Electric wheel chock control system and control method

Abstract

The application discloses an electric wheel clamp control system and a control method. The control system comprises a signal acquisition circuit, a control signal acquisition circuit, a second electronic switch circuit, a first electronic switch circuit, a high-speed microprocessor, a three-phase power supply circuit and a power management module. The proximity switch signal acquisition circuit is used for acquiring proximity switch signals, and the proximity switch is used for sensing whether the motor is in place. The second electronic switch circuit is used for controlling the power supply or power loss of the motor according to the high-speed microprocessor instructions. The first electronic switch circuit is used for controlling the power supply or power loss of the electromagnet according to the high-speed microprocessor instructions. The high-speed microprocessor is used for receiving signals collected by the signal acquisition circuit and controlling the opening and closing of the first electronic switch circuit and the second electronic switch circuit. Compared with the PLC control, the application reduces the cable connection and reduces the construction cost, and has the advantages of miniaturization, integration, complete circuit function, long service life, small size, low cost and the like.

Description

Technical Field

[0001] This invention relates to the field of braking control technology, specifically to an electric wheel clamp control system and control method. Background Technology

[0002] Rail transit, yard bridges, gantry cranes, etc. are the most common lifting equipment in industries such as large ferries and industrial cables. With the goal of precision, efficiency and safety, they are used to accomplish tasks such as rail transportation, high-speed travel, load translation and lifting. In actual operation, high-speed braking or suspending heavy objects in the air is often required, which necessitates the use of electric wheel clamps (i.e., wheel-side brakes). Currently, most braking controls utilize PLCs. For example, the applicant's patent application filed in 2015, application number 201520226805.8, entitled "An Electric Wheel-Side Brake with Automatic Clamping upon Power Loss," relies on a serial communication connection between a control box installed in the control center and a single control point. However, this control method has the following shortcomings: 1. Multiple communication network ports and connecting cables exist between the control center and the single control point; 2. Interference easily occurs between cables, requiring high cable shielding; 3. The signal transmission path is too long, resulting in significant signal attenuation, easily leading to signal loss or inadequate command delivery; 4. PLC control is unsuitable for complex and more precise braking processes; 5. Due to the inherent characteristics of numerous, long cables and connectors in PLC control, signal transmission inevitably experiences time delays, resulting in low control accuracy. In addition, existing electric wheel clamps typically use a single braking stop, which can easily cause a sudden braking impact, resulting in track damage and severe wear of the lining. Summary of the Invention

[0003] The technical problem solved by the present invention is to provide an electric wheel clamp control system and control method to overcome the shortcomings in the above-mentioned background technology.

[0004] The electric chuck control system includes: The signal acquisition circuit includes a proximity switch signal acquisition circuit and a control signal acquisition circuit. The proximity switch signal acquisition circuit is used to acquire the signal of proximity switch J4 and connect it to the high-speed microprocessor through the first electronic switch circuit. Proximity switch J4 is used to sense whether the motor J2 is in position. The control signal acquisition circuit is used to acquire external control signals and connect them to the high-speed microprocessor through the second electronic switch circuit. The second electronic switch circuit is used to control the motor J2 to be energized or de-energized according to the instructions of the high-speed microprocessor. When energized, the electric clamp wheel enters the open state. The first electronic switch circuit is used to control the electromagnet J3 to be energized or de-energized according to the instructions of the high-speed microprocessor. When energized, the electric clamp wheel enters the open holding state. A high-speed microprocessor is used to receive signals acquired by the signal acquisition circuit and control the opening and closing of the first electronic switch circuit and the second electronic switch circuit. A three-phase power supply circuit is used to power motor J2 and the power management module; The power management module is used to power the switching circuits and the high-speed microprocessor.

[0005] Furthermore, the control signal acquisition circuit includes a control switch J5 and an optocoupler U4. Pin 1 of the control switch J5 is grounded, and pin 2 of the control switch J5 is connected to pin 2 of resistor R19. Pin 1 of R19 is connected to pin 3 of U4 and pin 16 of the high-speed microprocessor. A capacitor C11 is connected in parallel between pins 15 and 16 of the high-speed microprocessor. Pin 2 of the optocoupler U4 is grounded after being connected in series with resistor R27. Pins 1 and 4 of the optocoupler U4 are shorted and then connected to pin 2 of resistor R24. Pin 1 of resistor R24 ​​is connected to the 5V DC potential of the power management module for power pull-up.

[0006] Furthermore, the first electronic switch circuit includes a field-effect transistor Q1 and an optocoupler U3. Pin 3 of the optocoupler U3 is connected to the drain (D) terminal of pin 2 of the field-effect transistor Q1 via a series resistor R22. Pin 2 of the optocoupler U3 and the source (S) terminal of pin 3 of the field-effect transistor Q1 are both grounded. A capacitor C9 and resistor R21 are connected in parallel between the drain terminal of pin 2 of the field-effect transistor Q1 and ground. Pin 4 of the optocoupler U3 is connected to pin 2 of the electromagnet J3 via a series resistor R20. Pin 2 of the electromagnet J3 is connected to the 24V DC potential of the power management module. Pin 1 of the electromagnet J3 is connected to the gate (G) terminal of pin 1 of the field-effect transistor Q1. A reverse diode D10 is connected between pins 1 and 2 of the electromagnet J3. Pin 1 of the optocoupler U3 is connected to pin 17 of the high-speed microprocessor via a series resistor R19.

[0007] Furthermore, the proximity switch signal acquisition circuit includes a proximity switch J4 and an optocoupler U5. Pin 1 of proximity switch J4 is connected to the 24V DC potential of the power management module via a series resistor R26. Pin 3 of proximity switch J4 is grounded. Pin 2 of proximity switch J4 is connected to pin 1 of optocoupler U5 via a series resistor R31. A resistor R32 and a capacitor C10 are connected in parallel between pins 1 and 2 of optocoupler U5. One end of resistor R32 and capacitor C10 is grounded. Pins 2 and 3 of optocoupler U5 are both grounded. Pin 4 of optocoupler U5 is connected to pin 12 of the high-speed microprocessor via a series resistor R29. Pin 4 of optocoupler U5 is connected to pin 20 of the high-speed microprocessor via a series resistor R30. Pin 20 of the high-speed microprocessor is connected to pin 2 of resistor R33. Pin 1 of resistor R33 pulls power up to the 3.3V DC level of the power management module.

[0008] Furthermore, the second electronic switching circuit includes a field-effect transistor Q2 and an optocoupler U2. Pin 1 of the optocoupler U2 is connected in series with resistor R15 to pin 19 of the high-speed microprocessor. Pin 2 of the optocoupler U2 is grounded. Capacitor C6 and resistor R18 are connected between the drain (D) of pin 2 of the field-effect transistor Q2 and ground. Pin 3 of the optocoupler U2 is connected to the drain (D) of the field-effect transistor Q2. Pin 4 of the optocoupler U2 is connected to the 24V DC potential of the power management module via resistor R16 for pull-up power. The DC potential is connected to the gate (G) of the field-effect transistor (FET) Q2 through diode D11. The source (S) of FET Q2 is connected to pin 3 of the three single-phase solid-state relays. Pin 1 of the three single-phase solid-state relays is connected to the three-phase input of motor J2, respectively. Pin 4 of the three single-phase solid-state relays is grounded. The three single-phase solid-state relays, from left to right, are the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3. Pin 2 of the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3 is connected to the live wires U, V, and W of the three-phase power supply circuit, respectively.

[0009] Furthermore, the three-phase power supply circuit is equipped with a phase sequence detection circuit, which is used to detect the voltage and phase of the three-phase power supply circuit. When an abnormality occurs in the three-phase power supply circuit, the phase sequence detection circuit outputs an abnormal signal to the high-speed microprocessor. After receiving the abnormal signal, the high-speed microprocessor generates a forced shutdown command and records and stores the abnormality.

[0010] Furthermore, the phase sequence detection circuit includes resistors R1-R10, diodes D1-D7, capacitor C4, and optocoupler U1. Resistors R1 and R4 are connected in series on the live wire W, resistors R2 and R5 are connected in series on the live wire V, and resistors R3 and R6 are connected in series on the live wire U. The output terminal of resistor R4 is connected in parallel with diodes D1 and D2, the output terminal of resistor R5 is connected in parallel with diodes D3 and D4, and the output terminal of resistor R6 is connected in parallel with diodes D5 and D6. Diodes D1 and D2 are in opposite directions, diodes D3 and D4 are in opposite directions, and diodes D5 and D6 are in opposite directions. The cathodes of diodes D1, D3, and D5 are connected in parallel and then connected to one side of resistor R8. Pin 1 of R7 is connected to pin 2 of resistor R7. The anodes of diodes D2, D4, and D6 are connected in parallel to pin 1 of resistor R7. Resistors R7, R8, and R9 form a π-type filter circuit, which is then connected to damping diode D7 and filter capacitor C4, and then to pin 1 of coupling resistor R10. Pin 2 of coupling resistor R10 is connected to pin 1 of optocoupler U1. Pins 2 and 3 of optocoupler U1 are grounded. Pin 4 of optocoupler U1 is connected to pin 10 of the high-speed microprocessor. Pin 4 of optocoupler U1 is connected to pin 10 of the high-speed microprocessor, and pin 4 of optocoupler U1 is connected in series with resistor R11 to pull up power to the 3.3V DC potential of the power management module. The 3.3V DC potential of the power management module is connected to pin 9 of the high-speed microprocessor through resistor R12 to power the high-speed microprocessor.

[0011] This invention also provides a braking control method for an electric wheel clamp, wherein the electric wheel clamp is in the open state as the initial state, the electromagnet J3 is energized and the control switch J5 is de-energized, and when a braking signal is received, the following control is executed: S1. De-energize electromagnet J3 and maintain it for time T1 to achieve a single braking maneuver. S2. Following the previous step, while electromagnet J3 is de-energized, the control motor J2 is energized after a delay of T2 time. Proximity switch J4 is used to sense whether motor J2 has reached the position. When motor J2 has reached the position, the control motor J2 is de-energized. At the same time as motor J2 is de-energized, the control electromagnet J3 is energized and maintained for T3 time to achieve secondary braking. S3. Following the previous step, while electromagnet J3 is de-energized, motor J2 is energized after a delay of T4. When motor J2 reaches its position, motor J2 is de-energized. At the same time as motor J2 is de-energized, electromagnet J3 is energized and maintained, thus completing the braking process.

[0012] Furthermore, the delay time and the duration satisfy the following conditions: 10ms≤T1≤30ms, 80ms≤T2≤120ms, 40ms≤T3≤60ms, and 260ms≤T4≤350ms.

[0013] Due to the adoption of the above technical solution, the present invention has the following advantages: 1. Compared with PLC control, this invention reduces the cable connection between the control center and the single-point braking unit, reduces construction costs, and has advantages such as miniaturization, integration, complete circuit functions, long service life, small size and low cost. It improves the flexibility of automatic control logic processing and reduces the complexity of operation, enabling precise operation.

[0014] 2. The electric clamping wheel device of this invention can be well embedded in the main body without the need for external extension or attachment.

[0015] 3. By setting up a phase detection signal acquisition unit, power supply safety is ensured, and secondary disasters caused by phase imbalance due to phase loss or burnout of motor J2 are protected.

[0016] 4. The optocoupler effectively isolates the pre-amplifier signal from the post-amplifier signal, reducing crosstalk between signals, preventing high-frequency signal self-oscillation, blocking high-frequency circuits, and avoiding signal loss or corruption caused by self-oscillation and multi-harmonic oscillation, as well as the vicious cycle that damages the high-speed microprocessor and surrounding electronic devices.

[0017] 5. By employing two intermittent braking techniques followed by full engagement, damage to the mechanism and friction materials from a single emergency braking is reduced. This effectively ensures the operation and emergency stop of the output load equipment, especially the emergency braking of the braking equipment, thereby guaranteeing the operational safety of the main equipment. Attached Figure Description

[0018] Figure 1 This is a circuit diagram of the electric clamp wheel control system of the present invention. Implementation

[0019] The present invention can be further described through the following embodiments; however, the scope of the invention is not limited to the following embodiments. It should be understood that the embodiments described herein are disclosed by way of illustration only, and the invention is not intended to limit its scope to the details of the construction and arrangement of the components described below or illustrated in the figures. Furthermore, in describing preferred embodiments, specific terminology will be used for clarity. It should be understood that each specific term includes all technical equivalents that operate in a similar manner to achieve a similar purpose.

[0020] This invention, in conjunction with the control center commands of rail trains, yard bridges, gantry cranes, etc., can realize the stopping or running of motor J2, and the electromagnet's clamping or releasing action to execute the control center's commands. The electromagnet's engagement is flexible and not limited to a single switch; it can be repeated multiple times with delay to achieve multiple braking-releasing processes, avoiding the braking impact caused by a single sudden braking, which leads to track damage and unnecessary consumption of equipment consumables. It can achieve precise, efficient, and safe control.

[0021] The high-speed microprocessor of this invention is an STM8S103F3M3, which has a CPU speed of 72MHz and up to 1MB of memory. It includes motor control peripherals as well as CAN and USB full-speed interfaces, a 12-bit analog-to-digital converter, a timer, a PWM timer, standard and advanced communication interfaces, and can realize low-power applications.

[0022] Since this application does not involve improvements to the internal structure of the electric wheel clamp, the structure of the electric wheel clamp is omitted. For the specific structure of the electric wheel clamp, please refer to the patent application filed by the applicant in 2015, application number: 201520226805.8, entitled: An electric wheel-side brake that automatically clamps when power is lost.

[0023] Example 1: As Figure 1 The diagram shown is a circuit diagram of the electric wheel clamp control system of the present invention, including: a signal acquisition circuit, which includes a proximity switch signal acquisition circuit and a control signal acquisition circuit. The proximity switch signal acquisition circuit is used to acquire the signal of proximity switch J4 and connect it to a high-speed microprocessor via a first electronic switch circuit. Proximity switch J4 is used to sense whether motor J2 is in the correct position. The control signal acquisition circuit is used to acquire external control signals and connect them to the high-speed microprocessor via a second electronic switch circuit. The second electronic switch circuit is used to control motor J2 to be energized or de-energized according to instructions from the high-speed microprocessor. When energized, the electric wheel clamp enters the open state. The first electronic switch circuit is used to control motor J2 to be energized or de-energized according to instructions from the high-speed microprocessor. The system controls the energization or de-energization of electromagnet J3; when energized, the electric clamp wheel enters the open holding state. A high-speed microprocessor receives signals from the signal acquisition circuit and controls the opening and closing of the first and second electronic switch circuits. A three-phase power supply circuit powers motor J2 and the power management module. The power management module powers the switch circuits and the high-speed microprocessor. The power management module includes a first power management module P1 and a second power management module P2. The first power management module P1 is model LD30-26B24R2, and the second power management module P2 is model YHT4S+5 / 10W. The power management modules can provide 3V, 5V, and 24V power supplies.

[0024] In this embodiment, the control signal acquisition circuit includes a control switch J5 and an optocoupler U4. Pin 1 of the control switch J5 is grounded, and pin 2 of the control switch J5 is connected to pin 2 of resistor R19. Pin 1 of R19 is connected to pin 3 of U4 and pin 16 of the high-speed microprocessor. A capacitor C11 is connected in parallel between pins 15 and 16 of the high-speed microprocessor. Pin 2 of the optocoupler U4 is grounded after being connected in series with resistor R27. Pins 1 and 4 of the optocoupler U4 are shorted and then connected to pin 2 of resistor R24. Pin 1 of resistor R24 ​​is connected to the 5V DC potential of the power management module for power pull-up.

[0025] In this embodiment, the first electronic switch circuit includes a field-effect transistor Q1 and an optocoupler U3. Pin 3 of the optocoupler U3 is connected to the drain (D) terminal of pin 2 of the field-effect transistor Q1 after a series resistor R22. Pin 2 of the optocoupler U3 and the source (S) terminal of pin 3 of the field-effect transistor Q1 are both grounded. A capacitor C9 and resistor R21 are connected in parallel between the drain terminal of pin 2 of the field-effect transistor Q1 and ground. Pin 4 of the optocoupler U3 is connected to pin 2 of the electromagnet J3 after a series resistor R20. Pin 2 of the electromagnet J3 is connected to the 24V DC potential of the power management module. Pin 1 of the electromagnet J3 is connected to the gate (G) terminal of pin 1 of the field-effect transistor Q1. A reverse diode D10 is connected between pins 1 and 2 of the electromagnet J3. Pin 1 of the optocoupler U3 is connected to pin 17 of the high-speed microprocessor after a series resistor R19.

[0026] In this embodiment, the proximity switch signal acquisition circuit includes a proximity switch J4 and an optocoupler U5. Pin 1 of proximity switch J4 is connected to the 24V DC potential of the power management module via a series resistor R26. Pin 3 of proximity switch J4 is grounded. Pin 2 of proximity switch J4 is connected to pin 1 of optocoupler U5 via a series resistor R31. A resistor R32 and a capacitor C10 are connected in parallel between pin 1 and pin 2 of optocoupler U5. One end of resistor R32 and capacitor C10 is grounded. Pins 2 and 3 of optocoupler U5 are both grounded. Pin 4 of optocoupler U5 is connected to pin 12 of the high-speed microprocessor via a series resistor R29. Pin 4 of optocoupler U5 is connected to pin 20 of the high-speed microprocessor via a series resistor R30. Pin 20 of the high-speed microprocessor is connected to pin 2 of resistor R33. Pin 1 of resistor R33 pulls power from the 3.3V DC level of the power management module.

[0027] In this embodiment, the second electronic switch circuit includes a field-effect transistor Q2 and an optocoupler U2. Pin 1 of the optocoupler U2 is connected in series with resistor R15 to pin 19 of the high-speed microprocessor. Pin 2 of the optocoupler U2 is grounded. Capacitor C6 and resistor R18 are connected between the drain (D) of pin 2 of the field-effect transistor Q2 and ground. Pin 3 of the optocoupler U2 is connected to the drain (D) of the field-effect transistor Q2. Pin 4 of the optocoupler U2 is connected to the 24V DC potential of the power management module via resistor R16 for power supply. The DC potential is connected to the gate (G) of the field-effect transistor (FET) Q2 through diode D11. The source (S) of FET Q2 is connected to pin 3 of the three single-phase solid-state relays. Pin 1 of the three single-phase solid-state relays is connected to the three-phase input of motor J2, respectively. Pin 4 of the three single-phase solid-state relays is grounded. The three single-phase solid-state relays, from left to right, are the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3. Pin 2 of the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3 is connected to the live wires U, V, and W of the three-phase power supply circuit, respectively.

[0028] In this embodiment, MOSFETs Q1 and Q2 are STP8NK100Z N-channel low-conductivity MOSFETs with a withstand voltage of 1000V, a maximum allowable current of 6.5A, and an on-resistance as low as 1.6Ω. The single-phase solid-state relay is a SAI4005D Goodyear single-phase solid-state relay with a load voltage of 40-480VAC and a rated current of 5A. Alternatively, a single-phase solid-state relay with a larger rated current of 15A can be selected according to load requirements. Onboard single-phase control is used to avoid inter-phase interference. Three onboard solid-state relays are connected in parallel to ensure three-phase synchronous operation and rapid load response.

[0029] In this embodiment, a phase sequence detection circuit is provided on the three-phase power supply circuit. The phase sequence detection circuit is used to detect the voltage and phase of the three-phase power supply circuit. When an abnormality occurs in the three-phase power supply circuit, the phase sequence detection circuit outputs an abnormal signal to the high-speed microprocessor. After receiving the abnormal signal, the high-speed microprocessor generates a forced shutdown command and records and stores the abnormality.

[0030] In this embodiment, the phase sequence detection circuit includes resistors R1-R10, diodes D1-D7, capacitor C4, and optocoupler U1. Resistors R1 and R4 are connected in series on the live wire W, resistors R2 and R5 are connected in series on the live wire V, and resistors R3 and R6 are connected in series on the live wire U. The output terminal of resistor R4 is connected in parallel with diodes D1 and D2, the output terminal of resistor R5 is connected in parallel with diodes D3 and D4, and the output terminal of resistor R6 is connected in parallel with diodes D5 and D6. Diodes D1 and D2 are in opposite directions, diodes D3 and D4 are in opposite directions, and diodes D5 and D6 are in opposite directions. The cathodes of diodes D1, D3, and D5 are connected in parallel and then connected to resistor R8. Pin 1 is connected to pin 2 of resistor R7. The anodes of diodes D2, D4, and D6 are connected in parallel to pin 1 of resistor R7. Resistors R7, R8, and R9 form a π-type filter circuit, which is then connected to damping diode D7 and filter capacitor C4, and then to pin 1 of coupling resistor R10. Pin 2 of coupling resistor R10 is connected to pin 1 of optocoupler U1. Pins 2 and 3 of optocoupler U1 are grounded. Pin 4 of optocoupler U1 is connected to pin 10 of the high-speed microprocessor. Pin 4 of optocoupler U1 is connected to pin 10 of the high-speed microprocessor, and pin 4 of optocoupler U1 is connected in series with resistor R11 to pull up power to the 3.3V DC potential of the power management module. The 3.3V DC potential of the power management module is connected to pin 9 of the high-speed microprocessor through resistor R12 to power the high-speed microprocessor.

[0031] Example 2: The present invention also provides a braking control method for an electric wheel clamp. With the electric wheel clamp in the open position as the initial state, electromagnet J3 is energized and control switch J5 is de-energized. When a braking signal is received, the following control is executed: S1. Control the electromagnet J3 to de-energize and maintain it for time T1 to achieve one-time braking. Since the walking speed and inertial force are large during the first braking, if the T1 time is maintained for too long, the pad wear will be large, the vibration of the mechanism will be large, and abnormal noise will be easily generated. If the T1 time is maintained for too short a time, the deceleration will not be in place, the sliding inertia will be long, and the braking will not be in place. Therefore, 10ms≤T1≤30ms, and T1 is preferably 20ms.

[0032] S2. Following the previous step, while electromagnet J3 is de-energized, a delay of T2 is applied to energize motor J2. Proximity switch J4 is used to sense whether motor J2 has reached its designated position. When motor J2 reaches its designated position, motor J2 is de-energized. Simultaneously, electromagnet J3 is energized and maintained for T3, achieving secondary braking. If the delay of T2 is too long before braking, it will cause inaccurate braking, deviation from the target, and slippage, similar to an elevator deviating from its floor. If the delay of T2 is too short before braking, it will stop prematurely before reaching the target. Short start-stop times can also easily cause motor J2 to stall and its temperature to rise sharply. Therefore, 80ms ≤ T2 ≤ 120ms. Since the speed and inertia are reduced after the first two braking actions, maintaining T3 helps to accelerate braking. Therefore, 40ms ≤ T3 ≤ 60ms, with T3 preferably being 50ms.

[0033] S3. Following the previous step, while electromagnet J3 is de-energized, motor J2 is energized after a delay of T4. When motor J2 reaches its destination, motor J2 is de-energized, and simultaneously, electromagnet J3 is energized and maintained, completing the braking process. Due to the stalling of the electromagnet coil during the first two braking maneuvers, the temperature rises sharply, and the coil resonates, which can easily cause self-excited multivibrator oscillations. Therefore, 260 ms ≤ T4 ≤ 350 ms can effectively avoid peak pulses and resonant harmonics; T4 is preferably 300 ms.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the scope of the invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0035] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An electric chuck wheel control system, characterized in that, include: The signal acquisition circuit includes a proximity switch signal acquisition circuit and a control signal acquisition circuit. The proximity switch signal acquisition circuit is used to acquire the signal of proximity switch J4 and connect it to the high-speed microprocessor through the first electronic switch circuit. Proximity switch J4 is used to sense whether the motor J2 is in position. The control signal acquisition circuit is used to acquire external control signals and connect them to the high-speed microprocessor through the second electronic switch circuit. The second electronic switch circuit is used to control the motor J2 to be energized or de-energized according to the instructions of the high-speed microprocessor. When energized, the electric clamp wheel enters the open state. The first electronic switch circuit is used to control the electromagnet J3 to be energized or de-energized according to the instructions of the high-speed microprocessor. When energized, the electric clamp wheel enters the open holding state. A high-speed microprocessor is used to receive signals acquired by the signal acquisition circuit and control the opening and closing of the first electronic switch circuit and the second electronic switch circuit. A three-phase power supply circuit is used to power motor J2 and the power management module; The power management module is used to power the switching circuits and the high-speed microprocessor; The proximity switch signal acquisition circuit includes a proximity switch J4 and an optocoupler U5. Pin 1 of proximity switch J4 is connected to the 24V DC potential of the power management module via a series resistor R26. Pin 3 of proximity switch J4 is grounded. Pin 2 of proximity switch J4 is connected to pin 1 of optocoupler U5 via a series resistor R31. A resistor R32 and a capacitor C10 are connected in parallel between pins 1 and 2 of optocoupler U5. One end of resistor R32 and capacitor C10 is grounded. Pins 2 and 3 of optocoupler U5 are both grounded. Pin 4 of optocoupler U5 is connected to pin 12 of the high-speed microprocessor via a series resistor R29. Pin 4 of optocoupler U5 is connected to pin 20 of the high-speed microprocessor via a series resistor R30. Pin 20 of the high-speed microprocessor is connected to pin 2 of resistor R33. Pin 1 of resistor R33 pulls power up to the 3.3V DC level of the power management module. The control signal acquisition circuit includes a control switch J5 and an optocoupler U4. Pin 1 of the control switch J5 is grounded. Pin 2 of the control switch J5 is connected to pin 2 of resistor R19. Pin 1 of R19 is connected to pin 3 of U4 and pin 16 of the high-speed microprocessor. A capacitor C11 is connected in parallel between pins 15 and 16 of the high-speed microprocessor. Pin 2 of the optocoupler U4 is grounded after being connected in series with resistor R27. Pins 1 and 4 of the optocoupler U4 are shorted and connected to pin 2 of resistor R24. Pin 1 of resistor R24 ​​is connected to the 5V DC potential of the power management module for power pull-up. The first electronic switch circuit includes a field-effect transistor Q1 and an optocoupler U3. Pin 3 of the optocoupler U3 is connected to the drain (D) of pin 2 of the field-effect transistor Q1 after a series resistor R22. Pin 2 of the optocoupler U3 and the source (S) of pin 3 of the field-effect transistor Q1 are both grounded. A capacitor C9 and resistor R21 are connected in parallel between the drain (D) of pin 2 of the field-effect transistor Q1 and ground. Pin 4 of the optocoupler U3 is connected to pin 2 of the electromagnet J3 after a series resistor R20. Pin 2 of the electromagnet J3 is connected to the 24V DC potential of the power management module. Pin 1 of the electromagnet J3 is connected to the gate (G) of pin 1 of the field-effect transistor Q1. A reverse diode D10 is connected between pins 1 and 2 of the electromagnet J3. Pin 1 of the optocoupler U3 is connected to pin 17 of the high-speed microprocessor after a series resistor R19. The second electronic switching circuit includes a field-effect transistor (FET) Q2 and an optocoupler U2. Pin 1 of optocoupler U2 is connected in series with resistor R15 to pin 19 of the high-speed microprocessor. Pin 2 of optocoupler U2 is grounded. Capacitor C6 and resistor R18 are connected between the drain (D) of pin 2 of FET Q2 and ground. Pin 3 of optocoupler U2 is connected to the drain (D) of FET Q2. Pin 4 of optocoupler U2 is connected to the 24V power management module via resistor R16. The power is pulled up from the DC potential. The 24VDC potential of the power management module is connected to the gate (G) of the MOSFET Q2 through diode D11. The source (S) of the MOSFET Q2 is connected to pin 3 of the three single-phase solid-state relays. Pin 1 of the three single-phase solid-state relays is connected to the three-phase input of motor J2. Pin 4 of the three single-phase solid-state relays is grounded. The three single-phase solid-state relays, from left to right, are the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3. Pin 2 of the first solid-state relay SSR1, the second solid-state relay SSR2, and the third solid-state relay SSR3 is connected to the live wires U, V, and W of the three-phase power supply circuit.

2. The control system according to claim 1, characterized in that, The three-phase power supply circuit is equipped with a phase sequence detection circuit, which is used to detect the voltage and phase of the three-phase power supply circuit. When an abnormality occurs in the three-phase power supply circuit, the phase sequence detection circuit outputs an abnormal signal to the high-speed microprocessor. After receiving the abnormal signal, the high-speed microprocessor generates a forced shutdown command and records and stores the abnormality.

3. The control system according to claim 2, characterized in that, The phase sequence detection circuit includes resistors R1-R10, diodes D1-D7, capacitor C4, and optocoupler U1. Resistors R1 and R4 are connected in series on the live wire W, resistors R2 and R5 are connected in series on the live wire V, and resistors R3 and R6 are connected in series on the live wire U. Diodes D1 and D2 are connected in parallel at the output of resistor R4, diodes D3 and D4 are connected in parallel at the output of resistor R5, and diodes D5 and D6 are connected in parallel at the output of resistor R6. Diodes D1 and D2 are in opposite directions, diodes D3 and D4 are in opposite directions, and diodes D5 and D6 are in opposite directions. The cathodes of diodes D1, D3, and D5 are connected in parallel and then connected to lead number 1 of resistor R8. The pins of resistor R7 and D2 are connected together. The anodes of diodes D2, D4, and D6 are connected in parallel to pin 1 of resistor R7. Resistors R7, R8, and R9 form a π-type filter circuit, which is then connected to damping diode D7 and filter capacitor C4, and then to pin 1 of coupling resistor R10. Pin 2 of coupling resistor R10 is connected to pin 1 of optocoupler U1. Pins 2 and 3 of optocoupler U1 are grounded. Pin 4 of optocoupler U1 is connected to pin 10 of high-speed microprocessor. Pin 4 of optocoupler U1 is connected to pin 10 of high-speed microprocessor, and pin 4 of optocoupler U1 is connected in series with resistor R11 to pull up power to the 3.3V DC potential of the power management module. The 3.3V DC potential of the power management module is connected to pin 9 of high-speed microprocessor through resistor R12 to power the high-speed microprocessor.

4. An electric wheel clamp braking control method, employing the electric wheel clamp control system as described in claim 1, characterized in that, With the electric wheel clamp in the open position as the initial state, electromagnet J3 is energized and control switch J5 is de-energized. When a braking signal is received, the following control is executed: S1. De-energize electromagnet J3 and maintain it for time T1 to achieve a single braking maneuver. S2. Following the previous step, while electromagnet J3 is de-energized, the control motor J2 is energized after a delay of T2 time. Proximity switch J4 is used to sense whether motor J2 has reached the position. When motor J2 has reached the position, the control motor J2 is de-energized. At the same time as motor J2 is de-energized, the control electromagnet J3 is energized and maintained for T3 time to achieve secondary braking. S3. Following the previous step, while electromagnet J3 is de-energized, motor J2 is energized after a delay of T4. When motor J2 reaches its position, motor J2 is de-energized. At the same time as motor J2 is de-energized, electromagnet J3 is energized and maintained, thus completing the braking process.

5. The control method according to claim 4, characterized in that, The delay time and duration satisfy the following conditions: 10ms≤T1≤30ms, 80ms≤T2≤120ms, 40ms≤T3≤60ms, 260ms≤T4≤350ms.

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