A fault detection device, method and electronic device for a servo system drive circuit

Abstract

The present invention discloses a fault detection device, method and electronic device for a servo system drive circuit. The device includes: a data acquisition module for acquiring at least one sampled voltage analog quantity, current analog quantity and temperature value in a stable state in a target drive circuit; an AD conversion module for converting the sampled voltage analog quantity into a sampled voltage digital quantity; a data processing module for comparing the sampled voltage digital quantity with a preset stable operating range and judging whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the current analog quantity and temperature value in the stable state. By implementing the present invention, it is possible to accurately determine which circuit is abnormal and timely correct the problem, thereby improving the risk resistance ability of the servo system drive circuit.

Description

[0001] The present invention relates to the technical field of circuit detection, and particularly to a fault detection device, method and electronic device for a servo system drive circuit. Background Art

[0002] In the prior art, IGBTs and MOSFETs in servo systems are applied in various industrial fields. The solutions are mature and the cost is favorable. Generally, the servo system drive circuit adopts a one-drive-N method, using a drive chip + drive power supply + IGBT or MOSFET + motor solution to achieve strict control of the motor. However, the drive chip and the power supply are easily affected by various factors, resulting in damage or even burnout. Moreover, the drive circuit branches are complex. When debugging the servo system drive circuit, it is very difficult to accurately determine which circuit is damaged or operating abnormally during the troubleshooting process. Therefore, a fault detection device for the servo system drive circuit is needed to accurately determine whether the circuit is abnormal and promptly handle and correct the problems. Summary of the Invention

[0003] Therefore, the technical problem to be solved by the present invention is to overcome the defect that it is very difficult to accurately determine which circuit is abnormal or damaged during the debugging of the existing servo system drive circuit, so as to provide a fault detection device, method and electronic device for the servo system drive circuit.

[0004] According to a first aspect, an embodiment of the present invention discloses a fault detection device for a servo system drive circuit, including: a data acquisition module for acquiring at least one sampled voltage analog quantity, current analog quantity and temperature value in a stable state in a target drive circuit; an AD conversion module for converting the sampled voltage analog quantity into a sampled voltage digital quantity; a data processing module for comparing the sampled voltage digital quantity with a preset stable operating range and determining whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the current analog quantity and temperature value in the stable state.

[0005] Optionally, the data acquisition module includes: an electrical data acquisition module for acquiring the current analog quantity and voltage analog quantity of the at least one target drive circuit; a temperature sensing module for acquiring the temperature value of the at least one target drive circuit; a temperature data drift value calculation module for calculating a temperature data drift value based on the temperature value; a stable operating range calculation module for calculating a current stable operating range and a temperature stable operating range respectively based on the current analog quantity and temperature data drift value in the stable state of the at least one target drive circuit.

[0006] Optionally, the data processing module includes: a PWM signal control module for switching the on / off state of the PWM signal output of the at least one target drive circuit; a circuit judgment module for comparing the digital voltage quantity of the at least one target drive circuit with the stable current operating range or the stable temperature operating range under different PWM signal output states, and judging whether the at least one target drive circuit is faulty based on the comparison result.

[0007] According to a second aspect, an embodiment of the present invention further discloses a method for detecting a fault in a servo system drive circuit, including: collecting a sampled voltage analog quantity, as well as a current analog quantity and a temperature value in a stable state, in at least one target drive circuit; converting the sampled voltage analog quantity into a sampled voltage digital quantity; comparing the sampled voltage digital quantity with a preset stable operating range, and judging whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the current analog quantity and the temperature value in the stable state.

[0008] Optionally, the process of calculating the preset stable operating range includes: calculating a temperature data drift value based on the temperature value; calculating a stable current operating range based on the current analog quantity of the at least one target drive circuit in a stable state; calculating a stable temperature operating range based on the temperature data drift value.

[0009] Optionally, comparing the sampled voltage digital quantity with the preset stable operating range, and judging whether the at least one target drive circuit is faulty based on the comparison result includes: turning off the PWM signal output of the target drive circuit; collecting a current first sampled voltage analog quantity during the process from the start of circuit operation to a preset time; comparing the first sampled voltage digital quantity with the stable temperature operating range; if the first sampled voltage digital quantity is within the stable temperature operating range, it is determined that the at least one target drive circuit is operating normally; otherwise, it is determined that the at least one target drive circuit has a fault.

[0010] Optionally, comparing the sampled voltage digital quantity with the preset stable operating range, and judging whether the at least one target drive circuit is faulty based on the comparison result further includes: turning on the PWM output of one of the target drive circuits; collecting a current second sampled voltage analog quantity; comparing the second sampled voltage digital quantity with the stable current operating range; if the second sampled voltage digital quantity is within the stable current operating range, it is determined that the at least one target drive circuit is operating normally; otherwise, it is determined that the at least one target drive circuit has a fault.

[0011] Optionally, the temperature data drift value is calculated by the following formula:

[0012] T = (V1’ / I1 - Rnom) / (Rnom * TC1) + Tnom,

[0013] Wherein, V1’ is the analog voltage at thermal equilibrium; Rnom is the initial resistance value of the sampling resistor; TC1 is the linear temperature coefficient; Tnom is the normal temperature; I1 is the current obtained based on the voltage and sampling resistor collected when the circuit starts to operate. The PWM output is turned off, and only the influence of temperature on the circuit is considered, and the current remains unchanged.

[0014] According to a third aspect, an embodiment of the present invention also discloses an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the fault detection method of the servo system drive circuit as described in the second aspect or any optional implementation manner of the second aspect.

[0015] According to a fourth aspect, an embodiment of the present invention also discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the fault detection method of the servo system drive circuit as described in the second aspect or any optional implementation manner of the second aspect.

[0016] The technical solution of the present invention has the following advantages:

[0017] A fault detection device, method and electronic device for a servo system drive circuit provided by the present invention, wherein the device includes: a data acquisition module that acquires the sampled voltage analog quantity of at least one target drive circuit and the current and temperature values in a stable state; an AD conversion module that converts the sampled voltage analog quantity into a digital quantity; a data processing module that compares the sampled voltage digital quantity with the stable operating range calculated based on the acquired current and temperature to determine whether the target drive circuit is faulty. The present invention can accurately determine which circuit is abnormal and correct the problem in time, thereby improving the risk resistance ability of the servo system drive circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a principle block diagram of a specific example of the fault detection of the servo system drive circuit in the embodiment of the present invention;

[0020] Figure 2 It is a system circuit principle block diagram of a specific example in the embodiments of the present invention;

[0021] Figure 3 It is a detailed principle block diagram of a specific example of a servo system drive circuit fault detection device in the embodiments of the present invention;

[0022] Figure 4 It is a flowchart of a specific example of a servo system drive circuit fault detection method in the embodiments of the present invention;

[0023] Figure 5 It is a fault detection flowchart of a specific example of a servo system drive circuit fault detection method in the embodiments of the present invention;

[0024] Figure 6 It is a specific example diagram of an electronic device in the embodiments of the present invention. Specific embodiments

[0025] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can also be the communication inside two elements. It can be a wireless connection or a wired connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0029] An embodiment of the present invention discloses a fault detection device for a servo system drive circuit, as Figure 1 shown. The device mainly includes: a data acquisition module 1, an AD conversion module 2, a data processing module 3, etc.

[0030] Among them, the data acquisition module 1 is used to acquire at least one path of sampled voltage analog quantity, current analog quantity and temperature value in the target drive circuit under stable state;

[0031] Exemplarily, in the embodiment of the present application, as Figure 2 shown, Figure 2 is a system circuit principle block diagram (including but not limited to 12 paths). The servo system drive circuit generally adopts a scheme of drive chip + drive power supply + IGBT or MOSFET + click to achieve strict control of the motor; the drive circuit generally includes: a power supply module, an IGBT or MOSFET drive module, and an IGBT or MOSFET. In a specific embodiment, the sampled voltage analog quantity is acquired by using a sampling resistor + operational amplifier to provide conversion data for the AD conversion module. The sampling resistor can be selected as a type of resistor with a certain accuracy and a specific temperature drift coefficient. In addition, a sampling resistor or a current sensor can also be connected to the input end of the power supply and connected in series with the input end of the power supply module to obtain the magnitude of the current value; the temperature value can be obtained by the temperature collector collecting the working temperature of the circuit; the stable state means the state when the circuit reaches static thermal equilibrium. The acquisition method or acquisition device in the present invention is only for example and is not limited thereto.

[0032] In the embodiment of the present invention, as Figure 3 shown, the data acquisition module 1 includes: an electrical data acquisition module 11, which is used to acquire at least one path of current analog quantity and voltage analog quantity in the target drive circuit; a temperature sensing module 12, which is used to acquire at least one path of temperature value in the target drive circuit; a temperature data drift value calculation module 13, which is used to calculate the temperature data drift value based on the temperature value; a stable operating range calculation module 14, which is used to calculate the current stable operating range and the temperature stable operating range respectively based on the current analog quantity and the temperature data drift value in the stable state of at least one path of the target drive circuit.

[0033] The AD conversion module 2 is used to convert the sampled voltage analog quantity into a sampled voltage digital quantity;

[0034] In the embodiment of the present invention, the main function of the AD conversion module 2 is to receive the sampled voltage analog quantity collected by the data acquisition module, convert the sampled voltage analog quantity into a sampled voltage digital quantity, and then send the sampled voltage digital quantity to the data processing module 3. In practical applications, the AD conversion module of the processor or an external AD conversion processing module can be selected according to requirements, and the present invention is not limited thereto.

[0035] The data processing module 3 is configured to compare the sampled voltage digital quantity with a preset stable operating range, and determine whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the current analog quantity and temperature value in the stable state.

[0036] Exemplarily, in the embodiment of the present invention, the preset stable operating range refers to a preset temperature stable operating range or a current stable operating range. The process of calculating the preset stable operating range includes: calculating the temperature data drift value based on the temperature value; calculating the current stable operating range based on the current analog quantity in the stable state of the at least one target drive circuit; calculating the temperature stable operating range based on the temperature data drift value, where the stable state means the state where the circuit reaches static thermal equilibrium, only for example; the process of calculating the stable operating range in the present invention is only for example and is not limited thereto.

[0037] In a specific embodiment, the temperature data drift value is calculated by the formula T = (V1’ / I1 - Rnom) / (Rnom*TC1)+Tnom, where V1’ is the voltage analog quantity at thermal equilibrium; Rnom is the initial resistance value of the sampling resistor; TC1 is the linear temperature coefficient; Tnom is the normal temperature (the normal temperature is generally 25°C, only for example and is not limited thereto); I1 is the current obtained according to the voltage and sampling resistor collected when the circuit starts to operate. The value of the sampling resistor after the change with temperature is calculated by R = R(nom)*[1 + TC1*(T - Tnom)+TC2*(T - Tnom)^2]. Since the current is a fixed value when considering the influence of temperature on the circuit, the voltage across the sampling resistor after the change of the sampling resistor is calculated, so as to obtain the temperature stable operating range. Where TC2: the second-order temperature coefficient (TC2 is used in the relationship formula between temperature and resistance value when the resistance value of the sampling resistor to be calculated reaches a higher accuracy, and it is generally not used in normal cases); T: the temperature data drift value obtained in the above formula;

[0038] In the embodiment of the present invention, as Figure 3As shown in the figure, the data processing module 3 includes: a PWM signal control module 31 for switching the on / off state of the PWM signal output of at least one target drive circuit; and a circuit judgment module 32 for comparing the voltage digital quantity of at least one target drive circuit with the current stable operating range or the temperature stable operating range under different PWM signal output states, and judging whether at least one target drive circuit is faulty based on the comparison result.

[0039] In a specific embodiment, the process of the data processing module 3 comparing the sampled voltage digital quantity with the preset stable operating range and judging whether at least one target drive circuit is faulty based on the comparison result includes: As Figure 3 shown in the figure, the PWM signal control module 31 is used to turn off the PWM signal output of the target drive circuit; during the process from the start of operation of the target drive circuit to a preset time, acquire the first sampled voltage analog-to-digital quantity; the circuit judgment module 32 is used to compare the first sampled voltage digital quantity with the temperature stable operating range; if the first sampled voltage digital quantity is within the temperature stable operating range, it is determined that at least one target drive circuit is operating normally; otherwise, it is determined that at least one target drive circuit has a fault. Herein, the preset time represents the time for the drive circuit to reach the thermal equilibrium state, which is only for illustration.

[0040] In an embodiment of the present invention, as Figure 3 shown in the figure, the data processing module 3 further includes: the PWM signal control module 31 is further used to turn on the PWM output of one of the target drive circuits; acquire the current second sampled voltage digital quantity; the circuit judgment module 32 is further used to compare the second sampled voltage digital quantity with the current stable operating range; if the second sampled voltage digital quantity is within the current stable operating range, it is determined that at least one target drive circuit is operating normally; otherwise, it is determined that at least one target drive circuit has a fault.

[0041] The fault detection device for the servo system drive circuit provided by the embodiment of the present invention collects the sampled voltage analog quantity, the current analog quantity in the stable state, and the temperature value through the data acquisition module; the AD conversion module converts the collected sampled voltage analog quantity into a voltage digital quantity; the data processing module compares the voltage digital quantity with the stable operating range calculated from the collected current analog quantity and temperature value to judge whether the target drive circuit is faulty. Before the servo system drive circuit operates, the present invention can accurately judge which circuit is abnormal and correct the problem in time, thereby improving the risk resistance ability of the servo system drive circuit.

[0042] The embodiment of the present invention also discloses a fault detection method for a servo system drive circuit. As Figure 4 shown in the figure, the method includes the following steps:

[0043] Step 101: Collect the sampled voltage analog quantity in at least one target drive circuit, as well as the current analog quantity and temperature value in the steady state;

[0044] In the embodiment of the present invention, a current sensor is used to collect the current analog quantity and a sampling resistor + operational amplifier is used to collect the sampled voltage analog quantity. This collection method is only for illustration and not limited thereto. Among them, the sampling resistor is selected as a type of resistor with a certain accuracy and a specific temperature drift coefficient. The sampling resistor or the current sensor is connected to the input end of the power supply, and is connected in series with the input end to calculate the magnitude of the current value. The connection of the sampling resistor in series with the input end is only for illustration and not limited thereto.

[0045] Step 102: Convert the sampled voltage analog quantity into a sampled voltage digital quantity;

[0046] Step 103: Compare the sampled voltage digital quantity with a preset stable operating range, and determine whether at least one target drive circuit is faulty based on the comparison result; wherein, the preset stable operating range is calculated based on the current analog quantity and temperature value in the steady state.

[0047] In the embodiment of the present invention, in the above step 103, the process of calculating the preset stable operating range includes: calculating the temperature data drift value based on the temperature value; calculating the current stable operating range based on the current analog quantity in the steady state of at least one target drive circuit; calculating the temperature stable operating range based on the temperature data drift value.

[0048] As an optional embodiment of the present invention, when only considering the influence of temperature on the drive circuit, turn off the PWM output, the drive circuit current is a fixed value and remains unchanged, calculate the temperature stable operating range based on the temperature value, and determine which circuit in the drive circuit is faulty. In the above step of calculating the temperature data drift value based on the temperature value, the temperature data drift value can be calculated by the formula T=(V1’ / I1 - Rnom) / (Rnom*TC1)+Tnom, where V1’ is the voltage analog quantity at thermal equilibrium; Rnom is the initial resistance value of the sampling resistor; TC1 is the linear temperature coefficient; Tnom is the normal temperature (the normal temperature is generally 25°C, only for illustration and not limited thereto); I1 is the current obtained based on the voltage and sampling resistor collected when the circuit starts to operate. The formula method for calculating the temperature data drift value in the present invention is only for illustration and not limited thereto.

[0049] As an alternative embodiment of the present invention, in step 103 above, when only considering the influence of current on the drive circuit, the PWM switching process is short, and the influence of temperature rise is ignored, and the resistance value of the sampling resistor remains unchanged. The process of calculating the stable operating range of current based on the analog quantity of current in at least one target drive circuit in a stable state includes: when one PWM output is turned on, the current increase is constant, that is, the voltage increase of any one of the drive circuits is also constant; calculate the voltage of the drive circuit before one PWM is turned on, and then the voltage of this path without abnormality after the PWM is turned on can be determined, so as to obtain the stable operating range of current. In a specific embodiment, before one PWM is turned on, V1 = 3V, and the I1 current is 0.3mA. When one PWM output is turned on, the current increase is constant, increasing by 0.3mA. It can be determined that V1' = 0.6V when this PWM is turned on. Then the stable operating range of current at this time is 0.3V - 0.6V. This stable operating range of current is only for example and not limited thereto.

[0050] As an alternative embodiment of the present invention, when the PWM output is turned off, the current of the drive circuit remains unchanged, and the stable operating range of temperature is calculated based on the temperature value to determine which circuit in the drive circuit has a fault. In the above step of calculating the stable operating range of temperature based on the temperature data drift value, it includes: when the PWM output is turned off and the current remains unchanged, the change in the resistance value of the sampling resistor is obtained through the temperature data drift value, and then the stable operating range of temperature is obtained. In a specific embodiment, when the temperature changes, the relationship between the resistance value and the temperature is: R = R(nom)*[1 + TC1*(T - Tnom) + TC2*(T - Tnom)^2], where TC2: the secondary temperature coefficient; (when a higher accuracy of the resistance value of the sampling resistor to be calculated is required, TC2 is used in the relationship formula between temperature and resistance value, and it is generally not used under normal circumstances); T: the temperature data drift value obtained in the above formula; the resistance value of the sampling resistor is 100Ω, and the differential sampling is used to measure the voltage V1 = 0.3V across the sampling resistor, and the current I1 = 0.3mA through the sampling resistor is obtained. When the preset time is reached, that is, when the circuit reaches the thermal equilibrium state, the resistance value of the sampling resistor changes, the current remains unchanged, and V1' = 0.312V is measured, and the stable operating threshold of temperature is obtained as 0.3V - 0.312V. This stable operating range of temperature is only for example and not limited thereto.

[0051] As an optional embodiment of the present invention, in the step of comparing the sampled voltage digital quantity with the preset stable operating range and determining whether at least one target drive circuit is faulty based on the comparison result, comparing the sampled voltage digital quantity with the preset stable operating range and determining whether at least one target drive circuit is faulty based on the comparison result includes: when considering the influence of temperature on the drive circuit, turning off the PWM signal output of the target drive circuit; during the process from the start of operation of the target drive circuit to the preset time, collecting the first sampled voltage analog quantity; comparing the first sampled voltage digital quantity with the temperature stable operating range; if the first sampled voltage digital quantity is within the temperature stable operating range, it is determined that at least one target drive circuit is operating normally; otherwise, it is determined that at least one target drive circuit has a fault, which can determine whether there is an abnormality caused by temperature in the drive circuit before the servo system drive circuit starts to work and correct the problem in time. The process method of comparing the voltage digital quantity with the stable operating range in the present invention is only an example and is not limited thereto.

[0052] In an embodiment of the present invention, comparing the sampled voltage digital quantity with the preset stable operating range and determining whether the at least one target drive circuit is faulty based on the comparison result further includes: when considering the influence of current on any one of the drive circuits, turning on the PWM output of one of the target drive circuits; collecting the current second sampled voltage analog quantity; comparing the second sampled voltage digital quantity with the current stable operating range; if the second sampled voltage digital quantity is within the current stable operating range, it is determined that at least one target drive circuit is operating normally; otherwise, it is determined that at least one target drive circuit has a fault, ensuring that before the servo system drive circuit works, it can accurately determine which circuit is affected by the current and has an abnormality and correct the problem in time. The process method of comparing the voltage digital quantity with the stable operating range in the present invention is only an example and is not limited thereto.

[0053] In a specific embodiment, such as Figure 5As shown, for the switch PWM output, the detection process is short. Ignoring the influence of temperature and only considering the influence of the current magnitude on the sampled voltage, when one PWM output is turned on and the current increment is constant, the sampled voltage increment is also constant, thereby determining the stable operating range of the current. If one PWM output is turned on and the current value of one path is collected to obtain the digital voltage quantity, it is judged whether the digital voltage quantity is within the stable operating range of the current. If not, it indicates that there is a fault in this path of the circuit. Specifically, the following method can be adopted for comparison. Turn off all PWM outputs, detect the current value I of the power supply module, and the voltage value of the power supply module can be obtained. Then turn on the first PWM output, collect the current value I2, and obtain the digital voltage quantity V2 of the first drive circuit. If the digital voltage quantity of the first drive circuit obtained by collecting the current value I2 is within the stable operating range of the current, it is judged as normal; otherwise, it is judged as faulty. Then turn off the first PWM, and then turn on the second path for detection. The detection is carried out according to the above method, and this process will not be repeated here. After the detection is completed, the next path is turned on in sequence. This detection method is only for example and not limited thereto, as long as it can detect whether there is a fault in the target drive circuit.

[0054] The fault detection method for the servo system drive circuit provided by the embodiment of the present invention compares the digital quantity obtained by converting the sampled voltage analog quantity with the stable operating range of the current and the stable operating range of the temperature obtained according to the current and temperature respectively to judge whether at least one path of the target drive circuit is faulty. Before the servo system drive circuit works, the present invention can accurately judge which path of the circuit has an abnormality and timely correct the problem, thereby improving the anti-risk ability of the servo system drive circuit.

[0055] The embodiment of the present invention also provides an electronic device, as Figure 6 shown, the electronic device may include a processor 401 and a memory 402, where the processor 401 and the memory 402 may be connected through a bus or other means, Figure 6 Taking the connection through the bus as an example.

[0056] The processor 401 may be a central processing unit (CPU). The processor 401 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or a combination of the above types of chips.

[0057] The memory 402 serves as a non-transitory computer-readable storage medium and can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the illegal act detection method in the embodiments of the present invention. The processor 401 executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory 402, that is, to implement the drive circuit fault detection method in the above method embodiments.

[0058] The memory 402 may include a program storage area and a data storage area. Among them, the program storage area can store an operating system and application programs required for at least one function; the data storage area can store data created by the processor 401 and the like. In addition, the memory 402 may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory 402 may optionally include a memory remotely disposed relative to the processor 401, and these remote memories can be connected to the processor 401 through a network. Examples of the above networks include but are not limited to the Internet, an enterprise intranet, a local area network, a mobile communication network, and combinations thereof.

[0059] The one or more modules are stored in the memory 402 and, when executed by the processor 401, execute the drive circuit fault detection method in the embodiments as Figure 4 shown in the embodiments.

[0060] For specific details of the above electronic device, reference can be made to Figure 4 the corresponding relevant descriptions and effects in the shown embodiments for understanding, and details are not described herein again.

[0061] Those skilled in the art can understand that to implement all or part of the processes in the above method embodiments, it can be completed by instructing relevant hardware through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. Among them, the storage medium can be a magnetic disk, an optical disc, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (abbreviation: HDD), or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above types of memories.

[0062] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations fall within the defined scope.

Claims

1. A fault detection device for a servo system drive circuit, characterized in that, Comprising: A data acquisition module, configured to acquire at least one analog sampling voltage in a target drive circuit, as well as an analog current and a temperature value in a steady state, where the steady state indicates a state in which the circuit reaches static thermal equilibrium; An AD conversion module, configured to convert the analog sampling voltage into a digital sampling voltage; A data processing module, configured to compare the digital sampling voltage with a preset stable operating range, and determine whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the analog current and the temperature value in the steady state.

2. The fault detection device for the servo system drive circuit according to claim 1, characterized in that, The data acquisition module includes: An electrical data acquisition module, configured to acquire the analog current and the analog voltage in the at least one target drive circuit; A temperature sensing module, configured to acquire the temperature value in the at least one target drive circuit; A temperature data drift value calculation module, configured to calculate a temperature data drift value based on the temperature value; A stable operating range calculation module, configured to calculate a current stable operating range and a temperature stable operating range respectively based on the analog current in the steady state of the at least one target drive circuit and the temperature data drift value.

3. The fault detection device of the servo system drive circuit according to claim 2, characterized in that, The data processing module includes: A PWM signal control module, configured to switch the on / off state of the PWM signal output of the at least one target drive circuit; A circuit judgment module, configured to compare the digital voltage with the current stable operating range or the temperature stable operating range of the at least one target drive circuit in different PWM signal output states, and determine whether the at least one target drive circuit is faulty based on the comparison result.

4. A fault detection method for a servo system drive circuit, characterized in that, Comprising: Acquiring at least one analog sampling voltage in a target drive circuit, as well as an analog current and a temperature value in a steady state, where the steady state indicates a state in which the circuit reaches static thermal equilibrium; Converting the analog sampling voltage into a digital sampling voltage; Comparing the digital sampling voltage with a preset stable operating range, and determining whether the at least one target drive circuit is faulty based on the comparison result; the preset stable operating range is calculated based on the analog current and the temperature value in the steady state.

5. The fault detection method of the servo system drive circuit according to claim 4, characterized in that, The process of calculating the preset stable operating range includes: Calculating a temperature data drift value based on the temperature value; Calculating a current stable operating range based on the analog current in the steady state of the at least one target drive circuit; Calculating a temperature stable operating range based on the temperature data drift value.

6. The fault detection method of the servo system drive circuit according to claim 5, characterized in that, The step of comparing the digital sampling voltage with a preset stable operating range and determining whether the at least one target drive circuit is faulty based on the comparison result includes: Turning off the PWM signal output of the target drive circuit; During the process from the start of operation of the target drive circuit to a preset time, acquiring a first analog sampling voltage; Comparing the first digital sampling voltage with the temperature stable operating range; If the first digital sampling voltage is within the temperature stable operating range, it is determined that the at least one target drive circuit is operating normally; otherwise, it is determined that the at least one target drive circuit is faulty.

7. The fault detection method of the servo system drive circuit according to claim 5 or 6, characterized in that Comparing the sampled voltage digital quantity with a preset stable operating range, and determining whether the at least one target drive circuit is faulty based on the comparison result, further includes: Turn on the PWM output of one of the target drive circuits; Collect the current second sampled voltage analog quantity; Compare the second sampled voltage digital quantity with the current stable operating range; If the second sampled voltage digital quantity is within the current stable operating range, it is determined that the at least one target drive circuit is operating normally; otherwise, it is determined that the at least one target drive circuit has a fault.

8. The fault detection method of the servo system drive circuit according to claim 5, characterized in that Calculate the temperature data drift value through the following formula: T = (V1’ / I1 - Rnom) / (Rnom*TC1) + Tnom, where V1’ is the voltage analog quantity at thermal equilibrium; Rnom is the initial resistance value of the sampling resistor; TC1 is the linear temperature coefficient; Tnom is the normal temperature; I1 is the current obtained by collecting the voltage and the sampling resistor when the circuit starts to operate. Turn off the PWM output and only consider the influence of temperature on the circuit, and the current remains unchanged.

9. An electronic device, characterized in that, Includes: At least one processor; And a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the steps of the fault detection method of the servo system drive circuit according to any one of claims 4-8.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the fault detection method of the servo system drive circuit according to any one of claims 4-8.

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