WO2023087604A1 - 伺服驱动系统及其制动控制方法、装置、伺服驱动器 - Google Patents

伺服驱动系统及其制动控制方法、装置、伺服驱动器 Download PDF

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Publication number
WO2023087604A1
WO2023087604A1 PCT/CN2022/085423 CN2022085423W WO2023087604A1 WO 2023087604 A1 WO2023087604 A1 WO 2023087604A1 CN 2022085423 W CN2022085423 W CN 2022085423W WO 2023087604 A1 WO2023087604 A1 WO 2023087604A1
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WIPO (PCT)
Prior art keywords
braking mode
servo motor
servo
phase
braking
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PCT/CN2022/085423
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English (en)
French (fr)
Inventor
焦占四
刘灼
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广东美的智能科技有限公司
高创传动科技开发（深圳）有限公司
东菱技术有限公司
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Publication of WO2023087604A1 publication Critical patent/WO2023087604A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
    • G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/34—Director, elements to supervisory
    • G05B2219/34013—Servocontroller

Definitions

  • the present application relates to the technical field of automatic control, in particular to a servo drive system and its brake control method, device, servo drive and storage medium.
  • an object of the present application is to propose a braking control method for a servo drive system, which can quickly realize energy release to stop the servo drive system and at the same time ensure the safety of the system.
  • the second object of the present application is to propose a computer-readable storage medium.
  • the third purpose of the present application is to provide a servo driver.
  • the fourth objective of the present application is to provide a braking control device for a servo drive system.
  • the fifth purpose of the present application is to provide a servo drive system.
  • the embodiment of the first aspect of the present application proposes a braking control method for a servo drive system, the method includes: when the servo motor in the servo drive system needs to brake, determine the Three-phase current; determine the braking mode of the servo motor according to the three-phase current, and control the servo motor in the first braking process according to the three-phase current during the braking process of the servo motor Switch between the first braking mode and the second braking mode, wherein the first braking mode is used to control the servo drive to output zero voltage, and the second braking mode is used to turn off the output of the servo drive.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected according to the three-phase current of the servo motor, and the three-phase braking mode is reversely controlled by continuously switching the two braking modes
  • the size of the current ensures the safety of the system while rapidly realizing the energy discharge and shutting down the servo drive system.
  • determining the braking mode of the servo motor according to the three-phase current includes: determining the maximum value of the three-phase current; when the maximum value is greater than or equal to a first preset current threshold, determining The braking mode of the servo motor is the second braking mode; when the maximum value is less than a first preset current threshold, it is determined that the braking mode of the servo motor is the first braking mode.
  • controlling the servo motor to switch between the first braking mode and the second braking mode according to the three-phase current includes: determining the maximum value of the three-phase current; When the motor brakes in the first braking mode, if the maximum value is greater than or equal to the first preset current threshold, control the braking mode of the servo motor to switch to the second braking mode until the When the maximum value is less than or equal to the second preset current threshold, control the braking mode of the servo motor to switch to the first braking mode, wherein the second preset current threshold is smaller than the first preset current threshold.
  • controlling the servo motor to switch between the first braking mode and the second braking mode according to the three-phase current includes: determining the maximum value of the three-phase current; When the motor brakes in the second braking mode, if the maximum value is less than the first preset current threshold, control the braking mode of the servo motor to switch to the first braking mode until the When the maximum value is greater than or equal to the third preset current threshold, control the braking mode of the servo motor to switch to the second braking mode, wherein the first preset current threshold is smaller than the third preset current threshold .
  • controlling the servo drive to output zero voltage includes: controlling the three-phase upper bridge and the three-phase lower bridge in the servo drive to be turned on and off alternately.
  • controlling the three-phase upper bridge and the three-phase lower bridge to be turned on and off alternately includes: controlling the three-phase upper bridge to be turned on and the three-phase lower bridge to be turned off for the first preset time, and control the three-phase upper bridge to be turned off and the three-phase lower bridge to be turned on for a first preset time, and so on alternately.
  • the embodiment of the second aspect of the present application proposes a computer-readable storage medium on which is stored the brake control program of the servo drive system, and the brake control program of the servo drive system is implemented when the processor executes the The brake control method of the servo drive system described in any one of the above embodiments.
  • the braking method used to reduce the speed of the servo motor is dynamically selected, and the magnitude of the three-phase current is reversely controlled by continuously switching the two braking methods , thus ensuring the safety of the system while quickly realizing the energy release to shut down the servo drive system.
  • the embodiment of the third aspect of the present application proposes a servo driver, the servo driver includes a memory, a processor, and a braking control program of the servo drive system stored in the memory and operable on the processor, By running the brake control program of the servo drive system, the processor executes the brake control method of the servo drive system described in any one of the above embodiments.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected, and the magnitude of the three-phase current is reversely controlled by continuously switching the two braking modes, so that the The rapid realization of energy discharge makes the servo drive system shut down and at the same time ensures the safety of the system.
  • the embodiment of the fourth aspect of the present application provides a brake control device for a servo drive system
  • the brake control device includes a determination module and a control module.
  • the determination module is used for determining the three-phase current of the servo motor when the servo motor in the servo drive system needs to brake.
  • the control module is used to determine the braking mode of the servo motor according to the three-phase current, and control the servo motor in the first braking process according to the three-phase current during the braking process of the servo motor. Switch between the first braking mode and the second braking mode, wherein the first braking mode is used to control the servo drive to output zero voltage, and the second braking mode is used to turn off the output of the servo drive.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected, and the three-phase braking mode is reversely controlled by continuously switching the two braking modes.
  • the size of the current ensures the safety of the system while rapidly realizing the energy discharge and shutting down the servo drive system.
  • the embodiment of the fifth aspect of the present application provides a servo drive system
  • the servo drive system includes a servo motor, a servo driver, a current detection unit and a controller.
  • the servo driver is used to drive the servo motor.
  • the current detection unit is used to detect the three-phase current of the servo motor.
  • the controller is used to determine the braking mode of the servo motor according to the three-phase current when the servo motor needs to brake, and in the process of controlling the servo drive to brake the servo motor, according to the The three-phase current controls the servo motor to switch between the first braking mode and the second braking mode, wherein the first braking mode is used to control the servo driver to output zero voltage, and the second braking mode mode is used to turn off the output of the servo drive.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected, and the magnitude of the three-phase current is reversely controlled by continuously switching the two braking modes, thereby The system safety is ensured while quickly realizing the energy discharge to shut down the servo drive system.
  • the controller is further configured to determine the maximum value of the three-phase current; when the maximum value is greater than or equal to a first preset current threshold, determine that the braking mode of the servo motor is the specified The second braking mode; when the maximum value is less than the first preset current threshold, determine that the braking mode of the servo motor is the first braking mode.
  • the controller is further configured to determine the maximum value of the three-phase current; when the servo motor brakes in the first braking mode, if the maximum value is greater than or equal to the first A preset current threshold value, then control the braking mode of the servo motor to switch to the second braking mode, until the maximum value is less than or equal to the second preset current threshold value, control the braking mode of the servo motor switch to the first braking mode, wherein the second preset current threshold is smaller than the first preset current threshold.
  • the controller is further configured to determine the maximum value of the three-phase current; when the servo motor brakes in the second braking mode, if the maximum value is less than the first preset the current threshold, then control the braking mode of the servo motor to switch to the first braking mode, until the maximum value is greater than or equal to the third preset current threshold, control the switching of the braking mode of the servo motor It is the second braking mode, wherein the first preset current threshold is smaller than the third preset current threshold.
  • the controller is further configured to control the three-phase upper bridge and the three-phase lower bridge in the servo drive to be turned on and off alternately, so that the servo drive outputs zero voltage.
  • the controller is further configured to control the three-phase upper bridge to be turned on and the three-phase lower bridge to be turned off for a first preset time, and to control the three-phase upper bridge to be turned off and the three-phase lower bridge to be turned off.
  • the above-mentioned three-phase lower bridge is turned on and lasts for a first preset time, and so on alternately.
  • FIG. 1 is a schematic flowchart of a braking control method of a servo drive system according to an embodiment of the present application
  • FIG. 2 is a schematic circuit diagram of a three-phase bridge arm of a servo driver according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of an equivalent circuit of a servo motor according to an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a braking control method of a servo drive system according to an embodiment of the present application
  • FIG. 5 is a schematic flowchart of a braking control method of a servo drive system according to an embodiment of the present application
  • FIG. 6 is a schematic flowchart of a braking control method of a servo drive system according to an embodiment of the present application
  • Fig. 7 is a structural block diagram of a servo driver according to an embodiment of the present application.
  • FIG. 8 is a structural block diagram of a brake control device of a servo drive system according to an embodiment of the present application.
  • Fig. 9 is a structural block diagram of a servo drive system according to an embodiment of the present application.
  • the brake control method of the servo drive system in the embodiment of the present application includes the following steps:
  • S13 Determine the braking mode of the servo motor according to the three-phase current, and control the servo motor to switch between the first braking mode and the second braking mode according to the three-phase current during the braking process of the servo motor, Among them, the first braking mode is used to control the servo drive to output zero voltage, and the second braking mode is used to turn off the output of the servo drive.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected according to the three-phase current of the servo motor, and the three-phase braking mode is reversely controlled by continuously switching the two braking modes
  • the size of the current ensures the safety of the system while rapidly realizing the energy discharge and shutting down the servo drive system.
  • the braking control scheme in the related art has problems such as high cost, uncontrollable braking process, poor braking effect, and possible damage to the servo motor.
  • the servo drive system is braked by using software control, without adding other hardware structures in the three-phase bridge arm of the servo drive, that is, without adding any other hardware structures in the three-phase bridge arm of the servo drive Adding relays and power resistors to any bridge arm of the phase bridge arm can control the production cost; on the other hand, combined with the three-phase current of the servo motor, the braking method for reducing the speed of the servo motor is dynamically selected, and in the servo motor During the braking process, combined with the three-phase current of the servo motor, the two braking methods are continuously switched, and the magnitude of the three-phase current is reversely controlled, so as to quickly realize the energy discharge and stop the servo drive system while avoiding damage to the servo motor, ensuring Safety of servo drive system.
  • step S11 the brake triggering condition corresponding to the servo motor in the servo drive system may be preset.
  • the servo drive system when it is detected that the servo drive system satisfies the braking trigger condition, it is determined that the servo motor in the servo drive system needs to brake, and then the servo drive system can be controlled for braking based on the actual situation of the three-phase current. In some embodiments, when it is detected that the servo drive system does not meet the braking trigger condition, the servo drive is used to control the servo motor to continue running.
  • the dynamic braking flag when it is detected that the servo drive system meets the braking trigger condition, the dynamic braking flag is set; when it is detected that the dynamic braking flag is set, the three-phase current of the servo motor is determined .
  • the brake triggering conditions may specifically include but not limited to at least one of the following: detection of a system error, detection of a system failure, failure of the inverter, inability to control the inverter through the current controller to stop the servo motor, The current feedback is normal and the voltage of the servo motor is not in an overvoltage state, etc.
  • the inverter in an actual application, when an error is detected in the servo drive system, the inverter is not damaged, the current feedback is normal, and the voltage of the servo motor is not in an overvoltage state, it is determined that the servo motor needs to brake. In another example, in practical applications, when it is detected that the servo drive system is disabled, the inverter is not damaged, the current feedback is normal, and the voltage of the servo motor is not in an overvoltage state, it is determined that the servo motor needs to be controlled. move.
  • step S13 during the braking process of the servo drive system, the braking mode of the servo motor is not fixed.
  • the three-phase current of the servo motor is constantly changing. During this process, it can be combined with The change of the three-phase current dynamically selects to switch the braking mode from the first braking mode to the second braking mode, or to switch the braking mode from the second braking mode to the first braking mode, so that the braking mode can be quickly realized
  • the energy discharge makes the servo drive system shut down while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • FIG. 2 is a schematic circuit diagram of the three-phase bridge arm 10 of the servo driver.
  • the three-phase bridge arm 10 includes a three-phase upper bridge 12 and a three-phase lower bridge 14 , each three-phase upper bridge 12 is connected in parallel with a freewheeling diode 16 , and each three-phase lower bridge 14 is also connected in parallel with a freewheeling diode 16 .
  • the way of controlling the servo driver to output zero voltage can be based on the vector control method, or it can be based on turning on one of the three-phase upper bridge 12 or the lower bridge of the servo driver and turning off the other of the three-phase upper bridge 12 or the lower bridge
  • the method is not limited here. It can be understood that in the process of controlling the servo driver to output zero voltage according to one of the three-phase upper bridge 12 or the lower bridge and turning off the other of the three-phase upper bridge 12 or the lower bridge, due to the rotation of the servo motor During the process, there is a back electromotive force on the phase winding of the motor.
  • Turning off the output of the servo driver can be understood as that the three-phase upper bridge 12 and the three-phase lower bridge 14 of the three-phase bridge arm 10 of the servo driver are both turned off, and the three-phase current will pass through the freewheeling diode 16 of the three-phase bridge arm 10.
  • the continuous current decreases, and then the servo motor decelerates until the speed is 0 by friction.
  • a small part of the kinetic energy of the servo motor is converted into heat energy of the device, and most of the heat energy is generated by friction.
  • U is the quadrature axis equivalent voltage
  • i is the quadrature axis equivalent current
  • i 0 is the quadrature axis initial equivalent current
  • R is the equivalent resistance
  • L is the equivalent inductance
  • e b-emf is the equivalent back electromotive force
  • ⁇ is the time constant of the RL circuit.
  • the "determining the braking mode of the servo motor according to the three-phase current" in step S13 includes:
  • the second braking method is used for braking. While ensuring the braking effect, it can effectively prevent the permanent damage of the servo motor caused by excessive current; when the three-phase current is small, the first braking method is used.
  • the braking mode is used for braking, and the braking can be realized quickly.
  • a first preset current threshold can be preset.
  • the first braking method can be used for braking.
  • the first preset current threshold is set in advance, it is considered that there is a risk of damaging the servo motor by using the first braking method for braking, so the second braking method should be used for braking.
  • the first braking method is selected for braking; when the three-phase current is higher than or equal to the preset first preset current threshold, the second braking method is selected Brake, so as to ensure that the selected braking method can ensure the safe braking of the servo motor to the greatest extent.
  • step S13 "controlling the servo motor to switch between the first braking mode and the second braking mode according to the three-phase current" in step S13 includes:
  • S135 When the servo motor brakes in the first braking mode, if the maximum value is greater than or equal to the first preset current threshold, control the braking mode of the servo motor to switch to the second braking mode until the maximum value is less than or equal to the first preset current threshold. When the second preset current threshold is reached, the braking mode of the servo motor is controlled to switch to the first braking mode, wherein the second preset current threshold is smaller than the first preset current threshold.
  • the braking method can be adjusted in time in combination with the current actual situation of the three-phase current of the servo motor and the preset switching hysteresis range, and the current servo drive system can be selected.
  • the braking mode matching the three-phase current of the motor is used for braking, so as to quickly realize energy discharge and stop the servo drive system, while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • a first preset current threshold and a second preset current threshold can be preset, and ensure that the second preset current threshold is smaller than the first preset current threshold, that is, the first preset current threshold minus the second preset
  • the result obtained by setting the current threshold is greater than zero, so as to ensure that a certain range of switching hysteresis is reserved.
  • the three-phase current will increase due to the short-circuit of the back electromotive force.
  • the data of the three-phase current can be collected every first preset time interval. The maximum value of the three-phase current is monitored. If it is detected that the maximum value of the three-phase current is lower than the first preset current threshold, the servo drive system may continue to be braked in the first braking manner.
  • the braking method may cause damage to the servo motor, and the braking method should be changed from the first braking method to The first braking mode is switched to the second braking mode.
  • the braking mode is switched from the first braking mode to the second braking mode
  • the data of the three-phase currents are continuously collected every first preset time interval, and the maximum value of the three-phase currents is monitored. If it is detected that the maximum value of the three-phase current is higher than the second preset current threshold, the servo drive system may continue to be braked in the second braking manner. If it is detected that the maximum value of the three-phase current is lower than or equal to the second preset current threshold, the braking mode should be switched from the second braking mode to the first braking mode in time to increase the braking speed and shorten the braking time. the required length of time.
  • the braking mode is switched from the second braking mode to the first braking mode when the maximum value is lower than or equal to the second preset current threshold, not when the maximum value is lower than or equal to the first preset current threshold.
  • the braking mode is switched from the second braking mode to the first braking mode immediately when the current threshold is reached, because if the maximum value is lower than or equal to the first preset current threshold, the braking mode is immediately switched from the second braking mode to the first braking mode. Switching the braking mode to the first braking mode may cause frequent switching of the braking mode between the second braking mode and the first braking mode, and the braking effect is unstable, which is not conducive to the rapid stop of the servo motor.
  • step S13 controlling the servo motor to switch between the first braking mode and the second braking mode according to the three-phase current
  • the braking method can be adjusted in time in combination with the current actual situation of the three-phase current of the servo motor and the preset switching hysteresis range, and the current servo drive system can be selected.
  • the braking mode matching the three-phase current of the motor is used for braking, so as to quickly realize energy discharge and stop the servo drive system, while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • a first preset current threshold and a third preset current threshold can be preset, and ensure that the third preset current threshold is greater than the first preset current threshold, that is, the third preset current threshold minus the first preset
  • the result obtained by setting the current threshold is greater than zero, so as to ensure that a certain range of switching hysteresis is reserved.
  • the data of the three-phase current can be collected every second preset time interval, and the three-phase current The maximum value is monitored. If it is detected that the maximum value of the three-phase current is higher than or equal to the first preset current threshold, the second braking mode can be continuously used to brake the servo drive system. If it is detected that the maximum value of the three-phase current is lower than the first preset current threshold, continuing to use the second braking mode to brake the servo drive system is not conducive to fast braking, and the braking mode should be changed from the second braking mode in time. The braking mode is switched to the first braking mode.
  • the second preset duration may be equal to the first preset duration.
  • the data of the three-phase currents are continuously collected at intervals of a second preset time period, and the maximum value of the three-phase currents is monitored. If it is detected that the maximum value of the three-phase current is lower than the third preset current threshold, the second braking mode can be continuously used to brake the servo drive system. If it is detected that the maximum value of the three-phase current is higher than or equal to the third preset current threshold, the braking mode shall be switched from the first braking mode to the second braking mode in time to avoid continuing to use the first braking mode to Braking by the servo drive system causes excessive current to damage the servo motor.
  • the braking mode is switched from the first braking mode to the second braking mode when the maximum value is higher than or equal to the third preset current threshold, rather than when the maximum value is higher than or equal to the first preset current threshold.
  • the braking mode is switched from the first braking mode to the second braking mode immediately when the current threshold is reached, because if the braking mode is immediately switched from the first braking mode when the maximum value is higher than or equal to the first preset current threshold Switching the braking mode to the second braking mode may cause frequent switching of the braking mode between the second braking mode and the first braking mode, and the braking effect is unstable, which is not conducive to the rapid stop of the servo motor.
  • the second preset duration may be equal to the first preset duration. It should be pointed out that during the braking process, the three-phase current changes are affected by the inductance and resistance of the servo motor, and the three-phase current rises and falls very quickly. It operates within the range, and the fluctuation of the three-phase current is small, and the sampling frequency of the three-phase current can be appropriately increased, that is, the first preset duration and the second preset duration can be appropriately reduced.
  • the preset interval of sampling the three-phase current is 31.25 microseconds
  • the first preset duration and the second preset duration can be set to 20 microseconds or other values shorter than 31.25 microseconds.
  • controlling the servo drive to output zero voltage includes: controlling the three-phase upper bridge and the three-phase lower bridge in the servo drive to be turned on and off alternately.
  • the servo drive may include a three-phase bridge arm, and the three-phase bridge arm may include a three-phase upper bridge and a three-phase lower bridge.
  • the servo driver can output zero voltage; when the three-phase upper bridge is turned off and the three-phase lower bridge is turned on, the servo driver can output zero voltage; When the three-phase lower bridge is turned on and off alternately, the servo driver can output zero voltage.
  • controlling the three-phase upper bridge and the three-phase lower bridge to be turned on and off alternately includes: controlling the three-phase upper bridge to be turned on and the three-phase lower bridge to be turned off for a first preset time, and controlling The three-phase upper bridge is turned off and the three-phase lower bridge is turned on for a first preset time, and so alternately.
  • the working hours of the three-phase upper bridge and the three-phase lower bridge are basically the same, the life attenuation degree of the three-phase upper bridge and the three-phase lower bridge is reasonably controlled, and the servo drive is prevented from losing its normal operation function prematurely, which extends the servo drive to a certain extent.
  • the service life of the drive is basically the same, the life attenuation degree of the three-phase upper bridge and the three-phase lower bridge is reasonably controlled, and the servo drive is prevented from losing its normal operation function prematurely, which extends the servo drive to a certain extent.
  • a first preset time may be preset.
  • the first preset time may be 500ms, 1s, 2s or other values, which are not limited herein.
  • Fig. 7 is a schematic structural diagram of a servo driver according to an embodiment of the present application.
  • the servo driver 100 proposed by the present application includes a memory 102, a processor 104, and a braking control program 106 of a servo drive system stored on the memory 102 and operable on the processor 104, and the processor 104 runs The brake control program 106 of the servo drive system, so that the brake control method of the servo drive system in any one of the above-mentioned embodiments is executed.
  • the braking mode for reducing the speed of the servo motor is dynamically selected, and the magnitude of the three-phase current is reversely controlled by continuously switching the two braking modes, thereby The system safety is ensured while quickly realizing the energy discharge to shut down the servo drive system.
  • step S11 and step S13 of the above-mentioned embodiment are realized; and/or steps S131, step S132 and step S132 of the above-mentioned embodiment are realized.
  • the embodiments of the present application further propose a brake control device for a servo drive system, and the brake control device for a servo drive system can implement the brake control method for a servo drive system in any of the above embodiments.
  • Fig. 8 is a schematic structural diagram of a brake control device of a servo drive system according to an embodiment of the present application.
  • the brake control device 200 of the servo drive system proposed in this application includes a determination module 202 and a control module 204 .
  • the determination module 202 is used for determining the three-phase current of the servo motor when the servo motor in the servo drive system needs to brake.
  • the control module 204 is used to determine the braking mode of the servo motor according to the three-phase current, and control the servo motor between the first braking mode and the second braking mode according to the three-phase current during the braking process of the servo motor Switching is performed, wherein the first braking mode is used to control the servo drive to output zero voltage, and the second braking mode is used to close the output of the servo drive.
  • the braking mode used to reduce the speed of the servo motor is dynamically selected, and the three-phase braking mode is reversely controlled by continuously switching the two braking modes.
  • the size of the phase current ensures the safety of the system while quickly realizing the energy discharge to stop the servo drive system.
  • control module 204 includes a first determination unit, a second determination unit and a third determination unit.
  • the first determining unit is configured to implement step S131 in the embodiment of the present application.
  • the second determining unit is configured to implement step S132 in the embodiment of the present application.
  • the third determining unit is configured to implement step S133 in the embodiment of the present application.
  • control module 204 further includes a fourth determination unit and a first control unit.
  • the fourth determining unit is configured to implement step S134 in the embodiment of the present application.
  • the first control unit is configured to implement step S135 in the embodiment of the present application.
  • control module 204 further includes a fifth determination unit and a second control unit.
  • the fifth determining unit is configured to implement step S136 in the embodiment of the present application.
  • the second control unit is used to implement step S137 in the embodiment of the present application.
  • control module 204 is also used to control the three-phase upper bridge and the three-phase lower bridge in the servo driver to turn on and off alternately.
  • control module 204 is also used to control the opening of the three-phase upper bridge and the closing of the three-phase lower bridge for a first preset time, and control the closing of the three-phase upper bridge and the opening of the three-phase lower bridge for the first preset time.
  • a preset time so alternately.
  • Fig. 9 is a schematic structural diagram of a servo drive system according to an embodiment of the present application.
  • the servo drive system 1000 proposed in this application includes a servo motor 300 , a servo drive 400 , a current detection unit 500 and a controller 600 .
  • the servo driver 400 is used to drive the servo motor 300 .
  • the current detection unit 500 is used to detect the three-phase current of the servo motor 300 .
  • the controller 600 is used to determine the braking mode of the servo motor 300 according to the three-phase current when the servo motor 300 needs to brake, and to control the servo motor 300 according to the three-phase current during the process of controlling the servo driver 400 to brake the servo motor 300.
  • the motor 300 switches between a first braking mode and a second braking mode, wherein the first braking mode is used to control the servo drive 400 to output zero voltage, and the second braking mode is used to turn off the output of the servo drive 400 .
  • the braking mode used to reduce the speed of the servo motor 300 is dynamically selected, and the three-phase current is reversely controlled by continuously switching the two braking modes. In this way, the safety of the system is ensured while the energy discharge is realized quickly to shut down the servo drive system 1000 .
  • the braking control scheme in the related art has problems such as high cost, uncontrollable braking process, poor braking effect, and possible damage to the servo motor.
  • the servo drive system is braked by using software control, without adding other hardware structures in the three-phase bridge arm of the servo drive, that is, without adding any other hardware structures in the three-phase bridge arm of the servo drive Adding relays and power resistors to any bridge arm of the phase bridge arm can control the production cost; on the other hand, combined with the three-phase current of the servo motor, the braking method for reducing the speed of the servo motor is dynamically selected, and in the servo motor During the braking process, combined with the three-phase current of the servo motor, the two braking methods are continuously switched, and the magnitude of the three-phase current is reversely controlled, so as to quickly realize the energy discharge and stop the servo drive system while avoiding damage to the servo motor, ensuring Safety of servo drive system.
  • braking trigger conditions corresponding to the servo motors in the servo drive system may be preset.
  • the servo drive system when it is detected that the servo drive system satisfies the braking trigger condition, it is determined that the servo motor in the servo drive system needs to brake, and then the servo drive system can be controlled for braking based on the actual situation of the three-phase current. In some embodiments, when it is detected that the servo drive system does not meet the braking trigger condition, the servo drive is used to control the servo motor to continue running.
  • the dynamic braking flag when it is detected that the servo drive system meets the braking trigger condition, the dynamic braking flag is set; when it is detected that the dynamic braking flag is set, the three-phase current of the servo motor is determined .
  • the brake triggering conditions may specifically include but not limited to at least one of the following: detection of a system error, detection of a system failure, failure of the inverter, inability to control the inverter through the current controller to stop the servo motor, The current feedback is normal and the voltage of the servo motor is not in an overvoltage state, etc.
  • the inverter when an error is detected in the servo drive system, the inverter is not damaged, the current feedback is normal, and the voltage of the servo motor is not in an overvoltage state, it is determined that the servo motor needs to brake. In another example, in practical applications, when it is detected that the servo drive system is disabled, the inverter is not damaged, the current feedback is normal, and the voltage of the servo motor is not in an overvoltage state, it is determined that the servo motor needs to be controlled. move.
  • the braking method of the servo motor is not fixed.
  • the three-phase current of the servo motor is constantly changing. During this process, it can be combined with The change of the three-phase current dynamically selects to switch the braking mode from the first braking mode to the second braking mode, or to switch the braking mode from the second braking mode to the first braking mode, so that the braking mode can be quickly realized
  • the energy discharge makes the servo drive system shut down while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • FIG. 2 is a schematic circuit diagram of the three-phase bridge arm 10 of the servo driver.
  • the three-phase bridge arm 10 includes a three-phase upper bridge 12 and a three-phase lower bridge 14 , each three-phase upper bridge 12 is connected in parallel with a freewheeling diode 16 , and each three-phase lower bridge 14 is also connected in parallel with a freewheeling diode 16 .
  • the way of controlling the servo driver to output zero voltage can be based on the vector control method, or it can be based on turning on one of the three-phase upper bridge 12 or the lower bridge of the servo driver and turning off the other of the three-phase upper bridge 12 or the lower bridge
  • the method is not limited here. It can be understood that in the process of controlling the servo driver to output zero voltage according to one of the three-phase upper bridge 12 or the lower bridge and turning off the other of the three-phase upper bridge 12 or the lower bridge, due to the rotation of the servo motor During the process, there is back electromotive force on the phase winding of the motor.
  • the three-phase upper bridge 12 and the three-phase lower bridge 14 of the three-phase bridge arm 10 of the servo drive are both turned off, and the three-phase current will pass through the freewheeling diode 16 of the three-phase bridge arm 10.
  • the continuous current decreases, and then the servo motor decelerates until the speed is 0 by friction.
  • a small part of the kinetic energy of the servo motor is converted into heat energy of the device, and most of the heat energy is generated by friction.
  • U is the quadrature axis equivalent voltage
  • i is the quadrature axis equivalent current
  • i 0 is the quadrature axis initial equivalent current
  • R is the equivalent resistance
  • L is the equivalent inductance
  • e b-emf is the equivalent back electromotive force
  • ⁇ is the time constant of the RL circuit.
  • the controller is also used to determine the maximum value of the three-phase current; when the maximum value is greater than or equal to the first preset current threshold, determine that the braking mode of the servo motor is the second braking mode; When it is less than the first preset current threshold, it is determined that the braking mode of the servo motor is the first braking mode.
  • the second braking method is used for braking. While ensuring the braking effect, it can effectively prevent the permanent damage of the servo motor caused by excessive current; when the three-phase current is small, the first braking method is used.
  • the braking mode is used for braking, and the braking can be realized quickly.
  • a first preset current threshold can be preset.
  • the first braking method can be used for braking.
  • the first preset current threshold is set in advance, it is considered that there is a risk of damaging the servo motor by using the first braking method for braking, so the second braking method should be used for braking.
  • the first braking method is selected for braking; when the three-phase current is higher than or equal to the preset first preset current threshold, the second braking method is selected Brake, so as to ensure that the selected braking method can ensure the safe braking of the servo motor to the greatest extent.
  • the controller is also used to determine the maximum value of the three-phase current; when the servo motor brakes in the first braking mode, if the maximum value is greater than or equal to the first preset current threshold, then control the servo motor The braking mode of the control servo motor is switched to the second braking mode until the maximum value is less than or equal to the second preset current threshold, and the braking mode of the control servo motor is switched to the first braking mode, wherein the second preset current threshold is less than the first a preset current threshold.
  • the braking method can be adjusted in time in combination with the current actual situation of the three-phase current of the servo motor and the preset switching hysteresis range, and the current servo drive system can be selected.
  • the braking mode matching the three-phase current of the motor is used for braking, so as to quickly realize energy discharge and stop the servo drive system, while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • a first preset current threshold and a second preset current threshold can be preset, and ensure that the second preset current threshold is smaller than the first preset current threshold, that is, the first preset current threshold minus the second preset
  • the result obtained by setting the current threshold is greater than zero, so as to ensure that a certain range of switching hysteresis is reserved.
  • the three-phase current will increase due to the short-circuit of the back electromotive force.
  • the data of the three-phase current can be collected every first preset time interval. The maximum value of the three-phase current is monitored. If it is detected that the maximum value of the three-phase current is lower than the first preset current threshold, the servo drive system may continue to be braked in the first braking manner.
  • the braking method may cause damage to the servo motor, and the braking method should be changed from the first braking method to The first braking mode is switched to the second braking mode.
  • the braking mode is switched from the first braking mode to the second braking mode
  • the data of the three-phase currents are continuously collected every first preset time interval, and the maximum value of the three-phase currents is monitored. If it is detected that the maximum value of the three-phase current is higher than the second preset current threshold, the servo drive system may continue to be braked in the second braking manner. If it is detected that the maximum value of the three-phase current is lower than or equal to the second preset current threshold, the braking mode should be switched from the second braking mode to the first braking mode in time to increase the braking speed and shorten the braking time. the required length of time.
  • the braking mode is switched from the second braking mode to the first braking mode when the maximum value is lower than or equal to the second preset current threshold, not when the maximum value is lower than or equal to the first preset current threshold.
  • the braking mode is switched from the second braking mode to the first braking mode immediately when the current threshold is reached, because if the maximum value is lower than or equal to the first preset current threshold, the braking mode is immediately switched from the second braking mode to the first braking mode. Switching the braking mode to the first braking mode may cause frequent switching of the braking mode between the second braking mode and the first braking mode, and the braking effect is unstable, which is not conducive to the rapid stop of the servo motor.
  • the controller is also used to determine the maximum value of the three-phase current; when the servo motor brakes in the second braking mode, if the maximum value is less than the first preset current threshold, then control the servo motor The braking mode is switched to the first braking mode until the maximum value is greater than or equal to the third preset current threshold, and the braking mode of the control servo motor is switched to the second braking mode, wherein the first preset current threshold is less than the third preset current threshold.
  • the braking method can be adjusted in time in combination with the current actual situation of the three-phase current of the servo motor and the preset switching hysteresis range, and the current servo drive system can be selected.
  • the braking mode matching the three-phase current of the motor is used for braking, so as to quickly realize energy discharge and stop the servo drive system, while avoiding damage to the servo motor and ensuring the safety of the servo drive system.
  • a first preset current threshold and a third preset current threshold can be preset, and ensure that the third preset current threshold is greater than the first preset current threshold, that is, the third preset current threshold minus the first preset
  • the result obtained by setting the current threshold is greater than zero, so as to ensure that a certain range of switching hysteresis is reserved.
  • the data of the three-phase current can be collected every second preset time interval, and the three-phase current The maximum value is monitored. If it is detected that the maximum value of the three-phase current is higher than or equal to the first preset current threshold, the second braking mode can be continuously used to brake the servo drive system. If it is detected that the maximum value of the three-phase current is lower than the first preset current threshold, continuing to use the second braking mode to brake the servo drive system is not conducive to fast braking, and the braking mode should be changed from the second braking mode in time. The braking mode is switched to the first braking mode.
  • the second preset duration may be equal to the first preset duration.
  • the data of the three-phase currents are continuously collected at intervals of a second preset time period, and the maximum value of the three-phase currents is monitored. If it is detected that the maximum value of the three-phase current is lower than the third preset current threshold, the second braking mode can be continuously used to brake the servo drive system. If it is detected that the maximum value of the three-phase current is higher than or equal to the third preset current threshold, the braking mode shall be switched from the first braking mode to the second braking mode in time to avoid continuing to use the first braking mode to Braking by the servo drive system causes excessive current to damage the servo motor.
  • the braking mode is switched from the first braking mode to the second braking mode when the maximum value is higher than or equal to the third preset current threshold, rather than when the maximum value is higher than or equal to the first preset current threshold.
  • the braking mode is switched from the first braking mode to the second braking mode immediately when the current threshold is reached, because if the braking mode is immediately switched from the first braking mode when the maximum value is higher than or equal to the first preset current threshold Switching the braking mode to the second braking mode may cause frequent switching of the braking mode between the second braking mode and the first braking mode, and the braking effect is unstable, which is not conducive to the rapid stop of the servo motor.
  • the second preset duration may be equal to the first preset duration. It should be pointed out that during the braking process, the three-phase current changes are affected by the inductance and resistance of the servo motor, and the three-phase current rises and falls very quickly. It operates within the range, and the fluctuation of the three-phase current is small, and the sampling frequency of the three-phase current can be appropriately increased, that is, the first preset duration and the second preset duration can be appropriately reduced.
  • the preset interval of sampling the three-phase current is 31.25 microseconds
  • the first preset duration and the second preset duration can be set to 20 microseconds or other values shorter than 31.25 microseconds.
  • the controller is further used to control the three-phase upper bridge and the three-phase lower bridge in the servo drive to be turned on and off alternately, so that the servo drive outputs zero voltage.
  • the servo drive may include a three-phase bridge arm, and the three-phase bridge arm may include a three-phase upper bridge and a three-phase lower bridge.
  • the servo driver can output zero voltage; when the three-phase upper bridge is turned off and the three-phase lower bridge is turned on, the servo driver can output zero voltage; When the three-phase lower bridge is turned on and off alternately, the servo driver can output zero voltage.
  • the controller is also used to control the three-phase upper bridge to turn on and the three-phase lower bridge to turn off for a first preset time, and control the three-phase upper bridge to turn off and the three-phase lower bridge to turn on for the first preset time A preset time, so alternately.
  • the working hours of the three-phase upper bridge and the three-phase lower bridge are basically the same, the life attenuation degree of the three-phase upper bridge and the three-phase lower bridge is reasonably controlled, and the servo drive is prevented from losing its normal operation function prematurely, which extends the servo drive to a certain extent.
  • the service life of the drive is basically the same, the life attenuation degree of the three-phase upper bridge and the three-phase lower bridge is reasonably controlled, and the servo drive is prevented from losing its normal operation function prematurely, which extends the servo drive to a certain extent.
  • a first preset time may be preset.
  • the first preset time may be 500ms, 1s, 2s or other values, which are not limited herein.
  • the present application also proposes a computer-readable storage medium, on which is stored a braking control program of the servo drive system, and when the braking control program of the servo drive system is executed by a processor, the servo drive system of any of the above-mentioned embodiments can be realized brake control method.
  • the braking method used to reduce the speed of the servo motor is dynamically selected, and the magnitude of the three-phase current is reversely controlled by continuously switching the two braking methods , thus ensuring the safety of the system while quickly realizing the energy release to shut down the servo drive system.
  • step S11 and step S13 of the above-mentioned embodiment are realized; and/or step S131, step S132 and step S133 of the above-mentioned embodiment are realized ; and/or implement step S134 and step S135 of the above embodiment; and/or implement step S136 and step S137 of the above embodiment.
  • the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
  • first and second used in the embodiments of the present application are used for description purposes only, and cannot be understood as indicating or implying relative importance, or implicitly indicating the number of technical features. Therefore, the features defined in terms of “first”, “second” and other terms in the embodiments of the present application may explicitly or implicitly indicate that at least one of the features is included in the embodiment.
  • the word “plurality” means at least two or two or more, such as two, three, four, etc., unless otherwise specifically defined in the embodiments.
  • connection can be It can be a fixed connection, or it can be a detachable connection, or it can be integrated. It can be understood that it can also be a mechanical connection, an electrical connection, etc.; of course, it can also be a direct connection, or an indirect connection through an intermediary, or it can be two The connectivity within a component, or the interaction between two components. Those skilled in the art can understand the specific meanings of the above terms in this application according to specific implementation conditions.
  • a first feature being "on” or “under” a second feature may mean that the first and second features are in direct contact, or that the first and second features are indirect through an intermediary. touch.
  • “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

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Abstract

一种伺服驱动系统（1000）及其制动控制方法、装置（200）、伺服驱动器（400）及存储介质，方法包括：在伺服驱动系统（1000）中的伺服电机（300）需要制动时，确定伺服电机（300）的三相电流（S11）；根据三相电流确定伺服电机（300）的制动方式，并在对伺服电机（300）进行制动的过程中，根据三相电流控制伺服电机（300）在第一制动方式和第二制动方式之间进行切换，其中，第一制动方式用于控制伺服驱动器（400）输出零电压，第二制动方式用于关闭伺服驱动器（400）的输出（S13）。

Description

伺服驱动系统及其制动控制方法、装置、伺服驱动器
相关申请的交叉引用
本申请要求于2021年11月18日提交的申请号为202111372113.0、名称为“伺服驱动系统及其制动控制方法、装置、伺服驱动器”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
本申请涉及自动控制技术领域，尤其涉及一种伺服驱动系统及其制动控制方法、装置、伺服驱动器及存储介质。
背景技术
在相关技术中，当伺服电机高速运行且检测到伺服驱动器有错误时，为了让伺服电机尽快停止运行，只能够在伺服电机掉使能的情况下，让伺服电机自由滑行，移动较长距离，然后靠摩擦力停下来，但是在直线系统场合中，存在电机容易撞边的问题。或者，在伺服驱动器的三相桥臂的每个桥臂上都设置一个继电器和功率电阻，当伺服电机高速运行且检测到伺服驱动器有错误需要让伺服电机尽快停止运行时，将三个继电器都闭合，通过继电器和功率电阻泄放电机的动能，从而使得伺服电机尽快停止，但是，一方面，增设继电器和功率电阻会增加生产成本；另一方面，在制动过程中泄放电流不可控，不能保证系统安全。
发明内容
本申请旨在至少在一定程度上解决相关技术中的技术问题之一。为此，本申请的一个目的在于提出一种伺服驱动系统的制动控制方法，该制动控制方法能够在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
本申请的第二个目的在于提出一种计算机可读存储介质。
本申请的第三个目的在于提出一种伺服驱动器。
本申请的第四个目的在于提出一种伺服驱动系统的制动控制装置。
本申请的第五个目的在于提出一种伺服驱动系统。
为达上述目的，本申请第一方面实施例提出了一种伺服驱动系统的制动控制方法，该方法包括：在所述伺服驱动系统中的伺服电机需要制动时，确定所述伺服电机的三相电流；根据所述三相电流确定所述伺服电机的制动方式，并在对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服 驱动器的输出。
根据本申请实施例的伺服驱动系统的制动控制方法，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
在一个实施例中，根据所述三相电流确定所述伺服电机的制动方式，包括：确定所述三相电流的最大值；在所述最大值大于等于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第二制动方式；在所述最大值小于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第一制动方式。
在一个实施例中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，包括：确定所述三相电流的最大值；在所述伺服电机以所述第一制动方式进行制动时，如果所述最大值大于等于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第二制动方式，直至所述最大值小于等于第二预设电流阈值时，控制所述伺服电机的制动方式切换为所述第一制动方式，其中，所述第二预设电流阈值小于所述第一预设电流阈值。
在一个实施例中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，包括：确定所述三相电流的最大值；在所述伺服电机以所述第二制动方式进行制动时，如果所述最大值小于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第一制动方式，直至所述最大值大于等于第三预设电流阈值时，控制所述伺服电机的制动方式切换为所述第二制动方式，其中，所述第一预设电流阈值小于所述第三预设电流阈值。
在一个实施例中，控制所述伺服驱动器输出零电压，包括：控制所述伺服驱动器中的三相上桥和三相下桥交替开通和关闭。
在一个实施例中，控制所述伺服驱动器中的三相上桥和三相下桥交替开通和关闭，包括：控制所述三相上桥开通和所述三相下桥关闭、且持续第一预设时间，并控制所述三相上桥关闭和所述三相下桥开通、且持续第一预设时间，如此交替进行。
为达上述目的，本申请第二方面实施例提出了一种计算机可读存储介质，其上存储有伺服驱动系统的制动控制程序，该伺服驱动系统的制动控制程序被处理器执行时实现上述任一实施例所述的伺服驱动系统的制动控制方法。
根据本申请实施例的计算机可读存储介质，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
为达上述目的，本申请第三方面实施例提出了一种伺服驱动器，所述伺服驱动器包括 存储器、处理器及存储在存储器上并可在处理器上运行的伺服驱动系统的制动控制程序，所述处理器通过运行所述伺服驱动系统的制动控制程序，以使上述任一实施例所述的伺服驱动系统的制动控制方法被执行。
根据本申请实施例的伺服驱动器，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
为达上述目的，本申请第四方面实施例提出了一种伺服驱动系统的制动控制装置，所述制动控制装置包括确定模块和控制模块。确定模块用于在所述伺服驱动系统中的伺服电机需要制动时，确定所述伺服电机的三相电流。控制模块用于根据所述三相电流确定所述伺服电机的制动方式，并在对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服驱动器的输出。
根据本申请实施例的伺服驱动系统的制动控制装置，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
为达上述目的，本申请第五方面实施例提出了一种伺服驱动系统，所述伺服驱动系统包括伺服电机、伺服驱动器、电流检测单元和控制器。伺服驱动器用于驱动所述伺服电机。电流检测单元用于检测所述伺服电机的三相电流。控制器用于在所述伺服电机需要制动时，根据所述三相电流确定所述伺服电机的制动方式，并在控制所述伺服驱动器对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服驱动器的输出。
根据本申请实施例的伺服驱动系统，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
在一个实施例中，所述控制器还用于，确定所述三相电流的最大值；在所述最大值大于等于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第二制动方式；在所述最大值小于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第一制动方式。
在一个实施例中，所述控制器还用于，确定所述三相电流的最大值；在所述伺服电机以所述第一制动方式进行制动时，如果所述最大值大于等于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第二制动方式，直至所述最大值小于等于第二预设电流阈值时，控制所述伺服电机的制动方式切换为所述第一制动方式，其中，所述第二预设电 流阈值小于所述第一预设电流阈值。
在一个实施例中，所述控制器还用于，确定所述三相电流的最大值；在所述伺服电机以所述第二制动方式进行制动时，如果所述最大值小于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第一制动方式，直至所述最大值大于等于第三预设电流阈值时，控制所述伺服电机的制动方式切换为所述第二制动方式，其中，所述第一预设电流阈值小于所述第三预设电流阈值。
在一个实施例中，所述控制器还用于，控制所述伺服驱动器中的三相上桥和三相下桥交替开通和关闭，以使所述伺服驱动器输出零电压。
在一个实施例中，所述控制器还用于，控制所述三相上桥开通和所述三相下桥关闭、且持续第一预设时间，并控制所述三相上桥关闭和所述三相下桥开通、且持续第一预设时间，如此交替进行。
本申请附加的方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本申请的实践了解到。
附图说明
本申请的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：
图1是根据本申请实施例的伺服驱动系统的制动控制方法的流程示意图；
图2是根据本申请实施例的伺服驱动器的三相桥臂的电路示意图；
图3是根据本申请实施例的伺服电机的等效电路示意图；
图4是根据本申请实施例的伺服驱动系统的制动控制方法的流程示意图；
图5是根据本申请实施例的伺服驱动系统的制动控制方法的流程示意图；
图6是根据本申请实施例的伺服驱动系统的制动控制方法的流程示意图；
图7是根据本申请实施例的伺服驱动器的结构框图；
图8是根据本申请实施例的伺服驱动系统的制动控制装置的结构框图；
图9是根据本申请实施例的伺服驱动系统的结构框图。
具体实施方式
下面详细描述本申请的实施例，实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本申请，而不能理解为对本申请的限制。
为清楚说明本申请实施例的伺服驱动系统及其制动控制方法、装置、伺服驱动器及存储介质，下面结合图1所示的伺服驱动系统的制动控制方法的流程示意图进行描述。如图1所示，本申请实施例的伺服驱动系统的制动控制方法包括以下步骤：
S11：在伺服驱动系统中的伺服电机需要制动时，确定伺服电机的三相电流；
S13：根据三相电流确定伺服电机的制动方式，并在对伺服电机进行制动的过程中，根据三相电流控制伺服电机在第一制动方式和第二制动方式之间进行切换，其中，第一制动方式用于控制伺服驱动器输出零电压，第二制动方式用于关闭伺服驱动器的输出。
根据本申请实施例的伺服驱动系统的制动控制方法，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
可以理解，在相关技术中，当伺服电机高速运行且检测到伺服驱动器有错误时，为了让伺服电机尽快停止运行，只能够在伺服电机掉使能的情况下，让伺服电机自由滑行，移动较长距离，然后靠摩擦力停下来；或者，在伺服驱动器的三相桥臂的每个桥臂上都设置一个继电器和功率电阻，当伺服电机高速运行且检测到伺服驱动器有错误需要让伺服电机尽快停止运行时，将三个继电器都闭合，通过继电器和功率电阻泄放电机的动能，从而使得伺服电机尽快停止。但是，对于前者的方案，在直线系统场合中，电机容易撞边；对于后者的方案，增加了生产成本，并且泄放电流不可控。
也即是说，相关技术中的制动控制方案存在成本高、制动过程不可控、制动效果差、可能损坏伺服电机等问题。
而在本申请实施例的技术方案中，一方面，采用软件控制的方法对伺服驱动系统进行制动，无需在伺服驱动器的三相桥臂中增设其他硬件结构，即不需要在伺服驱动器的三相桥臂的任一桥臂上增设继电器和功率电阻，能够控制生产成本；另一方面，结合伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并在伺服电机的制动过程中，结合伺服电机的三相电流不断切换两种制动方式，反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，在步骤S11中，可以预先设置伺服驱动系统中的伺服电机对应的制动触发条件。
这样，当检测到伺服驱动系统满足该制动触发条件时，确定伺服驱动系统中的伺服电机需要制动，然后可以结合三相电流的实际情况对伺服驱动系统进行制动控制。在某些实施例中，在检测到伺服驱动系统不满足该制动触发条件时，通过伺服驱动器控制伺服电机继续运行。
在某些实施例中，当检测到伺服驱动系统满足该制动触发条件时，则置位动态制动标志位；当检测到动态制动标志位被置位，则确定伺服电机的三相电流。
其中，制动触发条件具体可包括但不限于以下至少一种：检测到系统错误、检测到系 统掉使能、逆变器未损坏、无法通过电流控制器控制逆变器以使伺服电机停止、电流反馈正常以及伺服电机的电压未处于过压状态等。
在一个例子中，在实际应用中，当检测到伺服驱动系统错误，且逆变器未损坏，且电流反馈正常，且伺服电机的电压未处于过压状态时，确定伺服电机需要制动。在另一个例子中，在实际应用中，当检测到伺服驱动系统掉使能，且逆变器未损坏，且电流反馈正常，且伺服电机的电压未处于过压状态时，确定伺服电机需要制动。
在步骤S13中，在对伺服驱动系统进行制动的过程中，伺服电机的制动方式并不是固定不变的。
可以理解，在初次确定伺服电机的制动方式，并根据初次确定的伺服电机的制动方式对伺服驱动系统进行制动时，伺服电机的三相电流在不断变化，在此过程中，可以结合三相电流的变化情况动态地选择将制动方式由第一制动方式切换为第二制动方式，或者将制动方式由第二制动方式切换为第一制动方式，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
请结合图2，图2为伺服驱动器的三相桥臂10的电路示意图。其中，三相桥臂10包括三相上桥12与三相下桥14，每个三相上桥12并联一个续流二极管16，每个三相下桥14也并联一个续流二极管16。
控制伺服驱动器输出零电压方式可以是按照矢量控制的方式，也可以是按照开通伺服驱动器的三相上桥12或下桥中的一种且关断三相上桥12或下桥中的另一种的方式，在此不作限定。可以理解，在按照开通三相上桥12或下桥中的一种且关断三相上桥12或下桥中的另一种的方式控制伺服驱动器输出零电压的过程中，由于伺服电机转动过程中电机的相绕组上存在反电势，若伺服驱动器的三相上桥12(或下桥)关断，三相下桥14(或上桥)开通，则反电势被短接，三相电流变大，此时伺服电机的大部分动能转换成电能，进而转换成伺服电机的热能，少部分动能转换成器件的热能和摩擦产生热能，达到快速泄放能量的目的。
关闭伺服驱动器的输出，可以理解为，伺服驱动器的三相桥臂10的三相上桥12与三相下桥14均关断，三相电流会通过三相桥臂10的续流二极管16进行续流而减小，然后靠摩擦力使得伺服电机减速直至转速为0。伺服电机的动能很少一部分转换成器件的热能，大部分是摩擦产生热能。
可以理解，根据伺服电机的电压方程：
Figure PCTCN2022085423-appb-000001
可以得到：
Figure PCTCN2022085423-appb-000002
其中：U为交轴等效电压，i为交轴等效电流，i 0为交轴初始等效电流，R为等效电阻，L为等效电感，e b-emf为等效反电势，τ为RL电路的 时间常数。当伺服电机有转速时，会存在反电势e b-emf(如图3所示)。根据公式(2)可知，控制伺服驱动器输出零电压，也即设定输出交轴等效电压U为0，则电流会从i 0往
Figure PCTCN2022085423-appb-000003
变化。如果伺服驱动器的三相桥臂10的上下桥均关断，则电流会从i 0往0变化。
请参阅图4，在一个实施例中，步骤S13中的“根据三相电流确定伺服电机的制动方式”，包括：
S131：确定三相电流的最大值；
S132：在最大值大于等于第一预设电流阈值时，确定伺服电机的制动方式为第二制动方式；
S133：在最大值小于第一预设电流阈值时，确定伺服电机的制动方式为第一制动方式。
如此，在三相电流较大时，采用第二制动方式进行制动，在保证制动效果的同时，有效防止电流过大导致伺服电机永久性损坏；在三相电流较小时，采用第一制动方式进行制动，可以快速地实现制动。
具体地，考虑到在采用第一制动方式进行制动时伺服电机的三相电流会增大，而在三相电流的初始值已经较大的情况下，如果仍然采用第一制动方式对伺服驱动系统进行制动，那么可能出现伺服电机因为电流过大而永久性损坏的情况。因此，可以预先设置一个第一预设电流阈值，在三相电流低于预先设置的第一预设电流阈值时，认为可以采用第一制动方式进行制动，在三相电流高于或等于预先设置的第一预设电流阈值时，认为采用第一制动方式进行制动存在损坏伺服电机的风险，从而应该采用第二制动方式进行制动。
进一步地，在采集到三相电流的数据之后，确定采集到的三相电流中的最大值，然后将三相电流中的最大值与第一预设电流阈值进行比较，在三相电流中的最大值低于预先设置的第一预设电流阈值时，选择第一制动方式进行制动，在三相电流高于或等于预先设置的第一预设电流阈值时，选择第二制动方式进行制动，从而最大程度地确保选择的制动方式能够保证伺服电机安全地进行制动。
请参阅图5，在一个实施例中，步骤S13中的“根据三相电流控制伺服电机在第一制动方式和第二制动方式之间进行切换”，包括：
S134：确定三相电流的最大值；
S135：在伺服电机以第一制动方式进行制动时，如果最大值大于等于第一预设电流阈值，则控制伺服电机的制动方式切换为第二制动方式，直至最大值小于等于第二预设电流阈值时，控制伺服电机的制动方式切换为第一制动方式，其中，第二预设电流阈值小于第一预设电流阈值。
如此，在根据已经确定的制动方式对伺服驱动系统进行制动时，可以结合伺服电机的三相电流的当前实际情况以及预设的切换滞环范围及时调整制动方式，选择与当前的伺服 电机的三相电流相匹配的制动方式进行制动，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，可以预先设置一个第一预设电流阈值和一个第二预设电流阈值，并确保第二预设电流阈值小于第一预设电流阈值，即第一预设电流阈值减去第二预设电流阈值得到的结果大于零，从而确保预留一定的切换滞环范围。
在采用第一制动方式对伺服驱动系统进行制动的情况下，由于反电势被短接，三相电流会变大，此时可以每间隔第一预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值低于第一预设电流阈值，则可以继续采用第一制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值高于或等于第一预设电流阈值，则继续采用第一制动方式对伺服驱动系统进行制动存在损坏伺服电机的风险，应当及时将制动方式由第一制动方式切换至第二制动方式。
进一步地，在将制动方式由第一制动方式切换至第二制动方式之后，继续每间隔第一预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值高于第二预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值低于或等于第二预设电流阈值，则应当及时将制动方式由第二制动方式切换至第一制动方式，加快制动的速度，缩短制动所需要的时长。
可以理解，之所以在最大值低于或等于第二预设电流阈值时将制动方式由第二制动方式切换至第一制动方式，而不是在最大值低于或等于第一预设电流阈值时立即将制动方式由第二制动方式切换至第一制动方式，是因为，如果在最大值低于或等于第一预设电流阈值时立即将制动方式由第二制动方式切换至第一制动方式，可能导致制动方式频繁切换于第二制动方式与第一制动方式之间，制动效果不稳定，不利于伺服电机快速停止。
请参阅图6，在一个实施例中，步骤S13中的“根据三相电流控制伺服电机在第一制动方式和第二制动方式之间进行切换”，包括：
S136：确定三相电流的最大值；
S137：在伺服电机以第二制动方式进行制动时，如果最大值小于第一预设电流阈值，则控制伺服电机的制动方式切换为第一制动方式，直至最大值大于等于第三预设电流阈值时，控制伺服电机的制动方式切换为第二制动方式，其中，第一预设电流阈值小于第三预设电流阈值。
如此，在根据已经确定的制动方式对伺服驱动系统进行制动时，可以结合伺服电机的三相电流的当前实际情况以及预设的切换滞环范围及时调整制动方式，选择与当前的伺服电机的三相电流相匹配的制动方式进行制动，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，可以预先设置一个第一预设电流阈值和一个第三预设电流阈值，并确保第三预设电流阈值大于第一预设电流阈值，即第三预设电流阈值减去第一预设电流阈值得到的结果大于零，从而确保预留一定的切换滞环范围。
在采用第二制动方式对伺服驱动系统进行制动的情况下，由于三相电流逐渐减小，此时可以每间隔第二预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值高于或等于第一预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值低于第一预设电流阈值，则继续采用第二制动方式对伺服驱动系统进行制动不利于快速实现制动，应当及时将制动方式由第二制动方式切换至第一制动方式。第二预设时长可等于第一预设时长。
进一步地，在将制动方式由第二制动方式切换至第一制动方式之后，继续每间隔第二预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值低于第三预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值高于或等于第三预设电流阈值，则应当及时将制动方式由第一制动方式切换至第二制动方式，避免继续采用第一制动方式对伺服驱动系统进行制动导致电流过高损坏伺服电机。
可以理解，之所以在最大值高于或等于第三预设电流阈值时将制动方式由第一制动方式切换至第二制动方式，而不是在最大值高于或等于第一预设电流阈值时立即将制动方式由第一制动方式切换至第二制动方式，是因为，如果在最大值高于或等于第一预设电流阈值时立即将制动方式由第一制动方式切换至第二制动方式，可能导致制动方式频繁切换于第二制动方式与第一制动方式之间，制动效果不稳定，不利于伺服电机快速停止。
第二预设时长可等于第一预设时长。需要指出的是，由于制动过程中，三相电流变化受伺服电机电感和电阻的影响，三相电流上升和下降都很快，为了保证伺服驱动系统在预先设置的三相电流的切换滞环范围内运行，且三相电流的波动小，可以适当增大三相电流的采样频率，即适当调小第一预设时长和第二预设时长。在一个例子中，预设的采样三相电流的间隔时长为31.25微秒，则第一预设时长和第二预设时长可设置为20微秒或者其他小于31.25微秒的数值。
在一个实施例中，控制伺服驱动器输出零电压，包括：控制伺服驱动器中的三相上桥和三相下桥交替开通和关闭。
如此，在伺服电机运行时，反电势被短接，三相电流变大，此时伺服电机的大部分动能转换成电能，进而转换成伺服电机的热能，少部分动能转换成器件的热能和摩擦产生热能，从而达到快速泄放能量的目的。
具体地，伺服驱动器可包括三相桥臂，三相桥臂可包括三相上桥与三相下桥。在三相 上桥开通且三相下桥关闭时，可以实现伺服驱动器输出零电压；在三相上桥关闭且三相下桥开通时，可以实现伺服驱动器输出零电压；在三相上桥和三相下桥交替开通和关闭时，也可以实现伺服驱动器输出零电压。
可以理解，在采用第一制动方式制动伺服电机的过程中，如果始终保持伺服驱动器的三相桥臂中位于同一侧的三相上桥(或三相下桥)开通，并且始终保持伺服驱动器的三相桥臂中位于另一侧的三相下桥(或三相上桥)关断，那么由于长期运行，始终保持开通的那一侧三相上桥(或三相下桥)的衰减速度会明显快于始终保持关断的那一侧三相下桥(或三相上桥)的衰减速度，也即是说，始终保持开通的那一侧三相上桥(或三相下桥)的使用寿命会比始终保持关断的那一侧三相下桥(或三相上桥)的使用寿命提前耗尽，从而导致伺服驱动器过早失去正常运行功能。
在一个实施例中，控制伺服驱动器中的三相上桥和三相下桥交替开通和关闭，包括：控制三相上桥开通和三相下桥关闭、且持续第一预设时间，并控制三相上桥关闭和三相下桥开通、且持续第一预设时间，如此交替进行。
如此，保证三相上桥与三相下桥的工作时长基本相同，合理控制三相上桥和三相下桥的寿命衰减程度，防止伺服驱动器过早失去正常运行功能，一定程度上延长了伺服驱动器的使用寿命。
具体地，可以预先设置一个第一预设时间。第一预设时间可为500ms、1s、2s或者其他数值，在此不作限定。
为了实现上述实施例，本申请实施例还提出一种伺服驱动器，该伺服驱动器可实现上述任一实施例的伺服驱动系统的制动控制方法。图7是根据本申请一个实施例的伺服驱动器的结构示意图。如图7所示，本申请提出的伺服驱动器100包括存储器102、处理器104及存储在存储器102上并可在处理器104上运行的伺服驱动系统的制动控制程序106，处理器104通过运行伺服驱动系统的制动控制程序106，以使上述任一实施例的伺服驱动系统的制动控制方法被执行。
根据本申请实施例的伺服驱动器100，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
在一个实施例中，在伺服驱动系统的制动控制程序106被处理器104执行的情况下，实现上述实施例的步骤S11和步骤S13；和/或实现上述实施例的步骤S131、步骤S132和步骤S133；和/或实现上述实施例的步骤S134和步骤S135；和/或实现上述实施例的步骤S136和步骤S137。
需要指出的是，上述对伺服驱动系统的制动控制方法的实施例和有益效果的解释说明， 也适应本申请的伺服驱动器100，为避免冗余，在此不作详细展开。
为了实现上述实施例，本申请实施例还提出一种伺服驱动系统的制动控制装置，该伺服驱动系统的制动控制装置可实现上述任一实施例的伺服驱动系统的制动控制方法。图8是根据本申请一个实施例的伺服驱动系统的制动控制装置的结构示意图。如图8所示，本申请提出的伺服驱动系统的制动控制装置200包括确定模块202和控制模块204。确定模块202用于在伺服驱动系统中的伺服电机需要制动时，确定伺服电机的三相电流。控制模块204用于根据三相电流确定伺服电机的制动方式，并在对伺服电机进行制动的过程中，根据三相电流控制伺服电机在第一制动方式和第二制动方式之间进行切换，其中，第一制动方式用于控制伺服驱动器输出零电压，第二制动方式用于关闭伺服驱动器的输出。
根据本申请实施例的伺服驱动系统的制动控制装置200，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
在一个实施例中，控制模块204包括第一确定单元、第二确定单元和第三确定单元。第一确定单元用于实现本申请实施例的步骤S131。第二确定单元用于实现本申请实施例的步骤S132。第三确定单元用于实现本申请实施例的步骤S133。
在一个实施例中，控制模块204还包括第四确定单元和第一控制单元。第四确定单元用于实现本申请实施例的步骤S134。第一控制单元用于实现本申请实施例的步骤S135。
在一个实施例中，控制模块204还包括第五确定单元和第二控制单元。第五确定单元用于实现本申请实施例的步骤S136。第二控制单元用于实现本申请实施例的步骤S137。
在一个实施例中，控制模块204还用于控制伺服驱动器中的三相上桥和三相下桥交替开通和关闭。
在一个实施例中，控制模块204还用于控制三相上桥开通和三相下桥关闭、且持续第一预设时间，并控制三相上桥关闭和三相下桥开通、且持续第一预设时间，如此交替进行。
需要指出的是，上述对伺服驱动系统的制动控制方法的实施例和有益效果的解释说明，也适应本申请的伺服驱动系统的制动控制装置200，为避免冗余，在此不作详细展开。
为了实现上述实施例，本申请实施例还提出一种伺服驱动系统，该伺服驱动系统可实现上述任一实施例的伺服驱动系统的制动控制方法。图9是根据本申请一个实施例的伺服驱动系统的结构示意图。如图9所示，本申请提出的伺服驱动系统1000包括伺服电机300、伺服驱动器400、电流检测单元500和控制器600。伺服驱动器400用于驱动伺服电机300。电流检测单元500用于检测伺服电机300的三相电流。控制器600用于在伺服电机300需要制动时，根据三相电流确定伺服电机300的制动方式，并在控制伺服驱动器400对伺服电机300进行制动的过程中，根据三相电流控制伺服电机300在第一制动方式和第二制动 方式之间进行切换，其中，第一制动方式用于控制伺服驱动器400输出零电压，第二制动方式用于关闭伺服驱动器400的输出。
根据本申请实施例的伺服驱动系统1000，根据伺服电机300的三相电流动态选择用于降低伺服电机300的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统1000停机的同时，确保了系统的安全。
可以理解，在相关技术中，当伺服电机高速运行且检测到伺服驱动器有错误时，为了让伺服电机尽快停止运行，只能够在伺服电机掉使能的情况下，让伺服电机自由滑行，移动较长距离，然后靠摩擦力停下来；或者，在伺服驱动器的三相桥臂的每个桥臂上都设置一个继电器和功率电阻，当伺服电机高速运行且检测到伺服驱动器有错误需要让伺服电机尽快停止运行时，将三个继电器都闭合，通过继电器和功率电阻泄放电机的动能，从而使得伺服电机尽快停止。但是，对于前者的方案，在直线系统场合中，电机容易撞边；对于后者的方案，增加了生产成本，并且泄放电流不可控。
也即是说，相关技术中的制动控制方案存在成本高、制动过程不可控、制动效果差、可能损坏伺服电机等问题。
而在本申请实施例的技术方案中，一方面，采用软件控制的方法对伺服驱动系统进行制动，无需在伺服驱动器的三相桥臂中增设其他硬件结构，即不需要在伺服驱动器的三相桥臂的任一桥臂上增设继电器和功率电阻，能够控制生产成本；另一方面，结合伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并在伺服电机的制动过程中，结合伺服电机的三相电流不断切换两种制动方式，反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，可以预先设置伺服驱动系统中的伺服电机对应的制动触发条件。
这样，当检测到伺服驱动系统满足该制动触发条件时，确定伺服驱动系统中的伺服电机需要制动，然后可以结合三相电流的实际情况对伺服驱动系统进行制动控制。在某些实施例中，在检测到伺服驱动系统不满足该制动触发条件时，通过伺服驱动器控制伺服电机继续运行。
在某些实施例中，当检测到伺服驱动系统满足该制动触发条件时，则置位动态制动标志位；当检测到动态制动标志位被置位，则确定伺服电机的三相电流。
其中，制动触发条件具体可包括但不限于以下至少一种：检测到系统错误、检测到系统掉使能、逆变器未损坏、无法通过电流控制器控制逆变器以使伺服电机停止、电流反馈正常以及伺服电机的电压未处于过压状态等。
在一个例子中，在实际应用中，当检测到伺服驱动系统错误，且逆变器未损坏，且电 流反馈正常，且伺服电机的电压未处于过压状态时，确定伺服电机需要制动。在另一个例子中，在实际应用中，当检测到伺服驱动系统掉使能，且逆变器未损坏，且电流反馈正常，且伺服电机的电压未处于过压状态时，确定伺服电机需要制动。
在对伺服驱动系统进行制动的过程中，伺服电机的制动方式并不是固定不变的。
可以理解，在初次确定伺服电机的制动方式，并根据初次确定的伺服电机的制动方式对伺服驱动系统进行制动时，伺服电机的三相电流在不断变化，在此过程中，可以结合三相电流的变化情况动态地选择将制动方式由第一制动方式切换为第二制动方式，或者将制动方式由第二制动方式切换为第一制动方式，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
请结合图2，图2为伺服驱动器的三相桥臂10的电路示意图。其中，三相桥臂10包括三相上桥12与三相下桥14，每个三相上桥12并联一个续流二极管16，每个三相下桥14也并联一个续流二极管16。
控制伺服驱动器输出零电压方式可以是按照矢量控制的方式，也可以是按照开通伺服驱动器的三相上桥12或下桥中的一种且关断三相上桥12或下桥中的另一种的方式，在此不作限定。可以理解，在按照开通三相上桥12或下桥中的一种且关断三相上桥12或下桥中的另一种的方式控制伺服驱动器输出零电压的过程中，由于伺服电机转动过程中电机的相绕组上存在反电势，若伺服驱动器的三相上桥12(或下桥)关断，三相下桥14(或上桥)开通，则反电势被短接，三相电流变大，此时伺服电机的大部分动能转换成电能，进而转换成伺服电机的热能，少部分动能转换成器件的热能和摩擦产生热能，达到快速泄放能量的目的。
关闭伺服驱动器的输出，可以理解为，伺服驱动器的三相桥臂10的三相上桥12与三相下桥14均关断，三相电流会通过三相桥臂10的续流二极管16进行续流而减小，然后靠摩擦力使得伺服电机减速直至转速为0。伺服电机的动能很少一部分转换成器件的热能，大部分是摩擦产生热能。
可以理解，根据伺服电机的电压方程：
Figure PCTCN2022085423-appb-000004
可以得到：
Figure PCTCN2022085423-appb-000005
其中：U为交轴等效电压，i为交轴等效电流，i 0为交轴初始等效电流，R为等效电阻，L为等效电感，e b-emf为等效反电势，τ为RL电路的时间常数。当伺服电机有转速时，会存在反电势e b-emf(如图3所示)。根据公式(2)可知，控制伺服驱动器输出零电压，也即设定输出交轴等效电压U为0，则电流会从i 0往
Figure PCTCN2022085423-appb-000006
变化。如果伺服驱动器的三相桥臂10的上下桥均关断，则电流会从i 0往0变化。
在一个实施例中，控制器还用于，确定三相电流的最大值；在最大值大于等于第一预 设电流阈值时，确定伺服电机的制动方式为第二制动方式；在最大值小于第一预设电流阈值时，确定伺服电机的制动方式为第一制动方式。
如此，在三相电流较大时，采用第二制动方式进行制动，在保证制动效果的同时，有效防止电流过大导致伺服电机永久性损坏；在三相电流较小时，采用第一制动方式进行制动，可以快速地实现制动。
具体地，考虑到在采用第一制动方式进行制动时伺服电机的三相电流会增大，而在三相电流的初始值已经较大的情况下，如果仍然采用第一制动方式对伺服驱动系统进行制动，那么可能出现伺服电机因为电流过大而永久性损坏的情况。因此，可以预先设置一个第一预设电流阈值，在三相电流低于预先设置的第一预设电流阈值时，认为可以采用第一制动方式进行制动，在三相电流高于或等于预先设置的第一预设电流阈值时，认为采用第一制动方式进行制动存在损坏伺服电机的风险，从而应该采用第二制动方式进行制动。
进一步地，在采集到三相电流的数据之后，确定采集到的三相电流中的最大值，然后将三相电流中的最大值与第一预设电流阈值进行比较，在三相电流中的最大值低于预先设置的第一预设电流阈值时，选择第一制动方式进行制动，在三相电流高于或等于预先设置的第一预设电流阈值时，选择第二制动方式进行制动，从而最大程度地确保选择的制动方式能够保证伺服电机安全地进行制动。
在一个实施例中，控制器还用于，确定三相电流的最大值；在伺服电机以第一制动方式进行制动时，如果最大值大于等于第一预设电流阈值，则控制伺服电机的制动方式切换为第二制动方式，直至最大值小于等于第二预设电流阈值时，控制伺服电机的制动方式切换为第一制动方式，其中，第二预设电流阈值小于第一预设电流阈值。
如此，在根据已经确定的制动方式对伺服驱动系统进行制动时，可以结合伺服电机的三相电流的当前实际情况以及预设的切换滞环范围及时调整制动方式，选择与当前的伺服电机的三相电流相匹配的制动方式进行制动，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，可以预先设置一个第一预设电流阈值和一个第二预设电流阈值，并确保第二预设电流阈值小于第一预设电流阈值，即第一预设电流阈值减去第二预设电流阈值得到的结果大于零，从而确保预留一定的切换滞环范围。
在采用第一制动方式对伺服驱动系统进行制动的情况下，由于反电势被短接，三相电流会变大，此时可以每间隔第一预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值低于第一预设电流阈值，则可以继续采用第一制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值高于或等于第一预设电流阈值，则继续采用第一制动方式对伺服驱动系统进行制动存在损坏伺服电机的风险，应 当及时将制动方式由第一制动方式切换至第二制动方式。
进一步地，在将制动方式由第一制动方式切换至第二制动方式之后，继续每间隔第一预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值高于第二预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值低于或等于第二预设电流阈值，则应当及时将制动方式由第二制动方式切换至第一制动方式，加快制动的速度，缩短制动所需要的时长。
可以理解，之所以在最大值低于或等于第二预设电流阈值时将制动方式由第二制动方式切换至第一制动方式，而不是在最大值低于或等于第一预设电流阈值时立即将制动方式由第二制动方式切换至第一制动方式，是因为，如果在最大值低于或等于第一预设电流阈值时立即将制动方式由第二制动方式切换至第一制动方式，可能导致制动方式频繁切换于第二制动方式与第一制动方式之间，制动效果不稳定，不利于伺服电机快速停止。
在一个实施例中，控制器还用于，确定三相电流的最大值；在伺服电机以第二制动方式进行制动时，如果最大值小于第一预设电流阈值，则控制伺服电机的制动方式切换为第一制动方式，直至最大值大于等于第三预设电流阈值时，控制伺服电机的制动方式切换为第二制动方式，其中，第一预设电流阈值小于第三预设电流阈值。
如此，在根据已经确定的制动方式对伺服驱动系统进行制动时，可以结合伺服电机的三相电流的当前实际情况以及预设的切换滞环范围及时调整制动方式，选择与当前的伺服电机的三相电流相匹配的制动方式进行制动，从而在快速实现能量泄放使得伺服驱动系统停机的同时，避免损坏伺服电机，确保伺服驱动系统的安全。
具体地，可以预先设置一个第一预设电流阈值和一个第三预设电流阈值，并确保第三预设电流阈值大于第一预设电流阈值，即第三预设电流阈值减去第一预设电流阈值得到的结果大于零，从而确保预留一定的切换滞环范围。
在采用第二制动方式对伺服驱动系统进行制动的情况下，由于三相电流逐渐减小，此时可以每间隔第二预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值高于或等于第一预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值低于第一预设电流阈值，则继续采用第二制动方式对伺服驱动系统进行制动不利于快速实现制动，应当及时将制动方式由第二制动方式切换至第一制动方式。第二预设时长可等于第一预设时长。
进一步地，在将制动方式由第二制动方式切换至第一制动方式之后，继续每间隔第二预设时长采集一次三相电流的数据，对三相电流中的最大值进行监测。如果监测到三相电流的最大值低于第三预设电流阈值，则可以继续采用第二制动方式对伺服驱动系统进行制动。如果监测到三相电流的最大值高于或等于第三预设电流阈值，则应当及时将制动方式 由第一制动方式切换至第二制动方式，避免继续采用第一制动方式对伺服驱动系统进行制动导致电流过高损坏伺服电机。
可以理解，之所以在最大值高于或等于第三预设电流阈值时将制动方式由第一制动方式切换至第二制动方式，而不是在最大值高于或等于第一预设电流阈值时立即将制动方式由第一制动方式切换至第二制动方式，是因为，如果在最大值高于或等于第一预设电流阈值时立即将制动方式由第一制动方式切换至第二制动方式，可能导致制动方式频繁切换于第二制动方式与第一制动方式之间，制动效果不稳定，不利于伺服电机快速停止。
第二预设时长可等于第一预设时长。需要指出的是，由于制动过程中，三相电流变化受伺服电机电感和电阻的影响，三相电流上升和下降都很快，为了保证伺服驱动系统在预先设置的三相电流的切换滞环范围内运行，且三相电流的波动小，可以适当增大三相电流的采样频率，即适当调小第一预设时长和第二预设时长。在一个例子中，预设的采样三相电流的间隔时长为31.25微秒，则第一预设时长和第二预设时长可设置为20微秒或者其他小于31.25微秒的数值。
在一个实施例中，控制器还用于，控制伺服驱动器中的三相上桥和三相下桥交替开通和关闭，以使伺服驱动器输出零电压。
如此，在伺服电机运行时，反电势被短接，三相电流变大，此时伺服电机的大部分动能转换成电能，进而转换成伺服电机的热能，少部分动能转换成器件的热能和摩擦产生热能，从而达到快速泄放能量的目的。
具体地，伺服驱动器可包括三相桥臂，三相桥臂可包括三相上桥与三相下桥。在三相上桥开通且三相下桥关闭时，可以实现伺服驱动器输出零电压；在三相上桥关闭且三相下桥开通时，可以实现伺服驱动器输出零电压；在三相上桥和三相下桥交替开通和关闭时，也可以实现伺服驱动器输出零电压。
可以理解，在采用第一制动方式制动伺服电机的过程中，如果始终保持伺服驱动器的三相桥臂中位于同一侧的三相上桥(或三相下桥)开通，并且始终保持伺服驱动器的三相桥臂中位于另一侧的三相下桥(或三相上桥)关断，那么由于长期运行，始终保持开通的那一侧三相上桥(或三相下桥)的衰减速度会明显快于始终保持关断的那一侧三相下桥(或三相上桥)的衰减速度，也即是说，始终保持开通的那一侧三相上桥(或三相下桥)的使用寿命会比始终保持关断的那一侧三相下桥(或三相上桥)的使用寿命提前耗尽，从而导致伺服驱动器过早失去正常运行功能。
在一个实施例中，控制器还用于，控制三相上桥开通和三相下桥关闭、且持续第一预设时间，并控制三相上桥关闭和三相下桥开通、且持续第一预设时间，如此交替进行。
如此，保证三相上桥与三相下桥的工作时长基本相同，合理控制三相上桥和三相下桥 的寿命衰减程度，防止伺服驱动器过早失去正常运行功能，一定程度上延长了伺服驱动器的使用寿命。
具体地，可以预先设置一个第一预设时间。第一预设时间可为500ms、1s、2s或者其他数值，在此不作限定。
需要指出的是，上述所提到的具体数值只为了作为例子详细说明本申请的实施，而不应理解为对本申请的限制。在其它例子或实施方式或实施例中，可根据本申请来选择其它数值，在此不作具体限定。
本申请还提出了一种计算机可读存储介质，其上存储有伺服驱动系统的制动控制程序，该伺服驱动系统的制动控制程序被处理器执行时实现上述任一实施例的伺服驱动系统的制动控制方法。
根据本申请实施例的计算机可读存储介质，根据伺服电机的三相电流动态选择用于降低伺服电机的转速的制动方式，并通过不断切换两种制动方式反向控制三相电流的大小，从而在快速实现能量泄放使得伺服驱动系统停机的同时，确保了系统的安全。
在一个实施例中，在伺服驱动系统的制动控制程序被处理器执行的情况下，实现上述实施例的步骤S11和步骤S13；和/或实现上述实施例的步骤S131、步骤S132和步骤S133；和/或实现上述实施例的步骤S134和步骤S135；和/或实现上述实施例的步骤S136和步骤S137。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个 方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本申请的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
此外，本申请实施例中所使用的“第一”、“第二”等术语，仅用于描述目的，而不可以理解为指示或者暗示相对重要性，或者隐含指明本实施例中所指示的技术特征数量。由此，本申请实施例中限定有“第一”、“第二”等术语的特征，可以明确或者隐含地表示该实施例中包括至少一个该特征。在本申请的描述中，词语“多个”的含义是至少两个或者两个及以上，例如两个、三个、四个等，除非实施例中另有明确具体的限定。
在本申请中，除非实施例中另有明确的相关规定或者限定，否则实施例中出现的术语“安装”、“相连”、“连接”和“固定”等应做广义理解，例如，连接可以是固定连接，也可以是可拆卸连接，或成一体，可以理解的，也可以是机械连接、电连接等；当然，还可以是直接相连，或者通过中间媒介进行间接连接，或者可以是两个元件内部的连通，或者两个元件的相互作用关系。对于本领域的普通技术人员而言，能够根据具体的实施情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
尽管上面已经示出和描述了本申请的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本申请的限制，本领域的普通技术人员在本申请的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (15)

  1. 一种伺服驱动系统的制动控制方法，其特征在于，包括：
    在所述伺服驱动系统中的伺服电机需要制动时，确定所述伺服电机的三相电流；
    根据所述三相电流确定所述伺服电机的制动方式，并在对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服驱动器的输出。
  2. 根据权利要求1所述的方法，其特征在于，根据所述三相电流确定所述伺服电机的制动方式，包括：
    确定所述三相电流的最大值；
    在所述最大值大于等于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第二制动方式；
    在所述最大值小于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第一制动方式。
  3. 根据权利要求1所述的方法，其特征在于，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，包括：
    确定所述三相电流的最大值；
    在所述伺服电机以所述第一制动方式进行制动时，如果所述最大值大于等于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第二制动方式，直至所述最大值小于等于第二预设电流阈值时，控制所述伺服电机的制动方式切换为所述第一制动方式，其中，所述第二预设电流阈值小于所述第一预设电流阈值。
  4. 根据权利要求1所述的方法，其特征在于，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，包括：
    确定所述三相电流的最大值；
    在所述伺服电机以所述第二制动方式进行制动时，如果所述最大值小于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第一制动方式，直至所述最大值大于等于第三预设电流阈值时，控制所述伺服电机的制动方式切换为所述第二制动方式，其中，所述第一预设电流阈值小于所述第三预设电流阈值。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，控制所述伺服驱动器输出零电压，包括：
    控制所述伺服驱动器中的三相上桥和三相下桥交替开通和关闭。
  6. 根据权利要求5所述的方法，其特征在于，控制所述伺服驱动器中的三相上桥和 三相下桥交替开通和关闭，包括：
    控制所述三相上桥开通和所述三相下桥关闭、且持续第一预设时间，并控制所述三相上桥关闭和所述三相下桥开通、且持续第一预设时间，如此交替进行。
  7. 一种计算机可读存储介质，其特征在于，其上存储有伺服驱动系统的制动控制程序，该伺服驱动系统的制动控制程序被处理器执行时实现根据权利要求1-6中任一项所述的伺服驱动系统的制动控制方法。
  8. 一种伺服驱动器，其特征在于，包括存储器、处理器及存储在存储器上并可在处理器上运行的伺服驱动系统的制动控制程序，所述处理器通过运行所述伺服驱动系统的制动控制程序，以使权利要求1-6中任一项所述的伺服驱动系统的制动控制方法被执行。
  9. 一种伺服驱动系统的制动控制装置，其特征在于，包括：
    确定模块，用于在所述伺服驱动系统中的伺服电机需要制动时，确定所述伺服电机的三相电流；
    控制模块，用于根据所述三相电流确定所述伺服电机的制动方式，并在对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服驱动器的输出。
  10. 一种伺服驱动系统，其特征在于，包括：
    伺服电机；
    伺服驱动器，用于驱动所述伺服电机；
    电流检测单元，用于检测所述伺服电机的三相电流；
    控制器，用于在所述伺服电机需要制动时，根据所述三相电流确定所述伺服电机的制动方式，并在控制所述伺服驱动器对所述伺服电机进行制动的过程中，根据所述三相电流控制所述伺服电机在第一制动方式和第二制动方式之间进行切换，其中，所述第一制动方式用于控制伺服驱动器输出零电压，所述第二制动方式用于关闭所述伺服驱动器的输出。
  11. 根据权利要求10所述的伺服驱动系统，其特征在于，所述控制器还用于，
    确定所述三相电流的最大值；
    在所述最大值大于等于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第二制动方式；
    在所述最大值小于第一预设电流阈值时，确定所述伺服电机的制动方式为所述第一制动方式。
  12. 根据权利要求10所述的伺服驱动系统，其特征在于，所述控制器还用于，
    确定所述三相电流的最大值；
    在所述伺服电机以所述第一制动方式进行制动时，如果所述最大值大于等于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第二制动方式，直至所述最大值小于等于第二预设电流阈值时，控制所述伺服电机的制动方式切换为所述第一制动方式，其中，所述第二预设电流阈值小于所述第一预设电流阈值。
  13. 根据权利要求10所述的伺服驱动系统，其特征在于，所述控制器还用于，
    确定所述三相电流的最大值；
    在所述伺服电机以所述第二制动方式进行制动时，如果所述最大值小于第一预设电流阈值，则控制所述伺服电机的制动方式切换为所述第一制动方式，直至所述最大值大于等于第三预设电流阈值时，控制所述伺服电机的制动方式切换为所述第二制动方式，其中，所述第一预设电流阈值小于所述第三预设电流阈值。
  14. 根据权利要求10-13中任一项所述的伺服驱动系统，其特征在于，所述控制器还用于，
    控制所述伺服驱动器中的三相上桥和三相下桥交替开通和关闭，以使所述伺服驱动器输出零电压。
  15. 根据权利要求14所述的伺服驱动系统，其特征在于，所述控制器还用于，
    控制所述三相上桥开通和所述三相下桥关闭、且持续第一预设时间，并控制所述三相上桥关闭和所述三相下桥开通、且持续第一预设时间，如此交替进行。
PCT/CN2022/085423 2021-11-18 2022-04-06 伺服驱动系统及其制动控制方法、装置、伺服驱动器 WO2023087604A1 (zh)

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