Fault protection device of rotary servo system

Abstract

The invention provides a fault protection device of a rotary servo system. A servo control module comprises a servo control unit and a conversion amplification amplitude limiting unit. The voltage instruction monitoring module is electrically connected between the output end of the servo control unit and the input end of the conversion amplification amplitude limiting unit, and is used for obtaining a first average value of a plurality of voltage instruction values output by the servo control unit within a first set time, and obtaining a second average value of the plurality of voltage instruction values within a plurality of continuous first set times; and when the plurality of first average values exceed a first preset range, sending a fault code and a first control instruction to the servo control unit, so that the servo control unit outputs a voltage instruction value of 0 under the first control instruction. Thus, the original circuit of the servo control unit is utilized to set the voltage instruction monitoring module, monitoring of the working current of the motor module is converted into detection of the voltage instruction value output by the servo control unit, early warning protection can be achieved, no extra hardware is added, and the servo control unit has obvious advantages in size.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of motor control and monitoring, in particular to a fault protection device of a rotary servo system. BACKGROUND

[0002] The rotary servo mechanism is a key component of a rotary strapdown inertial navigation equipment. The rotary control board needs to drive the motor to act according to the control instruction obtained by navigation calculation, and finally realizes the rotary control and isolation of carrier motion required by the scheme. In order to prevent the influence of serious problems such as motor lock, overspeed and abnormal servo control loop on system accuracy and reliability, monitoring and protection measures need to be taken for the servo control process. The detection of control abnormality fault of the traditional rotary mechanism depends on the hardware current sensor to realize, which has the following shortcomings: 1) high cost: additional current detection module and signal conditioning circuit are needed; 2) large size: additional space is needed for current detection module and signal conditioning circuit. SUMMARY

[0003] The present application provides a fault protection device of a rotary servo system, which sets a voltage instruction monitoring module by using the original line of the servo control unit, converts the monitoring of the working current of the motor module into the detection of the voltage instruction value output by the servo control unit, can realize early warning protection, and does not increase additional hardware, which has obvious advantages in size.

[0004] In the first aspect, the embodiments of the present application provide a fault protection device of a rotary servo system, wherein the rotary servo system comprises a servo control module, a motor driving module and a motor module.

[0005] The fault protection device comprises a voltage instruction monitoring module, and the servo control module comprises a servo control unit and a conversion amplification limiting unit.

[0006] The voltage instruction monitoring module is electrically connected between the output end of the servo control unit and the input end of the conversion amplification limiting unit; the motor driving module is electrically connected with the conversion amplification limiting unit and the motor module respectively.

[0007] The voltage instruction monitoring module is used for obtaining a first average value of a plurality of voltage instruction values output by the servo control unit within a first set time, and when a plurality of the first average values all exceed a first preset range within a plurality of continuous first set times, sending a fault code and a first control instruction to the servo control unit, so that the voltage instruction value output by the servo control unit under the first control instruction is 0.

[0008] Optionally, the fault protection device further comprises a diode clamping module, which is arranged between the output end of the conversion amplification limiting unit and the input end of the motor driving module, and is used for limiting the first voltage value output by the conversion amplification limiting unit to the motor driving module within a first voltage range.

[0009] Optionally, the first voltage range includes [-4.5V, 4.5V].

[0010] Optionally, the fault protection device further comprises an output limiting module;

[0011] The output limiting module is electrically connected with the servo control unit, and is used for limiting the voltage instruction value output by the servo control unit within a second preset range, and the first preset range is within the second preset range.

[0012] Optionally, the first preset range includes [-20000, 20000], and the second preset range includes [-29000, 29000].

[0013] Optionally, the servo control module further comprises a communication unit.

[0014] The rotary servo system further comprises a calculation module and a power conversion module, the power conversion module is electrically connected with the motor driving module, and is used for power supply to the motor driving module.

[0015] The voltage instruction monitoring module is in communication connection with the calculation module through the communication unit, and the calculation module is electrically connected with the motor driving module.

[0016] The voltage instruction monitoring module is further used for sending a second control instruction to the calculation module when the plurality of first average values all exceed the first preset range within a plurality of first set time, so that the calculation module cuts off the power supply of the power conversion module to the motor driving module according to the second control instruction, so that the motor module does not work.

[0017] Optionally, the voltage instruction monitoring module is further used for acquiring the voltage instruction value output by the servo control unit, and sending a fault code to the servo control unit when the voltage instruction value exceeds the first preset range.

[0018] Optionally, the fault protection device further comprises an angle measurement module and an angular velocity monitoring module.

[0019] The motor module comprises a grating unit.

[0020] The angle measurement module is electrically connected with the grating unit, and is used for measuring the angular velocity of the motor module.

[0021] The servo control module further comprises a communication unit;

[0022] The rotating servo system further comprises a calculation module and a power conversion module, the power conversion module is electrically connected with the motor driving module, and is used for power supply for the motor driving module;

[0023] The angular velocity monitoring module is electrically connected with the angle measuring module and the calculation module through the communication unit, is used for determining a second average value of a plurality of angular velocities measured by the angle measuring module within a second set time, and when the second average value exceeds a third preset range within the second set time, a third control instruction is sent to the calculation module, so that the calculation module cuts off the power supply of the power conversion module to the motor driving module according to the third control instruction, so that the motor module does not work.

[0024] Optionally, the third preset range includes [-90° / s, 90° / s].

[0025] Optionally, the rotating servo system further comprises a power conversion module;

[0026] The power conversion module is electrically connected with the motor driving module, and is used for power supply for the motor driving module.

[0027] In summary, the rotating servo system in the embodiment of the application comprises a servo control module, a motor driving module and a motor module. The fault protection device comprises a voltage instruction monitoring module, the servo control module comprises a servo control unit and a conversion amplification limiting unit. The voltage instruction monitoring module is electrically connected between the output end of the servo control unit and the input end of the conversion amplification limiting unit. The motor driving module is electrically connected with the conversion amplification limiting unit and the motor module. The voltage instruction monitoring module is used for obtaining a first average value of a plurality of voltage instruction values output by the servo control unit within a first set time, and when a plurality of first average values all exceed a first preset range within a plurality of continuous first set times, a fault code and a first control instruction are sent to the servo control unit, so that the voltage instruction value output by the servo control unit under the first control instruction is 0. In this way, the voltage instruction monitoring module is set by using the original line of the servo control unit, the monitoring of the working current of the motor module is converted into the detection of the voltage instruction value output by the servo control unit, the early warning protection of the rotating servo system can be realized, and no additional hardware is added, which has obvious advantages in volume. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structure schematic view of a fault protection device of a rotating servo system provided by the embodiment of the application;

[0029] Figure 2 is a structural schematic view of another fault protection device of a rotary servo system provided by an embodiment of the present application;

[0030] Figure 3 is a structural schematic view of another fault protection device of a rotary servo system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0031] In order to make the objects, technical solutions and advantages of the present application clearer, the following will combine the drawings in the embodiments of the present application, and describe the technical solutions of the present application completely through specific implementation manners. Obviously, the described embodiments are a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] Figure 1 is a structural schematic view of a fault protection device of a rotary servo system provided by an embodiment of the present application, referring to Figure 1 The rotary servo system 01 comprises a servo control module 10, a motor drive module 20 and a motor module 30. The fault protection device 02 comprises a voltage instruction monitoring module 40. The servo control module 10 comprises a servo control unit 110 and a conversion amplification limiting unit 120. The voltage instruction monitoring module 40 is electrically connected between the output end of the servo control unit 110 and the input end of the conversion amplification limiting unit 120. The motor drive module 20 is electrically connected with the conversion amplification limiting unit 120 and the motor module 30 respectively. The voltage instruction monitoring module 40 is used to acquire a first average value of a plurality of voltage instruction values output by the servo control unit 110 within a first set time, and send a fault code and a first control instruction to the servo control unit 110 when the plurality of first average values all exceed a first preset range within a plurality of continuous first set times, so that the voltage instruction value output by the servo control unit 110 under the first control instruction is 0.

[0033] Specifically, the rotary servo system 01 includes a servo control module 10, a motor drive module 20, and a motor module 30. The servo control module 10 includes a servo control unit 110 and a conversion amplification and limiting unit 120. The servo control unit 110 sends voltage command values ​​(DA values) to control the operation of the motor module 30. The conversion amplification and limiting unit 120 can be a digital-to-analog conversion amplification and limiting circuit, including a digital-to-analog conversion section and a signal amplification section. It converts the voltage command value output by the servo control unit 110 into a voltage signal, amplifies the signal to obtain the corresponding analog voltage value (the drive voltage of the motor module 30), and transmits the analog voltage value to the motor drive module 20. The conversion amplification and limiting unit 120 can be constructed from analog circuitry. The digital-to-analog conversion section is a specific device that can directly convert the voltage command value into a voltage signal. The signal amplification section can be a signal amplifier that amplifies the voltage signal to obtain the corresponding analog voltage value. For example, the signal amplifier can amplify by 3.3 times. It is understood that this invention does not limit the specific circuit structure of the conversion amplification and limiting unit 120; those skilled in the art can configure it as needed. The motor drive module 20 generates a corresponding drive current based on the analog voltage value output by the conversion amplification and limiting unit 120. For example, when the conversion amplification and limiting unit 120 outputs an analog voltage of 1V, the motor drive module 20 needs to generate a drive current of 1A. That is, for every 1V of analog voltage output, the motor drive module 20 requires 1A of drive current to the motor module 30, thereby driving the motor module 30 to rotate and achieving the movement of the frame isolation carrier. It is understood that the specific structure within the motor drive module 20 forms a conversion logic that can directly convert the input analog voltage value into a corresponding drive current. In one embodiment, this conversion logic is 1:1, that is, based on the input 1V analog voltage value, it is converted into a 1A drive current. This embodiment of the invention does not limit the specific conversion relationship between the analog voltage value and the drive current; those skilled in the art can set it as needed.

[0034] In existing technologies, a current detection module and a signal conditioning circuit are typically installed at the output of the motor drive module 20 to detect the drive current of the motor module 30 during operation. By comparing the drive current, it is determined whether there is an abnormality in the control loop of the servo control unit 110, such as servo loop stall or servo loop open circuit. However, the installation of the current detection module and the signal conditioning circuit requires additional space and increases costs, which is not conducive to the integration and miniaturization of the rotary servo system.

[0035] To this end, the fault protection device 02 in the embodiment of the present application comprises a voltage instruction monitoring module 40. The voltage instruction monitoring module 40 is a software control logic formed by using the original circuit of the servo control unit 110, in other words, the voltage instruction monitoring module 40 can be understood as a control logic formed by adding a program on the servo control unit 110, that is, the setting of the voltage instruction monitoring module 40 does not need to add a hardware structure on the original rotary servo system 01, which can reduce the overall size. In addition, the monitoring principle of the voltage instruction monitoring module 40 is to convert the monitoring of the driving current of the motor module 30 into the monitoring of the voltage instruction value output by the servo control unit 110, by obtaining a first average value of a plurality of voltage instruction values output by the servo control unit 110 within a first set time, and when a plurality of first average values exceed a first preset range within a plurality of consecutive first set times, a fault code and a first control instruction are sent to the servo control unit 110, so that the voltage instruction value output by the servo control unit 110 under the first control instruction is 0. For example, the first set time can be 300 ms, then the voltage instruction monitoring module 40 can obtain 300 voltage instruction values within 300 ms, and calculate the first average value of the 300 voltage instruction values, and when ten first average values exceed the first preset range (the first preset range includes [-20000, 20000]) within ten consecutive first set times (3000 ms), it indicates that the control loop of the servo control unit 110 is abnormal, and a fault code and a first control instruction are sent to the servo control unit 110, so that the voltage instruction value output by the servo control unit 110 under the first control instruction is 0, at this time the driving current output by the motor driving module 20 is 0, and the motor module 30 does not work, thereby realizing the early warning protection of the rotary servo system.

[0036] It should be noted that the determination of the first set time can be summarized according to multiple experimental results to avoid misjudgment due to too short time or failure to detect abnormalities in time due to too long time. In this embodiment of the present application, this is not limited. In addition, the number of acquired voltage command values is determined by the synchronization period of the rotary servo system. For example, if the synchronization period is 1 ms, 300 voltage command values are acquired when the first set time is 300 ms. In summary, the rotary servo system in the embodiment of the present application includes a servo control module, a motor driving module and a motor module. The fault protection device includes a voltage command monitoring module. The servo control module includes a servo control unit and a conversion amplification limiting unit. The voltage command monitoring module is electrically connected between the output end of the servo control unit and the input end of the conversion amplification limiting unit. The motor driving module is electrically connected with the conversion amplification limiting unit and the motor module. The voltage command monitoring module is used to acquire a first average value of multiple voltage command values output by the servo control unit within a first set time, and when the multiple first average values exceed a first preset range within a plurality of consecutive first set times, a fault code and a first control instruction are sent to the servo control unit, so that the voltage command value output by the servo control unit under the first control instruction is 0. In this way, the voltage command monitoring module is set by using the original line of the servo control unit, and the monitoring of the working current of the motor module is converted into the detection of the voltage command value output by the servo control unit. The early warning protection of the rotary servo system can be realized, and no additional hardware is added, which has obvious advantages in size.

[0037] Optionally, based on the above embodiment, Figure 2 is another structural schematic diagram of a fault protection device of a rotary servo system provided by the embodiment of the present application. Referring to Figure 2 The fault protection device 02 further includes a diode clamping module 50, which is arranged between the output end of the conversion amplification limiting unit 120 and the input end of the motor driving module 20, and is used to limit the first voltage value output by the conversion amplification limiting unit 120 to the motor driving module 20 within a first voltage range.

[0038] Specifically, the diode clamping module 50 is a hardware structure. By arranging the diode clamping module 50 between the output end of the conversion amplification limiting unit 120 and the input end of the motor driving module 20, the first voltage value (analog voltage value) output by the conversion amplification limiting unit 120 is limited within the first voltage range, wherein the first voltage range includes [-4.5V, 4.5V], so as to ensure that the motor driving module 20 will not output more than 4.5A current when the previous stage of hardware circuit or software appears abnormal, and the current limiting protection of the motor module 30 is achieved.

[0039] In addition, continuing to refer to Figure 2The fault protection device 02 further comprises an output limiting module 60. The output limiting module 60 is electrically connected with the servo control unit 110, and is configured to limit the voltage instruction value output by the servo control unit 110 within a second preset range. The first preset range is within the second preset range, wherein the first preset range includes [-20000, 20000], and the second preset range includes [-29000, 29000]. The corresponding analog voltage value of the first preset range after conversion by the conversion amplification limiting unit 120 is [-2.7V, 2.7V], and the corresponding analog voltage value of the second preset range after conversion by the conversion amplification limiting unit 120 is [-4.5V, 4.5V]. Specifically, the output limiting module 60 can also be understood as a software control logic, that is, a program is set on the servo control unit 110, so that the voltage instruction value output by the servo control unit 110 is within [-29000, 29000], and the corresponding analog voltage value is between [-4.5V, 4.5V], thereby improving the current limiting protection effect of the motor module 30 from the software.

[0040] It can be understood that the maximum analog voltage value input by the motor module 30 is within the range of [-4.5V, 4.5V], and the corresponding maximum driving current is within the range of [-4.5A, 4.5A]. The second preset range is determined according to the range of the maximum analog voltage value input by the motor module 30, and the first preset range is a warning range, which can be set as needed by those skilled in the art. Optionally, on the basis of the above embodiment, referring to Figure 2 The voltage instruction monitoring module 40 is further configured to acquire the voltage instruction value output by the servo control unit 110, and send a fault code to the servo control unit 110 when the voltage instruction value exceeds the first preset range. Specifically, the voltage instruction monitoring module 40 will monitor the voltage instruction value output by the servo control unit 110 in real time. When the voltage instruction value is detected to exceed the first preset range [-20000, 20000] at a single time, it indicates that it may be a normal fluctuation during work, and only a fault code is sent to the servo control unit 110 for storage and recording, without performing the related actions of cutting off the enablement and power supply of the motor module 30. Only when the first average value exceeds the first preset range within a plurality of first set times, a first control instruction is sent to the servo control unit 110, so that the voltage instruction value output by the servo control unit 110 under the first control instruction is 0, thereby ensuring that the motor module 30 does not work, and ensuring the accuracy of the warning protection of the rotary servo system.

[0041] Optionally, on the basis of the above embodiment, Figure 3 is a structural schematic diagram of another fault protection device of a rotary servo system provided by the embodiment of the present application. Referring to Figure 3The servo control module 10 further comprises a communication unit 130. The rotary servo system 01 further comprises a calculation module 70 and a power conversion module 100, the power conversion module 100 being electrically connected with the motor driving module 20 and used for power supply of the motor driving module 20. The voltage instruction monitoring module 40 is in communication connection with the calculation module 70 through the communication unit 130, and the calculation module 70 is electrically connected with the motor driving module 20. The voltage instruction monitoring module 40 is further used for sending a second control instruction to the calculation module 70 when the plurality of first average values all exceed the first preset range within the continuous plurality of first set time, so that the calculation module 70 cuts off the power supply of the power conversion module 100 to the motor driving module 20 according to the second control instruction, so that the motor module 30 does not work.

[0042] Specifically, as Figure 3As shown, the calculation module 70 can include a rotation control unit 710, a system calculation unit 720, a position reading unit 730, and a gyro signal reading unit 740. The gyro signal reading unit 740 is electrically connected to the gyro unit in the motor module 30, and is configured to read the gyro signal of the gyro unit. The position reading unit 730 is configured to read the rotation position of the motor module 30. The system calculation unit 720 is configured to process and calculate the information from the position reading unit 730 and the gyro signal reading unit 740, so as to obtain the position information of the motor module 30 that needs to be controlled, and send the position information to the rotation control unit 710. The rotation control unit 710 is configured to realize the calculation of the correction position loop and the speed loop, so as to obtain the rotation position information of the motor module 30, and send the rotation position information to the servo control unit 110. The servo control unit 110 is internally provided with an operation logic, and is configured to generate the voltage command value required for the motor module 30 to rotate to the rotation position information according to the rotation position information. It can be understood that the above-mentioned rotation control unit 710, system calculation unit 720, position reading unit 730, and gyro signal reading unit 740 are all configured to realize the normal control function of the motor module 30. In the embodiment of the present application, the calculation module 70 can also control whether the power conversion module 100 supplies power to the motor driving module 20. When the calculation module 70 controls the power conversion module 100 to supply power to the motor driving module 20, the driving current generated by the motor driving module 20 can be transmitted to the motor module 30. When the calculation module 70 cuts off the power supply of the power conversion module 100 to the motor driving module 20, the driving current generated by the motor driving module 20 cannot be transmitted to the motor module 30, and the motor module 30 does not work. Further, the voltage command monitoring module 40 is also configured to send a second control instruction to the calculation module 70 when the plurality of first average values all exceed the first preset range within the plurality of first set time, so that the calculation module 70 cuts off the power supply of the power conversion module 100 to the motor driving module 20 according to the second control instruction, so that the motor module 30 does not work. Thus, when the control loop of the rotary servo system has a problem, the protection action can be executed in time, and the reliability of the fault protection device is improved.

[0043] It should be noted that, as Figure 3 shown, the motor driving module 20 can include a motor driving unit and a current loop, so that the motor driving module 20 can generate a driving current according to the analog voltage value.

[0044] Optionally, on the basis of the above-mentioned embodiment, continuing to refer to Figure 3The fault protection device further comprises an angle measurement module 80 and an angular velocity monitoring module 90. The motor module 30 comprises a grating unit 310. The angle measurement module 80 is electrically connected with the grating unit 310, and is configured to measure the angular velocity of the motor module 30. The servo control module 10 further comprises a communication unit 130. The rotary servo system further comprises a calculation module 70 and a power conversion module 100, wherein the power conversion module 100 is electrically connected with the motor driving module 20, and is configured to supply power to the motor driving module 20. The angular velocity monitoring module 90 is electrically connected with the angle measurement module 80 and the calculation module 70 through the communication unit 130, and is configured to determine a second average value of a plurality of angular velocities measured by the angle measurement module 80 within a second set time, and send a third control instruction to the calculation module 70 when the second average value exceeds a third preset range within the second set time, so that the calculation module 70 cuts off the power supply of the power conversion module 100 to the motor driving module 20 according to the third control instruction, so that the motor module 30 does not work.

[0045] Specifically, the embodiment of the present application can not only provide early warning protection for the abnormality of the control loop of the rotary servo system, but also provide early warning protection for the angular velocity abnormality of the motor module 30. Specifically, the angle measurement module 80 is electrically connected with the grating unit 310 of the motor module 30, and is configured to measure the angular velocity of the motor module 30 in real time, and transmit the measured angular velocity to the angular velocity monitoring module 90 through the communication unit 130. The angular velocity monitoring module 90 obtains a plurality of angular velocities of the motor module 30 within a second set time (the second set time can be 100 ms), and calculates a second average value of the plurality of angular velocities within the second set time. If the second average value exceeds a third preset range (the third preset range includes [-90° / s, 90° / s]), it indicates that the angular velocity of the motor module 30 is abnormal, and a fault code is sent to the calculation module 70, so that the calculation module 70 cuts off the power supply of the power conversion module 100 to the motor driving module 20 according to the third control instruction. In the case that the power supply of the motor driving module 20 is cut off, the motor module 30 does not work, thereby realizing early warning protection of the motor module. The second set time and the number of angular velocities obtained are similar to the first set time and the number of voltage command values, which will not be described here.

[0046] It should be noted that the third preset range is the normal angle of the motor module 30 under normal operation, and the person skilled in the art can set it according to the specific scene and the type of the motor module 30.

[0047] It can be understood that, on the basis of the above-mentioned multiple embodiments, the rotary servo system further comprises a power conversion module 100. The power conversion module 100 is electrically connected with the motor driving module 20, and is used for power supply to the motor driving module 20. In this way, on the basis of the power conversion module 100 power supply to the motor driving module 20, the motor driving module 20 can generate driving current to drive the motor module 30 according to the analog voltage value, so as to ensure the normal work of the rotary servo system.

[0048] It should be noted that the above are only preferred embodiments of the present application and the principles of the technology used. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, re-adjustments, mutual combinations and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A fault protection device for a rotary servo system, characterized in that, The rotary servo system includes a servo control module, a motor drive module, and a motor module; The fault protection device includes a voltage command monitoring module, and the servo control module includes a servo control unit and a conversion amplification limiting unit; The voltage command monitoring module is electrically connected between the output terminal of the servo control unit and the input terminal of the conversion amplification and limiting unit; the motor drive module is electrically connected to both the conversion amplification and limiting unit and the motor module. The voltage command monitoring module is used to obtain the first average value of multiple voltage command values ​​output by the servo control unit within a first set time period. When multiple first average values ​​exceed a first preset range within multiple consecutive first set time periods, the module sends a fault code and a first control command to the servo control unit so that the voltage command value output by the servo control unit under the first control command is 0.

2. The fault protection device according to claim 1, characterized in that, The fault protection device further includes a diode clamping module, which is disposed between the output terminal of the conversion amplification and limiting unit and the input terminal of the motor drive module, and is used to limit the first voltage value output by the conversion amplification and limiting unit to the motor drive module within a first voltage range.

3. The fault protection device according to claim 2, characterized in that, The first voltage range includes [-4.5V, 4.5V].

4. The fault protection device according to claim 1, characterized in that, The fault protection device also includes an output limiting module; The output limiting module is electrically connected to the servo control unit and is used to limit the voltage command value output by the servo control unit to a second preset range, wherein the first preset range is within the second preset range.

5. The fault protection device according to claim 4, characterized in that, The first preset range includes [-20000, 20000]; The second preset range includes [-29000, 29000].

6. The fault protection device according to claim 1, characterized in that, The servo control module also includes a communication unit; The rotary servo system also includes a calculation module and a power conversion module. The power conversion module is electrically connected to the motor drive module and is used to supply power to the motor drive module. The voltage command monitoring module is communicatively connected to the calculation module through the communication unit, and the calculation module is electrically connected to the motor drive module. The voltage command monitoring module is further configured to send a second control command to the calculation module when multiple first average values ​​exceed a first preset range within multiple consecutive first set time periods, so that the calculation module cuts off the power supply from the power conversion module to the motor drive module according to the second control command, so that the motor module does not work.

7. The fault protection device according to claim 1, characterized in that, The voltage command monitoring module is also used to acquire the voltage command value output by the servo control unit, and send a fault code to the servo control unit when the voltage command value exceeds the first preset range.

8. The fault protection device according to claim 1, characterized in that, The fault protection device also includes an angle measurement module and an angular velocity monitoring module; The motor module includes a grating unit; The angle measurement module is electrically connected to the grating unit and is used to measure the angular velocity of the motor module; The servo control module also includes a communication unit; The rotary servo system also includes a calculation module and a power conversion module. The power conversion module is electrically connected to the motor drive module and is used to supply power to the motor drive module. The angular velocity monitoring module is electrically connected to the angle measurement module and the calculation module through the communication unit. It is used to determine the second average value of multiple angular velocities measured by the angle measurement module within a second set time period. When the second average value exceeds a third preset range within the second set time period, the module sends a third control command to the calculation module so that the calculation module cuts off the power supply from the power conversion module to the motor drive module according to the third control command, so that the motor module does not work.

9. The fault protection device according to claim 8, characterized in that, The third preset range includes [-90° / s, 90° / s].

10. The fault protection device according to claim 1, characterized in that, The rotary servo system also includes a power conversion module; The power conversion module is electrically connected to the motor drive module and is used to supply power to the motor drive module.

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