CN104467553A - Large equipment motor emergency brake protection device and method - Google Patents
Large equipment motor emergency brake protection device and method Download PDFInfo
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- CN104467553A CN104467553A CN201410711917.2A CN201410711917A CN104467553A CN 104467553 A CN104467553 A CN 104467553A CN 201410711917 A CN201410711917 A CN 201410711917A CN 104467553 A CN104467553 A CN 104467553A
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Abstract
The invention discloses a large equipment motor emergency brake protection device and method. A rotation speed sensor module is used for sampling the rotation speed of a motor to obtain current signals, the current signals are input to a signal conditioning module and converted to voltage signals, then an amplifying circuit and a biasing circuit are used for converting the signals to 0-5 V voltage signals which are input to an AD converter, meanwhile, zero-cross detection is carried out on the current signals, and zero-cross detection results are sent to a PIC single chip microcomputer control module; the AD converter carries out analog-digital conversion to the received voltage signals, and the received voltage signals are converted to digital voltage signals which are sent to the PIC single chip microcomputer control module; the PIC single chip microcomputer control module processes the received zero-cross detection results and the digital voltage signals, and judges whether voltage difference values of adjacent sampling points are larger than a critical value M, and if yes, a single chip microcomputer enables a speed regulating module to regulate speed according to a standard decline curve. The large equipment motor emergency brake protection device and method have the advantages that current in the emergency brake process of the motor is regulated, and the motor is prevented from being damaged by sudden increasing of the current.
Description
Technical field
The invention belongs to single chip communication and control technology field, relate to a kind of main equipment motor emergency brake protective device and method thereof.
Background technology
Generally, factory etc. special can pay attention to emergency brake and the anxious control stopped in order to safety of workers, but seldom consider emergency brake or suddenly stop in process, the great impact electric current of generation, on the impact of motor and equipment, especially for the motor emergency brake protection on main equipment.
To in motor revolution control procedure in Project, by creating larger impulse current at a high speed in the process of low-range reduction, not only larger infringement is caused to motor, easy motor damage, and sharply increase due to impulse current, make inner givenly sharply to decline, have impact on outside givenly also will sharply to decline.The current signal of the present invention by utilizing velocity transducer to be transformed into; contrast with given electric current decline curve parameter; thus judge whether to need to carry out emergency brake protection; phase place is opened by PIC single chip microcomputer programming Control bidirectional thyristor; and then control the speed of motor; when non-emergent brake, slowly decline.
This Apparatus and method for can also, to other as vehicle etc., have the machine of requirement to control to carrying out speed fall time after suitably improving.
Summary of the invention
The object of the present invention is to provide a kind of main equipment motor emergency brake protective device and method thereof, solve current motor impulse current in emergency brake process and sharply increase the problem easily causing motor damage.
The technical solution adopted in the present invention comprises speed probe, signal conditioning circuit, AD converter, and PIC single chip microcomputer controls, speed adjusting module and motor;
Speed probe module carries out rotating speed sampling to motor, and sampling records current signal, inputs in Signal-regulated kinase;
The voltage signal that the current signal of input converts 0-5V to is inputed to AD converter by Signal-regulated kinase, meanwhile, carries out zero passage detection and zero passage detection result is sent to PIC single chip microcomputer control module to current signal;
The voltage signal received is carried out analog-to-digital conversion by AD converter, is converted to voltage digital signal and sends to PIC single chip microcomputer control module;
PIC single chip microcomputer control module processes the zero passage detection result received and voltage digital signal data, judge whether neighbouring sample point voltage difference is greater than critical value M, when exceeding critical value, then single-chip microcomputer performs speed governing by speed adjusting module according to standard decline curve, control motor speed declines, and then control motor makes speed slowly decline in emergency brake process.
Further, judge that the method whether neighbouring sample point voltage difference is greater than critical value M is:
Setting V is current AD sample value, and V1 is last AD sampled value, and V and V1 is two adjacent AD sampled values, and critical value M is 97, as V1 – V>97, meets forward and declines, need buffered, otherwise do not need; Or as V1 – V<-97, meet negative sense and decline, need buffered, otherwise do not need.
Further, perform speed governing according to standard decline curve, refer to that the sampling point value assignment after being quantized by standard decline curve is to V, the sampling point value after standard decline curve wherein quantizes is:
2045,2029,2013,1997,1981,1965,1949,1933,1917,1901,1885,1869,1853,1837,1821,1805,1789,1773,1757,1741,1725,1709,1693,1677,1661,1645,1629,1613,1597,1581,1565,1549,1533,1517,1501,1485,1469,1453,1437,1421,1405,1389,1373,1357,1341,1325,1309,1293,1277,1261,1245,1229,1213,1197,1181,1165,1149,1133,1117,1101,1085,1069,1053,1037,1021,1005,989,973,957,941,925,909,893,877,861,845,829,813,797,781,765,749,733,717,701,685,669,653,637,621,605,589,573,557,541,525,509,493,477,461,445,429,413,397,381,365,349,333,317,301,285,269,253,237,221,205,189,173,157,141,125,109,93,77,61,45,29,13,5。
The invention has the beneficial effects as follows electric current during adjustment motor emergency brake, prevent electric current from increasing suddenly and cause motor damage.
Accompanying drawing explanation
Fig. 1 is the hardware control module figure of main equipment motor emergency brake protective device of the present invention;
Fig. 2 is the anti-emergency brake control flow chart of the present invention;
Fig. 3 is speed-regulating control circuit figure of the present invention;
Fig. 4 is the slope schematic diagram of the critical curve that forward declines;
Fig. 5 is the slope schematic diagram of the critical curve that negative sense declines;
Calibration curve when Fig. 6 is forward decline and critical curve schematic diagram;
Calibration curve when Fig. 7 is negative sense decline and critical curve schematic diagram;
Fig. 8 is t
k+1the sampled value schematic diagram in moment;
Fig. 9 is t
kthe sampled value schematic diagram in moment;
Figure 10 is input voltage and digital quantity schematic diagram;
Figure 11 is that calibration curve is quantified as 128 some schematic diagrames;
Figure 12 is that V1 and V is greater than zero for forward decline schematic diagram simultaneously;
Figure 13 is that V1 and V is less than zero for negative sense decline schematic diagram;
Figure 14 is V1>97, V=0, is forward decline schematic diagram;
Figure 15 is V1<-97, V=0, is negative sense decline schematic diagram;
Forward decline schematic diagram when Figure 16 is V1>97, V<0, V1 – V>97;
Figure 17 is V1<-97, V>0, V1 – V<-97, is negative sense decline schematic diagram;
Figure 18 is decline curve schematic diagram rapidly;
Figure 19 is before time delay and curve example 1 after time delay;
Figure 20 is before time delay and curve example 2 after time delay;
Figure 21 is before time delay and curve example 3 after time delay.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The invention discloses a kind of by the emergency brake guard method of motor on main equipment and device, main equipment and motor etc. are played to the effect of rush of current protection.In order to avoid on main equipment motor when non-emergent or urgent emergency brake by be reduced at a high speed require speed time, because of the very large emergency brake electric current of too fast generation of slowing down, and then the associated inner equipment such as protection motor is by the shock effect of this emergency brake electric current.
As shown in Figure 1, the present invention includes speed probe 1, signal conditioning circuit 2, AD converter 3, PIC single chip microcomputer controls 4, speed adjusting module 5 and motor 6;
Speed probe module 1 pair of motor 6 carries out rotating speed sampling, and sampling records current signal, inputs in Signal-regulated kinase 2;
Signal-regulated kinase 2 converts the current signal of input to voltage signal through precision resistance, and then input to AD converter 3 by the voltage signal that amplifying circuit and biasing circuit convert the signal into 0-5V, meanwhile, zero passage detection is carried out to current signal and zero passage detection result is sent to PIC single chip microcomputer control module 4;
The voltage signal received is carried out analog-to-digital conversion by AD converter 3, is converted to voltage digital signal and sends to PIC single chip microcomputer control module 4;
PIC single chip microcomputer control module 4 processes the zero passage detection result received and voltage digital signal data, judge whether neighbouring sample point voltage difference is greater than critical value M (M can adjust according to different required value), when exceeding critical value, then single-chip microcomputer performs speed governing by speed adjusting module 5 according to standard decline curve, control motor speed declines, and then control motor makes speed slowly decline in emergency brake process.
Concrete grammar is as shown in Figure 2:
A () carries out different time spacing current sensor sample current of electric, be V by present sample electric current respectively, last sample rate current is V1;
B () judges whether to need emergency brake to protect: judge whether V1-V is greater than critical value M (M can adjust according to different required value, and M is the difference on critical curve between two sampled points), if so, then performs step (c); If not, then step (d) is performed;
C () carries out emergency brake conservation treatment: value V assignment being become point corresponding on standard decline curve, by V assignment to V1;
D () is finished.
If Fig. 3 is speed adjusting module circuit, comprise step-down, rectification circuit, filter circuit, resistance-capacitance absorption network, bidirectional thyristor drive circuit.Wherein step-down, rectification, filter circuit comprise diode D1, resistance R5, oriented electric capacity C3, diode Z1, resistance R3, electric capacity C2 form; R1, C1 form RC resistance-capacitance absorption network, solve bidirectional thyristor conducting and the interference of cut-off to electrical network, make it meet EMI testing standard, prevent bidirectional thyristor both end voltage from suddenling change simultaneously, cause and mislead without gate signal.Photoelectronic coupler accepts main control chip instruction, controls bidirectional thyristor conducting and cut-off, plays the effect that PIC single chip microcomputer and forceful electric power are isolated simultaneously.L1 is choking-winding, prevents current break in thyristor loop, protection thyristor, because it is energy-storage travelling wave tube, to turn off and in turn on process at thyristor, and comparatively greatly, R2's peak voltage is easily hit damage, therefore forbids L1 to be placed on thyristor front end.
The present invention sets critical curve: voltage steadily drops to 0V from 2.5V or is critical curve from the curve that-2.5V steadily rises to 0V within the 0.5s time period, and this critical curve is that the present invention sets on the basis of a large amount of test.As shown in Figure 4, the slope k of the critical curve of forward decline
0=-5, the slope k of decline curve meets, and during k≤-5, is defined as forward and declines.Enter forward decline to need to carry out buffered.As shown in Figure 5, the slope k of the critical curve of negative sense decline
0=5, when slope of curve k meets, during k>=5, be defined as negative sense and decline, entering negative sense decline needs to carry out buffered.The object of the invention curve, be exactly after emergency brake curve processing conceivable standard decline curve be defined as, voltage in the 3s time period, curve when steadily dropping to 0V from 2.5V or drop to 0V from-2.5V.Can know from Fig. 6 and Fig. 7, when forward declines, the slope of calibration curve is k=-2.5/3, is k=2.5/3 when negative sense declines.
Sampled value variable-definition of the present invention is:
V: current AD sample value, if Fig. 8 is t
k+1the sampled value in moment;
V1: last AD sampled value, if Fig. 9 is t
kthe sampled value in moment;
V and V1 is two adjacent AD sampled values.
The present invention is to the quantification treatment of critical curve, and as shown in Figure 9, in 0.5s, AD samples 20.5 points, can quantize the slope of critical curve thus.In actual treatment, sampling 21 points in critical curve, then adjacent two AD are worth difference to be that (AD is sampled as 12 precision to V1 – V=2048/21, and analog voltage input range is 0-5V, analog quantity and digital quantity are linear relationship, so the digital quantity equal and opposite in direction between two sampled points.As Figure 10, when input voltage VoltInput is 5V, single-chip microcomputer gained digital quantity is 2
12-1=4095, when input voltage VoltInput is 2.5V, single-chip microcomputer gained digital quantity is 2047).Rounding numerical digit is 97.Thus can by the difference of V1 and V, whether curve meets forward declines, and as V1 – V>97, meets forward and declines, need buffered.Otherwise, do not need.
The quantification that negative sense declines is the same with the quantification that forward declines, and as V1 – V<-97, meets negative sense and declines, need buffered; Otherwise, do not need.
As shown in figure 11, according to the definition of calibration curve, in the 3s time period, AD samples 123 points, calibration curve is quantified as 128 points at this by us, so the adjacent point-to-point transmission of calibration curve is every △=2048/128=16, calibration curve point is left in array standard, (this is the sampled point after standard decline curve of setting of the present invention quantizes, when system judges to need to do emergency brake process, sampling point value assignment after being quantized by present sample standard decline curve to V, thus carries out PWM speed governing, increases specified rate)
standard[]＝{2045,2029,2013,1997,1981,1965,1949,1933,1917,1901,1885,1869,1853,1837,1821,1805,1789,1773,1757,1741,1725,1709,1693,1677,1661,1645,1629,1613,1597,1581,1565,1549,1533,1517,1501,1485,1469,1453,1437,1421,1405,1389,1373,1357,1341,1325,1309,1293,1277,1261,1245,1229,1213,1197,1181,1165,1149,1133,1117,1101,1085,1069,1053,1037,1021,1005,989,973,957,941,925,909,893,877,861,845,829,813,797,781,765,749,733,717,701,685,669,653,637,621,605,589,573,557,541,525,509,493,477,461,445,429,413,397,381,365,349,333,317,301,285,269,253,237,221,205,189,173,157,141,125,109,93,77,61,45,29,13,5}；
In summary, we can by judging that the difference of V1 and V determines whether to need to carry out emergency brake process.Making Vmul=V1*V, needing when entering following several situation to carry out emergency brake process.
1, as Vmul>0,
Figure 12 is known, and V1 and V is greater than zero simultaneously, and V1 – V>97, for forward declines;
Figure 13 is known, and V1 and V is less than zero, and V1 – V<-97, for negative sense declines.
2, as Vmul=0,
Figure 14 is known, V1>97, V=0, for forward declines;
Figure 15 is known.V1<-97, V=0, for negative sense declines.
3, as Vmul<0,
Figure 16 is known, V1>97, V<0, V1 – V>97, for forward declines;
Figure 17 is known, V1<-97, V>0, V1 – V<-97, for negative sense declines.
In embodiment when system be in turn state from given sharply decline time, system will carry out buffered to given, to prevent outside givenly sharply to decline.The set-point sharply declined to be processed, first will understand sharply fall time and decline curve.In an experiment, we are to the given sampling in outside, and sample frequency is 162Hz, when set-point by the highest drop to minimum time (2.5V ~ 0), be approximately 0.5 second fall time.When given decline rapidly time, drop to 0.5V from 2.5V and be approximately 0.2s fall time, at about 0.3s 0.5V ~ 0V fall time.So can set critical condition for: the curve of the given institute used time 0.5s from 2.5V uniform descent to 0V is critical curve, and Figure 18 oblique line is critical curve.When given decline curve slope is equal to or greater than critical curve, carry out buffered.System AD sample frequency is 41HZ, can calculate 21 points of can sampling on critical curve, can calculate spacing △=2047/21 ≈ 97 of adjacent 2 thus.Setting V is AD current sample values, and V1 is the front sampled value of AD.When V1 – V>95 in practical programs and V, V1 are all greater than zero, delay process will be carried out, as three example curve of Figure 19-21.Can find out in practical application and well achieve the process of motor emergency brake; originally the curve negotiating adjustment declining very steep and anti-emergency brake are controlled; reach a good effect; obtained by abrupt change and decline gently; original 0.5s fall time is increased to 2.5s, protects motor and the stable of other programs of project carries out.
The above is only to better embodiment of the present invention, not any pro forma restriction is done to the present invention, every any simple modification done above execution mode according to technical spirit of the present invention, equivalent variations and modification, all belong in the scope of technical solution of the present invention.
Claims (3)
1. a main equipment motor emergency brake protective device, it is characterized in that: comprise speed probe (1), signal conditioning circuit (2), AD converter (3), PIC single chip microcomputer controls (4), speed adjusting module (5) and motor (6);
Speed probe module (1) carries out rotating speed sampling to motor (6), and sampling records current signal, inputs in Signal-regulated kinase (2);
The voltage signal that the current signal of input is converted to 0-5V by Signal-regulated kinase (2) inputs to AD converter (3), meanwhile, zero passage detection is carried out to current signal and zero passage detection result is sent to PIC single chip microcomputer control module (4);
The voltage signal received is carried out analog-to-digital conversion by AD converter (3), is converted to voltage digital signal and sends to PIC single chip microcomputer control module (4);
PIC single chip microcomputer control module (4) processes the zero passage detection result received and voltage digital signal data, judge whether neighbouring sample point voltage difference is greater than critical value M, when exceeding critical value, then single-chip microcomputer performs speed governing by speed adjusting module (5) according to standard decline curve, control motor speed declines, and then control motor makes speed slowly decline in emergency brake process.
2. according to main equipment motor emergency brake protective device a kind of described in claim 1, it is characterized in that: judge that the method whether neighbouring sample point voltage difference is greater than critical value M is:
Setting V is current AD sample value, and V1 is last AD sampled value, and V and V1 is two adjacent AD sampled values, and critical value M is 97, as V1 – V>97, meets forward and declines, need buffered, otherwise do not need; Or as V1 – V<-97, meet negative sense and decline, need buffered, otherwise do not need.
3. according to main equipment motor emergency brake protective device a kind of described in claim 1; it is characterized in that: perform speed governing according to standard decline curve; refer to that the sampling point value assignment after being quantized by standard decline curve is to V, the sampling point value after standard decline curve wherein quantizes is:
2045,2029,2013,1997,1981,1965,1949,1933,1917,1901,1885,1869,1853,1837,1821,1805,1789,1773,1757,1741,1725,1709,1693,1677,1661,1645,1629,1613,1597,1581,1565,1549,1533,1517,1501,1485,1469,1453,1437,1421,1405,1389,1373,1357,1341,1325,1309,1293,1277,1261,1245,1229,1213,1197,1181,1165,1149,1133,1117,1101,1085,1069,1053,1037,1021,1005,989,973,957,941,925,909,893,877,861,845,829,813,797,781,765,749,733,717,701,685,669,653,637,621,605,589,573,557,541,525,509,493,477,461,445,429,413,397,381,365,349,333,317,301,285,269,253,237,221,205,189,173,157,141,125,109,93,77,61,45,29,13,5。
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| CN201410711917.2A CN104467553A (en) | 2014-11-28 | 2014-11-28 | Large equipment motor emergency brake protection device and method |
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|---|---|---|---|---|
| CN2857332Y (en) * | 2005-12-09 | 2007-01-10 | 万安集团有限公司 | Smart control circuit of electrical eddy current speed reducer |
| CN101499770A (en) * | 2009-01-14 | 2009-08-05 | 南昌航空大学 | Passive compensating and energy saving apparatus for digital large power winding asynchronous motor |
| CN202168026U (en) * | 2010-09-17 | 2012-03-14 | 东营爱特机电技术有限责任公司 | Speed regulating device of high-power direct current motor rectified by multi-pulse |
| JP2013005469A (en) * | 2011-06-10 | 2013-01-07 | Hitachi Constr Mach Co Ltd | Construction machine |
| CN103248294A (en) * | 2013-04-28 | 2013-08-14 | 天津大学 | Position sensor-free double closed-loop speed regulation control method for brushless DC motor |
| CN203399045U (en) * | 2013-05-28 | 2014-01-15 | 扬州大学 | Chopper-control speed regulation and energy conservation device for asynchronous motor |
-
2014
- 2014-11-28 CN CN201410711917.2A patent/CN104467553A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2857332Y (en) * | 2005-12-09 | 2007-01-10 | 万安集团有限公司 | Smart control circuit of electrical eddy current speed reducer |
| CN101499770A (en) * | 2009-01-14 | 2009-08-05 | 南昌航空大学 | Passive compensating and energy saving apparatus for digital large power winding asynchronous motor |
| CN202168026U (en) * | 2010-09-17 | 2012-03-14 | 东营爱特机电技术有限责任公司 | Speed regulating device of high-power direct current motor rectified by multi-pulse |
| JP2013005469A (en) * | 2011-06-10 | 2013-01-07 | Hitachi Constr Mach Co Ltd | Construction machine |
| CN103248294A (en) * | 2013-04-28 | 2013-08-14 | 天津大学 | Position sensor-free double closed-loop speed regulation control method for brushless DC motor |
| CN203399045U (en) * | 2013-05-28 | 2014-01-15 | 扬州大学 | Chopper-control speed regulation and energy conservation device for asynchronous motor |
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Application publication date: 20150325 |