CN104485639B - motor power drive protection circuit - Google Patents
motor power drive protection circuit Download PDFInfo
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- CN104485639B CN104485639B CN201510000911.9A CN201510000911A CN104485639B CN 104485639 B CN104485639 B CN 104485639B CN 201510000911 A CN201510000911 A CN 201510000911A CN 104485639 B CN104485639 B CN 104485639B
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Abstract
The invention relates to a motor power drive protection circuit. A logic control unit is arranged between a servo controller and a driving power amplifier and is used for outputting a channel power amplification enable signal according to the operation state of a motor and the operation state of software in the servo controller, when the motor operates in a limit area of motor drive software, the logic control unit outputs an invalid signal, and the driving power amplifier is enabled to work normally; when the motor operates out of the limit area of the motor drive software, the logic control unit outputs a valid signal, the driving power amplifier is switched off, and the motor stops operating; when a PMW signal of the output end of the output end of the servo controller is in a high level or low level, the logic control unit outputs a valid signal, the driving power amplifier is switched off, and the motor stops operating. According to the motor power drive protection circuit, the operation safety of a control system can be improved remarkably, commissioning simulation and the download burning cost of the control system are effectively reduced, the commissioning efficiency is improved, and the system reliability is enhanced.
Description
Technical field
The present invention relates to a kind of power of motor Drive Protecting Circuit, belongs to Motor drive resist technology field.
Background technology
In some control system motor drive schemes designs, for there is big inertia resistance square, and external disturbance
Torque, such as photoelectronic reconnaissance platform control object rotary inertia when multisensor is loaded altogether is larger, and in carrier aircraft in-flight
The practical applications such as larger moment of wind resistance are run into, motor drive schemes design must select the motor compared with high nominal powers, and
Thus the problem for bringing system start-up electric current and current at peak torque larger, or even more than ten peaces can be reached, and in system operation
During started in suddenly unavoidably according to host computer input state command motor, stop or plugging kinestate, by
This causes big rush of current, very unfavorable to control loop, easily causes burning for power amplifier, motor rotation blockage to damage, and is
The reliability of system is reduced.
At present, the at home and abroad commonly used power with prohibiting function in existing Motor drive power amplifier technology field
Amplifier, it is general many using the amplification of current of electric sample differential, coordinate hardware comparison circuit to obtain logic control signal and give work(
Rate amplifier forbids end, realizes the block switching of power amplifier A, B bridge PWM output signal.
However, the application attestation for passing through engineering practice, there is risk in above-mentioned technology.First system peak locked rotor current occurs
Or the abnormal high current produced in the case of reversing braking is close to the peak point current of selected power amplifier module, hitting easily occurs in transistor
Wear；Secondly, the switching frequency of hardware logic voltage comparator circuit is too high during power amplifier protection shut-off, in systems stay excessively stream
Constantly there is opening shut-off, switching frequency be up to power amplifier inside audion, Darlington transistor, power tube recommended frequency four again with
On, switching loss is raised, and local temperature rise is excessive, easily causes audion and Darlington transistor to burn；In addition, in servo-control system
During debugging, when dsp processor program wipes the download of programming again, typically it is required to disconnect power amplifier working power in advance, it is otherwise, soft
The power amplifier pwm pulse input signal of DSP outputs can not know out of control during part programming, power normal situation in power amplifier
Under, there is the excessive risk for occurring to fly to turn in actuating motor.
The content of the invention
It is an object of the invention to provide a kind of power of motor Drive Protecting Circuit, to solve existing power amplifier using electricity
Power amplifier is fragile caused by electromechanics stream sample differential control institute, and cannot effectively close when servo control software is debugged
Disconnected power amplifier causes motor that the risk for flying to turn occurs.
The technical scheme is that：A kind of power of motor Drive Protecting Circuit, including servo controller, light-coupled isolation list
Unit and driving power amplifier, the pwm signal of servo controller outfan accesses driving power and amplifies by light-coupled isolation unit
The input of device, the outfan drive connection motor of power amplifier, driving power amplifier is carried forbids Enable Pin, its feature
It is that the Drive Protecting Circuit also includes logic control element, the logic control element is used for the running status according to motor
Signal is enabled with the running status output channel power amplifier of software in servo controller, with driving power amplifier Enable Pin is forbidden
Connection,
When motor operation is in motor drive software stop zone, logic control element output invalid signals make driving work(
Rate amplifier forbids Enable Pin invalid, driving power normal amplifier operation；
When motor operation exceeds motor drive software stop zone, logic control element output useful signal makes driving
Power amplifier forbids Enable Pin effectively, turns off driving power amplifier, and motor shuts down；
When the pwm signal of servo controller outfan is in high level or low level, i.e., in servo controller at software
When abnormal operational conditions, logic control element output useful signal, make driving power amplifier forbids Enable Pin effectively,
Shut-off driving power amplifier, motor shuts down.
It is described when motor operation exceed motor drive software stop zone when, after motor shuts down, Serve Motor Control
Device output channel reset signal, logic control element amplifies driving power according to the channel reset signal output invalid signals
Device forbids Enable Pin invalid, driving power normal amplifier operation.
Described logic control element includes trigger and logic circuit, and logic circuit adopts NAND Logic computing, logic
In place signal LF_LIMIT, passage signal RT_LIMIT and make in place the passage of the input of circuit and servo controller outfan
Can signal connection, for realizing that passage signal LF_LIMIT and enables signal and passage and signal RT_LIMIT and make in place in place
The NAND operation of energy signal, the outfan of the logic circuit is connected to the trailing edge input and zero setting input of trigger,
The rising edge input of the trigger is connected with the pwm signal of servo controller outfan, the outfan of the trigger with
The Enable Pin of forbidding of driving power amplifier connects.
Described logic circuit includes phase inverter and OR circuit, and input and the servo controller of the phase inverter are exported
The passage at end in place signal LF_LIMIT, passage in place signal RT_LIMIT and enable signal connection, the outfan of phase inverter with
The input connection of OR circuit, OR circuit is used to signal LF_LIMIT and enable signal and logical in place to anti-phase rear passage
In place signal RT_LIMIT and enable signal are carried out or computing in road, and two outfans of OR circuit are defeated with the trailing edge of trigger
Enter end and the connection of zero setting input.
The logic control element also includes the configuration circuit being connected with trigger, and the configuration circuit includes resistance-capacitance network electricity
Resistance, resistance-capacitance network electric capacity and adjustable resistance, the resistance-capacitance network resistance of the configuration circuit is Rext, resistance-capacitance network electric capacity is Cext,
It is T by the working cycle of the configuration circuit institute configuration flip-flopsw=0.45Rext*Cext, and TwIt is defeated more than or equal to servo controller
Go out the cycle T of the pwm signal at endPWM。
The outfan of described trigger is grounded by adjustable resistance, and the adjustable side of the adjustable resistance is channel function enable
Signal end, is connected with the Enable Pin of forbidding of driving power amplifier, controls the startup of driving power amplifier.
Described trigger is double Retargetable compiler monostable flipflop 54HCT123.
Described phase inverter adopts integrated circuit hex inverter 54HCT04.
Described OR circuit adopts integrated circuit OR gate 54HCT32.
The invention has the beneficial effects as follows:The present invention between servo controller and driving power amplifier by arranging logic
Control unit, the running status output channel power amplifier for software in the running status and servo controller according to motor enables letter
Number, it is connected with the Enable Pin of forbidding of driving power amplifier, when motor operation is in motor drive software stop zone, logic control
Unit processed exports invalid signals, and make driving power amplifier forbids Enable Pin invalid, driving power normal amplifier operation；When
When motor operation exceeds motor drive software stop zone, logic control element output useful signal makes driving power amplifier
Forbid Enable Pin effectively, turn off driving power amplifier, motor shuts down；When the pwm signal of servo controller outfan
In high level or low level when, logic control element output useful signal, making the Enable Pin of forbidding of driving power amplifier has
Effect, turns off driving power amplifier, and motor shuts down.The method can significantly improve control system power amplifier operation safety
Property, and effectively reduce control system debugging emulation and download programming cost, improve debugging efficiency, strengthening system reliability.
Description of the drawings
Fig. 1 is the circuit theory of constitution figure of logic control element in the embodiment of the present invention；
Fig. 2 is the theory diagram of power of motor Drive Protecting Circuit in the embodiment of the present invention；
Fig. 3 is motor finite angle movement locus schematic diagram.
Specific embodiment
The specific embodiment of the present invention is further described below in conjunction with the accompanying drawings.
The present invention is directed the PWM with prohibiting function can switch-off power amplifier, be can switch-off power amplifier carry
For may be programmed realize or feedback control circuit realize disable signal so that control system SERVO CONTROL program fleet,
When dsp processor program wipes the download of programming again, dsp processor is debugged in in-circuit emulation compilation process, motor software is controlled
Start and stop, motor rotation to mechanical position limitation distance braking, motor drive software stop zone are braked in place, anti-after electric machine spacing braking
In the case of direction restarting etc. is various, possesses power of motor and drive start and stop protective capability, effective protection power amplifier and hold
Row motor.
Servo controller can simultaneously control the motor of two-way and the above, enable the generation of logic control signal with 2 tunnels below
Stated to implement use-case, be respectively used to produce Ch1 motor power amplifier on off control signals, Ch2 motor power amplifiers on off control letter
Number, Ch1 and Ch2 here can refer to 2 actuating motor power amplifier through paths of independent operation in servo-control system.Servo control
Device processed includes 1 PMW pulse-width signal PWM_Ch1,1 signal LF_LIMIT in place for the signal produced by CH1 motors,
1 signal RT_LIMIT, 1 enable/reset signal EN1 in place, include that 1 PMW pulsewidth is adjusted to the signal produced by CH2 motors
Signal PWM_Ch2 processed, 1 signal UP_LIMIT in place, 1 signal DOWN_LIMIT, 1 enable/reset signal EN2 in place.
The power of motor Drive Protecting Circuit of the present invention is as shown in Fig. 2 including servo controller, light-coupled isolation unit, patrol
Control unit and driving power amplifier are collected, the pwm signal of servo controller outfan is accessed by light-coupled isolation unit and driven
The input of power amplifier, the outfan drive connection motor of power amplifier, driving power amplifier is carried to be forbidden enabling
End, the logic control element is used for the running status output channel work(according to software in the running status and servo controller of motor
Enable signal is put, is connected with the Enable Pin of forbidding of driving power amplifier,
When motor operation is in motor drive software stop zone, logic control element output invalid signals make driving work(
Rate amplifier forbids Enable Pin invalid, driving power normal amplifier operation；
When motor operation exceeds motor drive software stop zone, logic control element output useful signal makes driving
Power amplifier forbids Enable Pin effectively, turns off driving power amplifier, and motor shuts down；
When the pwm signal of servo controller outfan is in high level or low level, i.e., in servo controller at software
When abnormal operational conditions, logic control element output useful signal, make driving power amplifier forbids Enable Pin effectively,
Shut-off driving power amplifier, motor shuts down.
The logic control element includes trigger and logic circuit, and logic circuit adopts NAND Logic computing, logic circuit
The passage of input and servo controller outfan in place signal LF_LIMIT, passage signal RT_LIMIT and enable letter in place
Number connection, for realizing that passage signal LF_LIMIT and enables signal and passage and signal RT_LIMIT and enable letter in place in place
Number NAND operation, the outfan of logic circuit is connected to the trailing edge input and zero setting input of trigger, trigger
Rising edge input is connected with the pwm signal of servo controller outfan, outfan and the driving power amplifier of trigger
Enable Pin is forbidden to connect.
Using hex inverter and OR gate, other realize that the logic circuit of NAND operation is on an equal basis to logic circuit in this enforcement
Means are replaced, all within the scope of the present invention.Trigger adopts integrated couple of Retargetable compiler monostable flipflop 54HCT123,
As shown in figure 1, D1 be hex inverter 54HCT04, D2 be OR gate 54HCT32, D3 be integrated trigger 54HCT123, the pin of D1
1st, pin 11 and pin 13 respectively with enable/reset signal EN1 of servo controller, in place signal LF_LIMIT and signal in place
RT_LIMIT connects, and used as the logic input signal of Ch1, being input to Jing after the anti-phase computing of D1 in D2 is carried out or computing, D2's
Pin 3 is connected with the pin 2 of trigger D3, and the pin 6 of D2 is connected with the pin 3 of trigger D3, the pin 1 of trigger D3 with watch
Take the PWM pulse-width signals PWM_Ch1 connections of controller.I.e.
PWM_Ch1 gives D3_1 feet
Give D3_2 pins；
Give D3_3 pins；
In the same manner
PWM_Ch2, gives D3_9 feet；
Give D3_10 pins；
Give D3_11 pins
The double Retargetable compiler monostable flipflop of 54HCT123 types, minimum trigger-pulse duration (tw1) in VCC=4.5V,
42ns, is 30ns in VCC=6.0V.Its logic true value table as shown in table 1, typically can switch-off power amplifier forbid enable
End works in input low level, turns off during high level, therefore by triggerOutfan is used for can switch-off power amplifier
DISABLE/ILIM/SHDN signal input control ends.
Table 1
To ensure the cycle of pwm signal of the trigger triggering cycle more than or equal to servo controller output, trigger D3 is also
Configuration circuit is provided with, as shown in figure 1, the configuration circuit is made up of external resistor-capacitor network, for CH1 driving powers amplifier
Speech, its configuration circuit includes resistance-capacitance network electric capacity C5, resistance-capacitance network resistance VR4 and adjustable resistance VR1, the outfan of trigger D3
1Q is grounded by adjustable resistance VR1, and the adjustable control end of adjustable resistance VR1 is used to enable signal EN_ as the power amplifier of Ch1 passages
Ch1, is connected with the Enable Pin of forbidding of CH1 driving power amplifiers, for turning off the DISABLE/ of CH1 driving power amplifiers
ILIM/SHDN signal input control ends, can the Enable Pin of forbidding of switch-off power amplifier work in input low level, high level
When turn off.The resistance-capacitance network electric capacity of the configuration circuit is C1ext, resistance-capacitance network resistance is R1ext, configure tactile by the configuration circuit
The working cycle for sending out device is Tw=0.45R1ext*C1ext, it is to coordinate servo software to realize that turn-off function, logic are protected in power amplification
Control unit needs adjustment resistance-capacitance network value to make the pwm signal cycle be less than or equal to Tw, TR_ ends pwm signal can now declined
Repeated trigger state is in along 54HC123 is made always.
For a certain axle of the motor of the independent operating in control system, if kinematic axiss are designed as finite angle, if mechanical
The position position limitation protection starting point of structure design is M1 points, and terminal is N1 points, when normally running, the expected starting point of servo software design patterns
For M1 ' points, it is contemplated that terminal is N1 ' points, as shown in Figure 3.If motor be between when, signal LF_LIMIT and signal in place in place
RT_LIMIT is low level, and servo-control system is in running, and the state switching of logic controller is as shown in table 2.
Table 2
Logic state switching fundamental analysis is as follows：
A) LIMIT signals are low level during motor normal work, and EN is high level, and B_2 (B_1) and R2/ (R1/) is all height
Level, TR_ ends are input into the pwm signal of certain frequency, and adjustment resistance-capacitance network value makes the pwm signal cycle be less than or equal to Tw, Tw=
0.45Rext*Cext, can make TR_ ends pwm signal trailing edge make 54HC123 in repeated trigger state always, now hold and protect
Hold low level, can turn off power amplifier module DISABLE terminal potentials be low level, about 5mV～10mV, low level, the normal work of power amplifier
Make.
B) when DSP programs run deadlock or run winged, TR_ ends are high level or low level, and the PWM cycle of input is more than
Tw, end output high level, causes the DISABLE terminal potentials that can turn off power amplifier module to be changed into high level about 5V ± 0.05V, power amplifier mould
Block shut-off output (such as power amplifier MAX4205 forbid terminal voltage turn off more than 100mV), rapid protection system.
C) LIMIT signals can deliver to logic controller by hall device detection, it is also possible to soft by servo controller
Part carries out position detection and delivers to logic controller, and LIMIT signals are low level during system worked well, and software design patterns EN is high electricity
Flat, B_2 (B_1) and R2/ (R1/) is all high level；When gimbal axis arrival left/right, or up/down are spacing, certain LIMIT signal becomes
For high level, EN is high level, and now B_2 (B_1) and R2/ (R1/) has a signal to be changed into low level, and output high level in end is closed
Disconnected power amplifier, protection system is beyond spacing；Logic controller possesses enable reset signal interface, after framework enters protection stalling,
It is low level to control EN set by servo software, and now B_2 (B_1) and R2/ (R1/) is all high level, and end exports low level,
Start power amplifier module, frame motor is driven to safe beneficial direction；After system is in normal region work, LIMIT is reverted to
Low level, again reseting logic signal EN puts height to servo software, and logic controller now makes power amplifier module be in state to be protected.
In the same manner, for Ch2 passages, in running, the state of logic controller switches such as the institute of table 3 servo-control system
Show, detailed process is not repeated explanation.
Table 3
The present invention is effectively improved by increasing logic control circuit on the various power amplification plates with prohibiting function
The reliability of product, for control system even running, convenient debugging, safety test, Fast-Maintenance all brings very aobvious
The beneficial effect of work, particularly with the servo motion shafting of finite angle, in mechanical position limitation protection, software limit protection, passes through
Electric current loop sampling drop power uses power amplifier, controller DSP emulation programmings to disconnect many applications such as amplifier power supply, take
Good effect, many framework photoelectronic reconnaissance platforms etc. are military and the civil area such as head monitoring, application prospect is very
It is wide.
Claims (8)
1. a kind of power of motor Drive Protecting Circuit, including servo controller, light-coupled isolation unit and driving power amplifier, watch
The pwm signal for taking controller output end accesses the input of driving power amplifier, power amplifier by light-coupled isolation unit
Outfan drive connection motor, driving power amplifier is with forbidding Enable Pin, it is characterised in that the Drive Protecting Circuit
Also include logic control element, the logic control element is used for the fortune according to software in the running status and servo controller of motor
Row State- output passage power amplifier enables signal, is connected with the Enable Pin of forbidding of driving power amplifier,
When motor operation is in motor drive software stop zone, logic control element output invalid signals put driving power
Big device forbids Enable Pin invalid, driving power normal amplifier operation；
When motor operation exceeds motor drive software stop zone, logic control element output useful signal makes driving power
Amplifier forbids Enable Pin effectively, turns off driving power amplifier, and motor shuts down；
When the pwm signal of servo controller outfan is in high level or low level, i.e., software is in non-in servo controller
During normal operating condition, logic control element output useful signal, make driving power amplifier forbids Enable Pin effectively, shut-off
Driving power amplifier, motor shuts down；
Described logic control element includes trigger and logic circuit, and logic circuit adopts NAND Logic computing, logic circuit
The passage of input and servo controller outfan in place signal LF_LIMIT, passage signal RT_LIMIT and enable letter in place
Number connection, for realizing that passage signal LF_LIMIT and enables signal and passage and signal RT_LIMIT and enable letter in place in place
Number NAND operation, the outfan of the logic circuit is connected to the trailing edge input and zero setting input of trigger, described
The rising edge input of trigger is connected with the pwm signal of servo controller outfan, outfan and the driving of the trigger
The Enable Pin of forbidding of power amplifier connects.
2. power of motor Drive Protecting Circuit according to claim 1, it is characterised in that described when motor operation is beyond electricity
During machine drive software stop zone, after motor shuts down, servomotor controller output channel reset signal, logic control list
According to the channel reset signal output invalid signals, make driving power amplifier forbids Enable Pin invalid, and driving power is put for unit
Big device normal work.
3. power of motor Drive Protecting Circuit according to claim 2, it is characterised in that described logic circuit includes anti-
Phase device and OR circuit, the input of the phase inverter and the passage of servo controller outfan signal LF_LIMIT, logical in place
Road signal RT_LIMIT and enable signal connection in place, the outfan of phase inverter is connected with the input of OR circuit, OR gate electricity
Road is used to that anti-phase rear passage signal LF_LIMIT and to be enabled signal and passage and signal RT_LIMIT and enable letter in place in place
Number carry out or computing, two outfans of OR circuit are connected with the trailing edge input and zero setting input of trigger.
4. power of motor Drive Protecting Circuit according to claim 3, it is characterised in that the logic control element is also wrapped
The configuration circuit being connected with trigger is included, the configuration circuit includes resistance-capacitance network resistance, resistance-capacitance network electric capacity and adjustable resistance, institute
The resistance-capacitance network resistance for stating configuration circuit is Rext, resistance-capacitance network electric capacity is Cext, by the work of the configuration circuit institute configuration flip-flops
Make the cycle for Tw=0.45Rext*Cext, and TwMore than or equal to the cycle T of the pwm signal of servo controller outfanPWM。
5. power of motor Drive Protecting Circuit according to claim 4, it is characterised in that the outfan of described trigger
It is grounded by adjustable resistance, the adjustable side of the adjustable resistance is that channel function enables signal end, the taboo with driving power amplifier
Only Enable Pin connection, controls the startup of driving power amplifier.
6. power of motor Drive Protecting Circuit according to claim 5, it is characterised in that described trigger for it is double can be again
Triggering monostable flipflop 54HCT123.
7. power of motor Drive Protecting Circuit according to claim 5, it is characterised in that described phase inverter is using integrated
Circuit hex inverter 54HCT04.
8. power of motor Drive Protecting Circuit according to claim 5, it is characterised in that described OR circuit is using collection
Into circuit OR gate 54HCT32.
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| CN201510000911.9A CN104485639B (en) | 2015-01-04 | 2015-01-04 | motor power drive protection circuit |
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|---|---|---|---|
| CN201510000911.9A CN104485639B (en) | 2015-01-04 | 2015-01-04 | motor power drive protection circuit |
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| CN104485639B true CN104485639B (en) | 2017-04-26 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106502242B (en) * | 2015-09-07 | 2023-02-28 | 深圳市朗驰欣创科技股份有限公司 | Running road surface detection system and method of automatic guided vehicle |
| CN107505858A (en) * | 2017-08-10 | 2017-12-22 | 珠海格力节能环保制冷技术研究中心有限公司 | Control circuit, control method and device, electronic equipment |
| CN113131439B (en) * | 2019-12-31 | 2022-06-14 | 比亚迪股份有限公司 | Motor control system and motor control device |
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| CN102817862A (en) * | 2012-08-29 | 2012-12-12 | 华为技术有限公司 | Method, device and system for controlling fan |
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| CN103488126A (en) * | 2013-09-30 | 2014-01-01 | 天津市中环电子计算机有限公司 | Multi-axis motion control system development platform |
| CN104090525A (en) * | 2014-06-16 | 2014-10-08 | 福建睿能科技股份有限公司 | Mechanical control device and driving device thereof |
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| CN101938247A (en) * | 2010-08-02 | 2011-01-05 | 福建睿能电子有限公司 | Special servo controller for textile machinery |
| CN102817862A (en) * | 2012-08-29 | 2012-12-12 | 华为技术有限公司 | Method, device and system for controlling fan |
| CN102904513A (en) * | 2012-09-27 | 2013-01-30 | 中国科学院长春光学精密机械与物理研究所 | Processing method of spacing switch signals in control system driven by stepping motor |
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