WO2021175059A1 - 一种电磁制动器控制装置 - Google Patents

一种电磁制动器控制装置 Download PDF

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Publication number
WO2021175059A1
WO2021175059A1 PCT/CN2021/074569 CN2021074569W WO2021175059A1 WO 2021175059 A1 WO2021175059 A1 WO 2021175059A1 CN 2021074569 W CN2021074569 W CN 2021074569W WO 2021175059 A1 WO2021175059 A1 WO 2021175059A1
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WO
WIPO (PCT)
Prior art keywords
resistor
terminal
electromagnetic brake
voltage
output terminal
Prior art date
Application number
PCT/CN2021/074569
Other languages
English (en)
French (fr)
Inventor
徐晓伟
鲁查
Original Assignee
奥创动力传动(深圳)有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 奥创动力传动(深圳)有限公司 filed Critical 奥创动力传动(深圳)有限公司
Priority to KR1020227020225A priority Critical patent/KR102435065B1/ko
Priority to JP2022552678A priority patent/JP7310032B2/ja
Priority to GB2212371.5A priority patent/GB2607798B/en
Priority to EP21764652.0A priority patent/EP4053427A4/en
Publication of WO2021175059A1 publication Critical patent/WO2021175059A1/zh
Priority to US17/827,482 priority patent/US20220299081A1/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
    • G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
    • G05F1/10—Regulating voltage or current
    • G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
    • G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
    • G05F1/565—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor
    • G05F1/567—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor for temperature compensation
    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • 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
    • H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/20—Electric or magnetic using electromagnets
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D63/00—Brakes not otherwise provided for; Brakes combining more than one of the types of groups F16D49/00 - F16D61/00
    • F16D63/002—Brakes with direct electrical or electro-magnetic actuation

Definitions

  • This application relates to the field of control technology, in particular to an electromagnetic brake control device.
  • Electromagnetic brake is an ideal automation executive component in modern industry. It mainly plays the role of transmitting power and controlling motion in the mechanical transmission system. It is currently widely used in various control fields. Controlling the electromagnetic coil of the electromagnetic brake through the power supply can realize the control of the armature in the electromagnetic brake, thereby controlling the pull-in or disconnection of the electromagnetic brake.
  • the control method of the electromagnetic brake is usually a fixed voltage control.
  • the defect of the prior art is that the electromagnetic brake is attracted and closed under the rated voltage for a long time, which may easily cause the electromagnetic brake to heat and burn, which poses a great safety hazard.
  • the present application provides an electromagnetic brake control device, which is beneficial to reduce the heating of the electromagnetic brake and improve the safety of the electromagnetic brake.
  • the present application provides an electromagnetic brake control device applied to an electromagnetic brake, and the electromagnetic brake control device includes:
  • a power management module for managing the power supplied to the electromagnetic brake;
  • the above-mentioned power management module includes: a power input terminal, a first output terminal, and a second output terminal; the above-mentioned power input terminal is used to connect with an external power source;
  • the input terminal and the output terminal of the first switch module are respectively connected to the first output terminal and the first control output terminal, wherein the first switch module is configured with a pulse width modulation function;
  • the cathode and anode of the freewheeling diode are respectively connected to the second output terminal and the first control output terminal;
  • the second output terminal is connected to the second control output terminal
  • the pulse width modulation function is specifically: pulse width modulation based on a preset sustain voltage value or a sustain current value, wherein the sustain voltage value is a voltage value for maintaining the armature of the electromagnetic brake, and the sustain current value is maintained as described above.
  • the current value of the armature of the electromagnetic brake is specifically: pulse width modulation based on a preset sustain voltage value or a sustain current value, wherein the sustain voltage value is a voltage value for maintaining the armature of the electromagnetic brake, and the sustain current value is maintained as described above.
  • the current value of the armature of the electromagnetic brake is specifically: pulse width modulation based on a preset sustain voltage value or a sustain current value, wherein the sustain voltage value is a voltage value for maintaining the armature of the electromagnetic brake, and the sustain current value is maintained as described above.
  • the electromagnetic brake control device further includes a second switch module, and the second output terminal is connected to the second control output terminal via the second switch module;
  • the above-mentioned second switch module is configured with a power-off quick response function and an overheat protection function
  • the quick response function for power failure is specifically: cutting off the current loop of the electromagnetic coil when the external power supply is disconnected;
  • the overheating protection function is specifically: when the temperature of the electromagnetic brake control device or the electromagnetic brake is too high, the current loop of the electromagnetic coil is cut off.
  • the above-mentioned first switch module includes a single-chip microcomputer and a first switch tube;
  • the input terminal of the above-mentioned first switch module is the power input pin of the above-mentioned single-chip microcomputer
  • the output terminal of the first switch module is the drain of the first switch, the gate of the first switch is connected to the PWM signal output pin of the single-chip microcomputer, and the source of the first switch is grounded.
  • the above-mentioned second switch module includes a first resistor, a second resistor, a second switch tube, and a first Zener diode;
  • the first resistor is connected in parallel with the first Zener diode
  • the cathode of the first zener diode is connected to the second output terminal, and the anode of the first zener diode is grounded through the second resistor;
  • the gate of the second switch tube is grounded through the second resistor, the source of the second switch tube is connected to the second output terminal, and the drain of the second switch tube is connected to the second control output terminal.
  • the above-mentioned single-chip microcomputer is equipped with a working state signal output function
  • the electromagnetic brake control device further includes a working state indicating module, and the working state indicating module includes a light emitting diode and a third resistor;
  • the first end of the third resistor is connected to the universal output pin of the single-chip microcomputer, and the second end of the third resistor is connected to the anode of the light emitting diode; the cathode of the light emitting diode is grounded;
  • the working state signal output function is specifically: controlling the general output pin to output a signal of a corresponding frequency based on the duty ratio of the signal obtained by the pulse width modulation, wherein the frequency of the signal is positively correlated with the duty ratio.
  • the above-mentioned pulse width modulation function is specifically: pulse width modulation based on a preset sustain voltage value
  • the electromagnetic brake control device further includes a voltage sampling module, and the voltage sampling module includes a fourth resistor, a fifth resistor, and a second Zener diode;
  • the analog signal input pins of the single-chip microcomputer are respectively connected to the first end of the fourth resistor, the first end of the fifth resistor, and the cathode of the second Zener diode;
  • the second end of the fourth resistor is connected to the second output end
  • the second end of the fifth resistor and the anode of the second Zener diode are grounded.
  • the above-mentioned pulse width modulation function is specifically: pulse width modulation based on a preset sustain current value
  • the electromagnetic brake control device further includes a current sampling module; the current sampling module includes a sixth resistor and an operational amplifier circuit; the source of the first switch tube is grounded through the sixth resistor;
  • the foregoing operational amplifier circuit includes: operational amplifier, first capacitor, second capacitor, seventh resistor, eighth resistor, ninth resistor, tenth resistor, eleventh resistor, and twelfth resistor;
  • the power input pin of the operational amplifier is connected to the first output terminal
  • the first end of the first capacitor is connected to the first output end, and the second end of the first capacitor is grounded;
  • the output pins of the operational amplifier are respectively connected to the first end of the seventh resistor and the analog signal input pin of the single-chip microcomputer;
  • the inverting input pin of the operational amplifier is respectively connected to the second end of the seventh resistor and the first end of the eighth resistor;
  • the non-inverting input pin of the operational amplifier is respectively connected to the first end of the ninth resistor and the first end of the tenth resistor;
  • the second end of the eighth resistor is respectively connected to the first end of the second capacitor and the first end of the eleventh resistor, and the second end of the eleventh resistor is grounded;
  • the second end of the tenth resistor is respectively connected to the second end of the second capacitor and the first end of the twelfth resistor;
  • the second end of the twelfth resistor is connected to the source of the first switch tube.
  • the above-mentioned external power supply is a DC power supply
  • the above-mentioned power supply input terminal includes: a positive input terminal and a negative input terminal respectively used for connecting with the positive electrode and the negative electrode of the above-mentioned DC power supply;
  • the above-mentioned power management module also includes: input protection and filter circuit and voltage-stabilizing integrated chip;
  • the aforementioned input protection and filtering circuit includes: a first fuse, a first transient voltage suppression diode, a Schottky diode, and a third capacitor;
  • the positive input terminal is the first terminal of the first fuse, and the second terminal of the first fuse is respectively connected to the first terminal of the first transient voltage suppression diode and the anode of the Schottky diode;
  • the negative input terminal is the second terminal of the first transient voltage suppression diode, and the second terminal of the first transient voltage suppression diode is respectively connected to the first terminal of the third capacitor and the ground terminal of the voltage stabilizer integrated chip. Pin is connected and grounded;
  • the first output terminal of the above-mentioned power management module is the output pin of the above-mentioned voltage-stabilizing integrated chip
  • the second output terminal of the power management module is the input pin of the above-mentioned voltage-stabilizing integrated chip, wherein the input pins of the above-mentioned voltage-stabilizing integrated chip are respectively connected to the cathode of the Schottky diode and the second end of the third capacitor .
  • the above-mentioned external power source is an AC power source
  • the above-mentioned power source input terminal includes: a neutral wire input terminal and a live wire input terminal respectively used to connect with the neutral terminal and the live wire terminal of the above AC power source;
  • the aforementioned power management module also includes an input protection and rectification circuit, a step-down circuit, and a voltage reference circuit;
  • the aforementioned input protection and rectification circuit includes: a second fuse, a thirteenth resistor, and a rectifier bridge;
  • the aforementioned step-down circuit includes a fourteenth resistor, a fifteenth resistor, a sixteenth resistor, a third zener diode, a fourth zener diode, a fourth capacitor, and a fifth capacitor;
  • the above-mentioned voltage reference circuit includes: a seventeenth resistor and a fifth Zener diode;
  • the live wire input terminal is the first terminal of the second fuse, and the second terminal of the second fuse is respectively connected to the first terminal of the thirteenth resistor and the first terminal of the rectifier bridge;
  • the zero line input terminal is the second terminal of the thirteenth resistor, and the second terminal of the thirteenth resistor is connected to the third terminal of the rectifier bridge;
  • the second output end of the power management module is the second end of the rectifier bridge, and the second end of the rectifier bridge is connected to the first end of the fourteenth resistor;
  • the second end of the fourteenth resistor is connected to the first end of the fifteenth resistor, and the second end of the fifteenth resistor is connected to the cathode of the third Zener diode, the first end of the fourth capacitor, The first end of the sixteenth resistor and the first end of the seventeenth resistor are connected;
  • the first output end of the power management module is the second end of the sixteenth resistor, and the second end of the sixteenth resistor is respectively connected to the cathode of the fourth Zener diode and the first end of the fifth capacitor ;
  • the second end of the seventeenth resistor is respectively connected to the cathode of the fifth Zener diode and the reference voltage input pin of the single-chip microcomputer;
  • the fourth end of the rectifier bridge, the anode of the third zener diode, the second end of the fourth capacitor, the anode of the fourth zener diode, the second end of the fifth capacitor, and the fifth zener diode The anode is grounded.
  • the electromagnetic brake control device further includes a second transient voltage suppression diode, and both ends of the second transient voltage suppression diode are respectively connected to the first control output terminal and the second control output terminal.
  • a first switch module is arranged between the power management module and the first control output terminal, and the first control output terminal and the second control output terminal are respectively connected to the two electromagnetic coils of the electromagnetic brake.
  • Terminal connection and with the pulse width modulation function of the first switch module, can control the voltage or current applied to the electromagnetic coil of the electromagnetic brake, which is conducive to the realization of the technical effect of "high-power absorption and low-power retention" This prevents the electromagnetic coil of the electromagnetic brake from being in a high-voltage state for a long time during the armature pull-in process of the electromagnetic brake, thereby helping to reduce the heating of the electromagnetic brake and improve the safety of the electromagnetic brake.
  • Fig. 1 is a schematic circuit diagram of an electromagnetic brake control device provided by an embodiment of the present application
  • FIG. 2 is a schematic circuit diagram of an electromagnetic brake control device provided by an embodiment of the present application.
  • Fig. 3 is a schematic circuit diagram of a current sampling module of an electromagnetic brake control device provided by an embodiment of the present application.
  • the term “if” can be interpreted as “when” or “once” or “in response to determination” or “in response to detection” depending on the context.
  • the phrase “if determined” or “if detected [described condition or event]” can be interpreted as meaning “once determined” or “in response to determination” or “once detected [described condition or event]” depending on the context. Event]” or “in response to detection of [the described condition or event]”.
  • Fig. 1 shows a schematic circuit diagram of an electromagnetic brake control device provided by an embodiment of the present application. As shown in Fig. 1, the above-mentioned electromagnetic brake control device includes:
  • the electromagnetic brake control device provided by the present application is provided with a first switch module 2 between the power management module 1 and the first control output terminal COIL-, by connecting the first control output terminal COIL- and the second control output terminal COIL+ Connected to both ends of the electromagnetic coil of the electromagnetic brake respectively, and cooperated with the pulse width modulation function of the first switch module 2 to control the voltage or current applied to the electromagnetic coil of the electromagnetic brake, thereby facilitating the realization of "high energy
  • the technical effect of pull-in and low-power retention prevents the electromagnetic coil of the electromagnetic brake from being in a high-voltage state for a long time during the armature pull-in process of the electromagnetic brake, which is beneficial to reduce the heating of the electromagnetic brake and improve the safety of the electromagnetic brake.
  • the first switch module 2 performs pulse width modulation based on the preset sustain voltage value or sustain current value, and outputs the pulse width modulated waveform, thereby controlling the voltage or current applied to the electromagnetic coil of the electromagnetic brake, so that the electromagnetic
  • the brake can keep the armature closed for a long time, and the electromagnetic coil does not need to maintain the rated voltage or rated current all the time. It can maintain normal use under the condition of lower than the rated voltage or rated current, which reduces the heating of the brake and improves the safety. Technical effect.
  • the electromagnetic brake control device provided by the present application can greatly reduce the heat generation of the electromagnetic brake, the electromagnetic coil part of the electromagnetic brake can be made thinner to a certain extent, which is beneficial to reduce the volume of the entire product and reduce product weight.
  • the above-mentioned freewheeling diode D1 is used to cooperate with the electromagnetic coil of the above-mentioned electromagnetic brake.
  • the above electromagnetic coil is an inductive load.
  • the freewheeling diode D1 When matched with the freewheeling diode D1, its current can change more smoothly, avoiding the generation of sudden voltage.
  • the above-mentioned freewheeling diode D1 may be a fast recovery diode or a Schottky diode, or other types of diodes, which are not specifically limited here.
  • the above-mentioned maintenance voltage value may be the minimum voltage value (minimum current value) that maintains the armature of the electromagnetic brake to attract, or it may be based on the electrical parameters and use environment of the electromagnetic brake.
  • An optimal operating voltage value (optimal operating current value) that is greater than the minimum voltage value (minimum current value) and less than the rated voltage value (rated current value) of the electromagnetic brake obtained after simulation. Specifically, maintaining the optimal operating voltage value (optimal operating current value) can ensure that the armature of the electromagnetic brake is normally attracted and can effectively reduce the heating of the electromagnetic brake.
  • the electromagnetic brake control device described above can be used in conjunction with an electromagnetic brake with a rated voltage of 1/2 of the second output terminal VCC voltage.
  • the electromagnetic brake control device outputs 100% of the second output VCC voltage to the electromagnetic brake coil.
  • the voltage of the electromagnetic coil of the electromagnetic brake is twice the rated voltage, and the pull-in speed is faster.
  • the first switch module 2 of the electromagnetic brake control device controls the voltage applied to the electromagnetic coil of the electromagnetic brake through its pulse width modulation function, thereby achieving low heat generation.
  • the above-mentioned first switch module 2 is further configured with a periodic re-pick-in function
  • the above-mentioned periodic re-pick-in function is specifically: based on a preset re-pick-in period and re-pick-up time, periodically outputting the maintenance time
  • the VCC voltage of the second output section is 100% of the above re-engagement time, ensuring that the armature of the electromagnetic brake can still be automatically re-engaged after the armature is accidentally released due to severe vibration, large drop in the power supply voltage, etc.
  • the above-mentioned pulse modulation function and the above-mentioned periodic re-switching function can also be implemented based on a preset maintenance current.
  • the current value of the electromagnetic coil of the electromagnetic brake can be collected and fed back to the first switch module 2.
  • the first switch module 2 is based on the preset holding current value and the current value of the electromagnetic coil.
  • the equivalent resistance is adjusted by pulse width modulation to control the current applied to the electromagnetic coil, so that while the armature of the electromagnetic brake is kept closed, the current value on the electromagnetic coil is constant at the preset maintaining current value, thereby achieving While maintaining the pull-in of the armature, the heat generation of the electromagnetic brake is reduced.
  • the electromagnetic brake is based on the voltage.
  • the design margin (error tolerance) that needs to be considered when the electromagnetic coil is controlled is large.
  • the electromagnetic brake's pull-in current (the minimum electromagnetic coil current value that maintains the armature pull-in) hardly changes with temperature, so when constant current control is used, the design margin can be reduced ( Tolerable error range), reduce temperature rise and save power consumption; for electromagnetic brakes with energized braking, constant torque can also be achieved.
  • the electromagnetic brake control device further includes a second switch module 3, and the second output terminal VCC is connected to the second control output terminal COIL+ via the second switch module 2
  • the second switch module is equipped with a power-off quick response function and an overheating protection function;
  • the power-off fast response function is specifically: to quickly cut off the current loop of the electromagnetic coil when the external power supply is disconnected;
  • the above-mentioned overheating protection function is specifically: When the temperature of the electromagnetic brake control device or the electromagnetic brake is too high, the current loop of the electromagnetic coil is cut off.
  • the foregoing cutting off the current loop of the electromagnetic coil is specifically implemented by cutting off the second output terminal VCC and the second control output terminal COIL+.
  • the above-mentioned overheating protection function is specifically: when the temperature of the above-mentioned electromagnetic brake control device or the above-mentioned electromagnetic brake is greater than a temperature threshold, the current loop of the above-mentioned electromagnetic coil is cut off, and the above-mentioned electromagnetic brake control device or the above-mentioned electromagnetic brake When the temperature of the brake is lower than the temperature threshold, the current loop of the electromagnetic coil is reconnected.
  • the first switch module 2 includes a single-chip microcomputer U1 and a first switch tube Q1; the input terminal of the first switch module 2 is the power input pin of the single-chip U1, that is, the single-chip U1 The output terminal of the first switch module 2 is the drain of the first switch Q1, the gate of the first switch Q1 and the PWM signal output of the single-chip microcomputer U1 The pin (that is, the No. 5 pin) is connected, and the source of the first switch Q1 is grounded.
  • the model of the single-chip microcomputer U1 may be PIC12F615-I/SN, and the first switch Q1 may be an N-channel MOS transistor.
  • the single-chip microcomputer U1 generates a pulse width modulation (PWM, Pulse width modulation) signal to control the first switching tube Q1 to be turned on and off periodically.
  • PWM pulse width modulation
  • the freewheeling diode D1 is reversely turned off, and the electromagnetic coil obtains a pulse voltage close to the external power supply; when the first switching tube Q1 is turned off, the freewheeling diode D1 is turned off.
  • the diode D1 is turned on, the current in the electromagnetic coil forms a loop through the freewheeling diode D1, and the almost constant current flows through the electromagnetic coil.
  • the output voltage U OUT can be arbitrarily adjusted between 100% and 0% of the second output terminal VCC voltage U S by writing a program to the single-chip microcomputer U1 to adjust the duty cycle D.
  • various control parameters and multiple optional functions for different electromagnetic brakes can be realized by writing different programs into the single-chip microcomputer U1, which greatly improves the practicability of the electromagnetic brake control device.
  • the above-mentioned first switch tube Q1 is controlled by the above-mentioned single-chip microcomputer U1, and after the above-mentioned external power supply is turned on, 100% of the second output terminal VCC voltage is output for 0.3 seconds, and then adjusted to 50% ⁇ 30% voltage output. Until the above external power supply is disconnected.
  • Heating power P U 2 /R, so the heating value of the above-mentioned electromagnetic brake solenoid coil is about 25% ⁇ 10% of the fixed voltage control. In this way, the heat generation of the electromagnetic brake can be reduced, and the power consumption can be saved.
  • the above-mentioned first switch module 2 further includes a sixth capacitor C6 and an eighteenth resistor R18.
  • the sixth capacitor C6 is connected between the power input pin (i.e. pin 1) and the ground pin (i.e. pin 8) of the single-chip microcomputer U1 for decoupling, and its size can be 100 nanofarads;
  • the size of the eighteenth resistor R18 can be 10 ohms.
  • the above-mentioned second switch module 3 includes a first resistor R1, a second resistor R2, a second switch tube Q2, and a first Zener diode ZD1.
  • the first resistor R1 is connected in parallel with the first zener diode ZD1; the cathode of the first zener diode ZD1 is connected to the second output terminal VCC, and the anode of the first zener diode ZD1 is grounded through the second resistor R2;
  • the gate of the second switch Q2 is grounded through the second resistor R2, the source of the second switch Q2 is connected to the second output terminal VCC, and the drain of the second switch Q2 is connected to the second control output. End COIL+ connection.
  • the second switching tube Q2 may be a P-channel MOS tube.
  • the gate voltage of the second switching tube Q2 is about 11V lower than the source voltage, and the second switching tube Q2 Conduction ensures that the above-mentioned electromagnetic coil forms a normal current loop.
  • the gate voltage and source voltage of the second switching tube Q2 quickly drop to 0, and the second switching tube Q2 is turned off, so that the current loop of the electromagnetic coil is quickly disconnected, and the electromagnetic coil
  • the current value on the upper current decays to 0 instantaneously, so that when the external power supply is disconnected, the freewheeling effect of the freewheeling diode D1 is eliminated, so that the armature of the electromagnetic brake is quickly released.
  • the above-mentioned first resistor R1 has a negative temperature coefficient (NTC, Negative Temperature Coefficient) Thermistor, when the temperature is higher than the temperature threshold, its resistance becomes very low, so that the first Zener diode ZD1 is short-circuited, so that the gate voltage of the second switching tube Q2 is close to the source voltage , The second switch tube Q2 is turned off, so that the current loop of the electromagnetic coil is disconnected. Specifically, when the temperature drops below the temperature threshold, the resistance of the first resistor R1 returns to normal, so that the second switching tube Q2 is turned on again, and the electromagnetic brake works normally again. In this way, automatic temperature protection of the electromagnetic brake can be realized to avoid overheating and burnout.
  • NTC Negative Temperature Coefficient
  • the above-mentioned electromagnetic brake control device further includes a working state indicating module 4, the above-mentioned working state indicating module 4 includes a light-emitting diode LED and a third resistor R3, and the above-mentioned single-chip microcomputer U1 is also equipped with a working state signal output function.
  • the first end of the third resistor R3 is connected to the general output pin (namely pin 2) of the single-chip microcomputer U1, and the second end of the third resistor R3 is connected to the anode of the light emitting diode LED; the light emitting diode LED The cathode is grounded.
  • the above-mentioned working state signal output function is specifically: based on the duty ratio of the PWM signal obtained by the above-mentioned pulse width modulation, the above-mentioned general output pin (ie, pin 2) is controlled to output a working state signal of the corresponding frequency, thereby controlling the above-mentioned light-emitting diode LED.
  • the flicker frequency wherein the frequency of the working state signal is positively correlated with the duty cycle. In an application scenario, when the duty cycle is 90%, the flicker frequency of the light-emitting diode LED is 9 Hz, and when the duty cycle is 100%, the flicker frequency of the light-emitting diode LED is 10 Hz. When there is no output, The above-mentioned light-emitting diode LED does not light up.
  • the aforementioned pulse width modulation function is specifically: pulse width modulation based on a preset sustain voltage value.
  • the above-mentioned electromagnetic brake control device also includes a voltage sampling module 5.
  • the voltage sampling module 5 includes a fourth resistor R4, a fifth resistor R5, and a second Zener diode ZD2; The first end of the resistor R4, the first end of the fifth resistor R5, and the cathode of the second Zener diode ZD2 are connected; the second end of the fourth resistor R4 is connected to the second output terminal VCC; the fifth resistor The second end of R5 and the anode of the second Zener diode ZD2 are grounded.
  • the fourth resistor R4 and the fifth resistor R5 adopt the principle of resistor divider for voltage sampling, and the sampled voltage is input to the analog signal input pin (ie pin 7) of the single-chip microcomputer U1.
  • the single-chip microcomputer U1 performs AD conversion and processing to obtain the voltage value of the second output terminal VCC.
  • the second Zener diode ZD2 is used to limit the maximum value of the sampling voltage, and avoid damaging the single-chip microcomputer U1 due to the excessively high voltage value of the second output terminal VCC.
  • the above-mentioned single-chip microcomputer U1 is also equipped with a release function.
  • the above-mentioned release function is specifically: comparing the above-mentioned sampled voltage with a preset release voltage value, and when the above-mentioned sampled voltage is lower than the above-mentioned preset release voltage value, disconnect The current loop where the electromagnetic coil is located causes the armature to be released.
  • the first switching tube Q1 can be continuously turned off by controlling the PWM signal output by the single-chip microcomputer U1, so that the armature of the electromagnetic brake is released.
  • the aforementioned pulse width modulation function is specifically: pulse width modulation based on a preset sustain current value.
  • the electromagnetic brake control device also includes a current sampling module 6.
  • FIG. 3 shows the current sampling module 6 and its access method in the electromagnetic brake control device. The connection methods of other modules or circuits are not fully shown. Refer to Figure 1 and Figure 2 above. As shown in FIG.
  • the circuit sampling module 6 includes a sixth resistor R6 and an operational amplifier circuit; the source of the first switch tube Q1 is grounded through the sixth resistor R6; the operational amplifier circuit includes: an operational amplifier U2, a first The capacitor C1, the second capacitor C2, the seventh resistor R7, the eighth resistor R8, the ninth resistor R9, the tenth resistor R10, the eleventh resistor R11, and the twelfth resistor R12.
  • the model of the above operational amplifier U2 can be LM358DR2G .
  • the power input pin (namely pin 1) of the operational amplifier U2 is connected to the first output terminal Vout; the first terminal of the first capacitor C1 is connected to the first output terminal Vout, and the first terminal of the first capacitor C1 is connected to the first output terminal Vout.
  • the two ends are grounded; the output pin (namely pin 1) of the operational amplifier U2 is respectively connected to the first end of the seventh resistor R7 and the analog signal input pin (namely pin 7) of the single-chip microcomputer U1;
  • the inverting input pin (namely pin 2) of the operational amplifier U2 is respectively connected to the second end of the seventh resistor R7 and the first end of the eighth resistor R8; the non-inverting input pin of the operational amplifier U2 (namely Pin 3) are respectively connected to the first end of the ninth resistor R9 and the first end of the tenth resistor R10; the ground pin of the operational amplifier U2 (namely pin 4) and the pin of the ninth resistor R9
  • the second end is grounded; the second end of the eighth resistor R8 is respectively
  • the sixth resistor R6 is a sampling resistor with a small resistance (in this embodiment, it may be 0.05 ohm), and the operational amplifier circuit obtains the sampling current after operational amplification and feeds it back to the single-chip U1; the single-chip U1 may The current channel of the electromagnetic coil loop is controlled based on the preset holding current value and the obtained sampling current value.
  • the friction lining of the electromagnetic brake will gradually wear out and become thinner.
  • the thinning of the friction plate will indirectly cause the gap to become larger, which requires a larger excitation current (current in the electromagnetic coil) to make the armature pull in.
  • the required excitation current exceeds the above-mentioned electromagnetic brake, the electromagnetic coil works at the minimum operating voltage and the maximum When the current can be obtained under the temperature, the armature will not be able to attract the risk, that is, the life of the above-mentioned electromagnetic brake will end.
  • the above-mentioned sampling current can also be used for electromagnetic brake life detection, and the above-mentioned single-chip U1 is also equipped with a life detection function.
  • the above-mentioned life detection function is to detect the life of the above-mentioned electromagnetic brake based on the above-mentioned sampled current value and a preset excitation current value.
  • the current that the electromagnetic brake can obtain at the minimum operating voltage and the maximum operating temperature is stored as the preset excitation current IM in the single chip U1.
  • the current I P at the moment when the armature of the electromagnetic brake starts to move is detected by detection means, and compared with the preset excitation current I M , when I P > A* IM
  • A the preset tolerance
  • the last 12 IP values can be recorded in the above-mentioned single-chip microcomputer U1, the maximum 2 values and the minimum two values are removed, and the remaining 8 values are averaged to obtain I PA based on the value of I PA Carry out life test.
  • the life detection function the user can know in advance that the life of the electromagnetic brake will be expired, so that it can be replaced in advance to avoid loss and improve safety.
  • the above-mentioned external power supply is a DC power supply
  • the above-mentioned power supply input terminal includes: a positive input terminal DC+ and a negative input terminal DC- respectively used for connecting with the positive and negative electrodes of the above-mentioned DC power supply
  • the above-mentioned power management module 1 further includes: an input protection and filtering circuit and a voltage stabilizing integrated chip U3;
  • the above-mentioned input protection and filtering circuit includes: a first fuse F1, a first transient voltage suppression diode TVS1, a Schottky diode D2, and a third Capacitor C3;
  • the positive input terminal DC+ is the first terminal of the first fuse F1, and the second terminal of the first fuse F1 is respectively connected to the first terminal of the first transient voltage suppression diode TVS1 and the Schottky diode
  • the anode of D2 is connected;
  • the negative input terminal DC- is the second terminal of the first transient voltage suppression diode TVS
  • the first output terminal Vout of the above-mentioned power management module 1 is the output pin of the above-mentioned voltage-stabilizing integrated chip U3 (that is, the No. 1 pin). Pin); the second output terminal VCC of the power management module 1 is the input pin (namely pin 3) of the above-mentioned voltage-stabilizing integrated chip U3, wherein the input pins of the above-mentioned voltage-stabilizing integrated chip U3 are respectively the same as those of the aforementioned Schott
  • the cathode of the base diode D2 is connected to the second end of the third capacitor C3.
  • the model of the above-mentioned voltage stabilizing integrated chip U3 may be 78L05, the above-mentioned first fuse F1 is used for short-circuit protection, and the above-mentioned first transient voltage suppression diode TVS1 is used to suppress the voltage between the positive input terminal DC+ and the negative input terminal DC- Surge voltage, the above-mentioned Schottky diode D2 is used for the anti-reverse protection of the above-mentioned positive input terminal DC+ and the above-mentioned negative input terminal DC-; the above-mentioned third capacitor C3 is used for filtering, and the above-mentioned voltage stabilizing integrated chip U3 is used for the above-mentioned single-chip microcomputer U1 provides a stable working voltage, and the voltage output by the first output terminal Vout is 5V.
  • the external power source is an AC power source
  • the power source input terminal includes: neutral wire input terminals AC-N and AC-N, which are respectively used to connect with the neutral wire terminal and the live wire terminal of the AC power source.
  • the power management module 1 also includes an input protection and rectification circuit, a step-down circuit, and a voltage reference circuit;
  • the input protection and rectification circuit includes: a second fuse F1, a thirteenth resistor R13, and a rectifier bridge D3
  • the above-mentioned step-down circuit includes a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a third zener diode ZD3, a fourth zener diode ZD4, a fourth capacitor C4 and a fifth capacitor C5;
  • the reference circuit includes: a seventeenth resistor R17 and a fifth Zener diode ZD5.
  • the live wire input terminal AC-L is the first end of the second fuse F2, and the second end of the second fuse F2 is respectively connected to the first end of the thirteenth resistor R13 and the first end of the rectifier bridge D3
  • the neutral input terminal AC-N is the second end of the thirteenth resistor R13, and the second end of the thirteenth resistor R13 is connected to the third end of the rectifier bridge D3; the first end of the power management module 1
  • the second output terminal VCC is the second end of the rectifier bridge D3, and the second end of the rectifier bridge D3 is connected to the first end of the fourteenth resistor R14; the second end of the fourteenth resistor R14 is connected to the tenth
  • the first end of the five resistor R15 is connected, and the second end of the fifteenth resistor R15 is connected to the cathode of the third Zener diode ZD3, the first end of the fourth capacitor C4, and the first end of the sixteenth resistor R16.
  • the first output terminal Vout of the power management module 1 is the second terminal of the sixteenth resistor R16, and the second terminal of the sixteenth resistor R16 is respectively connected to The cathode of the fourth zener diode ZD4 and the first end of the fifth capacitor C5 are connected; the second end of the seventeenth resistor R17 is respectively connected to the cathode of the fifth zener diode ZD5 and the reference voltage input of the single-chip microcomputer U1 Pin (ie pin 6) is connected; the fourth end of the rectifier bridge D3, the anode of the third Zener diode ZD3, the second end of the fourth capacitor C4, the anode of the fourth Zener diode ZD4, The second end of the fifth capacitor C5 and the anode of the fifth Zener diode ZD5 are grounded.
  • the second fuse F2 is used for short-circuit protection
  • the thirteenth resistor R13 is a varistor, which is used to suppress the surge voltage of the neutral input terminal AC-N and the live input terminal AC-L
  • the rectifier bridge D3 Used to rectify alternating current to direct current.
  • the above-mentioned step-down circuit obtains 5V and 24V smooth DC power respectively, and the 5V smooth DC power is used to power the above-mentioned single-chip microcomputer U1.
  • the voltage reference circuit obtains a 5V reference voltage with basically no fluctuation to the single-chip microcomputer U1 as a reference voltage for AD conversion.
  • the single-chip microcomputer U1 obtains the rectified AC power source through the voltage sampling circuit and the voltage reference circuit.
  • the instantaneous voltage value u 1 then the instantaneous value d of the duty cycle of the PWM voltage pulse signal output by the single-chip microcomputer U1 is:
  • the expected equivalent voltage U OUT is the sustain voltage value preset in the single-chip microcomputer U1, which can be preset and changed based on the electrical parameters of the electromagnetic brake.
  • the above-mentioned single-chip microcomputer U1 is also configured with a preset signal output function.
  • the above-mentioned preset signal output function is: based on the sampling voltage obtained by the analog signal input pin of the above-mentioned single-chip microcomputer U1 (ie pin 7), the preset signal is periodically synchronized and passed through the PWM signal output pin of the above-mentioned single-chip U1 ( That is, pin No. 5) outputs the preset signal.
  • the aforementioned preset signal is the PWM signal preset in the aforementioned single-chip microcomputer U1; for a certain AC power supply, the waveform obtained after rectification is periodic, and the period is certain; therefore, simulation or experimental simulation can be used
  • the function of the instantaneous value d of the duty cycle of the optimal PWM signal varying with time for each of the above-mentioned electromagnetic brake control devices in one cycle is calculated, and the above-mentioned optimal PWM signal is configured in the above-mentioned single-chip U1.
  • the single-chip microcomputer U1 obtains the sampling voltage through the voltage sampling circuit, and compares the sampling voltage with the preset period starting voltage value through the built-in voltage comparator.
  • the sampling voltage at a certain moment is less than or equal to the period starting When starting voltage, it is judged that this time is the starting time of the cycle of the sampling voltage, and the optimal PWM signal and the sampling voltage are periodically synchronized and output, so as to control the electromagnetic brake.
  • the preset period starting voltage value is a positive number close to zero.
  • the above-mentioned single-chip microcomputer U1 no longer performs real-time pulse width modulation and output when the preset signal is output.
  • the above-mentioned single-chip U1 performs the preset signal output, the above-mentioned voltage reference circuit does not need to provide the reference voltage, and there is no need to perform AD on the above-mentioned sampled voltage value in real time. Conversion and calculation can make the circuit structure of the electromagnetic brake control device simpler, and enable the electromagnetic coil to obtain a smoother current than the current obtained based on the pulse width modulation function.
  • the electromagnetic brake control device further includes a second transient voltage suppression diode TVS2. Both ends of the second transient voltage suppression diode TVS2 are connected to the first control output terminal. COIL- is connected to the second control output terminal COIL+. Specifically, when the external power supply is disconnected, the first switching tube Q1 and the second switching tube Q2 are both turned off, and the current of the electromagnetic coil instantaneously decays to zero, which will generate a very high back EMF. Two transient voltage suppression diodes TVS2 are used to suppress the back electromotive force generated by the electromagnetic coil and protect the electromagnetic brake control device.
  • the disclosed device/system/circuit can be implemented in other ways.
  • the device/system/circuit embodiments described above are only illustrative.
  • the division of the above-mentioned modules or units is only a logical function division, and in actual implementation, it can be divided into other ways, such as multiple units.
  • components can be combined or integrated into another system, or some features can be omitted or not implemented.
  • the above-mentioned integrated circuit/module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • this application implements all or part of the modules of the above-mentioned embodiments, and can also be completed by instructing relevant hardware through a computer program.
  • the above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program is When executed, the functions of the above-mentioned circuits/modules/units can be realized.
  • the above-mentioned computer program includes computer program code, and the above-mentioned computer program code may be in the form of source code, object code, executable file, or some intermediate forms.
  • the above-mentioned computer-readable medium may include: any entity or device capable of carrying the above-mentioned computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. It should be noted that the content contained in the above-mentioned computer-readable storage medium can be appropriately increased or decreased in accordance with the requirements of the legislation and patent practice in the jurisdiction.

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Abstract

一种电磁制动器控制装置，包括：电源管理模块（1）、第一开关模块（2）、续流二极管（D1）和用于与电磁线圈连接的第一控制输出端（COIL-）和第二控制输出端（COIL+）；电源管理模块（1）包括第一输出端（Vout）、第二输出端（VCC）和用于与外部电源连接的电源输入端；第一开关模块（2）的输入端和输出端与第一输出端（Vout）和第一控制输出端（COIL-）连接，第一开关模块（2）配置脉冲宽度调制功能；续流二极管（D1）的阴极和阳极分别与第二输出端（VCC）和第一控制输出端（COIL-）连接；第二输出端（VCC）与第二控制输出端（COIL+）连接；脉冲宽度调制功能为：基于预设的维持电压/电流值进行脉冲宽度调制，维持电压/电流值为维持衔铁吸合的电压/电流值。该电磁制动器控制装置经脉冲宽度调制方式对电磁线圈电压进行控制，可降低制动器的发热，提高安全性。

Description

一种电磁制动器控制装置
本申请要求于2020年03月06日提交中国专利局、申请号为202010152310.0、发明名称为“一种电磁制动器控制装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及控制技术领域，具体涉及一种电磁制动器控制装置。
 背景技术
电磁制动器是现代工业中一种理想的自动化执行元件，在机械传动系统中主要起到传递动力和控制运动等作用，目前广泛使用在各控制领域中。通过电源对电磁制动器的电磁线圈进行控制，可以实现对电磁制动器中衔铁的控制，从而控制电磁制动器的吸合或断开。
现有技术中，对电磁制动器的控制方式通常为固定电压控制，现有技术的缺陷在于，电磁制动器长时间在额定电压下吸合，容易导致电磁制动器发热烧毁，存在很大的安全隐患。
 技术问题
本申请提供一种电磁制动器控制装置，有利于降低电磁制动器的发热、提高电磁制动器的使用安全性。
 技术解决方案
为了实现上述技术效果，本申请提供一种电磁制动器控制装置，应用于电磁制动器，该电磁制动器控制装置包括：
电源管理模块、第一开关模块、续流二极管，以及用于与上述电磁制动器的电磁线圈两端连接的第一控制输出端和第二控制输出端；
其中，上述电源管理模块包括：电源输入端、第一输出端和第二输出端；上述电源输入端用于与外部电源连接；
上述第一开关模块的输入端和输出端分别与上述第一输出端和上述第一控制输出端连接，其中，上述第一开关模块配置有脉冲宽度调制功能；
上述续流二极管的阴极和阳极分别与上述第二输出端和上述第一控制输出端连接；
上述第二输出端与上述第二控制输出端连接；
上述脉冲宽度调制功能具体为：基于预设的维持电压值或维持电流值进行脉冲宽度调制，其中，上述维持电压值为维持上述电磁制动器的衔铁吸合的电压值，上述维持电流值为维持上述电磁制动器的衔铁吸合的电流值。
可选的，上述电磁制动器控制装置还包括第二开关模块，上述第二输出端经上述第二开关模块与上述第二控制输出端连接；
上述第二开关模块配置有断电快速响应功能和过热保护功能；
上述断电快速响应功能具体为：在上述外部电源断开时切断上述电磁线圈的电流回路；
上述过热保护功能具体为：在上述电磁制动器控制装置或上述电磁制动器的温度过高时，切断上述电磁线圈的电流回路。
可选的，上述第一开关模块包括单片机和第一开关管；
上述第一开关模块的输入端为上述单片机的电源输入引脚；
上述第一开关模块的输出端为上述第一开关管的漏极，上述第一开关管的栅极与上述单片机的PWM信号输出引脚连接，且上述第一开关管的源极接地。
可选的，上述第二开关模块包括第一电阻、第二电阻、第二开关管以及第一稳压二极管；
上述第一电阻与上述第一稳压二极管并联；
上述第一稳压二极管的阴极与上述第二输出端连接且上述第一稳压二极管的阳极经上述第二电阻接地；
上述第二开关管的栅极经上述第二电阻接地，上述第二开关管的源极与上述第二输出端连接，且上述第二开关管的漏极与上述第二控制输出端连接。
可选的，上述单片机配置有工作状态信号输出功能；
上述电磁制动器控制装置还包括工作状态指示模块，上述工作状态指示模块包括发光二极管和第三电阻；
上述第三电阻的第一端与上述单片机的通用输出引脚连接，且上述第三电阻的第二端与上述发光二极管的阳极连接；上述发光二极管的阴极接地；
上述工作状态信号输出功能具体为：基于上述脉冲宽度调制获得的信号的占空比控制上述通用输出引脚输出相应频率的信号，其中，上述信号的频率与上述占空比成正相关。
可选的，上述脉冲宽度调制功能具体为：基于预设的维持电压值进行脉冲宽度调制；
上述电磁制动器控制装置还包括电压采样模块，上述电压采样模块包括第四电阻、第五电阻以及第二稳压二极管；
上述单片机的模拟信号输入引脚分别与上述第四电阻的第一端、上述第五电阻的第一端和上述第二稳压二极管的阴极连接；
上述第四电阻的第二端与上述第二输出端连接；
上述第五电阻的第二端和上述第二稳压二极管的阳极接地。
可选的，上述脉冲宽度调制功能具体为：基于预设的维持电流值进行脉冲宽度调制；
上述电磁制动器控制装置还包括电流采样模块；上述电流采样模块包括第六电阻和运算放大电路；上述第一开关管的源极经上述第六电阻接地；
上述运算放大电路包括：运算放大器、第一电容、第二电容、第七电阻、第八电阻、第九电阻、第十电阻、第十一电阻以及第十二电阻；
上述运算放大器的电源输入引脚与上述第一输出端连接；
上述第一电容的第一端与上述第一输出端连接且上述第一电容的第二端接地；
上述运算放大器的输出引脚分别与上述第七电阻的第一端和上述单片机的模拟信号输入引脚连接；
上述运算放大器的反相输入引脚分别与上述第七电阻的第二端和上述第八电阻的第一端连接；
上述运算放大器的同相输入引脚分别与上述第九电阻的第一端和上述第十电阻的第一端连接；
上述运算放大器的接地引脚和上述第九电阻的第二端接地；
上述第八电阻的第二端分别与上述第二电容的第一端和上述第十一电阻的第一端连接，且上述第十一电阻的第二端接地；
上述第十电阻的第二端分别与上述第二电容的第二端和上述第十二电阻的第一端连接；
上述第十二电阻的第二端与上述第一开关管的源极连接。
可选的，上述外部电源为直流电源，上述电源输入端包括：分别用于与上述直流电源的正极和负极连接的正极输入端和负极输入端；
上述电源管理模块还包括：输入保护及滤波电路和稳压集成芯片；
上述输入保护及滤波电路包括：第一保险丝、第一瞬态电压抑制二极管、肖特基二极管以及第三电容；
上述正极输入端为上述第一保险丝的第一端，且上述第一保险丝的第二端分别与上述第一瞬态电压抑制二极管的第一端和上述肖特基二极管的阳极连接；
上述负极输入端为上述第一瞬态电压抑制二极管的第二端，且上述第一瞬态电压抑制二极管的第二端分别与上述第三电容的第一端以及上述稳压集成芯片的接地引脚连接并接地；
上述电源管理模块的第一输出端为上述稳压集成芯片的输出引脚；
上述电源管理模块的第二输出端为上述稳压集成芯片的输入引脚，其中，上述稳压集成芯片的输入引脚分别与上述肖特基二极管的阴极和上述第三电容的第二端连接。
可选的，上述外部电源为交流电源，上述电源输入端包括：分别用于与上述交流电源的零线端和火线端连接的零线输入端和火线输入端；
上述电源管理模块还包括输入保护及整流电路、降压电路以及电压基准电路；
上述输入保护及整流电路包括：第二保险丝、第十三电阻以及整流桥；
上述降压电路包括第十四电阻、第十五电阻、第十六电阻、第三稳压二极管、第四稳压二极管、第四电容以及第五电容；
上述电压基准电路包括：第十七电阻以及第五稳压二极管；
上述火线输入端为上述第二保险丝的第一端，且上述第二保险丝的第二端分别与上述第十三电阻的第一端以及上述整流桥的第一端连接；
上述零线输入端为上述第十三电阻的第二端，且上述第十三电阻的第二端与上述整流桥的第三端连接；
上述电源管理模块的第二输出端为上述整流桥的第二端，且上述整流桥的第二端与上述第十四电阻的第一端连接；
上述第十四电阻的第二端与上述第十五电阻的第一端连接，上述第十五电阻的第二端分别与上述第三稳压二极管的阴极、上述第四电容的第一端、上述第十六电阻的第一端以及上述第十七电阻的第一端连接；
上述电源管理模块的第一输出端为上述第十六电阻的第二端，且上述第十六电阻的第二端分别与上述第四稳压二极管的阴极以及上述第五电容的第一端连接；
上述第十七电阻的第二端分别与上述第五稳压二极管的阴极和上述单片机的参考电压输入引脚连接；
上述整流桥的第四端、上述第三稳压二极管的阳极、上述第四电容的第二端、上述第四稳压二极管的阳极、上述第五电容的第二端以及上述第五稳压二极管的阳极接地。
可选的，上述电磁制动器控制装置还包括第二瞬态电压抑制二极管，上述第二瞬态电压抑制二极管的两端分别与上述第一控制输出端和上述第二控制输出端连接。
 有益效果
本申请发明人研究发现，在控制电磁制动器的衔铁吸合时，需要在电磁制动器的电磁线圈施加较大的电压，而在电磁制动器的衔铁吸合后，只要在一定范围内降低电磁制动器的电磁线圈两端的电压，也能保持电磁制动器的衔铁吸合。因此，本申请提供的电磁制动器控制装置在电源管理模块和第一控制输出端之间设置第一开关模块，通过将第一控制输出端和第二控制输出端分别与电磁制动器的电磁线圈的两端连接，并配合第一开关模块的脉冲宽度调制功能，可对施加在上述电磁制动器的电磁线圈上的电压或电流进行控制，从而有利于实现“高电能吸合、低电能保持”的技术效果，避免在电磁制动器的衔铁吸合过程中，该电磁制动器的电磁线圈长期处于高压的状态，进而有利于降低电磁制动器的发热、提高电磁制动器的使用安全性。
 附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种电磁制动器控制装置的电路示意图；
图2是本申请实施例提供的一种电磁制动器控制装置的电路示意图；
图3是本申请实施例提供的一种电磁制动器控制装置的电流采样模块的电路示意图。
 本发明的实施方式
以下描述中，为了说明而不是为了限定，提出了诸如特定系统结构、技术之类的具体细节，以便透彻理解本申请实施例。然而，本领域的技术人员应当清楚，在没有这些具体细节的其他实施例中也可以实现本申请的技术方案。在其它情况下，省略对众所周知的系统、装置、电路以及方法的详细说明，以免不必要的细节妨碍本申请的描述。
应当理解，当在本说明书和所附权利要求书中使用时，术语“包括”指示所描述特征、整体、步骤、操作、元素和/或组件的存在，但并不排除一个或多个其它特征、整体、步骤、操作、元素、组件和/或其集合的存在或添加。
还应当理解，在本申请说明书中所使用的术语仅仅是出于描述特定实施例的目的而并不意在限制本申请。如在本申请说明书和所附权利要求书中所使用的那样，除非上下文清楚地指明其它情况，否则单数形式的“一”、“一个”及“该”意在包括复数形式。
还应当进一步理解，在本申请说明书和所附权利要求书中使用的术语“和/或”是指相关联列出的项中的一个或多个的任何组合以及所有可能组合，并且包括这些组合。
如在本说明书和所附权利要求书中所使用的那样，术语“如果”可以依据上下文被解释为“当…时”或“一旦”或“响应于确定”或“响应于检测到”。类似的，短语“如果确定”或“如果检测到[所描述条件或事件]”可以依据上下文被解释为意指“一旦确定”或“响应于确定”或“一旦检测到[所描述的条件或事件]”或“响应于检测到[所描述条件或事件]”。
下面结合本申请实施例的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请的一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在下面的描述中阐述了很多具体细节以便于充分理解本申请，但是本申请还可以采用其它不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似推广，因此本申请不受下面公开的具体实施例的限制。
图1示出了本申请实施例提供的一种电磁制动器控制装置的电路示意图，如图1所示，上述电磁制动器控制装置包括：
电源管理模块1、第一开关模块2、续流二极管D1，以及用于与上述电磁制动器的电磁线圈两端连接的第一控制输出端COIL-和第二控制输出端COIL+；其中，上述电源管理模块1包括电源输入端、第一输出端Vout和第二输出端VCC；上述电源输入端用于与外部电源连接；上述第一开关模块2的输入端和输出端分别与上述第一输出端Vout和上述第二输出端VCC连接，其中，上述第一开关模块配置有脉冲宽度调制功能；上述续流二极管D1的阴极和阳极分别与上述第二输出端VCC和上述第一控制输出端COIL-连接；上述第二输出端VCC与上述第二控制输出端COIL+连接；上述脉冲宽度调制功能具体为：基于预设的维持电压值或维持电流值进行脉冲宽度调制，其中，上述维持电压值为维持上述电磁制动器的衔铁吸合的电压值，上述维持电流值为维持上述电磁制动器的衔铁吸合的电流值。
据上述方案，本申请提供的电磁制动器控制装置在电源管理模块1和第一控制输出端COIL-之间设置第一开关模块2，通过将第一控制输出端COIL-和第二控制输出端COIL+分别与电磁制动器的电磁线圈的两端连接，并配合第一开关模块2的脉冲宽度调制功能，可对施加在上述电磁制动器的电磁线圈上的电压或电流进行控制，从而有利于实现“高电能吸合、低电能保持”的技术效果，避免在电磁制动器的衔铁吸合过程中，该电磁制动器的电磁线圈长期处于高压的状态，进而有利于降低电磁制动器的发热、提高电磁制动器的使用安全性。
通过第一开关模块2基于预设的维持电压值或维持电流值进行脉冲宽度调制，并输出脉冲宽度调制后的波形，从而控制加在上述电磁制动器的电磁线圈上的电压或电流，使上述电磁制动器可以在保持衔铁长时间吸合的情况下电磁线圈不需要一直保持额定电压或额定电流，可以在低于额定电压或额定电流的情况下保持正常使用，达到了降低制动器的发热、提高安全性的技术效果。
进一步，由于本申请提供的电磁制动器控制装置可使得电磁制动器的发热量大幅度降低，因此，电磁制动器的电磁线圈部分可在一定程度上做得更加薄，从而有利于缩小整个产品的体积且减轻产品重量。
可选的，上述续流二极管D1用于配合上述电磁制动器的电磁线圈使用。上述电磁线圈是电感性负载，当电磁线圈上的电流有突然的变化时，电磁线圈的两端会产生突变电压，此时可能会破坏电磁制动器上的其它元器件。配合续流二极管D1时，其电流可以较平缓地变化，避免突变电压的产生。具体的，上述续流二极管D1可以是快速恢复二极管或肖特基二极管，还可以是其他类型的二极管，在此不做具体限定。
可选的，上述维持电压值（维持电流值）可以是维持上述电磁制动器的衔铁吸合的最小电压值（最小电流值），也可以是基于上述电磁制动器的电气参数和使用环境，经实验或仿真后获得的大于上述最小电压值（最小电流值）且小于上述电磁制动器的额定电压值（额定电流值）的一最佳工作电压值（最佳工作电流值）。具体的，维持该最佳工作电压值（最佳工作电流值）能保证电磁制动器的衔铁正常吸合，且能有效降低电磁制动器的发热。
在一种应用场景中，当需要更快的衔铁吸合速度时，可以使用上述电磁制动器控制装置配合额定电压为1/2第二输出端VCC电压的电磁制动器。当外部电源接通时，上述电磁制动器控制装置输出100%的第二输出端VCC电压给上述电磁制动器线圈，此时上述电磁制动器的电磁线圈的电压为2倍额定电压，吸合速度更快。经过预设的吸附时间后，上述电磁制动器控制装置的第一开关模块2通过其脉冲宽度调制功能控制加在上述电磁制动器的电磁线圈上的电压，从而实现低发热量。
可选的，上述第一开关模块2还配置有周期性重吸合功能，上述周期性重吸合功能具体为：基于预设的重吸合周期和重吸合时间，周期性地输出维持时间为上述重吸合时间的100%第二输出段VCC电压，保证上述电磁制动器的衔铁因剧烈振动、供电电压大幅度跌落等情况意外释放后仍然可以自动重新吸合。
可选的，上述脉冲调制功能和上述周期性重吸合功能也可以基于预设的维持电流实现。在一种应用场景中，可以采集上述电磁制动器的电磁线圈的电流值并反馈给所述第一开关模块2，上述第一开关模块2基于上述预设的维持电流值、上述电磁线圈的电流值以及等效电阻进行脉冲宽度调制调节以控制施加在电磁线圈上的电流，使得在电磁制动器的衔铁保持吸合的过程中，该电磁线圈上的电流值恒定在预设的维持电流值，从而实现在保持衔铁吸合的同时降低电磁制动器的发热量。
进一步的，传统对上述电磁制动器的电磁线圈基于电压进行控制时，一般需要考虑15%的电压波动，即当加在上述电磁线圈上的电压为85%额定电压时仍然维持衔铁吸合。同时，随着电磁线圈持续发热，电磁线圈的电阻逐渐增大，电磁线圈的吸合电压值（维持衔铁吸合的最小的电磁线圈电压值）也会随之变化，因此基于电压对电磁制动器的电磁线圈进行控制时需要考虑的设计裕度（误差容许范围）较大。对上述电磁制动器的电磁线圈基于电流进行控制时，电磁制动器的吸合电流（维持衔铁吸合的最小的电磁线圈电流值）几乎不随温度变化，因此采用恒定电流控制时，可以降低设计裕度（误差容许范围），降低温升，节约电能消耗；对于通电制动的电磁制动器，还可以做到恒定扭矩。
可选的，如图1所示，本实施例中，上述电磁制动器控制装置还包括第二开关模块3，上述第二输出端VCC经上述第二开关模块2与上述第二控制输出端COIL+连接；上述第二开关模块配置有断电快速响应功能和过热保护功能；上述断电快速响应功能具体为：在上述外部电源断开时快速切断上述电磁线圈的电流回路；上述过热保护功能具体为：在上述电磁制动器控制装置或上述电磁制动器的温度过高时，切断上述电磁线圈的电流回路。
可选的，上述切断上述电磁线圈的电流回路具体通过切断上述第二输出端VCC和上述第二控制输出端COIL+实现。在一种应用场景中，上述过热保护功能具体为：在上述电磁制动器控制装置或上述电磁制动器的温度大于一温度阈值时，切断上述电磁线圈的电流回路，且在上述电磁制动器控制装置或上述电磁制动器的温度低于该温度阈值时，重新接通上述电磁线圈的电流回路。
如图1所示，本实施例中，上述第一开关模块2包括单片机U1和第一开关管Q1；上述第一开关模块2的输入端为上述单片机U1的电源输入引脚，即上述单片机U1的电源输入引脚（即1号引脚），上述第一开关模块2的输出端为上述第一开关管Q1的漏极，上述第一开关管Q1的栅极与上述单片机U1的PWM信号输出引脚（即5号引脚）连接，且上述第一开关管Q1的源极接地。
本实施例中，上述单片机U1的型号可以为PIC12F615-I/SN，上述第一开关管Q1可以为N沟道MOS管。上述单片机U1产生脉冲宽度调制（PWM， Pulse width modulation）信号控制上述第一开关管Q1周期性导通和关断。如图1所示，上述第一开关管Q1导通时，上述续流二极管D1反向截止，上述电磁线圈获得接近上述外部电源的脉冲电压；上述第一开关管Q1关断时，上述续流二极管D1导通，上述电磁线圈中的电流通过上述续流二极管D1形成回路，上述电磁线圈中流过的几乎是恒定电流。如图1所示，当上述外部电源为直流电源时，根据PWM原理，等效输出电压U OUT、第二输出端VCC电压U S以及占空比D的关系为：U OUT=D*U S。通过向单片机U1中写入程序调节占空比D即可实现输出电压U OUT在100%到0%第二输出端VCC电压U S之间任意调节。在一种应用场景中，可以通过向单片机U1中写入不同的程序实现对不同电磁制动器的多种控制参数及多种可选功能，极大的提高了上述电磁制动器控制装置的实用性。
在一种应用场景中，通过上述单片机U1控制上述第一开关管Q1，在上述外部电源接通后持续0.3秒输出100%第二输出端VCC电压，然后调整为50%~30%电压输出，直到上述外部电源断开。发热功率P=U 2/R，因此上述电磁制动器电磁线圈的发热量约为固定电压控制的25%~10%。如此可降低上述电磁制动器的发热量，且节约电能消耗。
本实施例中，上述第一开关模块2还包括第六电容C6和第十八电阻R18。上述第六电容C6连接于上述单片机U1的电源输入引脚（即1号引脚）和接地引脚（即8号引脚）之间，用于去耦，其大小可以为100纳法；上述第十八电阻R18大小可以为10欧姆。
如图1所示，本实施例中，上述第二开关模块3包括第一电阻R1、第二电阻R2、第二开关管Q2以及第一稳压二极管ZD1。上述第一电阻R1与上述第一稳压二极管ZD1并联；上述第一稳压二极管ZD1的阴极与上述第二输出端VCC连接且上述第一稳压二极管ZD1的阳极经上述第二电阻R2接地；上述第二开关管Q2的栅极经上述第二电阻R2接地，上述第二开关管Q2的源极与上述第二输出端VCC连接，上述第二开关管Q2的漏极与上述第二控制输出端COIL+连接。
本实施例中，上述第二开关管Q2可以为P沟道MOS管，上述外部电源正常供电时，上述第二开关管Q2的栅极电压比源极电压低约11V，上述第二开关管Q2导通，保证上述电磁线圈形成正常电流回路。上述外部电源断开时，上述第二开关管Q2的栅极电压和源极电压都迅速下降到0，上述第二开关管Q2关断，使得上述电磁线圈的电流回路迅速断开，上述电磁线圈上的电流值瞬间衰减为0，从而在外部电源断开时，消除续流二极管D1的续流作用，使得上述电磁制动器的衔铁迅速释放。上述第一电阻R1为负温度系数（NTC， Negative Temperature Coefficient）热敏电阻，当温度高于温度阈值时其阻值变得非常低，从而使上述第一稳压二极管ZD1短接，使得上述第二开关管Q2的栅极电压接近源极电压，上述第二开关管Q2关断，从而使得上述电磁线圈的电流回路断开。具体的，当温度降低到小于温度阈值时，上述第一电阻R1的阻值恢复正常，从而使得上述第二开关管Q2重新导通，上述电磁制动器重新正常工作。如此，可以实现电磁制动器自动温度保护，避免过热烧坏。
可选的，上述电磁制动器控制装置还包括工作状态指示模块4，上述工作状态指示模块4包括发光二极管LED和第三电阻R3，上述单片机U1还配置有工作状态信号输出功能。上述第三电阻R3的第一端与上述单片机U1的通用输出引脚（即2号引脚）连接，且上述第三电阻R3的第二端与上述发光二极管LED的阳极连接；上述发光二极管LED的阴极接地。上述工作状态信号输出功能具体为：基于上述脉冲宽度调制获得的PWM信号的占空比控制上述通用输出引脚（即2号引脚）输出相应频率的工作状态信号，从而控制上述发光二极管LED的闪烁频率，其中，上述工作状态信号的频率与上述占空比成正相关。在一种应用场景中，上述占空比为90%时，上述发光二极管LED的闪烁频率为9Hz，上述占空比为100%时，上述发光二极管LED的闪烁频率为10Hz，当没有输出时，上述发光二极管LED不亮。
可选的，上述脉冲宽度调制功能具体为：基于预设的维持电压值进行脉冲宽度调制。上述电磁制动器控制装置还包括电压采样模块5。如图2所示，上述电压采样模块5包括第四电阻R4、第五电阻R5以及第二稳压二极管ZD2；上述单片机U1的模拟信号输入引脚（即7号引脚）分别与上述第四电阻R4的第一端、上述第五电阻R5的第一端以及上述第二稳压二极管ZD2的阴极连接；上述第四电阻R4的第二端与上述第二输出端VCC连接；上述第五电阻R5的第二端和上述第二稳压二极管ZD2的阳极接地。具体的，上述第四电阻R4以及上述第五电阻R5采用电阻分压原理进行电压采样，并将采样获得的采样电压输入上述单片机U1的模拟信号输入引脚（即7号引脚），通过上述单片机U1进行AD转换并处理，得到上述第二输出端VCC的电压值。上述第二稳压二极管ZD2用于限制上述采样电压的最大值，避免由于上述第二输出端VCC的电压值过高而损坏上述单片机U1。
可选的，上述单片机U1还配置有释放功能，上述释放功能具体为：将上述采样电压与预设的释放电压值进行对比，当上述采样电压低于上述预设的释放电压值时，断开上述电磁线圈所在的电流回路，使得上述衔铁释放。在一种应用场景中，可以通过控制上述单片机U1输出的PWM信号使得上述第一开关管Q1持续关断，从而使上述电磁制动器的衔铁释放。
可选的，上述脉冲宽度调制功能具体为：基于预设的维持电流值进行脉冲宽度调制。上述电磁制动器控制装置还包括电流采样模块6，图3示出了上述电流采样模块6及其在上述电磁制动器控制装置中的接入方式，其中其它模块或电路的连接方式并未完全示出，可参照上述图1及图2。如图3所示，上述电路采样模块6包括第六电阻R6和运算放大电路；上述第一开关管Q1的源极经上述第六电阻R6接地；上述运算放大电路包括：运算放大器U2、第一电容C1、第二电容C2、第七电阻R7、第八电阻R8、第九电阻R9、第十电阻R10、第十一电阻R11以及第十二电阻R12。在一种应用场景中，上述运算放大器U2的型号可以为LM358DR2G 。上述运算放大器U2的电源输入引脚（即1号引脚）与上述第一输出端Vout连接；上述第一电容C1的第一端与上述第一输出端Vout连接且上述第一电容C1的第二端接地；上述运算放大器U2的输出引脚（即1号引脚）分别与上述第七电阻R7的第一端和上述单片机U1的模拟信号输入引脚（即7号引脚）连接；上述运算放大器U2的反相输入引脚（即2号引脚）分别与上述第七电阻R7的第二端和上述第八电阻R8的第一端连接；上述运算放大器U2的同相输入引脚（即3号引脚）分别与上述第九电阻R9的第一端和上述第十电阻R10的第一端连接；上述运算放大器U2的接地引脚（即4号引脚）和上述第九电阻R9的第二端接地；上述第八电阻R8的第二端分别与上述第二电容C2的第一端和上述第十一电阻R11的第一端连接，且上述第十一电阻R11的第二端接地；上述第十电阻R10的第二端分别与上述第二电容C2的第二端和上述第十二电阻R12的第一端连接；上述第十二电阻R12的第二端与上述第一开关管Q1的源极连接。其中，上述第一电容C1连接上述运算放大器U2的电源输入引脚（即1号引脚）和接地引脚（即4号引脚），用于去耦。
可选的，上述第六电阻R6为阻值很小的采样电阻（本实施例中可以为0.05欧姆），上述运算放大电路经运算放大后获得采样电流并反馈给上述单片机U1；上述单片机U1可基于预设的维持电流值和获得的采样电流值对上述电磁线圈回路的电流通道进行控制。
随着使用时间的增长，电磁制动器的摩擦片会逐渐磨损变薄。摩擦片变薄将间接导致间隙变大，从而需要更大的励磁电流（电磁线圈中的电流）才能使衔铁吸合，当需要的励磁电流超过上述电磁制动器的电磁线圈在最小工作电压、最高工作温度下能得到的电流时，衔铁将存在无法吸合的风险，即上述电磁制动器寿命截止。
在一种应用场景中，上述采样电流还可以用于进行电磁制动器寿命检测，上述单片机U1还配置有寿命检测功能。上述寿命检测功能为：基于上述采样电流值和预设的励磁电流值检测上述电磁制动器的寿命。具体的，将上述电磁制动器在最小工作电压、最高工作温度下能得到的电流作为预设励磁电流I M存储在上述单片机U1中。根据制动器吸合过程电流变化规律，基于上述电流采样模块6，通过检测手段检测上述电磁制动器的衔铁开始运动时刻的电流I P，与预设励磁电流I M对比，当I P > A*I M时，判断上述电磁制动器寿命截止并进行告警提示，其中A为预设的容差度。为了避免误判，可以在上述单片机U1中记录最近12次的I P值，去除最大2个值和最小两个值，对其余8个值取平均数，得到I PA，并基于I PA的值进行寿命检测。通过寿命检测功能，用户可以提前知道上述电磁制动器的寿命将截止，从而提前对其进行更换，避免损失，提高安全性。
在一种应用场景中，如图1所示，上述外部电源为直流电源，上述电源输入端包括：分别用于与上述直流电源的正极和负极连接的正极输入端DC+和负极输入端DC-；上述电源管理模块1还包括：输入保护及滤波电路和稳压集成芯片U3；上述输入保护及滤波电路包括：第一保险丝F1、第一瞬态电压抑制二极管TVS1、肖特基二极管D2以及第三电容C3；上述正极输入端DC+为上述第一保险丝F1的第一端，且上述第一保险丝F1的第二端分别与上述第一瞬态电压抑制二极管TVS1的第一端和上述肖特基二极管D2的阳极连接；上述负极输入端DC-为上述第一瞬态电压抑制二极管TVS1的第二端，且上述第一瞬态电压抑制二极管TVS1的第二端分别与上述第三电容C3的第一端以及上述稳压集成芯片U3的接地引脚（即2号引脚）连接并接地；上述电源管理模块1的第一输出端Vout为上述稳压集成芯片U3的输出引脚（即1号引脚）；上述电源管理模块1的第二输出端VCC为上述稳压集成芯片U3的输入引脚（即3号引脚），其中，上述稳压集成芯片U3的输入引脚分别与上述肖特基二极管D2的阴极和上述第三电容C3的第二端连接。
具体的，上述稳压集成芯片U3的型号可以为78L05，上述第一保险丝F1用于短路保护，上述第一瞬态电压抑制二极管TVS1用于抑制上述正极输入端DC+和上述负极输入端DC-的浪涌电压，上述肖特基二极管D2用于上述正极输入端DC+和上述负极输入端DC-的防反接保护；上述第三电容C3用于滤波，上述稳压集成芯片U3用于为上述单片机U1提供稳定的工作电压，上述第一输出端Vout输出的电压为5V。
在一种应用场景中，如图2所示，上述外部电源为交流电源，上述电源输入端包括：分别用于与上述交流电源的零线端和火线端连接的零线输入端AC-N和火线输入端AC-L；上述电源管理模块1还包括输入保护及整流电路、降压电路以及电压基准电路；上述输入保护及整流电路包括：第二保险丝F1、第十三电阻R13以及整流桥D3；上述降压电路包括第十四电阻R14、第十五电阻R15、第十六电阻R16、第三稳压二极管ZD3、第四稳压二极管ZD4、第四电容C4以及第五电容C5；上述电压基准电路包括：第十七电阻R17以及第五稳压二极管ZD5。
上述火线输入端AC-L为上述第二保险丝F2的第一端，且上述第二保险丝F2的第二端分别与上述第十三电阻R13的第一端以及上述整流桥D3的第一端连接；上述零线输入端AC-N为上述第十三电阻R13的第二端，且上述第十三电阻R13的第二端与上述整流桥D3的第三端连接；上述电源管理模块1的第二输出端VCC为上述整流桥D3的第二端，且上述整流桥D3的第二端与上述第十四电阻R14的第一端连接；上述第十四电阻R14的第二端与上述第十五电阻R15的第一端连接，上述第十五电阻R15的第二端分别与上述第三稳压二极管ZD3的阴极、上述第四电容C4的第一端、上述第十六电阻R16的第一端以及上述第十七电阻R17的第一端连接；上述电源管理模块1的第一输出端Vout为上述第十六电阻R16的第二端，且上述第十六电阻R16的第二端分别与上述第四稳压二极管ZD4的阴极以及上述第五电容C5的第一端连接；上述第十七电阻R17的第二端分别与上述第五稳压二极管ZD5的阴极和上述单片机U1的参考电压输入引脚（即6号引脚）连接；上述整流桥D3的第四端、上述第三稳压二极管ZD3的阳极、上述第四电容C4的第二端、上述第四稳压二极管ZD4的阳极、上述第五电容C5的第二端以及上述第五稳压二极管ZD5的阳极接地。
其中，上述第二保险丝F2用于短路保护，上述第十三电阻R13为压敏电阻，用于抑制上述零线输入端AC-N和火线输入端AC-L的浪涌电压，上述整流桥D3用于将交流电整流为直流电。上述降压电路分别获得5V和24V的平滑直流电，其中5V的平滑直流电用于为上述单片机U1供电。上述电压基准电路获得基本无波动的5V基准电压给上述单片机U1，作为AD转换的参考电压。
一种应用场景中，在上述外部电源为交流电源时，设上述电磁制动器控制装置预期的等效电压为U OUT，上述单片机U1通过上述电压采样电路以及上述电压基准电路获取上述交流电源整流后的电压瞬时值u 1，则上述单片机U1输出的PWM电压脉冲信号占空比瞬时值d为：
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。
其中，上述预期的等效电压为U OUT为预设在上述单片机U1中的维持电压值，可基于上述电磁制动器的电气参数进行预设和更改。
在一种应用场景中，当上述外部电源为交流电源时，上述单片机U1还配置有预设信号输出功能。其中，上述预设信号输出功能为：基于上述单片机U1的模拟信号输入引脚（即7号引脚）获取的采样电压对预设信号进行周期同步并通过上述单片机U1的PWM信号输出引脚（即5号引脚）输出预设信号。具体的，上述预设信号为预设在上述单片机U1中的PWM信号；对于确定的交流电源，其经过整流后获得的波形是周期性的，且周期是确定的；因此可以通过仿真或实验模拟计算出对于每一款上述电磁制动器控制装置在一个周期内最佳PWM信号的占空比瞬时值d随时间变化的函数，并将上述最佳PWM信号配置在上述单片机U1中。使用时，上述单片机U1通过上述电压采样电路获得采样电压，通过内置的电压比较器将上述采样电压与预设的周期起始电压值进行比较，当某一时刻的采样电压小于或等于上述周期起始电压时，判断该时刻为上述采样电压的周期起始时刻，将上述最佳PWM信号与上述采样电压进行周期同步并输出，从而控制上述电磁制动器。其中，上述预设的周期起始电压值为一接近于0的正数。上述单片机U1进行预设信号输出时不再实时进行脉冲宽度调制并输出，上述单片机U1进行预设信号输出时可以不需要上述电压基准电路提供基准电压，也不需要实时对上述采样电压值进行AD转换及计算，能够使得上述电磁制动器控制装置的电路结构更为简单，且能使上述电磁线圈获得比基于上述脉冲宽度调制功能获得的电流更为平滑的电流。
如图1和图2所示，本实施例中，上述电磁制动器控制装置还包括第二瞬态电压抑制二极管TVS2，上述第二瞬态电压抑制二极管TVS2的两端分别与上述第一控制输出端COIL-和第二控制输出端COIL+连接。具体的，当上述外部电源断开时，上述第一开关管Q1和上述第二开关管Q2都关断，上述电磁线圈的电流瞬间衰减为0的过程中会产生很高的反电势，上述第二瞬态电压抑制二极管TVS2用于抑制上述电磁线圈产生的反电势，保护上述电磁制动器控制装置。
本领域技术人员可以理解，上述电子元器件的电气参数可以根据实际需要进行选取。且对于某些器件或电路，可以用现有技术中能实现相同功能的其它器件或电路进行替换，不应视为超出本申请保护范围。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，仅以上述各功能单元、模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能单元、模块完成，即将上述系统的内部结构划分成不同的功能单元或模块，以完成以上描述的全部或者部分功能。实施例中的各功能单元、模块可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中，上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。另外，各功能单元、模块的具体名称也只是为了便于相互区分，并不用于限制本申请的保护范围。上述系统中单元、模块的具体工作过程，可以参考前述短路保护电路实施例中的对应过程，在此不再赘述。
在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述或记载的部分，可以参见其他实施例的相关描述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各实例的单元及电路布置，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟是以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同的方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。
在本申请所提供的实施例中，应该理解到，所揭露的装置/系统/电路，可以通过其他的方式实现。例如，以上所描述的装置/系统/电路实施例仅仅是示意性的，例如，上述模块或单元的划分，仅仅为一种逻辑功能划分，实际实现时可以由另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。
上述集成的电路/模块/单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读存储介质中。基于这样的理解，本申请实现上述实施例的全部或部分模块，也可以通过计算机程序来指令相关的硬件来完成，上述计算机程序可存储于计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述电路/模块/单元的功能。其中，上述计算机程序包括计算机程序代码，上述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。上述计算机可读介质可以包括：能够携带上述计算机程序代码的任何实体或装置、记录介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器（ROM，Read-Only Memory）、随机存取存储器（RAM，Random Access Memory）、电载波信号、电信信号以及软件分发介质等。需要说明的是，上述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行适当的增减。
以上所述实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解；其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不是相应技术方案的本质脱离本申请各实施例技术方案的精神和范围，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种电磁制动器控制装置，应用于电磁制动器，其特征在于，所述电磁制动器控制装置包括：
    电源管理模块、第一开关模块、续流二极管，以及用于与所述电磁制动器的电磁线圈两端连接的第一控制输出端和第二控制输出端；
    其中，所述电源管理模块包括：电源输入端、第一输出端和第二输出端；所述电源输入端用于与外部电源连接；
    所述第一开关模块的输入端和输出端分别与所述第一输出端和所述第一控制输出端连接，其中，所述第一开关模块配置有脉冲宽度调制功能；
    所述续流二极管的阴极和阳极分别与所述第二输出端和所述第一控制输出端连接；
    所述第二输出端与所述第二控制输出端连接；
    所述脉冲宽度调制功能具体为：基于预设的维持电压值或维持电流值进行脉冲宽度调制，其中，所述维持电压值为维持所述电磁制动器的衔铁吸合的电压值，所述维持电流值为维持所述电磁制动器的衔铁吸合的电流值。
  2. 如权利要求1所述的电磁制动器控制装置，其特征在于，所述电磁制动器控制装置还包括第二开关模块，所述第二输出端经所述第二开关模块与所述第二控制输出端连接；
    所述第二开关模块配置有断电快速响应功能和过热保护功能；
    所述断电快速响应功能具体为：在所述外部电源断开时切断所述电磁线圈的电流回路；
    所述过热保护功能具体为：在所述电磁制动器控制装置或所述电磁制动器的温度过高时，切断所述电磁线圈的电流回路。
  3. 如权利要求2所述的电磁制动器控制装置，其特征在于，所述第一开关模块包括单片机和第一开关管；
    所述第一开关模块的输入端为所述单片机的电源输入引脚；
    所述第一开关模块的输出端为所述第一开关管的漏极，所述第一开关管的栅极与所述单片机的PWM信号输出引脚连接，且所述第一开关管的源极接地。
  4. 如权利要求3所述的电磁制动器控制装置，其特征在于，所述第二开关模块包括第一电阻、第二电阻、第二开关管以及第一稳压二极管；
    所述第一电阻与所述第一稳压二极管并联；
    所述第一稳压二极管的阴极与所述第二输出端连接且所述第一稳压二极管的阳极经所述第二电阻接地；
    所述第二开关管的栅极经所述第二电阻接地，所述第二开关管的源极与所述第二输出端连接，且所述第二开关管的漏极与所述第二控制输出端连接。
  5. 如权利要求3或4所述的电磁制动器控制装置，其特征在于，所述单片机配置有工作状态信号输出功能；
    所述电磁制动器控制装置还包括工作状态指示模块，所述工作状态指示模块包括发光二极管和第三电阻；
    所述第三电阻的第一端与所述单片机的通用输出引脚连接，且所述第三电阻的第二端与所述发光二极管的阳极连接；所述发光二极管的阴极接地；
    所述工作状态信号输出功能具体为：基于所述脉冲宽度调制获得的信号的占空比控制所述通用输出引脚输出相应频率的信号，其中，所述信号的频率与所述占空比成正相关。
  6. 如权利要求3所述的电磁制动器控制装置，其特征在于，所述脉冲宽度调制功能具体为：基于预设的维持电压值进行脉冲宽度调制；
    所述电磁制动器控制装置还包括电压采样模块，所述电压采样模块包括第四电阻、第五电阻以及第二稳压二极管；
    所述单片机的模拟信号输入引脚分别与所述第四电阻的第一端、所述第五电阻的第一端和所述第二稳压二极管的阴极连接；
    所述第四电阻的第二端与所述第二输出端连接；
    所述第五电阻的第二端和所述第二稳压二极管的阳极接地。
  7. 如权利要求3所述的电磁制动器控制装置，其特征在于，所述脉冲宽度调制功能具体为：基于预设的维持电流值进行脉冲宽度调制；
    所述电磁制动器控制装置还包括电流采样模块；所述电流采样模块包括第六电阻和运算放大电路；所述第一开关管的源极经所述第六电阻接地；
    所述运算放大电路包括：运算放大器、第一电容、第二电容、第七电阻、第八电阻、第九电阻、第十电阻、第十一电阻以及第十二电阻；
    所述运算放大器的电源输入引脚与所述第一输出端连接；
    所述第一电容的第一端与所述第一输出端连接且所述第一电容的第二端接地；
    所述运算放大器的输出引脚分别与所述第七电阻的第一端和所述单片机的模拟信号输入引脚连接；
    所述运算放大器的反相输入引脚分别与所述第七电阻的第二端和所述第八电阻的第一端连接；
    所述运算放大器的同相输入引脚分别与所述第九电阻的第一端和所述第十电阻的第一端连接；
    所述运算放大器的接地引脚和所述第九电阻的第二端接地；
    所述第八电阻的第二端分别与所述第二电容的第一端和所述第十一电阻的第一端连接，且所述第十一电阻的第二端接地；
    所述第十电阻的第二端分别与所述第二电容的第二端和所述第十二电阻的第一端连接；
    所述第十二电阻的第二端与所述第一开关管的源极连接。
  8. 如权利要求6或7所述的电磁制动器控制装置，其特征在于，所述外部电源为直流电源，所述电源输入端包括：分别用于与所述直流电源的正极和负极连接的正极输入端和负极输入端；
    所述电源管理模块还包括：输入保护及滤波电路和稳压集成芯片；
    所述输入保护及滤波电路包括：第一保险丝、第一瞬态电压抑制二极管、肖特基二极管以及第三电容；
    所述正极输入端为所述第一保险丝的第一端，且所述第一保险丝的第二端分别与所述第一瞬态电压抑制二极管的第一端和所述肖特基二极管的阳极连接；
    所述负极输入端为所述第一瞬态电压抑制二极管的第二端，且所述第一瞬态电压抑制二极管的第二端分别与所述第三电容的第一端以及所述稳压集成芯片的接地引脚连接并接地；
    所述电源管理模块的第一输出端为所述稳压集成芯片的输出引脚；
    所述电源管理模块的第二输出端为所述稳压集成芯片的输入引脚，其中，所述稳压集成芯片的输入引脚分别与所述肖特基二极管的阴极和所述第三电容的第二端连接。
  9. 如权利要求6或7所述的电磁制动器控制装置，其特征在于，所述外部电源为交流电源，所述电源输入端包括：分别用于与所述交流电源的零线端和火线端连接的零线输入端和火线输入端；
    所述电源管理模块还包括输入保护及整流电路、降压电路以及电压基准电路；
    所述输入保护及整流电路包括：第二保险丝、第十三电阻以及整流桥；
    所述降压电路包括第十四电阻、第十五电阻、第十六电阻、第三稳压二极管、第四稳压二极管、第四电容以及第五电容；
    所述电压基准电路包括：第十七电阻以及第五稳压二极管；
    所述火线输入端为所述第二保险丝的第一端，且所述第二保险丝的第二端分别与所述第十三电阻的第一端以及所述整流桥的第一端连接；
    所述零线输入端为所述第十三电阻的第二端，且所述第十三电阻的第二端与所述整流桥的第三端连接；
    所述电源管理模块的第二输出端为所述整流桥的第二端，且所述整流桥的第二端与所述第十四电阻的第一端连接；
    所述第十四电阻的第二端与所述第十五电阻的第一端连接，所述第十五电阻的第二端分别与所述第三稳压二极管的阴极、所述第四电容的第一端、所述第十六电阻的第一端以及所述第十七电阻的第一端连接；
    所述电源管理模块的第一输出端为所述第十六电阻的第二端，且所述第十六电阻的第二端分别与所述第四稳压二极管的阴极以及所述第五电容的第一端连接；
    所述第十七电阻的第二端分别与所述第五稳压二极管的阴极和所述单片机的参考电压输入引脚连接；
    所述整流桥的第四端、所述第三稳压二极管的阳极、所述第四电容的第二端、所述第四稳压二极管的阳极、所述第五电容的第二端以及所述第五稳压二极管的阳极接地。
  10. 如权利要求1至4任一项所述的电磁制动器控制装置，其特征在于，所述电磁制动器控制装置还包括第二瞬态电压抑制二极管，所述第二瞬态电压抑制二极管的两端分别与所述第一控制输出端和所述第二控制输出端连接。
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