Control power supply detection circuit, detection method and servo driver

Abstract

The invention provides a control power supply detection circuit, a detection method and a servo driver. The control power supply detection circuit comprises a voltage detection module (1), and the voltage detection module (1) comprises a comparison circuit (2) which comprises a divider resistor and a hysteresis comparator and is used for monitoring the voltage state of a control power supply in real time; and the fault processing module (3) is used for receiving an output signal of the comparison circuit (2), distinguishing a power-on process, a working process and a power-off process of the control power supply through logical judgment, and generating an enable signal (EN), an undervoltage alarm signal (LP) and an overvoltage alarm signal (OP). According to the control power supply detection circuit, the working state of the control power supply of the servo driver can be effectively distinguished, the fault type of the control power supply can be accurately identified, and the servo driver can be more effectively protected.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a control power supply detection circuit and detection method, and a servo driver. Background Art

[0002] In the precise operation of modern CNC machine tools, the servo drive is the core control component, and its performance and stability play a decisive role in the efficiency and accuracy of the overall system. Servo drives usually rely on two independent power supply systems to ensure the full performance of their functions. These two independent power supply systems are control power supply and power supply. The control power supply (usually 24V DC) is responsible for powering key modules such as the main chip of the control part of the drive, signal processing circuit (such as encoder feedback circuit) and communication interface. These modules require stable and accurate voltage supply to maintain their efficient operation. The power supply (usually 220V or 380V AC) is responsible for powering the main circuit of the servo drive, driving the motor through power conversion, and realizing precise control of mechanical movement.

[0003] In complex industrial environments, CNC machine tools often share the same power supply system with multiple devices, such as motor brake systems, CNC systems, and control logic units. Although this shared power supply setting improves operating efficiency and cost-effectiveness, it also brings potential power management challenges. Especially in the use of 24V DC power supply, due to instantaneous changes in loads, such as motor startup or sudden access to external devices, the power supply output voltage may be unstable, resulting in voltage drops or surges, that is, undervoltage and overvoltage phenomena. Such voltage fluctuations may not only affect the normal operation of the servo drive and reduce control accuracy, but may also cause equipment failures and even damage sensitive electronic components, reducing the service life and reliability of the entire system.

[0004] Therefore, fault detection of the servo drive control power supply is particularly important, which can provide more effective protection for the electrical system and improve product reliability. Traditional voltage detection methods often have difficulty accurately distinguishing undervoltage conditions during the power-on process, power-off process, and working process, which may lead to false alarms or unnecessary system shutdowns, affecting production efficiency and equipment safety. Especially at the moment of power-on or power-off, the natural fluctuation of voltage can be easily misjudged as a fault, thereby triggering the protection mechanism, causing unnecessary waste of resources and inconvenience in operation. Summary of the invention

[0005] The main purpose of the present invention is to provide a control power supply detection circuit and detection method, and a servo driver, which can effectively distinguish the working state of the control power supply of the servo driver, accurately identify the fault type of the control power supply, and implement more effective protection for the servo driver.

[0006] In order to achieve the above object, according to one aspect of the present invention, a control power supply detection circuit is provided, including a voltage detection module, the voltage detection module including:

[0007] A comparison circuit, including a voltage-dividing resistor and a hysteresis comparator, wherein the comparison circuit is used for real-time monitoring of the voltage state of the control power supply;

[0008] The fault processing module is used to receive the output signal of the comparison circuit, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, and generate an enable signal, an undervoltage alarm signal and an overvoltage alarm signal.

[0009] Further, the voltage-dividing resistors include a first group of voltage-dividing resistors, a second group of voltage-dividing resistors and a third group of voltage-dividing resistors, the hysteresis comparator includes a first hysteresis comparator, a second hysteresis comparator and a third hysteresis comparator, the first group of voltage-dividing resistors are connected to the input end of the first hysteresis comparator, the second group of voltage-dividing resistors are connected to the input end of the second hysteresis comparator, the third group of voltage-dividing resistors are connected to the input end of the third hysteresis comparator, the signal output end of the first hysteresis comparator is connected to the first signal receiving end of the fault processing module, the signal output end of the second hysteresis comparator is connected to the second signal receiving end of the fault processing module, and the signal output end of the third hysteresis comparator is connected to the third signal receiving end of the fault processing module.

[0010] Furthermore, each hysteresis comparator includes a comparator, a first resistor, a second resistor and a third resistor, the resistance of the first resistor is greater than the resistance of the second resistor, the resistance of the second resistor is greater than the resistance of the third resistor, the first resistor is connected between the positive input terminal and the output terminal of the comparator, the second resistor is connected to the positive input terminal of the comparator, and the third resistor is connected to the negative input terminal of the comparator. The positive input terminal is used to connect a reference voltage, and the negative input terminal is used to connect a control power supply.

[0011] Furthermore, the low voltage threshold of the first hysteresis comparator is smaller than the low voltage threshold of the second hysteresis comparator, the low voltage threshold of the second hysteresis comparator is smaller than the low voltage threshold of the third hysteresis comparator, the high voltage threshold of the first hysteresis comparator is smaller than the high voltage threshold of the second hysteresis comparator, and the high voltage threshold of the second hysteresis comparator is smaller than the high voltage threshold of the third hysteresis comparator.

[0012] Furthermore, the control power detection circuit also includes a first power conversion module, which is arranged at the power input end of the voltage detection module and is used to convert the voltage into a voltage required by the voltage detection module.

[0013] Furthermore, the control power supply detection circuit also includes a control module, which receives an enable signal, an undervoltage alarm signal and an overvoltage alarm signal, and determines the working state of the control power supply and whether there is a fault according to these signals.

[0014] Furthermore, the control power detection circuit also includes a second power conversion module, which is arranged at the power input end of the control module and is used to convert the voltage into the voltage required by the control module.

[0015] According to another aspect of the present invention, there is provided a control power supply detection circuit, comprising:

[0016] The voltage detection module includes a voltage-dividing resistor and a hysteresis comparator, and the voltage detection module is used to monitor the voltage state of the control power supply in real time;

[0017] The control module is used to receive the output signal of the voltage detection module, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, generate an enable signal, an undervoltage alarm signal and an overvoltage alarm signal, and judge the working status of the control power supply and whether there is a fault based on these signals.

[0018] According to another aspect of the present invention, a servo driver is provided, comprising a main circuit and the above-mentioned control power detection circuit, wherein the main circuit comprises a rectifier module, a brake module and an inverter module.

[0019] According to another aspect of the present invention, there is provided a control power detection method of the control power detection circuit, comprising:

[0020] Real-time monitoring of the voltage status of the control power supply;

[0021] Receive the voltage status signal of the control power supply, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, and generate an enable signal, an undervoltage alarm signal and an overvoltage alarm signal;

[0022] The working state of the control power supply and whether there is a fault are determined according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal.

[0023] Further, the steps of receiving a voltage state signal of the control power supply and distinguishing the power-on process, the working process and the power-off process of the control power supply through logical judgment include:

[0024] When the level change sequence of the output signal is 111-011-001, it is judged that the control power supply is in the power-on process;

[0025] When the enable signal is at a high level, it is judged that the power-on is completed, and the control power supply is detected according to the levels of VO1, VO2 and VO3;

[0026] When the level change sequence of the output signal is 001-011-111, it is determined that the control power supply is in the power-off process.

[0027] Further, the step of detecting the control power supply according to the levels of VO1, VO2 and VO3 includes:

[0028] When VO1=0, VO2=1, VO3=1, the control power supply is judged to be undervoltage, and an undervoltage alarm is triggered;

[0029] When VO1=0, VO2=0, VO3=1, the control power supply is judged to be normal;

[0030] When VO1=0, VO2=0, VO3=0, the control power supply is judged to be over-voltage and an over-voltage alarm is triggered.

[0031] Further, the step of determining the working state of the control power supply and whether there is a fault according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal includes:

[0032] When an undervoltage alarm is detected, a delay of t1 is performed to read the level status of the enable signal;

[0033] If the enable signal is at a low level, it is judged as an undervoltage alarm triggered by the power-off process and is considered invalid;

[0034] If the enable signal is at a high level, it is judged as an undervoltage alarm triggered by the working process and is considered valid.

[0035] Further, when the voltage drops to Vt, the subsequent level state is determined to be an invalid state, wherein Vt is less than the minimum voltage required for the voltage detection module to supply power.

[0036] Applying the technical solution of the present invention, the control power detection circuit includes a voltage detection module, which includes: a comparison circuit, including a voltage-dividing resistor and a hysteresis comparator, and the comparison circuit is used to monitor the voltage state of the control power in real time; a fault processing module, which is used to receive the output signal of the comparison circuit, distinguish the power-on process, working process and power-off process of the control power through logical judgment, and generate an enable signal (EN), an undervoltage alarm signal (LP) and an overvoltage alarm signal (OP). The comparison circuit in the voltage detection module adopts a voltage-dividing resistor and a hysteresis comparator. The comparison threshold of the hysteresis comparator can be adjusted by using the voltage-dividing resistor, so that the hysteresis comparator can monitor the voltage state of the control power supply in real time, accurately identify the rising and falling trends of the voltage, and whether it is in a normal, undervoltage or overvoltage state, which helps to detect power supply abnormalities in time and avoid unexpected shutdown or damage of the servo drive due to power supply failure. The fault handling module can receive the output signal of the comparison circuit, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, effectively distinguish the working state of the control power supply of the servo drive, and avoid the common false alarm problem in traditional voltage detection schemes. By accurately distinguishing the power supply state, the fault type of the control power supply can be accurately identified, ensuring the accuracy and effectiveness of the alarm signal and improving the safety of the system. The hysteresis comparator significantly enhances the anti-interference ability of the detection circuit, can filter out small voltage fluctuations, and prevent false alarms caused by interference, thereby maintaining the stable operation of the servo drive. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 A schematic diagram of the structure of a servo driver according to an embodiment of the present invention is shown;

[0039] Figure 2 A schematic diagram showing the structure of a control power supply detection circuit according to an embodiment of the present invention is shown;

[0040] Figure 3 A schematic diagram showing the structure of a voltage detection module according to an embodiment of the present invention is shown;

[0041] Figure 4 A schematic diagram showing the structure of a hysteresis comparator according to an embodiment of the present invention is shown;

[0042] Figure 5 A schematic diagram of the output level structure of a hysteresis comparator according to an embodiment of the present invention is shown;

[0043] Figure 6 The following diagram shows three possible states of the control power supply power-on process according to an embodiment of the present invention;

[0044] Figure 7 The following are three possible states of the control power supply operation process according to the embodiment of the present invention; and

[0045] Figure 8 The waveform structure diagram of the control power supply power-off process according to the embodiment of the present invention is shown.

[0046] The above drawings include the following reference numerals:

[0047] 1. Voltage detection module; 2. Comparison circuit; 21. First group of voltage-dividing resistors; 22. Second group of voltage-dividing resistors; 23. Third group of voltage-dividing resistors; 24. First hysteresis comparator; 25. Second hysteresis comparator; 26. Third hysteresis comparator; 3. Fault handling module; 4. First power conversion module; 5. Second power conversion module; 6. Control module; 7. Rectification module; 8. Braking module; 9. Inversion module; R7. First resistor; R8. Second resistor; R9. Third resistor; U1. Comparator. DETAILED DESCRIPTION

[0048] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0049] like Figures 1 to 8 As shown, according to an embodiment of the present invention, the control power detection circuit includes a voltage detection module 1, and the voltage detection module 1 includes: a comparison circuit 2, including a voltage-dividing resistor and a hysteresis comparator, and the comparison circuit 2 is used to monitor the voltage state of the control power in real time; a fault processing module 3, which is used to receive the output signal of the comparison circuit 2, distinguish the power-on process, the working process and the power-off process of the control power through logical judgment, and generate an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP.

[0050] The comparison circuit in the voltage detection module adopts a voltage-dividing resistor and a hysteresis comparator. The comparison threshold of the hysteresis comparator can be adjusted by using the voltage-dividing resistor, so that the hysteresis comparator can monitor the voltage state of the control power supply in real time, accurately identify the rising and falling trends of the voltage, and whether it is in a normal, undervoltage or overvoltage state, which helps to detect power supply abnormalities in time and avoid unexpected shutdown or damage of the servo drive due to power supply failure. The fault handling module can receive the output signal of the comparison circuit, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, effectively distinguish the working state of the control power supply of the servo drive, and avoid the common false alarm problem in traditional voltage detection schemes. By accurately distinguishing the power supply state, the fault type of the control power supply can be accurately identified, ensuring the accuracy and effectiveness of the alarm signal and improving the safety of the system. The hysteresis comparator significantly enhances the anti-interference ability of the detection circuit, can filter out small voltage fluctuations, and prevent false alarms caused by interference, thereby maintaining the stable operation of the servo drive.

[0051] In one embodiment, the voltage-dividing resistors include a first group of voltage-dividing resistors 21, a second group of voltage-dividing resistors 22 and a third group of voltage-dividing resistors 23, the hysteresis comparator includes a first hysteresis comparator 24, a second hysteresis comparator 25 and a third hysteresis comparator 26, the first group of voltage-dividing resistors 21 are connected to the input end of the first hysteresis comparator 24, the second group of voltage-dividing resistors 22 are connected to the input end of the second hysteresis comparator 25, the third group of voltage-dividing resistors 23 are connected to the input end of the third hysteresis comparator 26, the signal output end of the first hysteresis comparator 24 is connected to the first signal receiving end VO1 of the fault processing module 3, the signal output end of the second hysteresis comparator 25 is connected to the second signal receiving end VO2 of the fault processing module 3, and the signal output end of the third hysteresis comparator 26 is connected to the third signal receiving end VO3 of the fault processing module 3.

[0052] The first group of voltage-dividing resistors 21 includes a resistor R1 and a resistor R2. The resistor R1 is arranged on the power connection line between the positive terminal of the control power supply and the first hysteresis comparator 24. The resistor R2 is arranged on the power connection line between the negative terminal of the control power supply and the first hysteresis comparator 24. By adjusting the voltage-dividing resistance value of the resistor R1 and the resistor R2, the comparison threshold of the first hysteresis comparator 24 can be set.

[0053] The second group of voltage-dividing resistors 22 includes resistor R3 and resistor R4. Resistor R3 is arranged on the power connection line between the positive terminal of the control power supply and the second hysteresis comparator 25. Resistor R4 is arranged on the power connection line between the negative terminal of the control power supply and the second hysteresis comparator 25. By adjusting the voltage-dividing resistance value of resistor R3 and resistor R4, the comparison threshold of the second hysteresis comparator 25 can be set.

[0054] The third group of voltage-dividing resistors 23 includes resistor R5 and resistor R6. Resistor R5 is arranged on the power connection line between the positive terminal of the control power supply and the third hysteresis comparator 26, and resistor R6 is arranged on the power connection line between the negative terminal of the control power supply and the third hysteresis comparator 26. By adjusting the voltage-dividing resistance value of resistor R5 and resistor R6, the comparison threshold of the third hysteresis comparator 26 can be set.

[0055] The three sets of voltage-controlled resistors and three hysteresis comparators are used together to set three different voltage thresholds, corresponding to undervoltage, normal voltage and overvoltage conditions. This graded detection mechanism can more sensitively capture slight changes in the control power supply voltage and identify the power supply status in a timely manner, thereby improving the detection accuracy and response speed.

[0056] The fault processing module 3 can intelligently analyze and determine the current state of the control power supply, namely undervoltage, normal state or overvoltage, by receiving the signals VO1, VO2 and VO3 output by the hysteresis comparator. By associating the output signals of different hysteresis comparators with the enable signal, the undervoltage alarm signal and the overvoltage alarm signal, the fault processing module 3 can take corresponding protection measures according to the power supply state, such as triggering the LP signal when the power supply is undervoltage or triggering the OP signal when the power supply is overvoltage, thereby realizing intelligent protection and optimized operation of the servo drive.

[0057] In one embodiment, each hysteresis comparator includes a comparator U1, a first resistor R8, a second resistor R7 and a third resistor R9, the resistance of the first resistor R8 is greater than the resistance of the second resistor R7, the resistance of the second resistor R7 is greater than the resistance of the third resistor R9, the first resistor R8 is connected between the positive input terminal and the output terminal of the comparator U1, the second resistor R7 is connected to the positive input terminal of the comparator U1, and the third resistor R9 is connected to the negative input terminal of the comparator U1, the positive input terminal is used to connect the reference voltage, and the negative input terminal is used to connect the control power supply.

[0058] The hysteresis comparator includes a comparator U1, a first resistor R8, a second resistor R7 and a third resistor R9. R8 is a large resistor, R7 is smaller than R8, and R9 is a small resistor used to adjust the input bias current. Generally speaking, R8 is generally a resistor of several hundred kΩ to several MΩ; R7 is generally a resistor of more than ten kΩ, and R9 is generally a resistor of more than ten Ω. The input and output signal relationship calculation formula is:

[0059]

[0060] Among them, VREF is the reference voltage connected to the positive input terminal of the comparator, which is a fixed value; VIN is the signal of the power supply to be detected after passing through the voltage divider resistor, which is connected to the negative input terminal of the comparator; VO is the comparator output, which has only two level states, high level and low level, and the level amplitude is determined by the comparator power supply. Figure 5 The figure shows the output level of the hysteresis comparator. When the detection voltage changes from low to high, the level jumps at VTH; when the detection voltage changes from high to low, the level jumps at VTL. 1 represents a high level, and 0 represents a low level.

[0061] The hysteresis comparator has a strong interference suppression capability, which can prevent the level jumping back and forth caused by small fluctuations in the detection voltage and improve the reliability of power supply detection.

[0062] In one embodiment, the low voltage threshold of the first hysteresis comparator 24 is smaller than the low voltage threshold of the second hysteresis comparator 25, the low voltage threshold of the second hysteresis comparator 25 is smaller than the low voltage threshold of the third hysteresis comparator 26, the high voltage threshold of the first hysteresis comparator 24 is smaller than the high voltage threshold of the second hysteresis comparator 25, and the high voltage threshold of the second hysteresis comparator 25 is smaller than the high voltage threshold of the third hysteresis comparator 26.

[0063] The low-voltage threshold and the high-voltage threshold of the first hysteresis comparator 24, the second hysteresis comparator 25 and the third hysteresis comparator 26 are set in ascending order, which can finely divide the voltage range of the control power supply into multiple intervals, each interval corresponding to a different power supply state of undervoltage, normal, and overvoltage. This precise voltage interval division helps to more accurately identify the type of power supply fault and improve the sensitivity and accuracy of fault detection.

[0064] The characteristic of the hysteresis comparator is that there is a certain "dead zone" voltage between its high voltage threshold and low voltage threshold, that is, the output state will change only when the input voltage changes outside the dead zone voltage. When the high voltage threshold of the first hysteresis comparator is less than the low voltage threshold of the second hysteresis comparator, the output state jump caused by small voltage fluctuations can be avoided, the anti-interference ability of the entire detection circuit is improved, and the probability of false alarm is reduced.

[0065] Since the threshold of the hysteresis comparator is set in ascending order, the fault processing module 3 can directly determine the working state of the control power supply based on the level state of the VO1, VO2, and VO3 signals without the need for complex algorithms or additional sensors. This simplified logic processing method not only reduces the circuit complexity, but also reduces the delay of fault processing and improves the overall response speed.

[0066] In one embodiment, the control power detection circuit further includes a first power conversion module 4 , which is disposed at the power input end of the voltage detection module 1 and is used to convert the voltage into a voltage required by the voltage detection module 1 .

[0067] Taking the control power supply voltage of 24V as an example, by setting the first power conversion module 4, the voltage of the control power input to the voltage detection module 1 can be converted into 15V, 5V or 3.3V, or other voltages, thereby being able to meet the voltage requirements of different components in the voltage detection module 1 and having better applicability.

[0068] In one embodiment, the control power detection circuit further includes a control module 6, which receives an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP, and determines the working state of the control power and whether there is a fault according to these signals.

[0069] The control module 6 can receive and analyze the enable signal EN, the undervoltage alarm signal LP and the overvoltage alarm signal OP from the fault processing module. Based on the status of these signals, the control module can intelligently judge the working status of the control power supply, power on, normal operation, power off and whether there is an undervoltage or overvoltage fault. This intelligent judgment capability enables the servo drive to adopt the most appropriate response strategy according to the real-time power supply status, such as reducing the load or entering the protection state when undervoltage, and disconnecting the power connection when overvoltage, thereby avoiding potential system damage or abnormal operation. With the help of real-time monitoring and accurate judgment of the power supply status, the control module can implement an optimized operation strategy to improve the operating efficiency and energy utilization of the servo drive.

[0070] In one embodiment, the control module 6 not only processes signals related to power supply detection, but is also responsible for other control logics of the servo drive, such as motor control, communication interface management, etc. This integrated design reduces the complexity of the internal circuit of the servo drive and improves the integration and overall performance of the system.

[0071] In one embodiment, the control power detection circuit further includes a second power conversion module 5 , which is disposed at the power input end of the control module 6 and is used to convert the voltage into the voltage required by the control module 6 .

[0072] Taking the control power supply voltage of 24V as an example, by setting a second power conversion module 5, the voltage of the control power input to the control module 6 can be converted into 15V, 5V or 3.3V, or other voltages, thereby being able to meet the voltage requirements of different components in the control module 6 and having better applicability.

[0073] According to an embodiment of the present invention, a control power supply detection circuit includes: a voltage detection module 1, the voltage detection module 1 includes a voltage-dividing resistor and a hysteresis comparator, and the voltage detection module 1 is used to monitor the voltage state of the control power supply in real time; a control module 6, which is used to receive the output signal of the voltage detection module 1, distinguish the power-on process, the working process and the power-off process of the control power supply through logical judgment, generate an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP, and judge the working state of the control power supply and whether there is a fault based on these signals.

[0074] The core structure of the control power detection circuit of this embodiment includes a voltage detection module 1 and a control module 6. The voltage detection module monitors the voltage state of the control power supply in real time through a voltage-dividing resistor and a hysteresis comparator, effectively distinguishes the voltage fluctuations during power-on, operation and power-off, avoids false alarms and improves the anti-interference ability. The control module 6 receives the output signal of the hysteresis comparator, generates an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP through logical judgment, not only judges the working state of the power supply, but also accurately identifies the fault type. The enable signal ensures that only when the control power supply is working normally, the remaining signals are effectively processed, avoiding misoperation during power-on and power-off. The undervoltage and overvoltage alarm signals are directly used for fault prompts and system protection, preventing equipment damage caused by power supply abnormalities. The above structure integrates the judgment logic of the fault processing module into the main control chip of the control module, simplifies the circuit structure, and improves the accuracy and response speed of signal processing.

[0075] The above-mentioned control power supply is a DC power supply, and the voltage can be 24V, 48V, or other specifications.

[0076] See also Figure 1 As shown, according to an embodiment of the present invention, the servo driver includes a main circuit and the above-mentioned control power detection circuit, and the main circuit includes a rectifier module 7, a brake module 8 and an inverter module 9.

[0077] In this embodiment, the power supply of the servo drive supplies power to the main circuit of the servo drive, and the main circuit includes a rectifier module 7, a brake module 8 and an inverter module 9, which are used to realize the conversion of electric energy, thereby driving the motor to operate. The control power supply supplies power to the control module 6. Here, taking a 24V DC power supply as an example, the control power supply is converted into various low-voltage power supplies required by the control module 6 through an internal power conversion module, such as 15V, 5V, 3.3V, etc. By adding a control power supply detection circuit to the access line of the control power supply, the power supply voltage range can be effectively judged, the working state of the control power supply of the servo drive can be effectively distinguished, and the fault type of the control power supply can be accurately identified, so that more effective protection can be implemented for the servo drive.

[0078] According to an embodiment of the present invention, the control power detection method of the control power detection circuit includes:

[0079] Real-time monitoring of the voltage status of the control power supply;

[0080] Receive the voltage status signal of the control power supply, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, and generate an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP;

[0081] The working state of the control power supply and whether there is a fault are determined according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal.

[0082] The control power supply detection method monitors the control power supply voltage status in real time, and effectively distinguishes the three key processes of power-on, operation and power-off by combining logical judgment, and then generates an enable signal EN, an undervoltage alarm signal LP and an overvoltage alarm signal OP, which not only improves the accuracy and response speed of detection, avoids false alarms caused by power supply status changes, but also ensures the timeliness and effectiveness of alarm processing through the enable signal. Based on the comprehensive analysis of these signals, the working status of the control power supply can be judged in real time and faults can be identified in time, which significantly enhances the stability and safety of the servo drive system.

[0083] In one embodiment, the steps of receiving a voltage state signal of a control power supply and distinguishing a power-on process, a working process, and a power-off process of the control power supply through logical judgment include:

[0084] When the level change sequence of the output signal is 111-011-001, it is judged that the control power supply is in the power-on process;

[0085] When the enable signal is at a high level, it is judged that the power-on is completed, and the control power supply is detected according to the levels of VO1, VO2 and VO3;

[0086] When the level change sequence of the output signal is 001-011-111, it is determined that the control power supply is in the power-off process.

[0087] In this embodiment, the power-on, working and power-off processes are intelligently distinguished by monitoring the level change sequence of the output signal of the control power supply detection circuit, which significantly improves the accuracy and efficiency of power supply state recognition. Specifically, when the output signal gradually changes from the full high level state 111 to 011 and then to 001, the circuit can accurately determine that the control power supply is entering the power-on process. At this time, the enable signal remains in a low level state, avoiding false alarms in the power-on stage. Once the enable signal jumps to a high level, it indicates that the power-on is completed. At this time, the circuit begins to accurately detect the control power supply according to the level state of the output signals VO1, VO2 and VO3 of the hysteresis comparator, and effectively identifies fault conditions such as undervoltage or overvoltage. When the level change sequence of the output signal changes from 001 to 111 in the reverse direction, it is judged as a power-off process, and the enable signal immediately returns to a low level, ensuring that the undervoltage alarm is considered invalid during the power-off process, avoiding unnecessary system intervention. This method not only simplifies the fault handling process and improves the reliability of the alarm signal, but also effectively avoids misoperation during power-on and power-off, enhances the stability and safety of the servo drive, and provides a more intelligent and accurate power supply monitoring and protection mechanism for industrial automation equipment.

[0088] In one embodiment, the step of detecting the control power supply according to the levels of VO1, VO2 and VO3 includes:

[0089] When VO1=0, VO2=1, VO3=1, the control power supply is judged to be undervoltage, and an undervoltage alarm is triggered;

[0090] When VO1=0, VO2=0, VO3=1, the control power supply is judged to be normal;

[0091] When VO1=0, VO2=0, VO3=0, the control power supply is judged to be over-voltage and an over-voltage alarm is triggered.

[0092] In this embodiment, by monitoring the level states of the three signals VO1, VO2 and VO3 output by the hysteresis comparator, an accurate judgment of the control power state is achieved. When VO1 is at a low level and VO2 and VO3 are at a high level, the circuit accurately identifies that the control power voltage is lower than the preset undervoltage threshold, thereby triggering an undervoltage alarm in time, providing an immediate protection measure for the servo drive, and preventing equipment failure caused by insufficient voltage. When VO1 and VO2 are both at a low level and VO3 is at a high level, it indicates that the control power supply operates within the normal voltage range and the system can continue to operate stably. When VO1, VO2 and VO3 all jump to a low level, it means that the control power voltage exceeds the overvoltage threshold, and the circuit immediately triggers an overvoltage alarm, effectively avoiding potential damage to electronic components caused by overvoltage. The above method achieves rapid response and precise management of the control power state through simple and intuitive level state comparison, improves the reliability of the servo drive, and ensures the safe and efficient operation of industrial automation equipment in various power supply environments.

[0093] In one embodiment, the step of determining the working state of the control power supply and whether there is a fault according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal includes:

[0094] When an undervoltage alarm is detected, a delay of t1 is performed to read the level status of the enable signal;

[0095] If the enable signal is at a low level, it is judged as an undervoltage alarm triggered by the power-off process and is considered invalid;

[0096] If the enable signal is at a high level, it is judged as an undervoltage alarm triggered by the working process and is considered valid.

[0097] By introducing the combined mechanism of the enable signal and the alarm signal, this embodiment significantly improves the accuracy and intelligence of the control power state judgment. When the circuit detects the undervoltage alarm signal, it does not respond immediately, but introduces a delay t1 to read the level state of the enable signal. If the enable signal is displayed as a low level at this time, the system can intelligently determine that the undervoltage alarm is caused by the power-off process, so it is regarded as an invalid alarm, avoiding the erroneous intervention of the normal power-off operation. On the contrary, if the enable signal is in a high level state, indicating that the servo drive is in a normal working process, the undervoltage alarm triggered at this time is regarded as valid, and the system will immediately take measures, such as adjusting the load, entering the energy-saving mode or issuing a shutdown command to protect the equipment from undervoltage damage. This method not only enhances the fault identification ability of the control power detection circuit, but also effectively distinguishes between normal power-off and fault state, avoiding unnecessary system actions, thereby improving the stability and safety of the servo drive in a complex industrial environment, and ensuring that the equipment can operate continuously and efficiently.

[0098] In one embodiment, when the voltage drops to Vt, the subsequent level state is determined to be an invalid state, wherein Vt is less than the minimum voltage required for the voltage detection module 1 to supply power.

[0099] Since Vt is lower than the minimum voltage required for powering the voltage detection module 1, when the voltage drops to Vt, the output of the power conversion module is insufficient to power the voltage detection module 1, and the subsequent level state is in an invalid state. Therefore, the setting VTL1 of the hysteresis comparator must be greater than Vt, and Vt can be obtained through actual measurement.

[0100] The following is an explanation of the detection method of the control power supply detection circuit:

[0101] Connect the power supply to be detected to the voltage detection module. Here, a 24V DC power supply is used as an example. By setting three different voltage divider resistor values, three different comparison thresholds can be set. For example, adjust Figure 3 The resistance values ​​of the middle resistors R1 to R6 set the threshold of the first hysteresis comparator 24 to VTL1=6V, VTH1=8V; the threshold of the second hysteresis comparator 25 is set to VTL2=18V, VTH2=20V; the threshold of the third hysteresis comparator 26 is set to VTL3=28V, VTH3=30V. The threshold value can also be adjusted according to the power consumption requirements of each part of the servo drive circuit. The difference between the comparison thresholds of the three hysteresis comparators does not need to be the same, and the difference between VTH-VTL does not need to be consistent. This is just an example, and it can be adjusted to other values ​​according to the needs of the circuit, as long as VTH>VTL is satisfied.

[0102] Assuming that the high level of the comparator output VO is 5V and the low level is 0V, the threshold setting calculation is performed by taking the first hysteresis comparator 24 as an example, the control power input voltage value is VP, and the negative phase input VIN of the comparator is obtained by resistor voltage division:

[0103]

[0104] When VO = 0 V, VTL1 is calculated by formula (1) and formula (2):

[0105]

[0106] When VO = 5V, VTH1 is calculated by formula (1) and formula (2):

[0107]

[0108] The working state of the control power supply of the servo drive is divided into the power-on process, the working process and the power-off process. The fault processing module 3 distinguishes the three processes according to the change of the output signal of the hysteresis comparator, which can prevent the power-on process and the power-off process from erroneously triggering the undervoltage alarm. The control module 6 determines the working state of the control power supply according to the level state of the enable signal EN, the undervoltage alarm signal LP and the overvoltage alarm signal OP. The logic of the control module 6 for determining the working state of the control power supply and the fault type is as follows:

[0109] Serial number EN LP OP Working status Fault type 1 0 0 0 Power-on process invalid 2 1 0 0 Working process Normal operation 3 1 1 0 Working process Undervoltage alarm 4 1 0 1 Working process Overpressure alarm 5 1 to 0 1 0 Power off process invalid

[0110] Among them: 1 is high level, 0 is low level; signal levels outside the list are invalid; when LP and OP are high level, an alarm is triggered.

[0111] See also Figure 6 As shown, there are three possible states of the hysteresis comparator output during the power-on process of the control power supply. After the output voltage of the power conversion module is established, the voltage detection module 1 starts to work. At this time, the control power supply is still in the rising process, and the outputs of the three hysteresis comparators are all high. When the control power supply voltage reaches VTH1 of the first hysteresis comparator 24, VO1 jumps to a low level; when it reaches VTH2 of the second hysteresis comparator 25, VO2 jumps to a low level. If the control power supply is undervoltage and does not reach VTH2, VO2 is always high; if there is an overvoltage and reaches VTH3 of the third hysteresis comparator 26, VO3 jumps to a low level. Therefore, the fault handling module determines whether it is in the power-on process by monitoring the level changes of the three signals (VO1, VO2, VO3) of the hysteresis comparator. When the level change process of the three signals is 111-011-001, it means that the control power supply is in the power-on process.

[0112] During the power-on process of the control power supply, the enable signal EN of the fault handling module remains at a low level. According to the measured power-on time of the control power supply, a time t0 is set. After t0, the enable signal EN jumps to a high level, indicating that the power-on is completed. When the enable signal EN is at a high level, it can be judged whether the control power supply is undervoltage, normal, or overvoltage according to the level status of VO1, VO2, and VO3, and the undervoltage alarm signal LP and the overvoltage alarm signal OP are transmitted to the control module. When VO1=0, VO2=1, and VO3=1, it indicates that the control power supply is undervoltage and triggers the undervoltage alarm; when VO1=0, VO2=0, and VO3=1, it indicates that the control power supply is normal and enters the normal working state; when VO1=0, VO2=0, and VO3=0, it indicates that the control power supply is overvoltage and triggers the overvoltage alarm. The size of t0 is obtained through actual measurement, and the control module 6 sets the delay time according to the measured value.

[0113] See also Figure 7As shown, there are three possible states of the hysteresis comparator output during the working process of the control power supply. Under normal working conditions, the hysteresis comparator outputs VO1 and VO2 are low level, and VO3 is high level. If undervoltage occurs and drops to VTL2 of the second hysteresis comparator 25, VO2 will jump to a high level, and will only jump back to a low level when the voltage rises back to VTH2. If overvoltage occurs and rises to VTH3 of the third hysteresis comparator 26, VO3 will jump to a low level, and will only jump back to a high level when the voltage drops back to VTL3.

[0114] During the working process, the enable signal EN of the fault handling module is always at a high level. The fault handling module monitors the level status of VO1, VO2, and VO3 in real time to determine whether the control power supply is undervoltage, normal, or overvoltage, and transmits the undervoltage alarm signal LP and the overvoltage alarm signal OP to the control module. When VO1=0, VO2=1, VO3=1, it indicates that the control power supply is undervoltage and triggers the undervoltage alarm; when VO1=0, VO2=0, VO3=1, it indicates that the control power supply is normal and maintains normal working state; when VO1=0, VO2=0, VO3=0, it indicates that the control power supply is overvoltage and triggers the overvoltage alarm.

[0115] Figure 8 As shown, it is the output waveform of the hysteresis comparator during the power-off process of the control power supply. Under normal working conditions, the hysteresis comparator outputs VO1 and VO2 are low level, and VO3 is high level. When the control power supply is powered off, the voltage first drops to VTL2 of the second hysteresis comparator 25, VO2 jumps to a high level, and continues to drop to VTL1 of the first hysteresis comparator 24, and VO1 jumps to a high level. Therefore, the fault processing module determines whether it is in the power-off process by monitoring the level changes of the three signals (VO1, VO2, VO3) of the hysteresis comparator. When the level change process of the three signals is 001-011-111, it means that the control power supply is in the power-off process. When the fault processing module monitors the output level state change of the hysteresis comparator to 001-011-111, the enable signal EN is pulled to a low level, indicating that it is a normal power-off situation.

[0116] Before the enable signal EN is pulled to a low level, there is a short time t1 in the state of EN=1, VO1=0, VO2=1, VO3=1, which will trigger an undervoltage alarm. After the control module detects the undervoltage alarm, it delays t1 and reads the level state of the enable signal EN. If EN is a low level, it means that the undervoltage alarm is triggered by the power-off process and can be considered invalid; if EN is a high level, it means that the undervoltage alarm is triggered by the working process and is valid. The size of t1 is obtained through actual measurement, and the control module 6 sets the delay time according to the actual measured value.

[0117] When the voltage drops to Vt, the output of the power conversion module is not sufficient to supply power to the voltage detection module, and the subsequent level state is in an invalid state.

[0118] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0119] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0120] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control power supply detection circuit, characterized in that: It comprises a voltage detection module (1), wherein the voltage detection module (1) comprises: A comparison circuit (2), comprising a voltage dividing resistor and a hysteresis comparator, wherein the comparison circuit (2) is used to monitor the voltage state of the control power supply in real time; The fault processing module (3) is used to receive the output signal of the comparison circuit (2), distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, and generate an enable signal (EN), an undervoltage alarm signal (LP) and an overvoltage alarm signal (OP).

2. The control power supply detection circuit according to claim 1, characterized in that: The voltage-dividing resistors include a first group of voltage-dividing resistors (21), a second group of voltage-dividing resistors (22) and a third group of voltage-dividing resistors (23); the hysteresis comparator includes a first hysteresis comparator (24), a second hysteresis comparator (25) and a third hysteresis comparator (26); the first group of voltage-dividing resistors (21) are connected to an input end of the first hysteresis comparator (24); the second group of voltage-dividing resistors (22) are connected to an input end of the second hysteresis comparator (25); the third group of voltage-dividing resistors (23) are connected to an input end of the third hysteresis comparator (26); a signal output end of the first hysteresis comparator (24) is connected to a first signal receiving end (VO1) of the fault processing module (3); a signal output end of the second hysteresis comparator (25) is connected to a second signal receiving end (VO2) of the fault processing module (3); and a signal output end of the third hysteresis comparator (26) is connected to a third signal receiving end (VO3) of the fault processing module (3).

3. The control power supply detection circuit according to claim 2, characterized in that: Each of the hysteresis comparators comprises a comparator (U1), a first resistor (R8), a second resistor (R7) and a third resistor (R9); the resistance value of the first resistor (R8) is greater than the resistance value of the second resistor (R7); the resistance value of the second resistor (R7) is greater than the resistance value of the third resistor (R9); the first resistor (R8) is connected between a positive input terminal and an output terminal of the comparator (U1); the second resistor (R7) is connected to the positive input terminal of the comparator (U1); the third resistor (R9) is connected to the negative input terminal of the comparator (U1); the positive input terminal is used to connect a reference voltage; and the negative input terminal is used to connect the control power supply.

4. The control power supply detection circuit according to claim 3, characterized in that: The low-voltage threshold value of the first hysteresis comparator (24) is smaller than the low-voltage threshold value of the second hysteresis comparator (25), the low-voltage threshold value of the second hysteresis comparator (25) is smaller than the low-voltage threshold value of the third hysteresis comparator (26), the high-voltage threshold value of the first hysteresis comparator (24) is smaller than the high-voltage threshold value of the second hysteresis comparator (25), and the high-voltage threshold value of the second hysteresis comparator (25) is smaller than the high-voltage threshold value of the third hysteresis comparator (26).

5. The control power supply detection circuit according to claim 1, characterized in that: The control power detection circuit further comprises a first power conversion module (4), which is arranged at the power input end of the voltage detection module (1) and is used to convert the voltage into the voltage required by the voltage detection module (1).

6. The control power supply detection circuit according to claim 1, characterized in that: The control power supply detection circuit also includes a control module (6), which receives an enable signal, an undervoltage alarm signal and an overvoltage alarm signal, and determines the working state of the control power supply and whether a fault exists based on these signals.

7. The control power supply detection circuit according to claim 6, characterized in that: The control power detection circuit further comprises a second power conversion module (5), which is arranged at the power input end of the control module (6) and is used for converting the voltage into the voltage required by the control module (6).

8. A control power supply detection circuit, characterized in that: include: It comprises a voltage detection module (1), the voltage detection module (1) comprises a voltage dividing resistor and a hysteresis comparator, and the voltage detection module (1) is used to monitor the voltage state of the control power supply in real time; The control module (6) is used to receive the output signal of the voltage detection module (1), distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, generate an enable signal (EN), an undervoltage alarm signal (LP) and an overvoltage alarm signal (OP), and judge the working state of the control power supply and whether there is a fault based on these signals.

9. A servo driver, characterized in that: It comprises a main circuit and a control power supply detection circuit as claimed in any one of claims 1 to 8, wherein the main circuit comprises a rectifier module (7), a brake module (8) and an inverter module (9).

10. A control power detection method of a control power detection circuit according to any one of claims 1 to 8, characterized in that: include: Real-time monitoring of the voltage status of the control power supply; Receive the voltage status signal of the control power supply, distinguish the power-on process, working process and power-off process of the control power supply through logical judgment, and generate an enable signal (EN), an undervoltage alarm signal (LP) and an overvoltage alarm signal (OP); The working state of the control power supply and whether there is a fault are determined according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal.

11. The control power supply detection method according to claim 10, characterized in that: The steps of receiving the voltage state signal of the control power supply and distinguishing the power-on process, the working process and the power-off process of the control power supply through logical judgment include: When the level change sequence of the output signal is 111-011-001, it is judged that the control power supply is in the power-on process; When the enable signal is at a high level, it is judged that the power-on is completed, and the control power supply is detected according to the levels of VO1, VO2 and VO3; When the level change sequence of the output signal is 001-011-111, it is determined that the control power supply is in the power-off process.

12. The control power supply detection method according to claim 11, characterized in that: The steps of detecting the control power supply according to the levels of VO1, VO2 and VO3 include: When VO1=0, VO2=1, VO3=1, the control power supply is judged to be undervoltage, and an undervoltage alarm is triggered; When VO1=0, VO2=0, VO3=1, the control power supply is judged to be normal; When VO1=0, VO2=0, VO3=0, the control power supply is judged to be over-voltage and an over-voltage alarm is triggered.

13. The control power supply detection method according to claim 12, characterized in that: The steps of judging the working state of the control power supply and whether there is a fault according to the enable signal, the undervoltage alarm signal and the overvoltage alarm signal include: When an undervoltage alarm is detected, a delay of t1 is performed to read the level status of the enable signal; If the enable signal is at a low level, it is judged as an undervoltage alarm triggered by the power-off process and is considered invalid; If the enable signal is at a high level, it is judged as an undervoltage alarm triggered by the working process and is considered valid.

14. The control power supply detection method according to claim 10, characterized in that: When the voltage drops to Vt, the subsequent level state is judged to be an invalid state, wherein Vt is less than the minimum voltage required for the voltage detection module (1) to supply power.

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