Motion control card with motor protection function and control system

Abstract

The invention relates to the technical field of industrial equipment control, in particular to a motion control card with a motor protection function and a control system.The motion control card with the motor protection function comprises an overvoltage detection module, a control module and a motor discharge module; the control module is connected with the output end of the overvoltage detection module and is used for judging the first level signal output by the overvoltage detection module and generating a control signal; and the motor discharge module discharges the voltage of the motor according to the control signal or closes the discharge of the voltage of the motor. When the motor is in an overvoltage state, a motor discharge mode is started, voltage accumulation in the motor is reduced, and reverse electromotive force generated by braking of the motor is released. According to the invention, the problem of back electromotive force generated by motor braking can be solved, and the motor protection effect is improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial equipment control, and in particular to a motion control card and a control system with a motor protection function. Background Art

[0002] At present, in the field of industrial control equipment, motors are widely used in various control systems. As the core actuator, motors realize mechanical motion control by receiving voltage signals. During the braking process, the motor will generate reverse electromotive force due to the sudden decrease in kinetic energy. If this reverse electromotive force is not effectively released, it will damage the motor circuit and affect the stability and safety of the system.

[0003] Traditional motor protection solutions mostly use simple circuit protection measures, such as voltage limiting circuits and transient voltage suppression devices. However, these technologies fail to fully consider the high voltage generated when the motor brakes and the circuit protection requirements under continuous overvoltage conditions, which makes the circuit prone to overheating and damage, affecting the normal operation and life of the motor. Therefore, there is room for improvement. Summary of the invention

[0004] The embodiments of the present application provide a motion control card and a control system with a motor protection function, which can solve the problem of reverse electromotive force generated by motor braking and improve the effect of motor protection.

[0005] The first aspect of the present application provides a motion control card with a motor protection function: A motion control card with a motor protection function includes: An overvoltage detection module, used for receiving an input voltage signal of the motor, and performing overvoltage detection on the input voltage signal to generate a first level signal; a control module connected to the output end of the overvoltage detection module, configured to receive the first level signal and generate a first control signal according to the first level signal; a motor discharge module, connected to the overvoltage detection module and the control module respectively, and configured to receive the first control signal, and discharge the motor according to the first control signal to generate a motor discharge signal; The control module is also used to receive the motor discharge signal and determine whether the total discharge time of the motor discharge module is greater than a preset time according to the motor discharge signal; if the total discharge time of the motor discharge module is greater than the preset time, a power-off signal is generated.

[0006] By adopting the above technical solution, the input voltage signal of the motor can be detected in real time through the overvoltage detection module, and a first level signal can be generated. This detection can effectively identify whether the voltage exceeds the motor and whether it is in an overvoltage state, thereby preventing the motor circuit from being damaged due to excessive voltage. Through the control module, a first control signal can be generated based on the first level signal to control the motor discharge module to start the discharge of the motor voltage, and the excessive voltage energy can be released in time to avoid the voltage from generating reverse electromotive force or other damage to the motor. Through the motor discharge module, the reverse electromotive force generated by the motor brake can be discharged to reduce the voltage accumulation inside the motor, and then the control module can be used to determine whether the total discharge time exceeds the preset time. The precise control of the discharge time can prevent the motor from being damaged due to the long discharge time, and can solve the problem of the reverse electromotive force generated by the motor brake, and improve the protection effect of the motor.

[0007] Optionally, the overvoltage detection module includes: A motor voltage dividing unit, connected to the input voltage signal of the motor, for performing voltage dividing processing on the input voltage signal to generate a divided voltage signal; The overvoltage detection unit is connected to the motor voltage dividing unit, and is used to receive the divided voltage signal and generate a first level signal according to the divided voltage signal.

[0008] By adopting the above technical solution, through the collaboration of the voltage divider unit and the overvoltage detection unit, accurate voltage division of the motor input voltage can be achieved, and voltage changes can be accurately monitored to ensure timely detection of voltage anomalies, so that abnormal voltage conditions can be responded to in a timely manner, thereby improving the reaction speed and accuracy of the motor protection mechanism.

[0009] Optionally, the control module is used to: After receiving the first level signal, obtaining a preset discharge trigger signal, and determining whether the first level signal is the same as the discharge trigger signal according to the first level signal, wherein the discharge trigger signal is used to indicate the level of triggering the motor discharge module to enter the discharge start phase; If the first level signal is the same as the discharge trigger signal, a first control signal is generated.

[0010] By adopting the above technical solution, the control module compares the first level signal with the discharge trigger signal, so as to accurately determine whether the starting conditions of the motor discharge module are met, thereby avoiding damage to the motor circuit due to overvoltage, and then driving the motor discharge module through the generated first control signal, thereby achieving effective voltage release and preventing the back electromotive force generated by the motor overvoltage from damaging the motor.

[0011] Optionally, the control module includes: A counter connected to the motor discharge module, for receiving the motor discharge signal, and determining the number of motor discharges of the motor discharge module within a set time according to the motor discharge signal; A comparator, connected to the counter, for determining whether the total discharge time of the motor discharge module is greater than a preset time; The processor is connected to the comparator and is used to generate a power-off signal when the total discharge time of the motor discharge module is greater than a preset time.

[0012] By adopting the above technical solution, through the cooperation of the counter and the comparator, the working time of the motor discharge module can be accurately monitored, and through the control of the processor, a power-off signal can be triggered when the discharge time exceeds the preset value, ensuring that the discharge process will not be too long, thereby preventing the motor from overheating due to excessive discharge time, causing motor failure, and ensuring the safety of the motor and the circuit.

[0013] Optionally, the control module triggers the counter and the comparator during the discharge start phase of the motor discharge module.

[0014] By adopting the above technical solution, by triggering the counter and comparator in the discharge start phase, monitoring can be started when the motor discharge begins, ensuring that the motor discharge process is monitored in real time, ensuring the safe operation of the motor during the entire discharge process, and avoiding motor damage caused by excessively long discharge time.

[0015] Optionally, the operation process of the motor discharge module includes: a waiting discharge stage, a discharge start stage, and a discharge completion stage; The triggering time of the counter is in the discharge start phase; The triggering time of the comparator is in the discharge start-up phase.

[0016] By adopting the above technical solution, the relationship between the time of each stage of the motor discharge module and the trigger time of the counter and the comparator is clarified, ensuring that the counter and comparator are reasonably triggered in the discharge start module of the motor discharge module. In this way, the motor discharge process can be monitored to prevent the motor discharge time from exceeding the set threshold, reduce the impact of excessive discharge time on the motor, and thus improve the stability of motor operation.

[0017] Optionally, the motion control card with motor protection function further includes: A DAC module is connected to the control module via an SPI interface, and the DAC module is used to receive the power-off signal and generate a power-off voltage signal according to the power-off signal, and the power-off voltage signal is used to trigger the motor to stop supplying power.

[0018] By adopting the above technical solution, through the introduction of the DAC module, and utilizing the connection between the SPI interface and the control module, efficient data transmission and signal control can be achieved, ensuring that the motor can respond quickly when a voltage abnormality occurs, stop the power supply to the motor, protect the internal circuit, and reduce the risk of failure.

[0019] Optionally, the motion control card with motor protection function further includes: The protocol processing unit is used to perform protocol communication and transmit the analog quantity sent by the host computer to the DAC unit through the SPI interface.

[0020] By adopting the above technical solution and introducing the protocol processing unit, efficient protocol communication with the host computer can be achieved, ensuring that the power status and motor control signals can be accurately transmitted, and with the help of the SPI interface, fast and stable data transmission can be achieved, thereby optimizing the response speed and reliability of the motor control system and improving the overall efficiency of the motor protection function.

[0021] Optionally, if the first level signal is different from the discharge trigger signal, the control module is further used to acquire and generate a second control signal according to the first level signal; The motor discharge module is further configured to receive the second control signal and control the motor discharge module to switch to any one of a discharge waiting mode and a discharge completion mode according to the second control signal.

[0022] By adopting the above technical solution, the control module compares the first level signal with the discharge trigger signal, so as to monitor the change of the motor voltage state, flexibly judge whether to start the motor discharge function, switch the working mode of the motor discharge module, ensure that the motor can be effectively protected under various working conditions, and improve the protection effect of the motor.

[0023] A second aspect of the present application provides a control system equipped with the above-mentioned motion control card with motor protection function.

[0024] In summary, the present application includes at least one of the following beneficial technical effects: 1. Through the overvoltage detection module, the input voltage signal of the motor can be detected in real time and a first level signal can be generated. This detection can effectively identify whether the voltage exceeds the motor and whether it is in an overvoltage state, thereby preventing the motor circuit from being damaged due to excessive voltage. Through the control module, a first control signal can be generated based on the first level signal to control the motor discharge module to start the discharge of the motor voltage, and the excessive voltage energy can be released in time to avoid the voltage from generating reverse electromotive force or other damage to the motor. Through the motor discharge module, the reverse electromotive force generated by the motor brake can be discharged to reduce the voltage accumulation inside the motor, and then the control module can be used to determine whether the total discharge time exceeds the preset time. The precise control of the discharge time can prevent the motor from being damaged due to the long discharge time, and can solve the problem of reverse electromotive force generated by the motor brake, thereby improving the protection effect of the motor. 2. Through the introduction of the protocol processing unit, efficient protocol communication with the host computer can be achieved to ensure that the power status and motor control signals can be accurately transmitted. With the help of the SPI interface, fast and stable data transmission can be achieved, thereby optimizing the response speed and reliability of the motor control system and improving the overall efficiency of the motor protection function. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of a motion control card with motor protection function provided in an embodiment of the present application; Figure 2 This is a structural diagram of an overvoltage detection module provided in an embodiment of the present application: Figure 3 is a structural schematic diagram of a motor discharge module provided in an embodiment of the present application; Figure 4 This is another structural schematic diagram of a motion control card with motor protection function provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The terms used in the following embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to be used as limitations to the present application. As used in the specification and appended claims of the present application, the singular expressions "one", "a kind of", "said", "above", "the" and "this" are intended to also include plural expressions, unless there is a clear indication to the contrary in the context. It should also be understood that the term "and / or" used in the present application refers to and includes any or all possible combinations of one or more listed items.

[0027] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0028] When the motor brakes, due to the decrease in kinetic energy and the increase in reverse electromotive force, a short-term high voltage will be generated in the motor circuit, that is, the motor falls into an overvoltage state, causing damage to the motor circuit. Based on this, the present application provides a motion control card with a motor protection function. At this time, the motion control card can receive the voltage generated by the motor and apply it to the heat-resistant resistor. It can be seen from the constant value resistor thermal effect that the voltage applied to the resistor will cause the resistor to generate heat, and this heat can be naturally dissipated into the environment, thereby solving the problem of reverse electromotive force generated by the motor brake and achieving the effect of protecting the motor.

[0029] Please refer to Figure 1 , Figure 1 A structural schematic diagram of a motion control card with a motor protection function provided in an embodiment of the present application, the motion control card with a motor protection function includes an overvoltage detection module, a control module and a motor discharge module, wherein the control module is connected to the output end of the overvoltage detection module, and the motor discharge module is connected to the overvoltage detection module and the control module, respectively.

[0030] An overvoltage detection module, used for receiving an input voltage signal of the motor, and performing overvoltage detection on the input voltage signal to generate a first level signal; A control module, configured to receive a first level signal and generate a first control signal according to the first level signal; A motor discharge module, used for receiving a first control signal, and performing motor discharge according to the first control signal to generate a motor discharge signal; The control module is also used to receive a motor discharge signal and determine whether the total discharge time of the motor discharge module is greater than a preset time based on the motor discharge signal; if the total discharge time of the motor discharge module is greater than the preset time, a power-off signal is generated.

[0031] The overvoltage detection module is connected to the input voltage signal L1+ of the motor, and is used to detect the input voltage signal L1+ of the motor, and generate a first level signal T0. The control module is connected to the overvoltage detection module, and is used to detect whether the first level signal T0 is consistent with the level signal that triggers the motor discharge module, and generates a first control signal for triggering the motor discharge module to start, and controls the start of the motor discharge module.

[0032] Specifically, the overvoltage detection module receives the input voltage signal L1+ of the motor, and can determine the voltage condition of the motor, whether the motor is braked, that is, whether the motor is in an overvoltage state, to obtain the first level signal T0. If the input voltage signal LI+ is greater than the normal operating voltage threshold of the motor, the first level signal T0 takes a logic level, otherwise it takes another logic level. After receiving the first level signal T0, the control module can determine whether the first level signal T0 is consistent with the logic level of the motor discharge module, thereby generating a first control signal.

[0033] Furthermore, after the motor discharge module receives the first control signal, the motor discharge module starts to discharge the motor voltage. During this process, the control module will record the total time of the motor voltage discharge, and it can be determined whether the current running time of the motor discharge module is greater than the preset time, that is, whether the total discharge time of the motor voltage discharge is greater than the preset time. If the total discharge time of the motor discharge module is greater than the preset time, it means that the reverse electromotive force generated by the motor at this time is too large and the voltage accumulates too much, then the power-off mode is started to ensure that the motor does not continue to run, thereby preventing circuit damage.

[0034] Based on the above embodiment, as an optional embodiment, Figure 2 As shown, Figure 2 A structural schematic diagram of an overvoltage detection module is shown. The overvoltage detection module includes a motor voltage dividing unit and an overvoltage detection unit, wherein the motor voltage dividing unit is connected to an input voltage signal of the motor, and the overvoltage detection unit is connected to the motor voltage dividing unit.

[0035] The motor voltage dividing unit is used to perform voltage dividing processing on the input voltage signal to generate a voltage dividing voltage signal; The overvoltage detection unit is connected to the motor voltage dividing unit, and is used to receive the divided voltage signal and generate a first level signal according to the divided voltage signal.

[0036] The overvoltage detection module is implemented by using two groups of motor voltage-dividing units composed of four resistors, and the structure of the overvoltage detection unit composed of chip U1, resistors, and optical couplers. The voltage-dividing unit divides the motor voltage to obtain a divided voltage signal, and uses the voltage obtained after the voltage division as the input of the op amp to obtain a logic level signal. According to the connection relationship between the logic level signal and the optical coupler, the voltage condition of the motor is detected and identified to obtain a first level signal T0. The figure does not show the connection condition of the other input terminals of the two op amps in chip U1.

[0037] Specifically, by utilizing an operational amplifier and an optocoupler, the motor voltage can be monitored to determine whether the motor is in an overvoltage state. For example, the other input terminal of the operational amplifier can be connected to the normal operating voltage threshold of the motor. When the input voltage signal L1+ of the left circuit is greater than or equal to 28V, the input voltage signal is divided by the motor voltage divider unit to obtain a divided voltage signal that is input to pin 2 of chip U1. At this time, the voltage value of pin 2 of chip U1 is greater than the voltage value of pin 3 of chip U1. Therefore, pin 1 of chip U1 will output a signal with a logic level of low, that is, the level signal IN0 is low at this time.

[0038] More specifically, since the level signal IN0 is connected to the cathode of the diode in the optocoupler, that is, connected to the 2nd pin of the optocoupler, the 4th pin of the optocoupler is connected to the resistor R11, and the 3rd pin is grounded, the 4th pin of the optocoupler is the output terminal. Therefore, when the level signal IN0 is at a low level, the optocoupler is turned on, and the output terminal of the optocoupler outputs a low-level first level signal T0 for detection and identification by the control module. At this time, the first level signal T0 is at a low level, indicating that the motor is in an overvoltage state at this time, so the voltage state of the motor can be detected by the overvoltage detection module.

[0039] On the basis of the above embodiment, as an optional embodiment, the control module is used to, after receiving the first level signal, obtain a preset discharge trigger signal, and determine whether the first level signal is the same as the discharge trigger signal according to the first level signal, and the discharge trigger signal is used to indicate the level of triggering the motor discharge module to enter the discharge start-up phase; if the first level signal is the same as the discharge trigger signal, a first control signal is generated.

[0040] Among them, the control module is connected to the first level signal T0. After obtaining the first level signal T0, the control module will obtain the set discharge trigger signal, and generate a corresponding first control signal according to the relationship between the first level signal T0 and the discharge trigger signal to discharge the motor voltage.

[0041] Specifically, if the first level signal T0 is the same as the discharge trigger signal, that is, the first level signal and the discharge trigger signal indicate the same level for triggering the motor discharge module to enter the discharge start-up phase, the control module will send a first control signal to increase the level of the input signal SW1 of the motor discharge module to control the motor discharge module to enter the discharge start-up phase. For example, the set level of the discharge trigger signal is a low level, so when the first level signal T0 is a low level, that is, when the control module detects that the motor is in an overvoltage state, a first control signal is generated, and the first control signal directly controls each switch tube inside the motor discharge module with a certain proportion to start the motor discharge module and discharge the motor voltage to release the voltage accumulation and prevent the reverse electromotive force from affecting the motor system.

[0042] Based on the above embodiment, as an optional embodiment, the control module includes: A counter connected to the motor discharge module, used to receive the motor discharge signal, and determine the number of motor discharges of the motor discharge module within a set time according to the motor discharge signal; A comparator, connected to the counter, for determining whether the total discharge time of the motor discharge module is greater than a preset time; The processor is connected to the comparator and is used to generate a power-off signal when the total discharge time of the motor discharge module is greater than a preset time.

[0043] Among them, the counter is connected to the motor discharge module, and can count the number of motor discharges of the motor discharge module within a certain period of time to reflect the cycle of the motor discharge module. The total discharge time of the motor discharge module can be calculated based on the cycle. The comparator is connected to the counter, and the calculated total discharge time is compared with the preset time threshold to determine whether the reverse electromotive force generated by the motor is too large and whether the voltage accumulation is too much.

[0044] For example, when the comparator detects that the total discharge time is too long, that is, the motor is in an overvoltage state for a long time, it will notify the processor to start the power-off mode. Then, when the total discharge time of the motor discharge module is greater than the preset time, the processor will generate a power-off signal to prevent the motor from being in an overvoltage state for too long and avoid damage to the motor.

[0045] Based on the above embodiment, as an optional embodiment, Figure 3 As shown, Figure 3 The schematic diagram of the structure of a motor discharge module is shown. The control module triggers the counter and the comparator in the discharge start phase of the motor discharge module.

[0046] Exemplarily, the motor discharge module is realized by a structure consisting of a resistor, an optocoupler and a MOSFET. The startup of the motor discharge module is controlled by the control module. When the control module detects that the motor is in an overvoltage state, the control module outputs a first control signal to raise the level of the input signal SW1 of the motor discharge module. When the SW1 level is pulled high, the optocoupler connected to SW1 is turned on. Since the gate of the MOSFET is connected to the optocoupler, the MOSFET is turned on. The input voltage signal L1+ of the motor voltage is connected to the busbar formed in parallel with a group of resistors. Since the MOSFET is turned on, the input voltage signal L1+ can act on the busbar, the busbar withstands the voltage and generates heat, and the electromotive force is converted into heat energy, thereby realizing the discharge of the motor voltage. The voltage of the input voltage signal L1+ drops after discharge. After the dropped input voltage signal L1+ passes through the op amp in the overvoltage detection module, the overvoltage detection module will output a high-level level signal, which is sent to the control module. Then the control module outputs a control signal according to the level signal to lower the level of the input signal SW1 of the motor discharge module, thereby turning off the motor discharge module and realizing the discharge of the motor voltage.

[0047] Specifically, when the motor brakes suddenly, that is, the motor stops urgently at high speed, a strong voltage will be generated at this time, that is, the motor is in a strong overvoltage state. When the motor is in a strong overvoltage state, the first level signal T0 will continue to be detected as a low level. If the motor discharge module continues to discharge, the resistance temperature of the motor discharge module will rise sharply, and in severe cases, the resistance and the circuit nearby will melt. Therefore, in order to protect the motor discharge module, the motor will be discharged periodically under strong overvoltage, discharging for 10ms and waiting for 10ms. The waiting time is used for the resistance cooling, and the cycle is repeated until the discharge ends. The MOS tube conduction in the motor discharge module is used as the start of the discharge start-up phase of the motor discharge module. During this phase, the counter and comparator will be triggered, and the control module can count the number of motor discharges of the motor discharge module, thereby calculating the total discharge time of the motor discharge module.

[0048] Based on the above embodiment, as an optional embodiment, the operation process of the motor discharge module includes: a discharge waiting stage, a discharge start stage, and a discharge completion stage; The triggering time of the counter is in the discharge start-up phase; The comparator trigger time is in the discharge start-up phase.

[0049] Specifically, when the MOS tube of the motor discharge module is turned on, the discharge start phase of the motor discharge module begins. During this phase, the counter and comparator are triggered, and the control module can count the number of motor discharges of the motor discharge module, thereby calculating the total discharge time of the motor discharge module.

[0050] Based on the above embodiment, as an optional embodiment, Figure 4 As shown, the motion control card with motor protection function also includes a DAC module. The DAC module is connected to the control module via an SPI interface. The DAC module is used to receive a power-off signal and generate a power-off voltage signal according to the power-off signal. The power-off voltage signal is used to trigger the motor to stop supplying power.

[0051] Among them, the SPI interface is a serial peripheral interface, which is used to represent the channel for high-speed, full-duplex data transmission between the control module and the DAC module. It follows specific communication protocols and electrical specifications to achieve efficient data interaction. The DAC unit refers to the analog output conversion unit, which is used to indicate that it can convert digital signals into analog signal outputs to drive external analog execution devices.

[0052] Based on the above embodiment, as an optional embodiment, the motion control card with motor protection function also includes a protocol processing unit, which is used to perform protocol communication and transmit the analog quantity sent by the host computer to the DAC unit through the SPI interface.

[0053] Among them, the protocol processing unit refers to the circuit module responsible for processing the communication protocol, which is used to indicate that the unit can parse and construct the protocol data required for communication between different devices to ensure the accuracy and integrity of data transmission.

[0054] Specifically, when the control module sends a power-off signal to the DAC module, the DAC module generates a power-off voltage signal according to the power-off signal, converts the digital signal into an analog signal output, and cuts off the power supply of the motor, so that the motion control card enters the fault stop mode, thereby ensuring that when the motor voltage is abnormal, the internal circuit of the motion control card is not damaged. When the motion control card enters the fault stop mode, it is necessary to re-plug the power supply of the motion control card to clear the fault stop mode of the motion control card and re-monitor and control the motor voltage.

[0055] On the basis of the above embodiment, as an optional embodiment, if the first level signal is different from the discharge trigger signal, the control module is further used to obtain and generate a second control signal according to the first level signal; the motor discharge module is further used to receive the second control signal and control the motor discharge module to switch to any one of the waiting discharge mode and the discharge completion mode according to the second control signal.

[0056] Among them, when the motor voltage is discharged, the input voltage signal L1+ acts on the dissipator in the motor discharge module, the dissipator withstands the voltage and generates heat, and the electromotive force is converted into heat energy to realize the discharge of the motor voltage. The voltage of the input voltage signal L1+ drops after discharge. After the dropped input voltage signal L1+ passes through the operational amplifier in the overvoltage detection module, the overvoltage detection module will output a high-level level signal, which is sent to the control module, and then the control module outputs a control signal according to the level signal to lower the level of the input signal SW1 of the motor discharge module, thereby closing the motor discharge module and realizing the discharge of the motor voltage.

[0057] Exemplarily, when the motor is not in an overvoltage state, the input voltage signal L1+ has a difference relationship with the other input end of the op amp in chip U1 after passing through the motor voltage divider unit, that is, the voltage value of the input voltage signal L1+ after passing through the motor voltage divider unit is less than the voltage of pin 3 of chip U1, so the first op amp of chip U1 outputs a logic level of high level, that is, the level signal IN0 is high at this time. Therefore, when the level signal IN0 is low, the optical coupler is turned on, but because the level signal IN0 is connected to the cathode of the diode in the optical coupler, when the level signal IN0 is high, the optical coupler is not turned on, so the output end of the optical coupler outputs a high level first level signal T0.

[0058] Specifically, the control module is connected to the first level signal T0. After acquiring the first level signal T0, the control module determines whether the first level signal T0 is the same as the discharge trigger signal according to the relationship between the first level signal T0 and the preset discharge trigger signal. Since the logic level of the preset discharge trigger signal is a low level, and the first level signal T0 is a high level, the control module generates a corresponding second control signal to lower the level of the input signal SW1 of the motor discharge module, thereby turning off the motor discharge module.

[0059] Based on the above embodiment, as an optional embodiment, Figure 2-Figure 3As shown, it is also possible to control four motors, which are compatible with 24V and 48V motors. The input voltage signals of the motors are L1+ and L2+ respectively. According to the conduction of the chips U1, U2 and the optical coupler of the overvoltage detection module, the level signals IN0, IN1, IN2, IN3, and T0, T1, T2, T3 can be obtained. Then, the control module determines whether T0, T1, T2, T3 are the same as the discharge trigger signal according to the level relationship between T0, T1, T2, T3 and the discharge trigger signal, thereby generating the corresponding control signal. The control signal can be used to pull up the level of SW1, SW2, SW3, and SW4 to start the motor discharge module and discharge the motor voltage. The control signal can also be used to pull down the level of SW1, SW2, SW3, and SW4 to turn off the motor discharge module and stop the discharge of the motor voltage.

[0060] Among them, under normal circumstances, the peak value of the electromotive force generated by the braking of a single motor will not last for 500ms. When the four motors brake at the same time, the process of discharging the voltage can also be completed within 2.5s. The preset time threshold is set to 2.5s. When the entire discharge process lasts for 2.5s, it is judged that the motor is in a strong overvoltage state, or there is a fault at the motor access end, such as reverse connection of the power supply, voltage not in accordance with the specification, etc. At this time, the control module controls the DAC module to stop the power supply to the motor to protect the circuit in the motion control card. The chip of the overvoltage detector can be LM393, and the control module can be a single-chip microcomputer MCU.

[0061] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A motion control card with motor protection function, characterized in that: The motion control card with motor protection function includes: An overvoltage detection module, used for receiving an input voltage signal of the motor, and performing overvoltage detection on the input voltage signal to generate a first level signal; a control module connected to the output end of the overvoltage detection module, configured to receive the first level signal and generate a first control signal according to the first level signal; a motor discharge module, connected to the overvoltage detection module and the control module respectively, and configured to receive the first control signal, and discharge the motor according to the first control signal to generate a motor discharge signal; The control module is also used to receive the motor discharge signal and determine whether the total discharge time of the motor discharge module is greater than a preset time according to the motor discharge signal; if the total discharge time of the motor discharge module is greater than the preset time, a power-off signal is generated.

2. The motion control card with motor protection function according to claim 1, characterized in that: The overvoltage detection module comprises: A motor voltage dividing unit, connected to the input voltage signal of the motor, for performing voltage dividing processing on the input voltage signal to generate a divided voltage signal; The overvoltage detection unit is connected to the motor voltage dividing unit, and is used to receive the divided voltage signal and generate a first level signal according to the divided voltage signal.

3. The motion control card with motor protection function according to claim 2, characterized in that: The control module is used to: After receiving the first level signal, obtaining a preset discharge trigger signal, and determining whether the first level signal is the same as the discharge trigger signal according to the first level signal, wherein the discharge trigger signal is used to indicate the level of triggering the motor discharge module to enter the discharge start phase; If the first level signal is the same as the discharge trigger signal, a first control signal is generated.

4. The motion control card with motor protection function according to claim 3, characterized in that: The control module comprises: A counter connected to the motor discharge module, for receiving the motor discharge signal, and determining the number of motor discharges of the motor discharge module within a set time according to the motor discharge signal; A comparator, connected to the counter, for determining whether the total discharge time of the motor discharge module is greater than a preset time; The processor is connected to the comparator and is used to generate a power-off signal when the total discharge time of the motor discharge module is greater than a preset time.

5. The motion control card with motor protection function according to claim 4, characterized in that: The control module triggers the counter and the comparator during a discharge start phase of the motor discharge module.

6. The motion control card with motor protection function according to claim 5, characterized in that: The operation process of the motor discharge module includes: a discharge waiting stage, a discharge start stage, and a discharge completion stage; The triggering time of the counter is in the discharge start phase; The triggering time of the comparator is in the discharge start-up phase.

7. The motion control card with motor protection function according to any one of claims 1 to 6, characterized in that: The motion control card with motor protection function also includes: A DAC module is connected to the control module via an SPI interface, and the DAC module is used to receive the power-off signal and generate a power-off voltage signal according to the power-off signal, and the power-off voltage signal is used to trigger the motor to stop supplying power.

8. The motion control card with motor protection function according to claim 7, characterized in that: The motion control card with motor protection function also includes: The protocol processing unit is used to perform protocol communication and transmit the analog quantity sent by the host computer to the DAC unit through the SPI interface.

9. The motion control card with motor protection function according to claim 2, characterized in that: If the first level signal is different from the discharge trigger signal, the control module is further used to obtain and generate a second control signal according to the first level signal; The motor discharge module is further configured to receive the second control signal and control the motor discharge module to switch to any one of a discharge waiting mode and a discharge completion mode according to the second control signal.

10. A control system, characterized in that: The control system comprises a motion control card with a motor protection function as described in any one of claims 1 to 9.

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