A motor brake temperature control system and control method

Abstract

The application discloses a motor brake temperature control system and method, and belongs to the technical field of motor control. The control system comprises: a single-chip microcomputer for generating brake control logic; a MOS tube for controlling the power supply voltage amplitude of a brake coil; a voltage regulation module for regulating input voltage into voltage required by the single-chip microcomputer; and a power-on delay circuit for keeping brake locking within a preset delay time after system power-on, and allowing the single-chip microcomputer to output a brake release instruction after the delay ends and the motor completes power-on. The application realizes reliable brake release and low-power consumption maintenance by adopting power-on delay, high-low voltage switching and temperature closed-loop regulation control on the motor brake coil, effectively reduces the risk of coil heating, and improves the safety, stability and service life of the motor brake system.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a control system and control method for motor brake temperature. Background Technology

[0002] Motor brakes are crucial safety components in industrial motion control systems. Their working principle involves energizing the brake coil to generate a magnetic force that overcomes the brake spring force, releasing the brake and allowing the motor shaft to rotate. When power is de-energized, the spring force returns to its original position, locking the brake and preventing accidental rotation of the motor shaft. Motor brakes are widely used in industrial robots, CNC machine tools, medical equipment, and other applications requiring safe braking.

[0003] However, existing motor brake control schemes have the following main drawbacks: First, excessive heat dissipation. Existing schemes typically control the on / off state of the brake coil via relays or directly apply a fixed rated voltage to the brake coil. During brake release, the brake coil remains continuously energized at its rated voltage, causing it to continuously heat up at its rated power. Combined with the heat generated by the motor itself, this cumulative heat easily leads to overheating of the motor brake system, affecting not only the lifespan of the motor and brake but also potentially causing performance degradation. Second, significant response delay. As mechanical switching devices, relays have inherent mechanical delays in their contact action. In applications requiring rapid and precise braking, the relay switching delay affects braking response speed and positioning accuracy. Third, insufficient power-on sequence protection. In existing schemes, the brake coil is immediately energized and begins to release when the equipment is powered on. However, the motor drive system may not have completed initialization and readiness confirmation at this time. Prematurely releasing the brake before the motor is fully powered on and ready may cause the equipment to move unexpectedly in an uncontrolled state, posing a safety hazard and potentially causing equipment damage.

[0004] In summary, how to reduce brake coil heating and shorten brake action response time while ensuring braking reliability, and how to achieve safe and coordinated control of the motor drive ready state and the brake release process, have become urgent technical problems to be solved in related fields. Summary of the Invention

[0005] The purpose of this invention is to provide a method and control system for controlling the temperature of a motor brake. By using a MOSFET instead of a relay for brake control and introducing high-voltage fast release, low-voltage hold and power-on delay protection mechanisms, the continuous heat dissipation of the brake coil is significantly reduced while ensuring reliable brake release and fast response, thus extending the service life of the motor brake system and improving system safety.

[0006] To achieve the above objective, a control system for motor brake temperature includes: The microcontroller is used to generate the brake control logic; MOSFETs are used to control the voltage amplitude supplied to the brake coil. The voltage regulation module is used to adjust the input voltage to the voltage required by the microcontroller. The power-on delay circuit is used to maintain the brake lock for a preset delay period after the system is powered on, and allows the microcontroller to output a brake release command after the delay ends and the motor is powered on.

[0007] In some embodiments, the MOSFET is an N-channel enhancement-mode MOSFET. The microcontroller controls the conduction state of the MOSFET through a PWM signal and controls the equivalent voltage across the brake coil by adjusting the duty cycle of the PWM signal.

[0008] In some embodiments, the microcontroller is also connected to a temperature detection module, which is used to detect the temperature of the motor brake coil and trigger an alarm and record abnormal events when the temperature exceeds a preset threshold.

[0009] In some embodiments, the control system further includes a communication interface, which is used to realize instruction interaction, status feedback and control parameter adjustment between the host computer and the control system.

[0010] The purpose of this application is also to provide a method for controlling the temperature of a motor brake, applied to the above-mentioned control system, comprising the following steps: The preset delay time is determined based on the motor's power-on initialization completion time, and the motor brake is kept in a locked state during the preset delay time. After the preset delay time has elapsed, the brake coil is energized with a high voltage to drive the motor brake to release. The system detects the release status of the motor brake and, after detecting that the motor brake has been fully released, switches the equivalent voltage of the brake coil from high voltage to low holding voltage to maintain the release status of the motor brake. During the process of the brake coil being energized with a low holding voltage, the temperature data corresponding to the brake coil is acquired, and the brake coil is judged to be in an over-temperature state based on the comparison result between the temperature data and the preset temperature threshold. When it is determined that the brake coil is in an over-temperature state, an alarm message is output and the abnormal event is recorded.

[0011] In some embodiments, the method for determining whether the motor brake has been released is as follows: Obtain the voltage signal across the current sampling resistor in the power supply circuit of the motor brake coil; The voltage signal is amplified and converted from analog to digital to obtain the current sampling data of the motor brake coil circuit; Based on current sampling data, identify the inflection point of the secondary current drop characteristic caused by the armature being in place during the energization of the brake coil. Based on the time information corresponding to the inflection point of the current secondary drop characteristic, the release judgment time of the motor brake is determined. Extract the short-term ripple amplitude characteristics within the time interval corresponding to the release determination time; The joint verification was performed based on the inflection point of the current secondary drop characteristic and the short-time ripple amplitude characteristic, and the motor brake release state was confirmed based on the verification results.

[0012] In some embodiments, the method for switching the equivalent voltage of the brake coil from a high voltage to a low sustaining voltage is as follows: Obtain the inductance and resistance parameters of the brake coil, as well as the minimum magnetic force required to maintain the motor's brake release state; Based on the inductance parameters, resistance parameters, and minimum magnetic attraction force, and based on the preset correspondence between duty cycle and holding voltage, the target PWM duty cycle corresponding to low holding voltage is determined; According to the preset duty cycle descent slope, the duty cycle of the PWM control signal is gradually reduced from the current high duty cycle to the target PWM duty cycle, so as to control the equivalent voltage across the brake coil to switch from high voltage to low holding voltage. Based on the low holding voltage corresponding to the target PWM duty cycle, determine whether the electromagnetic attraction force generated by the brake coil meets the release holding condition. When the release holding condition is met, the target PWM duty cycle output is maintained to keep the motor brake in the released state.

[0013] In some embodiments, the method for determining whether the brake coil is in an over-temperature state is as follows: Obtain the temperature data of the brake coil; The temperature data is compared with the preset warning threshold and over-temperature threshold, where the over-temperature threshold is greater than the warning threshold. When the temperature data is greater than the warning threshold but less than the over-temperature threshold, the duty cycle of the PWM control signal is reduced to reduce the holding voltage of the brake coil. When the temperature data is greater than or equal to the over-temperature threshold, the brake coil is determined to have entered an over-temperature state. When the temperature data drops below the difference between the over-temperature threshold and the preset temperature hysteresis range, the over-temperature condition determination of the brake coil is released.

[0014] In some embodiments, the method for outputting alarm information and recording abnormal events is as follows: Obtain the over-temperature status information of the brake coil and determine the corresponding alarm level based on the over-temperature status information; Generate corresponding alarm information based on the alarm level and send it to the host computer; When the alarm level is fault level, the control MOSFET is turned off to cut off the power supply to the brake coil and to disable the output of the PWM control signal driving the MOSFET. When the over-temperature fault condition persists, the MOSFET is kept in the off state and the PWM control signal is disabled from output. Obtain the timestamp, temperature data, PWM duty cycle data, and alarm level information corresponding to the abnormal event; Timestamps, temperature data, PWM duty cycle data, and alarm level information are stored in non-volatile memory to generate an exception event log.

[0015] In some embodiments, the following steps are also included: Receives brake control commands from the host computer and sends motor brake status information and temperature data to the host computer so that the host computer can adjust the high voltage, low holding voltage and preset delay waiting time based on the temperature data; Upon receiving a brake lock command, the power supply to the brake coil is cut off to put the motor brake into a locked state. When a power failure is detected, the power supply to the brake coil is cut off within a preset energy storage period so that the motor brake automatically enters the locked state.

[0016] The beneficial effects of this invention are as follows: by using power-on delay, high and low voltage switching and temperature closed-loop regulation control on the motor brake coil, reliable brake release and low power consumption maintenance are achieved, effectively reducing the risk of coil overheating and improving the safety, stability and service life of the motor brake system. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a method for controlling the temperature of a motor brake as disclosed in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of the embodiments of this invention will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some embodiments of this invention, but not all embodiments.

[0019] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0020] The embodiments and directional terms described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0021] In a broad embodiment of the present invention, a control system for motor brake temperature includes: The microcontroller is used to generate the brake control logic; MOSFETs are used to control the voltage amplitude supplied to the brake coil. The voltage regulation module is used to adjust the input voltage to the voltage required by the microcontroller. The power-on delay circuit is used to maintain the brake lock for a preset delay period after the system is powered on, and allows the microcontroller to output a brake release command after the delay ends and the motor is powered on.

[0022] In some embodiments, the MOSFET is an N-channel enhancement-mode MOSFET. The microcontroller controls the conduction state of the MOSFET through a PWM signal and controls the equivalent voltage across the brake coil by adjusting the duty cycle of the PWM signal.

[0023] In some embodiments, the microcontroller is also connected to a temperature detection module, which is used to detect the temperature of the motor brake coil and trigger an alarm and record abnormal events when the temperature exceeds a preset threshold.

[0024] In some embodiments, the control system further includes a communication interface, which is used to realize instruction interaction, status feedback and control parameter adjustment between the host computer and the control system.

[0025] The purpose of this application is also to provide a method for controlling the temperature of a motor brake, applied to the above-mentioned control system, comprising the following steps: The preset delay time is determined based on the motor's power-on initialization completion time, and the motor brake is kept in a locked state during the preset delay time. After the preset delay time has elapsed, the brake coil is energized with a high voltage to drive the motor brake to release. The system detects the release status of the motor brake and, after detecting that the motor brake has been fully released, switches the equivalent voltage of the brake coil from high voltage to low holding voltage to maintain the release status of the motor brake. During the process of the brake coil being energized with a low holding voltage, the temperature data corresponding to the brake coil is acquired, and the brake coil is judged to be in an over-temperature state based on the comparison result between the temperature data and the preset temperature threshold. When it is determined that the brake coil is in an over-temperature state, an alarm message is output and the abnormal event is recorded.

[0026] In some embodiments, the method for determining whether the motor brake has been released is as follows: Obtain the voltage signal across the current sampling resistor in the power supply circuit of the motor brake coil; The voltage signal is amplified and converted from analog to digital to obtain the current sampling data of the motor brake coil circuit; Based on current sampling data, identify the inflection point of the secondary current drop characteristic caused by the armature being in place during the energization of the brake coil. Based on the time information corresponding to the inflection point of the current secondary drop characteristic, the release judgment time of the motor brake is determined. Extract the short-term ripple amplitude characteristics within the time interval corresponding to the release determination time; The joint verification was performed based on the inflection point of the current secondary drop characteristic and the short-time ripple amplitude characteristic, and the motor brake release state was confirmed based on the verification results.

[0027] In some embodiments, the method for switching the equivalent voltage of the brake coil from a high voltage to a low sustaining voltage is as follows: Obtain the inductance and resistance parameters of the brake coil, as well as the minimum magnetic force required to maintain the motor's brake release state; Based on the inductance parameters, resistance parameters, and minimum magnetic attraction force, and based on the preset correspondence between duty cycle and holding voltage, the target PWM duty cycle corresponding to low holding voltage is determined; According to the preset duty cycle descent slope, the duty cycle of the PWM control signal is gradually reduced from the current high duty cycle to the target PWM duty cycle, so as to control the equivalent voltage across the brake coil to switch from high voltage to low holding voltage. Based on the low holding voltage corresponding to the target PWM duty cycle, determine whether the electromagnetic attraction force generated by the brake coil meets the release holding condition. When the release holding condition is met, the target PWM duty cycle output is maintained to keep the motor brake in the released state.

[0028] In some embodiments, the method for determining whether the brake coil is in an over-temperature state is as follows: Obtain the temperature data of the brake coil; The temperature data is compared with the preset warning threshold and over-temperature threshold, where the over-temperature threshold is greater than the warning threshold. When the temperature data is greater than the warning threshold but less than the over-temperature threshold, the duty cycle of the PWM control signal is reduced to reduce the holding voltage of the brake coil. When the temperature data is greater than or equal to the over-temperature threshold, the brake coil is determined to have entered an over-temperature state. When the temperature data drops below the difference between the over-temperature threshold and the preset temperature hysteresis range, the over-temperature condition determination of the brake coil is released.

[0029] In some embodiments, the method for outputting alarm information and recording abnormal events is as follows: Obtain the over-temperature status information of the brake coil and determine the corresponding alarm level based on the over-temperature status information; Generate corresponding alarm information based on the alarm level and send it to the host computer; When the alarm level is fault level, the control MOSFET is turned off to cut off the power supply to the brake coil and to disable the output of the PWM control signal driving the MOSFET. When the over-temperature fault condition persists, the MOSFET is kept in the off state and the PWM control signal is disabled from output. Obtain the timestamp, temperature data, PWM duty cycle data, and alarm level information corresponding to the abnormal event; Timestamps, temperature data, PWM duty cycle data, and alarm level information are stored in non-volatile memory to generate an exception event log.

[0030] In some embodiments, the following steps are also included: Receives brake control commands from the host computer and sends motor brake status information and temperature data to the host computer so that the host computer can adjust the high voltage, low holding voltage and preset delay waiting time based on the temperature data; Upon receiving a brake lock command, the power supply to the brake coil is cut off to put the motor brake into a locked state. When a power failure is detected, the power supply to the brake coil is cut off within a preset energy storage period so that the motor brake automatically enters the locked state.

[0031] The preferred embodiments of the present invention are described below with reference to the accompanying drawings, and the present invention will be further described in detail.

[0032] This embodiment provides a control system for motor brake temperature. The control system includes a microcontroller, an N-channel enhancement-mode MOSFET, a voltage regulation module, a power-on delay circuit, a current acquisition and processing module, a temperature detection module, and a communication interface.

[0033] The microcontroller, as the core control unit, is responsible for generating power-on delay logic, high-voltage release control logic, and low-voltage sustaining control logic. The gate of the MOSFET is connected to the PWM control output of the microcontroller, the drain is connected to the motor brake coil, and the source is grounded. The microcontroller controls the equivalent voltage across the brake coil by adjusting the duty cycle of the PWM signal. During the high-voltage release phase, the PWM duty cycle is 100% (fully on), and during the low-sustaining voltage phase, the PWM duty cycle is less than 100%. The specific value is determined based on the electrical characteristics of the brake coil and the minimum sustaining magnetic force requirement.

[0034] The voltage regulation module adjusts the input voltage to the voltage required by the microcontroller.

[0035] The current acquisition and processing module includes a current sampling resistor, a signal amplification circuit, and an analog-to-digital conversion circuit. It is used to acquire the current signal in the power supply circuit of the brake coil and convert it into digital current sampling data. This data is used by the microcontroller to identify the inflection point of the secondary current drop characteristic and the short-time ripple amplitude characteristic during the energization process of the brake coil, and to determine the release state of the motor brake. The temperature detection module is used to acquire the temperature data of the brake coil in real time and send it to the microcontroller, so that the microcontroller can determine whether the brake coil is in an over-temperature state.

[0036] This embodiment provides a method for controlling the temperature of a motor brake, combined with... Figure 1 The description is as follows: Step S1 (Power-on Delay Lock): After the system is powered on, the microcontroller determines the preset delay waiting time based on the motor's power-on initialization completion time, and keeps the brake coil de-energized during the preset delay waiting time, so that the motor brake is in a locked state to prevent the motor from moving unexpectedly during the power-on transition phase.

[0037] Step S2 (High Voltage Fast Release): After the preset delay time ends, the microcontroller sends a control signal with a PWM duty cycle of 100% to the MOSFET. The MOSFET is fully turned on, the brake coil is energized with high voltage, and the motor brake is released.

[0038] Step S3 (Release Status Detection): The microcontroller acquires the voltage signal across the current sampling resistor in the brake coil power supply circuit. After amplification and analog-to-digital conversion, it obtains current sampling data. Based on this current sampling data, it identifies the inflection point of the secondary current drop caused by the armature being in place during the energization of the brake coil. Combined with the short-time ripple amplitude characteristics within the time interval corresponding to this inflection point, it performs joint verification to confirm whether the motor brake has been released.

[0039] Step S4 (Low Voltage Holding): After detecting that the motor brake has been released, the microcontroller determines the target PWM duty cycle corresponding to the low holding voltage based on the inductance and resistance parameters of the brake coil and the minimum magnetic attraction required to maintain the brake release state. The microcontroller then gradually reduces the duty cycle of the PWM control signal from 100% to the target PWM duty cycle according to the preset duty cycle descent slope, so that the equivalent voltage of the brake coil switches from high voltage to low holding voltage. At the same time, it ensures that the electromagnetic attraction generated by the brake coil meets the release holding conditions, thereby reducing the heat dissipation of the brake coil while maintaining the brake release state.

[0040] Step S5 (Over-temperature judgment and alarm): During the process of the brake coil being energized with a low holding voltage, the microcontroller obtains the temperature data of the brake coil through the temperature detection module and compares the temperature data with the preset warning threshold and over-temperature threshold respectively; when the temperature data is greater than the warning threshold but less than the over-temperature threshold, the duty cycle of the PWM control signal is reduced to further reduce the holding voltage of the brake coil; when the temperature data is greater than or equal to the over-temperature threshold, the brake coil is determined to be in an over-temperature state. The microcontroller determines the alarm level based on the over-temperature state information and generates alarm information to send to the host computer. When the alarm level is a fault level, the MOSFET is controlled to be turned off, the power supply to the brake coil is cut off, and the output of the PWM control signal is prohibited. At the same time, the timestamp, temperature data, PWM duty cycle data, and alarm level information corresponding to the abnormal event are obtained and stored in non-volatile memory to generate an abnormal event log; when the temperature data drops below the difference between the over-temperature threshold and the preset temperature hysteresis range, the over-temperature state judgment of the brake coil is released.

[0041] Step S6 (Host Computer Interaction): The microcontroller receives the brake control command sent by the host computer through the communication interface, and sends the motor brake status information and brake coil temperature data to the host computer. The host computer dynamically adjusts the parameter values ​​of high voltage, low holding voltage and preset delay waiting time according to the temperature data.

[0042] Step S7 (Brake Application): When the microcontroller receives the brake lock command, it controls the MOSFET to turn off, cuts off the power supply to the brake coil, restores the brake spring force, and puts the motor brake into the locked state.

[0043] Step S8 (Power-off Protection): When a power failure signal is detected, the microcontroller quickly executes the MOSFET cut-off action within the preset energy storage maintenance time to cut off the power supply to the brake coil, so that the motor brake automatically enters the locked state in the power failure state to prevent the equipment from moving freely after power failure and causing damage or safety accidents.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control system for motor brake temperature, characterized in that, include: The microcontroller is used to generate the brake control logic; MOSFETs are used to control the voltage amplitude supplied to the brake coil. The voltage regulation module is used to adjust the input voltage to the voltage required by the microcontroller. The power-on delay circuit is used to maintain the brake lock for a preset delay period after the system is powered on, and allows the microcontroller to output a brake release command after the delay ends and the motor is powered on.

2. The control system according to claim 1, characterized in that, The MOSFET is an N-channel enhancement-mode MOSFET. The microcontroller controls the conduction state of the MOSFET through a PWM signal, and controls the equivalent voltage across the brake coil by adjusting the duty cycle of the PWM signal.

3. The control system according to claim 1, characterized in that, The microcontroller is also connected to a temperature detection module, which is used to detect the temperature of the motor brake coil and trigger an alarm and record abnormal events when the temperature exceeds a preset threshold.

4. The control system according to claim 1, characterized in that, The control system also includes a communication interface, which is used to realize command interaction, status feedback and control parameter adjustment between the host computer and the control system.

5. A method for controlling the temperature of a motor brake, applied to a control system as described in any one of claims 1-4, characterized in that, Includes the following steps: The preset delay time is determined based on the motor's power-on initialization completion time, and the motor brake is kept in a locked state during the preset delay time. After the preset delay time has elapsed, the brake coil is energized with a high voltage to drive the motor brake to release. The system detects the release status of the motor brake and, after detecting that the motor brake has been fully released, switches the equivalent voltage of the brake coil from high voltage to low holding voltage to maintain the release status of the motor brake. During the process of the brake coil being energized with a low holding voltage, the temperature data corresponding to the brake coil is acquired, and the brake coil is judged to be in an over-temperature state based on the comparison result between the temperature data and the preset temperature threshold. When it is determined that the brake coil is in an over-temperature state, an alarm message is output and the abnormal event is recorded.

6. The control method according to claim 5, characterized in that, The method to determine whether the motor brake has been fully released is as follows: Obtain the voltage signal across the current sampling resistor in the power supply circuit of the motor brake coil; The voltage signal is amplified and converted from analog to digital to obtain the current sampling data of the motor brake coil circuit; Based on current sampling data, identify the inflection point of the secondary current drop characteristic caused by the armature being in place during the energization of the brake coil. Based on the time information corresponding to the inflection point of the current secondary drop characteristic, the release judgment time of the motor brake is determined. Extract the short-term ripple amplitude characteristics within the time interval corresponding to the release determination time; The joint verification was performed based on the inflection point of the current secondary drop characteristic and the short-time ripple amplitude characteristic, and the motor brake release state was confirmed based on the verification results.

7. The control method according to claim 5, characterized in that, The method to switch the equivalent voltage of the brake coil from high voltage to low holding voltage is as follows: Obtain the inductance and resistance parameters of the brake coil, as well as the minimum magnetic force required to maintain the motor's brake release state; Based on the inductance parameters, resistance parameters, and minimum magnetic attraction force, and based on the preset correspondence between duty cycle and holding voltage, the target PWM duty cycle corresponding to low holding voltage is determined; According to the preset duty cycle descent slope, the duty cycle of the PWM control signal is gradually reduced from the current high duty cycle to the target PWM duty cycle, so as to control the equivalent voltage across the brake coil to switch from high voltage to low holding voltage. Based on the low holding voltage corresponding to the target PWM duty cycle, determine whether the electromagnetic attraction force generated by the brake coil meets the release holding condition. When the release holding condition is met, the target PWM duty cycle output is maintained to keep the motor brake in the released state.

8. The control method according to claim 5, characterized in that, The method to determine if the brake coil is overheated is as follows: Obtain the temperature data of the brake coil; The temperature data is compared with the preset warning threshold and over-temperature threshold, where the over-temperature threshold is greater than the warning threshold. When the temperature data is greater than the warning threshold but less than the over-temperature threshold, the duty cycle of the PWM control signal is reduced to reduce the holding voltage of the brake coil. When the temperature data is greater than or equal to the over-temperature threshold, the brake coil is determined to have entered an over-temperature state. When the temperature data drops below the difference between the over-temperature threshold and the preset temperature hysteresis range, the over-temperature condition determination of the brake coil is released.

9. The control method according to claim 5, characterized in that, The method for outputting alarm information and logging abnormal events is as follows: Obtain the over-temperature status information of the brake coil and determine the corresponding alarm level based on the over-temperature status information; Generate corresponding alarm information based on the alarm level and send it to the host computer; When the alarm level is fault level, the control MOSFET is turned off to cut off the power supply to the brake coil and to disable the output of the PWM control signal driving the MOSFET. When the over-temperature fault condition persists, the MOSFET is kept in the off state and the PWM control signal is disabled from output. Obtain the timestamp, temperature data, PWM duty cycle data, and alarm level information corresponding to the abnormal event; Timestamps, temperature data, PWM duty cycle data, and alarm level information are stored in non-volatile memory to generate an exception event log.

10. The control method according to claim 5, characterized in that, It also includes the following steps: Receives brake control commands from the host computer and sends motor brake status information and temperature data to the host computer so that the host computer can adjust the high voltage, low holding voltage and preset delay waiting time based on the temperature data; Upon receiving a brake lock command, the power supply to the brake coil is cut off to put the motor brake into a locked state. When a power failure is detected, the power supply to the brake coil is cut off within a preset energy storage period so that the motor brake automatically enters the locked state.

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