A redundant drive system based on multi-axis servo control

Abstract

The application provides a kind of redundancy drive system based on multi-axis servo control, comprising: hoist system, the wire rope lifting point of hoist system is fixed on door leaf;Main controller is connected with the main power system of hoist system;Redundancy controller is connected with the auxiliary power system of hoist system;When main power system and auxiliary power system are normal, main controller and redundancy controller control main power system and auxiliary power system, so that door leaf opens or closes;When main power system / auxiliary power system fails, use redundancy controller / main controller to control auxiliary power system / main power system, so that door leaf opens or closes.The application can automatically switch to auxiliary / main power system when main / auxiliary power system fails by configuring main / auxiliary power system on hoist system, which can ensure the continuous operation of gate, greatly improve the reliability of gate, and reduce the risk of shutdown and accident caused by power system failure.

Description

Technical Field

[0001] This invention belongs to the field of redundant drive technology, and more specifically, relates to a redundant drive system based on multi-axis servo control. Background Technology

[0002] In modern society, gate drive systems typically only have one primary drive unit, a design that presents certain risks and shortcomings. If the primary drive system fails, the normal operation of the gate will be affected. To address this issue, some technologies have proposed the concept of a backup drive system. A backup drive system refers to configuring one or more backup drive units in addition to the primary drive system. This ensures that in the event of a primary drive system failure, the backup drive system can take over and continue operating, guaranteeing the normal functioning of the gate. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a redundant drive system based on multi-axis servo control.

[0004] A redundant drive system based on multi-axis servo control includes:

[0005] A hoisting system, wherein the wire rope suspension point of the hoisting system is fixed on the door leaf;

[0006] The main controller is connected to the main power system of the hoisting system;

[0007] A redundant controller is connected to the auxiliary power system of the hoisting system;

[0008] When both the main power system and the auxiliary power system are functioning normally, the main controller and the redundant controller control the main power system and the auxiliary power system to open or close the door. When the main power system / auxiliary power system malfunctions, the redundant controller / main controller is used to control the auxiliary power system / main power system to open or close the door.

[0009] Preferably, the hoisting system includes:

[0010] The first winch mechanism has its wire rope suspension point fixed to one end of the door leaf;

[0011] The second winch mechanism has its wire rope suspension point fixed to the other end of the door leaf.

[0012] Preferably, the main power system includes:

[0013] The first motor is connected to one end of the first hoisting mechanism;

[0014] The third motor is connected to one end of the second hoisting mechanism.

[0015] Preferably, the auxiliary power system includes:

[0016] The second motor is connected to the other end of the first hoisting mechanism;

[0017] The fourth motor is connected to the other end of the second hoisting mechanism.

[0018] Preferably, the first motor, the second motor, the third motor and the fourth motor are each equipped with an absolute encoder on their rotation shafts to detect the rotation angle position and speed of the motors and transmit the rotation angle position and speed of the motors to the corresponding main controller or redundant controller.

[0019] Preferably, when the main controller detects that any one of the current, voltage, or motor speed of the first or third motor exceeds a preset threshold, the main power system malfunctions.

[0020] Preferably, when the redundant controller detects that any one of the current, voltage, or motor speed of the second or fourth motor exceeds a preset threshold, the auxiliary power system malfunctions.

[0021] Preferably, a proximity switch is also provided on one side of the door to prevent the door from exceeding a preset opening position.

[0022] The beneficial effects of the redundant drive system based on multi-axis servo control provided by this invention are as follows: Compared with the prior art, this invention configures a main / auxiliary power system on the hoisting system, which can automatically switch to the auxiliary / main power system when the main / auxiliary power system fails. This ensures the continuous operation of the gate, greatly improves the reliability of the gate, and reduces the risk of downtime and accidents caused by power system failure. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A schematic diagram of a redundant drive system based on multi-axis servo control provided for an embodiment of the present invention;

[0025] Figure 2 A side view of a redundant drive system provided in an embodiment of the present invention;

[0026] Figure 3A top view of a redundant drive system provided in an embodiment of the present invention. Detailed Implementation

[0027] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0028] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0029] Please see Figure 1 A redundant drive system based on multi-axis servo control includes: a hoisting system, a main controller, a redundant controller, a main power system, and a secondary power system.

[0030] A hoisting system, wherein the wire rope suspension point of the hoisting system is fixed to the door leaf; a main controller, connected to the main power system of the hoisting system; and a redundant controller, connected to the auxiliary power system of the hoisting system.

[0031] When both the main power system and the auxiliary power system are functioning normally, the main controller and the redundant controller control the main power system and the auxiliary power system to open or close the door. When the main power system / auxiliary power system malfunctions, the redundant controller / main controller is used to control the auxiliary power system / main power system to open or close the door.

[0032] It should be noted that if the main controller detects that any one of the current, voltage, or motor speed of the first or third motor exceeds a preset threshold, the main power system malfunctions. If the redundant controller detects that any one of the current, voltage, or motor speed of the second or fourth motor exceeds a preset threshold, the auxiliary power system malfunctions.

[0033] Furthermore, the hoisting system includes: a first hoisting mechanism and a second hoisting mechanism.

[0034] The wire rope suspension point of the first winch mechanism is fixed to one end of the door leaf; the wire rope suspension point of the second winch mechanism is fixed to the other end of the door leaf.

[0035] The main power system includes: a first motor mounted on shaft #1 and connected to one end of the first winch mechanism; and a third motor mounted on shaft #3 and connected to one end of the second winch mechanism. The auxiliary power system includes: a second motor mounted on shaft #2 and connected to the other end of the first winch mechanism; and a fourth motor mounted on shaft #4 and connected to the other end of the second winch mechanism.

[0036] Furthermore, absolute encoders are provided on the rotating shafts of the first motor, the second motor, the third motor, and the fourth motor to detect the rotational angle position and speed of the motors and transmit the rotational angle position and speed of the motors to the corresponding main controller or redundant controller; a proximity switch is also provided on one side of the door to prevent the door from exceeding the preset opening position.

[0037] The redundant drive system described above will be further explained below with reference to specific embodiments:

[0038] The redundant drive system operates with 2n servo motors. Two servo controllers control n servo motors respectively, with each controller controlling an equal number of servo motors on both sides, forming two sets of servo drive systems. In design, either set of servo drive systems can drive the equipment. During normal operation, the two servo controllers exchange data to synchronize the 2n servo motors, thus improving drive capability. During normal operation, the servo drive system monitors a series of parameters in real time, such as motor current, voltage, and speed, and comprehensively judges these parameters against the system's set normal values ​​and thresholds. If parameters exceed the normal range, an error is reported and the system stops, sending a fault signal and fault code back to the host computer. Upon receiving the fault signal, the host computer can use a pre-written program to send the fault signal to the other set of servo drive systems. Upon the next startup, only the normal set of servo drive systems is sent a start signal, allowing it to continue driving the equipment, thus achieving redundancy.

[0039] Please see Figure 2-3 The redundant drive system in this embodiment includes four servo motors. Motors #1 and #2 drive the same set of winches, and motors #3 and #4 drive the same set of winches. Each motor is equipped with a multi-turn absolute encoder connected to the drive system to provide real-time feedback on the position and speed of the current axis. In designing the mechanical structure and selecting the motors, the gate can be opened and closed normally as long as one motor on each of the winches is running. Two motion controllers are configured: a main controller and a redundant controller. The main controller controls axes #1 and #3, and the redundant controller controls axes #2 and #4.

[0040] During normal operation, axis #1 is the main shaft. By setting the acceleration, deceleration, and maximum operating speed, a curve of operating time and speed is planned. The encoder feeds back position information, and the current main shaft speed, acceleration, and target position are calculated in real time and the parameters are assigned to axis #3. Axis #3 also runs with the same target position, speed, and acceleration, achieving position synchronization under the same motion controller. At the same time, the main controller sends the real-time torque values ​​of axes #1 and #3 to the redundant controller at a period of 4ms through the distributed synchronization function. The redundant controller uses the torque value of axis #1 as the real-time torque setting value of axis #2 and the torque value of axis #3 as the real-time torque setting value of axis #4, and runs synchronously with the main shaft, realizing the torque synchronization function of the two motors of the same winch.

[0041] When a fault occurs on axis #1 or #3 that cannot be repaired in a short time, a command can be sent from the host computer to switch to the independent operation mode of axis #2 or #4. When axis #2 and #4 are running independently, axis #2 is the main axis. By setting the acceleration, deceleration and maximum running speed, the running time and running speed curve is planned. The encoder feeds back the position information, and the current main axis speed, acceleration and target position are calculated in real time and the parameters are assigned to axis #4. Axis #4 also runs with the same target position, speed and acceleration, realizing the position synchronization operation under the same motion controller and completing the normal opening and closing of the gate.

[0042] When a fault occurs on shaft #2 or #4 that cannot be repaired in a short period of time, the system of shaft #2 and shaft #4 will exit motion control, and shaft #1 and #3 will drive the winch to operate independently to complete the opening and closing of the gate, thereby realizing the redundancy function.

[0043] This invention, by configuring a main / auxiliary power system on the hoisting system, can automatically switch to the auxiliary / main power system when the main / auxiliary power system fails. This ensures the continuous operation of the gate, greatly improves the gate's reliability, and reduces the risk of downtime and accidents caused by power system failures.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A redundant drive system based on multi-axis servo control, characterized in that, include: A hoisting system, wherein the wire rope suspension point of the hoisting system is fixed on the door leaf; The main controller is connected to the main power system of the hoisting system; A redundant controller is connected to the auxiliary power system of the hoisting system; When both the main power system and the auxiliary power system are functioning normally, the main controller and the redundant controller control the main power system and the auxiliary power system to open or close the door. When the main power system / auxiliary power system malfunctions, the redundant controller / main controller is used to control the auxiliary power system / main power system to open or close the door. The hoisting system includes: The first winch mechanism has its wire rope suspension point fixed to one end of the door leaf; The second winch mechanism has its wire rope suspension point fixed to the other end of the door leaf; The main power system includes: The first motor is connected to one end of the first hoisting mechanism; The third motor is connected to one end of the second hoisting mechanism; The auxiliary power system includes: The second motor is connected to the other end of the first hoisting mechanism; The fourth motor is connected to the other end of the second hoisting mechanism; The hoisting system is equipped with a main / auxiliary power system, which can automatically switch to the auxiliary / main power system when the main / auxiliary power system fails, in order to ensure the continuous operation of the gate; During normal operation, the main controller and the redundant controller achieve synchronous operation of the four servo motors through data exchange.

2. The redundant drive system based on multi-axis servo control as described in claim 1, characterized in that, The first motor, the second motor, the third motor, and the fourth motor are all equipped with absolute encoders on their rotating shafts to detect the rotational angle position and speed of the motors, and to transmit the rotational angle position and speed of the motors to the corresponding main controller or redundant controller.

3. A redundant drive system based on multi-axis servo control as described in claim 2, characterized in that, When the main controller detects that any one of the current, voltage, or motor speed of the first or third motor exceeds a preset threshold, the main power system malfunctions.

4. A redundant drive system based on multi-axis servo control as described in claim 3, characterized in that, When the redundant controller detects that any one of the current, voltage, or motor speed of the second or fourth motor exceeds a preset threshold, the auxiliary power system malfunctions.

5. A redundant drive system based on multi-axis servo control as described in claim 4, characterized in that, A proximity switch is also installed on one side of the door to prevent the door from exceeding the preset opening position.

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