A radiation-resistant motor drive controller, servo system and fault detection method thereof

Abstract

The present application belongs to the field of nuclear industry technology, and specifically relates to a radiation-resistant motor drive controller, a servo system and a fault detection method thereof, wherein the servo system includes a radiation-resistant motor drive controller, a power supply, an external electromagnetic brake, an external servo motor, a speed and position sensor module and a host computer. The monitoring module of the radiation-resistant motor drive controller monitors 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 being irradiated, and judges whether any monitored module has failed based on the failure criterion. If it is determined to be failed, a braking signal will be sent to the main control module to control the brake to lock, and the abnormal information will be sent to the host computer. The present application monitors the operating status of each key module of the motor drive controller in real time, locates the failed module after irradiation, improves the stability and reliability of the motor drive controller in harsh environments, realizes rapid repair after failure, and avoids failure of the entire motion system and waste of resources.

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] The nuclear industry's environment primarily concerns the impact of highly penetrating gamma rays. Servo drive controllers are key components for controlling motor motion, precisely controlling the motor's output speed, torque, and position. They play a crucial role in the nuclear industry, and their reliability and stability are crucial.

[0004] Because servo drive controllers use numerous electronic components, they are susceptible to the effects of total gamma radiation dose in a nuclear radiation environment, causing these components to malfunction and, in turn, leading to motion system failure. Currently, testing and replacing failed electronic components in servo drive controllers caused by gamma radiation is complex, often requiring the entire servo drive controller to be replaced. This approach is not only expensive but also results in a significant waste of resources.

[0005] Therefore, a drive controller that is radiation-resistant and can effectively detect faulty components is needed. Summary of the Invention

[0006] In response to the defects of the existing technology, the present invention proposes a radiation-resistant motor drive controller, servo system and fault detection method thereof, which solves the problem of complex replacement and waste of resources after the servo drive controller fails in a nuclear radiation environment in the existing technology. By using a multi-stage step-down voltage regulator module group and high-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 online monitoring systems, 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 is connected to the brake control module, the gate drive module and the external sensor respectively, and communicates with the external host computer;

[0012] A monitoring module is respectively connected to the main control module and the external host computer; the monitoring module includes a field programmable gate array;

[0013] A power supply step-down and voltage stabilization module group is 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 feed back the external motor speed and position information collected by the sensor to the host computer through the monitoring module; the monitoring module is used to monitor the changes in the irradiation signals of the power supply buck and voltage stabilization module group, the main control module, the gate drive module and the power module, judge whether each module has failed based on the failure criterion, and send a braking signal to the main control module to control the external brake to lock when it fails, and transmit the abnormal information to the host computer;

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

[0016] 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 to control the opening and closing of the MOS tube.

[0017] Furthermore, the voltage stabilizing module is composed of resistor and capacitor components with high radiation resistance.

[0018] 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.

[0019] Furthermore, the main control module is communicatively connected to the external sensor; the main control module is used to generate a PWM signal from the external motor speed and position information received from 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.

[0020] On the one hand, the present invention also provides a servo system of a radiation-resistant motor drive controller as described in any of the above items, 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, an external servo motor, a speed and position sensor module and a host computer.

[0021] On the other hand, the present invention also provides a fault detection method for the servo system of the radiation-resistant motor drive controller as described above, the method comprising:

[0022] Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module obtains the voltage signal of each step-down module, the status information of the main control module, the PWM signal generated by the main control module, the drive 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 level, duty cycle, and phase current change characteristic information from the acquired signal data;

[0023] 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.

[0024] 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 failure probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module failure probability model is less than the set threshold, the corresponding module prediction result is judged to be normal.

[0025] In step 2: the module failure probability model is determined by the following formula:

[0026]

[0027] 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.

[0028] The beneficial effects of the present invention are:

[0029] First, the radiation-resistant motor drive controller of the present invention ensures stable power supply of different voltage modules in the radiation 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 susceptible to radiation, such as power modules and gate drive modules, are monitored online, and whether the modules fail is 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 radiation environment. These features significantly improve the adaptability of the system in the radiation environment and ensure the stability and reliability of the motor drive control.

[0030] Second, in a preferred implementation, the present invention ensures that each voltage module can still operate 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.

[0031] 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 works in conjunction 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 achieve a 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.

[0032] 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 system's response speed and control accuracy.

[0033] 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.

[0034] 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 monitor the operating status of the system in real time and collect data, simplifying the operation and maintenance process of the system and reducing the maintenance difficulty and cost.

[0035] Seventh, the fault detection method of the present invention adopts a modular fault probability model and characteristic vector analysis to accurately identify and predict the faults of each module of the radiation-resistant motor drive controller, especially in an irradiation 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 the 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 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

[0036] Figure 1 This is a hardware framework diagram of a radiation-resistant motor drive controller according to an embodiment of the present invention;

[0037] Figure 2 is a block diagram of a servo system using a radiation-resistant motor drive controller in one embodiment of the present invention;

[0038] Figure 3 This 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;

[0039] Figure 4 This 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;

[0040] Figure 5 This is a flow chart of a gate drive module state monitoring and fault handling method according to one embodiment of the present invention;

[0041] Figure 6 This is a flow chart of a method for monitoring the status of a power module MOS tube and handling faults in one embodiment of the present invention. DETAILED DESCRIPTION

[0042] 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.

[0043] In the description of this application, the terms "first", "second", and "third" are used for descriptive purposes only and should not 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 mean a fixed connection, a detachable connection, or an integral connection; "connected" can mean 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.

[0044] In the description of this application, it should be understood that the terms "up", "down", "left", "right", "front", "back", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this 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 direction. Therefore, they should not be understood as limitations on this application.

[0045] Throughout this specification, terms such as "one embodiment / method," "some embodiments / methods," and "specific embodiments / methods" mean that the specific features, structures, materials, or characteristics described in conjunction with that embodiment / method or example are included in at least one embodiment / method or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment / method or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments / methods or examples.

[0046] 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.

[0047] Example 1

[0048] 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, a main control module connected to the brake control module, the gate drive module, and the external sensor respectively, a monitoring module that exchanges information 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.

[0049] 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.

[0050] 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 has failed based on the failure judgment criteria. If it is determined to be a failure, the braking signal will be sent to the main control module to control the external brake to lock, and the failure abnormality information will be sent to the external host computer.

[0051] 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.

[0052] The power input port is connected to an external power supply and is used to provide power to the power buck regulator module group, power module, and gate drive module. The brake access port is connected to an external electromagnetic brake and is used to send the braking signal of the radiation-resistant motor drive controller to the external electromagnetic brake through this 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 control signals 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 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 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.

[0053] The power supply step-down and voltage stabilization module group includes a 24V step-down module, a 24V voltage stabilization module, a 5V step-down module, a 5V voltage stabilization module, a 3.3V step-down module, a 3.3V voltage stabilization module, a 1.8V step-down module and a 1.8V voltage stabilization module.

[0054] 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 be affected by radiation and will not affect the 5V step-down module and the brake control module.

[0055] 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 supply voltage after being affected by radiation.

[0056] 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. 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 power supply voltage of the 1.8V step-down module and the main control module after being affected by radiation.

[0057] 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 reduces the 3.3V voltage to 1.8V. The 1.8V step-down module can be composed of an LDO (Low Dropout Regulator) low-voltage difference linear 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.

[0058] The multi-channel A / D conversion module is connected to the 24V step-down module, the 5V step-down module, the 3.3V step-down module and the 1.8V step-down module respectively, and is used to convert the voltage information of the 24V step-down module, the 5V step-down module, the 3.3V step-down module and the 1.8V step-down module and send it to the monitoring module.

[0059] The brake control module, powered by a 24V voltage regulator, controls the external electromagnetic brake. The control signal is provided by the main control module. When the external motor is rotating, the external electromagnetic brake is energized and released. When the external motor stops, the external electromagnetic brake is de-energized and locked, ensuring that the motor's position is not affected by external forces.

[0060] The gate drive module is powered by the power input port. It receives PWM (Pulse-width modulation) signals from the main control module, boosts the PWM signals, and transmits them to the power module. Radiation exposure can cause the boosted drive voltage signal amplitude to drop or even disappear, necessitating online monitoring of the gate drive module's operating status.

[0061] The power module consists of MOS transistors (Metal-Oxide-Semiconductor Field-Effect Transistors), which receive drive voltage signals from the gate drive module to control the on / off switching of the MOS transistors. The power module is connected to the servo motor's U, V, and W lines via the motor access port. Radiation exposure can cause changes in the threshold voltage of the MOS transistors in the power module, necessitating online monitoring of their operating status.

[0062] 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, main control module, and monitoring module. It 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 monitoring module. The voltage detection module is connected to the gate drive module and monitoring module. The voltage conversion module is used to obtain the gate drive voltage signal after boosting, and then step it down and transmit it to the monitoring module.

[0063] 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 the 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 based on the current, speed and position information of the servo motor.

[0064] The monitoring module consists of an FPGA (Field Programmable Gate Array), which has extremely high resistance to gamma radiation and can function as a monitoring module for extended periods of time in gamma irradiation environments. The monitoring module performs online status checks on the less resistant 24V, 5V, 3.3V, and 1.8V step-down modules, as well as the main control module, gate driver module, and power module, and transmits this information to the host computer via a status output port.

[0065] Example 2

[0066] 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.

[0067] Example 3

[0068] 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:

[0069] Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module obtains the voltage signal of each step-down 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 level, duty cycle and phase current change characteristic information from the acquired signal data.

[0070] 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.

[0071] 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.

[0072] After the radiation-resistant motor drive controller receives the drive control signal from the host computer, the main control module generates a PWM signal based on the control signal and sends it to the monitoring module and gate drive module. The gate drive module boosts the PWM signal to generate a drive voltage signal, which is then sent to the monitoring module via the voltage conversion module. The drive voltage signal includes amplitude, duty cycle, and signal fluctuation.

[0073] After the radiation-resistant motor drive controller drives the external motor, the power module generates three-phase control signals to control the motor's operation. The power module also sends the actual phase current signals generated during motor operation to the monitoring module via the current detection module. The phase current signals include voltage amplitude fluctuations.

[0074] 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 that minimizes the loss function.

[0075] Step 2.1: The feature vector set X includes the following features: the voltage amplitude of the buck module X1, the noise level of the buck module X2, the delay time of the main control module signal transmission X3, the drive voltage signal amplitude of the gate drive module X4, and the phase current signal amplitude X5. It should be noted that the input feature vector X is not limited to the above features.

[0076] Step 2.2: The module failure probability model is determined by the following formula:

[0077]

[0078] 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.

[0079] It should be noted that, in the present invention, The characteristic vector in the brackets is based on any one module among 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.

[0080] Taking the buck module as an example, the module failure probability model of the buck module is expressed by the following formula:

[0081] X1 and X2 are the voltage amplitude and noise level of the step-down module respectively.

[0082] Taking the main control module as an example, the module failure probability model of the main control module is expressed by the following formula:

[0083] X3 is the signal sending delay time of the main control module.

[0084] Step 2.3: Based on step 2.2, establish a minimization loss function 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.

[0085] The minimization loss function is determined by the following formula:

[0086]

[0087] 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.

[0088] 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 failure probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module failure probability model is < the set threshold, the corresponding module prediction result is judged to be normal.

[0089]

[0090] Where: 1 indicates fault; 0 indicates normal.

[0091] Specifically, the failure criteria for the step-down module are large amplitude fluctuations or excessive noise. The monitoring module determines whether each step-down module has failed based on these criteria. If a step-down module is deemed failed, the monitoring module sends a shutdown signal to the main control module and an abnormality message to the host computer, locking the brakes and shutting down the system.

[0092] The failure criterion for the main control module is whether the monitoring module receives status information from the main control module within a set time. The monitoring module determines whether the main control module has failed based on the failure criterion. If the main control module status information is not received within the set time, the main control module is deemed to have failed. The monitoring module sends a shutdown signal to the main control module and an abnormality information to the host computer, which locks the brake and shuts down the system.

[0093] Failure criteria for the gate drive module include large fluctuations in the drive voltage signal amplitude or excessive noise. The monitoring module determines whether the gate drive module has failed based on these criteria. If the gate drive is deemed failed, the monitoring module sends a shutdown signal to the main control module and an abnormality message to the host computer, applying the electromagnetic brake and shutting down the system.

[0094] Because the power module is composed of MOS transistors, power module failure is determined by determining whether each bridge arm MOS transistor has failed. Since the threshold voltage of the power module MOS transistor changes after being exposed to gamma irradiation, resulting in changes in phase current, the power module failure criterion is abnormal phase current. The monitoring module determines whether each bridge arm MOS transistor has failed based on the failure criterion. If a power module MOS transistor is determined to have failed, the monitoring module sends a shutdown signal to the main control module and an abnormality information to the host computer, applying the electromagnetic brake and shutting down the system.

[0095] The above is only an embodiment of the present invention, and common sense such as the specific structure and characteristics of the scheme are 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, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim 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 is connected to the brake control module, the gate drive module and the external sensor respectively, and communicates with the external host computer; A monitoring module is respectively connected to the main control module and the external host computer; the monitoring module includes a field programmable gate array; A power supply step-down and voltage stabilization module group is 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 feed back the external motor speed and position information collected by the sensor to the host computer through the monitoring module; the monitoring module is used to monitor the changes in the irradiation signals of the power supply buck and voltage stabilization module group, the main control module, the gate drive module and the power module, judge whether each module has failed based on the failure criterion, and send a braking signal to the main control module to control the external brake to lock when it fails, and transmit the abnormal information to the host computer; The power supply step-down and voltage stabilization module group includes multiple step-down modules and voltage stabilization modules of different voltage levels. The step-down module of each level is connected to the voltage stabilization module of the same level, and each voltage stabilization module with a higher voltage level is connected to the step-down module of the next level.

2. 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 to control the opening and closing of the MOS tube.

3. 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.

4. 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.

5. The radiation-resistant motor drive controller according to claim 4, characterized in that: The main control module is communicatively connected to the external sensor; the main control module is used to generate a PWM signal from the external motor speed and position information received from 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.

6. A servo system of a radiation-resistant motor drive controller according to any one of claims 1 to 5, 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.

7. A fault detection method for a servo system of a radiation-resistant motor drive controller according to claim 6, characterized in that: Methods include: Step 1: After the radiation-resistant motor drive controller is powered on, the monitoring module obtains the voltage signal of each step-down module, the status information of the main control module, the PWM signal generated by the main control module, the drive 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 level, 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 failure probability model is ≥ the set threshold, the corresponding module prediction result is judged to be faulty. If the calculation result of the module failure probability model is less than the set threshold, the corresponding module prediction result is judged to be normal. 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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