CN1260630A - Protective device for DC servo system - Google Patents
Protective device for DC servo system Download PDFInfo
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- CN1260630A CN1260630A CN98125860A CN98125860A CN1260630A CN 1260630 A CN1260630 A CN 1260630A CN 98125860 A CN98125860 A CN 98125860A CN 98125860 A CN98125860 A CN 98125860A CN 1260630 A CN1260630 A CN 1260630A
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Abstract
The protection device for D. C. servosystem comprises armature voltage sensor of D. C. servometer, armature current sensor and protector which is connected with said sensors and possesses operation and processing function, at the same time is used for detecting speed feedback signal of D. C. servomotor. Said protection device utilizes the detection of correspondent relation between armature voltage, armature current and rotating speed of D. C. servomotor to monitor operation condition of motor, and when the D. C. servosystem is at fault, in conditions of speed feedback reverse connection, disconnection, armature reverse connection and disconnection and short circuit of motor the protector can give out alarm signal to make prompt protection.
Description
The invention belongs to the automatic protection circuit device, relate in particular to a kind of protective device of DC servomechanism.
In DC servomechanism, protective circuit is its important part.The major function of protective circuit is when certain part of DC servomechanism breaks down, and sends fault alarm and in time closes enabling of direct current servo amplifier, or cut off main circuit, fault is not enlarged bring disaster to whole system.
At present; the protective device for DC servo system of various prior arts mainly is that employing is connected in series methods the such as whether speed of insuring, installing heat sensor, detection motor on motor and main circuit heating panel electric current whether excessive, that detect motor is excessive, whether the detection feedback loop is connected in main circuit.These methods can take place overheated or protect when hypervelocity, servo amplifier overload or overheated, servo system overcurrent, speed feedback broken string in DC servo-motor.
When servomotor has that speed feedback connects instead, speed feedback broken string, armature line connect instead, when armature line broken string takes place, will control and can't finish owing to the speed closed loop of servo amplifier, cause servomotor out of hand.Because the guard method of prior art connects anti-and the armature line connects inverse time in speed feedback; only out of hand and just can protect when reaching very high speed in DC servo-motor; and can not protect, so that reduced the DC servomechanism reliability of operation widely for armature line broken string.
The purpose of this invention is to provide a kind of protective device for DC servo system; its highly versatile, protection range is big, reliability is high; particularly when DC servomechanism generation speed feedback connects instead, speed feedback broken string, armature line connect instead, the armature line breaks, during motor short circuit; output alarm signal in time is protected DC servomechanism.
Protective device for DC servo system of the present invention, comprise the voltage sensor of measuring the DC servo-motor armature voltage, measure the current sensor of DC servo-motor armature supply, detect the velocity transducer of DC servo-motor feedback speed signal, and the protector that comprises proportional amplifier, differentiator, adder, absolute value circuit, permissible error generator and comparator; Voltage sensor links to each other with the two-phase armature winding of DC servo-motor; and to protector output voltage sampled signal; current sensor is serially connected on the armature winding of DC servo-motor; and to protector output current sampled signal; protector is the speed sampling signal of detection speed transducer simultaneously; and when breaking down and when unusual, to DC servo driver output alarm signal.
Below the present invention is described in detail by the accompanying drawing illustrated embodiment.
Fig. 1 represents the theory diagram of protective device for DC servo system of the present invention
Fig. 2 represents the theory diagram of protector of the present invention
Fig. 3 represents to adopt the theory diagram of the protective device for DC servo system of the present invention of Hall voltage/current sensor and tachogenerator
Fig. 4 is the schematic diagram of the protector among as shown in Figure 3 the embodiment
Among Fig. 1, DC servo driver (400) links to each other with (220) with the armature winding (210) of DC servo-motor (200).DC servo-motor (200) is coaxially installed with velocity transducer (300), and the feedback speed signal (310) that velocity transducer (300) records is input to DC servo driver (400), forms speed closed loop control.
Feature of the present invention is: this protective device comprises armature voltage transducer (110), the armature supply transducer (120) and the protector that is connected with the two (100) of DC servo-motor, and this protector comprises proportional amplifier, differentiator, adder, absolute value circuit, permissible error generator and comparator composition.Armature voltage transducer (110) links to each other with (220) with the two-phase armature winding (210) of DC servo-motor (200), is used for measuring the armature voltage of DC servo-motor (200); Armature supply transducer (120) is serially connected on the armature winding (220) of DC servo-motor (200), is used for measuring the armature supply of DC servo-motor (200).
When protective device of the present invention is worked; the output signal (111) of armature voltage transducer (110) is KvU; the output signal (121) of armature supply transducer (120) is KcI; KvU and KcI are input to protector (100); simultaneously; the feedback speed signal (310) that the velocity transducer of DC servo-motor (300) sends is KnE; KnE also enters protector (100); when fault and unusual the generation, the alarm signal of being exported by protector (100) (130) is input to DC servo driver (400) at last.Here, U is the armature voltage of DC servo-motor, and Kv is the measurement coefficient of armature voltage transducer; I is the armature supply of DC servo-motor, and Kc is the measurement coefficient of armature supply transducer; E is the back electromotive force of DC servo-motor, and Kn is a feedback factor.
Be illustrated in figure 2 as core component protector of the present invention (100).Protector (100) is by several proportional amplifiers (10), (25), (30), (40), a differentiator (20), an adder (50), the circuit that takes absolute value (60), and a permissible error generator (70) and a comparator (80) are formed; The input of proportional amplifier 1 (10), proportional amplifier 3 (30) and proportional amplifier 4 (40) links to each other with current sensor (120), velocity transducer (300) and voltage sensor (110) respectively, and their output all links to each other with adder (50); Differentiator (20) and proportional amplifier 2 (25) sequencings are serially connected between current sensor and the adder; The input of circuit (60) of taking absolute value links to each other with an input of adder (50) and comparator (80) respectively with output, permissible error generator (70) links to each other with another input of comparator (80), and the output of comparator (80) links to each other with DC servo driver (400).
The operation principle of protector of the present invention is as described below.At first, the ratio amplification coefficient of establishing proportional amplifier 1-4 is respectively K1, K2, K3, K4.Referring to Fig. 2, the output signal KcI (121) of armature supply transducer (120) forms signal K1KcI (15) through proportional amplifier 1 (10); The output signal KcI (121) of armature supply transducer (120) forms signal K2Kc dI/dt (26) through differential (20) and proportional amplifier 2 (25); The output signal KvU (111) of armature voltage transducer (110) forms signal K3KvU (35) through proportional amplifier 3 (30); Feedback speed signal KnE forms signal K4KnE (45) through proportional amplifier 4 (40).Regulate proportional amplifier COEFFICIENT K 1, K2, K3 and K4, make K1Kc=K2Kc=-K3Kv=K4Kn, establish K1Kc=K2Kc=-K3Kv=K4Kn=K again, and with following four signals (15), (26), (35), (45) input summer (50): K1KcI+K2KcdI/dt+K3KvU+K4KnE=K (I+dI/dt+E-U), take absolute value after (60), then form deviation signal ERROR (65): ERROR=K (I+dI/dt+E-U).Under normal operation; DC servo-motor will satisfy: U=I+dI/dt+E; so ERROR=0; consider the factor of measure error; deviation signal ERROR (65) is compared at comparator (80) with the permissible error value (75) of permissible error generator (70) output, at last by comparator output protection signal (130).During actual motion; when DC servomechanism generation speed feedback connects instead, speed feedback broken string, armature connect instead, armature breaks, during the arbitrary fault of motor short circuit; the capital makes deviation signal ERROR (65) surpass permissible error value (75); at this moment protector sends guard signal and is input to the DC servo driver, thereby DC servomechanism in time is protected.
Fig. 3 represents to adopt the theory diagram of the protective device for DC servo system of the present invention of Hall voltage/current sensor and tachogenerator.In the device, DC servo driver (1400) links to each other with (1220) with the armature winding (1210) of DC servo-motor (1200).DC servo-motor (1200) is coaxially installed with tachogenerator (1300).The feedback speed signal (1310) that is recorded by tachogenerator (1300) is input to DC servo driver (1400), forms speed closed loop control.In this embodiment, the armature voltage transducer of this protective device adopts Hall voltage transducer (1110), and the armature supply transducer adopts Hall current sensor (1120).Hall voltage transducer (1110) links to each other with (1220) with the two-phase armature winding (1210) of DC servo-motor (1200), is used for measuring the armature voltage of DC servo-motor (1200); Hall current sensor (1120) is serially connected on the armature winding (1220) or (1210) of DC servo-motor (1200), is used for measuring the armature supply of DC servo-motor (1200).
During this protective device operation; the output signal (1111) of Hall voltage transducer (1110) is Kv1U; the output signal (1121) of Hall current sensor (1120) is Kc1I; feedback speed signal (1310) is Kn1E; Kv1U, Kc1I and Kn1E are input to protector (1100); the feedback speed signal of DC servo-motor (1310) also enters protector (1100), and simultaneously, the alarm signal (1130) of protector (1100) output is input to DC servo driver (1400).The above symbol U is the armature voltage of DC servo-motor, and Kv1 is the measurement coefficient of Hall voltage transducer; I is the armature supply of DC servo-motor, and Kc1 is the measurement coefficient of Hall current sensor; E is the back electromotive force of DC servo-motor, and Kn1 is a feedback factor.
Fig. 4 represents the schematic diagram of the protector (1100) in the embodiment of the invention shown in Figure 3, in the protector (1100): operational amplifier IC1 constitutes follower, its normal phase input end connects Hall current sensor (1120) input current sampled signal KcI (1121), simultaneously again by resistance R 1 ground connection, capacitor C1 and resistance R 2 parallel connections, one end links to each other with the output of IC1, and the other end is connected with common node (1028); The output of tachogenerator (1300) is connected with common node (1028) by resistance R 4 backs; Operational amplifier IC2 and resistance R 5, R6 constitute see-saw circuit, its reverse input end is connected with Hall voltage transducer (1110) by resistance R 5, reverse input end links to each other with output by resistance R 6 simultaneously, and positive input end grounding, output is connected with common node (1028) by resistance R 11; Common node (1028) is connected the input of reverser (1040), and in the reverser (1040), the input of IC3 is connected with its output by R7, and capacitor C 2 is connected in parallel on resistance R 7 two ends, the positive input end grounding of IC3; The output of reverser (1040) is connected with the input of absolute value circuit (1060), in the absolute value circuit (1060), the anode of diode D1 links to each other with an end of resistance R 8, the other end of resistance R 8 is connected the reverse input end of operational amplifier IC4, the anode of the D2 of diode is connected with the negative terminal of diode D1 and the output of IC3, the normal phase input end of IC4 links to each other with the negative terminal of diode D2 and by resistance R 9 ground connection, resistance 10 is connected between the reverse input end and output of IC4; The output of absolute value circuit (1060) is connected with the comparator that is made of operational amplifier IC5, the normal phase input end of IC5 is connected with the output of IC4, reverse input end links to each other with the end of resistance R 12 and R13, the other end ground connection of resistance R 12, another termination positive supply+Ec of resistance R 13, the output of operational amplifier IC5 is connected with DC servo driver (1400).
The operation principle of protector (1100) such as following: the current signal (1121) of Hall current sensor (1120) output is KcI, and through being R1KcI behind resistance R 1 and the operational amplifier IC1, the electric current (1015) that forms through resistance R 2 backs is R1KcI/R2; The electric current (1010) that forms behind the process capacitor C1 is C1R1KcdI/dt; The current signal (1111) of Hall voltage transducer (1110) output is KvU, and the electric current (1030) that forms through resistance R 4, resistance R 6, operational amplifier IC2 and resistance R 11 backs is-R6Kv1U/R5; Feedback speed signal (1310) is Kn1E, and through resistance R 4, the current signal of formation (1020) is Kn1E/R4.Regulate above-mentioned R1, C1, R2, R6, R11, R4, make R1Kc/R2=C1R1Kc=R6Kv1/R5=Kn1/R4.Through reverser (1040) and absolute value circuit (1060), the deviation signal of formation (1065) is Ve1 with signal (1010), (1015), (1020), (1030) phase adduction.Capacitor C2 is used for filtering and measures noise.Normal as the motor operation, in the ideal case, deviation signal Ve1 is zero, consider the factor of measure error, with Ve1 and the threshold voltage (1070) that is formed by resistance R 12 and R13 is that Ve2 sends into the comparator that is made of operational amplifier IC5 and compares, when breaking down or when unusual, Ve1 will be above Ve2, at this moment output alarm signal (1130).
Apparatus of the present invention are compared with the protective device of prior art, have increased protection domain and reliability, and are special Be when DC servomechanism is in that speed feedback connects instead, speed feedback broken string, armature connect instead, armature breaks, During the motor short circuit state, this protector all can produce alarm signal, is input to direct current servo driver, DC servomechanism in time is protected.
Claims (6)
1, a kind of protective device for DC servo system, it is characterized in that comprising in this device the voltage sensor (110) of measuring DC servo-motor (200) armature voltage, measure the current sensor (120) of DC servo-motor (200) armature supply, detect the velocity transducer (300) of DC servo-motor (200) feedback speed signal (310), and the protector (100) that comprises proportional amplifier, differentiator, adder, absolute value circuit, permissible error generator and comparator; Voltage sensor (110) links to each other with (220) with the armature winding (210) of DC servo-motor (200); to protector (100) output voltage sampled signal (111); current sensor (120) is serially connected on the armature winding (220) or (210) of DC servo-motor (200); to protector (100) output current sampled signal (121); protector is the speed sampling signal of detection speed transducer simultaneously; and when breaking down and when unusual, to DC servo driver (400) output alarm signal.
2, protective device for DC servo system as claimed in claim 1, it is characterized in that wherein protector (100) is by several proportional amplifiers (10), (25), (30), (40), a differentiator (20), an adder (50), the circuit that takes absolute value (60), a permissible error generator (70) and a comparator (80) are formed; The input of proportional amplifier 1 (10), proportional amplifier 3 (30), proportional amplifier 4 (40) links to each other with current sensor (120), velocity transducer (300) and voltage sensor (110) respectively, difference input current sampled signal (121), feedback speed signal (310) and voltage sampling signal (111), their output links to each other with adder (50); Differentiator (20) and proportional amplifier 2 (25) sequencings are serially connected between current sensor and the adder (50); The input of circuit (60) of taking absolute value links to each other with an input of adder (50) and comparator (80) respectively with output, permissible error generator (70) links to each other with another input of comparator (80), and the output of comparator (80) links to each other with DC servo driver (400).
3, protective device for DC servo system as claimed in claim 2 is characterized in that, the output signal KcI (121) of armature supply transducer (120) forms signal K1KcI (15) through proportional amplifier 1 (10); The output signal KcI (121) of armature supply transducer (120) forms signal K2Kc dI/dt (26) through differentiator (20) and proportional amplifier 2 (25); The output signal KvU (111) of armature voltage transducer (110) forms signal K3KvU (35) through proportional amplifier 3 (30); Feedback speed signal KnE forms signal K4KnE (45) through proportional amplifier 4 (40), more than each signal satisfy condition: K1Kc=K2Kc=-K3Kv=K4Kn.
4, protective device for DC servo system as claimed in claim 1; it is characterized in that voltage sensor wherein adopts Hall voltage transducer (1110); current sensor adopts Hall current sensor (1120), adopts tachogenerator (1300) with the coaxial mounted velocity transducer of DC servo-motor (1200).
5, as claim 1 or 4 described protective device for DC servo system, it is characterized in that in its protector (1100): operational amplifier IC1 constitutes follower, its normal phase input end connects Hall current sensor (1120) input current sampled signal KcI (1121), simultaneously again by resistance R 1 ground connection, capacitor C1 and resistance R 2 parallel connections, one end links to each other with the output of IC1, and the other end is connected with common node (1028); The output output speed feedback signal (1310) of tachogenerator (1300) is connected with common node (1028) by resistance R 4 backs; Operational amplifier IC2 and resistance R 5, R6 constitute see-saw circuit, its reverse input end is connected and input voltage sampled signal (1111) with Hall voltage transducer (1110) by resistance R 5, reverse input end links to each other with output by resistance R 6 simultaneously, and positive input end grounding, output is connected with common node (1028) by resistance R 11; Common node (1028) is connected the input of reverser (1040), and in the reverser (1040), the input of operational amplifier IC3 is connected with its output by R7, and capacitor C 2 is connected in parallel on resistance R 7 two ends, the positive input end grounding of IC3; The output of reverser (1040) is connected with the input of absolute value circuit (1060), in the absolute value circuit (1060), the anode of diode D1 links to each other with an end of resistance R 8, the other end of resistance R 8 is connected the reverse input end of operational amplifier IC4, the anode of the D2 of diode is connected with the negative terminal of diode D1 and the output of IC3, the normal phase input end of IC4 links to each other with the negative terminal of diode D2 and by resistance R 9 ground connection, resistance R 10 is connected between the reverse input end and output of IC4; The output of absolute value circuit (1060) is connected with the comparator that operational amplifier IC5 constitutes, the normal phase input end of IC5 is connected with the output of IC4, reverse input end links to each other with the end of resistance R 12 and R13, the other end ground connection of resistance R 12, another termination positive supply+Ec of resistance R 13, the output of the operational amplifier IC5 output alarm signal (1130) that is connected with DC servo driver (1400).
6, protective device as claimed in claim 5 is characterized in that, is R1KcI behind current sampling signal KcI (1121) the process resistance R 1 of Hall current sensor (1120) output and the operational amplifier IC1, forms electric current R1KcI/R2 (1015) through resistance R 2 backs; Through forming electric current C1R1KcdI/dt (1010) behind the capacitor C1; The voltage sampling signal KvU (1111) of Hall voltage transducer (1110) output forms electric current one R6Kv1U/R5 (1030) through resistance R 4, resistance R 6, operational amplifier IC2 and resistance R 11 backs; Feedback speed signal Kn1E (1310) forms current signal Kn1E/R4 (1020) through resistance R 4, more than each signal satisfy condition: Kc/R2=C1R1Kc=R6Kv1/R5=Kn1/R4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98125860A CN1074606C (en) | 1998-12-22 | 1998-12-22 | Protective device for DC servo system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN98125860A CN1074606C (en) | 1998-12-22 | 1998-12-22 | Protective device for DC servo system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1260630A true CN1260630A (en) | 2000-07-19 |
| CN1074606C CN1074606C (en) | 2001-11-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98125860A Expired - Fee Related CN1074606C (en) | 1998-12-22 | 1998-12-22 | Protective device for DC servo system |
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| Country | Link |
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| CN (1) | CN1074606C (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101160713B (en) * | 2005-04-15 | 2011-07-27 | 株式会社日立制作所 | Controller for ac motor |
| CN104753032A (en) * | 2013-12-26 | 2015-07-01 | 北京谊安医疗系统股份有限公司 | Anesthesia machine and brushless direct current motor protective device applied thereto |
| CN105170501A (en) * | 2015-05-25 | 2015-12-23 | 绍兴中亚胶囊有限公司 | Polishing device for capsules |
| CN105988058A (en) * | 2015-03-04 | 2016-10-05 | 上海开通数控有限公司 | Detection method for line breakage of motor power line in three-phase AC servo drive system |
| CN111324049A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | AGV has comprehensive diagnosis function servo controller |
| CN111541407A (en) * | 2020-05-28 | 2020-08-14 | 山西汾西重工有限责任公司 | Brush direct current motor regulating and controlling circuit for eliminating electric noise of steering engine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2261110Y (en) * | 1996-01-24 | 1997-08-27 | 朱奖励 | Commutation control and time-sharing overload protection device for dc. servo electric-motor |
-
1998
- 1998-12-22 CN CN98125860A patent/CN1074606C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101160713B (en) * | 2005-04-15 | 2011-07-27 | 株式会社日立制作所 | Controller for ac motor |
| CN104753032A (en) * | 2013-12-26 | 2015-07-01 | 北京谊安医疗系统股份有限公司 | Anesthesia machine and brushless direct current motor protective device applied thereto |
| CN105988058A (en) * | 2015-03-04 | 2016-10-05 | 上海开通数控有限公司 | Detection method for line breakage of motor power line in three-phase AC servo drive system |
| CN105988058B (en) * | 2015-03-04 | 2019-02-12 | 上海开通数控有限公司 | The detection method that the motor line of force breaks in three-phase alternating current servo drive system |
| CN105170501A (en) * | 2015-05-25 | 2015-12-23 | 绍兴中亚胶囊有限公司 | Polishing device for capsules |
| CN111324049A (en) * | 2018-12-13 | 2020-06-23 | 沈阳新松机器人自动化股份有限公司 | AGV has comprehensive diagnosis function servo controller |
| CN111541407A (en) * | 2020-05-28 | 2020-08-14 | 山西汾西重工有限责任公司 | Brush direct current motor regulating and controlling circuit for eliminating electric noise of steering engine |
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| Publication number | Publication date |
|---|---|
| CN1074606C (en) | 2001-11-07 |
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