Electromagnetic brake control circuit, brake system and brake method

Abstract

The embodiment of the invention provides an electromagnetic brake control circuit, a braking system and a braking method. The electromagnetic brake control circuit, the braking system and the braking method are used for enabling a controller to know the working state of an electromagnetic brake in real time. The control circuit comprises a driving circuit, an access circuit and a state detection circuit. The same end of the driving circuit is connected with the detection end of the state detection circuit and the first access end of the access circuit. The first access end of the access circuit is used for being connected with one end of the electromagnetic brake, and the second access end of the access circuit is used for being connected with the other end of the electromagnetic brake; the state detection circuit is used for detecting the state of the electromagnetic brake and / or the state of the driving circuit; the state of the electromagnetic brake comprises one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the driving circuit comprises a working state and a non-working state.

Description

Technical Field

[0001] The present application relates to the field of automotive automation, and in particular to an electromagnetic brake control circuit, a brake system, and a brake method. Background Art

[0002] An electromagnetic brake is a device that electrically controls a mechanical brake. When the electromagnetic brake is energized, it opens the brake, and when the electromagnetic brake is de-energized, it closes the brake. Electromagnetic brakes have a wide range of applications, including mobility scooters, electric wheelchairs, and autonomous vehicles.

[0003] Current electromagnetic brakes are often controlled by controllers via drive circuits such as relays, and they support mechanical opening and closing. However, current controllers cannot monitor the electromagnetic brake status in real time, which reduces the reliability of electromagnetic brake application equipment and increases the likelihood of safety risks. For example, the application equipment may continue to operate even if the electromagnetic brake is not operating correctly.

[0004] Therefore, how to enable the controller to understand the working status of the electromagnetic brake in real time is an urgent problem to be solved. Summary of the Invention

[0005] The embodiments of the present application provide an electromagnetic brake control circuit, a brake system, and a brake method, which are used to enable a controller to understand the working status of the electromagnetic brake in real time.

[0006] In the first aspect, an embodiment of the present application provides an electromagnetic brake control circuit, comprising an access circuit, a status detection circuit and a drive circuit for driving the electromagnetic brake; the same end of the drive circuit is respectively connected to the detection end of the status detection circuit and the first access end of the access circuit; the first access end of the access circuit is used to connect one end of the electromagnetic brake, and the second access end of the access circuit is used to connect the other end of the electromagnetic brake; the status detection circuit is used to detect the status of the electromagnetic brake and / or the status of the drive circuit; the status of the electromagnetic brake includes one of a mechanically disconnected state and a non-mechanically disconnected state, and the status of the drive circuit includes a working state and a non-working state.

[0007] That is, the present application can detect the state of the electromagnetic brake and / or the state of the drive circuit through the state detection circuit. Therefore, the controller can understand the working state of the electromagnetic brake in real time based on the detection result of the state detection circuit by connecting to the output end of the state detection circuit.

[0008] The access circuit includes a first diode;

[0009] The anode of the first diode is connected to the detection end of the state detection circuit and the driving circuit respectively, and the cathode of the first diode is connected to the first power supply;

[0010] The anode of the first diode is also used to connect to one end of the electromagnetic brake, and the cathode of the first diode is also used to connect to the other end of the electromagnetic brake.

[0011] Optionally, the state detection circuit includes a first output terminal, the level value includes a first level value and a second level value, and the state detection circuit is configured to:

[0012] If the electromagnetic brake is not mechanically disconnected and the drive circuit is not working, the first output end is determined to output the first level value; if the electromagnetic brake is mechanically disconnected, or the drive circuit is in working state, the first output end is determined to output the second level value.

[0013] Optionally, the state detection circuit includes a first state detection circuit, and the first state detection circuit includes a second diode, a first resistor, a first capacitor and the first output end;

[0014] An anode of the second diode is connected to one end of the first resistor and one end of the first capacitor, the other end of the first resistor is used to connect to a second power supply, the other end of the first capacitor is used to be grounded, and the cathode of the second diode is used to connect to the access circuit;

[0015] An anode of the second diode is connected to the first output terminal.

[0016] Optionally, the state detection circuit includes a second output terminal, and the state detection circuit is further configured to:

[0017] The level value outputted by the second output terminal is determined according to the state of the electromagnetic brake.

[0018] Optionally, the state detection circuit further includes a second state detection circuit, wherein the second state detection circuit includes a third diode, a second capacitor, a second resistor, a third resistor, a fourth resistor and a switch component;

[0019] The cathode of the third diode is connected to one end of the second capacitor and one end of the second resistor, the other end of the second capacitor is grounded, the other end of the second resistor is respectively connected to one end of the third resistor and the first end of the switch component, and the other end of the third resistor is grounded; the anode of the third diode is connected to the driving end of the driving circuit;

[0020] The second end of the switch component is connected to the second power supply, the third end of the switch component is connected to the second output end and one end of the fourth resistor, and the other end of the fourth resistor is grounded.

[0021] Optionally, the switch component is a voltage-controlled switch device.

[0022] Optionally, the switch component is a P-channel metal oxide semiconductor field effect transistor (PMOS);

[0023] The first end of the switch component is the gate of the PMOS tube, the second end of the switch component is the source of the PMOS tube, and the third end of the switch component is the drain of the PMOS tube.

[0024] Optionally, the driving circuit includes an N-channel metal oxide semiconductor field effect transistor (NMOS) and a fifth resistor; the gate of the NMOS is connected to one end of the fifth resistor, the other end of the fifth resistor is grounded, the drain of the NMOS is grounded, and the source of the NMOS is connected to the second end of the access circuit.

[0025] Optionally, the gate of the NMOS tube is used to connect to a controller, and the controller is used to provide a first switching frequency, and the NMOS tube is driven by the first switching frequency to drive the electromagnetic brake, and the first switching frequency is a frequency greater than or equal to a preset frequency threshold.

[0026] Optionally, the first output end of the state detection circuit is used to connect to a first GPIO pin of the controller, and the second output end of the state detection circuit is used to connect to a second GPIO pin of the controller.

[0027] In a second aspect, an embodiment of the present application further provides a brake system, the brake system comprising the electromagnetic brake control circuit, the electromagnetic brake, and the controller as described in any one of the first aspects;

[0028] The first end of the electromagnetic brake control circuit is connected to one end of the electromagnetic brake, and the second end of the electromagnetic brake control circuit is connected to the other end of the electromagnetic brake; the output end of the state detection circuit in the electromagnetic brake control circuit is connected to the controller;

[0029] The electromagnetic brake control circuit is used to send a status detection circuit to the controller, and the status detection data includes output data of the status detection circuit;

[0030] The controller is used to: determine the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection data; the state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes a working state and a non-working state.

[0031] In a third aspect, an embodiment of the present application further provides a braking method, which is applied to a controller of a braking system, wherein the braking system further includes an electromagnetic brake and a drive circuit, and the method includes:

[0032] receiving state detection data, the state detection data including output data of the state detection circuit;

[0033] Based on the state detection data, the state of the electromagnetic brake and / or the state of the drive circuit are determined; the state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes a working state and a non-working state.

[0034] Optionally, if the state detection circuit includes a first output terminal, determining the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection circuit includes:

[0035] If the first output end outputs a first level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is not in a working state; if the first output end outputs a second level value, it is determined that the electromagnetic brake is in a mechanically disconnected state, or the drive circuit is in a working state.

[0036] Optionally, if the state detection circuit further includes a second output terminal, if the first output terminal outputs a second level value, determining that the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in a working state includes:

[0037] If the first output end outputs a second level value and the second output end outputs a third level value, it is determined that the electromagnetic brake is in a mechanically disconnected state; if the first output end outputs a second level value and the second output end outputs a fourth level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is in a working state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a structural diagram of an electromagnetic brake control circuit;

[0039] Figure 2 A schematic diagram of the structure of an electromagnetic brake control circuit provided in an embodiment of the present application;

[0040] Figure 3 A schematic structural diagram of another electromagnetic brake control circuit provided in an embodiment of the present application;

[0041] Figure 4 A schematic structural diagram of a brake system provided in an embodiment of the present application;

[0042] Figure 5 A flowchart of a braking method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. The terms used in the following embodiments are only for the purpose of describing specific embodiments and are not intended to be limiting of 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 expressions such as "one or more", unless there is a clear contrary indication in the context. It should also be understood that in the embodiments of the present application, "one or more" refers to one, two or more; "and / or" describes the association relationship of associated objects, indicating that three relationships may exist; for example, A and / or B can represent: the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship.

[0044] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in yet other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized.

[0045] The "multiple" involved in the embodiments of the present application means greater than or equal to two. It should be noted that in the description of the embodiments of the present application, the words "first" and "second" are only used for the purpose of distinguishing the description and cannot be understood as indicating or implying relative importance or order.

[0046] An electromagnetic brake is a device that electrically controls a mechanical brake. When the electromagnetic brake is energized, it opens and closes the brake when the electromagnetic brake is de-energized. Electromagnetic brakes can be mechanically opened and closed. Electromagnetic brakes have a wide range of applications, including mobility scooters, electric wheelchairs, and driverless vehicles.

[0047] Currently, electromagnetic brakes have a variety of control circuits.

[0048] For example, Figure 1 The electromagnetic brake control circuit 10 includes a driving module 101 for driving the electromagnetic brake, a power supply module 102 and an electromagnetic brake 103 .

[0049] The driver module 101 is connected to the power supply module 102 and is used to control the opening and closing of the power supply module 102. The driver module can be a relay driver circuit or a P-channel Metal Oxide Semiconductor Field Effect Transistor (PMOS) driver circuit. Exemplarily, the driver module 101 is connected to a controller, which controls the opening and closing of the power supply module 102 by controlling the driver module 101.

[0050] The power supply module 102 is connected to the electromagnetic brake 103 and is used to drive the electromagnetic brake. The power supply module 102 can be a power supply, for example, a 12V power supply or a 24V power supply, etc., which is not specifically limited in this embodiment of the application. Furthermore, the power supply module 102 can also be a current source, which is not specifically limited in this embodiment of the application.

[0051] In the current electromagnetic brake control circuit, the controller cannot understand the actual status of the electromagnetic brake in real time. This may make the controller unable to reliably control the application equipment, increasing the probability of safety risks. For example, the application equipment may continue to operate without the electromagnetic brake operating correctly.

[0052] In view of this, an embodiment of the present application provides an electromagnetic brake control circuit that drives the electromagnetic brake to open and close via a drive circuit. The electromagnetic brake control circuit also includes a state detection circuit, which is used to detect whether the electromagnetic brake is mechanically disconnected or not, and to detect whether the drive circuit is operating normally, that is, whether the electromagnetic brake is being driven. The state detection circuit can be connected to a controller that controls the drive circuit and feeds the detection results back to the controller, thereby enabling the controller to obtain the actual state of the electromagnetic brake in real time. Therefore, the electromagnetic brake control circuit provided in the embodiment of the present application can improve the reliability of electromagnetic brake application equipment and reduce safety risks.

[0053] The electromagnetic brake control circuit provided in the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0054] Attachment Figure 2 Schematic diagram of the structure of an electromagnetic brake control circuit provided in an embodiment of the present application. The electromagnetic brake control circuit 20 includes an access circuit 201, a state detection circuit 202 and a drive circuit 203.

[0055] The first input terminal of the access circuit 201 is connected to one end of the electromagnetic brake, and the second input terminal is connected to the other end of the electromagnetic brake. The first input terminal of the access circuit 201 is also used to connect to the driving end of the drive circuit 203 and the detection end of the status detection circuit 202. In addition, the first input terminal is also used to connect to a first power supply to power the electromagnetic brake, for example, the first power supply is 24V.

[0056] For example, Figure 3 The figure shows a schematic diagram of the structure of another electromagnetic brake control circuit provided by an embodiment of the present application. The access circuit 201 in this electromagnetic brake control circuit includes a first access terminal, Break_1, and a second access terminal, Break_2. The electromagnetic brake is connected to the first access terminal, Break_1, and the second access terminal, Break_2, respectively. Furthermore, the first access terminal, Break_1, is also used to connect to a first power supply VDD, while the second access terminal, Break_2, is connected to a status detection circuit 202 and a drive circuit 203.

[0057] Furthermore, the access circuit 201 further includes a first diode, the anode of the first diode being connected to the second access terminal and the cathode being connected to the first input terminal. The first diode is provided in the access circuit 201 so that the current at the second access terminal can be fed back to the power supply after the electromagnetic brake is disconnected, thereby preventing the voltage at the second access terminal from being too high. For example, see Figure 3 The access circuit 201 includes a first diode D1 , an anode of the first diode D1 is connected to the second access terminal Break_2 , and a cathode of the first diode D1 is connected to the first access terminal Break_1 .

[0058] It should be noted that the access circuit 201 may also be other circuits, which is not specifically limited in the embodiment of the present application.

[0059] The state detection circuit 202 is used to detect the state of the electromagnetic brake. In the embodiment of the present application, the state detection circuit 202 is used to detect whether the electromagnetic brake is in a mechanically disconnected or non-mechanically disconnected state, and is also used to detect whether the drive circuit 203 is in a working state, that is, whether the electromagnetic brake is correctly driven to open and close.

[0060] In one example, the state detection circuit 203 is further configured to connect to the controller 30 and output state detection data to the controller, wherein the state detection data is detection data for determining the state of the electromagnetic brake or the state of the drive circuit.

[0061] In the embodiment of the present application, the state of the electromagnetic brake includes four states, namely, the first state (at this time, the electromagnetic brake is mechanically disconnected and the drive circuit does not work), the second state (at this time, the electromagnetic brake is mechanically disconnected and the drive circuit works normally), the third state (at this time, the electromagnetic brake is not mechanically disconnected and the drive circuit does not work), and the fourth state (at this time, the electromagnetic brake is not mechanically disconnected and the drive circuit works normally).

[0062] In one example, considering that in actual use, the mechanical disconnection of the electromagnetic brake has the highest priority, that is, regardless of whether the drive circuit is functioning normally, as long as the electromagnetic brake is mechanically disconnected, the electromagnetic brake is in the disconnected state. Therefore, the first state and the second state are collectively referred to as the mechanical disconnection state.

[0063] If the state detection circuit includes a first output terminal, and the level value output by the first output terminal includes a first level value and a second level value, the state detection data includes: if the electromagnetic brake is in a mechanically disconnected state and the drive circuit is in an inoperative state, the first output terminal outputs the first level value, i.e., the state detection data includes the first level value output by the first output terminal. If the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in an operative state, the first output terminal outputs a second level value, i.e., the state detection data includes the second level value output by the first output terminal. Thus, through the level value output by the first output terminal, the controller can understand the state of the electromagnetic brake and / or the operating state of the drive circuit in real time.

[0064] If the state detection circuit also includes a second output terminal, the state detection circuit is further configured to determine that the electromagnetic brake is in a mechanically disconnected state if the first output terminal outputs a second electrical level value and the second output terminal outputs a third electrical level value. If the first output terminal outputs a second electrical level value and the second output terminal outputs a fourth electrical level value, the electromagnetic brake is determined to be in a non-mechanically disconnected state and the drive circuit is in an operating state. In this case, the state detection data includes the third electrical level value output by the second output terminal and the second electrical level value output by the first output terminal, or includes the fourth electrical level value output by the second output terminal and the second electrical level value output by the first output terminal. Thus, through the electrical level value output by the first output terminal and the electrical level value output by the second output terminal, the controller can obtain the comprehensive status of the electromagnetic brake and the drive circuit in real time.

[0065] It should be noted that the first level value and the second level value are different level values, and the third level value and the fourth level value are different level values. For ease of explanation, the following text uses the first level value as "1" to represent a high level, and the second level value as "0" to represent a low level. The third level value is "0" and the fourth level value is "1".

[0066] In one example, the state detection circuit 202 includes a first state detection circuit, which includes a first detection terminal and a first output terminal S1, wherein the first detection terminal is connected to the second access terminal of the access circuit 201. The first output terminal S1 is used to connect to the controller 30. In this embodiment of the present application, the controller 30 can determine the operating state of the electromagnetic brake and / or the drive circuit based on the data output by the first output terminal S1 (i.e., the state detection data).

[0067] In another example, the state detection circuit 202 further includes a second state detection circuit, which includes a second detection terminal and a second output terminal S2, wherein the second detection terminal is connected to the second access terminal of the access circuit 201. The second output terminal S2 is used to connect to the controller 30. In this embodiment of the present application, the controller 30 can determine the operating state of the electromagnetic brake and / or the drive circuit based on the data output by the second output terminal S2 (i.e., the state detection data).

[0068] For example, referring to Table 1, if S1 outputs "1", that is, outputs a high level, it indicates that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is in a non-working state. S1 outputs "0", that is, outputs a low level, and S2 outputs "0", which indicates that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is in a working state. If S1 outputs "0" and S2 outputs "1", it indicates that the electromagnetic brake is in a mechanically disconnected state.

[0069] Table 1

[0070] Mechanical disconnection electromagnetic brake Electromagnetic brake not mechanically disconnected The drive circuit does not work S2=1, S1=1 S1=1, S2=0 Driving circuit operation S2=1, S1=0 S1=0, S2=0

[0071] It should be noted that, in actual use, the operating status of the electromagnetic brake and / or the drive circuit may also be indicated in other ways. For example, if the first output terminal S1 outputs a low level, it indicates that the electromagnetic brake is not mechanically disconnected and the drive circuit is not working properly. If the first output terminal outputs a high level and the second output terminal outputs a low level, it indicates that the electromagnetic brake is not mechanically disconnected and the drive circuit is working properly. This is not specifically limited in the embodiments of the present application. To enable those skilled in the art to better understand the embodiments of the present application, the logic shown in Table 1 is used as an example for schematic illustration below.

[0072] In an embodiment of the present application, the first state detection circuit includes a second diode, a first resistor, and a first capacitor. The anode of the second diode is connected to the first output terminal, the cathode of the second diode (i.e., the first detection terminal) is connected to the second access terminal of the access circuit 301, one end of the first resistor is used to connect to the second power supply, the other end of the first resistor is respectively connected to the first output terminal and one end of the first capacitor, and the other end of the first capacitor is connected to ground (i.e., GND).

[0073] For example, see Figure 3 As shown, the first state detection circuit includes a second diode D2, a first resistor R1 and a first capacitor C1, wherein the cathode of the second diode D2 is connected to the second access terminal Break-2, and the anode is connected to the first output terminal S1, one end of the first resistor R1 is connected to the power supply VCC, and the other end is connected to one end of the first capacitor C1 and the first output terminal S1, and the other end of the first capacitor C1 is grounded.

[0074] It is understood that if the second access terminal is at a high voltage, it will resist the second diode D2, and the first resistor R1 will charge the first capacitor C1, and the first output terminal S1 will be at a high level. If the second access terminal is at a low voltage, the second diode D2 will be turned on, and the second output terminal S1 will be at a low level.

[0075] It should be noted that the voltage value provided by the second power supply is lower than the voltage value provided by the first power supply.

[0076] In the embodiments of the present application, the first state detection circuit, through the second diode, the first resistor, and the first capacitor, can achieve stable monitoring of the first detection terminal. When a signal is present at the first detection terminal, current flows through the second diode to the second access terminal, simultaneously charging the first capacitor. The capacitor charging process smoothes signal changes in the circuit, avoiding misjudgments due to transient signal fluctuations and improving detection stability. The first capacitor also helps filter out high-frequency noise signals, enhancing the circuit's anti-interference capabilities.

[0077] In addition, the second state detection circuit includes a third diode, a second capacitor, a second resistor, a third resistor, a fourth resistor, and a switch assembly. The anode of the third diode is the second detection terminal, the cathode is connected to one end of the second capacitor and one end of the second resistor, the other end of the second capacitor is grounded, the other end of the second resistor is respectively connected to one end of the third resistor and the first end of the switch assembly, and the other end of the third resistor is grounded. The second resistor and the three resistors work together to attenuate the voltage flowing in through the third diode. The second end of the switch assembly is connected to the second power supply, the third end is the second output terminal, and is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded.

[0078] It should be noted that in the embodiments of the present application, the switch component can be a voltage-controlled switch device or a current-controlled switch device, which is not specifically limited in the embodiments of the present application. If the switch component is a voltage-controlled switch device, the switch component is a PMOS transistor. Compared to an NMOS transistor, a PMOS transistor can be directly turned off using the high-voltage signal controller at the second input terminal, without the need for additional voltage conversion circuitry.

[0079] For example, see Figure 3As shown, the second state detection resistor includes a third diode D3, a second capacitor C2, a second resistor R2, a third resistor R3, and a fourth resistor R4, and the switch component is a PMOS transistor Q1. The anode of the third diode D3 is the second detection terminal, the cathode is connected to one end of the second capacitor C2 and one end of the second resistor R2, the other end of the second capacitor C2 is grounded, the other end of the second resistor R2 is respectively connected to one end of the third resistor and the gate of the PMOS transistor Q1, and the other end of the third resistor is grounded. The second resistor R2 and the third circuit R3 work together to attenuate the voltage flowing into the PMOS transistor Q1 through the third diode D3. The source of the PMOS transistor Q1 is connected to the second power supply, the drain is the second output terminal, and is connected to one end of the fourth resistor R4, the other end of the fourth resistor R4 is grounded.

[0080] It can be understood that when the electromagnetic brake is closed, the second access terminal is in a high-voltage state, and the second capacitor C2 acts as a rapid electricity storage function. The stored electricity can only be released through the second resistor R2 and the third resistor R3. At this time, the gate of the PMOS transistor Q1 is higher than the source, the PMOS transistor Q1 is turned off, and the second output terminal S2 is pulled low by the fourth resistor R4, that is, the second output terminal S2 outputs a low level. When the electromagnetic brake is disconnected, the third resistor R3 will pull down the PMOS transistor Q1, and the PMOS transistor Q1 is turned on. The second output terminal S2 is high. At this time, if there is a large interference signal on the electromagnetic brake line, it can also be attenuated by the second resistor R2 and the third resistor R3 without affecting the opening of the PMOS transistor Q1. Depending on the size of the interference signal, the parameters of the first resistor R1, the second resistor R2, the third resistor R3 and the second capacitor C2 can be adjusted.

[0081] Continue to see Figure 3 When the electromagnetic brake is not mechanically disconnected, the second access terminal is in a high voltage state. However, when the electromagnetic brake is mechanically disconnected, the second resistor R2 and the third resistor R3 will pull down the voltage of the second access terminal, making the second access terminal in a low voltage state.

[0082] It should be noted that the state detection circuit 202 can also have other circuit structures, which is not specifically limited in the embodiment of the present application.

[0083] The driver circuit 203 is used to drive the electromagnetic brake, causing it to open or close. The driver circuit 203 includes a metal oxide semiconductor field effect transistor (MOS) and a fifth resistor. The MOS can be a PMOS or an N-channel MOS (NMOS).

[0084] Considering that NMOS drive has lower on-resistance and faster response speed than PMOS drive, the use of NMOS drive can help reduce the heating problem of the electromagnetic brake compared to PMOS drive. In addition, NMOS tubes do not have mechanical contacts compared to relay drives, so arcing and contact wear will not be generated, and the electromagnetic brake heating problem will not be caused by increased contact resistance. In addition, the use of NMOS drive in combination with the status detection circuit 202 can quickly respond to current changes and reduce the impact of current mutations on the ground line compared to the use of ground sampling resistors to feedback the electromagnetic brake status. Therefore, the ground bounce effect of the magnetic brake coil disconnection current change on the controller is timely reduced. In addition, after the electromagnetic brake is manually disconnected, the interference signal induced on the suspended coil can also be filtered out in the present invention.

[0085] For example, see Figure 3 As shown, the gate of the NMOS transistor Q2 is connected to one end of the fifth resistor, the other end of the fifth resistor is grounded, the drain of the NMOS transistor Q2 is grounded, and the source of the NMOS transistor Q2 is connected to the second access terminal of the access circuit 201.

[0086] In the embodiment of the present application, when the driving circuit 203 is in operation, the voltage value of the second access terminal is lowered. Therefore, when the electromagnetic brake is not mechanically disconnected, if the driving circuit 203 is in operation, the level of the first output terminal of the first state detection circuit is lowered.

[0087] Furthermore, to avoid the harsh whistling sound of the electromagnetic brake, the switching frequency of the NMOS tube must be greater than or equal to a preset frequency threshold, for example, the preset frequency threshold is 10KHz, 15KHz, etc., which is not specifically limited in the embodiments of the present application.

[0088] In the embodiment of the present application, the drive circuit is connected to the controller 30, which is configured to provide a first switching frequency, and drive the NMOS transistor to switch on and off at the first switching frequency, thereby driving the electromagnetic brake. The first switching frequency is greater than or equal to a preset frequency threshold.

[0089] It should be noted that in an embodiment of the present application, the forward voltage drop of the first diode may be greater than the forward voltage drop of the second diode, and the forward voltage drop of the first diode may be greater than the forward voltage drop of the third diode, for example, the second diode and the third diode are Schottky diodes.

[0090] In one example, the first output of the status detection circuit is connected to a first GPIO pin of the controller, and the second output is connected to a second GPIO pin of the controller. This means that with only two GPIO pins, the controller can quickly detect the full operating status of the electromagnetic brake, resulting in low cost, fewer components, and strong anti-interference performance.

[0091] In summary, the electromagnetic brake control circuit provided in the embodiments of the present application can detect the state of the electromagnetic brake and / or the state of the drive circuit via the state detection circuit. Therefore, the controller can be connected to the output of the state detection circuit and, based on the detection results of the state detection circuit, understand the operating status of the electromagnetic brake in real time.

[0092] In addition, an embodiment of the present application also provides a braking system.

[0093] Attachment Figure 4 The present invention provides a schematic structural diagram of a brake system according to an embodiment of the present invention. The brake system 40 includes an electromagnetic brake control circuit 20 as shown in any one of the first aspects of the figure. The brake system also includes an electromagnetic brake 103 and a controller 30.

[0094] The access circuit 201 is connected to the electromagnetic brake 30, and the output end of the state detection circuit 202 is connected to the controller 30. The drive circuit 203 is connected to the controller, receives the first switching frequency provided by the controller 30, and controls the working state of the drive circuit based on the first switching frequency.

[0095] The controller 30 is further configured to receive status detection data output by the status detection circuit 202 , and determine the operating status of the electromagnetic brake 103 and the operating status of the drive circuit 203 based on the status detection data.

[0096] In one example, if the state detection circuit 203 includes a first output terminal, determining the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection data includes:

[0097] If the first output terminal outputs a first level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is not in a working state; if the first output terminal outputs a second level value, it is determined that the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in a working state.

[0098] In another example, if the state detection circuit 202 further includes a second output terminal, if the first output terminal outputs a second level value, determining that the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in a working state includes:

[0099] If the first output end outputs the second level value and the second output end outputs the third level value, it is determined that the electromagnetic brake is in the mechanical disconnection state; if the first output end outputs the second level value and the second output end outputs the fourth level value, it is determined that the electromagnetic brake is not in the mechanical disconnection state and the drive circuit is in the working state.

[0100] In summary, the brake system provided by the embodiments of the present application can detect the state of the electromagnetic brake and / or the state of the drive circuit through the state detection circuit. Therefore, the controller can be connected to the output of the state detection circuit and, based on the detection results of the state detection circuit, understand the operating status of the electromagnetic brake in real time.

[0101] In addition, the present invention also provides a braking method, which is applied to Figure 4 The controller of the brake system. Figure 5 A flowchart of a braking method provided in an embodiment of the present application, the method includes the following contents:

[0102] S510: The controller receives status detection data, where the status detection data includes output data of a status detection circuit.

[0103] S520: The controller determines the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection data.

[0104] The state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes a working state and a non-working state.

[0105] Optionally, the state detection circuit includes a first output terminal, and determining the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection circuit includes:

[0106] If the first output end outputs a first level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is not in a working state; if the first output end outputs a second level value, it is determined that the electromagnetic brake is in a mechanically disconnected state, or the drive circuit is in a working state.

[0107] Optionally, if the state detection circuit further includes a second output terminal, if the first output terminal outputs a second level value, determining that the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in a working state includes:

[0108] If the first output end outputs a second level value and the second output end outputs a third level value, it is determined that the electromagnetic brake is in a mechanically disconnected state; if the first output end outputs a second level value and the second output end outputs a fourth level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is in a working state.

[0109] The present application also provides a computer program product, which includes: computer program code, which, when running on a computer, enables the computer to execute the braking method described in the aforementioned controller.

[0110] According to the method provided in the embodiment of the present application, the present application also provides a computer-readable storage medium, which stores program code. When the program code is run on a computer, the computer executes the braking method described in the aforementioned controller.

[0111] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or may include both volatile memory and non-volatile memory.

[0112] In the embodiments of this application, each term and English abbreviation is provided for convenience of description and shall not constitute any limitation to this application. This application does not exclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0113] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.

[0114] It should be understood that in the various embodiments of the present application, the size of the serial number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0115] In short, the above description is only a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included in the scope of protection of this application.

Claims

1. An electromagnetic brake control circuit, characterized in that: include: Access circuit, status detection circuit and driving circuit for driving electromagnetic brake; The same end of the driving circuit is connected to the detection end of the state detection circuit and the first access end of the access circuit respectively; the first access end of the access circuit is used to connect to one end of the electromagnetic brake, and the second access end of the access circuit is used to connect to the other end of the electromagnetic brake; The state detection circuit is used to detect the state of the electromagnetic brake and / or the state of the drive circuit; the state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes a working state and a non-working state.

2. The control circuit according to claim 1, wherein: The access circuit includes a first diode; The anode of the first diode is connected to the detection end of the state detection circuit and the drive circuit respectively, and the cathode of the first diode is connected to the first power supply; The anode of the first diode is also used to connect to one end of the electromagnetic brake, and the cathode of the first diode is also used to connect to the other end of the electromagnetic brake.

3. The control circuit according to claim 1 or 2, characterized in that: The state detection circuit includes a first output terminal, the level value output by the first output terminal includes a first level value and a second level value, and the state detection circuit is used to: If the electromagnetic brake is not mechanically disconnected and the drive circuit is not working, the first output end is determined to output the first level value; if the electromagnetic brake is mechanically disconnected, or the drive circuit is in working state, the first output end is determined to output the second level value.

4. The control circuit according to claim 3, characterized in that: The state detection circuit includes a first state detection circuit, and the first state detection circuit includes a second diode, a first resistor, a first capacitor and the first output terminal; An anode of the second diode is connected to one end of the first resistor and one end of the first capacitor, the other end of the first resistor is used to connect to a second power supply, the other end of the first capacitor is used to be grounded, and the cathode of the second diode is used to connect to the access circuit; An anode of the second diode is connected to the first output terminal.

5. The control circuit according to claim 3 or 4, characterized in that: The state detection circuit further includes a second output terminal, and the state detection circuit is further configured to: If the electromagnetic brake is in a mechanically disconnected state, determining that the first output end outputs a second electrical level value, and the second output end outputs a third electrical level value; If the electromagnetic brake is in a non-mechanically disconnected state and the drive circuit is in a working state, it is determined that the first output end outputs a second electrical level value and the second output end outputs a fourth electrical level value.

6. The control circuit according to any one of claims 1 to 5, characterized in that: The state detection circuit further includes a second state detection circuit, wherein the second state detection circuit includes a third diode, a second capacitor, a second resistor, a third resistor, a fourth resistor and a switch component; The cathode of the third diode is connected to one end of the second capacitor and one end of the second resistor, the other end of the second capacitor is grounded, the other end of the second resistor is respectively connected to one end of the third resistor and the first end of the switch component, and the other end of the third resistor is grounded; the anode of the third diode is connected to the driving end of the driving circuit; The second end of the switch component is connected to the second power supply, the third end of the switch component is connected to the second output end and one end of the fourth resistor, and the other end of the fourth resistor is grounded.

7. The control circuit according to claim 6, characterized in that: The switch component is a voltage-controlled switch device.

8. The control circuit according to claim 7, characterized in that: The switch component is a P-channel metal oxide semiconductor field effect transistor (PMOS); The first end of the switch component is the gate of the PMOS tube, the second end of the switch component is the source of the PMOS tube, and the third end of the switch component is the drain of the PMOS tube.

9. The control circuit according to any one of claims 1 to 8, characterized in that: The driving circuit includes an N-channel metal oxide semiconductor field effect transistor (NMOS) and a fifth resistor; The gate of the NMOS transistor is connected to one end of the fifth resistor, the other end of the fifth resistor is grounded, the drain of the NMOS transistor is grounded, and the source of the NMOS transistor is connected to the second access terminal of the access circuit.

10. The control circuit according to claim 9, characterized in that: The gate of the NMOS tube is used to connect to the controller, and the controller is used to provide a first switching frequency. The NMOS tube is driven by the first switching frequency to drive the electromagnetic brake. The first switching frequency is a frequency greater than or equal to a preset frequency threshold.

11. The control circuit according to claim 10, characterized in that: The first output end of the state detection circuit is used to connect to the first GPIO pin of the controller, and the second output end of the state detection circuit is used to connect to the second GPIO pin of the controller.

12. A braking system, characterized in that: The brake system comprises the electromagnetic brake control circuit, electromagnetic brake and controller according to any one of claims 1 to 11; The first end of the electromagnetic brake control circuit is connected to one end of the electromagnetic brake, and the second end of the electromagnetic brake control circuit is connected to the other end of the electromagnetic brake; the output end of the state detection circuit in the electromagnetic brake control circuit is connected to the controller; The electromagnetic brake control circuit is used to send status detection data to the controller, and the status detection data includes output data of the status detection circuit; The controller is configured to: determine the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection data; The state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes an operating state and a non-operating state.

13. A braking method, characterized in that: The controller for the brake system according to claim 12, wherein the method comprises: receiving state detection data, wherein the state detection data includes output data of a state detection circuit; Based on the state detection data, the state of the electromagnetic brake and / or the state of the drive circuit are determined; the state of the electromagnetic brake includes one of a mechanical disconnection state and a non-mechanical disconnection state, and the state of the drive circuit includes a working state and a non-working state.

14. The method according to claim 13, characterized in that If the state detection circuit includes a first output terminal, determining the state of the electromagnetic brake and / or the state of the drive circuit based on the state detection circuit includes: If the first output end outputs a first level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is not in a working state; if the first output end outputs a second level value, it is determined that the electromagnetic brake is in a mechanically disconnected state, or the drive circuit is in a working state.

15. The method according to claim 14, characterized in that If the state detection circuit further includes a second output terminal, if the first output terminal outputs a second level value, determining that the electromagnetic brake is in a mechanically disconnected state or the drive circuit is in a working state includes: If the first output end outputs a second level value and the second output end outputs a third level value, it is determined that the electromagnetic brake is in a mechanically disconnected state; if the first output end outputs a second level value and the second output end outputs a fourth level value, it is determined that the electromagnetic brake is not in a mechanically disconnected state and the drive circuit is in a working state.

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