CN103078583A - Separately excited motor control flow - Google Patents
Separately excited motor control flow Download PDFInfo
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- CN103078583A CN103078583A CN2012105873842A CN201210587384A CN103078583A CN 103078583 A CN103078583 A CN 103078583A CN 2012105873842 A CN2012105873842 A CN 2012105873842A CN 201210587384 A CN201210587384 A CN 201210587384A CN 103078583 A CN103078583 A CN 103078583A
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Abstract
The invention discloses a separately excited motor control flow, which comprises three steps of: acquiring parameters; executing; and switching into other control flows, wherein eight state parameters, i.e., key closing, contactor closing, interlocking closing, direction closing, an emergency control flag bit, accelerator, motor rotation direction and motor rotation speed are acquired in real time by a controller according to frequency of an internal clock and each parameter value is judged; and seven working modes, i.e., an emergency braking mode, a reversing mode, an acceleration mode, a deceleration mode, a direction brake mode, an interlocking brake mode and control flow jump-out are realized. The invention aims to overcome the disadvantages in the prior art and provides the separately excited motor control flow which can realize effective driving control, rich parameters and rich working modes and can be suitable for various working requirements of a separately excited motor.
Description
Technical field
The present invention relates to Motor Control Field, more particularly, relates to a kind of control flow that is applicable to separately excited machine.
Background technology
Traditional separately excited machine is few for the parameter acquisition in the control flow of motor, achieved mode of operation is also very simple, in the ruuning situation of reality, too simple mode of operation classification can not be tackled and situation might occur, the mode of operation that system can carry out is few, also be doomed the insufficiency of function of traditional separately excited machine, and because the jump that arranges between inadequate refinement and mode of operation of conditional parameter is excessive, the switching of each mode of operation has some setbacks, therefore, the control flow of traditional separately excited machine need to improve design.
Summary of the invention
Thereby the purpose of this invention is to provide a kind of separately excited machine control flow of realizing multiple-working mode by abundant parameter acquisition and judgement.
The present invention takes following technical scheme to realize:
Comprise the steps:
1) parameter acquisition
Controller is according to the frequency Real-time Collection key of internal clocking is closed, contactor is closed, interlocking is closed, direction is closed, brake hard flag bit, accelerator, motor steering, these eight state parameters of motor speed.
2) carry out
(a) key switch is closed if the state parameter that the key closure is returned indicates, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch is closed, the brake hard flag bit returns state parameter to indicate brake hard effective, then carries out the brake hard pattern;
(b) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicate direction switch be in forward gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering then carry out the commutation pattern for retreating;
(c) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicate direction switch be in retreat gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering then carry out the commutation pattern for advancing;
(d) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter that the direction closure is returned indicates direction switch and is in separately closure of forward gear, the effect of the state parameter sign motor steering that motor steering returns is for advancing, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out aero mode greater than B;
(e) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter that the direction closure is returned indicates direction switch and is in separately closure of forward gear, the effect of the state parameter sign motor steering that motor steering returns is for advancing, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out deceleration mode less than B;
(f) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter sign direction switch that the direction closure is returned is in and retreats separately closure of gear, the effect of the state parameter sign motor steering that motor steering returns is for retreating, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out aero mode greater than B;
(g) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter sign direction switch that the direction closure is returned is in and retreats separately closure of gear, the effect of the state parameter sign motor steering that motor steering returns is for retreating, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out deceleration mode less than B;
(h) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicates direction switch and is in and retreats gear and forward gear is closed or simultaneously not closed simultaneously, then carries out the direction braking mode;
(i) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is not closed that the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch, then execution interlocking braking mode;
(j) if having in the state parameter that key is closed and the contactor closure is returned sign key Closing Switch and the contactless contactor one not closed, then carry out without operator scheme.
3) change other control flows over to
After finishing execution in step, controller carries out whether other flow processs such as detection of short circuit of the overvoltage of power supply, under-voltage and circuit to system.
Carrying out the brake hard pattern is that controller control motor carries out the counter-rotating opposite with the current steering direction of motor with peak torque; Carry out the commutation pattern and be controller control motor and carry out counter-rotating with current motor steering opposite direction; Carrying out aero mode is that controller control motor carries out the accelerator identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out deceleration mode is that controller control motor carries out the moderating process identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out direction mode is that controller control motor slows down, and speed is down to 0; Carrying out the interlocking braking mode is that controller control motor slows down, and speed is down to 0; Be the controller undo without operator scheme.
Motor is separately excited machine.
The internal clocking frequency is 64 μ s or 1ms or 32ms.
The state parameter that the set of brake hard flag bit is returned for put 1 indicate brake hard effectively, set to 0 that to indicate brake hard invalid; And the state parameter that the key closure is returned for put 1 indicate key switch closed, set to 0 that to indicate key switch not closed; The state parameter that the contactor closure is returned for put 1 indicate contactless contactor closed, set to 0 that to indicate contactless contactor not closed; The closed state parameter that returns of interlocking indicates for putting 1 that interlock switch is closed, to set to 0 the sign interlock switch not closed; The state parameter that the direction closure is returned for put 1 indicate direction switch be forward gear separately closed or retreat shelves separately closed, set to 0 indicate forward gear and retreat shelves all closed or all not closed.
Key switch is system's master switch, and contactless contactor is the high-current relay switch of corresponding drive system, and interlock switch is that function is carried out switch, and direction switch is the forward-reverse position switch, and emergency stop switch is emergency brake switch.
In described d to the f step, the speed that the state parameter that returns when accelerator indicates current needs is that to indicate current actual speed be B for state parameter that A, motor speed return, and when A equals B, controller does not touch aero mode and does not touch deceleration mode yet, controller is not done motor and is accelerated operation and do not do deceleration-operation yet, and it is 0 the state of keeping that motor is in acceleration.
The present invention compared with prior art has significant advantage and beneficial effect, embodies as follows:
1. more cross state parameter by gathering, thereby and by the integration of controller and selection and the correspondence of judgement realization multiple-working mode.
2. mode of operation covers comprehensively, does not obviously jump between each mode of operation, thereby can make the switching between each mode of operation can be more smooth and easy.
Description of drawings
Fig. 1 is the control flow schematic diagram of separately excited machine of the present invention;
Embodiment
Below in conjunction with accompanying drawing the embodiment of the invention is further described; below just exemplary about the description of embodiments of the present invention; the claimed theme that is not meant to limit the present invention; other variations in the claim protection range for embodiment described in the invention also exists all belong to the theme that will protect required for the present invention.
With reference to the accompanying drawings shown in 1: control flow comprises the steps:
1) parameter acquisition
Controller is according to the frequency Real-time Collection key of internal clocking is closed, contactor is closed, interlocking is closed, direction is closed, brake hard flag bit, accelerator, motor steering, these eight state parameters of motor speed.
The state parameter that the brake hard flag bit returns for put 1 indicate brake hard effectively, set to 0 that to indicate brake hard invalid; And the state parameter that the key closure is returned for put 1 indicate key switch closed, set to 0 that to indicate key switch not closed; The state parameter that the contactor closure is returned for put 1 indicate contactless contactor closed, set to 0 that to indicate contactless contactor not closed; The closed state parameter that returns of interlocking indicates for putting 1 that interlock switch is closed, to set to 0 the sign interlock switch not closed; The state parameter that the direction closure is returned for put 1 indicate direction switch be forward gear separately closed or retreat shelves separately closed, set to 0 indicate forward gear and retreat shelves all closed or all not closed.
2) carry out
(a) key switch is closed if the state parameter that the key closure is returned indicates, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch is closed, the brake hard flag bit returns state parameter to indicate brake hard effective, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 1, carries out the brake hard pattern;
(b) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in forward gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for retreating, forward-reverse shelves state ≠ motor steering effect then, execution commutation pattern;
(c) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in retreat gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for advancing, forward-reverse shelves state ≠ motor steering effect then, execution commutation pattern;
(d) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in forward gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for advancing, forward-reverse shelves state=motor steering effect then; If this moment the state parameter that returns of accelerator indicate the speed of current needs be state parameter that A, motor speed return to indicate current actual speed be B, and A is greater than B, then accelerator speed (needing speed)〉actual speed, carry out aero mode;
(e) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in forward gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for advancing, forward-reverse shelves state=motor steering effect then; If this moment the state parameter that returns of accelerator indicate the speed of current needs be state parameter that A, motor speed return to indicate current actual speed be B, and A is less than B, then accelerator speed (needing speed)＜actual speed is carried out deceleration mode;
(f) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in retreat gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for retreating, forward-reverse shelves state=motor steering effect then; If this moment the state parameter that returns of accelerator indicate the speed of current needs be state parameter that A, motor speed return to indicate current actual speed be B, and A is greater than B, then accelerator speed (needing speed)〉actual speed, carry out aero mode;
(g) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates closure of interlock switch, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1; The state parameter that this moment, if the direction closure was returned indicate direction switch be in retreat gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering for retreating, forward-reverse shelves state=motor steering effect then; If this moment the state parameter that returns of accelerator indicate the speed of current needs be state parameter that A, motor speed return to indicate current actual speed be B, and A is less than B, then accelerator speed (needing speed)＜actual speed is carried out deceleration mode;
(h) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicates direction switch and is in and retreats gear and forward gear is closed or simultaneously not closed simultaneously, then (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor is closed) is 1, carries out the direction braking mode;
(i) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is not closed that the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch, then (key closure) ﹠amp; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor closed) is 0, (the closed) ﹠amp of key; ﹠amp; The result of (contactor is closed) is 1, carries out the interlocking braking mode;
(j) if the state parameter that key is closed and the contactor closure is returned indicate have in key Closing Switch and the contactless contactor one not closed, (key closure) ﹠amp then; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; (the closed) ﹠amp of contactor; ﹠amp; The result of (brake hard sign) is 0, (the closed) ﹠amp of key; ﹠amp; (the closed) ﹠amp of interlocking; ﹠amp; The result of (contactor closed) is 0, (the closed) ﹠amp of key; ﹠amp; The result of (contactor is closed) is 0, carries out without operator scheme.
3) change other control flows over to
After finishing execution in step, controller carries out whether other flow processs such as detection of short circuit of the overvoltage of power supply, under-voltage and circuit to system.
Carrying out the brake hard pattern is that controller control motor carries out the counter-rotating opposite with the current steering direction of motor with peak torque; Carry out the commutation pattern and be controller control motor and carry out counter-rotating with current motor steering opposite direction; Carrying out aero mode is that controller control motor carries out the accelerator identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out deceleration mode is that controller control motor carries out the moderating process identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out direction mode is that controller control motor slows down, and speed is down to 0; Carrying out the interlocking braking mode is that controller control motor slows down, and speed is down to 0; Be the controller undo without operator scheme.
Motor is separately excited machine.
The internal clocking frequency is 64 μ s or 1ms or 32ms.
Key switch is system's master switch, and contactless contactor is the high-current relay switch of corresponding drive system, and interlock switch is that function is carried out switch, and direction switch is the forward-reverse position switch, and emergency stop switch is emergency brake switch.
In described d to the f step, the speed that the state parameter that returns when accelerator indicates current needs is that to indicate current actual speed be B for state parameter that A, motor speed return, and when A equals B, controller does not touch aero mode and does not touch deceleration mode yet, controller is not done motor and is accelerated operation and do not do deceleration-operation yet, and it is 0 the state of keeping that motor is in acceleration.
For being example embodiment of the present invention; should be understood to is wherein a certain demonstrative example in the protection range of claims of the present invention; have the directiveness effect that those skilled in the art is realized corresponding technical scheme, but not limitation of the invention.
Claims (7)
1. a separately excited machine control flow is characterized in that comprising the steps:
1) parameter acquisition
Controller is according to the frequency Real-time Collection key of internal clocking is closed, contactor is closed, interlocking is closed, direction is closed, brake hard flag bit, accelerator, motor steering, these eight state parameters of motor speed.
2) carry out
(a) key switch is closed if the state parameter that the key closure is returned indicates, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch is closed, the brake hard flag bit returns state parameter to indicate brake hard effective, then carries out the brake hard pattern;
(b) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicate direction switch be in forward gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering then carry out the commutation pattern for retreating;
(c) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicate direction switch be in retreat gear separately the effect of the state parameter sign motor steering that returns of closed, motor steering then carry out the commutation pattern for advancing;
(d) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter that the direction closure is returned indicates direction switch and is in separately closure of forward gear, the effect of the state parameter sign motor steering that motor steering returns is for advancing, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out aero mode greater than B;
(e) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter that the direction closure is returned indicates direction switch and is in separately closure of forward gear, the effect of the state parameter sign motor steering that motor steering returns is for advancing, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out deceleration mode less than B;
(f) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter sign direction switch that the direction closure is returned is in and retreats separately closure of gear, the effect of the state parameter sign motor steering that motor steering returns is for retreating, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out aero mode greater than B;
(g) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is closed that the state parameter that the key closure is returned indicates key switch, it is closed that the state parameter that the contactor closure is returned indicates contactless contactor, it is closed that the closed state parameter that returns of interlocking indicates interlock switch, the state parameter sign direction switch that the direction closure is returned is in and retreats separately closure of gear, the effect of the state parameter sign motor steering that motor steering returns is for retreating, the speed that the state parameter that accelerator returns indicates current needs is A, it is B that the state parameter that motor speed returns indicates current actual speed, and A then carries out deceleration mode less than B;
(h) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter that returns of contactor indicates that contactless contactor is closed, the closed state parameter that returns of interlocking indicates that interlock switch is closed, the closed state parameter that returns of direction indicates direction switch and is in and retreats gear and forward gear is closed or simultaneously not closed simultaneously, then carries out the direction braking mode;
(i) invalid if the state parameter that the brake hard flag bit returns indicates brake hard, and it is not closed that the state parameter that the key closure is returned indicates, and key switch is closed, the closed state parameter sign contactless contactor that returns of contactor is closed, the closed state parameter that returns of interlocking indicates interlock switch, then execution interlocking braking mode;
(j) if having in the state parameter that key is closed and the contactor closure is returned sign key Closing Switch and the contactless contactor one not closed, then carry out without operator scheme.
3) change other flow processs over to
After finishing execution in step, controller carries out whether other flow processs such as detection of short circuit of the overvoltage of power supply, under-voltage and circuit to system.
2. separately excited machine control flow according to claim 1 is characterized in that: described execution brake hard pattern is that controller control motor carries out the counter-rotating opposite with the current steering direction of motor with peak torque; Carry out the commutation pattern and be controller control motor and carry out counter-rotating with current motor steering opposite direction; Carrying out aero mode is that controller control motor carries out the accelerator identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out deceleration mode is that controller control motor carries out the moderating process identical with current motor steering direction and makes the speed that actual speed reaches to be needed; Carrying out direction mode is that controller control motor slows down, and speed is down to 0; Carrying out the interlocking braking mode is that controller control motor slows down, and speed is down to 0; Be the controller undo without operator scheme.
3. separately excited machine control flow according to claim 1, it is characterized in that: described motor is separately excited machine.
4. separately excited machine control flow according to claim 1, it is characterized in that: described internal clocking frequency is 64 μ s or 1ms or 32ms.
5. separately excited machine control flow according to claim 1 is characterized in that: the state parameter that described brake hard flag bit returns for put 1 indicate brake hard effectively, set to 0 that to indicate brake hard invalid; And the state parameter that the key closure is returned for put 1 indicate key switch closed, set to 0 that to indicate key switch not closed; The state parameter that the contactor closure is returned for put 1 indicate contactless contactor closed, set to 0 that to indicate contactless contactor not closed; The closed state parameter that returns of interlocking indicates for putting 1 that interlock switch is closed, to set to 0 the sign interlock switch not closed; The state parameter that the direction closure is returned for put 1 indicate direction switch be forward gear separately closed or retreat gear separately closed, set to 0 indicate forward gear and retreat shelves all closed or all not closed.
6. separately excited machine control flow according to claim 1, it is characterized in that: described key switch is system's master switch, contactless contactor is the high-current relay switch of corresponding drive system, interlock switch is that function is carried out switch, direction switch is the forward-reverse position switch, and emergency stop switch is emergency brake switch.
7. separately excited machine control flow according to claim 1: in described d to the f step, the speed that the state parameter that returns when accelerator indicates current needs is that to indicate current actual speed be B for state parameter that A, motor speed return, and when A equals B, controller does not touch aero mode and does not touch deceleration mode yet, controller is not done motor and is accelerated operation and do not do deceleration-operation yet, and it is 0 the state of keeping that motor is in acceleration.
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