Radiation-resistant motor driving controller, servo system and fault detection method thereof

Abstract

The invention belongs to the technical field of nuclear industry, and particularly relates to an irradiation-resistant motor driving controller, a servo system and a fault detection method thereof.The servo system comprises the irradiation-resistant motor driving controller, a power source, an external electromagnetic brake, an external servo motor, a speed and position sensor module and an upper computer; a monitoring module of the irradiation-resistant motor driving controller monitors signal change characteristics after a power supply voltage reduction and stabilization module group, a main control module, a grid driving module and a power module are irradiated, judges whether any monitored module fails or not based on a failure criterion, and sends a brake signal to the main control module to control a brake to be locked if judging that the monitored module fails. And sending the abnormal information to an upper computer. The operation state of each key module of the motor drive controller is monitored in real time, the failed module after irradiation is positioned, the stability and reliability of the motor drive controller in a severe environment are improved, rapid maintenance after a fault is achieved, and failure and resource waste of the whole motion system are avoided.

Description

Technical Field

[0001] The present invention belongs to the technical field of nuclear industry, and in particular, relates to a radiation-resistant motor drive controller, a servo system and a fault detection method thereof. Background Art

[0002] As an important place for the utilization of nuclear energy, nuclear power plants must strictly monitor and maintain their nuclear power facilities, and promptly detect and replace aging and faulty equipment to ensure the normal and safe operation of nuclear power plants.

[0003] For the nuclear industry environment, the main consideration is the radiation effect of gamma rays with strong penetrating power. The servo drive controller is the main component for controlling the movement of the motor. It can accurately control the corresponding speed, torque and position of the motor output. It has very important applications in the nuclear industry. Its reliability and stability are self-evident.

[0004] Since the servo drive controller uses many electronic components, it is easily affected by the total dose effect of gamma radiation in a nuclear radiation environment, causing the electronic components to fail to work properly, thereby causing the motion system to fail. Currently, when a servo drive controller fails due to gamma radiation, it is relatively complicated to test and replace its failed electronic components. The failed servo drive controller is often replaced as a whole, which is not only expensive, but also causes a large waste of resources.

[0005] Therefore, there is a need for a drive controller that is radiation resistant and can effectively detect faulty components. Summary of the invention

[0006] In view of the defects of the prior art, the present invention proposes a radiation-resistant motor drive controller, a servo system and a fault detection method thereof, which solves the problem in the prior art that the servo drive controller is complicated to replace and wastes resources after failure in a nuclear radiation environment. By using a multi-stage step-down voltage stabilizing module group and highly radiation-resistant components, stable power supply and reliable operation of the system in an irradiated environment are ensured. At the same time, through closed-loop control and an online monitoring system, precise control of the external motor and real-time response to faults are achieved, which significantly improves the adaptability and safety of the system.

[0007] In one aspect, the present invention provides a radiation-resistant motor drive controller, comprising:

[0008] A power module connected to an external motor;

[0009] A gate drive module connected to the power module;

[0010] a brake control module connected to the external brake;

[0011] A main control module, connected to the brake control module, the gate drive module and the external sensor respectively, and communicating with an external host computer;

[0012] A monitoring module is respectively connected to the main control module and an external host computer for communication;

[0013] A power supply step-down and voltage stabilization module group, used to supply power to each module of the drive controller;

[0014] The main control module is used to receive control signals and send control instructions to the brake control module and the gate drive module, and at the same time, the external motor speed and position information collected by the sensor is fed back to the host computer through the monitoring module; the monitoring module is used to monitor the changes in the radiation signals of the power supply buck and voltage stabilization module group, the main control module, the gate drive module and the power module, and judge whether each module fails based on the failure criteria, and send a braking signal to the main control module to control the locking of the external brake when it fails, and at the same time transmit the abnormal information to the host computer.

[0015] Furthermore, the power supply step-down and voltage stabilizing module group includes a plurality of step-down modules and voltage stabilizing modules of different voltage levels, each level of step-down module is connected to the voltage stabilizing module of the same level, and each voltage stabilizing module with a higher voltage level is connected to the step-down module of the next level.

[0016] Furthermore, the monitoring module includes a field programmable gate array.

[0017] Furthermore, the power module includes a MOS tube; the gate drive module is used to receive the PWM signal output by the main control module, and send it to the power module after boosting it, so as to control the opening and closing of the MOS tube.

[0018] Furthermore, the voltage stabilizing module is composed of resistor and capacitor components with high radiation resistance.

[0019] Furthermore, it also includes a current detection module and a voltage detection module; the current detection module is connected to the power module and the main control module; the voltage detection module is connected to the gate drive module and the monitoring module.

[0020] Furthermore, the main control module is communicatively connected with the external sensor; the main control module is used to generate a PWM signal from the external motor speed and position information collected by the external sensor, and control the operation of the external motor through the gate drive module and the power module, and receive the current detection module and the voltage monitoring module to obtain the phase current signal and voltage signal of the external motor.

[0021] On the one hand, the present invention also provides a servo system of a radiation-resistant motor drive controller as described above, comprising a radiation-resistant motor drive controller, and a power supply connected to the corresponding ports of the radiation-resistant motor drive controller, an external electromagnetic brake, a servo motor external motor, a speed and position sensor module and a host computer.

[0022] On the other hand, the present invention also provides a method for detecting a fault in a servo system of a radiation-resistant motor drive controller as described above, the method comprising:

[0023] Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module obtains the voltage signal of each buck module, the status information of the main control module, the PWM signal generated by the main control module, the driving voltage signal after the gate drive module is boosted, and the phase current signal of the motor. The monitoring module extracts the voltage amplitude, noise size, duty cycle and phase current change characteristic information from the acquired signal data;

[0024] Step 2: Establish a feature vector set X based on the feature data of the buck module, main control module, gate drive module and power module obtained by the monitoring module, establish a module failure probability model based on the feature vector set X, and establish a module failure probability model optimized by minimizing the loss function;

[0025] Step 3: Substitute the characteristic vectors of the buck module, main control module, gate drive module and power module into the optimized fault prediction model, set corresponding thresholds for the failure probability models of the buck module, main control module, gate drive module and power module respectively. If the calculation result of the module fault probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module fault probability model is < the set threshold, the corresponding module prediction result is judged to be normal.

[0026] Furthermore, it is characterized in that, in step 2: the module failure probability model is determined by the following formula:

[0027]

[0028] Where: P(Y=1|X) represents the module failure probability model, where Y represents a binary variable, the number 1 represents failure (if the number is 0, it represents normal); the feature vector set X=(X1, X2, ..., X n ), β0 represents the bias term, β1, β2, ..., β n Represents the coefficient corresponding to each eigenvector.

[0029] The beneficial effects of the present invention are:

[0030] First, the radiation-resistant motor drive controller of the present invention ensures the stable power supply of different voltage modules in the irradiation environment by using a multi-stage step-down and voltage-stabilizing module group, thereby avoiding voltage fluctuations affecting the normal operation of various functional modules; by introducing a monitoring module, key components that are easily affected by radiation, such as power modules and gate drive modules, are monitored online, and whether the modules fail can be determined in real time, thereby improving the reliability and safety of the system; in addition, through a closed-loop control method, precise control of the external motor is achieved, ensuring the stable operation of the system in the irradiation environment. These characteristics significantly improve the adaptability of the system in the irradiation environment and ensure the stability and reliability of the motor drive control.

[0031] Second, in the preferred implementation, the present invention ensures that each voltage module can still work stably in a high radiation environment by using components with high radiation resistance, thereby effectively preventing the influence of radiation on the performance of the controller.

[0032] Third, in the preferred implementation, the power supply step-down and voltage stabilization module group of the present invention adopts a multi-stage step-down and voltage stabilization design. The step-down module of each stage cooperates with the corresponding voltage stabilization module to form the same output voltage. Each voltage stabilization module with a higher voltage level supplies power to the step-down module of the next stage to realize the step-by-step step-down and voltage stabilization process, ensuring that the power supply of each voltage level will not affect the power supply module of the next stage when affected by radiation, thereby ensuring the voltage stability and reliability of the system.

[0033] Fourth, in the preferred implementation, the present invention introduces a closed-loop control system. The main control module combines the speed and position information of the external sensor to achieve precise control of the motor, and adjusts the control signal through real-time feedback to improve the response speed and control accuracy of the system.

[0034] Fifth, in the preferred implementation, the monitoring module of the present invention monitors the operating status of components such as the power module and the gate drive module in real time through FPGA. When a fault or abnormality is detected, it automatically sends a braking signal and locks the external motor to prevent the spread of system faults in time and ensure the safe operation of the equipment.

[0035] Sixth, in the preferred implementation, the radiation-resistant motor drive controller of the present invention is designed with multiple A / D conversion modules and current and voltage detection modules, which can perform real-time monitoring and data collection on the operating status of the system, simplify the operation and maintenance process of the system, and reduce the difficulty and cost of maintenance.

[0036] Seventh, the fault detection method of the present invention can accurately identify and predict the faults of each module of the radiation-resistant motor drive controller by adopting a modular fault probability model and characteristic vector analysis, especially in an irradiated environment, effectively avoiding system false alarms or missed alarms, and significantly improving the accuracy and reliability of fault detection; the method can send a shutdown signal in time when a module fails, and trigger the braking function of the electromagnetic brake, ensuring that the system can respond quickly when a fault is detected, avoiding potential equipment damage and safety hazards, and improving the overall safety of the servo system; by real-time monitoring of key parameters such as voltage amplitude, noise, duty cycle and phase current, the fault detection method can quickly identify and take measures in the early stages of the occurrence of the fault, effectively shortening the fault response time and reducing the risk of system shutdown; the fault detection method can accurately locate the faulty module, avoid unnecessary disassembly and replacement in the system, reduce time and resource consumption during maintenance, and reduce overall maintenance costs and maintenance complexity. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a hardware framework diagram of a radiation-resistant motor drive controller in one embodiment of the present invention;

[0038] Figure 2 is a block diagram of a servo system using a radiation-resistant motor drive controller in one embodiment of the present invention;

[0039] Figure 3 is a flow chart of a method for monitoring the state of a step-down module and handling faults in one embodiment of the present invention;

[0040] Figure 4 is a flow chart of a method for monitoring the status of a main control module and handling faults in one embodiment of the present invention;

[0041] Figure 5 is a flow chart of a gate drive module state monitoring and fault handling method in one embodiment of the present invention;

[0042] Figure 6 It is a flow chart of a method for monitoring the state of a power module MOS tube and handling faults in one embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solution of the present application, the present application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0044] In the description of this application, the terms "first", "second", and "third" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise expressly defined. Terms such as "installed", "connected", "connected", and "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0045] In the description of the present application, it should be understood that the directions or positional relationships indicated by the terms "up", "down", "left", "right", "front", "back", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, should not be understood as a limitation on the present application.

[0046] In the description of this specification, the description of the terms "one embodiment / method", "some embodiments / methods", "specific embodiments / methods", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment / method or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments / methods or examples in a suitable manner.

[0047] The present invention records a radiation-resistant motor drive controller, a servo system and a fault detection method thereof. The servo system can monitor the operating status of each key module in the motor drive controller in real time through the radiation-resistant motor drive controller, locate the failed modules of the motor drive controller after being affected by radiation, improve the stability and reliability of the motor drive controller in harsh environments, ensure that the motor drive controller can be quickly repaired after a failure occurs, and avoid failure of the entire motion system and waste of resources.

[0048] Example 1

[0049] Refer to the instruction manual Figure 1A radiation-resistant motor drive controller includes a power module connected to an external motor, a gate drive module connected to the power module, a brake control module connected to an external brake, and a main control module connected to the brake control module, the gate drive module, and an external sensor respectively, a monitoring module that interacts with the main control module, a multi-channel A / D conversion module connected to the monitoring module, and a power supply step-down and voltage stabilization module group connected to the brake control module, the external sensor input port, the main control module, the monitoring module, and the multi-channel A / D conversion module respectively.

[0050] The main control module is connected to the external host computer, and is used to receive control signals from the external host computer and send control signals to the brake control module and the gate drive module, as well as to collect the speed and position information of the external motor through the sensor input port and send it to the external host computer through the monitoring module, so that the external host computer can accurately send control signals to the main control module based on the speed and position information of the external motor, and further accurately control the movement of the external motor through the gate drive module and the power module.

[0051] The monitoring module is connected to an external host computer and is used to monitor the signal change characteristics of the power supply step-down and voltage stabilization module group, the main control module, the gate drive module and the power module after irradiation, and judge whether any monitored module fails based on the failure criterion. If it is judged as a failure, the braking signal is sent to the main control module to control the external brake to lock, and the failure abnormality information is sent to the external host computer.

[0052] The radiation-resistant motor drive controller has at least five ports, namely a power input port, a brake access port, a motor access port, a sensor access port, a control signal input port and a status output port.

[0053] The power input port is connected to an external power supply and is used to provide power to the power buck regulator module group, the power module and the gate drive module. The brake access port is connected to an external electromagnetic brake and is used to send the brake signal of the radiation-resistant motor drive controller to the external electromagnetic brake through the port, so that the external electromagnetic brake performs a braking operation on the motor. The motor access port is connected to an external motor and is used to transmit a control signal to the external motor. The sensor access port is connected to an external speed and position sensor module and is used to output the speed and position information of the external motor collected by the speed and position sensor module to the radiation-resistant motor drive controller. The control signal input port and the status output port are connected to an external host computer. The status output port is used to output the signal change characteristics of each monitored module after irradiation monitored by the monitoring module to the host computer, and the control signal input port is used to input the control signal of the host computer to the main control module.

[0054] The power supply step-down and voltage stabilizing module group includes a 24V step-down module, a 24V voltage stabilizing module, a 5V step-down module, a 5V voltage stabilizing module, a 3.3V step-down module, a 3.3V voltage stabilizing module, a 1.8V step-down module and a 1.8V voltage stabilizing module.

[0055] The external power supply enters the 24V step-down module through the power input port. The 24V step-down module can be composed of synchronous rectification or asynchronous rectification. The 24V step-down module is connected to the 24V voltage regulator module. The 24V voltage is stabilized and filtered by the 24V voltage regulator module to improve the stability of the system voltage. The 24V voltage regulator module is composed of devices such as resistors and capacitors with high radiation resistance. The 24V voltage regulator module is used to power the 5V step-down module and the brake control module to ensure that the 24V voltage will not affect the 5V step-down module and the brake control module after being affected by radiation.

[0056] The 5V step-down module is connected to the 24V voltage regulator module and the 5V voltage regulator module respectively. The 5V step-down module steps down the 24V voltage to 5V. The 5V step-down module can be composed of synchronous rectification or asynchronous rectification. The 5V voltage regulator module stabilizes and filters the 5V voltage. The 5V voltage regulator module is composed of devices such as resistors and capacitors with high radiation resistance. The 5V voltage regulator module is used to power the 3.3V step-down module and the sensor to ensure that the 5V voltage will not affect the 3.3V step-down module and the sensor power supply voltage after being affected by radiation.

[0057] The 3.3V step-down module is connected to the 5V voltage regulator module and the 3.3V voltage regulator module respectively. The 3.3V step-down module steps down the 5V voltage to 3.3V. The 3.3V step-down module can be composed of synchronous rectification, asynchronous rectification or LDO mode; the 3.3V voltage regulator module stabilizes and filters the 3.3V voltage. The 3.3V voltage regulator module is composed of devices such as resistors and capacitors with high radiation resistance. The 3.3V voltage regulator module is used to power the 1.8V step-down module and the main control module to ensure that the 3.3V voltage will not affect the 1.8V step-down module and the main control module supply voltage after being affected by radiation.

[0058] The 1.8V step-down module is connected to the 3.3V voltage regulator module and the 1.8V voltage regulator module respectively. The 1.8V step-down module steps down the 3.3V voltage to 1.8V. The 1.8V step-down module can be composed of an LDO (Low Dropout Regulator); the 1.8V voltage regulator module stabilizes and filters the 1.8V voltage. The 1.8V voltage regulator module is composed of devices such as resistors and capacitors with high radiation resistance. The 1.8V voltage regulator module is used to power the monitoring module to ensure that the 1.8V voltage will not affect the power supply voltage of the monitoring module after being affected by radiation.

[0059] The multi-channel A / D conversion module is connected to the 24V buck module, the 5V buck module, the 3.3V buck module and the 1.8V buck module respectively, and is used to convert the voltage information of the 24V buck module, the 5V buck module, the 3.3V buck module and the 1.8V buck module and send it to the monitoring module.

[0060] The brake control module is powered by a 24V voltage regulator module to control the external electromagnetic brake, and its control signal is provided by the main control module. When the external motor rotates, the external electromagnetic brake is powered on and opened; when the external motor stops, the external electromagnetic brake is powered off and locked to ensure that the position of the external motor is not affected by external forces.

[0061] The gate drive module is powered by the power input port. The gate drive module receives the PWM (Pulse-width modulation) signal from the main control module, boosts the PWM signal and sends it to the power module. When the gate drive module is affected by radiation, the amplitude of the boosted drive voltage signal will decrease or be missing, so its operating status needs to be monitored online.

[0062] The power module is composed of MOS tubes (Metal-Oxide-Semiconductor Field-Effect Transistor), which receive the driving voltage signal from the gate drive module to control the opening and closing of the MOS tube. The power module is connected to the U, V, and W lines of the servo motor through the motor access port. When the MOS tube of the power module is affected by radiation, the threshold voltage will change, so its operating status needs to be monitored online.

[0063] The radiation-resistant motor drive controller also includes a current detection module and a voltage detection module. The current detection module is connected to the power module, the main control module and the monitoring module. The current detection module is used to obtain the phase current signal of the external motor, convert it into a voltage signal, and transmit it to the main control module and the monitoring module. The voltage detection module is connected to the gate drive module and the monitoring module. The voltage conversion module is used to obtain the driving voltage signal after the gate drive is boosted, and transmit it to the monitoring module after it is stepped down.

[0064] The main control module is connected to the external host computer through the control signal input port. The external host computer sends the position, speed or torque information of the external motor to the main control module, and the main control module generates a corresponding PWM signal according to the control algorithm; the current detection module obtains the U, V, and W phase currents of the servo motor (the U, V, and W phase currents are the three-phase currents of the motor), and sends the current information to the main control module; the speed and position sensor module obtains the speed and position information of the servo motor, and is connected to the main control module through the sensor access port; the main control module completes closed-loop control according to the current, speed and position information of the servo motor.

[0065] The monitoring module is composed of FPGA (Field Programmable Gate Array), which has extremely high resistance to γ-irradiation and can be used as a monitoring module to operate in a γ-irradiation environment for a long time. The monitoring module performs online status detection on the 24V buck module, 5V buck module, 3.3V buck module, 1.8V buck module, main control module, gate drive module and power module with weaker radiation resistance, and sends the monitoring information to the host computer through the status output port.

[0066] Example 2

[0067] Refer to the instruction manual Figure 2 A servo system using a radiation-resistant motor drive controller includes the radiation-resistant motor drive controller, a power supply connected to corresponding ports of the radiation-resistant motor drive controller, an electromagnetic brake external electromagnetic brake, a servo motor external motor, a speed and position sensor module and a host computer.

[0068] Example 3

[0069] Refer to the instruction manual Figure 3-6 , a fault detection method for a servo system using a radiation-resistant motor drive controller, the method comprising:

[0070] Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module obtains the voltage signal of each buck module, the status information of the main control module, the PWM signal generated by the main control module, the driving voltage signal after the gate drive module is boosted, and the phase current signal of the motor. The monitoring module extracts the voltage amplitude, noise size, duty cycle and phase current change characteristic information from the acquired signal data.

[0071] Specifically, the monitoring module obtains the voltage signal of each step-down module through the A / D conversion module, and converts the voltage signal of each step-down module into a corresponding digital signal and sends it to the monitoring module. The voltage signal includes voltage amplitude and noise information.

[0072] The main control module periodically sends status information to the monitoring module. The status information is information about the current operating status of the main control module, including signal integrity, delay time, and packet loss rate.

[0073] After the radiation-resistant motor drive controller receives the drive control signal from the host computer, the main control module generates a PWM signal according to the control signal and sends it to the monitoring module and the gate drive module. The gate drive module generates a drive voltage signal after boosting the PWM signal, and sends the converted drive voltage signal to the monitoring module through the voltage conversion module. The drive voltage signal includes amplitude, duty cycle, and signal fluctuation.

[0074] After the radiation-resistant motor drive controller drives the external motor to rotate, the power module generates a three-phase control signal to control the operation of the motor, and sends the phase current signal actually generated when the motor is running to the monitoring module through the current detection module. The phase current signal includes voltage amplitude fluctuations.

[0075] Step 2: Establish a feature vector set X with the feature data of the buck module, main control module, gate drive module and power module obtained by the monitoring module, establish a module failure probability model based on the feature vector set X, and establish a module failure probability model that minimizes the loss function.

[0076] Step 2.1: The feature vector set X includes the following features: the voltage amplitude X1 of the buck module, the noise level X2 of the buck module, the delay time X3 of the signal sent by the main control module, the driving voltage signal amplitude X4 of the gate driving module, and the phase current signal amplitude X5. It should be noted that the input feature vector X is not limited to the above features.

[0077] Step 2.2: The module failure probability model is determined by the following formula:

[0078]

[0079] Where: P(Y=1|X) represents the module failure probability model, where Y represents a binary variable, the number 1 represents failure (if the number is 0, it represents normal); the feature vector set X=(X1, X2, ..., X n ), β0 represents the bias term (intercept), β1, β2, ..., β n Represents the coefficient corresponding to each eigenvector.

[0080] It should be noted that in the present invention, in formula (1) The characteristic vector in the brackets is based on any one of the buck module, main control module, gate drive module and power module. Substituting the characteristic vector corresponding to the module into formula (1) analyzes the failure probability of the module. Instead of substituting all the features collected by the monitoring module into formula (1) at the same time, this method can analyze each module independently and then determine the specific failure module.

[0081] Taking the buck module as an example, the module failure probability model of the buck module is expressed by the following formula:

[0082] X1 and X2 are the voltage amplitude and noise size of the buck module respectively.

[0083] Taking the main control module as an example, the module failure probability model of the main control module is expressed by the following formula:

[0084] X3 is the signal sending delay time of the main control module.

[0085] Step 2.3: Based on step 2.2, a minimization loss function is established to determine the optimal coefficients of the characteristic vectors of the buck module, main control module, gate drive module and power module in the module failure probability model, and then obtain the optimized fault prediction model.

[0086] The minimization loss function is determined by the following formula:

[0087]

[0088] Where: m represents the number of samples; y (i) represents the actual label of the i-th sample; X (i) Represents the feature vector of the i-th sample.

[0089] Step 3: Substitute the characteristic vectors of the buck module, main control module, gate drive module and power module into the optimized fault prediction model, set corresponding thresholds for the failure probability models of the buck module, main control module, gate drive module and power module respectively. If the calculation result of the module fault probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module fault probability model is < the set threshold, the corresponding module prediction result is judged to be normal.

[0090]

[0091] Where: 1 indicates fault; 0 indicates normal.

[0092] Specifically, the failure criteria of the step-down module are large amplitude fluctuations or large noise. The monitoring module determines whether each step-down module has failed based on the failure criteria. After any step-down module is determined to be failed, the monitoring module sends a shutdown signal to the main control module and sends abnormal information to the host computer at the same time, the brake is locked, and the system shuts down.

[0093] The failure criterion of the main control module is whether the monitoring module receives the status information of the main control module within the set time. The monitoring module determines whether the main control module is failed according to the failure criterion. If the status information of the main control module is not received within the set time, the main control module is judged to be failed, and the monitoring module sends a shutdown signal to the main control module, and sends abnormal information to the host computer at the same time, the brake is locked, and the system shuts down.

[0094] The failure criteria of the gate drive module include large fluctuations in the amplitude of the drive voltage signal or large noise. The monitoring module determines whether the gate drive module has failed based on the failure criteria. After the gate drive is determined to be failed, the monitoring module sends a shutdown signal to the main control module and sends abnormal information to the host computer, the electromagnetic brake is applied, and the system shuts down.

[0095] Since the power module is composed of MOS tubes, the failure of the power module is to determine whether each bridge arm MOS tube has failed. Since the threshold voltage of the power module MOS tube will change after being irradiated by γ, resulting in a change in the phase current, the failure criterion of the power module is abnormal phase current. The monitoring module determines whether each bridge arm MOS tube has failed based on the failure criterion. After the power module MOS tube is determined to have failed, the monitoring module sends a shutdown signal to the main control module and sends abnormal information to the host computer at the same time. The electromagnetic brake is applied and the system shuts down.

[0096] The above is only an embodiment of the present invention, and the common sense such as the known specific structure and characteristics in the scheme is not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present invention is defined by the attached claims rather than the above description, so it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

Claims

1. A radiation-resistant motor drive controller, characterized in that: include: A power module connected to an external motor; A gate drive module connected to the power module; a brake control module connected to the external brake; A main control module, connected to the brake control module, the gate drive module and the external sensor respectively, and communicating with an external host computer; A monitoring module is respectively connected to the main control module and an external host computer for communication; A power supply step-down and voltage stabilization module group, used to supply power to each module of the drive controller; The main control module is used to receive control signals and send control instructions to the brake control module and the gate drive module, and at the same time, the external motor speed and position information collected by the sensor is fed back to the host computer through the monitoring module; the monitoring module is used to monitor the changes in the radiation signals of the power supply buck and voltage stabilization module group, the main control module, the gate drive module and the power module, and judge whether each module fails based on the failure criteria, and send a braking signal to the main control module to control the locking of the external brake when it fails, and at the same time transmit the abnormal information to the host computer.

2. The radiation-resistant motor drive controller according to claim 1, characterized in that: The power supply step-down and voltage-stabilizing module group includes a plurality of step-down modules and voltage-stabilizing modules of different voltage levels. The step-down module of each level is connected to the voltage-stabilizing module of the same level, and each voltage-stabilizing module with a higher voltage level is connected to the step-down module of the next level.

3. The radiation-resistant motor drive controller according to claim 1, characterized in that: The monitoring module includes a field programmable gate array.

4. The radiation-resistant motor drive controller according to claim 1, characterized in that: The power module includes a MOS tube; the gate drive module is used to receive the PWM signal output by the main control module, and send it to the power module after boosting it, so as to control the opening and closing of the MOS tube.

5. The radiation-resistant motor drive controller according to claim 1, characterized in that: The voltage stabilizing module is composed of resistor and capacitor components with high radiation resistance.

6. The radiation-resistant motor drive controller according to claim 1, characterized in that: It also includes a current detection module and a voltage detection module; the current detection module is connected to the power module and the main control module; the voltage detection module is connected to the gate drive module and the monitoring module.

7. The radiation-resistant motor drive controller according to claim 6, characterized in that: The main control module is communicatively connected with the external sensor; the main control module is used to generate a PWM signal from the external motor speed and position information collected by the external sensor, and control the operation of the external motor through the gate drive module and the power module, and receive the current detection module and the voltage monitoring module to obtain the phase current signal and voltage signal of the external motor.

8. A servo system of a radiation-resistant motor drive controller as claimed in claims 1 to 7, characterized in that: It includes a radiation-resistant motor drive controller, a power supply connected to corresponding ports of the radiation-resistant motor drive controller, an external electromagnetic brake, an external servo motor, a speed and position sensor module and a host computer.

9. A method for detecting a fault in a servo system of a radiation-resistant motor drive controller as claimed in claim 8, characterized in that: Methods include: Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module respectively obtains the voltage signal of each buck module, the status information of the main control module, the PWM signal generated by the main control module, the driving voltage signal after the gate drive module is boosted, and the phase current signal of the motor. The monitoring module extracts the voltage amplitude, noise size, duty cycle and phase current change characteristic information from the acquired signal data; Step 2: Establish a feature vector set X based on the feature data of the buck module, main control module, gate drive module and power module obtained by the monitoring module, establish a module failure probability model based on the feature vector set X, and establish a module failure probability model optimized by minimizing the loss function; Step 3: Substitute the characteristic vectors of the buck module, main control module, gate drive module and power module into the optimized fault prediction model, set corresponding thresholds for the failure probability models of the buck module, main control module, gate drive module and power module respectively. If the calculation result of the module fault probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module fault probability model is < the set threshold, the corresponding module prediction result is judged to be normal.

10. The fault detection method of the servo system of the radiation-resistant motor drive controller according to claim 9, characterized in that: In step 2: the module failure probability model is determined by the following formula: Where: P(Y=1|X) represents the module failure probability model, where Y represents a binary variable, the number 1 represents failure (if the number is 0, it represents normal); the feature vector set X=(X1, X2, ..., X n ), β0 represents the bias term, β1, β2, ..., β n Represents the coefficient corresponding to each eigenvector.

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