CN115224668A - Safe torque turn-off control circuit and control system - Google Patents
Safe torque turn-off control circuit and control system Download PDFInfo
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- CN115224668A CN115224668A CN202210971117.9A CN202210971117A CN115224668A CN 115224668 A CN115224668 A CN 115224668A CN 202210971117 A CN202210971117 A CN 202210971117A CN 115224668 A CN115224668 A CN 115224668A
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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
- H02H7/0833—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 for electric motors with control arrangements
- H02H7/0844—Fail safe control, e.g. by comparing control signal and controlled current, isolating motor on commutation error
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H1/00—Details of emergency protective circuit arrangements
- H02H1/0007—Details of emergency protective circuit arrangements concerning the detecting means
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Abstract
The invention discloses a safe torque turn-off control circuit and a safe torque turn-off control system, and relates to the technical field of power electronics. In the safe torque off control circuit: the signal conversion unit carries out isolation processing based on the received input signal and generates a first control signal; the logic processing unit generates a first driving signal based on the received first control signal; the fault diagnosis unit generates a second control signal based on the feedback signal so as to control the logic processing unit to generate a second driving signal based on the second control signal; the logic processing unit is connected with the driving signal processing unit and controls the driving signal processing unit to be switched on or switched off based on the first driving signal or the second driving signal. Through the mode, the input signal is isolated and processed based on the signal conversion unit, each unit of the circuit is monitored and diagnosed by the fault diagnosis unit, and the safety torque is turned off by hardware or software based on the logic processing unit, so that the risk of hardware failure of the control circuit is reduced.
Description
Technical Field
The invention relates to the technical field of power electronics, in particular to a safe torque turn-off control circuit and a safe torque turn-off control system.
Background
When an abnormal emergency situation occurs in the equipment including the driver, such as abnormal torque output, the energy output of the motor needs to be cut off in time to avoid equipment damage and personal safety accidents. In the prior art, the power of the driver is generally cut off by pressing an emergency stop button, so that the output of the motor is stopped. However, since the driving device has an energy storage device with a certain capacity, the driving device cannot consume electric energy immediately after power failure to stop the power supply, and especially, a high-power driver needs to consume a long time during power failure and restart, which has a great influence on production efficiency, a safe torque shutdown device is generally arranged in a motor driving system to shut down the motor torque at any time, so that personal injury accidents or equipment damage caused by untimely shutdown of the motor torque can be effectively prevented.
In the existing motor drive control system, the torque is turned off only by a hardware circuit in the safe torque turning-off function, and the hardware circuit for the safe torque turning-off is not monitored and diagnosed, so that the risk of hardware failure of the safe torque turning-off control circuit exists.
Disclosure of Invention
The invention provides a safe torque turn-off control circuit and a control system, which are used for monitoring and diagnosing a safe torque turn-off hardware circuit while turning off the safe torque through the hardware circuit.
In order to solve the above problems, the present invention provides a safe torque shutdown control circuit, including a signal conversion unit, a logic processing unit, a fault diagnosis unit, and a driving signal processing unit, wherein:
the signal conversion unit carries out isolation processing based on the received input signal and generates a first control signal based on the isolated input signal;
the logic processing unit is connected with the signal conversion unit and generates a first driving signal based on the received first control signal;
the fault diagnosis unit is respectively connected with the over-voltage and under-voltage protection unit, the signal conversion unit, the logic processing unit and the driving signal processing unit, receives feedback signals of the units, generates a second control signal based on the feedback signals, and controls the logic processing unit to generate a second driving signal based on the second control signal;
the logic processing unit is connected with the driving signal processing unit and controls the driving signal processing unit to be switched on or switched off based on the first driving signal or the second driving signal.
Furthermore, the control circuit further comprises a pulse signal control unit, wherein the pulse signal control unit is connected with the driving signal processing unit and used for generating a pulse width modulation signal and controlling the driving signal processing unit to generate an inversion control signal based on the pulse width modulation signal.
Further, the overvoltage and undervoltage protection unit is connected with the fault diagnosis unit, performs voltage stabilization processing based on received input voltage, generates output voltage to supply power to the control circuit, and the fault diagnosis unit obtains a voltage feedback signal based on sampling the input voltage and the output voltage.
Further, the fault diagnosis unit is used for generating a first self-test signal and a second self-test signal; the signal conversion unit receives the first self-detection signal and generates a first feedback signal based on the first self-detection signal, and the driving signal processing unit receives the second self-detection signal and generates a second feedback signal based on the second self-detection signal.
Further, the feedback signal includes the first feedback signal, the second feedback signal, the first driving signal, the voltage feedback signal, and the inversion control signal.
In order to solve the above problems, the present invention further provides a safe torque turn-off control system, which includes an input circuit, a safe torque turn-off control circuit and a motor, wherein the safe torque turn-off control circuit is connected to the input circuit and the motor, and the safe torque turn-off control circuit is the above safe torque turn-off control circuit.
The safe torque shutdown control circuit provided by the invention comprises a signal conversion unit, a logic processing unit, a fault diagnosis unit and a driving signal processing unit, wherein: the signal conversion unit carries out isolation processing based on the received input signal and generates a first control signal based on the isolated input signal; the logic processing unit is connected with the signal conversion unit and generates a first driving signal based on the received first control signal; the fault diagnosis unit is respectively connected with the over-voltage and under-voltage protection unit, the signal conversion unit, the logic processing unit and the driving signal processing unit, receives feedback signals of the units, generates a second control signal based on the feedback signals, and controls the logic processing unit to generate a second driving signal based on the second control signal; the logic processing unit is connected with the driving signal processing unit and controls the driving signal processing unit to be switched on or switched off based on the first driving signal or the second driving signal. By the mode, the input signals are isolated and processed based on the signal conversion unit, and the risk of hardware failure of the safe torque turn-off control circuit is reduced based on monitoring and diagnosis of the feedback signals of all units of the safe torque turn-off control circuit by the fault diagnosis unit. Meanwhile, the safety torque is turned off by hardware or software by arranging the logic processing unit.
Drawings
FIG. 1 is a schematic diagram of a safe torque shutdown control circuit provided by the present invention;
FIG. 2 is a circuit diagram of an embodiment of a signal conversion unit provided in the present invention;
FIG. 3 is a circuit diagram of another embodiment of a signal conversion unit provided by the present invention;
FIG. 4 is a schematic circuit diagram of a fault diagnosis unit, an over-voltage and under-voltage protection unit, a logic processing unit and a signal feedback unit provided by the present invention;
fig. 5 is a circuit schematic diagram of a pulse signal control unit and a driving signal processing unit provided by the present invention;
FIG. 6 is a schematic circuit diagram of an inverter unit according to the present invention;
fig. 7 is a schematic structural diagram of a safe torque shutdown control system provided by the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. 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 terms "first", "second", and the like in the present invention are used for distinguishing different objects, not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a safe torque shutdown control circuit 1 according to the present invention. As shown in fig. 1, the safe torque off control circuit 1 of the present invention includes a signal conversion unit 10, a logic processing unit 20, a failure diagnosis unit 30, and a driving signal processing unit 40.
The fault diagnosis unit 30 generates a first self-test signal and a second self-test signal, and the signal conversion unit 10 is connected to the fault diagnosis unit 30, receives the input signal and the first self-test signal output by the fault diagnosis unit 30, performs isolation processing on the input signal, and injects the first self-test signal into the isolated input signal. The signal conversion unit 10 generates the first control signal by performing deep filtering on the input signal into which the first self-test signal is injected, and generates the first self-test signal by performing light filtering on the input signal into which the first self-test signal is injected.
The logic processing unit 20 is respectively connected to the signal conversion unit 10 and the driving signal processing unit 40, receives the first control signal output by the signal conversion unit 10, generates a first driving signal by performing logic processing on the first control signal, and controls the driving signal processing unit 40 to be turned on or off through the first driving signal, thereby realizing safe torque turn-off of the circuit.
Further, the safe torque shutdown control circuit 1 further includes an over/under voltage protection unit 50, the over/under voltage protection unit 50 is connected to the fault diagnosis unit 30, and performs voltage stabilization processing based on the received input voltage to generate an output voltage to supply power to the control circuit, and the fault diagnosis unit 30 obtains a voltage feedback signal based on sampling and detecting the input voltage and the output voltage. In this embodiment, the overvoltage/undervoltage protection unit 50 is a BUCK circuit (BUCK converter circuit) to implement voltage stabilization of the input voltage, and in other embodiments, the overvoltage/undervoltage protection unit 50 may also be a circuit in other forms that can be used to complete a voltage stabilization function.
Further, the safe torque shutdown control circuit 1 further includes a pulse signal control unit 60, and the pulse signal control unit 60 is connected to the driving signal processing unit 40, generates a pulse width modulation signal, and outputs the pulse width modulation signal to the driving signal processing unit 40.
The driving signal processing unit 40 receives the pulse width modulation signal output from the pulse signal control unit 60 and the second self-test signal output from the failure diagnosis unit 30. The driving signal processing unit 40 generates an inversion control signal by performing logic conversion and control on the pwm signal, and generates a second feedback signal based on the second self-test signal.
The fault diagnosis unit 30 is respectively connected to the overvoltage and undervoltage protection unit 50, the signal conversion unit 10, the logic processing unit 20 and the driving signal processing unit 40, receives feedback signals of the above units, generates a second control signal based on the feedback signals, and controls the logic processing unit 20 to generate a second driving signal based on the second control signal. The fault diagnosis unit 30 is also connected to the pulse signal control unit 60, and generates a state feedback signal based on the feedback signal to control the pulse signal control unit 60 to generate the inversion control signal based on the state feedback signal. The feedback signals include a first feedback signal output by the signal conversion unit 10, a first driving signal output by the logic processing unit 20, a second feedback signal and an inversion control signal output by the driving signal processing unit 40, and a voltage feedback signal obtained by sampling and detecting the overvoltage and undervoltage protection unit 50.
The logic processing unit 20 is respectively connected to the fault diagnosis unit 30 and the driving signal processing unit 40, receives the second control signal output by the fault diagnosis unit 30, generates a second driving signal by performing logic processing on the second control signal, and controls the driving signal processing unit 40 to be turned on or off through the second driving signal, thereby realizing safe torque shutdown of the circuit.
Specifically, when the logic processing unit 20 implements the safe torque shutdown of the circuit based on the first control signal output by the signal conversion unit 10, the shutdown process is that the safe torque shutdown control circuit 1 directly implements the safe torque shutdown through a hardware circuit, and the first control signal is generated based on the input signal received by the signal conversion unit 10. When the logic processing unit 20 implements the safe torque shutdown of the circuit based on the second control signal output by the fault diagnosis unit 30, the shutdown process is that the safe torque shutdown control circuit 1 implements the safe torque shutdown through software after detecting and diagnosing the hardware circuit, and the second control signal is generated based on the feedback signal received by the fault diagnosis unit 30.
Further, the safe torque shutdown control circuit 1 further includes a signal feedback unit 70, where the signal feedback unit 70 is connected to the fault diagnosis unit 30, the logic processing unit 20, and the driving signal processing unit 40, respectively, receives the feedback signals output by the logic processing unit 20 and the driving signal processing unit 40, and performs impedance isolation based on the received feedback signals, so as to output the feedback signals after impedance isolation to the fault diagnosis unit 30, thereby completing the process of signal feedback.
Further, the safe torque off control circuit 1 further includes an inverter unit 80. The inverter unit 80 includes a first inverter bridge arm 81 and a second inverter bridge arm 82, and the inverter unit 80 controls the on-state of the first inverter bridge arm 81 and the second inverter bridge arm 82 based on the received inverter control signal to generate a driving signal to drive the motor 4 to operate.
Unlike the prior art, the safe torque off control circuit 1 of the present embodiment includes a signal conversion unit 10, a logic processing unit 20, a failure diagnosis unit 30, and a drive signal processing unit 40, in which: the signal conversion unit 10 performs isolation processing based on the received input signal, and generates a first control signal based on the isolated input signal; the logic processing unit 20 is connected with the signal conversion unit 10 and generates a first driving signal based on the received first control signal; the fault diagnosis unit 30 is respectively connected with the overvoltage and undervoltage protection unit 50, the signal conversion unit 10, the logic processing unit 20 and the driving signal processing unit 40, receives feedback signals of the above units, generates a second control signal based on the feedback signals, and controls the logic processing unit 20 to generate a second driving signal based on the second control signal; the logic processing unit 20 is connected to the driving signal processing unit 40, and controls the driving signal processing unit 40 to be turned on or off based on the first driving signal or the second driving signal. In this way, the input signal is isolated and processed by the signal conversion unit 10, and the risk of hardware failure of the safe torque shutdown control circuit 1 is reduced by monitoring and diagnosing the feedback signals of the safe torque shutdown control circuit 1 by the fault diagnosis unit 30. By arranging the logic processing unit 20, the safety torque of hardware or software switching-off is realized, and meanwhile, by arranging the overvoltage and undervoltage protection unit, the input voltage can still ensure the normal power supply of the circuit in an overvoltage state.
Referring to fig. 2-4, fig. 2 is a circuit schematic diagram of an embodiment of a signal conversion unit 10 according to the present invention; fig. 3 is a circuit diagram of another embodiment of the signal conversion unit 10 provided in the present invention; fig. 4 is a schematic circuit diagram of the fault diagnosis unit 30, the overvoltage/undervoltage protection unit 50, the logic processing unit 20 and the signal feedback unit 70 provided in the present invention.
As shown in fig. 2, in this embodiment, the signal conversion unit 10 includes a first current limiting resistor 1101, a second current limiting resistor 1102, a first optical coupler 1103, a second optical coupler 1104, a first diode 1105, and a first resistor 1106. Specifically, one end of the first current limiting resistor 1101 receives an input signal, and the other end of the first current limiting resistor 1101 is connected to a first end of the first optocoupler 1103 and a negative electrode of the first diode 1105. One end of the second current limiting resistor 1102 receives an input signal, and the other end of the second current limiting resistor 1102 is connected to the fourth end of the second optocoupler 1104 and the anode of the first diode 1105. The second end of the first optocoupler 1103 is connected to the third end of the second optocoupler 1104 through a first resistor 1106. The signal conversion unit 10 controls the first optical coupler 1103 to control the first self-test signal to be injected into the input signal. It should be noted that the optical coupler has the main advantages of unidirectional signal transmission, complete electrical isolation between the input end and the output end, strong anti-interference capability, long service life and high transmission efficiency.
Further, the signal conversion unit 10 further includes a second resistor 1107, a third resistor 1108, a fourth resistor 1109, a fifth resistor 1110, a sixth resistor 1111, a seventh resistor 1112, an eighth resistor 1113, a ninth resistor 1114, a first capacitor 1115, a second capacitor 1116, a third capacitor 1117, and a first fet 1118. Wherein: the third resistor 1108, the fourth resistor 1109, the first capacitor 1115 and the second capacitor 1116 perform a depth filtering process based on the received first self-test signal and the input signal, and generate a first control signal after filtering the first self-test signal injected into the input signal. The fifth resistor 1110, the sixth resistor 1111 and the third capacitor 1117 perform a light filtering process based on the received first self-checking signal and the input signal, and generate a first feedback signal after filtering the interference signal.
The signal conversion unit 10 includes a first signal conversion unit 11 and a second signal conversion unit 12, and as shown in fig. 3, the circuit configurations of the first signal conversion unit 11 and the second signal conversion unit 12 are completely the same. When any one of the first signal conversion unit 11 and the second signal conversion unit 12 has a circuit fault, the other unit operates normally, and the input signal and the first self-detection signal are processed, so that the safety of the circuit is improved. It should be noted that, in the present invention, the signal conversion unit 10 adopts a redundancy design, and the redundancy design refers to adding more than one set of functional channels, working elements or components that complete the same function at the place where the task of the system or equipment plays a key role, so as to ensure that the system or equipment can still work normally when the part fails, reduce the failure probability of the system or equipment, and improve the reliability of the system.
Specifically, the first signal conversion unit 11 performs deep filtering processing based on the received first self-test signal and the input signal, generates a first control signal after filtering the first self-test signal injected into the input signal, performs mild filtering processing based on the received first self-test signal and the input signal, and generates a first feedback signal after filtering the interference signal. The second signal conversion unit 12 performs a deep filtering process on the basis of the received first self-test signal and the input signal, generates a third control signal after filtering the first self-test signal injected into the input signal, performs a mild filtering process on the basis of the received first self-test signal and the input signal, and generates a third feedback signal after filtering an interference signal.
As shown in fig. 4, the logic processing unit 20 includes a first or gate 21 and a second or gate 22. When a circuit fault exists in any one of the first or gate 21 and the second or gate 22, the other or gate operates normally to complete the logic processing of the signal, thereby improving the safety of the circuit. A first input terminal of the first or gate 21 receives the first control signal, and generates a first driving signal after performing logic processing on the first control signal. A first input of the second or gate 22 receives the third control signal, and generates the first driving signal after performing logic processing on the third control signal. The logic processing unit 20 further includes a tenth resistor 23 and an eleventh resistor 24, one end of the tenth resistor 23 and one end of the eleventh resistor 24 receive the output voltage, the other end of the tenth resistor 23 is connected to the output end of the first or gate 21, and the other end of the eleventh resistor 24 is connected to the output end of the second or gate 22.
When the input signal received by the safe torque off control circuit 1 is at the first level, the first control signal generated by filtering by the signal conversion unit 10 is at the first level, the first driving signal output by the logic processing unit 20 after performing logic processing on the first control signal is at the first level, and at this time, the logic processing unit 20 controls the driving signal processing unit 40 to be turned on by the first driving signal. When the input signal is at the second level, the first control signal generated by filtering by the signal conversion unit 10 is at the second level, the first driving signal output after the logic processing unit 20 performs logic processing on the first control signal is at the second level, and at this time, the logic processing unit 20 controls the driving signal processing unit 40 to be disconnected through the first driving signal, so that safe torque shutdown of the circuit is realized.
Optionally, the overvoltage/undervoltage protection unit 50 performs resistance voltage division on the input voltage through a voltage stabilizing resistor. In the overvoltage/undervoltage protection unit 50, when the input voltage is lower than the voltage input range of the overvoltage/undervoltage protection unit 50, the overvoltage/undervoltage protection unit 50 stops outputting the voltage, and the fault diagnosis unit 30 obtains a voltage feedback signal as a second level based on sampling and detecting the input voltage and the output voltage. When the input voltage is higher than the voltage input range of the overvoltage and undervoltage protection unit 50, the overvoltage and undervoltage protection unit 50 controls the voltage stabilization resistor to adjust the output voltage, and at this time, the fault diagnosis unit 30 takes a voltage feedback signal obtained by sampling and detecting the input voltage and the output voltage as a first level.
Alternatively, the fault diagnosis unit 30 includes a processor 31 and a twelfth resistor 32, and the signal feedback unit 70 includes a first buffer 71 and a plurality of resistors. The processor 31 is configured to generate a first self-test signal and a second self-test signal, receive feedback signals input by each unit from an output terminal of the first buffer 71, detect the feedback signals, and generate a second control signal and a status feedback signal based on a result of the detection. The fault diagnosis unit 30 outputs the second control signal to the logic processing unit 20, and outputs the state feedback signal to the pulse signal control unit 60. The port of the processor 31 outputting the second control signal is connected to one end of the twelfth resistor 32, and the other end of the twelfth resistor 32 receives the output voltage.
The fault diagnosis unit 30 detects a first feedback signal output by the signal conversion unit 10, a first driving signal output by the logic processing unit 20, a second feedback signal and an inversion control signal output by the driving signal processing unit 40, and a voltage feedback signal obtained by sampling the overvoltage and undervoltage protection unit 50. When any unit has a circuit fault, the feedback signal is at the second level, the second control signal output by the fault diagnosis unit 30 is at the second level, the second driving signal output by the logic processing unit 20 after performing logic processing on the second control signal is at the second level, and the logic processing unit 20 controls the driving signal processing unit 40 to be disconnected through the second driving signal, so that safe torque shutdown of the circuit is realized. When the units operate normally, the feedback signal is at the first level, and the second control signal and the second driving signal generated by the logic processing are both at the first level, and the logic processing unit 20 controls the driving signal processing unit 40 to be turned on by the second driving signal.
Referring to fig. 5 and 6, fig. 5 is a circuit schematic diagram of the pulse signal control unit 60 and the driving signal processing unit 40 according to the present invention, and fig. 6 is a circuit schematic diagram of the inverter unit 80 according to the present invention.
The pulse signal control unit 60 is connected to the failure diagnosis unit 30, and receives a state feedback signal generated by the failure diagnosis unit 30 based on the feedback signal. When any unit has a circuit fault, the state feedback signal is at the second level, the pulse signal control unit 60 is turned off based on the state feedback signal at the second level, and the output of the pulse width modulation signal is stopped. When each unit operates normally, its state feedback signal is at the first level, and the pulse signal control unit 60 generates the pulse width modulation signal based on the state feedback signal at the first level.
The driving signal processing unit 40 is connected to the pulse signal control unit 60, and includes a second buffer 41, a third buffer 42, a plurality of resistors, and a plurality of current limiting resistors, and adopts an interleaving redundancy design, and the specific connection relationship is as shown in fig. 5. The plurality of resistors at the input end of the second buffer 41 are pull-up resistors, the resistor between the output end of the second buffer 41 and the input end of the third buffer 42 is a pull-down resistor, and the resistor at the output end of the third buffer 42 is a pull-down resistor. The driving signal processing unit 40 controls the pulse width modulation signal received from the pulse signal control unit 60 based on the first driving signal or the second driving signal received from the logic processing unit 20 by the above-described circuit arrangement, generating an inversion control signal.
As shown in fig. 6, the inverter unit 80 is connected to the driving signal processing unit 40, and includes a first inverter bridge arm 81 and a second inverter bridge arm 82, the first inverter bridge arm 81 and the second inverter bridge arm 82 simultaneously receive the inverter control signal input by the driving signal processing unit 40, and the inverter unit 80 controls the on-state of the first inverter bridge arm 81 and the second inverter bridge arm 82 based on the inverter control signal to generate the driving signal to drive the motor 4 to operate.
When the first driving signal or the second driving signal output by the logic processing unit 20 connected to the driving signal processing unit 40 is the first level, the logic processing unit 20 controls the driving signal processing unit 40 to be turned on, so that the driving signal processing unit 40 processes the received pulse width modulation signal to generate an inversion control signal, so that the inversion unit 80 generates the driving signal based on the inversion control signal to drive the motor 4 to operate. When the first driving signal or the second driving signal output by the logic processing unit 20 is the second level, the logic processing unit 20 controls the driving signal processing unit 40 to turn off, so that the driving signal processing unit 40 stops processing the received pulse width modulation signal, and stops generating the inversion control signal, so that the inversion unit 80 stops generating the driving signal for driving the motor 4 to operate, thereby realizing safe torque turn-off.
Different from the prior art, the safe torque shutdown control circuit 1 of the present embodiment is provided with the fault diagnosis unit 30 to diagnose each feedback signal to generate the second control signal and the state feedback signal, so as to implement software shutdown of the safe torque. Meanwhile, the pulse signal control unit 60 is controlled to generate a pulse width modulation signal through the state feedback signal, so that the pulse width modulation signal is generated through modulation during circuit failure, the driving signal processing unit 40 which does not receive the pulse width modulation signal stops generating an inversion control signal, and the risk of hardware failure of the safe torque turn-off control circuit 1 is further reduced.
Referring to fig. 7, fig. 7 is a schematic structural diagram of the safety torque shutdown control system 2 according to the present invention. As shown in fig. 7, the safe torque shutdown control system 2 of the present invention includes an input circuit 3, a safe torque shutdown control circuit 1, and a motor 4, where the safe torque shutdown control circuit 1 is connected to the input circuit 3 and the motor 4, respectively, and completes control of inverter output based on detection and diagnosis of input signals output by the input circuit 3 and feedback signals of each internal unit, so as to implement safe torque shutdown control of the motor 4. The working principle of the safety torque shutdown control circuit 1 is the same as that explained in the above embodiments, and is not described herein again.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (12)
1. A safe torque shutdown control circuit is characterized by comprising a signal conversion unit, a logic processing unit, a fault diagnosis unit and a driving signal processing unit, wherein:
the signal conversion unit carries out isolation processing based on the received input signal and generates a first control signal based on the isolated input signal;
the logic processing unit is connected with the signal conversion unit and generates a first driving signal based on the received first control signal;
the fault diagnosis unit is respectively connected with the over-voltage and under-voltage protection unit, the signal conversion unit, the logic processing unit and the driving signal processing unit, receives feedback signals of the units, generates a second control signal based on the feedback signals, and controls the logic processing unit to generate a second driving signal based on the second control signal;
the logic processing unit is connected with the driving signal processing unit and controls the driving signal processing unit to be switched on or switched off based on the first driving signal or the second driving signal.
2. The control circuit of claim 1, further comprising a pulse signal control unit, wherein the pulse signal control unit is connected to the driving signal processing unit and configured to generate a pulse width modulation signal, and control the driving signal processing unit to generate an inversion control signal based on the pulse width modulation signal.
3. The control circuit of claim 1, wherein the under-voltage protection unit is connected to the fault diagnosis unit, and performs voltage stabilization processing based on a received input voltage to generate an output voltage for supplying power to the control circuit, and the fault diagnosis unit obtains a voltage feedback signal based on sampling the input voltage and the output voltage.
4. The control circuit of claim 1, wherein the fault diagnosis unit is configured to generate a first self-test signal and a second self-test signal;
the signal conversion unit receives the first self-checking signal and generates a first feedback signal based on the first self-checking signal, and the driving signal processing unit receives the second self-checking signal and generates a second feedback signal based on the second self-checking signal.
5. The control circuit of any of claims 1-4, wherein the feedback signal comprises the first feedback signal, the second feedback signal, the first drive signal, the voltage feedback signal, and the inversion control signal.
6. The control circuit according to claim 5, further comprising a signal feedback unit, wherein the signal feedback unit is respectively connected to the fault diagnosis unit, the logic processing unit and the driving signal processing unit, and performs impedance isolation based on the received feedback signal to output the feedback signal after impedance isolation to the fault diagnosis unit.
7. The control circuit according to claim 2, wherein the fault diagnosis unit is connected to the pulse signal control unit and generates a state feedback signal based on the feedback signal to control the pulse signal control unit to generate the pulse width modulation signal based on the state feedback signal.
8. The control circuit according to claim 2, further comprising an inverter unit, connected to the driving signal processing unit, including a first inverter bridge arm and a second inverter bridge arm, wherein the inverter unit controls the on-state of the first inverter bridge arm and the second inverter bridge arm based on the received inverter control signal to generate a driving signal to drive the motor to operate.
9. The control circuit of claim 4, wherein the signal transforming unit comprises a first signal transforming unit and a second signal transforming unit, and the signal processing unit comprises a first current limiting resistor, a second current limiting resistor, a first optical coupler, a second optical coupler, a first diode, and a first resistor, wherein:
one end of the first current limiting resistor receives the input signal, and the other end of the first current limiting resistor is connected with the first end of the first optocoupler and the cathode of the first diode;
one end of the second current limiting resistor receives the input signal, and the other end of the second current limiting resistor is connected with the fourth end of the second optocoupler and the anode of the first diode;
the second end of the first optocoupler is connected with the third end of the second optocoupler through the first resistor;
the signal conversion unit controls the first self-test signal to be injected into the input signal by controlling the first optocoupler.
10. The control circuit of claim 9, wherein the signal processing unit further comprises a second resistor, a third resistor, a fourth resistor, a fifth resistor, a sixth resistor, a seventh resistor, an eighth resistor, a ninth resistor, a first capacitor, a second capacitor, a third capacitor, and a first field effect transistor, wherein:
the third resistor, the fourth resistor, the first capacitor and the second capacitor are used for filtering based on the received first self-test signal and the input signal to generate the first control signal;
and the fifth resistor, the sixth resistor and the third capacitor perform filtering processing based on the received first self-detection signal and the input signal to generate the first feedback signal.
11. The control circuit of claim 3, wherein the over-voltage and under-voltage protection unit comprises a voltage stabilization resistor, and the over-voltage and under-voltage protection unit stops outputting the output voltage based on the input voltage being lower than a voltage input range of the over-voltage and under-voltage protection unit; and based on the input voltage being higher than the voltage input range of the overvoltage and undervoltage protection unit, the overvoltage and undervoltage protection unit controls the voltage stabilizing resistor to adjust the output voltage.
12. A safety torque off control system, the control system comprising an input circuit, a safety torque off control circuit and a motor, the safety torque off control circuit being connected to the input circuit and the motor respectively, the safety torque off control circuit being as claimed in any one of claims 1 to 11.
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| CN2022108034481 | 2022-07-07 | ||
| CN202210803448 | 2022-07-07 |
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| CN115224668A true CN115224668A (en) | 2022-10-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116079763A (en) * | 2023-04-13 | 2023-05-09 | 广东美的制冷设备有限公司 | Robot, safety torque turn-off circuit and safety torque control method |
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- 2022-08-11 CN CN202210971117.9A patent/CN115224668A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116079763A (en) * | 2023-04-13 | 2023-05-09 | 广东美的制冷设备有限公司 | Robot, safety torque turn-off circuit and safety torque control method |
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