A power-on self-test device, a servo driving apparatus and a power-on self-test method thereof

Abstract

The application discloses a power-on self-checking device, a servo driving device and a power-on self-checking method thereof. The device comprises: when self-checking whether a switching executing element is faulty, a first control switch is turned off and a self-checking switch unit is turned on; a self-checking sampling unit samples a power-on voltage of a power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit; a comparison unit compares the power-on voltage with a reference voltage to obtain a comparison result; and a control unit is used for determining whether the switching executing element is faulty according to the comparison result, and controlling the switch of the main loop power supply to be turned off when it is determined that the switching executing element is faulty. According to the scheme, the switching executing element (such as a thyristor) of the power-on buffer circuit is self-checked after the control power supply is turned on and before the main loop power supply is turned on, so that the safety is improved by avoiding that the current is too large when the power-on buffer circuit is switched to the main loop power supply.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of electric machines, and particularly relates to a power-on self-checking device, a servo driving device and a power-on self-checking method thereof, and especially relates to a power-on self-checking circuit of a switching executing element (such as a thyristor) of a power-on buffer circuit of a servo driving device, a servo driving device with the power-on self-checking circuit and a power-on self-checking method thereof. BACKGROUND

[0002] The switching executing element (such as a thyristor) is an electronic controller commonly used in electricity, and is widely used in control occasions such as motor driving, electric heating wire temperature adjustment and power-on buffer.

[0003] For a high-power servo driving device (such as a frequency converter or a servo driver, especially a spindle servo driver), generally, there are two power supplies, one main loop power supply and one control power supply. After the control power supply is turned on (i.e., the control power supply is connected), the entire device is initialized and connection detection is performed, and under the condition that the detection result is correct, the main loop power supply is turned on (i.e., the main loop power supply is connected). When the main loop power supply is turned on, the power-on buffer circuit needs to be entered first, and then switched from the power-on buffer circuit to the main loop, i.e., the main loop power supply is turned on. The power-on buffer circuit usually uses a thyristor as a switching executing element. However, once the thyristor is short-circuited or uncontrollable, it will cause device abnormalities or excessive power-on charging current, which is easy to cause damage to rectifier modules, capacitors and other components, and in severe cases, it will also affect other devices and even cause a fire.

[0004] In some schemes, the method of protecting the thyristor is to protect it from being damaged during operation or to disconnect the power supply after the thyristor fails. However, during the power-on buffer process, if the thyristor failure cannot be determined in advance, switching from the power-on buffer circuit to the main loop will cause a particularly large current, i.e., a sharp peak current, which is easy to cause an accident.

[0005] The above content is only used to assist in understanding the technical solutions of the present application, and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0006] The application aims to provide a power-on self-checking device, a servo drive device and a power-on self-checking method thereof, so as to solve the problem that the servo drive device cannot perform fault detection and early warning on the switching executing element (such as a thyristor) of the power-on buffer circuit when the control power is turned on, resulting in a large safety hazard that the current is too large when the switching from the power-on buffer circuit to the main loop power supply during the process of turning on the main loop power supply if the switching executing element (such as a thyristor) of the power-on buffer circuit has a fault, and to achieve the effect of self-checking the switching executing element (such as a thyristor) of the power-on buffer circuit after the control power is turned on and before the main loop power supply is turned on, so as to ensure that the switching executing element (such as a thyristor) of the power-on buffer circuit is determined to be fault-free before the main loop power supply is turned on, and to avoid that the current is too large when the switching from the power-on buffer circuit to the main loop power supply, thereby improving the safety.

[0007] The application provides a power-on self-checking device, which can be applied to a servo drive device; the servo drive device has a control power supply and a main loop power supply, and a power-on buffer circuit is arranged between the control power supply and the main loop power supply; the power-on buffer circuit comprises a switching executing element, a first control switch and a power-on buffer resistor; the first control switch is connected in series with the power-on buffer resistor, and then connected in parallel with the switching executing element; the power-on self-checking device takes the power-on buffer resistor as a self-checking sampling unit; the power-on self-checking device further comprises a self-checking switch unit, a self-checking comparison unit and a control unit; wherein the self-checking switch unit is arranged in parallel with the first control switch; when self-checking whether the switching executing element is faulty, the first control switch is turned off, and the self-checking switch unit is turned off; the self-checking sampling unit is used for sampling the power-on voltage of the power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit; the comparison unit is used for comparing the power-on voltage of the power-on buffer circuit sampled by the self-checking sampling unit with a reference voltage to obtain a comparison result; and the control unit is used for determining whether the switching executing element is faulty according to the comparison result, so as to turn off the switch of the main loop power supply when it is determined that the switching executing element is faulty, and to allow the switch of the main loop power supply to be turned on only when it is determined that the switching executing element is fault-free.

[0008] In some embodiments, the self-checking switch unit comprises a second control switch; the comparison unit comprises a self-checking power supply and a comparator module; wherein the self-checking power supply is connected in series with the second control switch, and then connected in parallel with the first control switch; the positive pole of the self-checking power supply is connected with the first control switch, and also connected with the positive power supply terminal of the comparator module; the negative pole of the self-checking power supply is connected to the negative power supply terminal of the comparator module through the second control switch; the sampling terminal of the self-checking sampling unit is connected to the non-inverting input terminal of the comparator module; the inverting input terminal of the comparator module is used for inputting the reference voltage; and the output terminal of the comparator module is used for outputting the comparison result.

[0009] In some embodiments, the reference voltage is a set proportional multiple of the supply voltage provided by the self-checking power supply, and the set proportion is less than 1.

[0010] In some embodiments, the first control switch and the second control switch are both selected from a relay; and the switch execution element is selected from a thyristor.

[0011] In some embodiments, the control unit determines whether the switch execution element is faulty according to the comparison result, controls the switch of the main loop power supply to be turned off when it is determined that the switch execution element is faulty, and allows the switch of the main loop power supply to be turned on only when it is determined that the switch execution element is not faulty, comprising: in the case that the first control switch is turned off and the self-checking switch unit is turned on, if the comparison result is a first set level signal, a driving signal is sent to the switch execution element; if the comparison result is a second set level signal, it is determined that the switch execution element is faulty, and the switch of the main loop power supply is controlled to be turned off; in the case that the driving signal has been sent to the switch execution element, if the comparison result is the second set level signal, the sending of the driving signal to the switch execution element is stopped; if the comparison result is the first set level signal, it is determined that the switch execution element is faulty, and the switch of the main loop power supply is controlled to be turned off; in the case that the sending of the driving signal to the switch execution element has been stopped, if the comparison result is the second set level signal, the self-checking switch unit is controlled to be turned off; if the comparison result is the first set level signal, it is determined that the switch execution element is not faulty, and the first control switch is controlled to be turned on to allow the switch of the main loop power supply to be turned on; if the comparison result is the second set level signal, it is determined that the switch execution element is faulty, and the switch of the main loop power supply is controlled to be turned off.

[0012] In some embodiments, the control unit controls the main circuit power supply switch to turn off, including: causing the servo drive device to issue a warning message about a fault in the switch actuator to remind the operator to turn off the main circuit power supply switch; and / or causing the servo drive device to lock the main circuit power supply switch to prevent the main circuit power supply from being powered on.

[0013] In conjunction with the above-described device, the present invention further provides a servo drive device, comprising: the power-on self-test device described above.

[0014] In conjunction with the aforementioned servo drive device, this invention further provides a power-on self-test method for a servo drive device, comprising: when performing a self-test to determine whether the switch actuator is faulty, controlling the first control switch to open and controlling the self-test switch unit to close; controlling the self-test sampling unit to sample the power-on voltage of the power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit; controlling the comparison unit to compare the power-on voltage of the power-on buffer circuit sampled by the self-test sampling unit with a reference voltage to obtain a comparison result; and determining whether the switch actuator is faulty based on the comparison result, so as to control the main circuit power supply switch to open when the switch actuator is determined to be faulty, and only allowing the main circuit power supply switch to close when the switch actuator is determined to be fault-free.

[0015] In some embodiments, according to the comparison result, determining whether the switch executing element is faulty, and controlling the switch of the main circuit power supply to be turned off when it is determined that the switch executing element is faulty, and allowing the switch of the main circuit power supply to be turned on only when it is determined that the switch executing element is not faulty, including: when the first control switch is turned off and the self-checking switch unit is turned on, if the comparison result is the first set level signal, sending a driving signal to the switch executing element; if the comparison result is the second set level signal, determining that the switch executing element is faulty, and controlling the switch of the main circuit power supply to be turned off; when the driving signal has been sent to the switch executing element, if the comparison result is the second set level signal, stopping sending the driving signal to the switch executing element; if the comparison result is the first set level signal, determining that the switch executing element is faulty, and controlling the switch of the main circuit power supply to be turned off; when the sending of the driving signal to the switch executing element has been stopped, if the comparison result is the second set level signal, controlling the self-checking switch unit to be turned off; if the comparison result is the first set level signal, determining that the switch executing element is faulty, and controlling the switch of the main circuit power supply to be turned off; when the self-checking switch unit is turned off, if the comparison result is the first set level signal, determining that the switch executing element is not faulty, and controlling the first control switch to be turned on to allow the switch of the main circuit power supply to be turned on; if the comparison result is the second set level signal, determining that the switch executing element is faulty, and controlling the switch of the main circuit power supply to be turned off.

[0016] Therefore, by using the power-on self-checking circuit formed by the power-on buffer resistor of the power-on buffer circuit of the servo drive device as the self-checking resistor, combining the self-checking power supply (i.e., the power supply S), the self-checking switch (i.e., the switch K2), and the comparison unit (e.g., the comparator U1), and performing self-checking on the switch executing element (e.g., the thyristor D7) of the power-on buffer circuit of the power-on switch of the power-on buffer circuit after the power supply is controlled, the present application can initiate a pre-warning to remind the staff not to turn on the main circuit power supply or to lock the switch of the main circuit power supply of the servo drive device when it is determined that the power-on switch of the power-on buffer circuit is faulty, and can switch to the main circuit power supply (i.e., turn on the main circuit power supply) when it is determined that the power-on switch of the power-on buffer circuit is not faulty, so that the switch executing element (e.g., the thyristor) of the power-on buffer circuit is self-checked after the power supply is controlled and before the main circuit power supply is turned on, and it is determined that the switch executing element (e.g., the thyristor) of the power-on buffer circuit is not faulty before the main circuit power supply is turned on, thereby avoiding excessive current when the power-on buffer circuit is switched to the main circuit power supply, and improving safety.

[0017] Other features and advantages of the present application will be set forth in the following description, and in part will be apparent from the description, or can be learned by practice of the application.

[0018] The technical solutions of the present application will be further described in detail below with the help of the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Structure diagram of an embodiment of the power-on self-test device of the present application;

[0020] Figure 2 Structure diagram of an embodiment of the servo drive device (such as motor drive circuit) in the related solutions;

[0021] Figure 3 Structure diagram of an embodiment of the power-on self-test circuit of the switching executing element (such as thyristor) of the power-on buffer circuit in the servo drive device (such as motor drive circuit);

[0022] Figure 4 Schematic diagram of the current flow of the servo drive device (such as motor drive circuit) before starting the main loop power supply;

[0023] Figure 5 Schematic diagram of the power-on self-test flow of the switching executing element (such as thyristor) of the power-on buffer circuit of the servo drive device (such as motor drive circuit);

[0024] Figure 6 Schematic diagram of an embodiment of the power-on self-test method of the servo drive device of the present application;

[0025] Figure 7 Schematic diagram of an embodiment of the method of the present application for determining whether the switching executing element is faulty according to the comparison result. DETAILED DESCRIPTION

[0026] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described below in detail with the help of specific embodiments of the present application and corresponding drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0027] According to the embodiments of the present application, a power-on self-test device is provided. Referring to Figure 1The diagram shows a structural schematic of an embodiment of the device of the present invention. This power-on self-test device can be applied to servo drive equipment; the servo drive equipment has a control power supply and a main circuit power supply, and a power-on buffer circuit is provided between the control power supply and the main circuit power supply. The power-on buffer circuit includes: a switching actuator (such as a thyristor D7), a first control switch (such as a relay K1), and a power-on buffer resistor (such as a power-on buffer resistor R). The first control switch is connected in series with the power-on buffer resistor, and then connected in parallel with the switching actuator. The first control switch (such as a relay K1) and the switching actuator (such as a thyristor D7) are both execution components of the power-on buffer circuit, and the switching actuator (such as a thyristor D7) is used to connect the main circuit.

[0028] Figure 2 This is a schematic diagram of one embodiment of a servo drive device (such as a motor drive circuit) in a related solution. Figure 2 As shown, the AC-DC-AC topology of the motor drive equipment consists of a rectifier bridge (composed of six diodes D1-D6), an inverter module (composed of six IGBTs Q1-Q6), a power-on buffer circuit (composed of thyristor D7, relay K1, and buffer resistor R), and a bus capacitor C. Three-phase AC currents L1, L2, and L3 are output to the motor M after passing through the rectifier bridge, power-on buffer circuit, bus capacitor C, and inverter module. In the power-on buffer circuit, thyristor D7 is positioned between the first output terminal of the rectifier bridge and the first connection terminal of the bus capacitor C. Relay K1 is connected in series with buffer resistor R, and then in parallel with thyristor D7.

[0029] In the present invention, the power-on self-test device uses the power-on buffer resistor as a self-test sampling unit. The power-on self-test device further includes: a self-test switch unit, a self-test comparison unit, and a control unit.

[0030] The self-test switch unit is arranged in parallel with the first control switch. When performing a self-test to check for malfunction of the switch actuator, the first control switch is disconnected, and the self-test switch unit is also disconnected. The self-test switch unit is, for example, switch K2.

[0031] The self-test sampling unit uses the power-on buffer resistor to sample the power-on voltage of the power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit.

[0032] The comparison unit is used to compare the power-on voltage of the power-on buffer circuit sampled by the self-test sampling unit with the reference voltage to obtain a comparison result.

[0033] The control unit is configured to determine whether the switching execution element is faulty according to the comparison result, and to control the switch of the main loop power supply to be turned off when it is determined that the switching execution element is faulty, and to allow the switch of the main loop power supply to be turned on only when it is determined that the switching execution element is not faulty, that is, only when the main loop power supply is allowed to be powered on.

[0034] It is considered that, as shown in the prior art, Figure 2 The prior art servo drive device cannot detect and warn in advance the switching execution element (such as a thyristor) of the power-on buffer circuit when the control power supply is turned on, which leads to a problem that if the switching execution element (such as a thyristor) of the power-on buffer circuit is faulty, the current is too large when the power-on buffer circuit is switched to the main loop power supply during the process of turning on the main loop power supply, and there is a great safety hazard. The scheme of the present application provides a power-on self-checking circuit for the switching execution element (such as a thyristor) of the power-on buffer circuit of a servo drive device, which can self-check the switching execution element (such as a thyristor) of the power-on buffer circuit after the control power supply is turned on and before the main loop power supply is turned on, determine the availability of the switching execution element (such as a thyristor) of the power-on buffer circuit, and ensure that the power-on buffer circuit can work normally. In this way, it is ensured that the servo drive device can stably pre-charge the capacitor after the main loop power supply is turned on, and the capacitor, rectifier module and other components will not be damaged due to the excessive power-on current when the power-on buffer circuit is switched to the main loop power supply because of the damage of the switching execution element (such as a thyristor) of the power-on buffer circuit, and even a safety accident problem of striking a spark to harm the safety of workers. Thus, the problem that if the switching execution element (such as a thyristor) of the power-on buffer circuit is damaged, the control power supply cannot give an early warning when the control power supply is turned on, which leads to a great safety hazard of excessive current when the power-on buffer circuit is switched to the main loop power supply is solved.

[0035] In some embodiments, the self-checking switch unit comprises a second control switch. The comparison unit comprises a self-checking power supply and a comparator module, and the self-checking power supply is a power supply S and the comparator module is a comparator U1.

[0036] The self-checking power supply is connected in series with the second control switch and then connected in parallel with the first control switch. The positive electrode of the self-checking power supply is connected with the first control switch, and the positive electrode of the self-checking power supply is also connected with the positive power supply terminal of the comparator module.

[0037] The negative electrode of the self-checking power supply is connected to the negative power supply terminal of the comparator module, that is, the ground, through the second control switch.

[0038] The sampling end of the self-checking sampling unit, that is, the end of the power-on buffer resistor away from the first control switch, is connected to the non-inverting input terminal of the comparator module. The inverting input terminal of the comparator module is configured to input the reference voltage. The output terminal of the comparator module is configured to output the comparison result.

[0039] Figure 3 This is a schematic diagram of an embodiment of a power-on self-test circuit for a switching actuator (such as a thyristor) in a power-on buffer circuit of a servo drive device (such as a motor drive circuit). Figure 3 As shown, the thyristor power-on self-test circuit consists of a power supply S, a switch K2, a self-test resistor R (i.e., a power-on buffer resistor R), and a comparator U1. The power supply S and switch K2 are connected in series and then in parallel to the anode and cathode of the thyristor D7. The non-inverting input of comparator U1 receives the voltage across the self-test resistor R, and the inverting input receives the reference voltage Uref. The positive terminal of comparator U1 is connected to the DC power supply VCC (which can be the positive terminal of power supply S), and the negative terminal is connected to GND (which can be the negative terminal of power supply S). The output value of comparator U1, A1, is processed by a microprocessor chip (such as an MCU).

[0040] In some implementations, the reference voltage is a set ratio multiple of the supply voltage that the self-test power supply can provide, and the set ratio is less than 1.

[0041] Specifically, the reference voltage Uref is determined based on the power supply S. The reference voltage can be between 0 and Vs (power supply S voltage), and it is best to take 1 / 2 of the power supply S voltage.

[0042] In some embodiments, both the first control switch and the second control switch are relays. The switch actuation element is a thyristor.

[0043] exist Figure 2 and Figure 3 In the example shown, relay K1 is the switch for the power-on buffer circuit, not a component of the self-test circuit, and is disconnected when the self-test circuit is working. The self-test resistor and the power-on buffer resistor share a single resistor R. Thus, the power-on self-test circuit uses the power-on buffer resistor as the self-test resistor, simplifying the circuit and reducing costs.

[0044] In some solutions, the self-test circuit of the switching actuator (such as a thyristor) in the power-on buffer circuit generally uses a separate resistor, instead of utilizing the power-on buffer resistor of the power-on buffer circuit. This adds an extra resistor to the power-on buffer circuit, making it more complex and difficult to maintain. However, the power-on self-test circuit in this invention reuses the power-on buffer resistor, resulting in a simpler structure and lower cost compared to related solutions. Therefore, this invention also solves the problem of overly complex structures in the power-on self-test circuit of the switching actuator (such as a thyristor) in the power-on buffer circuit of servo drive equipment.

[0045] The scheme of the application utilizes the power-on buffer resistor, has less devices and simple circuit. The thyristor self-check is performed before the high voltage, effectively protecting the equipment. It should be noted that, Figure 2 to Figure 4 The switch executing element in the switch executing element can be a thyristor, and of course, other switch devices can also be used.

[0046] In some embodiments, the control unit determines whether the switch executing element is faulty according to the comparison result, controls the switch of the main loop power supply to be turned off when it is determined that the switch executing element is faulty, and allows the switch of the main loop power supply to be turned on only when it is determined that the switch executing element is not faulty, comprising:

[0047] The control unit is specifically configured to, in the case that the first control switch is turned off and the self-check switch unit is turned on, if the comparison result is a first set level signal, send a driving signal to the switch executing element; if the comparison result is a second set level signal, determine that the switch executing element is faulty, and control the switch of the main loop power supply to be turned off. The first control switch is turned off, that is, the first control switch is turned off. The self-check switch unit is turned on, that is, the self-check switch unit is in the on state. The first set level signal is a low level signal, and the second set level signal is a high level signal.

[0048] Further, the control unit is specifically configured to, in the case that the driving signal has been sent to the switch executing element, if the comparison result is the second set level signal, stop sending the driving signal to the switch executing element; if the comparison result is the first set level signal, determine that the switch executing element is faulty, and control the switch of the main loop power supply to be turned off.

[0049] Further, the control unit is specifically configured to, in the case that the driving signal has been stopped being sent to the switch executing element, if the comparison result is the second set level signal, control the self-check switch unit to be turned off; if the comparison result is the first set level signal, determine that the switch executing element is faulty, and control the switch of the main loop power supply to be turned off.

[0050] Further, the control unit is specifically configured to, in the case that the self-check switch unit is turned off, if the comparison result is the first set level signal, determine that the switch executing element is not faulty, and control the first control switch to be turned on to allow the switch of the main loop power supply to be turned on, that is, after it is determined that the switch executing element is not faulty, the first control switch is turned on, the power-on buffer loop is entered, and the thyristor is closed to enter the main loop after the charging is completed. If the comparison result is the second set level signal, it is determined that the switch executing element is faulty, and the switch of the main loop power supply is controlled to be turned off.

[0051] Figure 4The current flow diagram of the servo drive device (such as motor drive circuit) before starting the main loop power supply, Figure 5 The flowchart of the power-on self-test process of the switching execution element (such as thyristor) of the power-on buffer circuit of the servo drive device (such as motor drive circuit). As shown in Figure 4 And Figure 5 The power-on self-test process of the switching execution element (such as thyristor) of the power-on buffer circuit of the servo drive device (such as motor drive circuit) is divided into four stages, please refer to the following exemplary description.

[0052] Stage one: after the control power supply of the servo drive device, the switch K2 (specifically, the relay K2) is turned on, the relay K1 is turned off, and the power supply S, the thyristor D7, the self-test resistor R and the switch K2 form a loop. At this time, no trigger signal is given to the thyristor D7, and it is judged whether the output signal A1 of the output end of the comparator U1 is low, that is, whether the voltage across the self-test resistor R is 0. Among them, for the comparator U1, when the voltage at the same phase input end of the comparator U1 is greater than the voltage at the opposite phase input end of the comparator U1, the comparator U1 outputs a high level signal; and when the voltage at the same phase input end of the comparator U1 is less than the voltage at the opposite phase input end of the comparator U1, the comparator U1 outputs a low level signal.

[0053] In the judgment result, if the output signal A1 of the output end of the comparator U1 is low, the voltage across the self-test resistor R is 0, which proves that the thyristor D7 is not conducting at this time. Because the thyristor D7 does not receive the trigger signal, therefore this phenomenon is normal.

[0054] In the judgment result, if the output signal A1 of the output end of the comparator U1 is high, the thyristor D7 is in the conducting state, which is an unreasonable phenomenon. It is possible that the thyristor D7 has been damaged, the servo drive device alarms and locks the main loop power supply switch, and does not turn on the main loop power supply.

[0055] Stage two: under the premise that stage one is not a problem, that is, under the condition that the output signal A1 of the output end of the comparator U1 is low, the thyristor D7 is given a trigger signal, and the output signal A1 of the output end of the comparator U1 needs to be high. At this time, the current flow is as shown in Figure 5 If it is low, the thyristor D7 cannot be turned on, which may be due to the failure of the thyristor D7 or the problem of the drive circuit, and needs to be powered off for inspection.

[0056] Phase three: under the premise of the normal of the previous two self-checks, the trigger signal is removed, if the output signal A1 of the output end of the comparator U1 is high level, the thyristor D7 is in the conducting state, since the thyristor D7 is a semi-controlled device, after the trigger signal is removed, the conduction is a normal phenomenon. If the output signal A1 of the output end of the comparator U1 is low level, the thyristor D7 has a problem, the servo drive device alarms and locks the main loop power switch.

[0057] Phase four: under the premise of the normal of the previous three stages, the switch K2 is disconnected, if the output signal A1 of the output end of the comparator U1 is low level, the thyristor D7 is disconnected, which is a normal phenomenon, and the self-checking ends and can work normally. If the output signal A1 of the output end of the comparator U1 is high level, the thyristor D7 has a problem, the servo drive device alarms and locks the main loop power switch.

[0058] In some embodiments, the control unit controls the switch of the main loop power supply to be disconnected, including: the control unit is specifically further used for prompting the servo drive device to send a reminder message of the failure of the switch executing element, so as to remind the staff to disconnect the switch of the main loop power supply. And / or, the servo drive device locks the switch of the main loop power supply, so as to avoid the power-on of the main loop power supply.

[0059] In the scheme of the application, the detection protection object is the switch executing element (such as a thyristor), the detection protection time is before the power-on of the main loop power supply, the detection method is to directly measure the voltage of the self-checking resistor, and the self-checking resistor and the buffer resistor are shared, and the detection protection process is four stages. In the scheme of the application, after the control power supply of the servo drive device, the power-on self-checking circuit of the switch executing element (such as a thyristor) of the power-on buffer circuit starts to work, according to the set logic, whether the switch executing element (such as a thyristor) of the power-on buffer circuit is invalid is detected, if the switch executing element (such as a thyristor) of the power-on buffer circuit is damaged, an alarm is given, reminding the staff not to power on the main loop power supply or sending a signal to control the servo drive device to lock the main loop power supply switch to avoid the power-on of the main loop power supply, so that corresponding measures can be taken before the power-on of the main loop power supply, and the safety of the servo drive device itself and the staff is protected.

[0060] The technical scheme of the present application is characterized in that the self-checking resistor is the power-on buffer resistor of the power-on buffer circuit of the servo drive device, the self-checking power supply (i.e. the power supply S), the self-checking switch (i.e. the switch K2), and the comparison unit (e.g. the comparator U1) form the power-on self-checking circuit, the power-on self-checking circuit is used to perform self-checking on the power-on switch of the power-on buffer circuit and the switching execution element (e.g. the thyristor D7) of the power-on buffer circuit after the power supply is controlled on the servo drive device, a pre-warning is initiated to remind the staff not to turn on the main loop power supply or to lock the switch of the main loop power supply of the servo drive device when it is determined that the power-on switch of the power-on buffer circuit has a fault, and the servo drive device is switched to the main loop power supply, i.e. the main loop power supply is turned on only when it is determined that the power-on switch of the power-on buffer circuit has no fault, thereby ensuring that the switching execution element (e.g. the thyristor) of the power-on buffer circuit has no fault before the main loop power supply is turned on, and the safety is improved by avoiding that the current is too large when the power-on buffer circuit is switched to the main loop power supply.

[0061] According to the embodiment of the present application, a servo drive device corresponding to the power-on self-checking device is also provided. The servo drive device can include the power-on self-checking device described above.

[0062] Since the processing and functions realized by the servo drive device of the present embodiment are basically corresponding to the embodiments, principles and examples of the device, the description of the present embodiment will not be elaborated here, and the related descriptions in the foregoing embodiments can be referred to.

[0063] The technical scheme of the present application is characterized in that the self-checking resistor is the power-on buffer resistor of the power-on buffer circuit of the servo drive device, the self-checking power supply (i.e. the power supply S), the self-checking switch (i.e. the switch K2), and the comparison unit (e.g. the comparator U1) form the power-on self-checking circuit, the power-on self-checking circuit is used to perform self-checking on the power-on switch of the power-on buffer circuit and the switching execution element (e.g. the thyristor D7) of the power-on buffer circuit after the power supply is controlled on the servo drive device, a pre-warning is initiated to remind the staff not to turn on the main loop power supply or to lock the switch of the main loop power supply of the servo drive device when it is determined that the power-on switch of the power-on buffer circuit has a fault, and the servo drive device is switched to the main loop power supply, i.e. the main loop power supply is turned on only when it is determined that the power-on switch of the power-on buffer circuit has no fault, thereby ensuring that the switching execution element (e.g. the thyristor) of the power-on buffer circuit has no fault before the main loop power supply is turned on, and the safety is improved by avoiding that the current is too large when the power-on buffer circuit is switched to the main loop power supply.

[0064] According to the embodiment of the present application, a servo drive device corresponding to the power-on self-checking device is also provided. The servo drive device can include the power-on self-checking device described above. Figure 6 As shown in the flowchart of an embodiment of the method of the present application. The power-on self-checking method of the servo drive device can include steps S110 to S140.

[0065] At step S110, when self-checking whether the switching executing element is faulty, the first control switch is controlled to be turned off, and the self-checking switch unit is controlled to be turned on. The self-checking switch unit is, for example, switch K2.

[0066] At step S120, the self-checking sampling unit is controlled to sample the power-on voltage of the power-on buffer circuit by using the power-on buffer resistance, to obtain the power-on voltage of the power-on buffer circuit.

[0067] At step S130, the comparison unit is controlled to compare the power-on voltage of the power-on buffer circuit sampled by the self-checking sampling unit with a reference voltage, to obtain a comparison result.

[0068] At step S140, according to the comparison result, it is determined whether the switching executing element is faulty, so that the switch of the main loop power supply is controlled to be turned off when it is determined that the switching executing element is faulty, and the switch of the main loop power supply is allowed to be turned on only when it is determined that the switching executing element is not faulty, i.e., only when the main loop power supply is allowed to be powered on.

[0069] The scheme of the present application provides a power-on self-checking circuit of a switching executing element (e.g., a thyristor) of a power-on buffer circuit of a servo drive device, which can self-check the switching executing element (e.g., a thyristor) of the power-on buffer circuit after the control power supply is powered on and before the main loop power supply is powered on, determine the availability of the switching executing element (e.g., a thyristor) of the power-on buffer circuit, and ensure that the power-on buffer circuit can work normally. In this way, it is ensured that the servo drive device can stably pre-charge the capacitor after the main loop power supply is powered on, and the problem that the capacitor, rectifier module and other components are damaged due to the excessive power-on current when the power-on buffer circuit is switched to the main loop power supply because the switching executing element (e.g., a thyristor) of the power-on buffer circuit is damaged, and even the problem that the safety of the staff is endangered due to the spark hazard are solved. Thus, the problem that if the switching executing element (e.g., a thyristor) of the power-on buffer circuit is damaged, the control power supply cannot give an early warning, and the current is excessively large when the power-on buffer circuit is switched to the main loop power supply, which causes a great safety hazard, is solved.

[0070] In some embodiments, in step S140, according to the comparison result, it is determined whether the switching executing element is faulty, so that the switch of the main loop power supply is controlled to be turned off when it is determined that the switching executing element is faulty, and the switch of the main loop power supply is allowed to be turned on only when it is determined that the switching executing element is not faulty, i.e., only when the main loop power supply is allowed to be powered on. The specific process is described in the following exemplary description.

[0071] The following will be described in combination with Figure 7An embodiment flowchart of the method of the present application for determining whether the switch executing element is faulty according to the comparison result is shown, which further illustrates the specific process of determining whether the switch executing element is faulty according to the comparison result in step S140, comprising steps S210 to S240.

[0072] In step S210, if the comparison result is a first set level signal when the first control switch is off and the self-checking switch unit is on, a driving signal is sent to the switch executing element. If the comparison result is a second set level signal, it is determined that the switch executing element is faulty, and the switch of the main circuit power supply is controlled to be off. Wherein, the first control switch is off, i.e. the first control switch is off. The self-checking switch power supply is on, i.e. the self-checking switch unit is in the on state. The first set level signal is a low level signal, and the second set level signal is a high level signal. Specifically, refer to Figure 4 In the example shown, when the voltage at the non-inverting input terminal of the comparator U1 is greater than the voltage at the inverting input terminal of the comparator U1, the comparator U1 outputs a second set level signal, i.e. a high level signal. When the voltage at the non-inverting input terminal of the comparator U1 is less than the voltage at the inverting input terminal of the comparator U1, the comparator U1 outputs a first set level signal, i.e. a low level signal.

[0073] In step S220, if the comparison result is a second set level signal when the driving signal has been sent to the switch executing element, the sending of the driving signal to the switch executing element is stopped. If the comparison result is a first set level signal, it is determined that the switch executing element is faulty, and the switch of the main circuit power supply is controlled to be off.

[0074] In step S230, if the comparison result is a second set level signal when the sending of the driving signal to the switch executing element has been stopped, the self-checking switch unit is controlled to be off. If the comparison result is a first set level signal, it is determined that the switch executing element is faulty, and the switch of the main circuit power supply is controlled to be off.

[0075] In step S240, if the comparison result is a first set level signal when the self-checking switch unit is off, it is determined that the switch executing element is not faulty, and the first control switch is controlled to be on to allow the switch of the main circuit power supply to be on. If the comparison result is a second set level signal, it is determined that the switch executing element is faulty, and the switch of the main circuit power supply is controlled to be off.

[0076] Figure 4 A schematic diagram of the current flow of a servo drive device (such as a motor drive circuit) before starting the main circuit power supply, Figure 5A flow chart of an embodiment of a power-on self-test procedure for a switching element (e.g., thyristor) of a power-on buffer circuit of a servo drive device (e.g., motor drive circuit). As shown in Figure 4 and Figure 5 A power-on self-test procedure for a switching element (e.g., thyristor) of a power-on buffer circuit of a servo drive device (e.g., motor drive circuit) includes:

[0077] Step 1, control switch K2 to turn on, and control relay K1 to turn off, then perform step 2.

[0078] Step 2, determine whether the output signal A1 at the output terminal of comparator U1 is equal to 0, i.e., whether it is a low-level signal: if yes, perform step 3, if no, make the servo drive device alarm.

[0079] Step 3, send a driving signal to thyristor D7, then perform step 4.

[0080] Step 4, determine whether the output signal A1 at the output terminal of comparator U1 is equal to 1, i.e., whether it is a high-level signal: if yes, perform step 5, if no, make the servo drive device alarm.

[0081] Step 5, remove the driving signal of thyristor D7, then perform step 6.

[0082] Step 6, determine whether the output signal A1 at the output terminal of comparator U1 is equal to 1, i.e., whether it is a high-level signal: if yes, make switch K2 turn off, then perform step 7, if no, make the servo drive device alarm.

[0083] Step 7, determine whether the output signal A1 at the output terminal of comparator U1 is equal to 0, i.e., whether it is a low-level signal: if yes, end the power-on self-test procedure for the switching element (e.g., thyristor) of the power-on buffer circuit of the servo drive device (e.g., motor drive circuit), if no, make the servo drive device alarm.

[0084] The scheme of the present application provides a power-on self-test circuit for a switching element (e.g., thyristor) of a power-on buffer circuit of a servo drive device, which uses a power-on buffer resistor as a self-test resistor, simplifying the circuit and reducing the cost. After the power supply of the servo drive device is controlled, the switching element (e.g., thyristor) of the power-on buffer circuit is detected in advance, when a problem of the switching element (e.g., thyristor) of the power-on buffer circuit is found, the servo drive device can alarm in advance, and control the power supply switch of the main circuit of the servo drive device to not start the main circuit power supply, protecting the safety of the servo drive device itself and the workers.

[0085] Since the processing and functions realized by the method of the embodiment are basically corresponding to the foregoing embodiments, principles and examples of the servo drive device, the description of the embodiment will not be elaborated on the unexplained parts, and the related descriptions in the foregoing embodiments can be referred to, which will not be repeated here.

[0086] By adopting the technical solution of the embodiment, the power-on self-checking circuit is formed by taking the power-on buffer resistor of the power-on buffer circuit of the servo drive device as the self-checking resistor, combining the self-checking power supply (i.e., the power supply S), the self-checking switch (i.e., the switch K2), and the comparison unit (such as the comparator U1), the self-checking circuit is used to perform self-checking on the power-on switch of the power-on buffer circuit and the switching element (such as the thyristor D7) of the power-on buffer circuit after the power supply of the servo drive device is controlled, so as to initiate a pre-warning to remind the staff not to turn on the main loop power supply or to lock the switch of the main loop power supply of the servo drive device when it is determined that the power-on switch of the power-on buffer circuit has a fault, and to switch to the main loop power supply, i.e., to turn on the main loop power supply, only when it is determined that the power-on switch of the power-on buffer circuit has no fault, which can ensure that the fault condition of the power-on switch of the power-on buffer circuit is processed before the main loop power supply is turned on, and the safety of the power-on of the main loop power supply is improved.

[0087] In summary, the person skilled in the art can easily understand that the above-mentioned advantageous modes can be freely combined and superimposed without conflict.

[0088] The above only describes the embodiments of the present application and is not used to limit the present application. For the person skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the scope of the claims of the present application.

Claims

1. A power-on self-test device, characterized in that, It can be applied to servo drive devices; the servo drive device has a control power supply and a main circuit power supply, and a power-on buffer circuit is provided between the control power supply and the main circuit power supply. The power-on buffer circuit includes: a switch actuator, a first control switch, and a power-on buffer resistor; the first control switch is connected in series with the power-on buffer resistor, and then connected in parallel with the switch actuator. The power-on self-test device uses the power-on buffer resistor as a self-test sampling unit; the power-on self-test device further includes: a self-test switch unit, a self-test comparison unit, and a control unit; wherein... The self-test switch unit is arranged in parallel with the first control switch; when performing a self-test to check whether the switch actuator is faulty, the first control switch is turned off and the self-test switch unit is turned on. The self-test sampling unit is used to sample the power-on voltage of the power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit. The comparison unit is used to compare the power-on voltage of the power-on buffer circuit sampled by the self-test sampling unit with the reference voltage to obtain a comparison result; The control unit is configured to determine whether the switch actuator is faulty based on the comparison result, so as to control the main circuit power supply switch to be turned off when the switch actuator is determined to be faulty, and to allow the main circuit power supply switch to be turned on only when the switch actuator is determined to be fault-free.

2. The power-on self-test device according to claim 1, characterized in that, The self-test switch unit includes: a second control switch; the comparison unit includes: a self-test power supply and a comparator module; wherein, The self-test power supply is connected in series with the second control switch and then in parallel with the first control switch; the positive terminal of the self-test power supply is connected to the first control switch, and the positive terminal of the self-test power supply is also connected to the positive power terminal of the comparator module. The negative terminal of the self-test power supply is connected to the negative terminal of the comparator module's power supply after passing through the second control switch; The sampling terminal of the self-test sampling unit is connected to the non-inverting input terminal of the comparator module; the inverting input terminal of the comparator module is used to input the reference voltage; and the output terminal of the comparator module is used to output the comparison result.

3. The power-on self-test device according to claim 2, characterized in that, The reference voltage is a set ratio multiple of the power supply voltage that the self-test power supply can provide, and the set ratio is less than 1.

4. The power-on self-test device according to claim 2, characterized in that, in, Both the first control switch and the second control switch are relays; the switch actuator is a thyristor.

5. The power-on self-test device according to any one of claims 1 to 4, characterized in that, The control unit, based on the comparison result, determines whether the switch actuator is faulty, and controls the main circuit power supply switch to open when the switch actuator is determined to be faulty, and allows the main circuit power supply switch to close only when the switch actuator is determined to be fault-free, including: When the first control switch is off and the self-test switch unit is on, if the comparison result is a first set level signal, a drive signal is sent to the switch actuator; if the comparison result is a second set level signal, the switch actuator is determined to be faulty, and the main circuit power supply is controlled to turn off. If a drive signal has been sent to the switch actuator, and the comparison result is a second set level signal, then the sending of drive signals to the switch actuator is stopped; if the comparison result is a first set level signal, then the switch actuator is determined to be faulty, and the main circuit power supply is controlled to disconnect. If the comparison result is a second set level signal and the drive signal to the switch actuator has been stopped, the self-test switch unit is controlled to open; if the comparison result is a first set level signal, the switch actuator is determined to be faulty and the main circuit power supply is controlled to open. When the self-test switch unit is off, if the comparison result is a first set level signal, it is determined that the switch actuator is fault-free, and the first control switch is turned on to allow the main circuit power supply to be switched on; if the comparison result is a second set level signal, it is determined that the switch actuator is faulty, and the main circuit power supply is turned off.

6. The power-on self-test device according to claim 5, characterized in that, The control unit controls the main circuit power supply switch to disconnect, including: The servo drive device may issue a fault warning message for the switching actuator to remind the operator to disconnect the main circuit power supply switch; and / or, the servo drive device may lock the main circuit power supply switch to prevent the main circuit power supply from being powered on.

7. A servo drive device, characterized in that, include: The power-on self-test device as described in any one of claims 1 to 6.

8. A power-on self-test method for a servo drive device as described in claim 7, characterized in that, include: When performing a self-test to check whether the switch actuator is faulty, the first control switch is controlled to open and the self-test switch unit is controlled to close. The self-test sampling unit is controlled to sample the power-on voltage of the power-on buffer circuit to obtain the power-on voltage of the power-on buffer circuit. The comparison unit is controlled to compare the power-on voltage of the power-on buffer circuit sampled by the self-test sampling unit with the reference voltage to obtain a comparison result. Based on the comparison results, it is determined whether the switch actuator is faulty, so that if the switch actuator is determined to be faulty, the switch of the main circuit power supply is controlled to be turned off, and the switch of the main circuit power supply is allowed to be turned on only if the switch actuator is determined to be fault-free.

9. The power-on self-test method according to claim 8, characterized in that, Based on the comparison results, it is determined whether the switch actuator is faulty, so that if the switch actuator is determined to be faulty, the switch of the main circuit power supply is controlled to be disconnected, and the switch of the main circuit power supply is allowed to be turned on only if the switch actuator is determined to be fault-free, including: When the first control switch is off and the self-test switch unit is on, if the comparison result is a first set level signal, a drive signal is sent to the switch actuator; if the comparison result is a second set level signal, the switch actuator is determined to be faulty, and the main circuit power supply is controlled to turn off. If a drive signal has been sent to the switch actuator, and the comparison result is a second set level signal, then the sending of drive signals to the switch actuator is stopped; if the comparison result is a first set level signal, then the switch actuator is determined to be faulty, and the main circuit power supply is controlled to disconnect. If the comparison result is a second set level signal and the drive signal to the switch actuator has been stopped, the self-test switch unit is controlled to open; if the comparison result is a first set level signal, the switch actuator is determined to be faulty and the main circuit power supply is controlled to open. When the self-test switch unit is off, if the comparison result is a first set level signal, it is determined that the switch actuator is fault-free, and the first control switch is turned on to allow the main circuit power supply to be switched on; if the comparison result is a second set level signal, it is determined that the switch actuator is faulty, and the main circuit power supply is turned off.

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