Electromagnetic brake control method, system and storage medium

Abstract

The present invention discloses an electromagnetic brake control method, system and storage medium, belonging to the field of electromagnetic brake control technology, the method comprises: collecting the angular velocity of the Hall feedback of the current cycle, filtering with a sliding average filter, and obtaining a first feedback signal; sampling the DC voltage used in the electromagnetic brake drive, using the variation of the DC voltage, calculating the fluctuation variation of the DC current, and obtaining a second feedback signal; calculating the PWM signal of the voltage duty cycle of the electromagnetic brake based on the first feedback signal and the second feedback signal; collecting the DC voltage signal of the driving motor, correcting the PWM signal, and controlling the electromagnetic brake according to the corrected PWM signal. The present invention realizes stable braking of the motor start-stop process through the electromagnetic brake while reducing the power consumption of the electromagnetic brake.

Description

Technical Field

[0001] The present invention relates to the technical field of electromagnetic brake control, and more particularly to an electromagnetic brake control method, system and storage medium. Background Art

[0002] Generally speaking, electromagnetic brakes are the most commonly used mechanical brakes. When an electric motor and an electromagnetic brake are used together, the clutch of the mechanical brake disc is controlled by the action of electromagnetic force to achieve braking control of the rotating parts. The electromagnetic brake is installed on the shaft or rotating device of the motor to achieve rapid braking or accurate positioning.

[0003] However, the electromagnetic brake uses the electromagnetic principle to control the locking and release of the motor shaft, that is, locking when power is on or releasing when power is on. Regardless of the type of electromagnetic brake used, it will generate large power consumption if it is powered on for a long time, thereby consuming too much electricity. At the same time, the current or voltage of the motor will fluctuate greatly during the start and stop process of the motor, and stable braking cannot be guaranteed.

[0004] Therefore, how to provide an electromagnetic brake control method, system and storage medium to reduce the energy consumption of the braking system while ensuring stable braking is an urgent problem that technicians in this field need to solve. Summary of the invention

[0005] In view of this, the present invention provides an electromagnetic brake control method, system and storage medium, which can reduce the energy consumption of the braking system while ensuring stable braking, and solve the problems existing in the above-mentioned prior art.

[0006] In order to achieve the above object, the present invention provides the following technical solutions:

[0007] An electromagnetic brake control method, based on a motor and an electromagnetic brake, comprises:

[0008] Collect the angular velocity of the Hall feedback in the current cycle, filter it using a sliding average filter, and obtain a first feedback signal;

[0009] Sampling the DC voltage used in driving the electromagnetic brake, calculating the fluctuation variation of the DC current by using the variation of the DC voltage, and obtaining a second feedback signal;

[0010] Calculate a PWM signal of a voltage duty ratio for the electromagnetic brake based on the first feedback signal and the second feedback signal;

[0011] The electromagnetic brake is controlled according to the PWM signal.

[0012] Preferably, the collecting the angular velocity of the Hall feedback in the current cycle and filtering it with a sliding average filter to obtain the first feedback signal includes:

[0013] Collect the angular velocity of the Hall feedback in the current cycle, and accumulate the angular velocity to obtain the current electrical angle of the motor;

[0014] The instantaneous value of the three-phase power supply voltage of the sampled motor is filtered by a sliding average filter. The cutoff frequency of the filter is selected as a frequency near the bandwidth and multiplied by the proportional coefficient k to obtain the three-phase power supply voltage feedforward value of the motor. The three-phase power supply voltage feedforward value of the motor and the current electrical angle of the motor are used as the first feedback signal.

[0015] Preferably, the specific formula for filtering the instantaneous value using a sliding average filter is:

[0016]

[0017] Among them, x(i) is the instantaneous value of the input three-phase power supply voltage, y(i) is the output result, and N is the filter length.

[0018] Preferably, the DC voltage used in the sampling electromagnetic brake driving is used to calculate the fluctuation variation of the DC current by using the variation of the DC voltage to obtain the second feedback signal, including:

[0019] The electromagnetic brake driving operation is divided into six intervals, the DC voltage used in the six intervals is sampled respectively, and the change amount of current and voltage is calculated;

[0020] Perform Park transformation on the changes of current and voltage to obtain d-axis component and q-axis component;

[0021] The instantaneous value of the three-phase inductor current is sampled, and a P regulator is used to perform closed-loop control based on the d-axis component and the q-axis component and the instantaneous value of the three-phase inductor current to obtain a three-phase modulated wave as a second feedback signal.

[0022] Preferably, the Park transformation formula is:

[0023]

[0024] In the formula, i am 、i bm 、i cm is the DC voltage used in the mth interval, where m=1, 2…6.

[0025] Preferably, the step of calculating the PWM signal of the voltage duty cycle of the electromagnetic brake based on the first feedback signal and the second feedback signal comprises:

[0026] Add the three-phase forward voltage feedback value of the motor obtained by the first feedback signal and the current electrical angle of the motor to the modulation wave value of each phase;

[0027] Clark transformation is performed on the added values ​​of each phase to obtain a PWM signal for controlling the voltage duty cycle of the electromagnetic brake.

[0028] Preferably, the Clark transformation formula is:

[0029]

[0030] In the formula, u a 、u b 、u c is the value after adding the three modulated wave values, u α 、u β , u0 is the component obtained by Clark transformation.

[0031] An electromagnetic brake control system, comprising:

[0032] The first feedback module collects the angular velocity of the Hall feedback in the current cycle and filters it using a sliding average filter to obtain a first feedback signal;

[0033] The second feedback module samples the DC voltage used in driving the electromagnetic brake, calculates the fluctuation variation of the DC current by using the variation of the DC voltage, and obtains a second feedback signal;

[0034] A calculation module, which calculates a PWM signal of a voltage duty cycle for the electromagnetic brake based on the first feedback signal and the second feedback signal;

[0035] The control module controls the electromagnetic brake according to the PWM signal.

[0036] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements an electromagnetic brake control method when executing the computer program.

[0037] It can be seen from the above technical solution that, compared with the prior art, the present invention discloses an electromagnetic brake control method, system and storage medium, which obtains a PWM signal of the electromagnetic brake driving voltage duty cycle through the first feedback signal and the second feedback signal, and adjusts the driving voltage duty cycle in such a way that the electromagnetic brake can be adjusted to the required working state as quickly as possible, thereby achieving stable braking of the motor start-stop process through the electromagnetic brake and reducing the power consumption of the electromagnetic brake. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0039] Figure 1 It is a schematic diagram of the method flow of the present invention;

[0040] Figure 2 It is a schematic diagram of the system structure of the present invention. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] The purpose of the present invention is to provide an electromagnetic brake control method, system and storage medium, which belongs to the field of electromagnetic brake control technology. The method includes: collecting the angular velocity of the Hall feedback of the current cycle, filtering with a sliding average filter, and obtaining a first feedback signal; sampling the DC voltage used in the electromagnetic brake drive, using the change of the DC voltage, calculating the fluctuation change of the DC current, and obtaining a second feedback signal; calculating the PWM signal of the voltage duty cycle of the electromagnetic brake based on the first feedback signal and the second feedback signal; collecting the DC voltage signal of the driving motor, correcting the PWM signal, and controlling the electromagnetic brake according to the corrected PWM signal. The present invention obtains the PWM signal of the driving voltage duty cycle of the electromagnetic brake through the first feedback signal and the second feedback signal, and adjusts it in a way of adjusting the driving voltage duty cycle, so that the electromagnetic brake can be adjusted to the required working state as soon as possible, and the electromagnetic brake can realize stable braking of the motor start-stop process through the electromagnetic brake, while reducing the power consumption of the electromagnetic brake.

[0043] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] See also Figure 1 As shown, an embodiment of the present invention discloses an electromagnetic brake control method based on a motor and an electromagnetic brake, comprising:

[0045] Collect the angular velocity of the Hall feedback in the current cycle, filter it using a sliding average filter, and obtain a first feedback signal;

[0046] Sampling the DC voltage used in driving the electromagnetic brake, calculating the fluctuation variation of the DC current by using the variation of the DC voltage, and obtaining a second feedback signal;

[0047] Calculate a PWM signal of a voltage duty ratio for the electromagnetic brake based on the first feedback signal and the second feedback signal;

[0048] The electromagnetic brake is controlled according to the PWM signal.

[0049] In a specific embodiment, the angular velocity of the Hall feedback in the current cycle is collected and filtered using a sliding average filter to obtain a first feedback signal, which includes:

[0050] Collect the angular velocity of the Hall feedback in the current cycle, and accumulate the angular velocity to obtain the current electrical angle of the motor;

[0051] The instantaneous value of the three-phase power supply voltage of the sampled motor is filtered using a sliding average filter. The cutoff frequency of the filter is selected as a frequency near the bandwidth and multiplied by the proportional coefficient k to obtain the three-phase power supply voltage feedforward value of the motor. The three-phase power supply voltage feedforward value of the motor and the current electrical angle of the motor are used as the first feedback signal.

[0052] Specifically, there is a relationship between the angle of the motor voltage and the instantaneous value of the voltage, which is usually described by a mathematical model of sinusoidal alternating current.

[0053] Specifically, in a sinusoidal AC system, the voltage changes periodically over time, and its amplitude and phase will affect the operation of the motor. The instantaneous value of the voltage can be expressed as:

[0054] V(t)=Vm*sin(ωt+θ);

[0055] Where Vm is the peak voltage, ω is the angular frequency (2πf), f is the frequency, and θ is the initial phase angle.

[0056] Specifically, the angle of voltage refers to the phase of voltage, which represents the relationship between voltage and time. For example, if the phase of a voltage is 30 degrees, then at each point in time, the value of the voltage will be:

[0057] Vm*sin(ωt+30).

[0058] For a motor, both the angle of the voltage and the instantaneous value of the voltage affect the rotation of the motor. If the phase of the voltage changes, the rotation speed and direction of the motor will also change. Similarly, if the instantaneous value of the voltage changes, the power and torque obtained by the motor will also change. Therefore, the angle of the motor voltage and the instantaneous value of the voltage are important parameters for motor control. In motor control, it is usually necessary to adjust the phase and instantaneous value of the voltage to achieve precise control of the motor.

[0059] In a specific embodiment, the specific formula for filtering the instantaneous value using the sliding average filter is:

[0060]

[0061] Among them, x(i) is the instantaneous value of the input three-phase power supply voltage, y(i) is the output result, and N is the filter length.

[0062] Specifically, the advantages of sliding average filter filtering instantaneous values ​​are:

[0063] 1. It can effectively remove periodic noise and high-frequency noise.

[0064] 2. It has a good inhibitory effect on periodic interference and has a higher smoothness.

[0065] 3. Suitable for high frequency oscillation systems.

[0066] 4. High computational efficiency.

[0067] In a specific embodiment, sampling the DC voltage used in driving the electromagnetic brake, using the variation of the DC voltage to calculate the fluctuation variation of the DC current, and obtaining the second feedback signal includes:

[0068] The electromagnetic brake driving operation is divided into six sections, the DC voltage used in the six sections is sampled respectively, and the change of current and voltage is calculated;

[0069] Perform Park transformation on the changes of current and voltage to obtain d-axis component and q-axis component;

[0070] The instantaneous value of the three-phase inductor current is sampled, and a P regulator is used to perform closed-loop control based on the d-axis component and the q-axis component and the instantaneous value of the three-phase inductor current to obtain a three-phase modulated wave as a second feedback signal.

[0071] In a specific embodiment, the Park transformation formula is:

[0072]

[0073] In the formula, i am 、i bm 、icm is the DC voltage used in the mth interval, where m=1, 2…6.

[0074] In a specific embodiment, calculating a PWM signal of a voltage duty cycle of the electromagnetic brake based on the first feedback signal and the second feedback signal includes:

[0075] Add the three-phase forward voltage feedback value of the motor obtained by the first feedback signal and the current electrical angle of the motor to the modulation wave value of each phase;

[0076] Clark transformation is performed on the added values ​​of each phase to obtain a PWM signal for controlling the voltage duty cycle of the electromagnetic brake.

[0077] In a specific embodiment, the Clark transformation formula is:

[0078]

[0079] In the formula, u a 、u b 、u c is the value after adding the three modulated wave values, u α 、u β , u0 is the component obtained by Clark transformation.

[0080] See also Figure 2 As shown, an electromagnetic brake control system comprises:

[0081] The first feedback module collects the angular velocity of the Hall feedback in the current cycle and filters it using a sliding average filter to obtain a first feedback signal;

[0082] The second feedback module samples the DC voltage used in driving the electromagnetic brake, calculates the fluctuation variation of the DC current by using the variation of the DC voltage, and obtains a second feedback signal;

[0083] A calculation module, which calculates a PWM signal of a voltage duty cycle for the electromagnetic brake based on the first feedback signal and the second feedback signal;

[0084] The control module controls the electromagnetic brake according to the PWM signal.

[0085] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements an electromagnetic brake control method when executing the computer program.

[0086] As for the system device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0087] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0088] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electromagnetic brake control method, based on a motor and an electromagnetic brake, characterized in that: include: Collect the angular velocity of the Hall feedback in the current cycle, filter it using a sliding average filter, and obtain a first feedback signal; Sampling the DC voltage used in driving the electromagnetic brake, calculating the fluctuation variation of the DC current by using the variation of the DC voltage, and obtaining a second feedback signal; Calculate a PWM signal of a voltage duty ratio for the electromagnetic brake based on the first feedback signal and the second feedback signal; Control the electromagnetic brake according to the PWM signal; The collecting of the angular velocity of the Hall feedback in the current cycle and filtering using a sliding average filter to obtain a first feedback signal includes: Collect the angular velocity of the Hall feedback in the current cycle, and accumulate the angular velocity to obtain the current electrical angle of the motor; The instantaneous value of the three-phase power-in voltage of the sampled motor is filtered by a sliding average filter, the cutoff frequency of the filter is selected as a frequency near the bandwidth, and multiplied by a proportional coefficient k to obtain a pre-feedback value of the three-phase power-in voltage of the motor, and the pre-feedback value of the three-phase power-in voltage of the motor and the current electrical angle of the motor are used as the first feedback signal; The method of calculating a PWM signal for a voltage duty cycle of the electromagnetic brake based on the first feedback signal and the second feedback signal comprises: Add the three-phase forward voltage feedback value of the motor obtained by the first feedback signal and the current electrical angle of the motor to the modulation wave value of each phase; Performing Clark transformation on the added values ​​of each phase to obtain a PWM signal for controlling the voltage duty cycle of the electromagnetic brake; The electrical angle refers to the phase of the voltage, and the relationship between the electrical angle and the instantaneous value of the voltage is: V(t)=Vm*sin(ωt+θ); Where Vm is the peak value of the voltage, ω is the angular frequency, and θ is the initial phase angle.

2. The electromagnetic brake control method according to claim 1, characterized in that: The specific formula for filtering the instantaneous value using a sliding average filter is: Among them, x(i) is the instantaneous value of the input three-phase power supply voltage, y(i) is the output result, and N is the filter length.

3. The electromagnetic brake control method according to claim 1, characterized in that: The DC voltage used in the sampling electromagnetic brake driving is used to calculate the fluctuation variation of the DC current by using the variation of the DC voltage to obtain the second feedback signal, including: The electromagnetic brake driving operation is divided into six sections, the DC voltage used in the six sections is sampled respectively, and the change amount of the DC voltage is calculated; Perform Park transformation on the variation of DC voltage to obtain d-axis component and q-axis component; The instantaneous value of the three-phase inductor current is sampled, and a P regulator is used to perform closed-loop control based on the d-axis component and the q-axis component and the instantaneous value of the three-phase inductor current to obtain a three-phase modulated wave as a second feedback signal.

4. The electromagnetic brake control method according to claim 3, characterized in that: The formula of the Park transform is: In the formula, i am 、i bm 、i cm is the DC voltage used in the mth interval, where m=1, 2…6.

5. The electromagnetic brake control method according to claim 1, characterized in that: The formula for the Clark transform is: In the formula, u a 、u b 、u c is the value after adding the three modulated wave values, u α 、u β , u0 is the component obtained by Clark transformation.

6. An electromagnetic brake control system using the electromagnetic brake control method according to any one of claims 1 to 5, characterized in that: include: The first feedback module collects the angular velocity of the Hall feedback in the current cycle and filters it using a sliding average filter to obtain a first feedback signal; The second feedback module samples the DC voltage used in driving the electromagnetic brake, calculates the fluctuation variation of the DC current by using the variation of the DC voltage, and obtains a second feedback signal; A calculation module, which calculates a PWM signal of a voltage duty cycle for the electromagnetic brake based on the first feedback signal and the second feedback signal; The control module controls the electromagnetic brake according to the PWM signal.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the electromagnetic brake control method according to any one of claims 1 to 5 is implemented.

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