A motion control card and control system with motor protection function

Abstract

The present application relates to the technical field of industrial equipment control, and in particular to a motion control card and control system with a motor protection function. A motion control card with a motor protection function includes an overvoltage detection module, a control module, and a motor discharge module; the control module is connected to the output end of the overvoltage detection module, and is used to judge the first level signal output by the overvoltage detection module and generate a control signal; the motor discharge module discharges the motor voltage according to the control signal, or turns off the discharge of the motor voltage. When the motor is in an overvoltage state, the motor discharge mode is started to reduce the voltage accumulation inside the motor and release the reverse electromotive force generated by the motor brake. The use of this application can solve the problem of reverse electromotive force generated by the motor brake and improve the effect of motor protection.

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 control system with a motor protection function. Background Art

[0002] Currently, motors are widely used in various control systems within industrial control equipment. As core actuators, they control mechanical motion by receiving voltage signals. During braking, the motor generates a reverse electromotive force (EMF) due to the sudden loss of kinetic energy. If this reverse EMF is not effectively released, it can damage the motor circuitry, compromising system stability and safety.

[0003] Traditional motor protection solutions mostly rely on simple circuit protection measures, such as voltage limiting circuits and transient voltage suppressors. However, these technologies fail to fully account for the high voltages generated during motor braking and the circuit protection requirements under sustained overvoltage conditions. This can lead to circuit overheating and damage, affecting the normal operation and lifespan 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 control system with motor protection function, which can solve the problem of reverse electromotive force generated by motor braking and improve the effect of motor protection.

[0005] In a first aspect, the present application provides a motion control card with a motor protection function: a motion control card with a motor protection function comprises:

[0006] an overvoltage detection module, configured to receive an input voltage signal of the motor, perform overvoltage detection on the input voltage signal, and generate a first level signal;

[0007] 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;

[0008] a motor discharge module, connected to the overvoltage detection module and the control module respectively, configured to receive the first control signal, and perform motor discharge according to the first control signal to generate a motor discharge signal;

[0009] The control module is further configured to receive the motor discharge signal and determine, based on the motor discharge signal, whether the total discharge time of the motor discharge module is greater than a preset time; and generate a power-off signal if the total discharge time of the motor discharge module is greater than the preset time.

[0010] By adopting the above technical solution, the overvoltage detection module can detect the input voltage signal of the motor in real time and generate a first level signal. This detection can effectively identify whether the voltage exceeds the motor and whether it is in an overvoltage state, thereby preventing damage to the motor circuit caused by excessive voltage. The control module can generate a first control signal based on the first level signal to control the motor discharge module to start the discharge of the motor voltage, timely release the excessive voltage energy, and avoid the voltage generating reverse electromotive force or other damage to the motor. The motor discharge module can discharge the reverse electromotive force generated by the motor brake, reducing the voltage accumulation inside the motor. Then, the control module determines whether the total discharge time exceeds the preset time. The precise control of the discharge time can prevent the motor discharge time from being too long and causing damage to the circuit, which can solve the problem of reverse electromotive force generated by the motor brake and improve the protection effect of the motor.

[0011] Optionally, the overvoltage detection module includes:

[0012] 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;

[0013] 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.

[0014] 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, voltage changes can be accurately monitored, and voltage anomalies can be ensured to be discovered in time, so that abnormal voltage conditions can be responded to in time, thereby improving the reaction speed and accuracy of the motor protection mechanism.

[0015] Optionally, the control module is used to:

[0016] 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 a level that triggers the motor discharge module to enter a discharge start phase;

[0017] If the first level signal is the same as the discharge trigger signal, a first control signal is generated.

[0018] 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 for starting the motor discharge module are met, thereby avoiding damage to the motor circuit due to overvoltage. Then, the motor discharge module is driven by 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.

[0019] Optionally, the control module includes:

[0020] a counter connected to the motor discharge module, configured to receive the motor discharge signal and determine the number of motor discharges performed by the motor discharge module within a set time according to the motor discharge signal;

[0021] a comparator connected to the counter, and configured to determine whether the total discharge time of the motor discharge module is greater than a preset time;

[0022] 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.

[0023] 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 circuit.

[0024] Optionally, the control module triggers the counter and the comparator during the discharge start-up phase of the motor discharge module.

[0025] By adopting the above technical solution, by triggering the counter and comparator in the discharge startup phase, monitoring can be started at the beginning of motor discharge, 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.

[0026] Optionally, the operation process of the motor discharge module includes: a discharge waiting stage, a discharge starting stage, and a discharge completion stage;

[0027] The triggering time of the counter is in the discharge starting stage;

[0028] The triggering time of the comparator is in the discharge starting stage.

[0029] By adopting this technical solution, the relationship between the time of each stage of the motor discharge module and the triggering time of the counter and comparator is clarified, ensuring that the counter and comparator are properly triggered in the discharge start module of the motor discharge module. This can monitor the motor discharge process, 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.

[0030] Optionally, the motion control card with motor protection function further includes:

[0031] A DAC module is connected to the control module via an SPI interface. The DAC module is used to receive the 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.

[0032] By adopting the above technical solution, through the introduction of the DAC module and the connection with the control module using the SPI interface, efficient data transmission and signal control can be achieved, ensuring that the motor can respond quickly when voltage abnormalities occur, stop the power supply to the motor, protect the internal circuit, and reduce the risk of failure.

[0033] Optionally, the motion control card with motor protection function further includes:

[0034] 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.

[0035] 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.

[0036] Optionally, if the first level signal is different from the discharge trigger signal, the control module is further configured to obtain and generate a second control signal according to the first level signal;

[0037] 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.

[0038] By adopting the above technical solution, the control module compares the first level signal with the discharge trigger signal, thereby monitoring the change of the motor voltage state, flexibly judging whether to start the motor discharge function, switching the working mode of the motor discharge module, ensuring that the motor can be effectively protected under various working conditions, and improving the protection effect of the motor.

[0039] A second aspect of the present application provides a control system equipped with the above-mentioned motion control card with motor protection function.

[0040] In summary, this application includes at least one of the following beneficial technical effects:

[0041] 1. The overvoltage detection module can detect the input voltage signal of the motor in real time and generate a first level signal. 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 by excessive voltage. The control module can generate a first control signal based on the first level signal to control the motor discharge module to start the discharge of the motor voltage, release the excessive voltage energy in time, and avoid the voltage generating reverse electromotive force or other damage to the motor. The motor discharge module can discharge the reverse electromotive force generated by the motor brake to reduce the voltage accumulation inside the motor. The control module can then determine whether the total discharge time exceeds the preset time. The precise control of the discharge time can prevent the motor discharge time from being too long and causing damage to the motor circuit, solve the problem of reverse electromotive force generated by the motor brake, and improve the protection effect of the motor.

[0042] 2. Through the introduction of 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. 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

[0043] Figure 1 This is a structural diagram of a motion control card with motor protection function provided by an embodiment of the present application;

[0044] Figure 2 This is a schematic diagram of the structure of an overvoltage detection module provided in an embodiment of the present application:

[0045] Figure 3 Schematic diagram of the structure of a motor discharge module provided in an embodiment of the present application;

[0046] 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

[0047] The terms used in the following examples of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. As used in the specification and appended claims of the present application, the singular expressions "a," "an," "said," "above," "the," and "this" are intended to include plural expressions as well, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present application refers to and encompasses any or all possible combinations of one or more of the listed items.

[0048] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood to imply or suggest relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of this application, unless otherwise specified, "plurality" means two or more.

[0049] When a motor brakes, its kinetic energy decreases and its back electromotive force increases. This briefly generates a high voltage in the motor circuit, causing the motor to overvoltage and damage the circuit. To address this issue, the present application provides a motion control card with motor protection. This card receives the voltage generated by the motor and applies it to a heat-resistant resistor. The thermal effect of a constant-value resistor indicates that the voltage applied to the resistor generates heat, which is naturally dissipated into the environment. This resolves the issue of back electromotive force generated by the motor's braking and protects the motor.

[0050] Please refer to Figure 1 , Figure 1 This is 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.

[0051] an overvoltage detection module, configured to receive an input voltage signal of the motor, perform overvoltage detection on the input voltage signal, and generate a first level signal;

[0052] a control module, configured to receive a first level signal and generate a first control signal according to the first level signal;

[0053] a motor discharge module, configured to receive a first control signal, and discharge the motor according to the first control signal to generate a motor discharge signal;

[0054] 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 the 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.

[0055] The overvoltage detection module is connected to the motor's input voltage signal L1+ and is used to detect the motor's input voltage signal L1+ 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 to generate a first control signal for triggering the motor discharge module to control the activation of the motor discharge module.

[0056] Specifically, the overvoltage detection module receives the motor's input voltage signal L1+ and determines the motor's voltage and whether the motor is braking (i.e., whether the motor is overvoltage). This generates a first level signal T0. If the input voltage signal L1+ exceeds the motor's normal operating voltage threshold, the first level signal T0 assumes one logic level; otherwise, it assumes another logic level. Upon receiving the first level signal T0, the control module determines whether the first level signal T0 matches the logic level required to trigger the motor discharge module, thereby generating a first control signal.

[0057] Furthermore, after the motor discharge module receives the first control signal, it begins discharging the motor voltage. During this process, the control module records the total time of the motor voltage discharge, thereby determining whether the current motor discharge module operation time exceeds a preset time, that is, whether the total discharge time of the motor voltage is greater than the preset time. If the total discharge time of the motor discharge module is greater than the preset time, indicating that the reverse electromotive force generated by the motor is too large and the voltage is accumulated too much, the power-off mode is activated to prevent the motor from continuing to operate, thereby preventing circuit damage.

[0058] Based on the above embodiment, as an optional embodiment, Figure 2 As shown, Figure 2 The schematic diagram of the structure of an overvoltage detection module is shown. The overvoltage detection module includes a motor voltage divider unit and an overvoltage detection unit, wherein the motor voltage divider unit is connected to the input voltage signal of the motor, and the overvoltage detection unit is connected to the motor voltage divider unit.

[0059] The motor voltage dividing unit is used to perform voltage dividing processing on the input voltage signal to generate a divided voltage signal;

[0060] 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.

[0061] The overvoltage detection module utilizes two motor voltage divider units consisting of four resistors, along with an overvoltage detection unit structured as chip U1, resistors, and an optocoupler. The voltage divider divides the motor voltage to generate a divided voltage signal, which is used as the input to the op amp, generating a logic-level signal. Based on the connection between this logic-level signal and the optocoupler, the motor voltage is detected and identified, resulting in a first-level signal, T0. The diagram does not show the connections to the other input terminals of the two op amps in chip U1.

[0062] Specifically, by utilizing an op amp 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 op amp 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 the chip U1. At this time, the voltage value of pin 2 of the chip U1 is greater than the voltage value of pin 3 of the chip U1. Therefore, pin 1 of the chip U1 will output a signal with a logic level of low, that is, the level signal IN0 is low at this time.

[0063] More specifically, because the level signal IN0 is connected to the cathode of the diode in the optocoupler, that is, to pin 2 of the optocoupler, and pin 4 of the optocoupler is connected to resistor R11, and pin 3 is grounded, pin 4 of the optocoupler serves as the output terminal. Therefore, when the level signal IN0 is low, 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 low level of the first level signal T0 indicates that the motor is in an overvoltage state. Therefore, the overvoltage detection module can detect the voltage status of the motor.

[0064] Based on the above embodiment, as an optional embodiment, the control module is configured to, after receiving the first level signal, obtain a preset discharge trigger signal, and determine, based on the first level signal, whether the first level signal is identical to the discharge trigger signal, where the discharge trigger signal is used to indicate a level that triggers the motor discharge module to enter a discharge startup phase; and generate a first control signal if the first level signal is identical to the discharge trigger signal.

[0065] 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.

[0066] Specifically, if the first level signal T0 is identical to the discharge trigger signal, i.e., the first level signal and the discharge trigger signal indicate the same level for triggering the motor discharge module to enter the discharge startup phase, the control module will send a first control signal to raise the level of the input signal SW1 of the motor discharge module, thereby controlling the motor discharge module to enter the discharge startup phase. For example, if the set level of the discharge trigger signal is low, then when the first level signal T0 is low, i.e., when the control module detects that the motor is in an overvoltage state, it generates a first control signal. The first control signal directly controls the various switches within the motor discharge module at a certain ratio to activate the motor discharge module and discharge the motor voltage, thereby releasing voltage accumulation and preventing back electromotive force from affecting the motor system.

[0067] Based on the above embodiment, as an optional embodiment, the control module includes:

[0068] A counter connected to the motor discharge module, configured to receive a motor discharge signal and determine the number of motor discharges performed by the motor discharge module within a set time according to the motor discharge signal;

[0069] A comparator connected to the counter, for determining whether the total discharge time of the motor discharge module is greater than a preset time;

[0070] 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.

[0071] Among them, the counter is connected to the motor discharge module, which can count the number of motor discharges 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 to compare the calculated total discharge time with the preset time threshold to determine whether the back electromotive force generated by the motor is too large and whether the voltage accumulation is too much.

[0072] For example, when the comparator detects that the total discharge time is too long, meaning the motor is in an overvoltage state for a prolonged period, it notifies the processor to initiate power-off mode. The processor then generates a power-off signal when the total discharge time of the motor discharge module exceeds a preset time, preventing the motor from being in an overvoltage state for an extended period and potentially damaging the motor.

[0073] 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 during the discharge start-up phase of the motor discharge module.

[0074] Exemplarily, the motor discharge module is implemented 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 raised, 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 signal, which is sent to the control module. Then, the control module outputs a control signal based on 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.

[0075] Specifically, when the motor brakes suddenly, that is, the motor stops urgently at high speed, a strong voltage will be generated, 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 temperature of the resistor of the motor discharge module will rise sharply. In severe cases, it will cause the resistor and the surrounding circuits to 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 resistor to cool down, and this cycle continues until the discharge is completed. The MOSFET conduction during the motor discharge module serves as the start of the discharge startup 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.

[0076] Based on the above embodiment, as an optional embodiment, the operation process of the motor discharge module includes: a discharge waiting stage, a discharge starting stage, and a discharge completion stage;

[0077] The triggering time of the counter is in the discharge start-up phase;

[0078] The comparator trigger time is in the discharge startup phase.

[0079] Specifically, when the MOS tube of the motor discharge module is turned on, the discharge startup 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.

[0080] 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 through 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.

[0081] The SPI interface is a serial peripheral interface used for high-speed, full-duplex data transmission between the control module and the DAC module. It adheres to specific communication protocols and electrical specifications to achieve efficient data exchange. The DAC unit is an analog output conversion unit, which converts digital signals into analog outputs to drive external analog actuators.

[0082] Based on the above embodiment, as an optional embodiment, the motion control card with motor protection function further 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.

[0083] 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.

[0084] Specifically, when the control module sends a power-off signal to the DAC module, the DAC module generates a power-off voltage signal based on the power-off signal, converts the digital signal into an analog signal, and outputs it to cut off the power supply to the motor, thereby causing the motion control card to enter fault shutdown mode. This ensures that damage to the motion control card's internal circuits is avoided in the event of abnormal motor voltage. When the motion control card enters fault shutdown mode, it is necessary to reconnect the power supply to the motion control card to clear the fault shutdown mode and resume monitoring and control of the motor voltage.

[0085] Based on 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 based on 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 based on the second control signal.

[0086] 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 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, 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 turning off the motor discharge module and realizing the discharge of the motor voltage.

[0087] For example, when the motor is not in an overvoltage state, the input voltage signal L1+, after passing through the motor voltage divider, has a difference with the other input terminal of the op amp in chip U1. That is, the voltage value of the input voltage signal L1+ after passing through the motor voltage divider is less than the voltage at pin 3 of chip U1. Therefore, the first op amp of chip U1 outputs a logic high level, that is, the level signal IN0 is high at this time. Therefore, when the level signal IN0 is low, the optocoupler is turned on. However, because the level signal IN0 is connected to the cathode of the diode in the optocoupler, the optocoupler is not turned on when the level signal IN0 is high. Therefore, the output terminal of the optocoupler outputs a high first level signal T0.

[0088] Specifically, the control module is connected to the first level signal T0. After obtaining the first level signal T0, the control module determines whether the first level signal T0 is the same as the discharge trigger signal based on the relationship between the first level signal T0 and the preset discharge trigger signal. Because the preset discharge trigger signal has a low logic level while the first level signal T0 is high, the control module generates a corresponding second control signal to lower the level of the input signal SW1 of the motor discharge module, thereby shutting down the motor discharge module.

[0089] 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 status of the chips U1 and U2 of the overvoltage detection module and the optocoupler, 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 based on the level relationship between T0, T1, T2, T3 and the discharge trigger signal, thereby generating a corresponding control signal. The control signal can be used to pull up the levels 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 levels of SW1, SW2, SW3, and SW4 to shut down the motor discharge module and stop the discharge of the motor voltage.

[0090] Under normal circumstances, the peak electromotive force generated by braking a single motor does not last more than 500ms. When all four motors are braking simultaneously, the voltage release process can be completed within 2.5s. The preset time threshold is set to 2.5s. When the entire release process lasts for 2.5s, it is determined that the motor is in a severe overvoltage state or that there is a fault at the motor input, such as reverse power connection or voltage not meeting specifications. At this point, the control module controls the DAC module to stop powering the motor to protect the circuitry within the motion control card. The overvoltage detector chip can be an LM393, and the control module can be a single-chip microcontroller (MCU).

[0091] 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 various embodiments of the present application, and should all be included in the scope of protection 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, configured to receive an input voltage signal of the motor, perform overvoltage detection on the input voltage signal, and 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, for receiving the first control signal, and performing motor discharge according to the first control signal to generate a motor discharge signal, wherein the motor discharge module performs periodic discharge when the motor is in a strong overvoltage state; The control module is further configured to receive the motor discharge signal and determine, based on the motor discharge signal, whether the total discharge time of the motor discharge module is greater than a preset time; if the total discharge time of the motor discharge module is greater than the preset time, generate a power-off signal, the power-off signal causing the motion control card to enter a fault shutdown mode, and the fault shutdown mode needs to be cleared by replugging and plugging the power supply of the motion control card; The control module is configured to, after receiving the first level signal, obtain a preset discharge trigger signal, determine whether the first level signal is identical to the discharge trigger signal based on the first level signal, wherein the discharge trigger signal is used to indicate a level that triggers the motor discharge module to enter a discharge start-up phase; and generate a first control signal if the first level signal is identical to the discharge trigger signal. The control module includes: a counter connected to the motor discharge module, configured 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, configured to determine whether the total discharge time of the motor discharge module is greater than a preset time; and a processor connected to the comparator, configured to generate a power-off signal when the total discharge time of the motor discharge module is greater than the preset time.

2. The motion control card with motor protection function according to claim 1, characterized in that: 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.

3. The motion control card with motor protection function according to claim 1, characterized in that: The control module triggers the counter and the comparator during a discharge start-up phase of the motor discharge module.

4. The motion control card with motor protection function according to claim 3, characterized in that: The operation process of the motor discharge module includes: a discharge waiting stage, a discharge starting stage, and a discharge completion stage; The triggering time of the counter is in the discharge starting stage; The triggering time of the comparator is in the discharge starting stage.

5. The motion control card with motor protection function according to any one of claims 1 to 4, 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. The DAC module is used to receive the 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.

6. The motion control card with motor protection function according to claim 5, 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 module through the SPI interface.

7. 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 configured 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.

8. A control system, characterized in that: The control system includes the motion control card with motor protection function according to any one of claims 1 to 7.

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