A control system based on double-shaft electromagnetic brake driving and circuit thereof

Abstract

This invention discloses a control system and its circuit based on dual-axis electromagnetic brake drive, including a power supply and protection unit, a dual-axis brake drive unit, a dual-axis brake detection unit, and a drive isolation unit. Through the synergy and combination of the above units, four key technologies are formed: integrated symmetrical dual-axis drive, dual-signal redundant enable logic, isolated precision monitoring, and multi-level anti-interference protection. These technologies work together to overcome bottlenecks and achieve the goals of high-precision, high-reliability, and high-safety control. Its advantages include: (1) The symmetrical dual-channel architecture significantly reduces the timing deviation of dual-axis braking, improving positioning accuracy and equipment stability; (2) The innovative redundant logic can achieve PLD-level safety and eliminate the risk of over-cutting; (3) The use of an isolated detection unit greatly improves voltage sampling accuracy and anti-interference; (4) The circuit structure of the multi-level protection network is adaptable to more complex industrial environments.

Description

Technical Field

[0001] This invention relates to the field of industrial braking control, and in particular to a control system and circuit based on a dual-axis electromagnetic brake drive. Background Technology

[0002] In recent years, with the advancement of science and technology, the CNC automation industry has also experienced rapid development. The emergence of CNC systems, especially high-power 5-axis CNC systems, has greatly improved production efficiency. High-power drives often require high-power servo motors. The inertial jitter and back electromotive force when a high-power servo motor stops are very harmful to the system, and these inertial jitter and back electromotive force are often fatal to machine tools. Therefore, designing a precise control motor drive and status detection system is crucial.

[0003] In the existing technology, electromagnetic brake control schemes for dual-axis equipment have been widely used in the field of industrial automation equipment. However, they still have many defects in terms of drive architecture, logic control, status monitoring and protection anti-interference design, making it difficult to meet the requirements of high precision and high reliability in industrial applications.

[0004] Existing technologies still have many shortcomings in terms of drive architecture, logic control, status monitoring, and protection and anti-interference design, making it difficult to meet the requirements of high-precision and high-reliability industrial applications. Specifically, these shortcomings are manifested in the following aspects: 1) The splicing of the drive architecture causes synchronization deviation, affecting accuracy and accelerating wear; 2) A single logic control can easily lead to over-cutting risks; 3) Lack of status monitoring makes fault diagnosis difficult; 4) Insufficient protection against interference makes MOSFETs vulnerable to damage and difficult to adapt to complex industrial environments.

[0005] In summary, existing dual-axis electromagnetic brake control schemes have significant shortcomings in terms of architectural coordination, logic redundancy, monitoring accuracy, and environmental adaptability. There is an urgent need for a dual-axis electromagnetic brake control circuit with high reliability and high safety to solve these problems. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention proposes a control system and its circuit based on dual-axis electromagnetic brake drive, which can achieve high-precision, high-reliability, and high-safety control objectives while avoiding many defects.

[0007] The technical solution used in this invention is as follows: a control system and circuit based on a dual-axis electromagnetic brake drive, the control system including a power supply and protection unit (100), a dual-axis brake drive unit (200), a dual-axis brake detection unit (300), and a drive isolation unit (400); the power supply and protection unit (100) is used to provide power and voltage regulation protection for the dual-axis brake drive unit (200), the dual-axis brake detection unit (300), and the drive isolation unit (400); the dual-axis brake drive unit (200) is used to control the braking and releasing actions of the electromagnetic brake motor; the brake detection unit (300) is used to detect the current braking state; the drive isolation unit (400) is used for internal isolation of the dual-axis brake drive unit.

[0008] Furthermore, the dual-axis brake drive unit (200) further includes a first electromagnetic brake drive unit (201) and a second electromagnetic brake drive unit (202); the brake detection unit (300) further includes a first brake detection unit (301) and a second brake detection unit (302).

[0009] Furthermore, the first electromagnetic brake drive unit (201) is connected to the first brake detection unit (301); the first brake detection unit (301) feeds back the detected braking state to the first electromagnetic brake drive unit (201); the second brake detection unit (302) feeds back the detected braking state to the second electromagnetic brake drive unit (202).

[0010] Furthermore, the drive blocking unit (400) is used to block the first electromagnetic brake drive unit (201) from the second electromagnetic brake drive unit (202).

[0011] Furthermore, the power supply and protection unit (100) also includes a first resistor R1, a second resistor R2, a first capacitor C1, a second capacitor C2, a third capacitor C3, a twelfth capacitor C12, a first optocoupler OP1, a first Zener diode Z1, a second Zener diode Z2, a first interface terminal SensVbr, a second interface terminal 24V, and a third interface terminal 0V; the first interface terminal SensVbr is the signal input of the optocoupler; the first end of the first resistor R1 is connected to the VDD power supply; the second end of the first resistor R1, the first end of the first capacitor C1, and the first end of the first optocoupler OP1 are connected to the first interface terminal SensVbr; the second end of the first capacitor C1 is connected to the second end of the first optocoupler OP1, and together they are connected to the first interface terminal SensVbr. Ground; the third terminal of the first optocoupler OP1, the first terminal of the second Zener diode Z2, the first terminal of the second capacitor C2, and the first terminal of the third capacitor C3 are connected to the second interface terminal 24V, and the second terminal of the third capacitor C3 is grounded; the fourth terminal of the first optocoupler OP1 is connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is connected to the first terminal of the first Zener diode Z1; the second terminals of the first Zener diode Z1, the second terminals of the second Zener diode Z2, and the second terminal of the second capacitor C2 are connected to the third interface terminal 0V; the first terminal of the twelfth capacitor C12 is connected to the second interface terminal 24V, and the second terminal of the twelfth capacitor C12 is connected to the third interface terminal 0V.

[0012] Furthermore, the first electromagnetic brake drive unit 201 also includes a third Zener diode Z3, a fourth Zener diode Z4, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first diode D1, a first transistor Q1, a first MOSFET Q2, a first signal terminal GBr1, a second signal terminal DesBr1, a fourth interface terminal J1-1, and a fifth interface terminal J1-2; the first signal terminal GBr1 is the first motor braking state. The second signal terminal DesBr1 is the first hardware and software debugging test point; the first terminal of the third Zener diode Z3, the first terminal of the third resistor R3, the emitter of the first transistor Q1, the first terminal of the fifth capacitor C5, the first terminal of the sixth capacitor C6, the first terminal of the eighth resistor R8, and the first terminal of the ninth resistor R9 are connected to the second interface terminal 24V; the second terminal of the third Zener diode Z3, the second terminal of the third resistor R3, the collector of the first transistor Q1, the gate of the first MOSFET Q2, and the first terminal of the fourth resistor R4 are connected to the second interface terminal 24V. Connections: The second terminal of the fourth resistor R4, the first terminal of the fifth resistor R5, and the first terminal of the fourth capacitor C4 are connected; the base of the first transistor Q1, the first terminal of the fourth Zener diode Z4, the second terminal of the sixth capacitor C6, the second terminal of the eighth resistor R8, and the first terminal of the tenth resistor R10 are connected; the second terminal of the fourth Zener diode Z4, the first terminal of the sixth resistor R6, the first terminal of the seventh resistor R7, and the first terminal of the first diode D1 are connected to the second signal terminal DesBr1; the second terminal of the fifth resistor R5, the first terminal of the sixth resistor R6, and the first terminal of the fourth resistor R4 are connected; The second terminal of the first capacitor C4 and the second terminal of the fourth capacitor C4 are connected to the first signal terminal GBr1; the second terminal of the seventh resistor R7 is connected to the first terminal of the first diode D1; the drain of the first MOS transistor Q2 and the second terminal of the ninth resistor R9 are connected to the second terminal of the tenth resistor R10; the source of the first MOS transistor Q2 and the second terminal of the first diode D1 are connected to the fifth interface terminal J1-2; the fourth interface terminal J1-1 is connected to the third interface terminal 0V; the fourth interface terminal J1-1 and the fifth interface terminal J1-2 are respectively connected to the first motor.

[0013] Furthermore, the second electromagnetic brake drive unit 202 also includes a sixth Zener diode Z6, a seventh Zener diode Z7, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, an eighth capacitor C8, a ninth capacitor C9, a tenth capacitor C10, a third diode D3, a second transistor Q3, a second MOSFET Q4, a third signal terminal GBr2, a fourth signal terminal DesBr2, a sixth interface terminal J2-2, and a seventh interface terminal J2-1; the third signal terminal GBr2 is the second Zener diode. The engine brake status detection signal; the fourth signal terminal DesBr2 is the second software and hardware debugging test point; the first terminal of the sixth Zener diode Z6, the first terminal of the thirteenth resistor R13, the emitter of the second transistor Q3, the first terminal of the ninth capacitor C9, the first terminal of the tenth capacitor C10, the first terminal of the eighteenth resistor R18, and the first terminal of the nineteenth resistor R19 are connected to the second interface terminal 24V; the second terminal of the sixth Zener diode Z6, the second terminal of the thirteenth resistor R13, the collector of the first transistor Q1, the gate of the second MOSFET Q4, and the fourteenth resistor R14 are connected to the second interface terminal 24V. The first terminal is connected; the second terminal of the fourteenth resistor R14, the first terminal of the fifteenth resistor R15, and the first terminal of the eighth capacitor C8 are connected; the base of the second transistor Q3, the first terminal of the seventh Zener diode Z7, the second terminal of the tenth capacitor C10, the second terminal of the eighteenth resistor R18, and the first terminal of the twentieth resistor R20 are connected; the second terminal of the seventh Zener diode Z7, the first terminal of the sixteenth resistor R16, the first terminal of the seventeenth resistor R17, and the first terminal of the third diode D3 are connected to the fourth signal terminal DesBr2; the second terminal of the fifteenth resistor R15, the first terminal of the fourth resistor R14, the first terminal of the fifteenth resistor R15, and the first terminal of the eighth capacitor C8 are connected; the base of the second transistor Q3, the first terminal of the seventh Zener diode Z7, the second terminal of the tenth capacitor C10, the second terminal of the eighteenth resistor R18, and the first terminal of the twentieth resistor R20 are connected; the second terminal of the fifteenth resistor R15, the first terminal of the seventh Zener diode Z7, the first terminal of the sixteenth resistor R16, the first terminal of the seventeenth resistor R17, and the first terminal of the third diode D3 are connected to the fourth signal terminal DesBr2; the second terminal of the fifteenth resistor R15, the first terminal of the seventh Zener diode Z7, the first terminal of the fifteenth resistor R15, and the first terminal of the eighth capacitor C8 are connected; the base of the second transistor Q3, the first terminal of the seventh Zener diode Z7, the first terminal of the sixteenth resistor R16, the first terminal of the seventeenth resistor R17, and the first terminal of the tenth capacitor C10 are connected to the fourth signal terminal DesBr2; the second terminal of the fifteenth resistor R15, the first terminal of the seventh Zener diode Z7, the first terminal of the seventh Zener diode Z7, the first terminal The second terminal of the sixteenth resistor R16 and the second terminal of the eighth capacitor C8 are connected to the third signal terminal GBr2; the second terminal of the seventeenth resistor R17 is connected to the first terminal of the third diode D3; the drain of the second MOS transistor Q4 and the second terminal of the nineteenth resistor R19 are connected to the second terminal of the twentieth resistor R20; the source of the second MOS transistor Q4 and the second terminal of the third diode D3 are connected to the sixth interface terminal J2-2; the seventh interface terminal J2-1 is connected to the third interface terminal 0V; the sixth interface terminal J2-2 and the seventh interface terminal J2-1 are respectively connected to the second motor.

[0014] Furthermore, the first brake detection unit 301 also includes a second diode D2, a second optocoupler OP2, a fifth Zener diode Z5, an eleventh resistor R11, a twelfth resistor R12, a seventh capacitor C7, and an eighth interface terminal SensBr1; the first terminal of the second diode D2 and the first terminal of the second optocoupler OP2 are connected to the second interface terminal 24V; the second terminal of the second diode D2 and the second terminal of the second optocoupler OP2 are connected to the first terminal of the eleventh resistor R11; the first terminal of the fifth Zener diode Z5 is connected to the second terminal of the eleventh resistor R11, and the second terminal of the fifth Zener diode Z5 is connected to the fifth interface terminal J1-2; the third terminal of the second optocoupler OP2, the first terminal of the twelfth resistor R12, and the first terminal of the seventh capacitor C7 are connected to the eighth interface terminal SensBr1, and the second terminal of the twelfth resistor R12 is connected to the VDD power supply; the fourth terminal of the second optocoupler OP2 is connected to the second terminal of the seventh capacitor C7, and both are grounded.

[0015] Furthermore, the second brake detection unit 302 also includes a fourth diode D4, a third optocoupler OP3, an eighth Zener diode Z8, a twenty-first resistor R21, a twenty-second resistor R22, an eleventh capacitor C11, and a ninth interface terminal SensBr2; the first terminal of the fourth diode D4 and the first terminal of the third optocoupler OP3 are connected to the second interface terminal 24V; the second terminal of the fourth diode D4 and the second terminal of the third optocoupler OP3 are connected to the first terminal of the twenty-first resistor R21; the first terminal of the eighth Zener diode Z8 is connected to the second terminal of the twenty-first resistor R21, and the second terminal of the eighth Zener diode Z8 is connected to the sixth interface terminal J2-2; the third terminal of the third optocoupler OP3, the first terminal of the twenty-second resistor R22, and the first terminal of the eleventh capacitor C11 are connected to the ninth interface terminal SensBr2, and the second terminal of the twenty-second resistor R22 is connected to the VDD power supply; the fourth terminal of the third optocoupler OP3 is connected to the second terminal of the eleventh capacitor C11, and they are both grounded.

[0016] Furthermore, the driving isolation unit also includes a fifth diode D5, a sixth diode D6, and a first variable resistor VR1; the first end of the fifth diode D5 is connected to the fourth interface terminal J1-2; the first end of the fifth diode D5 is connected to the sixth interface terminal J2-2; the fifth interface terminal J1-1 and the seventh interface terminal J2-1 are connected to the first end of the first variable resistor VR1; the second end of the fifth diode D5 and the second end of the sixth diode D6 are connected to the second end of the first variable resistor VR1.

[0017] The beneficial effects of this invention compared with the prior art are as follows: By combining the power supply and protection unit, the dual-axis brake drive unit, the dual-axis brake detection unit and the drive isolation unit, four key technologies are formed: integrated symmetrical dual-axis drive, dual-signal redundant enable logic, isolated precision monitoring and multi-level anti-interference protection. These technologies work together to overcome bottlenecks and achieve the goal of high precision, high reliability and high safety control. Its advantages include: (1) The symmetrical dual-channel architecture greatly reduces the timing deviation of the dual-axis brake, improving positioning accuracy and equipment stability; (2) The innovative redundant logic can achieve PLD-level safety and eliminate the risk of over-cutting; (3) The use of the isolated detection unit greatly improves the voltage sampling accuracy and anti-interference; (4) The circuit structure of the multi-level protection network is adapted to more complex industrial environments. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a system based on dual-axis brake drive according to the present invention.

[0019] Figure 2 This is a schematic diagram of a further embodiment of the present invention based on a dual-axis brake drive system.

[0020] Figure 3 This is a further circuit diagram of the present invention based on a dual-axis brake drive.

[0021] Reference numerals: 100-Power supply and protection unit; 200-Brake drive unit; 300-Brake detection unit; 400-Drive isolation unit; 201-First brake drive unit; 202-Second brake drive unit; 301-First brake detection unit; 302-Second brake detection unit. Detailed Implementation

[0022] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] The present application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the present application can be combined with each other.

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention. The present invention will now be described in detail with reference to the accompanying drawings: A control system and its circuit based on dual-axis electromagnetic brake drive, such as... Figure 1 As shown, the control system includes a power supply and protection unit 100, a dual-axis brake drive unit 200, a dual-axis brake detection unit 300, and a drive isolation unit 400.

[0025] The power supply and protection unit 100 is used to provide power supply and voltage regulation protection for the dual-axis brake drive unit 200, the dual-axis brake detection unit 300 and the drive isolation unit 400.

[0026] The brake drive unit 200 is used to control the braking and releasing actions of the electromagnetic brake motor, ensuring high precision, high safety, and high reliability in the operation of the dual-axis equipment.

[0027] The brake detection unit 300 is used to detect the current braking status. By feeding back the current braking status, the control system knows whether the braking action is normal.

[0028] The drive isolation unit 400 is used for internal isolation of the dual-axis brake drive unit. The dual-axis brake drive unit consists of two electromagnetic brake drive units. The drive isolation unit is used to isolate the two electromagnetic brake drive units to prevent them from interfering with or affecting each other.

[0029] like Figure 2 As shown, the dual-axis brake drive unit 200 also includes a first electromagnetic brake drive unit 201 and a second electromagnetic brake drive unit 202.

[0030] like Figure 2 As shown, the brake detection unit 300 also includes a first brake detection unit 301 and a second brake detection unit 302.

[0031] The first electromagnetic brake drive unit 201 is connected to the first brake detection unit 301.

[0032] The first brake detection unit 301 feeds back the detected braking status to the first electromagnetic brake drive unit 201.

[0033] The second brake detection unit 302 feeds back the detected braking state to the second electromagnetic brake drive unit 202.

[0034] Understandably, this system adopts a modular architecture with a one-to-one correspondence between "drive-detection". The first electromagnetic brake drive unit 201 and the first brake detection unit 301, and the second electromagnetic brake drive unit 202 and the second brake detection unit 302 respectively constitute independent closed-loop control branches, which can realize the synchronous coordination of dual-axis movements and also support independent debugging and operation of a single axis, greatly improving the flexibility and maintainability of the system.

[0035] It should be noted that the drive signals (GBr1 / GBr2) of the dual-axis brake drive unit must be output by the same controller, and the timing deviation of the two signals must be controlled within 10ms to ensure the synchronization of the dual-axis brake action and avoid equipment operation deviation caused by asynchronous drive commands.

[0036] The drive isolation unit 400 is used to isolate the first electromagnetic brake drive unit 201 from the second electromagnetic brake drive unit 202.

[0037] Understandably, the core function of the drive isolation unit 400 is to achieve electrical isolation of the dual-axis drive circuit. It utilizes the unidirectional conduction characteristic of the diode to connect with the varistor (the varistor's function is to resist external electromagnetic interference and ensure the accurate gate voltage of the MOSFET Q4) to cut off the current feedback path between the two-axis drive circuits, thus eliminating the interference of a single-axis drive anomaly to the other axis from the hardware level.

[0038] It should be noted that the drive isolation unit 400 does not require additional control signals and is a purely hardware passive isolation structure. It can still maintain the isolation effect in extreme scenarios such as system power failure and controller failure, without affecting the safety brake function of the equipment.

[0039] like Figure 3 As shown, the power supply and protection unit 100 also includes a first resistor R1, a second resistor R2, a first capacitor C1, a second capacitor C2, a third capacitor C3, a twelfth capacitor C12, a first optocoupler OP1, a first Zener diode Z1, a second Zener diode Z2, a first interface terminal SensVbr, a second interface terminal 24V, and a third interface terminal 0V.

[0040] The first interface terminal, SensVbr, is the optocoupler signal input.

[0041] The first terminal of the first resistor R1 is connected to the VDD power supply.

[0042] The second end of the first resistor R1, the first end of the first capacitor C1, the first end of the first optocoupler OP1, and the first interface terminal SensVbr are connected.

[0043] The second terminal of the first capacitor C1 is connected to the second terminal of the first optocoupler OP1, and both are grounded.

[0044] The third terminal of the first optocoupler OP1, the first terminal of the second Zener diode Z2, the first terminal of the second capacitor C2, and the first terminal of the third capacitor C3 are connected to the second interface terminal 24V, and the second terminal of the third capacitor C3 is grounded.

[0045] The fourth terminal of the first optocoupler OP1 is connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is connected to the first terminal of the first Zener diode Z1.

[0046] The second terminal of the first Zener diode Z1, the second terminal of the second Zener diode Z2, and the second terminal of the second capacitor C2 are connected to the third interface terminal 0V.

[0047] The first terminal of the twelfth capacitor C12 is connected to the second interface terminal 24V, and the second terminal of the twelfth capacitor C12 is connected to the third interface terminal 0V.

[0048] Understandably, the SensVbr detection point is used to check whether the power system of the entire brake module is normal, thereby determining whether the brakes can operate normally (e.g., whether the voltage is up to standard, whether there is an open circuit / short circuit). When the brake power supply is normal, the optocoupler OP1LED is turned on and the signal is low. When the brake power supply is abnormal, the optocoupler OP1LED is not turned on and the signal is high. At this time, the CPU alarms and displays it on the screen, and the entire system cannot work normally.

[0049] It should be noted that the working principle of the power supply and protection unit 100 is as follows: The core function of this unit is to achieve power supply voltage regulation and sensor signal isolation. The 24V power supply, after being filtered by the second capacitor C2, the third capacitor C3, and the twelfth capacitor C12, outputs a stable DC voltage to power the entire system. The first Zener diode Z1 and the second Zener diode Z2 form a dual voltage clamping circuit, limiting the voltage at critical nodes within a safe range to prevent voltage surges from damaging components. Simultaneously, the optocoupler sensor signal output from the SensVbr interface, after being pulled up by the first resistor R1 and filtered by the first capacitor C1, is electrically isolated through the first optocoupler OP1, preventing external sensor signals from interfering with the internal circuitry. The isolated signal can then be used for subsequent system status determination.

[0050] like Figure 3As shown, the first electromagnetic brake drive unit 201 also includes a third Zener diode Z3, a fourth Zener diode Z4, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first diode D1, a first transistor Q1, a first MOSFET Q2, a first signal terminal GBr1, a second signal terminal DesBr1, a fourth interface terminal J1-1, and a fifth interface terminal J1-2.

[0051] The first signal terminal GBr1 is the first motor braking status detection signal.

[0052] The second signal terminal DesBr1 is the first software and hardware debugging test point.

[0053] The first terminal of the third Zener diode Z3, the first terminal of the third resistor R3, the emitter of the first transistor Q1, the first terminal of the fifth capacitor C5, the first terminal of the sixth capacitor C6, the first terminal of the eighth resistor R8, and the first terminal of the ninth resistor R9 are connected to the second interface terminal 24V.

[0054] The second terminal of the third Zener diode Z3, the second terminal of the third resistor R3, the collector of the first transistor Q1, the gate of the first MOSFET Q2, and the first terminal of the fourth resistor R4 are connected.

[0055] The second end of the fourth resistor R4, the first end of the fifth resistor R5, and the first end of the fourth capacitor C4 are connected.

[0056] The base of the first transistor Q1, the first terminal of the fourth Zener diode Z4, the second terminal of the sixth capacitor C6, the second terminal of the eighth resistor R8, and the first terminal of the tenth resistor R10 are connected.

[0057] The second terminal of the fourth Zener diode Z4, the first terminal of the sixth resistor R6, the first terminal of the seventh resistor R7, and the first terminal of the first diode D1 are connected to the second signal terminal DesBr1.

[0058] The second end of the fifth resistor R5, the second end of the sixth resistor R6, and the second end of the fourth capacitor C4 are connected to the first signal terminal GBr1.

[0059] The second end of the seventh resistor R7 is connected to the first end of the first diode D1.

[0060] The drain of the first MOS transistor Q2, the second terminal of the ninth resistor R9, and the second terminal of the tenth resistor R10 are connected.

[0061] The source of the first MOS transistor Q2 and the second terminal of the first diode D1 are connected to the fifth interface terminal J1-2.

[0062] The fourth interface terminal J1-1 is connected to the third interface terminal OV.

[0063] The fourth interface terminal J1-1 and the fifth interface terminal J1-2 are respectively connected to the first motor.

[0064] Understandably, the test point DesBr1 is used for later software and hardware debugging and repair.

[0065] Understandably, GBr1 is used to drive the motor's braking state. When this signal is high (Q2 is on), the motor is in a released state and can rotate forward. When this signal is low (Q2 is off), the motor is in a braked state and cannot rotate.

[0066] It should be noted that the working principle of the first electromagnetic brake drive unit 201 is as follows: This unit uses signal logic control to switch between "release" and "hold" modes for the electromagnetic brake. In the brake release state: when GBr1 (enable signal) and DesBr1 (drive signal) are at valid input levels, the fourth Zener diode Z4 clamps the base voltage, the first transistor Q1 conducts, and subsequently drives the first MOSFET Q2 to turn on. The 24V power supply then supplies power to the brake coil (connected to interfaces J1-1 and J1-2) via the MOSFET, releasing the electromagnetic brake. In the brake hold state: when GBr1 or DesBr1 fails, the first transistor Q1 is cut off, the MOSFET Q2 is turned off, the brake coil is de-energized, and the electromagnetic brake resets and holds. The third Zener diode Z3 and the fourth Zener diode Z4 are used to clamp the gate voltage of the transistor and MOSFET to prevent overvoltage damage; the first diode D1 is a freewheeling diode that absorbs the reverse electromotive force generated when the brake coil is de-energized, suppressing electromagnetic noise; the fourth capacitor C4, the fifth capacitor C5, and the sixth capacitor C6 form a filter network to reduce the impact of signal and power fluctuations on the drive unit.

[0067] like Figure 3 As shown, the second electromagnetic brake drive unit 202 also includes a sixth Zener diode Z6, a seventh Zener diode Z7, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, an eighth capacitor C8, a ninth capacitor C9, a tenth capacitor C10, a third diode D3, a second transistor Q3, a second MOSFET Q4, a third signal terminal GBr2, a fourth signal terminal DesBr2, a sixth interface terminal J2-2, and a seventh interface terminal J2-1.

[0068] The third signal terminal GBr2 is the second motor braking status detection signal.

[0069] The fourth signal terminal DesBr2 is the second software and hardware debugging test point.

[0070] The first terminal of the sixth Zener diode Z6, the first terminal of the thirteenth resistor R13, the emitter of the second transistor Q3, the first terminal of the ninth capacitor C9, the first terminal of the tenth capacitor C10, the first terminal of the eighteenth resistor R18, and the first terminal of the nineteenth resistor R19 are connected to the second interface terminal 24V.

[0071] The second terminal of the sixth Zener diode Z6, the second terminal of the thirteenth resistor R13, the collector of the first transistor Q1, the gate of the second MOSFET Q4, and the first terminal of the fourteenth resistor R14 are connected.

[0072] The second end of the fourteenth resistor R14 and the first end of the fifteenth resistor R15 are connected to the first end of the eighth capacitor C8.

[0073] The base of the second transistor Q3, the first terminal of the seventh Zener diode Z7, the second terminal of the tenth capacitor C10, the second terminal of the eighteenth resistor R18, and the first terminal of the twentieth resistor R20 are connected.

[0074] The second terminal of the seventh Zener diode Z7, the first terminal of the sixteenth resistor R16, the first terminal of the seventeenth resistor R17, the first terminal of the third diode D3, and the fourth signal terminal DesBr2 are connected.

[0075] The second terminal of the fifteenth resistor R15, the second terminal of the sixteenth resistor R16, and the second terminal of the eighth capacitor C8 are connected to the third signal terminal GBr2.

[0076] The second terminal of the seventeenth resistor R17 is connected to the first terminal of the third diode D3.

[0077] The drain of the second MOS transistor Q4, the second terminal of the nineteenth resistor R19, and the second terminal of the twentieth resistor R20 are connected.

[0078] The source of the second MOS transistor Q4 and the second terminal of the third diode D3 are connected to the sixth interface terminal J2-2.

[0079] The seventh interface terminal J2-1 is connected to the third interface terminal OV.

[0080] The sixth interface terminal J2-2 and the seventh interface terminal J2-1 are respectively connected to the second motor.

[0081] Understandably, the DesBr2 test point is used for later software and hardware debugging and repair.

[0082] Understandably, GBr2 is used to drive the motor's braking state. When this signal is high (Q4 is on), the motor is in the released state and can rotate forward. When this signal is low (Q4 is off), the motor is in the braked state and cannot rotate.

[0083] It should be noted that the working principle of the second electromagnetic brake drive unit 202 is as follows: This unit and the first electromagnetic brake drive unit 201 are symmetrically designed and operate with identical logic. GBr2 (enable signal) and DesBr2 (drive signal) work together to control the conduction / cutoff of the second transistor Q3 and the second MOSFET Q4, thereby powering on and off the second brake coil, and ultimately releasing and engaging the second axle brake. The sixth Zener diode Z6 and the seventh Zener diode Z7 provide voltage clamping protection, while the third diode D3 absorbs the reverse electromotive force. It is important to note that the drive signals of this unit and the first electromagnetic brake drive unit 201 must be synchronized to ensure that the deviation in the dual-axle brake action is less than 10ms.

[0084] like Figure 3 As shown, the first brake detection unit 301 also includes a second diode D2, a second optocoupler OP2, a fifth Zener diode Z5, an eleventh resistor R11, a twelfth resistor R12, a seventh capacitor C7, and an eighth interface terminal SensBr1.

[0085] The eighth interface terminal, SensBr1, is the signal acquisition terminal of the first brake coil.

[0086] The first terminal of the second diode D2 and the first terminal of the second optocoupler OP2 are connected to the second interface terminal 24V.

[0087] The second terminal of the second diode D2 and the second terminal of the second optocoupler OP2 are connected to the first terminal of the eleventh resistor R11.

[0088] The first terminal of the fifth Zener diode Z5 is connected to the second terminal of the eleventh resistor R11, and the second terminal of the fifth Zener diode Z5 is connected to the fifth interface terminal J1-2.

[0089] The third terminal of the second optocoupler OP2, the first terminal of the twelfth resistor R12, and the first terminal of the seventh capacitor C7 are connected to the eighth interface terminal SensBr1, and the second terminal of the twelfth resistor R12 is connected to the VDD power supply.

[0090] The fourth terminal of the second optocoupler OP2 is connected to the second terminal of the seventh capacitor C7, and both are grounded.

[0091] Understandably, the SensVB1 detection point is used to collect the voltage signal of the brake coil. After the signal is processed by the operational amplifier, the output status feedback is used to determine whether the braking function can operate normally (such as whether the voltage is up to standard, whether there is an open circuit / short circuit).

[0092] It should be noted that the working principle of the first brake detection unit 301 is as follows: This unit is used to detect the operating voltage of the first axle brake coil in real time to determine the braking status. The 24V power supply, after being current-limited by the second diode D2, is input to the second optocoupler OP2 on one side and stepped down by the eleventh resistor R11 on the other. The fifth Zener diode Z5 clamps the detection voltage threshold. When the brake coil is energized (released state), the voltage at interface J1-2 reaches the preset threshold, the fifth Zener diode Z5 conducts, and the second optocoupler OP2 is triggered. Its output is pulled up by the twelfth resistor R12 and filtered by the seventh capacitor C7 before outputting a valid detection signal to the SensBr1 signal terminal. When the brake coil is de-energized (engaged state), Z5 is cut off, the optocoupler OP2 is turned off, and SensBr1 outputs an invalid signal. The entire detection process is electrically isolated through optocouplers, providing strong anti-interference capabilities and a sampling accuracy of ±2%.

[0093] like Figure 3 As shown, the second brake detection unit 302 also includes a fourth diode D4, a third optocoupler OP3, an eighth Zener diode Z8, a twenty-first resistor R21, a twenty-second resistor R22, an eleventh capacitor C11, and a ninth interface terminal SensBr2.

[0094] The ninth interface terminal, SensBr2, is the signal acquisition terminal for the second brake coil.

[0095] The first terminal of the fourth diode D4 and the first terminal of the third optocoupler OP3 are connected to the second interface terminal 24V.

[0096] The second terminal of the fourth diode D4, the second terminal of the third optocoupler OP3, and the first terminal of the twentieth eleventh resistor R21 are connected.

[0097] The first terminal of the eighth Zener diode Z8 is connected to the second terminal of the twenty-first resistor R21, and the second terminal of the eighth Zener diode Z8 is connected to the sixth interface terminal J2-2.

[0098] The third terminal of the third optocoupler OP3, the first terminal of the twentieth resistor R22, and the first terminal of the eleventh capacitor C11 are connected to the ninth interface terminal SensBr2, and the second terminal of the twentieth resistor R22 is connected to the VDD power supply.

[0099] The fourth terminal of the third optocoupler OP3 is connected to the second terminal of the eleventh capacitor C11, and both are grounded.

[0100] Understandably, the SensVB2 detection point is used to collect the voltage signal of the brake coil. After the signal is processed by the operational amplifier, the output status feedback is used to determine whether the braking function can operate normally (such as whether the voltage is up to standard, whether there is an open circuit / short circuit).

[0101] It should be noted that the working principle of the second brake detection unit 302 is as follows: This unit is symmetrically designed with the first brake detection unit 301, and the detection logic is consistent. The 24V power supply forms a detection circuit through the fourth diode D4, the twenty-first resistor R21, and the eighth Zener diode Z8, which monitors the voltage of the J2-2 interface in real time. When the brake coil is energized, the eighth Zener diode Z8 conducts, the third optocoupler OP3 is triggered, and SensBr2 outputs a valid signal; when the brake coil is de-energized, the optocoupler is turned off, and SensBr2 outputs an invalid signal.

[0102] like Figure 3 As shown, the drive blocking unit also includes a fifth diode D5, a sixth diode D6, and a first variable resistor VR1.

[0103] The first terminal of the fifth diode D5 is connected to the fourth interface terminal J1-2.

[0104] The first terminal of the sixth diode D6 is connected to the sixth interface terminal J2-2.

[0105] The fifth interface terminal J1-1 and the seventh interface terminal J2-1 are connected to the first terminal of the first variable resistor VR1.

[0106] The second terminal of the fifth diode D5 and the second terminal of the sixth diode D6 are connected to the second terminal of the first variable resistor VR1.

[0107] It should be noted that the working principle of the drive barrier unit is as follows: This unit achieves electrical isolation of the dual-axis drive circuit through the unidirectional conduction characteristic of diodes and the adjustable impedance of a variable resistor. The fifth diode D5 and the sixth diode D6 are connected to interfaces J1-2 and J2-2 respectively, which can block the current feedback between the two axis brake coils, preventing current fluctuations on one axis from interfering with the other. The first variable resistor VR1 can adjust the circuit impedance to adapt to the current parameters of different brake coil specifications, optimizing the synchronization of dual-axis braking actions. When the dual-axis braking actions are inconsistent, the resistance value of VR1 can be finely adjusted to balance the current in the two axis circuits, further reducing the timing deviation of the dual-axis actions.

[0108] It should be noted that the VDD power supply is 3.3V.

[0109] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platform, or the corresponding software can be implemented by hardware platform.

[0110] Those skilled in the art will understand that the accompanying drawings are merely schematic diagrams of a preferred embodiment, and the modules or processes shown in the drawings are not necessarily essential for implementing this application. Those skilled in the art will understand that the modules in the apparatus of the embodiment can be distributed within the apparatus of the embodiment as described, or can be modified to be located in one or more apparatuses different from this embodiment. The modules of the above-described embodiment can be combined into one module, or further divided into multiple sub-modules.

[0111] The serial numbers in this application are for descriptive purposes only and do not represent the superiority or inferiority of any particular implementation scenario. The above disclosures are merely a few specific implementation scenarios of this application; however, this application is not limited thereto, and any variations conceived by those skilled in the art should fall within the protection scope of this application.

Claims

1. A control system and circuit based on a dual-axis electromagnetic brake drive, characterized in that, The control system includes a power supply and protection unit (100), a dual-axis brake drive unit (200), a dual-axis brake detection unit (300), and a drive isolation unit (400). The power supply and protection unit (100) is used to provide power supply and voltage regulation protection for the dual-axis brake drive unit (200), the dual-axis brake detection unit (300) and the drive isolation unit (400); The dual-axis brake drive unit (200) is used to control the braking and release actions of the electromagnetic brake motor; The dual-axis brake detection unit (300) is used to detect the current braking status; The drive isolation unit (400) is used for internal isolation of the dual-axis brake drive unit.

2. The control system and circuit based on a dual-axis electromagnetic brake drive according to claim 1, characterized in that, The dual-axis brake drive unit (200) further includes a first electromagnetic brake drive unit (201) and a second electromagnetic brake drive unit (202). The brake detection unit (300) further includes a first brake detection unit (301) and a second brake detection unit (302).

3. The control system and circuit based on dual-axis electromagnetic brake drive according to claim 2, characterized in that, The first electromagnetic brake drive unit (201) is connected to the first brake detection unit (301); The first brake detection unit (301) feeds back the detected brake state to the first electromagnetic brake drive unit (201). The second brake detection unit (302) feeds back the detected braking state to the second electromagnetic brake drive unit (202).

4. The control system and circuit based on dual-axis electromagnetic brake drive according to claim 3, characterized in that, The drive isolation unit (400) is used to isolate the first electromagnetic brake drive unit (201) from the second electromagnetic brake drive unit (202).

5. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 4, characterized in that, The power supply and protection unit (100) also includes a first resistor R1, a second resistor R2, a first capacitor C1, a second capacitor C2, a third capacitor C3, a twelfth capacitor C12, a first optocoupler OP1, a first Zener diode Z1, a second Zener diode Z2, a first interface terminal SensVbr, a second interface terminal 24V, and a third interface terminal 0V. The first interface terminal, SensVbr, is the optocoupler signal input. The first terminal of the first resistor R1 is connected to the VDD power supply; The second end of the first resistor R1, the first end of the first capacitor C1, and the first end of the first optocoupler OP1 are connected to the first interface terminal SensVbr. The second terminal of the first capacitor C1 is connected to the second terminal of the first optocoupler OP1, and both are grounded. The third terminal of the first optocoupler OP1, the first terminal of the second Zener diode Z2, the first terminal of the second capacitor C2, and the first terminal of the third capacitor C3 are connected to the second interface terminal 24V, and the second terminal of the third capacitor C3 is grounded. The fourth terminal of the first optocoupler OP1 is connected to the first terminal of the second resistor R2, and the second terminal of the second resistor R2 is connected to the first terminal of the first Zener diode Z1. The second terminal of the first Zener diode Z1, the second terminal of the second Zener diode Z2, and the second terminal of the second capacitor C2 are connected to the third interface terminal 0V. The first terminal of the twelfth capacitor C12 is connected to the second interface terminal 24V, and the second terminal of the twelfth capacitor C12 is connected to the third interface terminal 0V.

6. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 5, characterized in that, The first electromagnetic brake drive unit 201 also includes a third Zener diode Z3, a fourth Zener diode Z4, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a first diode D1, a first transistor Q1, a first MOSFET Q2, a first signal terminal GBr1, a second signal terminal DesBr1, a fourth interface terminal J1-1, and a fifth interface terminal J1-2; The first signal terminal GBr1 is the braking status detection signal of the first motor; The second signal terminal DesBr1 is the first software and hardware debugging test point; The first terminal of the third Zener diode Z3, the first terminal of the third resistor R3, the emitter of the first transistor Q1, the first terminal of the fifth capacitor C5, the first terminal of the sixth capacitor C6, the first terminal of the eighth resistor R8, and the first terminal of the ninth resistor R9 are connected to the second interface terminal 24V. The second terminal of the third Zener diode Z3, the second terminal of the third resistor R3, the collector of the first transistor Q1, the gate of the first MOSFET Q2, and the first terminal of the fourth resistor R4 are connected. The second end of the fourth resistor R4 and the first end of the fifth resistor R5 are connected to the first end of the fourth capacitor C4; The base of the first transistor Q1, the first terminal of the fourth Zener diode Z4, the second terminal of the sixth capacitor C6, the second terminal of the eighth resistor R8, and the first terminal of the tenth resistor R10 are connected. The second terminal of the fourth Zener diode Z4, the first terminal of the sixth resistor R6, the first terminal of the seventh resistor R7, and the first terminal of the first diode D1 are connected to the second signal terminal DesBr1. The second end of the fifth resistor R5, the second end of the sixth resistor R6, and the second end of the fourth capacitor C4 are connected to the first signal terminal GBr1; The second end of the seventh resistor R7 is connected to the first end of the first diode D1; The drain of the first MOS transistor Q2, the second terminal of the ninth resistor R9, and the second terminal of the tenth resistor R10 are connected; The source of the first MOS transistor Q2 and the second terminal of the first diode D1 are connected to the fifth interface terminal J1-2; The fourth interface terminal J1-1 is connected to the third interface terminal OV; The fourth interface terminal J1-1 and the fifth interface terminal J1-2 are respectively connected to the first motor.

7. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 6, characterized in that, The second electromagnetic brake drive unit 202 also includes a sixth Zener diode Z6, a seventh Zener diode Z7, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a sixteenth resistor R16, a seventeenth resistor R17, an eighteenth resistor R18, a nineteenth resistor R19, a twentieth resistor R20, an eighth capacitor C8, a ninth capacitor C9, a tenth capacitor C10, a third diode D3, a second transistor Q3, a second MOSFET Q4, a third signal terminal GBr2, a fourth signal terminal DesBr2, a sixth interface terminal J2-2, and a seventh interface terminal J2-1; The third signal terminal GBr2 is the second motor braking status detection signal; The fourth signal terminal DesBr2 is the second software and hardware debugging test point; The first terminal of the sixth Zener diode Z6, the first terminal of the thirteenth resistor R13, the emitter of the second transistor Q3, the first terminal of the ninth capacitor C9, the first terminal of the tenth capacitor C10, the first terminal of the eighteenth resistor R18, and the first terminal of the nineteenth resistor R19 are connected to the second interface terminal 24V. The second terminal of the sixth Zener diode Z6, the second terminal of the thirteenth resistor R13, the collector of the first transistor Q1, the gate of the second MOSFET Q4, and the first terminal of the fourteenth resistor R14 are connected. The second end of the fourteenth resistor R14 and the first end of the fifteenth resistor R15 are connected to the first end of the eighth capacitor C8; The base of the second transistor Q3, the first terminal of the seventh Zener diode Z7, the second terminal of the tenth capacitor C10, the second terminal of the eighteenth resistor R18, and the first terminal of the twentieth resistor R20 are connected. The second terminal of the seventh Zener diode Z7, the first terminal of the sixteenth resistor R16, the first terminal of the seventeenth resistor R17, and the first terminal of the third diode D3 are connected to the fourth signal terminal DesBr2. The second terminal of the fifteenth resistor R15, the second terminal of the sixteenth resistor R16, and the second terminal of the eighth capacitor C8 are connected to the third signal terminal GBr2. The second terminal of the seventeenth resistor R17 is connected to the first terminal of the third diode D3; The drain of the second MOS transistor Q4, the second terminal of the nineteenth resistor R19, and the second terminal of the twentieth resistor R20 are connected; The source of the second MOS transistor Q4 and the second terminal of the third diode D3 are connected to the sixth interface terminal J2-2; The seventh interface terminal J2-1 is connected to the third interface terminal OV; The sixth interface terminal J2-2 and the seventh interface terminal J2-1 are respectively connected to the second motor.

8. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 7, characterized in that, The first brake detection unit 301 also includes a second diode D2, a second optocoupler OP2, a fifth Zener diode Z5, an eleventh resistor R11, a twelfth resistor R12, a seventh capacitor C7, and an eighth interface terminal SensBr1; The eighth interface terminal SensBr1 is the signal acquisition terminal of the second brake coil; The first terminal of the second diode D2 and the first terminal of the second optocoupler OP2 are connected to the second interface terminal 24V; The second terminal of the second diode D2 and the second terminal of the second optocoupler OP2 are connected to the first terminal of the eleventh resistor R11; The first terminal of the fifth Zener diode Z5 is connected to the second terminal of the eleventh resistor R11, and the second terminal of the fifth Zener diode Z5 is connected to the fifth interface terminal J1-2. The third terminal of the second optocoupler OP2, the first terminal of the twelfth resistor R12, and the first terminal of the seventh capacitor C7 are connected to the eighth interface terminal SensBr1, and the second terminal of the twelfth resistor R12 is connected to the VDD power supply. The fourth terminal of the second optocoupler OP2 is connected to the second terminal of the seventh capacitor C7, and both are grounded.

9. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 8, characterized in that, The second brake detection unit 302 also includes a fourth diode D4, a third optocoupler OP3, an eighth Zener diode Z8, a twenty-first resistor R21, a twenty-second resistor R22, an eleventh capacitor C11, and a ninth interface terminal SensBr2. The ninth interface terminal SensBr2 is the signal acquisition terminal of the second brake coil; The first terminal of the fourth diode D4 and the first terminal of the third optocoupler OP3 are connected to the second interface terminal 24V. The second terminal of the fourth diode D4 and the second terminal of the third optocoupler OP3 are connected to the first terminal of the twentieth eleventh resistor R21; The first terminal of the eighth Zener diode Z8 is connected to the second terminal of the twenty-first resistor R21, and the second terminal of the eighth Zener diode Z8 is connected to the sixth interface terminal J2-2; The third terminal of the third optocoupler OP3, the first terminal of the twentieth resistor R22, and the first terminal of the eleventh capacitor C11 are connected to the ninth interface terminal SensBr2, and the second terminal of the twentieth resistor R22 is connected to the VDD power supply. The fourth terminal of the third optocoupler OP3 is connected to the second terminal of the eleventh capacitor C11, and both are grounded.

10. A control system and circuit based on a dual-axis electromagnetic brake drive according to claim 9, characterized in that, The drive isolation unit also includes a fifth diode D5, a sixth diode D6, and a first variable resistor VR1; The first terminal of the fifth diode D5 is connected to the fourth interface terminal J1-2; The first terminal of the sixth diode D6 is connected to the sixth interface terminal J2-2; The fifth interface terminal J1-1 and the seventh interface terminal J2-1 are connected to the first terminal of the first variable resistor VR1; The second terminal of the fifth diode D5 and the second terminal of the sixth diode D6 are connected to the second terminal of the first variable resistor VR1.

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