CN115327352A - Fault detection device and method for servo system drive circuit and electronic equipment - Google Patents
Fault detection device and method for servo system drive circuit and electronic equipment Download PDFInfo
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- CN115327352A CN115327352A CN202211118735.5A CN202211118735A CN115327352A CN 115327352 A CN115327352 A CN 115327352A CN 202211118735 A CN202211118735 A CN 202211118735A CN 115327352 A CN115327352 A CN 115327352A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/28—Testing of electronic circuits, e.g. by signal tracer
- G01R31/2832—Specific tests of electronic circuits not provided for elsewhere
- G01R31/2836—Fault-finding or characterising
- G01R31/2843—In-circuit-testing
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The invention discloses a fault detection device and method for a servo system drive circuit and electronic equipment, wherein the device comprises: the data acquisition module is used for acquiring sampling voltage analog quantity in at least one path of target driving circuit, and current analog quantity and temperature value in a stable state; the AD conversion module is used for converting the sampling voltage analog quantity into a sampling voltage digital quantity; the data processing module is used for comparing the sampling voltage digital quantity with a preset stable working range and judging whether the at least one path of target driving circuit is in fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state. By implementing the method and the device, which circuit is abnormal can be accurately judged, and the problem can be corrected in time, so that the risk resistance of the servo system driving circuit is improved.
Description
The invention relates to the technical field of circuit detection, in particular to a fault detection device and method for a servo system driving circuit and electronic equipment.
Background
In the prior art, servo systems IGBT and MOSFET are applied to various industrial fields, the scheme is mature, the cost price is excellent, a servo system driving circuit is generally in an N-drive mode, and the scheme of driving a chip, a driving power supply and IGBT or MOSFET and a motor is adopted to realize strict control of the motor. However, the driving chip and the power supply are easily affected by various factors, so that the driving chip and the power supply are damaged or even burned out, and the driving circuit is complicated in branch, so that when the servo system driving circuit is debugged, it is difficult to accurately judge which circuit is damaged or works abnormally in the troubleshooting process. Therefore, a fault detection device of a servo system driving circuit is needed to accurately judge whether the circuit is abnormal or not and timely process and correct the problem.
Disclosure of Invention
Therefore, the technical problem to be solved by the present invention is to overcome the defect that it is difficult to accurately determine which circuit is abnormal or damaged when the existing servo system driving circuit is debugged, thereby providing a failure detection apparatus and method for a servo system driving circuit, and an electronic device.
According to a first aspect, an embodiment of the present invention discloses a failure detection apparatus for a servo system driving circuit, including: the data acquisition module is used for acquiring sampling voltage analog quantity in at least one path of target driving circuit, and current analog quantity and temperature value in a stable state; the AD conversion module is used for converting the sampling voltage analog quantity into a sampling voltage digital quantity; the data processing module is used for comparing the sampling voltage digital quantity with a preset stable working range and judging whether the at least one path of target driving circuit fails or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
Optionally, the data acquisition module comprises: the electric data acquisition module is used for acquiring the current analog quantity and the voltage analog quantity of the at least one path of target driving circuit; the temperature sensing module is used for acquiring the temperature value of the at least one path of target driving circuit; the temperature data drift value calculation module is used for calculating a temperature data drift value based on the temperature value; and the stable working range calculation module is used for calculating a current stable working range and a temperature stable working range respectively based on the current analog quantity and the temperature data drift value of the at least one path of target drive circuit in the stable state.
Optionally, the data processing module comprises: the PWM signal control module is used for switching the on-off state of the PWM signal output of the at least one path of target drive circuit; and the circuit judging module is used for comparing the voltage digital quantity of the at least one path of target driving circuit with the current stable working range or the temperature stable working range under different PWM signal output states and judging whether the at least one path of target driving circuit has faults or not based on a comparison result.
According to a second aspect, an embodiment of the present invention further discloses a method for detecting a failure of a servo system driving circuit, including: collecting sampling voltage analog quantity, current analog quantity and temperature value in a stable state in at least one path of target driving circuit; converting the sampling voltage analog quantity into a sampling voltage digital quantity; comparing the sampling voltage digital quantity with a preset stable working range, and judging whether the at least one path of target driving circuit has a fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
Optionally, the process of calculating the preset stable operating range includes: calculating a temperature data drift value based on the temperature value; calculating to obtain a current stable working range based on the current analog quantity of the at least one path of target driving circuit in a stable state; and calculating to obtain a temperature stable working range based on the temperature data drift value.
Optionally, comparing the sampling voltage digital quantity with a preset stable working range, and determining whether the at least one target driving circuit has a fault based on the comparison result, includes: turning off the PWM signal output of the target driving circuit; collecting a current first sampling voltage analog quantity in the process from the beginning of circuit operation to preset time; comparing the first sampled voltage digital quantity to the temperature stable operating range; if the first sampling voltage digital quantity is within the temperature stable working range, judging that the at least one path of target driving circuit works normally; otherwise, judging that the at least one path of target driving circuit has a fault.
Optionally, the comparing the sampling voltage digital value with a preset stable working range, and determining whether the at least one target driving circuit fails based on a comparison result, further includes: opening one path of PWM output of the target driving circuit; collecting current second sampling voltage analog quantity; comparing the second sampled voltage digital quantity to the current stabilization operating range; if the second sampling voltage digital quantity is within the current stable working range, judging that the at least one path of target driving circuit works normally; otherwise, judging that the at least one path of target driving circuit has a fault.
Optionally, the temperature data drift value is calculated by the following formula:
T=(V1’/I1-Rnom)/(Rnom*TC1)+Tnom,
wherein V1' is a voltage analog quantity at thermal equilibrium; rnom is the initial resistance value of the sampling resistor; TC1 is a linear temperature coefficient; tnom is normal temperature; and I1 is the current obtained by collecting the voltage and the sampling resistor according to the initial operation of the circuit, the PWM output is closed, only the influence of the temperature on the circuit is considered, and the current is kept unchanged.
According to a third aspect, an embodiment of the present invention further discloses an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the method for detecting a failure of a servo system driver circuit according to the second aspect or any one of the alternative embodiments of the second aspect.
According to a fourth aspect, the present invention further discloses a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method for detecting a failure of a servo system driver circuit according to the second aspect or any one of the optional embodiments of the second aspect.
The technical scheme of the invention has the following advantages:
the invention provides a fault detection device and method for a servo system drive circuit and electronic equipment, wherein the device comprises: the data acquisition module is used for acquiring the sampling voltage analog quantity of at least one path of target driving circuit and the current and temperature value in a stable state; the AD conversion module is used for converting the analog quantity of the sampling voltage into digital quantity; and the data processing module compares the sampling voltage digital quantity with a stable working range obtained by calculation according to the acquired current and temperature and judges whether the target driving circuit has a fault or not. The method can accurately judge which circuit is abnormal and correct the problem in time, thereby improving the risk resistance of the servo system driving circuit.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic block diagram of an exemplary embodiment of a servo drive circuit fault detection in accordance with an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a system circuit of a specific example of an embodiment of the present invention;
FIG. 3 is a detailed schematic block diagram of a specific example of a servo system driving circuit fault detection apparatus according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating a method for detecting a failure in a servo driver circuit according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a method for detecting a failure in a servo driver circuit according to an embodiment of the present invention;
fig. 6 is a diagram illustrating an exemplary electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The embodiment of the invention discloses a fault detection device of a servo system drive circuit, which mainly comprises the following components: the device comprises a data acquisition module 1, an AD conversion module 2, a data processing module 3 and the like.
The data acquisition module 1 is used for acquiring sampling voltage analog quantity in at least one path of target driving circuit and current analog quantity and temperature value in a stable state;
exemplarily, in the embodiment of the present application, as shown in fig. 2, fig. 2 is a schematic block diagram of a system circuit (including but not limited to 12 paths), and a servo system driving circuit generally adopts a scheme of driving chip + driving power supply + IGBT or MOSFET + clicking to implement strict control on a motor; the drive circuit generally includes: the power supply module, IGBT or MOSFET drive module and IGBT or MOSFET. In a specific embodiment, a sampling resistor and an operational amplifier are adopted to collect sampling voltage analog quantity and provide conversion data for an AD conversion module, wherein the sampling resistor can select a type resistor with certain precision and a specific temperature drift coefficient. In addition, a sampling resistor or a current sensor can be connected to the input end of the power supply and is connected with the input end of the power supply module in series to obtain the current value; the temperature value can be obtained by the working temperature of the acquisition circuit of the temperature acquisition device; the steady state refers to a state when the circuit reaches a static thermal equilibrium, and the sampling method or the sampling device in the present invention is only used as an example and not limited thereto.
In the embodiment of the present invention, as shown in fig. 3, the data acquisition module 1 includes: the electric data acquisition module 11 is used for acquiring current analog quantity and voltage analog quantity of at least one path of target driving circuit; the temperature sensing module 12 is used for acquiring temperature values of at least one path of target driving circuit; a temperature data drift value calculation module 13, configured to calculate a temperature data drift value based on the temperature value; and the stable working range calculation module 14 is configured to calculate a current stable working range and a temperature stable working range based on the current analog quantity and the temperature data drift value of the at least one path of target driving circuit in the stable state.
The AD conversion module 2 is used for converting the sampling voltage analog quantity into a sampling voltage digital quantity;
in the embodiment of the invention, the AD conversion module 2 mainly has the functions of receiving the sampling voltage analog quantity acquired by the data acquisition module, converting the sampling voltage analog quantity into the sampling voltage digital quantity, and then transmitting the sampling voltage digital quantity to the data processing module 3. In practical applications, the AD conversion module of the processor or the external AD conversion processing module may be selected according to requirements, which is not limited in the present invention.
The data processing module 3 is used for comparing the sampling voltage digital quantity with a preset stable working range and judging whether the at least one path of target driving circuit has a fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
Illustratively, in the embodiment of the present invention, the preset stable operating range refers to a preset temperature stable operating range or a preset current stable operating range, and the process of calculating the preset stable operating range includes: calculating a temperature data drift value based on the temperature value; calculating to obtain a current stable working range based on the current analog quantity of at least one path of target driving circuit in a stable state; calculating a temperature stable working range based on the temperature data drift value, wherein the stable state represents a state that the circuit reaches static thermal equilibrium, which is only taken as an example; the process of calculating the stable working range is only used as an example and is not limited to this.
In a specific embodiment, the temperature data drift value is calculated by a formula of T = (V1 '/I1-Rnom)/(Rnom × TC 1) + Tnom, wherein V1' is a voltage analog at thermal equilibrium; rnom is the initial resistance value of the sampling resistor; TC1 is a linear temperature coefficient; tnom is normal temperature (normal temperature is generally 25 ℃, for example only, and not limited thereto); and I1 is the current obtained by collecting the voltage and the sampling resistor when the circuit starts to operate. And calculating to obtain a value of the resistance value of the sampling resistor after changing along with the temperature through R = R (nom) [ [1+ TC1 ] (T-Tnom) + TC 2] (T-Tnom) ^2], wherein the current is a fixed value when the influence of the temperature on the circuit is considered, and calculating to obtain the voltage at two ends of the sampling resistor after the sampling resistor changes, thereby obtaining the stable working range of the temperature. Wherein, TC2: a secondary temperature coefficient (when the resistance value of the sampling resistor which needs to be calculated reaches higher accuracy, TC2 is used in a relation formula of the temperature and the resistance value, and the temperature and the resistance value are not used normally); t is the temperature data drift value obtained in the formula;
in the embodiment of the present invention, as shown in fig. 3, the data processing module 3 includes: the PWM signal control module 31 is configured to switch a switching state of a PWM signal output of at least one path of target driving circuit; and the circuit judging module 32 is configured to, in different PWM signal output states, compare the voltage digital quantity of the at least one target driving circuit with the current stable working range or the temperature stable working range, and judge whether the at least one target driving circuit is faulty based on the comparison result.
In a specific embodiment, the process of comparing the sampling voltage digital quantity with the preset stable working range and determining whether at least one path of target driving circuit fails based on the comparison result, which is implemented by the data processing module 3, includes: as shown in fig. 3, a PWM signal control module 31 for turning off the PWM signal output of the target driving circuit; acquiring and acquiring a first sampling voltage analog digital quantity in the process from the start of the operation of a target driving circuit to a preset time; the circuit judging module 32 is used for comparing the first sampling voltage digital quantity with the temperature stable working range; if the first sampling voltage digital quantity is within the temperature stable working range, judging that at least one path of target driving circuit works normally; otherwise, judging that at least one path of target driving circuit has faults. The preset time represents a time for the driving circuit to reach the thermal equilibrium state, which is only an example.
In this embodiment of the present invention, as shown in fig. 3, the data processing module 3 further includes: the PWM signal control module 31 is further configured to turn on a PWM output of one of the target driving circuits; acquiring a current second sampling voltage digital quantity; the circuit judging module 32 is further configured to compare the second sampling voltage digital quantity with the current stable working range; if the second sampling voltage digital quantity is in the current stable working range, judging that at least one path of target driving circuit works normally; otherwise, judging that at least one path of target driving circuit has faults.
The fault detection device of the servo system driving circuit provided by the embodiment of the invention collects the sampling voltage analog quantity, the current analog quantity and the temperature value in a stable state through the data collection module; the AD conversion module converts the collected sampling voltage analog quantity into a voltage digital quantity; and the data processing module compares the voltage digital quantity with a stable working range obtained by calculating the acquired current analog quantity and the temperature value, and judges whether the target driving circuit has a fault or not. Before the servo system driving circuit works, the method can accurately judge which circuit is abnormal and correct the problem in time, so that the risk resistance of the servo system driving circuit is improved.
The embodiment of the invention also discloses a fault detection method of the servo system drive circuit, which comprises the following steps:
in the embodiment of the present invention, the current sensor is used to collect the current analog quantity and the sampling resistor + operational amplifier is used to collect the sampling voltage analog quantity, and this collection manner is only used as an example and is not limited thereto. The sampling resistor is connected in series with the input end to calculate the magnitude of the current value, and the sampling resistor is connected in series with the input end only as an example, but not limited thereto.
103, comparing the sampling voltage digital quantity with a preset stable working range, and judging whether at least one path of target driving circuit is in fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
In the embodiment of the present invention, in the step 103, the process of calculating the preset stable working range includes: calculating a temperature data drift value based on the temperature value; calculating to obtain a current stable working range based on the current analog quantity of at least one path of target driving circuit in a stable state; and calculating to obtain a temperature stable working range based on the temperature data drift value.
As an optional embodiment of the invention, when only the influence of the temperature on the driving circuit is considered, the PWM output is closed, the current of the driving circuit is a fixed value and is kept unchanged, the temperature stable working range is calculated based on the temperature value, and the circuit in the driving circuit is judged to have a fault. In the step of calculating the temperature data drift value based on the temperature value, the temperature data drift value can be calculated by a formula of T = (V1 '/I1-Rnom)/(Rnom TC 1) + Tnom, wherein V1' is a voltage analog quantity in thermal equilibrium; rnom is the initial resistance value of the sampling resistor; TC1 is a linear temperature coefficient; tnom is normal temperature (normal temperature is generally 25 ℃, for example only, and not limited thereto); and I1 is the voltage acquired according to the start of the operation of the circuit and the current acquired by the sampling resistor. The method of the present invention is only exemplary and not limited to the method of the present invention.
As an optional embodiment of the present invention, in step 103, when only the influence of the current on the driving circuit is considered, the PWM switching process is short, the influence of the temperature rise is ignored, and the resistance value of the sampling resistor is not changed. The process of obtaining the stable current working range based on the current analog quantity of at least one path of target driving circuit in the stable state comprises the following steps: when one path of PWM output is turned on, the increment of current is certain, namely the increment of voltage of any path of the driving circuit is also certain; and calculating the voltage of one circuit of the PWM opening front drive circuit, and then determining the voltage of the one circuit without abnormality after the PWM opening to obtain the stable working range of the current. In a specific embodiment, before one path of PWM is turned on, V1=3V, i1 current is 0.3mA, when one path of PWM output is turned on, the increment of the current is certain, and 0.3mA is added, it can be determined that V1' =0.6V when the one path of PWM is turned on, and then the current stable working range is 0.3V-0.6V at this time. The current stabilizing operation range is only for example and not limited thereto.
As an optional embodiment of the present invention, the PWM output is turned off, the current of the driving circuit is kept constant, the temperature stable operating range is calculated based on the temperature value, and which circuit of the driving circuit has a fault is determined. In the step of calculating the stable working range of the temperature based on the drift value of the temperature data, the method comprises the following steps: and closing the PWM output, keeping the current unchanged, and obtaining the change of the resistance value of the sampling resistor through the temperature data drift value so as to obtain the temperature stable working range. In a specific embodiment, when the temperature changes, the relationship between the resistance value and the temperature is: r = R (nom) [1+TC1 [ (T-Tnom) { circumflex over (TC 2) } (T-Tnom) } 2], wherein TC2: a secondary temperature coefficient; (when the resistance value of the sampling resistor which needs to be calculated reaches higher accuracy, TC2 is used in a relation formula of the temperature and the resistance value, and the sampling resistor is not normally used); t is the temperature data drift value obtained in the formula; the resistance value of the sampling resistor is 100 omega, the voltage V1=0.3V at two ends of the sampling resistor is acquired by selecting differential sampling, the current I1=0.3mA passing through the sampling resistor is obtained, when the preset time is reached, namely the circuit reaches a thermal equilibrium state, the resistance value of the sampling resistor is changed, the current is kept unchanged, the V1' =0.312V is acquired, and the temperature stable working threshold value is 0.3V-0.312V. This temperature stable operating range is merely exemplary and not limiting.
As an optional implementation manner of the present invention, in the step of comparing the sampled voltage digital quantity with a preset stable operating range, and determining whether at least one of the target driving circuits fails based on the comparison result, the step of comparing the sampled voltage digital quantity with the preset stable operating range, and determining whether at least one of the target driving circuits fails based on the comparison result includes: when the influence of the temperature on the driving circuit is considered, the PWM signal output of the target driving circuit is closed; collecting a first sampling voltage analog quantity in the process from the beginning of the operation of a target driving circuit to the preset time; comparing the first sampling voltage digital quantity with the temperature stable working range; if the first sampling voltage digital quantity is within the temperature stable working range, judging that at least one path of target driving circuit works normally; otherwise, at least one path of target driving circuit is judged to have a fault, and whether the driving circuit has abnormity caused by temperature can be judged before the servo system driving circuit starts to work, so that the problem can be corrected in time. The process of comparing the digital voltage value with the stable operating range is only an example, and is not limited thereto.
In the embodiment of the present invention, comparing the sampling voltage digital quantity with a preset stable working range, and determining whether the at least one target driving circuit has a fault based on the comparison result, further includes: when the influence of the current on any path of the driving circuit is considered, the PWM output of one path of the target driving circuit is switched on; collecting current second sampling voltage analog quantity; comparing the second sampling voltage digital quantity with the current stable working range; if the second sampling voltage digital quantity is in the current stable working range, judging that at least one path of target driving circuit works normally; otherwise, at least one target driving circuit is judged to be in fault, so that the condition that which circuit is influenced by the current to be abnormal can be accurately judged before the servo system driving circuit works, and the problem can be corrected in time. The process of comparing the digital voltage value with the stable operating range is only an example, and is not limited thereto.
In a specific embodiment, as shown in fig. 5, the PWM output is switched on and off, the detection process is short, the temperature influence is ignored, only the influence of the current magnitude on the sampling voltage is considered, one path of PWM output is switched on, the current increment is constant, that is, the sampling voltage increment is constant, so as to determine the current stable working range; if one path of PWM output is opened, one path of current value is collected to obtain a voltage digital quantity, whether the voltage digital quantity is in a current stable working range or not is judged, and if not, the path of circuit is indicated to have a fault. Specifically, the comparison may be performed in the following manner, all PWM outputs are turned off, the current value I of the power module is detected, the voltage value of the power module may be obtained, the first path of PWM output is turned on, the current value I2 is collected, the voltage digital value V2 of the first path of driving circuit is obtained, if the voltage digital value of the first driving circuit obtained by collecting the current value I2 is within the current stabilization working range, it is determined as normal, otherwise, it is determined as failure; and then closing the first path of PWM, opening the second path for detection, detecting according to the method, repeating the process, and sequentially opening the next path after the detection is finished. The detection method is only an example, and is not limited to this, as long as it can detect whether the target driving circuit is faulty or not.
According to the fault detection method of the servo system driving circuit, provided by the embodiment of the invention, after the voltage analog quantity is acquired and converted into the digital quantity, the digital quantity is compared with the current stable working range and the temperature stable working range which are respectively obtained according to the current and the temperature, whether at least one path of target driving circuit has a fault is judged, and before the servo system driving circuit works, the fault detection method can accurately judge which path of circuit has an abnormality and correct the problem in time, so that the risk resistance of the servo system driving circuit is improved.
An embodiment of the present invention further provides an electronic device, as shown in fig. 6, the electronic device may include a processor 401 and a memory 402, where the processor 401 and the memory 402 may be connected by a bus or in another manner, and fig. 6 illustrates an example of a connection by a bus.
The memory 402, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the illegal activity detection method in the embodiment of the present invention. The processor 401 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 402, that is, implements the driving circuit fault detection method in the above method embodiment.
The memory 402 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 401, and the like. Further, the memory 402 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 402 may optionally include memory located remotely from processor 401, which may be connected to processor 401 over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 402 and, when executed by the processor 401, perform the driver circuit failure detection method in the embodiment shown in fig. 4.
The specific details of the electronic device may be understood by referring to the corresponding related description and effects in the embodiment shown in fig. 4, which are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk Drive (Hard Disk Drive, abbreviated as HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined.
Claims (10)
1. A failure detection device of a servo system drive circuit, comprising:
the data acquisition module is used for acquiring sampling voltage analog quantity in at least one path of target driving circuit, and current analog quantity and temperature value in a stable state;
the AD conversion module is used for converting the sampling voltage analog quantity into a sampling voltage digital quantity;
the data processing module is used for comparing the sampling voltage digital quantity with a preset stable working range and judging whether the at least one path of target driving circuit is in fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
2. The apparatus of claim 1, wherein the data acquisition module comprises:
the electric data acquisition module is used for acquiring the current analog quantity and the voltage analog quantity of the at least one path of target driving circuit;
the temperature sensing module is used for acquiring the temperature value of the at least one path of target driving circuit;
the temperature data drift value calculation module is used for calculating a temperature data drift value based on the temperature value;
and the stable working range calculation module is used for calculating a current stable working range and a temperature stable working range respectively based on the current analog quantity and the temperature data drift value of the at least one path of target driving circuit in a stable state.
3. The failure detection device of a servo system driving circuit according to claim 2, wherein the data processing module comprises:
the PWM signal control module is used for switching the on-off state of the PWM signal output of the at least one path of target driving circuit;
and the circuit judging module is used for comparing the voltage digital quantity of the at least one path of target driving circuit with the current stable working range or the temperature stable working range under different PWM signal output states and judging whether the at least one path of target driving circuit has faults or not based on a comparison result.
4. A method for detecting a failure of a servo system driver circuit, comprising:
collecting sampling voltage analog quantity in at least one path of target driving circuit, and current analog quantity and temperature value in a stable state;
converting the sampling voltage analog quantity into a sampling voltage digital quantity;
comparing the sampling voltage digital quantity with a preset stable working range, and judging whether the at least one path of target driving circuit has a fault or not based on a comparison result; the preset stable working range is calculated based on the current analog quantity and the temperature value in the stable state.
5. The method of claim 4, wherein the step of calculating the predetermined stable operating range comprises:
calculating a temperature data drift value based on the temperature value;
calculating to obtain a current stable working range based on the current analog quantity of the at least one path of target driving circuit in a stable state;
and calculating to obtain a temperature stable working range based on the temperature data drift value.
6. The method for detecting faults of a servo system driving circuit according to claim 5, wherein the comparing the sampled voltage digital quantity with a preset stable working range and determining whether the at least one target driving circuit is faulty based on the comparison result comprises:
turning off the PWM signal output of the target driving circuit;
collecting a first sampling voltage analog quantity in the process from the beginning of the operation of the target driving circuit to the preset time;
comparing the first sampled voltage digital quantity to the temperature stable operating range;
if the first sampling voltage digital quantity is within the temperature stable working range, judging that the at least one path of target driving circuit works normally; otherwise, judging that the at least one path of target driving circuit has a fault.
7. The method as claimed in claim 5 or 6, wherein the step of comparing the sampled voltage digital value with a preset stable operating range and determining whether the at least one target driving circuit is faulty based on the comparison result further comprises:
opening one path of PWM output of the target driving circuit;
collecting a current second sampling voltage analog quantity;
comparing the second sampled voltage digital quantity to the current stabilization operating range;
if the second sampling voltage digital quantity is within the current stable working range, judging that the at least one path of target driving circuit works normally; otherwise, judging that the at least one path of target driving circuit has a fault.
8. The method of claim 5, wherein the temperature data drift value is calculated by the following equation:
T=(V1’/I1-Rnom)/(Rnom*TC1)+Tnom,
wherein V1' is a voltage analog quantity in thermal equilibrium; rnom is the initial resistance value of the sampling resistor; TC1 is a linear temperature coefficient; tnom is normal temperature; and I1 is the current obtained by collecting the voltage and the sampling resistor according to the initial operation of the circuit, the PWM output is closed, only the influence of the temperature on the circuit is considered, and the current is kept unchanged.
9. An electronic device, comprising: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to cause the at least one processor to perform the steps of the method of fault detection of a servo drive circuit according to any of claims 4 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for fault detection of a servo system driver circuit according to any one of claims 4 to 8.
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