CN114448290A - Motor braking energy discharge control method and device with over-temperature protection - Google Patents
Motor braking energy discharge control method and device with over-temperature protection Download PDFInfo
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- CN114448290A CN114448290A CN202210083164.XA CN202210083164A CN114448290A CN 114448290 A CN114448290 A CN 114448290A CN 202210083164 A CN202210083164 A CN 202210083164A CN 114448290 A CN114448290 A CN 114448290A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000013021 overheating Methods 0.000 description 3
- 239000003990 capacitor Substances 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
- H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
- H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/60—Controlling or determining the temperature of the motor or of the drive
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details of stopping control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
The invention relates to the technical field of motor control, and discloses a motor braking energy release control method and device with over-temperature protection. The method and the device are different from the conventional scheme of carrying out discharge control through a comparator, the method and the device integrate the tube voltage drop of a discharge tube and the temperature of a discharge resistor, and carry out discharge control through a Microcontroller (MCU), so that the condition that the hardware of a discharge loop is damaged due to frequent braking and overlarge braking energy of a motor is avoided.
Description
Technical Field
The invention relates to the technical field of motor control.
Background
A servo driver is a device for controlling a motor, and generally realizes closed-loop control of the motor through three loops of position, speed and current. The servo motor is different from a common motor and usually needs to be accelerated and decelerated frequently. In the process of deceleration, the motor is in a power generation state, the bus voltage is rapidly increased due to the fact that the bus capacitor is charged, a necessary discharge circuit must be designed to process braking energy, and damage to capacitors and power devices due to overhigh bus voltage is avoided.
The general design method of the bleeder circuit is that a signal of a bus after being divided by a resistor is sent to the input end of a comparator, the signal is compared with a set threshold voltage, when the sampling voltage is greater than the threshold value, the comparator outputs a high level signal to control a power tube at the rear end to be opened, the energy of the bus is discharged through a bleeder resistor and a bleeder tube, and the voltage of the bus is gradually reduced; when the sampling voltage is lower than the set threshold value, the comparator outputs low level, the power tube is closed, and the discharge process is finished. The circuit is simple and reliable and is widely applied to most servo systems.
In order to quickly discharge braking energy without generating overvoltage of a bus, the resistance value of a discharge resistor is usually dozens of ohms or even several ohms, the bus voltage is usually hundreds of volts when the bus is discharged, and the discharge current reaches dozens of amperes, so that the circuit has certain defects in the application occasion of frequent braking: the brake pipe is continuously opened as long as the bus voltage is higher than a set threshold value, when the release energy is too high, the instantaneous power consumption on the brake resistor reaches up to kilowatt, and the release resistor and the release pipe are damaged due to overheating due to continuous release.
Disclosure of Invention
In order to solve the problems, the invention provides a motor braking energy discharge control method and device with over-temperature protection, which can protect a discharge pipe and a discharge resistor from being damaged due to overheating when the braking energy is too high and a bus is frequently discharged.
The invention provides a motor braking energy discharge control method with over-temperature protection, which adopts the technical scheme that:
step 1: setting a bus discharge start voltage Von and a discharge stop voltage Voff (Von > Voff);
step 2: calculating the leakage current according to the Von and the resistance value of the leakage resistor R5
And step 3: setting the maximum junction temperature T according to the discharge tube V1V1And IbLooking up the table to obtain the maximum tube voltage drop V of the power tube V1cemax；
And 4, step 4: the maximum temperature T is set according to the bleeder resistance R5R5And the highest voltage V output by the S1 is obtained by looking up the characteristic table of the temperature sensor S1s1max；
And 5: at each timeIn one control period, the A/D is used for collecting bus voltage Vbus and pressure drop V of a discharge pipe V1ceAnd the output voltage V of the temperature sensor S1s1；
Step 6: when V isce<VcemaxAnd V iss1<Vs1maxCarrying out discharge control, otherwise, directly closing the discharge pipe;
and 7: when the discharge control is performed, the discharge pipe is opened when Vbus > Von, and is closed when Vbus < Voff.
Correspondingly, the invention also provides a motor braking energy release control device with over-temperature protection, and the technical scheme comprises the following steps:
the Microcontroller (MCU) realizes the discharge control with temperature protection, and the microcontroller is used for collecting bus voltage Vbus and the output voltage V of the temperature sensor S1 by using a built-in multi-channel A/Ds1And a pressure drop V of a discharge pipe V1ceThe on-off of the discharge pipe V1 is controlled by a general I/O port of the microcontroller.
Further, a voltage output type sensor is adopted as the temperature sensor S1, an output voltage signal is connected to the input end of an operational amplifier N1, and the output end of an operational amplifier N1 is connected to an A/D acquisition channel 1 of the microcontroller;
furthermore, the positive electrode of the direct current bus is connected with pin 1 of the resistor R1, pin 2 of the resistor R1 is connected with pin 1 of the resistor R2, pin 2 of the resistor R2 is connected with pin 1 of the resistor R3, pin 2 of the resistor R3 is respectively connected with pin 1 of the resistor R4 and the input end of the operational amplifier N2, the output end of the operational amplifier N2 is connected with the micro-control A/D acquisition channel 2, and pin 2 of the resistor R4 is connected with the negative electrode of the direct current bus.
Further, an I/O port of the microcontroller is connected to an input end of the buffer D1, an output end of the D1 is connected to a base b of the drain tube V1, a pin 1 of the drain resistor R5 is connected to an anode of the dc bus, a pin 2 of the R5 is connected to a collector c of the drain tube V1, a collector c of the V1 is connected to an input end of the operational amplifier N3, an output end of the operational amplifier N3 is connected to the microcontroller a/D acquisition channel 3, and an emitter e of the drain tube V1 is connected to a cathode of the dc bus.
The motor braking energy release control method and device with over-temperature protection can detect the temperature states of the release resistor and the release pipe when the motor is frequently braked, and avoid overheating damage of the release resistor or the release pipe caused by overlarge release energy.
Drawings
FIG. 1 is a connection diagram of a motor braking energy release control device with over-temperature protection. Wherein S1 is a temperature detection sensor, and D1 is a buffer.
FIG. 2 is a flow chart of a motor braking energy release control method with over-temperature protection.
Detailed Description
The invention provides a motor braking energy release control method with over-temperature protection, which can be implemented according to the following steps:
step 1: setting a bus discharge opening voltage Von to 390V (DC) and a discharge stopping voltage Voff to 370V (DC) in a single-phase 220V (AC) power supply AC servo driver;
step 2: the resistance value of the bleeder resistor R5 is selected to be 19.5 omega, and the bleeder current I is calculatedb＝20A；
And step 3: IXYH40N120B3D1 of IXYS is selected as the discharge tube V1, and the highest junction temperature T is setV1At 125 ℃ according to IbWhen the maximum tube voltage drop V of the power tube V1 is obtained by table look-up at 20Acemax＝0.9V；
And 4, step 4: set maximum temperature T of bleed resistor R5R5The temperature sensor S1 is TMP35 of AD company, the temperature sensor is voltage output type, and the maximum voltage V output by S1 at 100 deg.C is obtained according to device manuals1max＝1.0V；
And 5: collecting bus voltage Vbus and pipe voltage drop V1 of a discharge pipe V1 by using A/D in each control cycleceAnd the output voltage V of the temperature sensor S1s1；
Step 6: when V isce<0.9V and Vs1<Carrying out discharge control at 1.0V, otherwise, directly closing the discharge pipe;
and 7: when performing the bleed control, the bleed pipe is opened when Vbus >390V, and closed when Vbus < 370V.
The embodiment of the invention also provides a motor braking energy release control device with over-temperature protection, which comprises:
STM32F103CBT6 of ST company is selected as a main controller to realize the bleeder control with temperature protection, a bus voltage signal is connected with 11 pins of STM32F103CBT6, a voltage signal of a temperature sensor S1 is connected with 12 pins of STM32F103CBT6, a bleeder V1 tube voltage drop signal is connected with 13 pins of STM32F103CBT6, and the 16 pins of the STM32F103CBT6 are used for on-off control of the bleeder V1.
Temperature sensor S1 employs TMP35, operational amplifier N1 employs SGM8555 of saint pao, gain is set to 3, pin 1 of TMP35 is connected to pin 3 of N1, pin 6 of operational amplifier N1 is connected to pin 12 of STM32F103CBT 6;
the resistances of the divider resistors R1, R2 and R3 are all 100k omega, the resistance of the resistor R4 is 2.1k omega, the operational amplifier N2 adopts SGM8555 of Santa Clau micro, and the gain is set to be 1. The positive pole of the direct current bus is connected with pin 1 of the resistor R1, pin 2 of the resistor R1 is connected with pin 1 of the resistor R2, pin 2 of the resistor R2 is connected with pin 1 of the resistor R3, pin 2 of the resistor R3 is connected with pin 1 of the resistor R4 and pin 3 of the calculation N2 respectively, pin 6 of the N2 is connected with pin 11 of the STM32F103CBT6, and pin 2 of the R4 is connected with the negative pole of the direct current bus.
The 16 pin of the STM32F103CBT6 is connected with the 2 pin of the MC74LCX244DTG, the 18 pin of the MC74LCX244DTG is connected with the 1 pin of the discharge pipe, the 1 pin of the discharge resistor R5 is connected with the positive pole of the direct current bus, the 2 pin of R5 is connected with the 2 pin of the discharge pipe V1, the 2 pin of V1 is connected with the 3 pin of the operational amplifier N3SGM8555, the 6 pin of N3 is connected with the 13 pin of the STM32F103CBT6, and the 3 pin of the discharge pipe V1 is connected with the negative pole of the direct current bus.
Claims (5)
1. A motor braking energy discharge control method with over-temperature protection is characterized in that:
step 1: setting a bus discharge starting voltage Von and a discharge stopping voltage Voff, wherein Von is larger than Voff;
step 2: calculating the leakage current according to the Von and the resistance value of the leakage resistor R5
And step 3: setting the maximum junction temperature T according to the discharge tube V1V1And IbLooking up the table to obtain the maximum tube voltage drop V of the power tube V1cemax；
And 4, step 4: the maximum temperature T is set according to the bleeder resistance R5R5And the highest voltage V output by the S1 is obtained by looking up the characteristic table of the temperature sensor S1s1max；
And 5: collecting bus voltage Vbus and pipe voltage drop V1 of a discharge pipe V1 by using A/D in each control cycleceAnd the output voltage V of the temperature sensor S1s1；
Step 6: when V isce<VcemaxAnd V iss1<Vs1maxCarrying out discharge control, otherwise, directly closing the discharge pipe;
and 7: when the discharge control is performed, the discharge pipe is opened when Vbus > Von, and is closed when Vbus < Voff.
2. The utility model provides a take motor braking energy discharge control device of excess temperature protection which characterized in that: the microcontroller realizes the discharge control with temperature protection, and the microcontroller is used for collecting bus voltage Vbus and the output voltage V of the temperature sensor S1 by using a built-in multi-channel A/Ds1And a pressure drop V of a discharge pipe V1ceThe on-off of the discharge pipe V1 is controlled by a general I/O port of the microcontroller.
3. The over-temperature protection motor braking energy release control device according to claim 2, characterized in that: the temperature sensor S1 adopts a voltage output type sensor, the output voltage signal is connected to the input end of an operational amplifier N1, and the output end of the operational amplifier N1 is connected to an A/D acquisition channel 1 of the microcontroller.
4. The over-temperature protection motor braking energy release control device according to claim 2, characterized in that: the positive electrode of the direct current bus is connected with a pin 1 of the resistor R1, a pin 2 of the resistor R1 is connected with a pin 1 of the resistor R2, a pin 2 of the resistor 2 is connected with a pin 1 of the resistor R3, a pin 2 of the resistor R3 is respectively connected with a pin 1 of the resistor R4 and the input end of the operational amplifier N2, the output end of the operational amplifier N2 is connected with the micro-control A/D acquisition channel 2, and a pin 2 of the resistor R4 is connected with the negative electrode of the direct current bus.
5. The over-temperature protection motor braking energy release control device according to claim 2, characterized in that: an I/O port of the microcontroller is connected with an input end of a buffer D1, an output end of a buffer D1 is connected with a base electrode b of a discharge tube V1, a pin 1 of a discharge resistor R5 is connected with an anode of a direct current bus, a pin 2 of a discharge resistor R5 is connected with a collector electrode c of a discharge tube V1, a collector electrode c of the V1 is connected with an input end of an operational amplifier N3, an output end of the operational amplifier N3 is connected with a microcontroller A/D acquisition channel 3, and an emitter electrode e of the discharge tube V1 is connected with a cathode of the direct current bus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210083164.XA CN114448290A (en) | 2022-01-25 | 2022-01-25 | Motor braking energy discharge control method and device with over-temperature protection |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210083164.XA CN114448290A (en) | 2022-01-25 | 2022-01-25 | Motor braking energy discharge control method and device with over-temperature protection |
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| CN114448290A true CN114448290A (en) | 2022-05-06 |
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| CN202210083164.XA Pending CN114448290A (en) | 2022-01-25 | 2022-01-25 | Motor braking energy discharge control method and device with over-temperature protection |
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Citations (7)
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| CN204615712U (en) * | 2015-04-29 | 2015-09-02 | 比亚迪股份有限公司 | For the leadage circuit of electric machine controller |
| CN106771945A (en) * | 2016-11-24 | 2017-05-31 | 北京世纪金光半导体有限公司 | A kind of IGBT junction temperatures on-line monitoring method and its measuring circuit |
| CN107968618A (en) * | 2016-10-20 | 2018-04-27 | 北京精密机电控制设备研究所 | A kind of protective device and control system of high-power control driver |
| CN208674863U (en) * | 2018-07-12 | 2019-03-29 | 中国船舶重工集团公司第七二四研究所 | A kind of output protection latching circuit of hysteresis comparator |
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| CN113092897A (en) * | 2021-03-16 | 2021-07-09 | 荣信汇科电气股份有限公司 | Temperature fatigue aging comprehensive test device for MMC flexible direct converter valve power module |
| WO2021253634A1 (en) * | 2020-06-18 | 2021-12-23 | 福州富昌维控电子科技有限公司 | Method for detecting temperature of braking resistor in driver |
-
2022
- 2022-01-25 CN CN202210083164.XA patent/CN114448290A/en active Pending
Patent Citations (7)
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|---|---|---|---|---|
| CN204615712U (en) * | 2015-04-29 | 2015-09-02 | 比亚迪股份有限公司 | For the leadage circuit of electric machine controller |
| CN107968618A (en) * | 2016-10-20 | 2018-04-27 | 北京精密机电控制设备研究所 | A kind of protective device and control system of high-power control driver |
| CN106771945A (en) * | 2016-11-24 | 2017-05-31 | 北京世纪金光半导体有限公司 | A kind of IGBT junction temperatures on-line monitoring method and its measuring circuit |
| US20190383670A1 (en) * | 2018-06-18 | 2019-12-19 | Rolls-Royce Plc | Health monitoring and failure prognosis of power electronics devices |
| CN208674863U (en) * | 2018-07-12 | 2019-03-29 | 中国船舶重工集团公司第七二四研究所 | A kind of output protection latching circuit of hysteresis comparator |
| WO2021253634A1 (en) * | 2020-06-18 | 2021-12-23 | 福州富昌维控电子科技有限公司 | Method for detecting temperature of braking resistor in driver |
| CN113092897A (en) * | 2021-03-16 | 2021-07-09 | 荣信汇科电气股份有限公司 | Temperature fatigue aging comprehensive test device for MMC flexible direct converter valve power module |
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Address after: 210003 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant after: 724 Research Institute of China Shipbuilding Corp. Address before: 210003 No. 346, Zhongshan North Road, Jiangsu, Nanjing Applicant before: 724TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. |
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Application publication date: 20220506 |