CN108181842A - Driver, driver control method and device - Google Patents
Driver, driver control method and device Download PDFInfo
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- CN108181842A CN108181842A CN201711212210.7A CN201711212210A CN108181842A CN 108181842 A CN108181842 A CN 108181842A CN 201711212210 A CN201711212210 A CN 201711212210A CN 108181842 A CN108181842 A CN 108181842A
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
Abstract
The invention discloses a kind of driver, driver control method and devices.The driver includes：More than two discharge circuits, wherein, when other discharge circuits of the discharge circuit in the drive are abnormal, substituting the discharge circuit being abnormal is worked or is assisted the discharge circuit being abnormal to work, wherein, the discharge circuit includes a first switch pipe and a resistance.By the present invention, solve the problems, such as in the relevant technologies that discharge circuit occurs different to lead to drive corruption.
Description
Technical field
The present invention relates to electronic field, in particular to a kind of driver, driver control method and device.
Background technology
In the relevant technologies, general servo-driver, which works, all needs external alternating current, the dc bus inside servo-driver
Voltage may be up to 310V when alternating current 220V (driver external) or 540V when exchange 380V (driver external).Servo-driver one
As be operated in the occasion for needing frequent start-stop, work has repeatability.When mains fluctuations, motor are operated in vertical operation field
It closes or large inertia runs slowly occasion, driver busbar voltage can be increased until there is driver over voltage alarm, therefore, to keep away
Exempt from the situation for driver over voltage alarm occur, it is necessary to which discharge circuit releases excessive electricity.At present, internal drive one
As discharge treatment carried out when busbar voltage is excessively high using discharge circuit as shown in Figure 1.
Existing discharge circuit operation principle is as follows：It is micro- when detecting that busbar voltage is higher than default ceiling voltage Vmax
Control unit (Microcontroller Unit, MCU) controls switching tube Q1 with fixed switching frequency and fixed duty
Than work, so as to which discharge circuit is discharged with fixed discharge power；When detect busbar voltage be less than preset minimum voltage
During Vmin, discharge circuit is stopped.But when above-mentioned discharge circuit is abnormal (for example, discharge resistance broken string, switch
Pipe damages), discharge circuit failure at this point, excessive electricity can not be released, is easy to cause drive corruption.
Therefore, different the problem of leading to drive corruption occurs for discharge circuit in the relevant technologies, not yet proposes have at present
The solution of effect.
Invention content
It is a primary object of the present invention to provide a kind of driver, driver control method and device, to solve related skill
Different the problem of leading to drive corruption, occurs for discharge circuit in art.
To achieve these goals, according to an aspect of the invention, there is provided a kind of driver, the driver packet
It includes：More than two discharge circuits, wherein, other discharge circuits of the discharge circuit in the drive are abnormal
When, it substitutes the discharge circuit being abnormal and is worked or assisted the discharge circuit being abnormal to work, wherein, it is described
Discharge circuit includes a first switch pipe and a resistance.
Optionally, the driver further includes more than two second switch pipes, wherein, described two Yi Shang second switch pipes
In a second switch pipe connect with two discharge circuits, for controlling the break-make between described two discharge circuits.
Optionally, the driver further includes micro-control unit MCU, for controlling described two Yi Shang discharge circuits and institute
State more than two second switch pipes.
Optionally, the second switch pipe includes relay.
To achieve these goals, according to another aspect of the present invention, a kind of driver control method is additionally provided, is wrapped
It includes：Detect that the first discharge circuit in driver in more than two discharge circuits is abnormal, wherein, the discharge circuit packet
Include a first switch pipe and a resistance；Other discharge circuits in described two Yi Shang discharge circuits is controlled to substitute described the
One discharge circuit works or assists first discharge circuit to work.
Optionally, other discharge circuits in described two Yi Shang discharge circuits is controlled to assist the first discharge circuit work
Work includes：It detects and occurs normal device in abnormal device and other described discharge circuits in first discharge circuit；
Device corresponding with occurring abnormal device in first discharge circuit is selected in the normal device, with described first
Normal device composition discharge circuit in discharge circuit；The discharge circuit of the composition is controlled to work.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：Determine that the driver required discharge power within a cycle of operation is less than the maximum electric discharge work(of single discharge circuit
Rate；First discharge circuit is controlled to work.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：Determine that the driver required discharge power within a cycle of operation is put more than or equal to the maximum of single discharge circuit
Electrical power；According to the maximum discharge power of the required discharge power and the single discharge circuit, determine to need putting for work
The number N of circuit；It controls in described two Yi Shang discharge circuits N-1 in the first discharge circuit and other described discharge circuits
Discharge circuit works together.
To achieve these goals, according to another aspect of the invention, a kind of actuator control device is additionally provided, is wrapped
It includes：Detection module, for detecting that the first discharge circuit in driver in more than two discharge circuits is abnormal, wherein,
The discharge circuit includes a first switch pipe and a resistance；Control module, for controlling described two above electric discharge electricity
Other discharge circuits in road substitute the first discharge circuit work or first discharge circuit are assisted to work.
To achieve these goals, according to another aspect of the invention, a kind of storage medium is additionally provided, the storage is situated between
Matter includes the program of storage, wherein, equipment where the storage medium is controlled to hold in above-described embodiment when described program is run
Method described in any one.
To achieve these goals, according to another aspect of the invention, a kind of electronic device is additionally provided, including storage
Device, processor and it is stored in the computer program that can be run on the memory and on the processor, which is characterized in that institute
It states processor and method described in any one of above-described embodiment is performed by the computer program.
The present invention by setting more than two discharge circuits in the drive so that when in described two Yi Shang discharge circuits
Discharge circuit when being abnormal, other discharge circuits replacement in more than two discharge circuits can be used to be abnormal
Discharge circuit work or assist the discharge circuit being abnormal work, can be with and then when driver busbar voltage increases
Excessive electricity is released or assisted what is be abnormal to put by the discharge circuit being abnormal by other discharge circuits replacement
Circuit releases excessive electricity, ensure that the normal operation of driver, solves discharge circuit in the relevant technologies and occurs
Different the problem of leading to drive corruption.
Description of the drawings
The attached drawing for forming the part of the application is used to provide further understanding of the present invention, schematic reality of the invention
Example and its explanation are applied for explaining the present invention, is not constituted improper limitations of the present invention.In the accompanying drawings：
Fig. 1 is the discharge circuit schematic diagram in traditional servo-driver；
Fig. 2 is the structure diagram of driver according to a first embodiment of the present invention；
Fig. 3 is the structure diagram of discharge circuit in driver according to a second embodiment of the present invention；
Fig. 4 is the flow chart of driver control method according to a third embodiment of the present invention；
Fig. 5 is discharge circuit work flow diagram according to a second embodiment of the present invention；
Fig. 6 is discharge circuit work flow diagram in the case of according to a second embodiment of the present invention the first；
Fig. 7 is discharge circuit work flow diagram under the second situation according to a second embodiment of the present invention；
Fig. 8 is optionally discharge circuit work flow diagram according to a second embodiment of the present invention；And
Fig. 9 is the schematic diagram of actuator control device according to embodiments of the present invention.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the application can phase
Mutually combination.The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order to which those skilled in the art is made to more fully understand application scheme, below in conjunction in the embodiment of the present application
The technical solution in the embodiment of the present application is clearly and completely described in attached drawing, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's all other embodiments obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be the object for distinguishing similar, and specific sequence or precedence are described without being used for.It should be appreciated that it uses in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment are not necessarily limited to those steps or unit clearly listed, but may include without clear
It is listing to Chu or for the intrinsic other steps of these processes, method, product or equipment or unit.
An embodiment of the present invention provides a kind of drivers.
Fig. 2 is the structure diagram of driver according to a first embodiment of the present invention, as shown in Fig. 2, the driver includes：
More than two discharge circuits, wherein, when other discharge circuits of discharge circuit in the drive are abnormal,
Substituting the discharge circuit being abnormal is worked or is assisted the discharge circuit being abnormal to work, wherein, it is described to put
Circuit includes a first switch pipe and a resistance.
In the relevant technologies in driver discharge circuit only all the way, and the present embodiment use in the drive setting two with
Upper discharge circuit so that when a discharge circuit in described two Yi Shang discharge circuits is abnormal, two can be used
The discharge circuit work or assist the electric discharge being abnormal that other discharge circuits replacement in more than discharge circuit is abnormal
Circuit works, and then when driver busbar voltage increases, and the electric discharge being abnormal electricity can be substituted by other discharge circuits
Excessive electricity is released or assisted the discharge circuit being abnormal that excessive electricity is released by road, ensure that driver
Normal operation, solve the problems, such as in the relevant technologies that discharge circuit occurs different to lead to drive corruption.
Optionally, driver further includes more than two second switch pipes, wherein, one in more than two second switch pipes
Second switch pipe is connect with two discharge circuits, for controlling the break-make between two discharge circuits.
Optionally, driver further includes micro-control unit MCU, for controlling more than two discharge circuits and more than two the
Two switching tubes.
Optionally, above-mentioned second switch pipe includes relay.
Fig. 3 is the structure diagram of discharge circuit in driver according to a second embodiment of the present invention, and embodiment can be made
For the preferred embodiment of above-mentioned first embodiment, as shown in figure 3, including：Two discharge circuits, a relay, wherein, it puts
When circuit is abnormal for other discharge circuits in the drive, substitute the discharge circuit being abnormal worked or
Person assists the discharge circuit being abnormal to work.
In above structure figure, R1, R2 are discharge resistance, and switching tube Q1, Q2 control two discharge circuits, switching tube Q3 respectively
The parallel relationship of two discharge circuits is controlled by the way that relay length is controlled to open the closure shutdown of node K1；Discharge circuit refers to switch
The circuit of pipe Q1 and discharge resistance R1 or switching tube Q2 and discharge resistance R2 compositions；Discharge circuit finger discharge circuit without exception can
Regular picture work is carried out without device failure.Relay control circuit, which is no different, to be referred to relay can be controlled normal by MCU；
Wmax be single discharge circuit maximum discharge power, WIt is practicalFor required discharge power in one cycle of operation of driver.
Fig. 4 is the flow chart of driver control method according to a third embodiment of the present invention, as shown in figure 4, this method packet
Include following steps：
Step S402：Detect that the first discharge circuit in driver in more than two discharge circuits is abnormal, wherein,
The discharge circuit includes a first switch pipe and a resistance；
Step S404：Other discharge circuits in the more than two discharge circuits of control substitute the work of the first discharge circuit or
The first discharge circuit is assisted to work.
When a discharge circuit of the embodiment in described two Yi Shang discharge circuits is abnormal, two can be used
The discharge circuit work or assist the electric discharge being abnormal that other discharge circuits replacement in more than discharge circuit is abnormal
Circuit works, and then when driver busbar voltage increases, and the electric discharge being abnormal electricity can be substituted by other discharge circuits
Excessive electricity is released or assisted the discharge circuit being abnormal that excessive electricity is released by road, ensure that driver
Normal operation, solve the problems, such as in the relevant technologies that discharge circuit occurs different to lead to drive corruption.
Optionally, control other discharge circuits in more than two discharge circuits that the work of the first discharge circuit is assisted to include：
It detects and occurs normal device in abnormal device and other discharge circuits in the first discharge circuit；It is selected in normal device
Device corresponding with occurring abnormal device in the first discharge circuit is selected, is discharged with device composition normal in the first discharge circuit
Circuit；The discharge circuit work of control composition.By above-mentioned steps, discharge circuit can be there are many working method, and control is flexible,
The probability for occurring abnormal guiding discharge circuit malfunction in traditional circuit can effectively be reduced.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：Determine that driver required discharge power within a cycle of operation is less than the maximum discharge power of single discharge circuit；
The first discharge circuit is controlled to work.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：Determine that driver required discharge power within a cycle of operation is more than or equal to the maximum electric discharge work(of single discharge circuit
Rate；According to the maximum discharge power of required discharge power and single discharge circuit, determine to need the number of the discharge circuit of work
N；The first discharge circuit and N-1 discharge circuit in other discharge circuits work together in the more than two discharge circuits of control.
By above-described embodiment, it is made of in the discharge circuit in the present invention two-way even multichannel discharge circuit, it is each to discharge
Relay control break-make can be used between circuit.Discharge circuit is flexibly controlled by MCU, there are many working methods.
For convenience of above-described embodiment is understood, below by taking driver as shown in Figure 3 as an example, and with reference to Fig. 5, Fig. 6, Fig. 7 are to upper
Embodiment is stated to be described in detail.
The course of work of discharge circuit as shown in Figure 3 is as follows：
As shown in figure 5, when servo-driver control motor drives mechanical structure with motion process required in the cycle of operation
(e.g., acceleration-at the uniform velocity-moderating process) is moved, and discharge circuit is carried out with maximum discharge power 2*Wmax in the process
(identical with traditional circuit, when busbar voltage is more than predetermined maximum voltage Vmax, discharge circuit discharges, and busbar voltage is low for electric discharge
When preset minimum voltage Vmin, discharge circuit stops electric discharge)；And in the process according to practical deceleration time, actually put
The electric time calculates required discharge power WIt is practical.If in the process, there is servo-driver over voltage alarm to need replacing more
Therefore powerful servo-driver, in order to avoid servo-driver over voltage alarm, is then being needed according to WIt is practicalControl electric discharge electricity
Road works, optionally, if WIt is practical<Wmax is then the first situation；Other are then the second situation.
As shown in fig. 6, discharge circuit all the way is only used, in two discharge circuits situation without exception in the case of the first
Lower preference circuit one discharges；When a circuit has abnormal, an other circuit is selected to discharge；If two
When discharge circuit has abnormal, select recombination discharge loop according to the damage of different components or replace driver.Such as：
R1, R2 are damaged simultaneously, replace driver；R1, Q2 are damaged, can be by R2, and K1, Q1 accesses discharge.
Under the second situation as shown in Figure 7, it is necessary to two discharge circuits work at the same time, in this case, if electric discharge
There is exception in resistance R1 and R2, then directly replace driver；R1 and R2 are normal, if relay circuit exception and switching tube Q1,
Q2 then replaces driver there are one there is exception, without exception in switching tube, is put respectively by two discharge circuits
Electric (R1, Q1 circuit or R2, Q2 circuit)；R1, R2, relay circuit are normal, if two switching tube Q1 and Q2 are abnormal simultaneously then
Replace servo-driver；It is discharged in the case of other by R1, R2, K1 (relay) and a switching tube (in the positive reasons of Q1
Preferably then Q1 under condition).
It should be noted that the discharge circuit in above-mentioned driver can also have another control mode, the controlling party
Formula flow chart is as depicted in figure 8.
Several predeterminated voltage hierarchical relationships as shown in Figure 8 are Vmax>Vmax2>Vmin1>Vmax1>Vmin2, wherein,
Vmax, Vmin are pre-set according to capacitance in foregoing circuit, and when bearing voltage as 400v such as capacitance maximum, Vmax can be preset
For 380v or so, and Vmin can be preset as being less than Vmax about 10v.Specific workflow is as follows：When detecting busbar voltage
Vbus>During Vmax1, a discharge circuit starts to discharge；In the case if detecting Vbus>Vmax2, two discharge circuits
Road works；Such as detect Vbus<Vmin2 stops discharge circuit work.In the case where two discharge circuits work at the same time, inspection
Measure Vbus>Vmax, driver over voltage alarm；Detect Vbus<Vmin1, a discharge circuit job, is then persistently examined
It surveys, detects Vbus>Vmax2 repeats operation above, until detecting Vbus<Vmin2 stops discharge circuit work.
Above-mentioned discharge circuit can there are many combine, if relay circuit can work normally, can by switching tube Q1 (or
Q2), relay K1 (circuit), discharge resistance R1 and R2 form two discharge circuits；It, then can be by opening if relay circuit is abnormal
It closes pipe Q1, discharge resistance R1 and switching tube Q2, discharge resistance R2 forms two discharge circuits.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is performed in computer system, although also, show logical order in flow charts, it in some cases, can be with not
The sequence being same as herein performs shown or described step.
An embodiment of the present invention provides a kind of actuator control device, which can be used for performing the embodiment of the present invention
Driver control method.
Fig. 9 is the schematic diagram of actuator control device according to embodiments of the present invention, as shown in figure 9, the device includes：
Detection module 92, for detecting that it is different that the first discharge circuit in driver in more than two discharge circuits occurs
Often, wherein, the discharge circuit includes a first switch pipe and a resistance；
Control module 94 is connected to above-mentioned detection module 92, for controlling other electric discharges in more than two discharge circuits
Circuit substitutes the work of the first discharge circuit or assists the work of the first discharge circuit.
When a discharge circuit of the embodiment in described two Yi Shang discharge circuits is abnormal, two can be used
The discharge circuit work or assist the electric discharge being abnormal that other discharge circuits replacement in more than discharge circuit is abnormal
Circuit works, and then when driver busbar voltage increases, and the electric discharge being abnormal electricity can be substituted by other discharge circuits
Excessive electricity is released or assisted the discharge circuit being abnormal that excessive electricity is released by road, ensure that driver
Normal operation, solve the problems, such as in the relevant technologies that discharge circuit occurs different to lead to drive corruption.
The actuator control device includes processor and memory, above-mentioned detection module, control module etc. and is used as journey
Sequence unit stores in memory, performs above procedure unit stored in memory by processor to realize corresponding work(
Energy.
Comprising kernel in processor, gone in memory to transfer corresponding program unit by kernel.Kernel can set one
Or more, it is abnormal by adjusting kernel parameter come the discharge circuit realized in described two Yi Shang discharge circuits
When, discharge circuit work or assist that other discharge circuits replacement in more than two discharge circuits is abnormal can be used
The discharge circuit work being abnormal.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM), memory includes at least one deposit
Store up chip.
An embodiment of the present invention provides a kind of storage mediums, are stored thereon with program, real when which is executed by processor
The driver control method of any one of existing above-described embodiment.
An embodiment of the present invention provides a kind of processor, the processor is used to run program, wherein, described program operation
Driver control method described in Shi Zhihang.
An embodiment of the present invention provides a kind of electronic device, which includes processor, memory and is stored in
On reservoir and the program that can run on a processor, processor realize following steps when performing program：(method claim step, solely
Power+from power).Equipment herein can be server, PC, PAD, mobile phone etc..
Present invention also provides a kind of computer program products, first when being performed on data processing equipment, being adapted for carrying out
The program of beginningization there are as below methods step：
S1 detects that the first discharge circuit in driver in more than two discharge circuits is abnormal；
Other discharge circuits in the more than two discharge circuits of S2 controls substitute the work of the first discharge circuit or assist the
One discharge circuit works.
Optionally, control other discharge circuits in more than two discharge circuits that the work of the first discharge circuit is assisted to include：
S1 is detected in the first discharge circuit and normal device in abnormal device and other discharge circuits is occurred；
S2 selects device corresponding with occurring abnormal device in the first discharge circuit, with first in normal device
Normal device composition discharge circuit in discharge circuit；
S3 controls the discharge circuit of composition to work.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：
S1 determines that driver required discharge power within a cycle of operation is less than the maximum electric discharge work(of single discharge circuit
Rate；
S2, control the first discharge circuit work.
Optionally, before the first discharge circuit in driver is detected in more than two discharge circuits is abnormal,
It further includes：
S1 determines that driver required discharge power within a cycle of operation is put more than or equal to the maximum of single discharge circuit
Electrical power；
S2 according to the maximum discharge power of required discharge power and single discharge circuit, determines to need the electric discharge electricity of work
The number N on road；
S3 controls the first discharge circuit and N-1 discharge circuit in other discharge circuits in more than two discharge circuits to be total to
With work.
It should be understood by those skilled in the art that, embodiments herein can be provided as method, system or computer program
Product.Therefore, the reality in terms of complete hardware embodiment, complete software embodiment or combination software and hardware can be used in the application
Apply the form of example.Moreover, the computer for wherein including computer usable program code in one or more can be used in the application
The computer program production that usable storage medium is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
The form of product.
The application is with reference to the flow according to the method for the embodiment of the present application, equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that it can be realized by computer program instructions every first-class in flowchart and/or the block diagram
The combination of flow and/or box in journey and/or box and flowchart and/or the block diagram.These computer programs can be provided
The processor of all-purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices is instructed to produce
A raw machine so that the instruction performed by computer or the processor of other programmable data processing devices is generated for real
The device of function specified in present one flow of flow chart or one box of multiple flows and/or block diagram or multiple boxes.
These computer program instructions, which may also be stored in, can guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works so that the instruction generation being stored in the computer-readable memory includes referring to
Enable the manufacture of device, the command device realize in one flow of flow chart or multiple flows and/or one box of block diagram or
The function of being specified in multiple boxes.
These computer program instructions can be also loaded into computer or other programmable data processing devices so that counted
Series of operation steps are performed on calculation machine or other programmable devices to generate computer implemented processing, so as in computer or
The instruction offer performed on other programmable devices is used to implement in one flow of flow chart or multiple flows and/or block diagram one
The step of function of being specified in a box or multiple boxes.
In a typical configuration, computing device includes one or more processors (CPU), input/output interface, net
Network interface and memory.
Memory may include computer-readable medium in volatile memory, random access memory (RAM) and/
Or the forms such as Nonvolatile memory, such as read-only memory (ROM) or flash memory (flash RAM).Memory is computer-readable Jie
The example of matter.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moves
State random access memory (DRAM), other kinds of random access memory (RAM), read-only memory (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, CD-ROM read-only memory (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic tape cassette, the storage of tape magnetic rigid disk or other magnetic storage apparatus
Or any other non-transmission medium, available for storing the information that can be accessed by a computing device.It defines, calculates according to herein
Machine readable medium does not include temporary computer readable media (transitory media), such as data-signal and carrier wave of modulation.
It should also be noted that, term " comprising ", "comprising" or its any other variant are intended to nonexcludability
Comprising so that process, method, commodity or equipment including a series of elements are not only including those elements, but also wrap
Include other elements that are not explicitly listed or further include for this process, method, commodity or equipment it is intrinsic will
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including element
Also there are other identical elements in process, method, commodity or equipment.
It will be understood by those skilled in the art that embodiments herein can be provided as method, system or computer program product.
Therefore, complete hardware embodiment, complete software embodiment or the embodiment in terms of combining software and hardware can be used in the application
Form.It is deposited moreover, the application can be used to can be used in one or more computers for wherein including computer usable program code
The shape of computer program product that storage media is implemented on (including but not limited to magnetic disk storage, CD-ROM, optical memory etc.)
Formula.
It these are only embodiments herein, be not limited to the application.To those skilled in the art,
The application can have various modifications and variations.All any modifications made within spirit herein and principle, equivalent replacement,
Improve etc., it should be included within the scope of claims hereof.
Claims (11)
1. a kind of driver, which is characterized in that the driver includes：
More than two discharge circuits, wherein, the discharge circuit occurs different for other discharge circuits in the drive
Chang Shi substitutes the discharge circuit being abnormal and is worked or assisted the discharge circuit being abnormal to work, wherein, institute
It states discharge circuit and includes a first switch pipe and a resistance.
2. driver according to claim 1, which is characterized in that the driver further includes more than two second switches
Pipe, wherein, a second switch pipe in described two Yi Shang second switch pipes is connect with two discharge circuits, for controlling
State the break-make between two discharge circuits.
3. driver according to claim 2, which is characterized in that the driver further includes micro-control unit MCU, is used for
Control described two Yi Shang discharge circuits and described two Yi Shang second switch pipes.
4. the driver according to Claims 2 or 3, which is characterized in that the second switch pipe includes relay.
A kind of 5. driver control method, which is characterized in that including：
Detect that the first discharge circuit in driver in more than two discharge circuits is abnormal, wherein, the discharge circuit
Including a first switch pipe and a resistance；
Other discharge circuits in described two Yi Shang discharge circuits is controlled to substitute the first discharge circuit work or assist
The first discharge circuit work.
6. driver control method according to claim 5, which is characterized in that in the described two Yi Shang discharge circuits of control
Other discharge circuits first discharge circuit work is assisted to include：
It detects and occurs normal device in abnormal device and other described discharge circuits in first discharge circuit；
Corresponding with occurring abnormal device in first discharge circuit device is selected in the normal device, it is and described
Normal device composition discharge circuit in first discharge circuit；
The discharge circuit of the composition is controlled to work.
7. driver control method according to claim 5, which is characterized in that two or more is put in driver is detected
Before the first discharge circuit in circuit is abnormal, further include：
Determine that the driver required discharge power within a cycle of operation is less than the maximum discharge power of single discharge circuit；
First discharge circuit is controlled to work.
8. driver control method according to claim 5, which is characterized in that two or more is put in driver is detected
Before the first discharge circuit in circuit is abnormal, further include：
Determine that the driver required discharge power within a cycle of operation is more than or equal to the maximum electric discharge of single discharge circuit
Power；
According to the maximum discharge power of the required discharge power and the single discharge circuit, determine to need the electric discharge electricity of work
The number N on road；
Control in described two Yi Shang discharge circuits that N-1 discharge circuit is total in the first discharge circuit and other described discharge circuits
With work.
9. a kind of actuator control device, which is characterized in that including：
Detection module, for detecting that the first discharge circuit in driver in more than two discharge circuits is abnormal, wherein,
The discharge circuit includes a first switch pipe and a resistance；
Control module, for other discharge circuits in described two Yi Shang discharge circuits to be controlled to substitute first discharge circuit
Work or assist first discharge circuit to work.
10. a kind of storage medium, which is characterized in that the storage medium includes the program of storage, wherein, it is run in described program
When control the storage medium where equipment perform claim require method described in any one of 5 to 8.
11. a kind of electronic device, which is characterized in that including memory, processor and be stored on the memory and can be in institute
State the computer program run on processor, which is characterized in that the processor performs above-mentioned power by the computer program
Profit requires 5 to 8 any one of them methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711212210.7A CN108181842A (en) | 2017-11-27 | 2017-11-27 | Driver, driver control method and device |
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