Energy feedback device for servo braking, control method of energy feedback device and storage medium

Abstract

The invention discloses an energy feedback device for servo braking, a control method of the energy feedback device and a storage medium. The energy feedback device comprises an energy feedback power board, an energy storage motor and an inertia disc. The energy feedback power board is connected between the control board of the servo driver and the common direct current bus, and the energy feedback power board is used for controlling the rotation state of the energy storage motor according to the actual voltage value and the preset voltage threshold value of the common direct current bus; the energy storage motor is connected with the energy feedback power plate; the inertia disc is connected to a rotating shaft of the energy storage motor. According to the technical scheme provided by the embodiment of the invention, the energy generated by servo braking can be effectively stored, fed back and utilized, and the technical problem that the energy generated by braking cannot be effectively stored, fed back and utilized in the prior art is solved; and the bus capacitor and the power module of the servo driver can be well protected on the basis of saving the cost.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial equipment control, and in particular to an energy feedback device for servo braking, a control method thereof, and a storage medium. Background Art

[0002] In the industrial field, servos are often used to drive motors. When the motor decelerates and brakes, the DC bus voltage in the servo increases, and the voltage in the servo needs to be discharged. The traditional approach is to connect a brake resistor. When the DC bus voltage is higher than a certain threshold, the brake resistor is turned on to discharge energy consumption, thereby protecting the servo hardware device.

[0003] However, this method dissipates energy by generating heat from the braking resistor, which wastes energy. At the same time, when the motor accelerates, the DC bus voltage will be pulled down, resulting in unstable control or reaching a low voltage alarm. These problems are caused by the lack of effective storage and feedback of this energy. Therefore, an energy feedback device for servo braking and a control method thereof are urgently needed to realize the storage and feedback of the energy generated by braking. Summary of the invention

[0004] The present invention provides an energy feedback device for servo braking and a control method and storage medium thereof, so as to solve the technical problem that the prior art cannot effectively store and feedback the energy generated by braking.

[0005] According to one aspect of the present invention, there is provided an energy feedback device for servo braking, which is applied to a servo drive, and the energy feedback device comprises: an energy feedback power board, an energy storage motor and an inertia disk;

[0006] The energy feedback power board is connected between the control board of the servo drive and the common DC bus, and the energy feedback power board is used to control the rotation state of the energy storage motor according to the actual voltage value of the common DC bus and a preset voltage threshold;

[0007] The energy storage motor is connected to the energy feedback power board;

[0008] The inertia disk is connected to the rotating shaft of the energy storage motor.

[0009] Optionally, the energy storage motor is a synchronous energy storage motor.

[0010] According to another aspect of the present invention, a control method for an energy feedback device for servo braking is provided, which is performed by the energy feedback device according to any embodiment of the present invention, and the control method includes:

[0011] Collecting the actual voltage value of the common DC bus;

[0012] The rotation state of the energy storage motor is controlled according to the actual voltage value and the preset voltage threshold.

[0013] Optionally, controlling the rotation state of the energy storage motor according to the actual voltage value and the preset voltage threshold comprises:

[0014] Determining whether the actual voltage value is greater than a preset voltage threshold;

[0015] If the actual voltage value is greater than the preset voltage threshold, the energy storage motor is driven to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold, so as to reduce the actual voltage value;

[0016] If the actual voltage value is less than the preset voltage threshold, the energy storage motor is not started to rotate.

[0017] Optionally, driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold comprises:

[0018] The voltage deviation is adjusted by a voltage PI regulator to output acceleration;

[0019] The acceleration is judged in direction through an acceleration direction selector, and when the output acceleration is a positive value, the energy storage motor is driven by the energy feedback power board to accelerate the rotation of the inertia disk.

[0020] Optionally, driving the energy storage motor to accelerate the rotation of the inertia disk through the energy feedback power board includes:

[0021] The acceleration is accumulated through an integrator to output a speed given value;

[0022] Collecting the actual speed value of the energy storage motor;

[0023] Calculating a speed deviation between the speed given value and the speed actual value;

[0024] The speed deviation is adjusted by a speed PI regulator to output a DC voltage;

[0025] The DC voltage is converted into an AC voltage through a servo voltage inverter, and based on the AC voltage, the energy storage motor is driven through the energy feedback power board to accelerate the rotation of the inertia disk.

[0026] Optionally, after controlling the energy storage motor to accelerate rotation, the method further includes:

[0027] Determining whether the actual voltage value is greater than the preset voltage threshold;

[0028] If the actual voltage value is greater than the preset voltage threshold, returning to the step of driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold to reduce the actual voltage value;

[0029] If the actual voltage value is less than the preset voltage threshold, the energy storage motor is driven to decelerate and rotate the inertia disk according to a voltage deviation between the actual voltage value and the preset voltage threshold, so as to increase the actual voltage value.

[0030] Optionally, controlling the energy storage motor to decelerate rotation includes:

[0031] When the output acceleration is a negative value, the energy storage motor is driven by the energy feedback power board to decelerate the rotation of the inertia disk.

[0032] Optionally, after controlling the energy storage motor to decelerate and rotate, the method further includes:

[0033] Determining whether the actual voltage value is greater than the preset voltage threshold;

[0034] If the actual voltage value is greater than the preset voltage threshold, returning to the step of driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold to reduce the actual voltage value;

[0035] If the actual voltage value is less than the preset voltage threshold, the energy storage motor is controlled to decelerate to 0.

[0036] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method described in any embodiment of the present invention when executed.

[0037] The technical solution provided by the embodiment of the present invention is provided with an energy feedback power board, an energy storage motor and an inertia disk. When it is detected that the actual value of the voltage of the common DC bus is greater than the preset voltage threshold, the energy feedback power board drives the motor to accelerate the rotation of the inertia disk to reduce the actual value of the voltage, thereby reducing the energy generated by braking, and finally achieving uniform energy storage; when it is detected that the actual value of the voltage of the common DC bus is lower than the preset voltage threshold, the energy feedback power board drives the motor to decelerate the rotation of the inertia disk to increase the actual value of the voltage, and feeds back the stored energy to the common DC bus, so that other motors connected to the common DC bus can operate according to the required energy. The technical solution provided by the embodiment of the present invention can effectively store and feedback the energy generated by servo braking, solves the technical problem that the prior art cannot effectively store and feedback the energy generated by braking, and can also play a good protective role for the bus capacitor and power module of the servo drive on the basis of cost saving.

[0038] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic structural diagram of an energy feedback device for servo braking provided by an embodiment of the present invention;

[0041] Figure 2 A flow chart of a control method of an energy feedback device for servo braking provided by an embodiment of the present invention;

[0042] Figure 3 A flow chart of another control method of an energy feedback device for servo braking provided by an embodiment of the present invention;

[0043] Figure 4 A control strategy diagram of a control method for an energy feedback device for servo braking provided by an embodiment of the present invention;

[0044] Figure 5 A control coordinate diagram of the actual voltage value and the energy storage motor speed provided in an embodiment of the present invention;

[0045] Figure 6A schematic structural diagram of an electronic device for a control method of an energy feedback device for servo braking provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0046] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0048] Figure 1 A schematic diagram of the structure of an energy feedback device for servo braking provided by an embodiment of the present invention, which is applied to a servo drive, see Figure 1 , the energy feedback device includes: an energy feedback power board 110, an energy storage motor 120 and an inertia disk 130;

[0049] The energy feedback power board 110 is connected between the control board of the servo drive and the common DC bus. The energy feedback power board 110 is used to control the rotation state of the energy storage motor according to the actual voltage value of the common DC bus and the preset voltage threshold. The energy storage motor 120 is connected to the energy feedback power board 110. The inertia disk 130 is connected to the rotating shaft of the energy storage motor. Optionally, the energy storage motor is a synchronous energy storage motor.

[0050] Among them, the energy feedback power board is a circuit board composed of power electronic devices, drive circuits and control circuits; the power electronic devices can be insulated gate bipolar transistors (IGBT), diodes, etc., which are used to realize energy conversion and feedback; drive circuit: used to control the conduction and shutdown of power electronic devices to realize energy conversion and feedback; control circuit: receives external control signals and controls the working state of the energy feedback power board according to these signals. In an embodiment of the present invention, the control circuit can receive a result signal of comparing the actual voltage value with a preset voltage threshold.

[0051] The technical solution provided by the embodiment of the present invention is provided with an energy feedback power board, an energy storage motor and an inertia disk. When it is detected that the actual value of the voltage of the common DC bus is greater than the preset voltage threshold, the energy feedback power board drives the motor to accelerate the rotation of the inertia disk to reduce the actual value of the voltage, thereby reducing the energy generated by braking, and finally achieving uniform energy storage; when it is detected that the actual value of the voltage of the common DC bus is greater than the preset voltage threshold, the energy feedback power board drives the motor to decelerate the rotation of the inertia disk to reduce the actual value of the voltage, and feeds back the stored energy to the common DC bus, so that other motors connected to the common DC bus can operate according to the required energy. The technical solution provided by the embodiment of the present invention can effectively store and feedback the energy generated by servo braking, solves the technical problem that the prior art cannot effectively store and feedback the energy generated by braking, and can also play a good protective role on the bus capacitor and power module of the servo driver on the basis of cost saving. In addition, in actual use, when a single-axis or multi-axis motor needs to brake frequently, the energy stored by the energy feedback power board driving the energy storage motor to rotate the inertia disk is insufficient, resulting in the DC bus voltage still being very high, then an external braking resistor can be connected to further consume energy to achieve the purpose of reducing the voltage.

[0052] Figure 2 This is a flow chart of a control method of an energy feedback device for servo braking provided by an embodiment of the present invention. The control method can be executed by the energy feedback device provided by any embodiment of the present invention. The energy feedback device can be implemented in the form of hardware and / or software. The energy feedback device can be configured in any electronic device with communication function. Figure 2 , the control method comprises:

[0053] S110, collecting the actual voltage value of the common DC bus.

[0054] Specifically, the actual value of the voltage of the common DC bus is collected by a voltage collection device. For example, the voltage collection device may be a bus voltage detector.

[0055] S120: Control the rotation state of the energy storage motor according to the actual voltage value and the preset voltage threshold.

[0056] Specifically, when it is detected that the actual value of the voltage of the common DC bus is greater than a preset voltage threshold, the energy feedback power board drives the motor to accelerate the rotation of the inertia disk to reduce the actual value of the voltage, thereby reducing the energy generated by braking and finally achieving uniform energy storage; when it is detected that the actual value of the voltage of the common DC bus is lower than the preset voltage threshold, the energy feedback power board drives the motor to decelerate the rotation of the inertia disk to increase the actual value of the voltage, and feeds back the stored energy to other motors of the servo drive, so that the other motors can operate according to the required energy.

[0057] The control method provided in the embodiment of the present invention can be executed by the energy feedback device provided in any embodiment of the present invention, and has the same beneficial effects as the energy feedback device, which will not be described in detail here.

[0058] Figure 3 This is a flow chart of another control method of an energy feedback device for servo braking provided by an embodiment of the present invention. The embodiment of the present invention further refines the above embodiment on the basis of the above embodiment. Figure 3 , the control method comprises:

[0059] S310: Collect the actual voltage value of the common DC bus.

[0060] S320, determine whether the actual voltage value is greater than the preset voltage threshold, if yes, execute S330; if no, execute S340.

[0061] S330: According to the voltage deviation between the actual voltage value and the preset voltage threshold, the energy storage motor is driven to accelerate the rotation of the inertia disk to reduce the actual voltage value.

[0062] Optionally, according to a voltage deviation between an actual voltage value and a preset voltage threshold, driving the energy storage motor to accelerate the rotation of the inertia disk includes:

[0063] The voltage deviation is adjusted through the voltage PI regulator to output the acceleration; the acceleration is judged by the acceleration direction selector. When the output acceleration is a positive value, the energy storage motor is driven by the energy feedback power board to accelerate the rotation of the inertia disk.

[0064] Specifically, Figure 4 A control strategy diagram of a control method for an energy feedback device for servo braking provided by an embodiment of the present invention, see Figure 4, the bus voltage detector detects the actual voltage value of the common DC bus. When the actual voltage value Uactl is greater than the preset voltage threshold Uth, the voltage deviation Uerr between the actual voltage value Uactl and the preset voltage threshold Uth is calculated, and the voltage deviation Uerr is input into the voltage PI regulator. The voltage PI regulator adjusts the output voltage according to the input voltage deviation through the proportional and integral links to achieve the desired stable value, and then outputs the acceleration. The acceleration enters the acceleration direction selector to make a direction judgment, that is, to judge whether the energy storage motor needs acceleration control or deceleration control. Then, the acceleration is accumulated as speed V through the integrator, and then the speed given value Vref is output. At the same time, the actual speed value of the energy storage motor is collected, and the speed deviation between the speed given value Vref and the actual speed value Vfb is calculated; the speed deviation is input into the speed PI regulator, and the speed PI regulator adjusts the input speed deviation through the proportional and integral links, so as to quickly and accurately output the appropriate DC voltage U to meet the control requirements, and finally the DC voltage is converted into AC voltage through the servo voltage inverter, and the energy storage motor is driven to accelerate the rotation of the inertia disk through the energy feedback power board based on the AC voltage. Among them, the speed given value needs to be limited, that is, the speed given value cannot exceed the maximum speed of the energy storage motor.

[0065] S340: Do not start the energy storage motor to rotate.

[0066] S350, determine whether the actual voltage value is greater than the preset voltage threshold, if yes, return to execute step S330; if no, execute S360.

[0067] S360: According to the voltage deviation between the actual voltage value and the preset voltage threshold, the energy storage motor is driven to decelerate the rotating inertia disk to increase the actual voltage value.

[0068] This part has the same control strategy as the aforementioned step S330 and will not be described again here. It should be noted that when driving the energy storage motor to decelerate, when the output acceleration is a negative value, the energy storage motor is driven by the energy feedback power board to decelerate the rotating inertia disk until the speed of the energy storage motor is decelerated to 0. Figure 5 The control coordinate diagram of the actual voltage value and the energy storage motor speed provided by the embodiment of the present invention is as follows: Figure 5 It can be seen that when the actual value of the bus voltage Uactl is greater than the preset voltage threshold Uth, the speed of the energy storage motor starts to increase until it reaches the maximum speed of the energy storage motor and stops accelerating; when the actual voltage value Uactl is less than the preset voltage threshold, the speed of the energy storage motor starts to decrease. During the decrease process, if the actual voltage value Uactl is still less than the preset voltage threshold Uth, the speed of the energy storage motor will decelerate to 0.

[0069] S370, determine whether the actual voltage value is greater than the preset voltage threshold, if yes, return to execute step S330; if no, execute S380.

[0070] S380, control the energy storage motor to decelerate to 0.

[0071] The technical solution provided by the embodiment of the present invention is that when it is detected that the actual value of the voltage of the common DC bus is greater than the preset voltage threshold, the energy feedback power board drives the motor to accelerate the rotation of the inertia disk to reduce the actual value of the voltage, thereby reducing the energy generated by braking, and finally achieving uniform energy storage; when it is detected that the actual value of the voltage of the common DC bus is lower than the preset voltage threshold, the energy feedback power board drives the motor to decelerate the rotation of the inertia disk to increase the actual value of the voltage, and feeds back the stored energy to other motors of the servo drive, so that the other motors can operate according to the required energy. At the same time, when the single-axis or multi-axis motor is frequently braked, resulting in the energy stored in the motor of the energy feedback axis, and the DC bus voltage cannot be reduced to a normal value, it can be further discharged by connecting a braking resistor, or adding an energy feedback power board, energy storage motor and inertia disk, to absorb energy, so as to achieve the DC bus voltage for normal use.

[0072] Figure 6 A schematic diagram of the structure of an electronic device for a control method of an energy feedback device for servo braking provided by an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0073] like Figure 6As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0074] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0075] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a control method for an energy feedback device for servo braking.

[0076] In some embodiments, a control method for an energy feedback device for servo braking can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method for an energy feedback device for servo braking described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute a control method for an energy feedback device for servo braking in any other appropriate manner (for example, by means of firmware).

[0077] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0078] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0079] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0080] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0081] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0082] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0083] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0084] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An energy feedback device for servo braking, applied to a servo drive, characterized in that: The energy feedback device comprises: an energy feedback power board, an energy storage motor and an inertia disk; The energy feedback power board is connected between the control board of the servo drive and the common DC bus, and the energy feedback power board is used to control the rotation state of the energy storage motor according to the actual voltage value of the common DC bus and a preset voltage threshold; The energy storage motor is connected to the energy feedback power board; The inertia disk is connected to the rotating shaft of the energy storage motor.

2. The energy feedback device according to claim 1, characterized in that: The energy storage motor is a synchronous energy storage motor.

3. A control method for an energy feedback device for servo braking, performed by the energy feedback device according to claim 1, characterized in that: The control method comprises: Collecting the actual voltage value of the common DC bus; The rotation state of the energy storage motor is controlled according to the actual voltage value and the preset voltage threshold.

4. The control method according to claim 3, characterized in that: The step of controlling the rotation state of the energy storage motor according to the actual voltage value and the preset voltage threshold value includes: Determining whether the actual voltage value is greater than a preset voltage threshold; If the actual voltage value is greater than the preset voltage threshold, the energy storage motor is driven to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold, so as to reduce the actual voltage value; If the actual voltage value is less than the preset voltage threshold, the energy storage motor is not started to rotate.

5. The control method according to claim 4, characterized in that: The step of driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold value comprises: The voltage deviation is adjusted by a voltage PI regulator to output acceleration; The acceleration is judged in direction through an acceleration direction selector, and when the output acceleration is a positive value, the energy storage motor is driven by the energy feedback power board to accelerate the rotation of the inertia disk.

6. The control method according to claim 5, characterized in that: The step of driving the energy storage motor to accelerate the rotation of the inertia disk by the energy feedback power board comprises: The acceleration is accumulated through an integrator to output a speed given value; Collecting the actual speed value of the energy storage motor; Calculating a speed deviation between the speed given value and the speed actual value; The speed deviation is adjusted by a speed PI regulator to output a DC voltage; The DC voltage is converted into an AC voltage through a servo voltage inverter, and based on the AC voltage, the energy storage motor is driven through the energy feedback power board to accelerate the rotation of the inertia disk.

7. The control method according to claim 4, characterized in that: After controlling the energy storage motor to accelerate rotation, the method further includes: Determining whether the actual voltage value is greater than the preset voltage threshold; If the actual voltage value is greater than the preset voltage threshold, returning to the step of driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold to reduce the actual voltage value; If the actual voltage value is less than the preset voltage threshold, the energy storage motor is driven to decelerate and rotate the inertia disk according to a voltage deviation between the actual voltage value and the preset voltage threshold, so as to increase the actual voltage value.

8. The control method according to claim 5, characterized in that: The controlling of the energy storage motor to decelerate and rotate comprises: When the output acceleration is a negative value, the energy storage motor is driven by the energy feedback power board to decelerate the rotation of the inertia disk.

9. The control method according to claim 7, characterized in that: After controlling the energy storage motor to decelerate and rotate, the method further includes: Determining whether the actual voltage value is greater than the preset voltage threshold; If the actual voltage value is greater than the preset voltage threshold, returning to the step of driving the energy storage motor to accelerate the rotation of the inertia disk according to the voltage deviation between the actual voltage value and the preset voltage threshold to reduce the actual voltage value; If the actual voltage value is less than the preset voltage threshold, the energy storage motor is controlled to decelerate to 0.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method according to any one of claims 3 to 9 when executed.

Images