CN107317533A - The online switching device of double servo-drivers and method based on magnetic latching contactor - Google Patents
The online switching device of double servo-drivers and method based on magnetic latching contactor Download PDFInfo
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- CN107317533A CN107317533A CN201710621863.4A CN201710621863A CN107317533A CN 107317533 A CN107317533 A CN 107317533A CN 201710621863 A CN201710621863 A CN 201710621863A CN 107317533 A CN107317533 A CN 107317533A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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Abstract
The present invention is a kind of online switching device of double servo-drivers and method based on magnetic latching contactor, is mainly used in the higher radar servo system of reliability requirement.According to the power output of servo-driver and position feedback input signal characteristic, design online switching device and method based on magnetic latching contactor, the system can be by an access servo-drive system in two servo-drivers, another driver is in Status of Backups, if the driver accessed in servo-drive system breaks down, the system is possible to complete the automatic incision of backup driver, and according to the velocity gradient curve of setting, the speed that servomotor is accelerated to before failure, reduce impact of the driver switching to servo structure, improve the mission reliability of servo-drive system.The present invention is used for servo-driver On-line Fault in servo-drive system and switched.
Description
Technical field
The present invention relates to a kind of pair of online switching device of servo-driver.
Background technology
Servo-drive system is the important component of modern shipborne radar, and its reliability turns into the key performance of radar system
Index.Current servo system is mainly made up of host computer, servo-driver and servomotor, servo-driver in servo-drive system
Reliability is relatively poor, and the MTBF MTBF of servo-driver is about 10,000 hours according to statistics, and from servo system
Unite from the point of view of fault statistics analysis, servo-driver failure account for most of servo-drive system failure.Servo-driver failure meeting
Whole servo-drive system is impacted, the operation for generally causing servo-drive system stops, and servo-drive system is likely to result in when serious
It is out of control, cause security incident.
In order to suppress the influence that servo-driver failure is caused to system, current engineer has carried out extensive and deep grind
Study carefully, it is proposed that the solution of many servo redundancy backups, mainly there is following several：
(1) servo-drive system based on many motors：Servo-drive system is used in the redundancy backup mode covers independent driver more
And electric system, certain servo-driver failure can be avoided to impact servo-drive system work, but the servo-drive system is needed
The driven Design of many motors is carried out to running part, while having many servo-drivers again.Add cost and equipment
Weight, it is difficult to applied to the occasion higher to weight demands, such as be in mast top radar antenna, generally to weight demands compared with
It is high；
(2) the redundancy backup scheme based on Multiple coil servomotor：Servo in the redundancy backup mode in servo-drive system
Motor is the servomotor of Multiple coil, one servo-driver of each winding correspondence, even if system only has a servo-driver
Normally, servo-drive system still can be with normal work.This kind of redundant fashion servo drive part can need not carry out Redundancy Design, but
Servomotor needs specific customization, and cost is higher and weight weight, is equally dfficult to apply to the occasion higher to weight demands.
(3) redundancy backup mode based on switching switch：Servo-driver need to only be carried out in the redundancy backup mode standby
Part, servomotor is without being backed up and particular design.Between two sets of servo-drivers and a servomotor by switching switch into
Row switching, current switching mode is based primarily upon conventional contact and relay handover scheme, and conventional contact and relay hold
Easily disengaged under coil power-down conditions, and because servomotor is inductive load, easily cause contactor arcing to cause device to damage
It is bad, it is difficult to the shipborne radar servo-drive system switching higher applied to reliability requirement.
The present invention is improved above-mentioned solution (3), and mainly the switching poor to reliability switch is improved,
From magnetic latching contactor and magnetic latching relay, the device is different from common contact device and relay is that contacts status is changed
Afterwards, in device permanent magnet will holding contact state remain powered on state without coil, can avoid conventional contact and after
The problem of electrical equipment power down is disengaged.
The content of the invention
The present invention is to solve in servo-drive system to cause servo-drive system can not run very when servo-driver breaks down
To problem out of control, a kind of online switching device of double servo-drivers and method based on magnetic latching contactor, switching dress are proposed
Putting need to only back up to servo-driver, without being backed up to servomotor.
The object of the invention is achieved by the following technical solutions：
Driving switching device is made up of driving switching executing module, driving switching control module.Wherein driving switching is performed
Certain selection that module is realized in two servo-drivers using multigroup single-pole double throw magnetic latching contactor and relay connects
Enter.When servo is normally run, driving switching control module receives the motor speed control instruction of host computer, and according to current driving
Device accesses situation, and instruction morphing instructed for corresponding driver control is sent to driving switching executing module, cut through driving
Change the relay in performing module and enter operation in the driver being currently accessed.When driver breaks down, driving switching control
Molding block will obtain the fault message of driver by communicating, and now drive switching control module that driving switching will be controlled to hold
Row module is driven device switching, completes after switching, and driving switching control module will send host computer speed control to driver
System instruction.The servo-drive system built using the driving switching device is shown in accompanying drawing 1.
When in servo-drive system operation, servo-driver breaks down, driving switching control module will start driver and cut
Program is changed, now, driving switching control module will send halt instruction to failed drive, then after delay 2s, control driving
Switching executing module is driven device switching, after the completion of switching, to new driver transmission speed control instruction.To reduce backup
It will be recalculated in velocity shock after driver access, driving switching control module to sending to drivers velocity,
The gradient curve that command speed is accelerated to by present speed is calculated, is then instructed according to the gradient curve transmission speed, directly
Untill speed reaches command speed, specific switch step is shown in accompanying drawing 2.If it is V that switching, which completes motor speed,0, PC control
Speed is VC, speed increase gradient is Δ V, then the rate control instruction for being sent to driver is：
The advantage of the invention is that it is following some：
(1) present invention can automatically be cut when the servo-driver of servo-drive system breaks down to servo-driver
Change, failed drive is isolated from servo-drive system, access driven device, it is ensured that servo-drive system is normally run, improve servo
The mission reliability of system；
(2) present invention uses single-pole double throw magnetic latching contactor and relay as switching component, so that from circuit
Ensure to only have access a servo-driver in servo-drive system, it is to avoid the parallel connection simultaneously of many driver output ends is likely to result in defeated
Go out short circuit problem.Even if the contact of the coil losing electricity of magnetic latching contactor and relay after the completion of switching, contactor and relay
The holding that state can still be stablized, it is to avoid switching device is unstable to be impacted to servo-drive system operation；
(3) present invention is applied to common servo-driver and motor, without specific customization servo-driver and motor, i.e.,
Reliability high redundancy driving servo-drive system can be achieved；
(4) two servo-drivers are packaged by the present invention, realize externally input, output such as same driver, side
Just used in systems in practice；
(5) present invention can be set after the completion of device switching is driven according to the error of present speed and command speed
Velocity gradient, reduces the impact that driving switching is caused to servo-drive system as far as possible.
Brief description of the drawings
Fig. 1 is the servo-drive system built using driving switching device.
Fig. 2 is switching control timing diagram.
Fig. 3 implements figure for driving switching executing module.
Fig. 4 implements figure for driving switching control module.
Embodiment
By taking the redundancy backup design of certain servo-drive system as an example, driver is 63kW three-phase alternating current servo in the servo-drive system
Driver, the driver is controlled using CAN communication, and the position of driver is fed back to rotary transformer.Next coming in order are carried out
Drive the design of switching executing module and switching control module
1st, driving switching executing module design
Driving switching executing module in this servo-drive system is by single-pole double throw magnetic latching contactor and magnetic latching relay group
Into wherein magnetic latching contactor is used for the Path selection that the power output of two servo-drivers is inputted to motor power, and magnetic is protected
Hold relay and be used for the Path selection that export to motor position feedback of position feed back input and CAN of two servo-drivers and lead to
Believe to the selection of Drive Path.
Servo-drive system servomotor is three-phase, thus selects the magnetic latching contactor of three groups of single-pole double throws to be driven during design
The switching of dynamic device power line.The servomotor position of servo-drive system is fed back to revolve deformation type, containing two-way is excitatory, two-way is sinusoidal,
Two-way cosine totally six road signal, six groups of single-pole double throw magnetic latching relays of selection are used for the switching of these circuits.Servo-driver
Communicated using CAN, CAN signal is CANH, CANL for two paths of signals, selects two groups of single-pole double throw magnetic latching relays.It is logical
Design more than crossing can obtain driving the schematic diagram of switching executing module to see that accompanying drawing 3 (omits auxiliary in figure in this servo-drive system
Contact and relay line bag).K1~K3 is that magnetic latching contactor is used for servo power circuit switching in figure, and K4~K9 protects for magnetic
Holding relay is used for rotation transformer circuit switching, and K10~K11 is that magnetic latching relay is used for CAN communication circuit switching.
2nd, driving switching control module design
Driving switching control module in this servo-drive system is managed by MCU chip, photoelectrical coupler, communication chip, MOSFET
Composition.It is completed to the magnetic latching contactor and magnetic latching relay in driving switching executing module by photoelectrical coupler
The detection of auxiliary contact, is realized by MOSFET pipes and keeps relay to the magnetic latching contactor and magnetic in driving switching executing module
The control of device, when realizing certain driver malfunction, switches to another driver and continues to run with.
11 contactors and relay, totally 11 auxiliary contact, therefore switching control are had in driving switching executing module
Module needs 11 photoelectrical couplers and MOSFET pipes, and MCU selects the chip with CAN communication function and is aided with CAN physical layer
Chip, so as to build driving switching control module as shown in Figure 4.
3rd, velocity gradient curve after the completion of driving switching
If servo-drive system rated speed is 180 °/s, after driver malfunction, device switching, servo after the completion of switching are driven
System speed is 90 °/s, and the controlling cycle of servo-drive system is 10ms, and velocity gradient is 9 °/s2.Following velocity gradient can then be obtained bent
Line：
The a set of online switching device of double servo-drivers and method based on magnetic latching contactor to sum up are can be designed that,
The program can be realized to be switched over automatically when driver breaks down, and speed can be controlled to export after the completion of switching, it is ensured that
Servo-drive system speed smooth transition, it is to avoid velocity shock is impacted to servo-drive system.
Claims (2)
1. a kind of online switching device of double servo-drivers based on magnetic latching contactor, it is characterised in that：
(1) online switching device is made up of driving switching executing module and driving switching control module；
(2) driving switching executing module uses multigroup single-pole double throw magnetic latching contactor and magnetic latching relay, from electrical connection
On realize two servo-drivers and meanwhile can only have one access servo-drive system in, another is isolated in outside servo-drive system；
(3) microcontroller chip MCU, photoelectrical coupler, Metal-Oxide Semiconductor are used in driving switching control modular circuit
Effect transistor MOSFET, controller local area network's CAN transceiving chips, photoelectrical coupler are responsible for collection driving switching executing module
The state of middle auxiliary contact, MOSFET pipes are realized to magnetic latching contactor and magnetic latching relay in driving switching executing module
Control, CAN transceiving chips are used to receive host computer instruction and forward the instruction to servo-driver.
2. a kind of online switching method for realizing claim 1 described device, it is characterised in that：Drive switching control module real-time
The malfunction for the driver being currently accessed in detection driving switching executing module, when detecting driver malfunction, then starts and drives
Dynamic device changeover program control driving switching executing module is switched over；After the completion of driver switching, progressively accelerated to using speed
Command speed strategy, it is ensured that servomotor rotating speed is seamlessly transitted, will not be impacted to servo-drive system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710621863.4A CN107317533A (en) | 2017-07-27 | 2017-07-27 | The online switching device of double servo-drivers and method based on magnetic latching contactor |
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| CN201710621863.4A CN107317533A (en) | 2017-07-27 | 2017-07-27 | The online switching device of double servo-drivers and method based on magnetic latching contactor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031223A (en) * | 2018-07-12 | 2018-12-18 | 中国船舶重工集团公司第七二四研究所 | Based on the control of the T/R component of ARM and FPGA architecture and monitoring method |
| CN109194213A (en) * | 2018-09-27 | 2019-01-11 | 上海航天测控通信研究所 | A kind of warm back-up control circuit of spaceborne stepper motor driving circuit |
| CN110311618A (en) * | 2019-08-01 | 2019-10-08 | 四川九洲电器集团有限责任公司 | Electric machine control system |
| CN112643213A (en) * | 2021-01-29 | 2021-04-13 | 苏州艾航激光科技有限公司 | XY driver module switching system of laser engraving cutting machine |
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| US3578871A (en) * | 1968-02-09 | 1971-05-18 | Tokyo Shibaura Electric Co | Control device for an object such as a rotor in a prime mover or the like |
| CN102355181A (en) * | 2011-09-19 | 2012-02-15 | 北京工业大学 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
| CN102842460A (en) * | 2012-08-30 | 2012-12-26 | 北京动力机械研究所 | Overload control circuit with double-channel redundant function |
| CN203840581U (en) * | 2014-05-16 | 2014-09-17 | 重庆瑞升康博电气有限公司 | LED lamp driving power supply having redundancy function |
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| US3578871A (en) * | 1968-02-09 | 1971-05-18 | Tokyo Shibaura Electric Co | Control device for an object such as a rotor in a prime mover or the like |
| CN102355181A (en) * | 2011-09-19 | 2012-02-15 | 北京工业大学 | Double-channel redundant brushless direct current motor driver and relay protection method thereof |
| CN102842460A (en) * | 2012-08-30 | 2012-12-26 | 北京动力机械研究所 | Overload control circuit with double-channel redundant function |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109031223A (en) * | 2018-07-12 | 2018-12-18 | 中国船舶重工集团公司第七二四研究所 | Based on the control of the T/R component of ARM and FPGA architecture and monitoring method |
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| CN110311618A (en) * | 2019-08-01 | 2019-10-08 | 四川九洲电器集团有限责任公司 | Electric machine control system |
| CN112643213A (en) * | 2021-01-29 | 2021-04-13 | 苏州艾航激光科技有限公司 | XY driver module switching system of laser engraving cutting machine |
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