CN114698470B - 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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- CN114698470B CN114698470B CN202210340731.5A CN202210340731A CN114698470B CN 114698470 B CN114698470 B CN 114698470B CN 202210340731 A CN202210340731 A CN 202210340731A CN 114698470 B CN114698470 B CN 114698470B
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- brake
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- mower
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 claims abstract description 51
- 238000010586 diagram Methods 0.000 description 6
- 238000009333 weeding Methods 0.000 description 6
- 244000025254 Cannabis sativa Species 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009993 protective function Effects 0.000 description 1
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
Landscapes
- 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 motor of the mower. The invention discloses a brake control method for a built-in brake resistor module of a mower motor, which comprises the following brake control steps: the brake resistor module is arranged in the mower motor assembly and is electrically connected with the controller; when the mower motor works, the controller also performs a task of monitoring the start of the brake resistance module while working; when the controller executes the monitoring task, the controller monitors and judges that the bus voltage is greater than the set threshold value 1, and the brake resistor module starts to work; and in the working process of the braking resistor module, monitoring is carried out simultaneously to judge that the condition that the bus voltage is less than the set threshold value 2 exists, and the braking resistor module stops working. Effectively protect mower motor, improve its stability and life that uses, improve mowing efficiency.
Description
Technical Field
The invention relates to a mower, in particular to a braking control method of a built-in braking resistor module used in a motor of the mower.
Background
Mowers are also known as weeder, lawnmower, lawn mower, a type of machine tool used to trim lawns. One important functional component among all the constituent components of the mower is a 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 mower motor, if the mower motor is damaged, the whole mower cannot work normally, the weeding task of the mower cannot be executed, the existing mower has limited protective function on the mower motor, and the stable, reliable and effective operation of the mower cannot be well protected.
Disclosure of Invention
The invention provides a brake control method for a built-in brake resistor module of a mower motor, which aims to solve the problems that the existing mower has limited protection function on the motor of the mower, can not well protect the working stability, reliability and effectiveness of the mower, and the like, can better and effectively protect the motor of the mower, improve the use stability and service life of the motor of the mower, and improve the weeding efficiency of the mower when cutting grass.
The invention adopts the concrete technical scheme for solving the technical problems that: a brake control method of a built-in brake resistor module of a mower motor is characterized by comprising the following brake control steps:
A1. the brake resistance module is installed and built in the mower motor assembly and is electrically connected with a controller of the mower motor;
A2. when the mower motor works, the controller of the mower motor also performs a task of monitoring the start of the brake resistance module while working;
A3. When the controller executes the monitoring task in the step A2, monitoring and judging whether the condition that the bus voltage is larger than the set threshold value 1 exists, and executing the step A4 if the condition that the bus voltage is larger than the set threshold value 1 exists;
A4. The brake resistor module starts to work;
A5. In the working process of executing the brake resistor module in the step A4, monitoring and judging whether the condition that the bus voltage is less than the set threshold value 2 exists or not is executed at the same time, and if the condition that the bus voltage is less than the set threshold value 2 exists, executing the following step A6;
A6. The brake resistor module stops working;
A7. in the step A3, if the monitoring and judging that the bus voltage is not greater than the set threshold value 1, directly executing the step A6;
A8. In the step A5, if the monitoring determines that the bus voltage is less than the set threshold 2, the step A4 is executed again.
When the voltage of the control bus is detected to be larger than a set voltage value at the time of motor braking, the braking resistor module starts to work, the bus energy is absorbed, and when the voltage is reduced below a safe voltage, the braking resistor stops working. The braking inertia is absorbed through the braking resistance module, so that the damage to a motor system circuit caused by recharging energy is avoided, a mower system can be effectively protected better, the use stability and the service life of a mower motor are improved, and the grass cutting and weeding efficiency of the mower is improved.
Preferably, in executing the above-mentioned monitoring task of step A2, the controller control system further executes the following monitoring steps after starting up:
B1. monitoring and judging whether the brake resistor module is effectively connected, and if so, executing the step B2;
B2. The mower motor operates;
B3. in the operation process of the mower motor, monitoring and judging whether a motor stop signal appears, if so, executing the following step B4;
B4. The brake resistance module is started;
B5. After the brake resistance module is started, the controller monitors and judges whether the brake resistance module has the condition that the brake time is less than the set time, and if the brake time is less than the set time, the step B5 is executed;
B6. Monitoring and judging whether the motor of the mower is completely stopped, and if the motor is completely stopped, executing the following step B7;
B7. the control of the mower motor controller is finished;
B8. in the step B1, if the monitoring judges that no effective connection exists, the step B7 is directly executed;
B9. In the step B3, if the monitoring judges that the motor does not generate a stop signal, executing the step B2;
B10. In the step B5, if the monitoring and judging that the braking time is less than the set time, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm;
B11. in the step B6, if the monitoring judges that the motor is not completely stopped, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm.
Preferably, the set threshold 1 is a brake module exit threshold. The monitoring judgment execution is simple, convenient, fast and reliable.
Preferably, the set threshold 2 is a brake module intervention threshold. The monitoring judgment execution is simple, convenient, fast and reliable.
Preferably, the brake resistor module is provided with a fixed resistor. The braking efficiency of the braking resistor module is improved, and the braking operation is simple, reliable and effective.
Preferably, the set time is 2 to 10 seconds. The monitoring and braking control efficiency is improved, and the motor protection and timeliness are improved.
Preferably, the fixed resistor is formed by connecting a plurality of fixed power resistors in parallel. The working power requirement of the fixed resistor and the stability and reliability of the fixed resistor are improved, and the damage possibility of the motor is reduced.
The beneficial effects of the invention are as follows: when the voltage of the control bus is detected to be larger than a set voltage value at the time of motor braking, the braking resistor module starts to work, the bus energy is absorbed, and when the voltage is reduced to a safe voltage, the braking resistor stops working. The mower motor can be better and effectively protected, the use stability and the service life of the mower motor are improved, and the grass cutting and weeding efficiency of the mower is improved.
Description of the drawings:
The invention is described in further detail below with reference to the drawings and the detailed description.
FIG. 1 is a schematic block diagram of a method for controlling a brake resistor module in a mower motor according to the present invention.
Fig. 2 is a schematic structural diagram of a logic control block diagram of a control method for braking a built-in brake resistor module of a mower motor according to the invention.
Fig. 3 is a schematic diagram of the principle of the brake control method of the mower motor built-in brake resistor module and the wiring structure thereof.
Fig. 4 is a schematic diagram of the braking mode of the control method of the built-in brake resistor module of the mower motor according to the invention.
Fig. 5 is a schematic diagram of a brake resistor module installation and use structure of the brake control method of the mower motor built-in brake resistor module.
Detailed Description
In the embodiments shown in fig. 1, 2,3, 4 and 5, a method for controlling braking of a built-in brake resistor module of a mower motor includes the following steps:
A1. a brake resistance module 50 (see fig. 5) is installed and built in the mower motor assembly 30 and is electrically connected with the built-in controller 40 of the mower motor;
A2. when the mower motor works, the controller of the mower motor also performs 10 tasks of monitoring the start of the brake resistance module while working;
A3. when the controller executes the monitoring task in the step A2, monitoring and judging whether the condition 11 that the bus voltage is larger than the set threshold value 1 exists, and executing the following step A4 if the condition that the bus voltage is larger than the set threshold value 1 exists;
A4. The brake resistor module operation 12 is started;
A5. in the working process of executing the brake resistor module in the step A4, simultaneously executing monitoring and judging whether the condition 13 of the bus voltage less than the set threshold value 2 exists, and executing the following step A6 if the condition of the bus voltage less than the set threshold value 2 exists;
A6. The brake resistor module stops working 14;
A7. in the step A3, if the monitoring and judging that the bus voltage is not greater than the set threshold value 1, directly executing the step A6;
A8. In the step A5, if the monitoring determines that the bus voltage is less than the set threshold 2, the step A4 is executed again.
In executing the above-mentioned step A2 monitoring task, the controller control system starts 20 and then executes the following monitoring steps:
B1. Monitoring and judging whether the brake resistor module is effectively connected 21, and if the brake resistor module is effectively connected, executing the following step B2;
B2. Mower motor operation 22, motor rotor 31 rotates;
B3. during the operation of the mower motor, monitoring and judging whether a motor stop signal 23 appears, and if so, executing the following step B4;
B4. The brake resistance module is started 24;
B5. After the brake resistance module is started, the controller monitors and judges whether the brake resistance module has the condition that the brake time is less than the set time 25, and if the brake time is less than the set time, the step B5 is executed;
B6. Monitoring and judging whether the motor of the mower is completely stopped 26, and if the motor is completely stopped, executing the following step B7;
B7. The mower motor controller control ends 27;
B8. in the step B1, if the monitoring judges that no effective connection exists, the step B7 is directly executed;
B9. In the step B3, if the monitoring judges that the motor does not generate a stop signal, executing the step B2;
B10. In the step B5, if the monitoring and judging that the braking time is less than the set time, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm;
B11. in the step B6, if the monitoring judges that the motor is not completely stopped, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm.
The 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. Further, the fixed resistor can be formed by connecting a plurality of fixed power resistors in parallel.
When the device is used, the braking time is controllable, the device can be set according to the working condition requirement (such as 2S or 3S), and the set time can be set to any one value of 1-10 seconds, wherein the actual measured value is not more than +/-10% error. The brake resistor module is connected with a built-in controller (see fig. 3 and 5) in the mower motor assembly, and is started at the stopping moment of the motor, and the brake module mainly ensures that the motor is stopped within the specified time of safety regulations and ensures the safety of electronic circuits.
The braking principle of the invention is explained as follows:
1. The general braking resistor aims to prevent related module damage caused by voltage pump up during motor operation. The design idea is to use the module as a motor braking device, and aims to effectively stop the motor within a time range specified by safety regulations.
2. The braking resistance module can only act after receiving the motor stop signal, at the moment, the motor can not be effectively stopped by the traditional braking mode because the motor has huge inertia, and the expected deceleration stopping effect can be achieved only by combining a software algorithm with a braking control module.
3. The maximum power that the brake resistor plate can absorb depends on the set threshold voltage and the resistance value and power of the entire module. The setting has algorithm realization. In order to meet the requirement of the reliability of the braking module, the inside of the braking module is designed in a multi-module parallel connection mode, and effective braking can be ensured under the condition that a certain path is disconnected.
Claims (3)
1. A brake control method of a built-in brake resistor module of a mower motor is characterized by comprising the following brake control steps:
A1. the brake resistance module is installed and built in the mower motor assembly and is electrically connected with a controller of the mower motor;
A2. When the mower motor works, the controller of the mower motor also performs a monitoring task on the brake resistance module while working;
A3. When the controller executes the monitoring task in the step A2, monitoring and judging whether the condition that the bus voltage is larger than the set threshold value 1 exists, and executing the step A4 if the condition that the bus voltage is larger than the set threshold value 1 exists;
A4. The brake resistor module starts to work;
A5. In the working process of executing the brake resistor module in the step A4, monitoring and judging whether the condition that the bus voltage is less than the set threshold value 2 exists or not is executed at the same time, and if the condition that the bus voltage is less than the set threshold value 2 exists, executing the following step A6;
A6. The brake resistor module stops working;
A7. in the step A3, if the monitoring and judging that the bus voltage is not greater than the set threshold value 1, directly executing the step A6;
A8. in the step A5, if the monitoring and judging that the bus voltage is less than the set threshold value 2, returning to execute the step A4;
The set threshold 1 is a brake module exit threshold; the set threshold 2 is a braking module intervention threshold; the brake resistor module is provided with a fixed resistor;
in executing the monitoring task of the step A2, the controller control system further executes the following monitoring steps after starting up:
B1. monitoring and judging whether the brake resistor module is effectively connected, and if so, executing the step B2;
B2. The mower motor operates;
B3. in the operation process of the mower motor, monitoring and judging whether a motor stop signal appears, if so, executing the following step B4;
B4. The brake resistance module is started;
B5. After the brake resistance module is started, the controller monitors and judges whether the brake resistance module has the condition that the brake time is less than the set time, and if the brake time is less than the set time, the following step B6 is executed;
B6. Monitoring and judging whether the motor of the mower is completely stopped, and if the motor is completely stopped, executing the following step B7;
B7. the control of the mower motor controller is finished;
B8. in the step B1, if the monitoring judges that no effective connection exists, the step B7 is directly executed;
B9. In the step B3, if the monitoring judges that the motor does not generate a stop signal, executing the step B2;
B10. In the step B5, if the monitoring and judging that the braking time is less than the set time, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm;
B11. in the step B6, if the monitoring judges that the motor is not completely stopped, executing a task of a forced stopping algorithm, and executing the step B7 through the forced stopping algorithm.
2. The method for controlling the braking of the built-in braking resistor module of the mower motor according to claim 1, wherein the set time is 1-10 seconds.
3. The method for controlling the braking of the built-in braking resistor module of the mower motor according to claim 1, 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114698470A CN114698470A (en) | 2022-07-05 |
| CN114698470B true CN114698470B (en) | 2024-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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| CN (1) | CN114698470B (en) |
Citations (6)
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2939508B1 (en) * | 2012-12-28 | 2021-05-19 | Positec Power Tools (Suzhou) Co., Ltd | Automatic mowing system |
-
2022
- 2022-04-02 CN CN202210340731.5A patent/CN114698470B/en active Active
Patent Citations (6)
| 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 |
| 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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| CN114698470A (en) | 2022-07-05 |
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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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