CN114698470A - Braking control method for built-in braking resistor module of mower motor - Google Patents
Braking control method for built-in braking resistor module of mower motor Download PDFInfo
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- CN114698470A CN114698470A CN202210340731.5A CN202210340731A CN114698470A CN 114698470 A CN114698470 A CN 114698470A CN 202210340731 A CN202210340731 A CN 202210340731A CN 114698470 A CN114698470 A CN 114698470A
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- motor
- brake
- mower
- module
- monitoring
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012544 monitoring process Methods 0.000 claims abstract description 44
- 239000000725 suspension Substances 0.000 claims description 6
- 238000009333 weeding Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 244000025254 Cannabis sativa Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D69/00—Driving mechanisms or parts thereof for harvesters or mowers
- A01D69/10—Brakes
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Harvester Elements (AREA)
- Stopping Of Electric Motors (AREA)
Abstract
The invention relates to a mower, in particular to a braking control method of a built-in braking resistor module used in a mower motor. The invention discloses a braking control method for a built-in braking resistance module of a mower motor, which comprises the following braking control steps of: installing a brake resistor module in a mower motor assembly and electrically connecting the brake resistor module with a controller; when the motor of the mower works, the controller also executes a monitoring task to the brake resistance module while working; when the controller executes the monitoring task, the condition that the bus voltage is larger than a set threshold value 1 is monitored and judged, and the brake resistance module starts to work; and in the working process of the brake resistance module, the brake resistance module stops working when monitoring and judging that the condition that the bus voltage is less than the set threshold value 2 exists. Effectively protect the lawn mower motor, improve its stability in use and life, improve mowing efficiency.
Description
Technical Field
The invention relates to a mower, in particular to a brake control method of a built-in brake resistor module used in a mower motor.
Background
Mowers, also known as lawn mowers, lawnmowers, lawn mowers, are a type of mechanical implement used to trim lawns. An important functional component in all the components of the mower is the mower motor, the mower motor is responsible for the power driving task of the whole mower, the quality stability and reliability of the mower motor are directly related to the weeding quality of the mower, the weeding efficiency, the service life and the reliability and stability of the weeding efficiency and the service life are directly caused, if the mower motor is damaged, the whole mower cannot work normally and cannot complete the weeding task execution of the mower, and the existing mower has limited protection function on the mower motor and cannot well protect the stability and the effectiveness of the mower in working and use.
Disclosure of Invention
The invention provides a brake control method of a built-in brake resistance module of a mower motor, which can better and effectively protect the mower motor, improve the stability and the service life of the mower motor and improve the grass cutting and weeding efficiency of a mower, and aims to solve the current situations that the existing mower has limited protection function on the mower motor and cannot well protect the stability, reliability and effectiveness of the mower during working and use.
The invention adopts the following specific technical scheme for solving the technical problems: a braking control method of a built-in brake resistance module of a mower is characterized by comprising the following braking control steps:
A1. the brake resistance module is arranged in a mower motor assembly and is electrically connected with a controller of a mower motor;
A2. when the mower motor works, the controller of the mower motor also executes a starting monitoring task to the brake resistance module while working;
A3. when the controller executes the monitoring task of the step A2, the controller monitors and judges whether the bus voltage is larger than the set threshold value 1, if the bus voltage is larger than the set threshold value 1, the controller executes the step A4;
A4. starting the brake resistor module;
A5. in the process of executing the step A4, in the process of operating the brake resistance module, monitoring and judging whether the bus voltage is less than the set threshold value 2, and if the bus voltage is less than the set threshold value 2, executing the following step A6;
A6. the brake resistance module stops working;
A7. in the step A3, if it is determined by monitoring that the bus voltage is not greater than the set threshold value 1, the step a6 is directly executed;
A8. in the step a5, if it is determined by monitoring that the bus voltage < the set threshold 2 is not present, the process returns to the step a4.
When the voltage of the control bus is detected to be larger than a set voltage value at the moment of motor braking, the braking resistor module starts to work to absorb the energy of the bus, and when the voltage is reduced to be lower than a safe voltage, the braking resistor stops working. The braking inertia is absorbed through the braking resistance module, the damage to a motor system circuit caused by recharging energy is avoided, a mower system can be better and effectively protected, the stability and the service life of the mower are improved, and the grass cutting and weeding efficiency of the mower is improved.
Preferably, in the step a2 monitoring task, the controller control system further executes the following monitoring steps after starting:
B1. monitoring and judging whether the brake resistance modules are effectively connected, and if the brake resistance modules are effectively connected, executing the following step B2;
B2. the mower motor runs;
B3. in the operation process of the motor of the mower, monitoring and judging whether a motor stop signal appears, and if the motor stop signal appears, executing the following step B4;
B4. starting a brake resistance module;
B5. after the brake resistance module is started, the controller simultaneously monitors and judges whether the brake resistance module has the condition that the brake time is less than the set time, if the brake time is less than the set time, the following step B5 is executed;
B6. monitoring and judging whether the motor of the mower is completely stopped or not, and if the motor is completely stopped, executing the following step B7;
B7. ending control by a mower motor controller;
B8. in the step B1, if the monitoring determines that there is no active connection, the step B7 is directly executed;
B9. in the step B3, if it is determined that the motor stop signal is not present, the process returns to the step B2;
B10. in the step B5, if it is determined by monitoring that there is no braking time less than the set time, executing a forcible suspension algorithm task, and executing the step B7 by using a forcible suspension algorithm;
B11. in the step B6, if it is determined by the monitoring that the motor is not completely stopped, a forcible stop algorithm task is executed, and the step B7 is executed by the forcible stop algorithm.
Preferably, the set threshold 1 is a brake module exit threshold. The monitoring judgment is simple, convenient and reliable to execute, and effectiveness is improved.
Preferably, the set threshold 2 is a brake module intervention threshold. The monitoring judgment is simple, convenient and reliable to execute, and effectiveness is improved.
Preferably, the braking resistance module is provided with a fixed resistance. The brake resistor module is simple, reliable and effective in brake application.
Preferably, the set time is 2 to 10 seconds. The monitoring brake control efficiency is improved, and the timeliness and effectiveness of motor protection are improved.
Preferably, the fixed resistor is formed by connecting a plurality of fixed power resistors in parallel. The working power requirement and the stability and the reliability of the fixed resistor are improved, and the possibility of damage to the motor is reduced.
The invention has the beneficial effects that: when the voltage of the control bus is detected to be larger than a set voltage value at the moment of motor braking, the braking resistor module starts to work to absorb the energy of the bus, and when the voltage is reduced to a safe voltage, the braking resistor stops working. The motor of the mower can be effectively protected better, the stability and the service life of the motor of the mower can be improved, and the grass cutting and weeding efficiency of the mower can be improved.
Description of the drawings:
the invention is described in further detail below with reference to the figures and the detailed description.
FIG. 1 is a schematic block diagram structure of a braking control method of a built-in brake resistance module of a mower motor.
FIG. 2 is a schematic structural diagram of a logic control block diagram of the braking control method of the built-in brake resistance module of the mower motor.
FIG. 3 is a schematic diagram of the principle of the braking control method of the built-in brake resistance module of the mower motor and the wiring structure thereof.
FIG. 4 is a brake mode working schematic diagram of the brake control method of the built-in brake resistor module of the mower motor.
FIG. 5 is a schematic view of a brake resistor module installation and use structure of the brake control method of the built-in brake resistor module of the mower motor.
Detailed Description
In the embodiment shown in fig. 1, 2, 3, 4 and 5, a braking control method of a built-in brake resistance module of a mower includes the following braking control steps:
A1. a brake resistance module 50 (shown in figure 5) is arranged in the motor assembly 30 of the mower and is electrically connected with the built-in controller 40 of the motor of the mower;
A2. when the motor of the mower works, the controller of the motor of the mower also executes a task of starting monitoring 10 on the brake resistance module while working;
A3. when the controller executes the monitoring task of the step A2, the controller monitors and judges whether the bus voltage is greater than the set threshold value 1 or not 11, and if the bus voltage is greater than the set threshold value 1, the controller executes the step A4;
A4. the brake resistance module works 12;
A5. in the process of executing the step A4, in the process of operating the brake resistance module, monitoring and judging whether the condition 13 that the bus voltage is less than the set threshold 2 exists, if so, executing the following step A6;
A6. the brake resistor module stops working 14;
A7. in the step A3, if it is determined by monitoring that the bus voltage is not greater than the set threshold value 1, the step a6 is directly executed;
A8. in the step a5, if it is determined by monitoring that the bus voltage < the set threshold 2 is not present, the process returns to the step a4.
In the above monitoring task of step a2, the controller control system starts 20 and then performs the following monitoring steps:
B1. monitoring and judging whether the brake resistance module is effectively connected 21, and if the brake resistance module is effectively connected, executing the following step B2;
B2. the mower motor is operated 22, and the motor rotor 31 rotates;
B3. in the operation process of the motor of the mower, monitoring and judging whether a motor stop signal 23 appears, and if the motor stop signal appears, executing the following step B4;
B4. the brake resistor module is started 24;
B5. after the brake resistance module is started, the controller simultaneously monitors and judges whether the brake time of the brake resistance module is less than the set time 25, and if the brake time is less than the set time, the following step B5 is executed;
B6. monitoring and judging whether the mower motor is completely stopped 26, and if the motor is completely stopped, executing the following step B7;
B7. the mower motor controller controls to end 27;
B8. in the step B1, if the monitoring determines that there is no active connection, the step B7 is directly executed;
B9. in the step B3, if it is determined that the motor stop signal is not present, the process returns to the step B2;
B10. in the step B5, if it is determined by monitoring that there is no braking time less than the set time, executing a forcible suspension algorithm task, and executing the step B7 by using a forcible suspension algorithm;
B11. in the step B6, if it is determined by the monitoring that the motor is not completely stopped, a forcible stop algorithm task is executed, and the step B7 is executed by the forcible stop algorithm.
The above-mentioned set threshold 1 is a brake module exit threshold (see fig. 4). The set threshold 2 is a brake module intervention threshold. The brake resistor module is provided with a fixed resistor. Furthermore, the fixed resistor can be formed by connecting a plurality of fixed power resistors in parallel.
When the brake device is used, the braking time is controllable, the brake device can be set according to the requirements of working conditions (for example, the brake device is set at 2S or 3S), the set time can be set to any value within 1-10 seconds, and the measured value does not exceed the error of +/-10%. The braking resistance module is connected with a built-in controller (shown in figures 3 and 5) in the mower motor assembly, the braking module is started when the motor stops, and the braking module mainly ensures that the motor stops within the safety regulation time and ensures the safety of electronic circuits.
The brake principle of the invention is explained as follows:
1. the general braking resistance is intended to prevent the related module from being damaged due to the rise of voltage pump during the operation of the motor. The design idea of the design is to use the module as a motor braking device, aiming at effectively stopping the motor within the time range specified by safety regulations.
2. The brake resistance module can act after receiving a motor stop signal, and at the moment, because the motor has huge inertia, the motor cannot be effectively stopped by a traditional brake mode, and the expected deceleration stop effect can be achieved only by combining software algorithm and brake control module matching when the motor stops.
3. The maximum power that the brake resistor pad can absorb depends on the set threshold voltage and the resistance and power of the entire module. The setting is realized by an algorithm. In order to meet the requirement on the reliability of a brake module, the interior of the brake module is designed in a multi-module parallel connection mode, and effective braking can be guaranteed under the condition that a certain path is disconnected.
Claims (7)
1. A braking control method of a built-in brake resistance module of a mower is characterized by comprising the following braking control steps:
A1. the brake resistance module is arranged in a mower motor assembly and is electrically connected with a controller of a mower motor;
A2. when the mower motor works, the controller of the mower motor also executes a starting monitoring task to the brake resistance module while working;
A3. when the controller executes the monitoring task of the step A2, the controller monitors and judges whether the bus voltage is larger than the set threshold value 1, if the bus voltage is larger than the set threshold value 1, the controller executes the step A4;
A4. starting the brake resistor module;
A5. in the process of executing the step A4, in the process of operating the brake resistance module, monitoring and judging whether the bus voltage is less than the set threshold value 2, and if the bus voltage is less than the set threshold value 2, executing the following step A6;
A6. the brake resistance module stops working;
A7. in the step A3, if it is determined by monitoring that the bus voltage is not greater than the set threshold value 1, the step a6 is directly executed;
A8. in the step a5, if it is determined by monitoring that the bus voltage < the set threshold 2 is not present, the process returns to the step a4.
2. The method for controlling the braking of a built-in brake resistor module of a mower motor according to claim 1, wherein in the step a2, the controller control system further performs the following monitoring steps after starting:
B1. monitoring and judging whether the brake resistance modules are effectively connected, and if the brake resistance modules are effectively connected, executing the following step B2;
B2. the mower motor runs;
B3. in the operation process of the motor of the mower, monitoring and judging whether a motor stop signal appears, and if the motor stop signal appears, executing the following step B4;
B4. starting a brake resistance module;
B5. after the brake resistance module is started, the controller simultaneously monitors and judges whether the brake resistance module has the condition that the brake time is less than the set time, if the brake time is less than the set time, the following step B5 is executed;
B6. monitoring and judging whether the motor of the mower is completely stopped or not, and if the motor is completely stopped, executing the following step B7;
B7. ending control by a mower motor controller;
B8. in the step B1, if the monitoring determines that there is no active connection, the step B7 is directly executed;
B9. in the step B3, if it is determined that the motor stop signal is not present, the process returns to the step B2;
B10. in the step B5, if it is determined by monitoring that there is no braking time less than the set time, executing a forcible suspension algorithm task, and executing the step B7 by using a forcible suspension algorithm;
B11. in the step B6, if it is determined by the monitoring that the motor is not completely stopped, a forcible stop algorithm task is executed, and the step B7 is executed by the forcible stop algorithm.
3. The method for controlling the braking of the built-in brake resistor module of the motor of the mower according to claim 1, wherein the set threshold value 1 is a brake module exit threshold value.
4. The method for controlling the braking of the built-in brake resistor module of the motor of the mower according to claim 1, wherein the set threshold 2 is a brake module intervention threshold.
5. The method for controlling the braking of the built-in brake resistor module of the motor of the mower according to claim 1, wherein the brake resistor module is provided with a fixed resistor.
6. The method for controlling the braking of the built-in brake resistor module of the motor of the mower according to claim 2, wherein the set time is 1-10 seconds.
7. The method for controlling the braking of the built-in brake resistor module of the motor of the mower according to claim 5, wherein the fixed resistor is formed by connecting a plurality of fixed power resistors in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210340731.5A CN114698470B (en) | 2022-04-02 | 2022-04-02 | Braking control method for built-in braking resistor module of mower motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210340731.5A CN114698470B (en) | 2022-04-02 | 2022-04-02 | Braking control method for built-in braking resistor module of mower motor |
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| Publication Number | Publication Date |
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| CN114698470A true CN114698470A (en) | 2022-07-05 |
| CN114698470B CN114698470B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210340731.5A Active CN114698470B (en) | 2022-04-02 | 2022-04-02 | Braking control method for built-in braking resistor module of mower motor |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3802419A1 (en) * | 1988-01-28 | 1989-08-10 | Bosch Gmbh Robert | BRAKE CONTROL FOR UNIVERSAL MOTORS |
| CN103213884A (en) * | 2013-04-26 | 2013-07-24 | 广州日滨科技发展有限公司 | Method, method and device for elevator brake pipe fault detection |
| US20150366129A1 (en) * | 2012-12-28 | 2015-12-24 | (Positec Power Tools (Suzhou Co., Ltd) | Auto Mowing System |
| CN105470927A (en) * | 2015-12-30 | 2016-04-06 | 深圳市合信自动化技术有限公司 | Dynamic brake and corresponding servo driver |
| CN111361424A (en) * | 2018-12-24 | 2020-07-03 | 比亚迪股份有限公司 | Rail vehicle and traction inverter thereof |
| CN113241729A (en) * | 2021-05-22 | 2021-08-10 | 深圳市华成工业控制股份有限公司 | Alternating current driver protection circuit |
| CN113498666A (en) * | 2021-06-22 | 2021-10-15 | 深圳拓邦股份有限公司 | Intelligent operation method of mower, controller and mower |
-
2022
- 2022-04-02 CN CN202210340731.5A patent/CN114698470B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3802419A1 (en) * | 1988-01-28 | 1989-08-10 | Bosch Gmbh Robert | BRAKE CONTROL FOR UNIVERSAL MOTORS |
| US20150366129A1 (en) * | 2012-12-28 | 2015-12-24 | (Positec Power Tools (Suzhou Co., Ltd) | Auto Mowing System |
| CN103213884A (en) * | 2013-04-26 | 2013-07-24 | 广州日滨科技发展有限公司 | Method, method and device for elevator brake pipe fault detection |
| CN105470927A (en) * | 2015-12-30 | 2016-04-06 | 深圳市合信自动化技术有限公司 | Dynamic brake and corresponding servo driver |
| CN111361424A (en) * | 2018-12-24 | 2020-07-03 | 比亚迪股份有限公司 | Rail vehicle and traction inverter thereof |
| CN113241729A (en) * | 2021-05-22 | 2021-08-10 | 深圳市华成工业控制股份有限公司 | Alternating current driver protection circuit |
| CN113498666A (en) * | 2021-06-22 | 2021-10-15 | 深圳拓邦股份有限公司 | Intelligent operation method of mower, controller and mower |
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| CN114698470B (en) | 2024-05-24 |
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Effective date of registration: 20240325 Address after: 322100 Hengdian Electronic Industrial Park, Dongyang City, Jinhua City, Zhejiang Province Applicant after: ZHEJIANG LINIX MOTOR Co.,Ltd. Country or region after: China Address before: No. 196, Gongye Avenue, Hengdian Town, Dongyang City, Jinhua City, Zhejiang Province 322100 Applicant before: DONGYANG LIANYI ELECTROMECHANICAL Co.,Ltd. Country or region before: China |
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