the invention has the advantages that the motor can be stopped immediately when being driven to an unexpected direction of an engine, the direction can be judged according to the input sequence, the control signal for controlling the motor is captured and compared and analyzed, the actual driving wheel rotation can be sensed, therefore, the direction is clearly defined, if the program command has forward running, then the driving wheel senses the light sensor to analyze whether the driving wheel actually runs in the forward direction or not, if the driving wheel normally runs in the reverse direction, an error signal is transmitted to the driving controller, thereby stopping driving, solving the problem that the motor may be out of order due to operation errors, mechanical faults and the like, thereby causing the problem of collision accidents and playing a remarkable role in preventing the misoperation of the motor driving device.
Drawings
FIG. 1 is a front view of a driving wheel according to the present invention;
FIG. 2 is a schematic view of the back side of the driving wheel of the present invention;
FIG. 3 is a schematic representation of a sensor model of the present invention;
FIG. 4 is a schematic diagram of a sensor circuit of the present invention;
FIG. 5 is a schematic diagram of the sensor sensing output and the positive direction signal output of the present invention;
FIG. 6 is a schematic diagram of the present invention with different values written by each sensor program;
FIG. 7 is a schematic diagram of a programming of a sensor arrangement according to the present invention;
FIG. 8 is a schematic diagram of a sensor setup program according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
a design for preventing misoperation of a motor driving device comprises a servo motor, a driving wheel, an encoder, a reflecting plate and an optical sensor;
the servo motor is used for controlling the driving wheel to drive in the forward direction or in the reverse direction;
the encoder is used for feeding back information to the servo motor, and the information comprises a positive direction and a negative direction;
the optical sensor is arranged on the outer side of the motor driving wheel and distributed annularly, and is used for transmitting a light source signal and receiving the light source signal after reflection and regression;
the reflecting plate is arranged on the back of the motor driving wheel and used for reflecting light source signals sent by the light sensor.
In this embodiment, the number of the optical sensors is three, and the types of the optical sensors are E3Z-R61, so that the direction is judged according to the input sequence, and the control signals of the control motor are captured and compared and analyzed conveniently.
In this embodiment, the encoder has 5 lead wires, 3 of them are pulse output lines, 1 is a COM end line, 1 is a power cord, through the setting of encoder, can be worked out signal or data, change into the equipment that can be used for communication, transmission and signal form of storage, be favorable to converting the drive wheel angle displacement into the signal of telecommunication.
A design method for preventing misoperation of a motor driving device comprises the following steps:
the method comprises the following steps: adding each constant 1, 2 and 3 data into the input x200, x201 and x202 of the three optical sensors, and extracting a forward rotation signal on the servo driver;
furthermore, the three optical sensors are provided with the function of preventing mutual interference, the optical sensors are also provided with sensor IO connectors capable of keeping high durability in a low-temperature environment, the temperature range of the use environment is expanded to-40-55 ℃, the optical sensors are provided with the output reverse connection protection function, and the output circuit is additionally provided with a reverse connection protection diode, so that the functions of the optical sensors can meet the use requirements, and meanwhile, the optical sensors have strong environment adaptability and can continuously and stably work.
Step two: when the servo driver commands the forward rotation signal to be turned ON, the data of the primary sensing optical sensor is set and then enters the next stage;
step three: sensing whether the optical sensor is consistent with a forward program or not, determining to compare with a forward signal according to a logic program, and judging whether the direction of an actual driving wheel is the forward direction or not;
step four: and analyzing the secondary sensor data, writing a program for confirming whether the direction is correct, and driving and stopping the equipment.
Example two:
a design for preventing misoperation of a motor driving device comprises a servo motor, a driving wheel, an encoder, a reflecting plate and an optical sensor;
the servo motor is used for controlling the driving wheel to drive in the forward direction or in the reverse direction;
the encoder is used for feeding back information to the servo motor, and the information comprises a positive direction and a negative direction;
the optical sensor is arranged on the outer side of the motor driving wheel and distributed annularly, and is used for transmitting a light source signal and receiving the light source signal after reflection and regression;
the reflecting plate is arranged on the back of the motor driving wheel and used for reflecting light source signals sent by the light sensor.
In this embodiment, the number of the optical sensors is three, and the types of the optical sensors are E3Z-R61, so that the direction is judged according to the input sequence, and the control signals of the control motor are captured and compared and analyzed conveniently.
In this embodiment, the encoder has 5 lead wires, wherein 3 lead wires are pulse output lines, 1 lead wire is a COM end line, and 1 lead wire is a power line, wherein the power supply of the encoder may be an external power supply, and may also directly use a DC24V power supply of a PLC. The negative end of the power supply is connected with the COM end of the encoder, the positive end of the power supply is connected with the power supply end of the encoder, and signals or data can be compiled and converted into equipment in a signal form which can be used for communication, transmission and storage through the arrangement of the encoder, so that the angular displacement of the driving wheel can be converted into electric signals.
A design method for preventing misoperation of a motor driving device comprises the following steps:
the method comprises the following steps: adding each constant 1, 2 and 3 data into the input x200, x201 and x202 of the three optical sensors, and extracting a forward rotation signal on the servo driver;
furthermore, the three optical sensors are provided with the function of preventing mutual interference, the optical sensors are also provided with sensor IO connectors capable of keeping high durability in a low-temperature environment, the temperature range of the use environment is expanded to-40-55 ℃, the optical sensors are provided with the output reverse connection protection function, and the output circuit is additionally provided with a reverse connection protection diode, so that the functions of the optical sensors can meet the use requirements, and meanwhile, the optical sensors have strong environment adaptability and can continuously and stably work.
Step two: when the servo driver commands the forward rotation signal to be turned ON, the data of the primary sensing optical sensor is set and then enters the next stage;
step three: sensing whether the optical sensor is consistent with a forward program or not, determining to compare with a forward signal according to a logic program, and judging whether the direction of an actual driving wheel is the forward direction or not;
step four: and analyzing the secondary sensor data, writing a program for confirming whether the direction is correct, and driving and stopping the equipment.
Furthermore, the program runs and judges that ERROR does not exist during forward action, and outputs ERROR during reverse action, so that the equipment can be conveniently controlled to run or stop.
In summary, by providing hardware and software for monitoring malfunction of the motor driving device, installing a reflection plate on the driving wheel and operating three optical sensors from the outside, the motor driving device has the advantages that the motor driving device can be stopped immediately when the motor is driven in an unexpected direction of the engine, the direction can be judged according to the input sequence, the control signal for controlling the motor is captured and compared and analyzed, the actual driving wheel rotation can be sensed, therefore, the direction is clearly defined, if the program command has forward running, then the driving wheel senses the light sensor to analyze whether the driving wheel actually runs in the forward direction or not, if the driving wheel normally runs in the reverse direction, an error signal is transmitted to the driving controller, thereby stopping driving, solving the problem that the motor may be out of order due to operation errors, mechanical faults and the like, thereby causing the problem of collision accidents and playing a remarkable role in preventing the misoperation of the motor driving device.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. A design for preventing malfunction of a motor driving device is characterized in that: the device comprises a servo motor, a driving wheel, an encoder, a reflecting plate and an optical sensor;
the servo motor is used for controlling the driving wheel to drive in the forward direction or in the reverse direction;
the encoder is used for feeding back information to the servo motor, and the information comprises a positive direction and a negative direction;
the optical sensor is arranged on the outer side of the motor driving wheel and distributed annularly, and is used for transmitting a light source signal and receiving the light source signal after reflection and regression;
the reflecting plate is arranged on the back of the motor driving wheel and used for reflecting light source signals sent by the light sensor.
2. The design for preventing malfunction of a motor driving device according to claim 1, wherein: the number of the light sensors is three, and the models of the light sensors are E3Z-R61.
3. The design for preventing malfunction of a motor driving device according to claim 1, wherein: the encoder has 5 lead wires, 3 of which are pulse output lines, 1 of which is a COM terminal line, and 1 of which is a power supply line.
4. A design method for preventing misoperation of a motor driving device is characterized by comprising the following steps: the design method comprises the following steps:
the method comprises the following steps: adding each constant 1, 2 and 3 data into the input x200, x201 and x202 of the three optical sensors, and extracting a forward rotation signal on the servo driver;
step two: when the servo driver commands the forward rotation signal to be turned ON, the data of the primary sensing optical sensor is set and then enters the next stage;
step three: sensing whether the optical sensor is consistent with a forward program or not, determining to compare with a forward signal according to a logic program, and judging whether the direction of an actual driving wheel is the forward direction or not;
step four: and analyzing the secondary sensor data, writing a program for confirming whether the direction is correct, and driving and stopping the equipment.
5. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, three optical sensors are provided with a function of preventing mutual interference.
6. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, the optical sensor is also provided with a sensor IO connector which can maintain high durability even in a low-temperature environment, and the temperature range of the use environment is expanded to-40-55 ℃.
7. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the first step, the optical sensor is provided with an output reverse connection protection function, and a reverse connection protection diode is added to an output circuit.
8. The design and method for preventing malfunction of motor driving device according to claim 1, wherein: in the fourth step, the program runs to judge that ERROR does not exist during the forward action and outputs ERROR during the reverse action.
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| CN202111638012.3A CN114400619A (en) | 2021-12-29 | 2021-12-29 | Design and method for preventing misoperation of motor driving device |
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| CN202111638012.3A CN114400619A (en) | 2021-12-29 | 2021-12-29 | Design and method for preventing misoperation of motor driving device |
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| CN205058045U (en) * | 2015-10-26 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with vision servo |
| CN106335764A (en) * | 2016-09-09 | 2017-01-18 | 华南农业大学 | PLC-based traction type double-rail conveyor control system for hillside orchard |
| CN109050244A (en) * | 2018-09-04 | 2018-12-21 | 浙江同筑科技有限公司 | A kind of high-precision AGV drives steering integrated device and its control method |
| CN113651267A (en) * | 2021-08-03 | 2021-11-16 | 浙江理工大学 | Parallel double-forklift synchronous control device |
-
2021
- 2021-12-29 CN CN202111638012.3A patent/CN114400619A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03256583A (en) * | 1990-03-05 | 1991-11-15 | Ckd Corp | Rotational direction controller for single-phase synchronous motor |
| CN2891435Y (en) * | 2006-04-04 | 2007-04-18 | 上海华明电力设备制造有限公司 | Proximity motor rotation direction detector |
| CN101885351A (en) * | 2010-07-15 | 2010-11-17 | 南京航空航天大学 | Split-type differential drive device and omnibearing movable automatic guided vehicle thereof |
| WO2012082192A1 (en) * | 2010-12-16 | 2012-06-21 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method of automatic detection and prevention of motor runaway |
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