Brake control method and device, electronic equipment and medium

Abstract

The embodiment of the invention provides a brake control method and device, electronic equipment and a medium. The method comprises the following steps: in response to a synchronous deceleration instruction, obtaining target ramp time for synchronously decelerating a plurality of rotating bodies; in the deceleration process of the multiple rotating bodies, the steps of determining the kinetic energy of each current rotating body, the friction force moment of each current rotating body and the current remaining ramp time are executed at least once; according to the current kinetic energy of each rotating body, the current friction force torque of each rotating body and the current residual slope time, determining the current braking torque which needs to be provided for the corresponding rotating body by each brake; and outputting the braking torque which needs to be provided for the corresponding rotating body by each brake currently to the corresponding brake until the plurality of rotating bodies are detected to stop rotating. According to the embodiment of the invention, the effect that the plurality of rotating bodies finish synchronous deceleration parking under the same target slope time can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of brake control, and in particular to a brake control method, device, electronic equipment and medium. Background Art

[0002] Transmission systems for various large inertia rotating loads (such as cable winding equipment) usually include multiple rotating units, each of which is equipped with production materials (such as copper wires and steel wires) to form a rotating body. Usually, the weight and inertia of the rotating body are very large, especially when fully loaded. If an emergency occurs during the production process, such as material breakage or loss, the system needs to perform synchronous deceleration and parking with the set target ramp time to reduce production losses. Summary of the invention

[0003] In view of this, the present invention provides a braking control method, device, electronic device and medium, which are used to at least partially solve the above technical problems.

[0004] In a first aspect, the present invention provides a braking control method, comprising:

[0005] In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies;

[0006] The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating:

[0007] Determine the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time;

[0008] Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time;

[0009] The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

[0010] In a second aspect, the present invention provides a braking control method, comprising:

[0011] In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies;

[0012] The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating:

[0013] Determine the current kinetic energy of each rotating body, the current friction torque of each rotating body, the current braking torque provided by each inverter side to the corresponding rotating body, and the current remaining ramp time;

[0014] Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the friction torque of each rotating body, the braking torque provided to the corresponding rotating body by each inverter side and the current remaining ramp time;

[0015] The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

[0016] In a third aspect, the present invention provides a braking control method, comprising:

[0017] In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies;

[0018] The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating:

[0019] Determine the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, and the current rotation radius of each rotating body;

[0020] Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side;

[0021] The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

[0022] In a fourth aspect, the present invention provides a brake control device, comprising:

[0023] A first obtaining module is used to obtain a target ramp time for synchronously decelerating a plurality of rotating bodies in response to a synchronous deceleration instruction;

[0024] The first braking control module is used to perform the operations of "determining the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time; determining the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time; and outputting the braking torque that each brake needs to provide to the corresponding rotating body to the corresponding brake" at least once during the deceleration of multiple rotating bodies until it is detected that the multiple rotating bodies stop rotating.

[0025] In a fifth aspect, the present invention provides a brake control device, comprising:

[0026] A second obtaining module is used to obtain a target ramp time for synchronously decelerating the plurality of rotating bodies in response to a synchronous deceleration instruction;

[0027] The second braking control module is used to perform the operations of "determining the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body; determining the braking torque that each brake currently needs to provide to the corresponding rotating body according to the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side; and outputting the braking torque that each brake currently needs to provide to the corresponding rotating body to the corresponding brake" at least once during the deceleration of multiple rotating bodies until it is detected that the multiple rotating bodies stop rotating.

[0028] In a sixth aspect, the present invention provides an electronic device, comprising: a processor, a communication interface, a memory and a bus, wherein the processor, the communication interface and the memory communicate with each other via the bus;

[0029] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the method described in any one of the first, second and third aspects above.

[0030] In a seventh aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon. When the computer instructions are executed by a processor, the processor executes the method described in any one of the first, second and third aspects above.

[0031] In the embodiment of the present application, based on the set target ramp time, during the deceleration process of multiple rotating bodies, the braking torque that each brake needs to provide to the corresponding rotating body is determined at least once and output to the corresponding brake until the multiple rotating bodies are detected to stop rotating and the braking operation is terminated, so that the effect of multiple rotating bodies completing synchronous deceleration and parking under the same target ramp time can be achieved. In addition, the braking torque that each brake needs to provide to the corresponding rotating body is determined to be accurate, which improves the braking strength of the brake, smoothes the braking effect, and reduces the loss of mechanical braking. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a flow chart of a braking control method according to a first embodiment of the present invention.

[0033] Figure 2 is a flowchart of an exemplary implementation of step S120 according to the present invention.

[0034] Figure 3 An example of a conventional system structure diagram using a superimposed braking method using a brake and a frequency converter is shown.

[0035] Figure 4 is a structural diagram of a brake control device according to a second embodiment of the present invention.

[0036] Figure 5 is a flow chart of a braking control method according to a third embodiment of the present invention.

[0037] Figure 6 is a flowchart of an exemplary implementation of step S520 according to the present invention.

[0038] Figure 7 FIG. 4 is a structural diagram of a brake control device according to a fourth embodiment of the present invention.

[0039] Figure 8 is a structural diagram of an electronic device according to the present invention.

[0040] List of reference numerals:

[0041] Controller 310; Frequency converter 320;

[0042] Motor 330; Brake 340;

[0043] Rotating body 350; Braking control device 400 of the second embodiment;

[0044] A first obtaining module 410; A first braking control module 420;

[0045] The brake control device 700 of the fourth embodiment; the second obtaining module 710;

[0046] A second brake control module 720; an electronic device 800;

[0047] Processor 802; Communication interface 804;

[0048] Memory 806; Bus 808;

[0049] Procedure 810. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are mainly used to control the synchronous deceleration of multiple rotating bodies. During the deceleration of multiple rotating bodies, the braking torque that each brake needs to provide to the corresponding rotating body is determined at least once according to the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time, and output to the corresponding brake until it is detected that the multiple rotating bodies stop rotating, thereby achieving the effect of synchronous deceleration of multiple rotating bodies. In order to make the purpose, technical solutions, and advantages of the present application clearer, the present application is further described in detail with reference to the accompanying drawings and embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other technical solutions obtained by ordinary technicians in this field belong to the scope of protection of the present application.

[0051] Figure 1 FIG. 2 shows a braking control method according to a first embodiment of the present application. Figure 1 As shown, the method includes:

[0052] In step S110, in response to the synchronous deceleration instruction, a target ramp time for synchronously decelerating a plurality of rotating bodies (e.g., N rotating bodies, where N is an integer greater than 1) is obtained. The "synchronous deceleration instruction" can be automatically generated based on the occurrence of a parking event, and is particularly suitable for emergency stop events; it can also be generated based on manual triggering, such as arranging a button, and the synchronous deceleration instruction is generated when the button is pressed.

[0053] Afterwards, enter step S120, and execute the operation of "determining the current kinetic energy of each rotating body, the current friction torque of each rotating body, and the current remaining ramp time; determining the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body, and the current remaining ramp time; outputting the braking torque that each brake needs to provide to the corresponding rotating body to the corresponding brake (each brake performs a braking operation based on the received braking torque)" at least once during the deceleration process of multiple rotating bodies until it is detected that multiple rotating bodies have stopped rotating.

[0054] See attached Figure 2, the aforementioned step S120 can be specifically implemented as follows: in step S210, the kinetic energy of each current rotating body, the friction torque of each current rotating body and the current remaining ramp time are periodically determined. In step S220, the braking torque that each current brake needs to provide to the corresponding rotating body is determined based on the kinetic energy of each current rotating body, the friction torque of each current rotating body and the current remaining ramp time. In step S230, the braking torque that each current brake needs to provide to the corresponding rotating body is output to the corresponding brake. In step S240, it is determined whether multiple rotating bodies are detected to have stopped rotating (for example, it is determined in real time before reaching the next cycle whether multiple rotating bodies are detected to have stopped rotating); if so, return to step S210, otherwise stop the operation (S250). And it can be understood that step S120 of the present application is not limited to Figure 2 For example, the method can be executed once at different specified time intervals.

[0055] The first embodiment of the present application can be applied to a transmission system that uses a separate brake for braking, and the aforementioned step S220 can further include sub-steps S220a and S220b. In S220a, the total braking torque required for each rotating body is determined based on the current kinetic energy of each rotating body and the current remaining ramp time; in S220b, the braking torque that each brake currently needs to provide to the corresponding rotating body is determined based on the total braking torque required for each rotating body and the friction torque of each rotating body. And in this specific implementation, S220b can be further implemented as: the braking torque that each brake currently needs to provide to the corresponding rotating body = the total braking torque required for each rotating body - the friction torque of each rotating body.

[0056] In addition, the first embodiment of the present application can also be applied to Figure 3In the transmission system of the superimposed braking of the brake 340 and the frequency converter 320 shown, the aforementioned sub-step S220b can be further implemented as follows: according to the total braking torque currently required by each rotating body 350, the friction torque currently of each rotating body 350, and the braking torque currently provided to the corresponding rotating body 350 by each frequency converter 320 side, the braking torque currently required by each brake 340 to provide to the corresponding rotating body 350 is determined. Further, the braking torque currently required by each brake 340 to provide to the corresponding rotating body 350 = the total braking torque currently required by each rotating body 350 - the friction torque currently of each rotating body 350 - the braking torque currently provided to the corresponding rotating body 350 by each frequency converter 320 side. It can be understood that a braking resistor is pre-equipped for each common DC bus inverter 320, or a braking resistor is added to the rectifier power supply of the common DC bus inverter 320, and each inverter 320 generates a ramp function according to the target ramp time obtained in step S110 to control the motor 330 to stop (for example, emergency stop). In an emergency stop scenario, for example, the braking torque provided by each inverter 320 to the corresponding rotating body 350 can be a fixed value, which can be directly calculated by the power of each motor input by the user on the HMI. In a non-emergency stop scenario, for example, the braking torque provided by each inverter 320 side to the corresponding rotating body 350 can be variable, and the braking torque currently provided by each inverter 320 side to the corresponding rotating body 350 can be obtained based on the data collected in real time from the inverter side. In addition, it can be understood that Figure 3 The three groups of rotating bodies shown in the figure are merely exemplary, and the present application can be applicable to scenarios with two or more groups of rotating bodies.

[0057] In the first embodiment, according to the law of conservation of energy, the speed-time curve during the braking process of a single brake (or the speed-time curve during the braking process of the brake and other brake units combined) can be approximated as a ramp function. Based on this, the aforementioned sub-step S220a can further include: Based on formula E k =h*P kb *t, based on the current kinetic energy E of each rotating body 350 k and the current remaining ramp time t, determine the total braking power P currently required for each rotating body 350 kb ; According to the total braking power P required for each rotating body 350 kb , determine the total braking torque T required for each rotating body 350 kb Among them, E k is the kinetic energy of the kth rotating body 350 among the current N rotating bodies 350, P kbis the total braking power required by the kth rotating body 350 among the current N rotating bodies 350. Wherein, h is a constant, the ramp function is preferably a linear ramp function, h is 1 / 2 or an adjustment value within a range of m% based on 1 / 2, and m is preferably less than 5.

[0058] In addition, the first embodiment is applicable to rotating bodies 350 of any shape, and is preferably applicable to rotating bodies 350 of cylindrical or quasi-cylindrical shapes. Taking the rotating body 350 of cylindrical shape as an example, the aforementioned sub-step S220a can be further implemented as follows: according to the current speed of each rotating body 350, the current mass of each rotating body 350, the current rotation radius of each rotating body 350 and the current remaining ramp time, the total braking power required by each rotating body 350 is determined; according to the total braking power required by each rotating body 350, the total braking torque required by each rotating body 350 is determined.

[0059] More specifically, the aforementioned “determining the total braking power required for each rotating body 350 according to the current speed of each rotating body 350, the current mass of each rotating body 350, the current rotation radius of each rotating body 350 and the current remaining ramp time” can be specifically implemented as follows: Based on the formula Calculate the total braking power P required for each rotating body 350 at present kb , where n k is the speed of the kth rotating body among the current N rotating bodies, r k is the current rotation radius of the kth rotating body among the N rotating bodies, m k is the current mass of the kth rotating body among the N rotating bodies.

[0060] It should be noted that the "speed" mentioned in the present application can be an angular velocity ω, a linear velocity v or a rotational speed n. Taking the "speed" as the rotational speed n as an example, the aforementioned "determining the total braking torque required for each rotating body 350 according to the total braking power currently required for each rotating body 350" can be specifically implemented as follows: Based on the formula Calculate the total braking torque T required for each rotating body 350 kb . Wherein h is a constant, h is equal to 1 / 2 or an adjustment value within a range of m% based on 1 / 2, and m is preferably less than 5.

[0061] In addition, the “current friction torque of each rotating body 350” in the aforementioned sub-step S220b can be calculated based on the current mass m of each rotating body 350. k , the current rotation radius r of each rotating body 350 k and the friction coefficient μ between each rotating body 350 side and the motor 330 shaft side kIt can be understood that the "friction torque of each rotating body at present" is the friction torque between each rotating body side and the corresponding motor shaft side. Specifically, the friction torque T between the kth rotating body 350 side of the N rotating bodies 350 and the corresponding motor 330 shaft side kf =m k *g*μ k *r k , where μ k is the friction coefficient between the preset kth rotating body side and the motor shaft side, and g is the gravitational acceleration.

[0062] It can be understood that in this embodiment, the friction coefficient between each rotating body side and the motor shaft side is usually a constant, which can be obtained by the user in advance (for example, input through the HMI interface). In some common application scenarios, any or more of the speed of the rotating body, the mass of the rotating body and the rotation radius of the rotating body may be variable, so the changing parameters can be obtained by real-time detection, real-time measurement or real-time calculation respectively; for example, the speed of the rotating body (angular velocity ω, linear velocity v or rotation speed n) can be measured and calculated by a sensor or encoder, which can be directly obtained or calculated by the motion parameters of the motor; for example, the real-time rotation radius of the rotating body can be detected by a sensor; for example, the force or torque required for the rotation of the rotating body is detected by a force sensor or a torque sensor, and then the measured force or torque value and the speed, radius and other parameters of the rotation are used to calculate the real-time mass of the rotating body. In addition, in other application scenarios, the speed of the rotating body, the mass of the rotating body and the rotation radius of the rotating body may remain unchanged and be constants, and these parameters can be obtained by pre-setting by the user (for example, input settings through the HMI interface).

[0063] In order to implement the braking control method of the first embodiment, the second embodiment of the present application further provides a braking control device 400. Figure 4 As shown, the device 400 includes a first obtaining module 410 and a first braking control module 420. It should be noted that since the device 400 is for implementing the aforementioned method embodiment, each module in the device 400 is provided for implementing each step of the aforementioned method, and therefore the present application is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present application.

[0064] Specifically, the first acquisition module 410 is used to respond to the synchronous deceleration instruction to obtain the target ramp time that makes the multiple rotating bodies 350 synchronously decelerate. The first braking control module 420 is used to perform the operation of "determining the current kinetic energy of each rotating body 350, the current friction torque of each rotating body 350 and the current remaining ramp time; determining the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 according to the current kinetic energy of each rotating body 350, the current friction torque of each rotating body 350 and the current remaining ramp time; outputting the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 to the corresponding brake 340" at least once during the deceleration of the multiple rotating bodies 350 until it is detected that the multiple rotating bodies 350 stop rotating.

[0065] Optionally, the first acquisition module 410 is used to respond to the synchronous deceleration instruction to obtain the target ramp time that makes the multiple rotating bodies 350 synchronously decelerate. The first braking control module 420 is used to perform the operation of "determining the current kinetic energy of each rotating body 350, the current friction torque of each rotating body 350 and the current remaining ramp time; determining the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 according to the total braking torque required by each rotating body 350, the friction torque of each rotating body 350 and the braking torque provided to the corresponding rotating body 350 by each inverter 320 side; outputting the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 to the corresponding brake 340" at least once during the deceleration of the multiple rotating bodies 350 until it is detected that the multiple rotating bodies 350 stop rotating.

[0066] It can be understood that since the device 400 of the second embodiment is a corresponding device to the method of the first embodiment, all technical details in the method of the first embodiment are applicable to the device 400 of the second embodiment. For the sake of simplicity, some details that are the same as those of the method of the first embodiment are omitted here.

[0067] Figure 5 The third embodiment of the present application shows a braking control method. It is mainly used in the scene of a cylindrical rotating body. Figure 5 As shown, the method includes:

[0068] In step S510, in response to the synchronous deceleration instruction, a target ramp time for making multiple rotating bodies synchronously decelerate is obtained. The "synchronous deceleration instruction" in this step can be automatically generated based on the occurrence of a parking event, which is particularly suitable for emergency stop events; it can also be generated based on manual triggering, such as arranging a button, and the synchronous deceleration instruction is generated when the button is pressed.

[0069] Afterwards, enter step S520, and execute "determine the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body; determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side; output the braking torque that each brake needs to provide to the corresponding rotating body to the corresponding brake" at least once during the deceleration process of multiple rotating bodies until it is detected that multiple rotating bodies have stopped rotating.

[0070] See attached Figure 6 , the aforementioned step S520 can be specifically implemented as follows: in step S610, the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body and the current rotation radius of each rotating body are periodically determined. In step S620, the braking torque that each brake needs to provide to the corresponding rotating body is determined based on the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side. In step S630, the braking torque that each brake needs to provide to the corresponding rotating body is output to the corresponding brake. In step S640, it is determined whether multiple rotating bodies are detected to stop rotating (for example, it is determined in real time before reaching the next cycle whether multiple rotating bodies are detected to stop rotating). If so, return to step S610 (enter the next cycle), otherwise stop the operation (S650). And it can be understood that step S520 of the present application is not limited to Figure 6 The method of periodic execution may be, for example, a method of executing once at different specified time intervals, a method of executing once every time the speed values ​​of multiple rotating bodies decrease by a preset amount, and so on.

[0071] In addition, in practical applications, the aforementioned step S620 can be specifically implemented as follows: Based on the formula Determine the braking torque T that each brake needs to provide to the corresponding rotating body kr , m k is the current mass of the kth rotating body among the N rotating bodies, r k is the current rotation radius of the kth rotating body among the N rotating bodies, n k is the current speed of each rotating body, μ k is the friction coefficient between the preset kth rotating body side and the motor shaft side, t is the current remaining ramp time, g is the acceleration of gravity, h is a constant, h is equal to 1 / 2 or an adjustment value within the range of m% based on 1 / 2, and m is preferably less than 5.

[0072] In addition, this embodiment can also be applied to a transmission system using a brake and other brake units for superposition braking. Figure 3 Taking the superposition braking method using the brake 340 and the inverter 320 as an example, the aforementioned step S620 can be further implemented as follows: according to the current remaining ramp time, the current speed of each rotating body 350, the current mass of each rotating body 350, the current rotation radius of each rotating body 350, and the preset friction coefficient between each rotating body 350 side and the motor 330 shaft side, and the braking torque currently provided to the corresponding rotating body 350 by each inverter 320 side, determine the braking torque that each brake 340 needs to provide to the corresponding rotating body 350. More specifically, based on the formula Determine the braking torque T that each brake 340 needs to provide to the corresponding rotating body 350 kr ; Among them, T kc The braking torque currently provided to the kth rotating body 350 by the inverter 320 corresponding to the kth rotating body 350 among the N rotating bodies 350. In this optional implementation, a braking resistor is pre-equipped for each common DC bus inverter 320, or a braking resistor is installed on the rectifier power supply of the common DC bus inverter 320, and each inverter 320 generates a ramp function according to the target ramp time obtained in step S110 to control the motor 330 to stop (for example, emergency stop). In an emergency stop scenario, for example, the braking torque provided by each inverter 320 to the corresponding rotating body 350 is a fixed value, which can be directly calculated by the motor power input by the user on the HMI. In a non-emergency stop scenario, for example, the braking torque provided to the corresponding rotating body 350 by each inverter 320 side can be variable, and the braking torque currently provided to the corresponding rotating body 350 by each inverter 320 side can be obtained by calculation based on the data collected in real time from the inverter side. It should be noted that the "speed" described in the present application may be an angular velocity ω, a linear velocity v, or a rotational speed n. In addition, although the "speed" used in the aforementioned formulas is the rotational speed n, the formulas may also be transformed into a form in which the angular velocity ω or the linear velocity v is used as the "speed" based on the known relationship between the rotational speed n and the angular velocity ω or the linear velocity v.

[0073] It can be understood that in this embodiment, the friction coefficient between each rotating body side and the motor shaft side is usually a constant, which can be obtained by the user in advance (for example, input through the HMI interface). In some common application scenarios, any or more of the speed of the rotating body, the mass of the rotating body and the rotation radius of the rotating body may be variable, so the changing parameters can be obtained by real-time detection, real-time measurement or real-time calculation respectively; for example, the speed of the rotating body can be measured and calculated by a sensor or encoder, which can be directly obtained or calculated by the motion parameters of the motor; for example, the real-time rotation radius of the rotating body can be detected by a sensor; for example, the force or torque required for the rotation of the rotating body is detected by a force sensor or a torque sensor, and then the measured force or torque value and the speed, radius and other parameters of the rotation are used to calculate the real-time mass of the rotating body. In addition, in other application scenarios, the speed of the rotating body, the mass of the rotating body and the rotation radius of the rotating body may remain unchanged and be constants, and these parameters can be obtained by pre-setting by the user (for example, input settings through the HMI interface).

[0074] In order to implement the braking control method of the third embodiment, the fourth embodiment of the present application further provides a braking control device 700. Figure 7 As shown, the device 700 includes a second acquisition module 710 and a second brake control module 720. It should be noted that since the device 700 is for implementing the aforementioned method embodiment, each module in the device 700 is provided for implementing each step of the aforementioned method, and therefore the present application is not limited to the following embodiments, and any device or module that can implement the aforementioned method should be included in the protection scope of the present application.

[0075] Specifically, the second acquisition module 710 is used to respond to the synchronous deceleration instruction to obtain the target ramp time that makes the multiple rotating bodies 350 synchronously decelerate. The second brake control module 720 is used to perform the operation of "determining the current remaining ramp time, the current speed of each rotating body 350, the current mass of each rotating body 350 and the current rotation radius of each rotating body 350 at least once during the deceleration of the multiple rotating bodies 350; determining the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 according to the current remaining ramp time, the current speed of each rotating body 350, the current mass of each rotating body 350, the current rotation radius of each rotating body 350 and the preset friction coefficient between each rotating body 350 side and the shaft side of the motor 330; outputting the braking torque that each brake 340 needs to provide to the corresponding rotating body 350 to the corresponding brake 340" at least once during the deceleration of the multiple rotating bodies 350 until it is detected that the multiple rotating bodies 350 stop rotating.

[0076] Among them, optionally, the second braking control module 720 is also used to execute the operations of "determining the current remaining ramp time, the current speed of each rotating body 350, the current mass of each rotating body 350 and the current rotation radius of each rotating body 350; determining the braking torque that each brake 340 currently needs to provide to the corresponding rotating body 350 according to the current remaining ramp time, the current speed of each rotating body 350, the current mass of each rotating body 350, the current rotation radius of each rotating body 350 and the preset friction coefficient between each rotating body 350 side and the motor 330 shaft side and the braking torque currently provided to the corresponding rotating body 350 by each inverter 320 side; outputting the braking torque that each brake 340 currently needs to provide to the corresponding rotating body 350 to the corresponding brake 340" at least once during the deceleration process of multiple rotating bodies 350 until it is detected that multiple rotating bodies 350 stop rotating.

[0077] It can be understood that since the device 700 of the fourth embodiment is a corresponding device to the method of the third embodiment, all technical details in the method of the third embodiment are applicable to the device 700 of the fourth embodiment. For the sake of simplicity, some details that are the same as those of the method of the aforementioned embodiment are omitted here.

[0078] Figure 8 FIG. 8 is a schematic diagram of an electronic device 800 according to an embodiment of the present disclosure. It should be noted that the present embodiment does not limit the specific implementation of the electronic device 800. Figure 8 As shown, the electronic device 800 includes: a processor 802, a communication interface 804, a memory 806, and a bus 808. Among them:

[0079] The processor 802 , the communication interface 804 , and the memory 806 communicate with each other via a bus 808 .

[0080] The communication interface 804 is used to communicate with other electronic devices or servers.

[0081] The processor 802 is used to execute the program 810, and specifically can execute the relevant steps in the aforementioned method embodiments.

[0082] Specifically, the program 810 may include program codes, which include computer operation instructions.

[0083] The processor 802 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure. The one or more processors included in the smart device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0084] The memory 806 is used to store programs. The memory may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0085] The program 810 may be specifically configured to enable the processor 802 to execute the method in any of the foregoing embodiments.

[0086] The specific implementation of each step in program 810 can refer to the corresponding description of the corresponding steps and units in the method of the aforementioned embodiment, which will not be repeated here. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described devices and modules can refer to the corresponding process description in the aforementioned method embodiment, which will not be repeated here.

[0087] The present disclosure also provides a computer-readable storage medium storing instructions for causing a machine to execute the method embodiments as described herein. Specifically, a system or device equipped with a storage medium may be provided, on which a software program code implementing the functions of any of the above embodiments is stored, and a computer (or CPU or MPU) of the system or device is enabled to read and execute the program code stored in the storage medium.

[0088] In this case, the program code itself read from the storage medium can realize the function of any one of the above embodiments, and thus the program code and the storage medium storing the program code constitute part of the present disclosure.

[0089] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0090] It should be pointed out that, according to the needs of implementation, the various components / steps described in the embodiments of the present application can be split into more components / steps, or two or more components / steps or partial operations of components / steps can be combined into new components / steps to achieve the purpose of the embodiments of the present application.

[0091] The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or can be implemented as software or computer code that can be stored in a recording medium (such as a CD ROM, RAM, floppy disk, hard disk or magneto-optical disk), or can be implemented as a computer code originally stored in a remote recording medium or a non-temporary machine-readable medium downloaded through a network and will be stored in a local recording medium, so that the method described herein can be stored in such software processing on a recording medium using a general-purpose computer, a special-purpose processor 802 or programmable or special-purpose hardware (such as an ASIC or FPGA). It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component (e.g., RAM, ROM, flash memory, etc.) that can store or receive software or computer code, and when the software or computer code is accessed and executed by a computer, a processor or hardware, the method described herein is implemented. In addition, when a general-purpose computer accesses the code for implementing the method shown here, the execution of the code converts the general-purpose computer into a special-purpose computer for executing the method shown here.

[0092] It should be noted that not all steps and modules in the above-mentioned processes and system structure diagrams are necessary, and some steps or modules can be ignored according to actual needs. The execution order of each step is not fixed and can be adjusted as needed. The system structure described in the above-mentioned embodiments can be a physical structure or a logical structure, that is, some modules may be implemented by the same physical entity, or some modules may be implemented by multiple physical entities, or some components in multiple independent devices may be implemented together.

[0093] In the above embodiments, the hardware module can be implemented mechanically or electrically. For example, a hardware module can include permanent dedicated circuits or logic (such as special processors, FPGA or ASIC) to complete the corresponding operation. The hardware module can also include programmable logic or circuits (such as general-purpose processors or other programmable processors), which can be temporarily set by software to complete the corresponding operation. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily set circuit) can be determined based on cost and time considerations.

[0094] It should be noted that in the claims and description of this patent, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0095] While the present disclosure has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present disclosure.

[0096] The present disclosure has been shown and described in detail above through the accompanying drawings and preferred embodiments. However, the present disclosure is not limited to these disclosed embodiments. Based on the above multiple embodiments, those skilled in the art can know that the code review methods in the above different embodiments can be combined to obtain more embodiments of the present disclosure, and these embodiments are also within the protection scope of the present disclosure.

Claims

1. A braking control method, characterized in that: include: In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies; The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating: Determine the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time; Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time; The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

2. The method according to claim 1, characterized in that The step of determining the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body and the current remaining ramp time further includes: Determine the total braking torque currently required for each rotating body according to the current kinetic energy of each rotating body and the current remaining ramp time; The braking torque that each brake needs to provide to the corresponding rotating body is determined according to the total braking torque currently required by each rotating body and the friction torque of each rotating body currently.

3. The method according to claim 2, characterized in that The step of determining the total braking torque required for each rotating body according to the current kinetic energy of each rotating body and the current remaining ramp time further comprises: Based on Formula E k =h*P kb *t, according to the current kinetic energy of each rotating body and the current remaining ramp time t, determine the total braking power required for each rotating body, where N is the number of the multiple rotating bodies, E k is the current kinetic energy of the kth rotating body among the N rotating bodies, P kb is the total braking power currently required by the kth rotating body among the N rotating bodies, and h is a constant; The total braking torque currently required by each rotating body is determined according to the total braking power currently required by each rotating body.

4. A braking control method, characterized in that: include: In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies; The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating: Determine the current kinetic energy of each rotating body, the current friction torque of each rotating body, the current braking torque provided by each inverter side to the corresponding rotating body, and the current remaining ramp time; Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body, the current braking torque provided to the corresponding rotating body by each inverter side, and the current remaining ramp time; The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

5. The method according to claim 4, characterized in that The step of determining the braking torque that each brake needs to provide to the corresponding rotating body according to the current kinetic energy of each rotating body, the current friction torque of each rotating body, the current braking torque provided to the corresponding rotating body by each inverter side, and the current remaining ramp time further includes: Determine the total braking torque currently required for each rotating body according to the current kinetic energy of each rotating body and the current remaining ramp time; The braking torque that each brake needs to provide to the corresponding rotating body is determined based on the total braking torque currently required by each rotating body, the friction torque of each rotating body currently and the braking torque currently provided to the corresponding rotating body by each inverter side.

6. The method according to claim 5, characterized in that The step of determining the total braking torque required for each rotating body according to the current kinetic energy of each rotating body and the current remaining ramp time further comprises: Based on Formula E k =h*P kb *t, according to the current kinetic energy of each rotating body and the current remaining ramp time t, determine the total braking power required for each rotating body, where N is the number of the multiple rotating bodies, E k is the current kinetic energy of the kth rotating body among the N rotating bodies, P kb is the total braking power currently required by the kth rotating body among the N rotating bodies, and h is a constant; The total braking torque currently required by each rotating body is determined according to the total braking power currently required by each rotating body.

7. A braking control method, characterized in that: include: In response to a synchronous deceleration instruction, obtaining a target ramp time for synchronously decelerating the plurality of rotating bodies; The following steps are performed at least once during the deceleration of the plurality of rotating bodies until it is detected that the plurality of rotating bodies stop rotating: Determine the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, and the current rotation radius of each rotating body; Determine the braking torque that each brake needs to provide to the corresponding rotating body according to the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body and the preset friction coefficient between each rotating body side and the motor shaft side; The braking torque that each brake currently needs to provide to the corresponding rotating body is output to the corresponding brake.

8. The method according to claim 7, characterized in that The step of determining the braking torque that each brake needs to provide to the corresponding rotating body according to the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, and the preset friction coefficient between each rotating body side and the motor shaft side, further includes: Determine the braking torque that each brake currently needs to provide to the corresponding rotating body based on the current remaining ramp time, the current speed of each rotating body, the current mass of each rotating body, the current rotation radius of each rotating body, the preset friction coefficient between each rotating body side and the motor shaft side, and the current braking torque provided to the corresponding rotating body by each inverter side.

9. A brake control device, characterized in that: include: A first obtaining module (410) is used to obtain a target ramp time for synchronously decelerating a plurality of rotating bodies (350) in response to a synchronous deceleration instruction; The first brake control module (420) is used to perform the operation of "determining the current kinetic energy of each rotating body (350), the current friction torque of each rotating body (350) and the current remaining ramp time; determining the braking torque that each brake (340) needs to provide to the corresponding rotating body (350) according to the current kinetic energy of each rotating body (350), the current friction torque of each rotating body (350) and the current remaining ramp time; and outputting the braking torque that each brake (340) needs to provide to the corresponding rotating body (350) to the corresponding brake (340)" at least once during the deceleration process of the multiple rotating bodies (350) until it is detected that the multiple rotating bodies (350) stop rotating.

10. The device according to claim 9, characterized in that The first brake control module (420) is also used to perform the operation of "determining the current kinetic energy of each rotating body (350), the current friction torque of each rotating body (350), the current braking torque provided by each inverter (320) to the corresponding rotating body (350) and the current remaining ramp time at least once during the deceleration of the multiple rotating bodies (350); determining the braking torque that each brake (340) needs to provide to the corresponding rotating body (350) according to the current kinetic energy of each rotating body (350), the current friction torque of each rotating body (350), the current braking torque provided by each inverter (320) to the corresponding rotating body (350) and the current remaining ramp time; and outputting the braking torque that each brake (340) needs to provide to the corresponding rotating body (350) to the corresponding brake (340)" until it is detected that the multiple rotating bodies (350) stop rotating.

11. A brake control device, characterized in that: include: A second obtaining module (710) is used to obtain a target ramp time for causing the plurality of rotating bodies (350) to decelerate synchronously in response to a synchronous deceleration instruction; A second braking control module (720) is used to execute "determine the current remaining ramp time, the current speed of each rotating body (350), the current mass of each rotating body (350) and the current rotation radius of each rotating body (350) at least once during the process of decelerating the plurality of rotating bodies (350); Determining the braking torque that each brake (340) needs to provide to the corresponding rotating body (350) according to the current remaining ramp time, the current speed of each rotating body (350), the current mass of each rotating body (350), the current rotation radius of each rotating body (350) and the preset friction coefficient between each rotating body (350) side and the motor (330) shaft side; The operation of "outputting the braking torque that each brake (340) needs to provide to the corresponding rotating body (350)" is performed until it is detected that the multiple rotating bodies (350) stop rotating.

12. An electronic device, the electronic device (800) comprising: A processor (802), a communication interface (804), a memory (806) and a bus (808), wherein the processor (802), the communication interface (804) and the memory (806) communicate with each other via the bus (808); The memory (806) is used to store at least one executable instruction, and the executable instruction enables the processor (802) to perform an operation corresponding to the method as described in any one of claims 1 to 8.

13. A computer-readable storage medium having computer instructions stored thereon, wherein when the computer instructions are executed by a processor, the processor is caused to execute the method according to any one of claims 1 to 8.

Images