CN110247387B - Servo driving module with fault tolerance - Google Patents
Servo driving module with fault tolerance Download PDFInfo
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- CN110247387B CN110247387B CN201910468627.2A CN201910468627A CN110247387B CN 110247387 B CN110247387 B CN 110247387B CN 201910468627 A CN201910468627 A CN 201910468627A CN 110247387 B CN110247387 B CN 110247387B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
- H02H11/00—Emergency protective circuit arrangements for preventing the switching-on in case an undesired electric working condition might result
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
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Abstract
The invention provides a servo drive module with fault tolerance, which comprises an input port, a servo unit main circuit, a brake resistor port, an output port, a sampling control circuit and an auxiliary power supply, wherein the input port is connected with the servo unit main circuit; the servo unit main circuit comprises an input EMI filtering module, a rectifying module, a soft start and brake circuit, a main power module, a first capacitor and a second capacitor; the input end of the EMI filtering module is connected with the input port, and the output end of the EMI filtering module is connected with the input end of the rectifying module; the output end of the rectifying module is connected with the main power module at the end P, N; the second capacitor is connected with the P, N end of the main power module; the soft starting and braking circuit comprises a first resistor and a first relay; one end of the first resistor and one end of the first relay are connected to the P end, and the other end of the first resistor is connected with the other end of the first relay and the positive end of the first capacitor; the negative terminal of the first capacitor is connected to the N terminal. The invention can realize the access fault tolerance of the power line without damaging the module.
Description
Technical Field
The invention relates to the field of industrial control and automation, in particular to a servo drive module with fault tolerance.
Background
At present, various fool-proof connection terminals and various identifications are usually adopted for standardizing an access method of an input power line and an output power line in a servo driving module on the market, but the method can not always avoid the carelessness of operators and the serious damage of a servo driving circuit and certain even irreversible loss caused by the wrong wiring of the operators in the processes of production, aging and machine tool rectification.
Disclosure of Invention
The invention aims to provide a servo drive module with fault tolerance, and aims to solve the problem that the conventional servo drive module cannot avoid circuit damage caused by wiring errors of operators.
The invention is realized by the following steps:
the invention provides a servo drive module with fault tolerance, which comprises an input port, a servo unit main circuit, a brake resistor port, an output port, a sampling control circuit and an auxiliary power supply, wherein the input port is connected with the servo unit main circuit;
the input end of the servo unit main circuit is connected to the input port, and the output end of the servo unit main circuit is connected to the output port; the port of the brake resistor is connected with the servo unit main circuit; the input end of the sampling control circuit is connected with the output end of the auxiliary power supply, and the output end of the sampling control circuit is connected with the main circuit of the servo unit; the auxiliary power supply is connected with the servo unit main circuit;
the servo unit main circuit comprises an input EMI filtering module, a rectifying module, a soft start and brake circuit, a main power module, a first capacitor C1 and a second capacitor C2; the input end of the EMI filtering module is connected with the input port, and the output end of the EMI filtering module is connected with the input end of the rectifying module; the output end of the rectifying module and the main power module are connected to the P, N end; the second capacitor C2 is connected with the end P, N of the main power module; the first capacitor C1 is an electrolytic capacitor, and the second capacitor C2 is a high-frequency capacitor;
the soft start and brake circuit comprises a first resistor R1 and a first relay J1; one end of the first resistor R1 and one end of the first relay J1 are connected to the P end, and the other end of the first resistor R1 is connected with the other end of the first relay J1 and the positive end of the first capacitor C1; the negative terminal of the first capacitor C1 is connected to the N terminal.
Further, the servo drive unit main circuit further comprises a first diode D1, a second diode D2, a third resistor R3, a second resistor R2 and a first optocoupler U1; anodes of the first diode D1 and the second diode D2 are respectively connected to ends R1 and S1 of the input of the rectifier module, and cathodes of the first diode D1 and the second diode D2 are simultaneously connected with one end of a third resistor R3; the other end of the third resistor R3 is connected to the input end of the auxiliary power supply; one end of the second resistor R2 is connected with the T1 end of the input of the rectifier module, and the other end of the second resistor R2 is connected to the anode of the first optocoupler U1; and the cathode of the first optocoupler U1 is connected with the N end, the collector of the first optocoupler is connected with a power supply VCC, and the emitter of the first optocoupler is connected with the input end of the sampling control circuit.
Further, the soft start and brake circuit further comprises a third diode D3 and a seventh power tube Q7; the cathode of the third diode D3 is connected to the BK1 end of the port of the brake resistor, and the anode is connected with the anode of the first capacitor C1; the source of the seventh power tube Q7 is connected with the N end, and the drain is connected with the BK2 end of the brake resistor port.
Compared with the prior art, the invention has the following beneficial effects:
the servo drive module with fault tolerance provided by the invention can realize fault tolerance of access of a power line without damaging the module, avoids damage to the servo drive module caused by non-standard operation, does not need to add too many devices, fully exerts the advantages of simple circuit structure and simple control circuit, does not need to adopt specially-required fool-proof terminals, reduces the cost, and is particularly suitable for replacing the conventional servo drive module.
Drawings
Fig. 1 is a block diagram of a servo driving module with fault tolerance according to an embodiment of the present invention;
FIG. 2 is a circuit diagram of a servo driver module with fault tolerance according to an embodiment of the present invention;
fig. 3 is a circuit diagram of a conventional servo driving module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a servo drive module with fault tolerance, which includes an input (R, S, T) port 11, a servo unit main circuit 13, a brake resistor port (BK1, BK2)12, an output (U, V, W) port 14, a sampling control circuit 15, and an auxiliary power supply 16; the input end of the servo unit main circuit 13 is connected to the input port 11, and the output end is connected to the output port 14, so as to realize energy transfer and conversion; the brake resistor port 12 is used for externally connecting a brake resistor, is connected with the servo unit main circuit 13, and releases the brake energy of the P and N buses through the externally connected brake resistor and a brake pipe in the servo unit main circuit 13; the sampling control circuit 15 is called as a sampling & logic control, display and interface circuit, the input end of the sampling control circuit is connected with the output end of the auxiliary power supply 16, and the output end of the sampling control circuit is connected with the servo unit main circuit 13 and an external servo motor, and the sampling control circuit is used for receiving sampling and feedback signals of the servo unit main circuit 13 and the external servo motor, sending a control signal to the servo unit main circuit 13 and controlling the operation of the servo motor; the auxiliary power supply 16 is interconnected with the servo unit main circuit 13 for supplying power and implementing fault-tolerant processing of external power cables.
Specifically, as shown in fig. 2, the servo unit main circuit 13 includes an input EMI filter module 7, a rectifier module 8, a soft start and stop circuit 9, a main power module 10, a first capacitor C1, and a second capacitor C2; the input end of the EMI filtering module 7 is connected with the input port 11, and the output end is connected with the input end of the rectifying module 8; the output end of the rectifier module 8 and the main power module 10 are connected to the P, N end, and the main power module 10 is an IGBT, IPM or MOS module unit; the second capacitor C2 is connected to the end P, N of the main power module 10; the first capacitor C1 is an electrolytic capacitor with a large capacity, and may be a combination of a plurality of capacitors connected in series, in parallel, or in series-parallel, and the second capacitor C2 is a high-frequency capacitor.
The soft starting and braking circuit 9 comprises a first resistor R1, a first relay J1, a third diode D3, an eighth third diode Q8 and a seventh power tube Q7; one end of the first resistor R1 and one end of the first relay J1 are connected to the P end, and the other end of the first resistor R1 is connected with the other end of the first relay J1 and the positive end of the first capacitor C1; the negative end of the first capacitor C1 is connected to the N end; one end 1 of a coil of the first relay J1 is connected with a power supply VCC1, the other end 2 of the coil is connected with a collector of an eighth triode Q8, and an emitter of the eighth triode Q8 is connected with the N end.
Through the scheme, if the 220V or 380V power line input to the R, S, T end is connected to the U, V, W end, the U, V, W end power line is originally connected to the R, S, T end, the 220V or 380V voltage is rectified through the built-in diode of the main power module 10, one path of the rectified voltage is directly applied to the P end, the N end and the C2 end, the C2 is a high-frequency capacitor, the surge current formed by the input voltage on the C2 is small, the other path of the rectified voltage slowly charges the C1 through the soft start resistor R1, and the charging current on the C2 is limited by the R1 at this time, too high impact current cannot be formed, and therefore the circuit cannot be damaged due to misconnection.
Preferably, the soft start and braking circuit 9 further comprises a third diode D3; the cathode of the third diode D3 is connected to the BK1 end of the brake resistor port 12, and the anode is connected to the anode of the first capacitor C1; the source of the seventh power tube Q7 is connected to the N terminal, and the drain is connected to the BK2 terminal of the brake resistor port 12. If the power line of the T end is connected to the BK1 end in a staggered mode, D3 is cut off in a reverse direction when the BK1 end is in an alternating current positive half cycle, and therefore damage to the circuit is prevented.
In order to optimize the above embodiment, the servo driving unit main circuit 13 further includes a first diode D1, a second diode D2, a third resistor R3, a second resistor R2, and a first optocoupler U1; anodes of the first diode D1 and the second diode D2 are respectively connected to the ends R1 and S1 of the input of the rectifying module 8, and cathodes of the first diode D1 and the second diode D2 are simultaneously connected with one end of a third resistor R3; the other end of the third resistor R3 is connected to the input end of the auxiliary power supply 16; one end of the second resistor R2 is connected with the T1 end of the input of the rectifier module 8, and the other end is connected to the anode of the first optocoupler U1; and the cathode of the first optocoupler U1 is connected with the N end, the collector of the first optocoupler is connected with a power supply VCC, and the emitter of the first optocoupler is connected with the input end of the sampling control circuit 15.
In the above scheme, the second resistor R2 and the first optocoupler U1 detect the power line signal at the T end, and transmit the signal to the sampling control circuit 15 through the optocoupler side, and only if the power line at the R, S, T end is correctly connected, the sampling control circuit 15 sends a signal to control the conduction of the Q8 in the soft start and brake circuit 9, so that the relay J1 is closed, the soft start process is completed, and the circuit enters a standby state. The first diode D1, the second diode D2, and the third resistor R3 may be used as a start signal for the auxiliary power supply 16, and when the power line at port R, S is properly connected, the auxiliary power supply 16 starts to operate normally. Therefore, the scheme can further prevent the damage of wrong wiring to the circuit.
The working principle of the invention is as follows:
correctly connecting R, S, T terminals, BK1 terminals, BK2 terminals and U, V, W terminals, closing a connecting switch between connecting power cables, connecting an alternating voltage of an input 220 or 380 to R, S, T terminals, inputting the alternating voltage to an EMI filtering module 7 and a rectifying module 8, loading the rectified voltage to P and N terminals, wherein one terminal is slowly charged to C1 through R1, the other terminal is directly added to the input terminals of C2 and a main power module 10, on the other hand, the alternating voltage of the R1 and S1 terminals passes through D1, D2 and R3 and an internal diode in the rectifying module 8 to form a current loop and provide enough starting voltage and current to an auxiliary power supply 16, the auxiliary power supply 16 starts to be normally started to provide required normal voltage for other circuits, the alternating voltage of the T1 terminal input by the rectifying module 8 passes through a loop formed by R2, U1 and an internal diode in the rectifying module 8, and transmits the detected alternating current signal of the T1 terminal to a sampling control circuit 15 through an optical coupler side, after detecting the P and N bus voltages and the signals at the optical coupler side, the sampling control circuit 15 outputs a path of signal to the soft start and brake circuit 9 to control the conduction of the Q8 tube, the 3 and 4 ends of the relay J1 are attracted, the soft start is completed, and the whole machine enters a standby state.
Several cases of power line misconnection and misconnection were analyzed as follows:
1. if the 220V or 380V power line input to the R, S, T end is connected to the U, V, W end, and the U, V, W end power line is originally connected to the R, S, T end, the auxiliary power supply 16 is started by detecting the 220V or 380V to complete the starting operation, so that the relay J1 is in a disconnected state in the whole process, at this time, the 220V or 380V voltage is rectified by the built-in diode of the main power module 10, one path of the rectified voltage is directly applied to the P and N ends and the two ends of the C2, the C2 is a high-frequency capacitor, the surge current formed by the input voltage to the C2 is small, the other path of the rectified voltage slowly charges the C1 through the soft starting resistor R1, and at this time, the charging current on the C2 is limited by the R1, the too high impact current cannot be formed, the wrong connection cannot damage a circuit, and correct connection can be recovered.
2. If one of the 220V or 380V power lines input to the R, S, T end is connected to any one of the BK1, BK2 and U, V, W ends, it is assumed here that the power line of the T end is connected to the BK1 end in a staggered manner, when the BK1 end is in an alternating current positive half cycle, the D3 is cut off in a reverse direction, when the BK1 end is in an alternating current negative half cycle, the alternating current voltage is half-wave rectified back to the BK1 end through the built-in diode, the P end, the R1 and the diode D3 of the rectifying module 8, the resistor R3 generates heat, at this time, the auxiliary power supply 16 acquires the voltage through the R1 and S1 ends and works normally, and simultaneously provides the power supply voltage required by other circuits, and due to the wiring error, the optical coupler U1 does not detect the voltage signal at the T1 end, so the relay J1 does not attract, and.
Compared with the conventional servo driving module circuit in fig. 3, when the conventional servo driving module circuit works in the first situation, the alternating voltage of 220V or 380V is directly applied to the P and N ends through the rectification of the built-in diode in the main power module, and because the C1 and the C2 are directly connected with the P and N ends, a large surge current must be caused to the main power module, so that a protection device in a power grid has a tripping action, or devices in the unit are directly damaged; in the second situation, because the starting resistor of the auxiliary power supply is connected to the P end, the power supply normally works, the relay J1 is closed, the alternating-current voltage at the BK1 end returns to R, S, T end through D1, the C1 and C2 capacitors which are connected in parallel and the built-in diodes of the rectifier module to form a loop, and the D1 is burnt due to the fact that C1 is an electrolytic capacitor with large capacity and large impact current exists in the loop.
Therefore, the servo drive module with fault tolerance provided by the embodiment of the invention can realize fault tolerance of power line access without damaging the module, avoids damage to the servo drive module caused by non-standard operation, does not need to add too many devices, fully exerts the advantages of simple circuit structure and simple control circuit, does not need to adopt specially-required fool-proof terminals, reduces the cost, and is particularly suitable for replacing the conventional servo drive module.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (2)
1. A servo drive module with fault tolerance, characterized in that: the servo unit comprises an input port, a servo unit main circuit, a brake resistor port, an output port, a sampling control circuit and an auxiliary power supply;
the input end of the servo unit main circuit is connected to the input port, and the output end of the servo unit main circuit is connected to the output port; the port of the brake resistor is connected with the servo unit main circuit; the input end of the sampling control circuit is connected with the output end of the auxiliary power supply, and the output end of the sampling control circuit is connected with the main circuit of the servo unit; the auxiliary power supply is connected with the servo unit main circuit;
the servo unit main circuit comprises an input EMI filtering module, a rectifying module, a soft start and brake circuit, a main power module, a first capacitor C1 and a second capacitor C2; the input end of the EMI filtering module is connected with the input port, and the output end of the EMI filtering module is connected with the input end of the rectifying module; the output end of the rectifying module and the main power module are connected to the P, N end; the second capacitor C2 is connected with the end P, N of the main power module; the first capacitor C1 is an electrolytic capacitor, and the second capacitor C2 is a high-frequency capacitor;
the soft start and brake circuit comprises a first resistor R1 and a first relay J1; one end of the first resistor R1 and one end of the first relay J1 are connected to the P end, and the other end of the first resistor R1 is connected with the other end of the first relay J1 and the positive end of the first capacitor C1; the negative end of the first capacitor C1 is connected to the N end;
the servo drive unit main circuit further comprises a first diode D1, a second diode D2, a third resistor R3, a second resistor R2 and a first optical coupler U1; anodes of the first diode D1 and the second diode D2 are respectively connected to the ends R1 and S1 of the input of the rectifying module, and cathodes of the first diode D1 and the second diode D2 are simultaneously connected with one end of a third resistor R3; the other end of the third resistor R3 is connected to the input end of the auxiliary power supply; one end of the second resistor R2 is connected with the T1 end of the input of the rectifier module, and the other end of the second resistor R2 is connected to the anode of the first optocoupler U1; and the cathode of the first optocoupler U1 is connected with the N end, the collector of the first optocoupler is connected with a power supply VCC, and the emitter of the first optocoupler is connected with the input end of the sampling control circuit.
2. The servo drive module of claim 1, wherein: the soft start and brake circuit further comprises a third diode D3 and a seventh power tube Q7; the cathode of the third diode D3 is connected to the BK1 end of the port of the brake resistor, and the anode is connected with the anode of the first capacitor C1; the source of the seventh power tube Q7 is connected with the N end, and the drain is connected with the BK2 end of the brake resistor port.
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| CN110247387B true CN110247387B (en) | 2021-03-16 |
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| CN113541122B (en) * | 2021-07-20 | 2022-06-17 | 珠海格力电器股份有限公司 | Protection device and method for servo driver and servo motor |
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