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CN115833656A - Trigger feedback control circuit and controller - Google Patents

Trigger feedback control circuit and controller Download PDF

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Publication number
CN115833656A
CN115833656A CN202211617872.3A CN202211617872A CN115833656A CN 115833656 A CN115833656 A CN 115833656A CN 202211617872 A CN202211617872 A CN 202211617872A CN 115833656 A CN115833656 A CN 115833656A
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CN
China
Prior art keywords
circuit
switch
trigger
signal
motor
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Pending
Application number
CN202211617872.3A
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Chinese (zh)
Inventor
张伟杰
谷洪川
郑臣艳
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Shenzhen Inovance Technology Co Ltd
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Shenzhen Inovance Technology Co Ltd
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Priority to CN202211617872.3A priority Critical patent/CN115833656A/en
Publication of CN115833656A publication Critical patent/CN115833656A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a trigger feedback control circuit and a controller, wherein the trigger feedback control circuit comprises: the first switch trigger circuit is used for outputting a first switch trigger signal when being triggered; a plurality of second switch trigger circuits for outputting respective second switch trigger signals when triggered; the control circuit is respectively and electrically connected with the first switch trigger circuit, the second switch trigger circuit and the plurality of motors; the control circuit is used for controlling the motors to stop working when receiving the first switch trigger signal; and/or the control circuit controls the motor corresponding to the triggered second switch trigger circuit to stop working when receiving the second switch trigger signal. The invention can solve the problem that the existing motor driving equipment can not quickly locate the fault.

Description

Trigger feedback control circuit and controller
5 field of the invention
The invention relates to the technical field of motor control, in particular to a trigger feedback control circuit and a controller.
Background
0 in an equipment system such as a crane driven by a motor, it is necessary to perform a safety protection function by rapidly cutting off a torque output of the motor in an emergency, and it is required that the machine can be rapidly braked in an emergency and cannot be started when a safety condition is not satisfied. The overvoltage protection of the functional safety power supply is realized by a circuit built by discrete devices and also by power supply management of an integrated power supply state detection function
And the chip is realized, and the realized functions are that when the power supply voltage exceeds the range of 5 safe power supplies of the functional safety circuit device, the related power supply is cut off in time so as to ensure that the functional safety circuit device is not damaged. At present, a functional safety circuit of motor driving equipment is only a single guarantee circuit and only a single switching measure, and faults cannot be quickly positioned, so that a system cannot be quickly recovered in a short time.
Disclosure of Invention
The invention mainly aims to provide a trigger feedback control circuit, and aims to solve the problem that the conventional motor driving equipment cannot quickly locate faults.
In order to achieve the above object, the present invention provides a trigger feedback control circuit, including:
the first switch trigger circuit is used for outputting a first switch trigger signal when being triggered;
5 a plurality of second switch trigger circuits for outputting respective second switch trigger signals when triggered;
the control circuit is respectively and electrically connected with the first switch trigger circuit, the second switch trigger circuit and the plurality of motors; the control circuit is used for receiving the first switch trigger signal
When the motor is started, controlling the motors to stop working;
and/or the control circuit controls the motor corresponding to the triggered second switch trigger circuit to stop working when receiving the second switch trigger signal.
Optionally, the control circuit comprises:
the microprocessor is respectively and electrically connected with the first switch trigger circuit and the second switch trigger circuits, and is used for outputting a first trigger signal when receiving the first switch trigger signal and outputting a second trigger signal corresponding to the triggered second switch trigger circuit when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor and used for converting a plurality of control signals output by the microprocessor into corresponding driving signals and outputting the driving signals to the plurality of motors in a one-to-one correspondence manner so as to drive the plurality of motors to work;
and the motor driving circuit is also used for stopping outputting the driving signals to the motors when receiving the first trigger signal so as to control the motors to stop working, and stopping outputting the driving signals to the motors corresponding to the triggered second switch trigger circuit when receiving the second trigger signal so as to control the corresponding motors to stop working.
Optionally, the first detection end of the motor driving circuit is connected to the first switch trigger circuit, the second detection ends of the motor driving circuit are connected to the second switch trigger circuits in a one-to-one correspondence manner, and the motor driving circuit is further configured to stop outputting the driving signal to the motors when detecting that the first switch trigger circuit is triggered, so as to control the motors to stop working, and/or stop outputting the driving signal to the motor corresponding to the triggered second switch trigger circuit when detecting that any one of the second switch trigger circuits is triggered, so as to control the corresponding motor to stop working; and the number of the first and second groups,
and the motor driving circuit is also used for converting the control signal output by the microprocessor into a corresponding driving signal and outputting the corresponding driving signal to a corresponding motor to drive the corresponding motor to work when receiving the enabling signal output by the microprocessor and detecting that the corresponding switch trigger circuit is not triggered.
Optionally, the motor drive circuit comprises:
the optical coupler detection circuits are used for outputting corresponding switch turn-off signals when the corresponding switch trigger circuits are detected to be triggered, and outputting corresponding switch turn-on signals when the corresponding switches are detected not to be triggered;
the buffer circuit comprises a plurality of buffer circuits, wherein a first controlled end of each buffer circuit is connected with an output end of one optocoupler detection circuit, an output end of each buffer circuit is connected with one motor, an input end and a second controlled end of each buffer circuit are connected with the microprocessor, and the buffer circuits are used for converting control signals output by the microprocessor into corresponding driving signals and then outputting the driving signals to the corresponding motors to drive the corresponding motors to work when receiving enable signals output by the microprocessor and corresponding switch on signals, and stopping outputting the driving signals to the corresponding motors to control the corresponding motors to stop working when receiving corresponding switch off signals and/or corresponding trigger signals.
Optionally, each buffer circuit comprises two buffers arranged in series.
Optionally, each opto-coupler detection circuit includes two opto-coupler circuits, two the sense terminal of opto-coupler circuit all is connected with a first switch trigger circuit or second switch trigger circuit, two the output and two of opto-coupler circuit the first controlled end one-to-one of buffer is connected, opto-coupler circuit is used for when detecting corresponding switch trigger circuit and is triggered, the switch turn-off signal that the output corresponds extremely the buffer to and when detecting corresponding switch trigger circuit and not triggered, the switch turn-on signal that the output corresponds extremely the buffer.
Optionally, the motor drive circuit further comprises:
the optical coupler test circuit is used for outputting an optical coupler test signal to the optical coupler circuit when receiving the optical coupler test signal output by the microprocessor;
each opto-coupler circuit's test output end with microprocessor is connected, opto-coupler circuit still is used for receiving when opto-coupler test signal, output corresponding test feedback signal to microprocessor to make microprocessor judge according to test feedback signal the operating condition of opto-coupler circuit.
Optionally, the trigger feedback control circuit further includes:
the input end of each band-type brake control circuit is connected with the microprocessor, the first controlled end of each band-type brake control circuit is connected with the control end of one motor driving circuit, and the control end of each band-type brake control circuit is connected with one motor;
the motor driving circuit is further used for outputting a contracting brake trigger signal to the contracting brake control circuit when detecting that any one of the first switch trigger circuits is triggered, so that the contracting brake control circuit controls the motor to stop rotating, and/or outputting the contracting brake trigger signal to the contracting brake control circuit corresponding to the triggered second switch trigger circuit when detecting that any one of the second switch trigger circuits is triggered, so that the contracting brake control circuit controls the corresponding motor to stop rotating.
Optionally, a second controlled end of each band-type brake control circuit is connected with the microprocessor;
the microprocessor is also used for outputting a brake triggering signal to the plurality of brake control circuits when receiving the first switch triggering signal so as to enable the plurality of brake control circuits to control the plurality of motors to stop rotating, and outputting the brake triggering signal to the brake control circuit corresponding to the triggered second switch triggering circuit when receiving the second switch triggering signal so as to control the corresponding motor to stop rotating by the brake control circuit.
Optionally, the trigger feedback control circuit further includes:
the input end of the power supply circuit is connected with a power supply, the output end of the power supply circuit is connected with the power supply end of the microprocessor, and the power supply circuit is used for converting the output voltage of the power supply into a power supply voltage and then outputting the power supply voltage to supply power to the microprocessor;
the power supply overvoltage protection circuit comprises a power supply overvoltage protection circuit, wherein the detection end of the power supply overvoltage protection circuit is connected with the output end of the power supply circuit, the control end of the power supply overvoltage protection circuit is connected with the controlled end of the power supply circuit, and the power supply overvoltage protection circuit is used for detecting the overvoltage of the power supply voltage output by the power supply circuit and controlling the power supply circuit to stop working.
The present invention further provides a trigger feedback control circuit, which includes:
the first switch trigger circuit is used for outputting a first switch trigger signal when being triggered;
at least one second switch trigger circuit for outputting a corresponding second switch trigger signal when triggered;
the control circuit is respectively and electrically connected with the first switch trigger circuit, the second switch trigger circuit and the motor; the control circuit is used for controlling the motor to stop working when receiving the first switch trigger signal;
and/or the control circuit controls the motor to execute corresponding work when receiving the second switch trigger signal.
Optionally, the control circuit comprises:
the microprocessor is respectively electrically connected with the first switch trigger circuit and the second switch trigger circuit, and is used for outputting a first trigger signal when receiving the first switch trigger signal and regulating the duty ratio of an output control signal or outputting a second trigger signal when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor and used for converting the control signal output by the microprocessor into a corresponding driving signal and outputting the corresponding driving signal to the motor so as to drive the motor to work;
the motor driving circuit is further used for stopping outputting the driving signal to the motor when receiving the first triggering signal or the second triggering signal so as to control the motor to stop working.
Optionally, the trigger feedback control circuit further includes:
the input end of the band-type brake control circuit is connected with the microprocessor, the first controlled end of the band-type brake control circuit is connected with the control end of the motor driving circuit, and the control end of the band-type brake control circuit is connected with the motor;
the motor driving circuit is further used for outputting a brake triggering signal to the brake control circuit when receiving the first triggering signal or the second triggering signal, so that the brake control circuit controls the motor to stop rotating.
The invention also provides a controller which comprises the trigger feedback control circuit.
In the technical scheme of the invention, the first switch trigger circuit and the second switch trigger circuit are arranged, so that the switch states of the switches in the switch trigger circuits can be detected, and when any one switch is triggered, the corresponding switch trigger signal is output to the control circuit, so that the control circuit controls the corresponding motor to stop working, and the safety protection of the motor and the motor driving equipment is realized. Meanwhile, the first switch trigger circuit and the second switch trigger circuit are arranged, so that the control circuit can accurately know the switch state of each switch, and can quickly position the trigger switch when the switch is triggered, so that a user can quickly position a fault position, and the stability and the working efficiency are improved.
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 description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a functional block diagram of an embodiment of a trigger feedback control circuit according to the present invention;
FIG. 2 is a functional block diagram of another embodiment of a trigger feedback control circuit according to the present invention;
FIG. 3 is a schematic circuit diagram of an embodiment of a trigger feedback control circuit according to the present invention;
FIG. 4 is a schematic circuit diagram of an embodiment of a switch trigger circuit in the trigger feedback control circuit according to the present invention;
FIG. 5 is a schematic circuit diagram of an embodiment of an optocoupler circuit and an optocoupler test circuit in the trigger feedback control circuit according to the invention;
FIG. 6 is a schematic circuit diagram of an embodiment of a power supply circuit and a power supply overvoltage protection circuit in a trigger feedback control circuit according to the present invention;
fig. 7 is a functional block diagram of another embodiment of the trigger feedback control circuit according to the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name(s)
10 First switch trigger circuit 60 Power supply circuit
20 Second switch trigger circuit 70 Power supply overvoltage protection circuit
30 Control circuit 31 Microprocessor
40 Optical coupler test circuit 32 Optical coupler detection circuit
50 Band-type brake control circuit 33 Buffer circuit
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious 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.
It should be noted that, if directional indications (such as up, down, left, right, front, back, 8230; etc.) are involved in the embodiment of the present invention, the directional indications are only used for explaining the relative positional relationship between the components, the motion situation, etc. in a specific posture (as shown in the figure), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
At present, in equipment systems such as hoisting equipment driven by a motor, it is necessary to perform a safety protection function by rapidly cutting off a motor torque output in an emergency, which requires that the machine be able to be rapidly braked in an emergency and be unable to be started when a safety condition is not satisfied. The functional safety power supply overvoltage protection is realized by a circuit built through discrete devices and a power supply management chip with an integrated power supply state detection function, and the realized functions are that when the power supply voltage exceeds the safety power supply range of the functional safety circuit devices, related power supplies are cut off in time so as to ensure that the functional safety circuit devices are not damaged. At present, a functional safety circuit of motor driving equipment is only a single guarantee circuit and only a single switching measure, and faults cannot be quickly positioned, so that a system cannot be quickly recovered in a short time.
To solve the above problem, the present invention provides a trigger feedback control circuit, and referring to fig. 1 to 6, in an embodiment, the trigger feedback control circuit 30 includes:
a first switch trigger circuit 10, wherein the first switch trigger circuit 10 is used for outputting a first switch trigger signal when triggered;
a plurality of second switch trigger circuits 20, said second switch trigger circuits 20 being configured to output respective second switch trigger signals when triggered;
the control circuit 30 is electrically connected with the first switch trigger circuit 10, the second switch trigger circuit 20 and the plurality of motors respectively, and the control circuit 30 is used for controlling the plurality of motors to stop working when receiving the first switch trigger signal;
and/or controlling the motor corresponding to the triggered second switch trigger circuit 20 to stop working when receiving the second switch trigger signal.
The present invention relates to a three-axis integrated machine, and more particularly, to a three-axis integrated machine having a plurality of driving motors for driving different parts of the machine, for example, a three-axis integrated machine having three inverted outputs and supporting three-axis driving, wherein three axes correspond to a main hoisting motor, an auxiliary hoisting motor, and a trolley motor of a crane.
The crane may be provided with a plurality of second switches, that is, switches in the plurality of second switch trigger circuits 20, the plurality of second switch trigger circuits 20 may be set corresponding to the plurality of motors to realize one-to-one control of the operating states of the corresponding motors, and may also be provided with a first switch, that is, a switch in the first switch trigger circuit 10, for controlling the operating states of all the motors. The switch trigger circuit can be realized by selecting a capacitor, a resistor, a comparator, an optical coupler and other devices, and is used for detecting the switch state of the corresponding switch and outputting the corresponding switch trigger signal to the control circuit 30, so that the control circuit 30 judges the switch state of each switch according to the received switch trigger signal, and the corresponding motor is controlled to work/stop working according to the switch state of each switch. The control circuit 30 may include a microprocessor 31 such as an MCU, a CPLD, and an FPGA to drive and control the motor.
In an embodiment, referring to fig. 3, fig. 3 is a schematic circuit structure diagram of an embodiment of a crane, where the switches include a handheld box emergency stop switch, a remote controller emergency stop switch, a main lifting ram limit switch, and an auxiliary lifting ram limit switch. The handheld box emergency stop switch and the remote controller emergency stop switch are first switches, are connected in series to a 24V port of the power supply and are used for controlling the three motors at the same time. The main lifting and jacking limit switch and the auxiliary lifting and jacking limit switch are second switches, are respectively connected in series at the ground ends of the two shafts of the crane, and are used for controlling the main lifting motor and the auxiliary lifting motor respectively by triggering the corresponding switches to close the corresponding shafts. Specifically, the emergency stop switch of the handheld box and the emergency stop switch of the remote controller are normally closed switches, which are connected in series to the control circuit 30 of the device, and are turned off when triggered in an emergency, so that the first switch trigger circuit 10 outputs a corresponding first switch trigger signal to the control circuit 30, and the control circuit 30 controls all the motors to stop working. The main lifting and jacking limit switch and the auxiliary lifting and jacking limit switch are limit travel switches and are used for limiting the positions or the travels of the main lifting and the auxiliary lifting of the crane, when the main lifting or the auxiliary lifting of the crane reaches a certain position, the corresponding limit switches can be triggered, and when the limit switches are triggered, the limit switches are turned off, so that the second switch trigger circuit 20 outputs corresponding second switch trigger signals to the control circuit 30, the control circuit 30 controls the corresponding main lifting motor or the corresponding auxiliary lifting motor to stop working, and the main lifting and the auxiliary lifting reach a certain position to be automatically stopped.
In fig. 3, each of the first switch trigger circuit 10 and the second switch trigger circuit 20 is composed of four opto-coupler position detection circuits, each opto-coupler position detection circuit corresponds to one switch, and an output end of each opto-coupler position detection circuit is connected with an input pin of a control circuit 30, so that the control circuit 30 can judge which switch is a feedback signal through a received pin. The specific structure of each switch trigger circuit can be as shown in fig. 4, and fig. 4 is a schematic circuit structure diagram of an embodiment of the switch trigger circuit, and each switch trigger circuit judges whether to trigger a switch by comparing the potentials at the two ends of the switch, and feeds back the potentials to the control circuit 30, so that the control circuit 30 knows which switch is triggered, and controls the corresponding motor to stop working. Specifically, each switch trigger circuit comprises current-limiting sampling resistors 201 and 202, voltage-dividing resistors 203 and 204, an exclusive-or gate 205, a current-limiting resistor 206, an optical coupler filter capacitor 207, an optical coupler 208, a pull-up resistor 209 and a filter capacitor 210. The current-limiting sampling resistors 201 and 202 collect voltages at two ends of the switch, and in order to ensure normal operation of a post-stage circuit, a resistor with a large resistance value is selected for current limiting, and is divided by the voltage dividing resistors 203 and 204 and then input to the exclusive-or gate 205 for potential determination. Since the voltage across the switch is 24V and the power supplied to the xor gate 205 is only 5V, the voltage is divided by the voltage dividing resistors 203 and 204 to be within 5V for input. The xor gate 205 determines whether the switch is in a closed state by determining whether the two input ends are at the same level or different levels at the same time, so as to output a high level or a low level accordingly, and the control circuit 30 determines the switch state of the corresponding switch according to the received level. The current limiting resistor 206 and the pull-up resistor 209 select appropriate resistance values to determine the conduction requirement of the optical coupler 208, and the requirement of the conduction rate CTR of the optical coupler 208 needs to be met. The optical coupling filter capacitor 207 is used for filtering noise waves, forms RC filter with the current limiting resistor 206, enhances the immunity, and sends the filtered optical coupling output state to the control circuit 30 to determine the state after the filtering capacitor 210 filters the optical coupling output state, so as to determine the feedback information of the switch.
In the technical scheme of the invention, the first switch trigger circuit 10 and the second switch trigger circuit 20 are arranged, so that the switch states of the switches in the switch trigger circuits can be detected, and when any one switch is triggered, a corresponding switch trigger signal is output to the control circuit 30, so that the control circuit 30 controls the corresponding motor to stop working, and the safety protection of the motor and the crane is realized. Meanwhile, the first switch trigger circuit 10 and the second switch trigger circuit 20 are arranged, so that the control circuit 30 can accurately know the switch state of each switch, and can quickly position the trigger switch when the switch is triggered, so that a user can quickly position a fault position, the maintenance time for reusing the crane is further shortened, and the stability and the working efficiency of the crane are improved.
Referring to fig. 1 to 6, in an embodiment, the control circuit 30 includes:
the microprocessor 31 is electrically connected with the first switch trigger circuit 10 and the plurality of second switch trigger circuits 20, respectively, and the microprocessor 31 is configured to output a first trigger signal when receiving the first switch trigger signal and output a second trigger signal corresponding to the triggered second switch trigger circuit 20 when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor 31 and is used for converting a plurality of control signals output by the microprocessor 31 into corresponding driving signals and outputting the driving signals to a plurality of motors in a one-to-one correspondence manner so as to drive the motors to work;
the motor driving circuit is further configured to stop outputting the driving signal to the plurality of motors when receiving the first trigger signal, so as to control the plurality of motors to stop working, and stop outputting the driving signal to the motor corresponding to the triggered second switch trigger circuit 20 when receiving the second trigger signal, so as to control the corresponding motor to stop working.
In this embodiment, the microprocessor 31 may select the microprocessor 31 such as an MCU, a CPLD, and an FPGA to drive and control the motor, the motor driving circuit may select a plurality of buffers, each buffer is serially connected between the microprocessor 31 and one motor, and the buffers are configured to perform level conversion on the control signal output by the microprocessor 31 during operation, convert the control signal into a corresponding driving signal, and output the corresponding driving signal to the corresponding motor, so as to drive the motor to operate. Specifically, the microprocessor 31 outputs an enable signal to enable the motor driving circuit, so that the motor driving circuit starts to operate, and outputs a PWM waveform, that is, a control signal, which is converted into a driving signal by level conversion of the motor driving circuit to enhance the driving capability of the driving signal, and the driving signal is transmitted to a driver of the motor by the motor driving circuit, thereby realizing driving of the motor. When the motor driving circuit receives the first trigger signal output by the microprocessor 31, that is, the output of the enable signal is stopped, so that the motor driving circuit stops outputting the driving signal to the plurality of motors, and further the plurality of motors are controlled to stop working. When the motor driving circuit receives the second trigger signal output by the microprocessor 31, that is, the output of the enable signal is stopped, so that the motor driving circuit stops outputting the driving signal to the motor corresponding to the triggered second switch trigger circuit 20, and further the corresponding motor is controlled to stop working. For example, when the main lifting top-impacting limit switch is triggered, the corresponding second switch trigger circuit 20 outputs a second switch trigger signal to the microprocessor 31, the microprocessor 31 outputs a corresponding second trigger signal to the motor drive circuit, and the motor drive circuit stops outputting a drive signal to the main lifting motor, so that the main lifting motor stops working.
Optionally, a first detection end of the motor driving circuit is connected to the first switch trigger circuit 10, a plurality of second detection ends of the motor driving circuit are connected to a plurality of second switch trigger circuits 20 in a one-to-one correspondence manner, and the motor driving circuit is further configured to stop outputting the driving signal to the plurality of motors to control the plurality of motors to stop working when detecting that the first switch trigger circuit 10 is triggered, and/or stop outputting the driving signal to the motor corresponding to the triggered second switch trigger circuit 20 to control the corresponding motor to stop working when detecting that any one of the second switch trigger circuits 20 is triggered; and the number of the first and second groups,
the motor driving circuit is further configured to convert the control signal output by the microprocessor 31 into a corresponding driving signal and output the corresponding driving signal to the corresponding motor to drive the corresponding motor to operate after receiving the enable signal output by the microprocessor 31 and detecting that the corresponding switch trigger circuit is not triggered.
In this embodiment, the motor driving circuit may further include an optical coupling detection circuit 32 integrated therein, configured to detect a switching state of each switch in the switch trigger circuit, and when detecting that any one of the switches is triggered, control the corresponding buffer to stop working, that is, stop outputting the driving signal to the motor, so as to control the corresponding motor to stop working, and implement triggering control on hardware. For example, when the main lifting limit switch is triggered, the corresponding optical coupler detection circuit 32 in the motor driving circuit detects that the main lifting limit switch is triggered, and controls the corresponding buffer to stop outputting the driving signal to the main lifting motor, so that the main lifting motor stops working. Meanwhile, the motor driving circuit receives the enabling signal of the microprocessor 31, and when detecting that the corresponding switch is not triggered, the control signal output by the microprocessor 31 is converted into a driving signal and is output to the corresponding motor, that is, the motor driving circuit is a dual-enabling drive, it is necessary to simultaneously satisfy software enabling and hardware enabling to work and output the driving signal to drive the motor to work, so that dual-guarantee of motor driving is realized, so the setting is such that a hardware device fails or a software program runs away, the motor can still be protected when the switch is triggered, and safety accidents are avoided.
Referring to fig. 1 to 6, in an embodiment, the motor driving circuit includes:
the optical coupler detection circuits 32 are arranged, a detection end of each optical coupler detection circuit 32 is correspondingly connected with a first switch trigger circuit 10 or a second switch trigger circuit 20, and the optical coupler detection circuits 32 are used for outputting corresponding switch turn-off signals when detecting that the corresponding switch trigger circuit is triggered and outputting corresponding switch turn-on signals when detecting that the corresponding switch is not triggered;
the buffer circuits 33 are arranged such that a first controlled end of each buffer circuit 33 is connected to an output end of one opto-coupler detection circuit 32, an output end of each buffer circuit 33 is connected to one motor, an input end and a second controlled end of each buffer circuit 33 are connected to the microprocessor 31, and the buffer circuits 33 are configured to convert a control signal output by the microprocessor 31 into a corresponding driving signal and output the corresponding driving signal to the corresponding motors to drive the corresponding motors to operate when receiving an enable signal and a corresponding switch turn-on signal output by the microprocessor 31, and to stop outputting the driving signal to the corresponding motors to control the corresponding motors to stop operating when receiving the corresponding switch turn-off signal and/or the corresponding trigger signal.
The motor driving circuit is provided with a plurality of opto-coupler detection circuits 32 and a plurality of buffer circuits 33, wherein the buffer circuits 33 are buffer circuits, and are used for performing level conversion on control signals output by the microprocessor 31, converting the control signals into corresponding driving signals, and outputting the driving signals to corresponding motors so as to drive the corresponding motors to work. The optical coupler detection circuits 32 are used for detecting the switch states of the switches in the corresponding switch trigger circuits, enabling or stopping enabling the buffer circuits 33 according to the switch states of the switches, and each optical coupler detection circuit 32 correspondingly controls one buffer circuit 33, so that the corresponding motor is controlled to work or stop working.
In an embodiment, referring to fig. 3, fig. 3 is a schematic circuit structure diagram of an embodiment of the trigger feedback control circuit 30, where the switches include a handheld box emergency stop switch, a remote controller emergency stop switch, a main lifting push limit switch, and an auxiliary lifting push limit switch, and correspondingly, three optocoupler detection circuits 32 and a buffer circuit 33 are provided, where when the handheld box emergency stop switch or the remote controller emergency stop switch is triggered to be turned off, the three optocoupler detection circuits 32 all output a switch turn-off signal, so that the buffer circuit 33 stops outputting a driving signal, so as to control all three motors to stop working. When the main lifting jacking limit switch or the auxiliary lifting jacking limit switch is triggered to be turned off, only the corresponding optical coupler detection circuit 32 outputs a switch turn-off signal, so that the corresponding buffer circuit 33 stops outputting the driving signal to control the main lifting motor or the auxiliary lifting motor to stop working.
Optionally, each buffer circuit 33 includes two buffers arranged in series.
In an embodiment, each buffer circuit 33 includes two buffers connected in series, which is a double-buffer structure, and can effectively avoid the situation of single buffer failure, thereby improving the safety factor of the system, and meanwhile, when the buffer receives two signals of the motor enable signal of the microprocessor 31 and the switch conducting signal of the optocoupler detection circuit 32, the buffer can output the driving signal to the corresponding motor, that is, the buffer is driven by double enable, and it is necessary to satisfy the software enable and the hardware enable simultaneously to just output the driving signal to drive the motor, thereby realizing the dual guarantee of motor driving.
Optionally, each opto-coupler detection circuit 32 includes two opto-coupler circuits, two the sense terminal of opto-coupler circuit all is connected with a first switch trigger circuit 10 or second switch trigger circuit 20, two the output and two of opto-coupler circuit the first controlled end one-to-one of buffer is connected, the opto-coupler circuit is used for when detecting corresponding switch trigger circuit and being triggered, the switch turn-off signal that the output corresponds extremely the buffer to and when detecting corresponding switch trigger circuit and not triggered, the switch turn-on signal that the output corresponds extremely the buffer.
In an embodiment, correspondingly, when the buffer circuit 33 includes two buffers arranged in series, the optical coupling detection circuit 32 is also divided into two optical coupling circuits, or two optical coupling test circuits 32 are connected with the two buffers in a one-to-one correspondence manner, so as to implement corresponding buffer enabling control. The specific structure of each optical coupler circuit may be as shown in fig. 5, and fig. 5 is a schematic circuit structure diagram of an embodiment of the optical coupler circuit, where each optical coupler circuit includes port current limiting resistors 301 and 303, optical coupler filter capacitors 302, 305, and 317, a shunt resistor 304, an optical coupler current limiting resistor 306, a feedback optical coupler 307, a pull-up resistor 308, feedback current limiting resistors 309 and 310, a feedback voltage dividing resistor 312, and feedback filter capacitors 311 and 313. When the switch is not triggered, the optical coupler 307 is switched on, the optical coupler 307 outputs a switch conducting signal to the buffer, the current limiting resistors 301 and 303 ensure the conducting circuit of the circuit and the utilization rate of the 24V power supply, and the current limiting resistors 301 and 303 are required to ensure the most conducting current because the current limiting resistors share 24V with a multi-path circuit and the total current output capacity of 24V is limited. The shunt resistor 304 enhances the EMC effect in the circuit, and ensures that the on-state current of the optical coupler is more stable. The optical coupling filter capacitors 302, 305 and 317 are used for filtering, so that the anti-interference capability is enhanced, and the interference degree is reduced. The optocoupler current limiting resistor 306 limits the on current of the optocoupler 307 to be greater than the minimum on current and less than the maximum on current. The pull-up resistor 308 performs weak pull-up and sets the level, thereby ensuring reliable response of the feedback MCU and the BUFFER enable to the level state and effectively closing the BUFFER. The MCU input requires about 3.3V level input, the feedback current limiting resistor 310 is matched with the feedback voltage dividing resistor 312, the divided voltage is fed back to the MCU to judge the switch state, and the 3.3V level is obtained. The feedback filter capacitors 311 and 313 are used for filtering, so that the interference rejection capability is enhanced, and the interference degree is reduced.
Optionally, the motor driving circuit further comprises:
the optical coupling test circuit comprises a plurality of optical coupling test circuits 40, wherein a controlled end of each optical coupling test circuit 40 is connected with the microprocessor 31, an output end of each optical coupling test circuit 40 is connected with a detection end of one optical coupling circuit, and the optical coupling test circuit 40 is used for outputting an optical coupling test signal to the optical coupling circuit when receiving the optical coupling test signal output by the microprocessor 31;
the test output end of each optical coupling circuit is connected with the microprocessor 31, and the optical coupling circuit is further used for outputting a corresponding test feedback signal to the microprocessor 31 when receiving the optical coupling test signal, so that the microprocessor 31 judges the working state of the optical coupling circuit according to the test feedback signal.
In an embodiment, the optical coupler test circuit 40 is further configured to detect a working state of the optical coupler circuit to determine whether the optical coupler circuit can be used normally, a specific structure of each optical coupler test circuit 40 may be as shown in fig. 5, fig. 5 is a schematic circuit structure diagram of an embodiment of the optical coupler test circuit 40, and each optical coupler test circuit 40 includes a schottky diode 314, a driving optical coupler 315, an optical coupler pull-up resistor 316, a triode 318, an enabling voltage dividing resistor 319, an enabling filter capacitor 320, and an enabling current limiting resistor 321. The optocoupler 307 outputs enable BUFFER, and the other path is fed back to the MCU as input. The MCU drives the optocoupler 315 to be switched on and off in a mode of emitting high and low levels, so as to control the optocoupler 307 to be switched on and off, and the circuit of the optocoupler circuit is judged to be good or bad through feedback output by the optocoupler 307. The optocoupler pull-up resistor 316 ensures that the conduction current of the driving optocoupler 315 meets a condition that it is greater than the minimum conduction current and less than the maximum conduction current. The enable divider resistor 319, the enable filter capacitor 320, and the enable current limiting resistor 321 are used to divide the voltage to ensure the transistor 318 to be turned on and off. The transistor 318 is an NPN transistor, which can control the on/off of a large current with a small current, and the cut-off and saturation states of the transistor are used as a switching tube. When the base current is 0, the collector current of the triode is 0, which is equivalent to the disconnection of the switch; when the base current is so large that the transistor is saturated, it is equivalent to the switch being closed. The schottky diode 314 has the characteristics of high switching frequency and low forward voltage drop, can realize the quick turn-off of the feedback optocoupler 307, and is matched with the driving optocoupler 315 to realize the circuit detection of the optocoupler circuit.
In the technical scheme of the invention, the optocoupler detection circuit 32 and the buffer circuit 33 are arranged to realize the detection of the switch state and the control of the motor on hardware, so that the system can realize the control of the motor through software or hardware, and the motor can be controlled to stop working when the switch is triggered even if a hardware device fails or a software program runs off, thereby avoiding the occurrence of safety accidents and having double guarantees. Meanwhile, the buffer circuit 33 can open the output only when the enabling requirement of the hardware and the enabling requirement of the software are met, so that the effect of double guarantee can be achieved, and the stability and the safety of the system are improved. In addition, the buffer circuit 33 adopts a double-buffer structure, so that the condition that a single buffer fails can be effectively avoided, and the safety factor of the system is improved. The invention is also provided with an optical coupler test circuit 40 which can test the working state of the optical coupler detection circuit 32, thereby eliminating faults in time, avoiding accidents and improving the stability and safety of the system.
Referring to fig. 1 to 6, in an embodiment, the trigger feedback control circuit 30 further includes:
the input end of each band-type brake control circuit 50 is connected with the microprocessor 31, the first controlled end of each band-type brake control circuit 50 is connected with the control end of one motor driving circuit, and the control end of each band-type brake control circuit 50 is connected with one motor;
the motor driving circuit is further configured to output a band-type brake trigger signal to the plurality of band-type brake control circuits 50 when detecting that any one of the first switch trigger circuits 10 is triggered, so that the plurality of band-type brake control circuits 50 control the plurality of motors to stop rotating, and/or output a band-type brake trigger signal to the band-type brake control circuit 50 corresponding to the triggered second switch trigger circuit 20 when detecting that any one of the second switch trigger circuits 20 is triggered, so that the band-type brake control circuit 50 controls the corresponding motor to stop rotating.
It can be understood that, when the motor stops working, the rotating shaft may continue to rotate due to inertia, so that the crane may slip, and therefore, in an embodiment, the plurality of brake control circuits 50 are further provided, so that while the plurality of motors stop working, the brake assemblies in the motors are controlled to lock the rotating shaft, so that the rotating shaft cannot continue to rotate, and thus, a slipping accident caused by the fact that the rotating shaft is not locked by the motors is avoided.
In an embodiment, referring to fig. 3, fig. 3 is a schematic circuit structure diagram of an embodiment of the band-type brake control circuit 50, where the number of the band-type brake control circuits 50 is three, and the three band-type brake control circuits correspond to a trolley motor, a main lifting motor, and an auxiliary lifting motor, respectively, the band-type brake control circuit 50 is composed of buffers, and the buffers can convert band-type brake control signals output by the microprocessor 31 into band-type brake driving signals and output the converted signals to a band-type brake component in the motor, so as to control the band-type brake component to maintain an unlocked state, and thus the motor rotates. Can set up the buffer into the high level and enable, the enable end of buffer is connected with the output of an AND gate, and two inputs of AND gate are connected with two opto-coupler circuit respectively, and when two opto-coupler circuit equal output switch switched on signal, also when high level signal, work when buffer enable end received high level signal, and the motor does not lock at this moment. On the contrary, when any one of the optocoupler circuits outputs a switch turn-off signal, namely a low level signal, the enabling end of the buffer stops working when receiving the low level signal, so that the motor is controlled to be locked by the band-type brake assembly.
Optionally, a second controlled end of each of the band-type brake control circuits 50 is connected to the microprocessor 31;
the microprocessor 31 is further configured to output a band-type brake trigger signal to the plurality of band-type brake control circuits 50 when receiving the first switch trigger signal, so that the plurality of band-type brake control circuits 50 control the plurality of motors to stop rotating, and output a band-type brake trigger signal to the band-type brake control circuit 50 corresponding to the triggered second switch trigger circuit 20 when receiving the second switch trigger signal, so that the band-type brake control circuit 50 controls the corresponding motor to stop rotating.
In an embodiment, the band-type brake control circuit 50 is further based on the control of the microprocessor 31, so as to control whether a band-type brake component in the motor is locked, so that the band-type brake control circuit 50 can be locked by the hardware-controlled motor and can also be locked by the software-controlled motor, and the dual control realizes the control guarantee of locking the motor, thereby improving the safety of the system. Simultaneously, the buffer just can export band-type brake driving signal to the motor that corresponds when receiving microprocessor 31's enable signal and opto-coupler circuit's switch on two signals, thereby make the motor unblock can begin work, thereby also the buffer is two enable drives, need satisfy software enable and hardware enable simultaneously and just can export driving signal driving motor work, realize motor drive's dual guarantee, so set up, hardware device is invalid or software program runs away, all still can protect the motor when the switch is triggered, avoid the incident.
According to the technical scheme, the band-type brake control circuit 50 is arranged, so that the band-type brake component in the motor can be controlled to lock the rotating shaft when the motor stops working, the rotating shaft can not rotate any more, the vehicle sliding accident caused by the fact that the rotating shaft is not locked by the motor is avoided, and the safety and the stability of the system are improved.
Referring to fig. 1 to 6, in an embodiment, the trigger feedback control circuit 30 further includes:
the input end of the power supply circuit 60 is connected with a power supply, the output end of the power supply circuit 60 is connected with the power supply end of the microprocessor 31, and the power supply circuit 60 is used for converting the output voltage of the power supply into a power supply voltage and outputting the power supply voltage to supply power to the microprocessor 31;
power overvoltage crowbar 70, power overvoltage crowbar 70's sense terminal with supply circuit 60's output is connected, power overvoltage crowbar 70's control end with supply circuit 60's controlled end is connected, power overvoltage crowbar 70 is used for detecting when the supply voltage that supply circuit 60 output is excessive pressure, control supply circuit 60 stops work.
In an embodiment, in order to protect the performance of the control board, a power supply overvoltage protection circuit is further designed, referring to fig. 6, fig. 6 is a schematic circuit structure diagram of an embodiment of the power supply overvoltage protection circuit 70, where the power supply overvoltage protection circuit 70 includes first current limiting resistors 501 and 502, first filter capacitors 503 and 504, a window comparator 505, a first pull-up resistor 506, a second current limiting resistor 507, a diode 508, an optical coupler 510, a second pull-up resistor 509, a third pull-up resistor 511, second filter capacitors 513 and 515, a third current limiting resistor 513, a voltage dividing resistor 514, a triode 516, a MOS transistor 521, a voltage stabilizing diode 518, power supply filter capacitors 517, 520, 522, 523, and a second voltage dividing resistor 520.
The power supply overvoltage protection circuit 70 detects whether the output end of the power supply circuit 60 is in overvoltage or not, and compared with a reference source, the power supply overvoltage protection circuit closes the MOS tube 521 when the output end exceeds the reference source, so that the VCC power supply cannot supply power supply voltage, namely 5V voltage, and the condition of board damage is avoided. Specifically, the reference source is generated by a reference power source (reference source). The 5V voltage and the reference source are inputted to a window comparator 505 through first current limiting resistors 501 and 502, wherein the input is filtered through first filtering capacitors 503 and 504. The specific window comparator 505 is output by an OC gate, so that the output is added with a first pull-up resistor 506 as a set level, and when 5V is over-voltage, the window comparator 505 pulls the ground, so that the optical coupler 510 is turned on. The second pull-up resistor 509 and the second current limiting resistor 507 limit the magnitude of the on-state current of the optocoupler, so as to satisfy the optocoupler on-state condition. The diode 508 is connected in parallel with the overvoltage protection of other power supplies, such as 3.3V, 1.2V, etc., by using its smaller voltage drop and one-way conductivity. The third pull-up resistor 511 cooperates with the third current-limiting resistor 513 and the voltage-dividing resistor 514 to satisfy the condition that the triode is used as a switching tube, when the optocoupler is not conducted, the triode satisfies the conduction condition, and the triode 516 is turned on, so that the MOS tube 521 satisfies the conduction condition, and therefore, under the condition of no overvoltage, the MOS tube 521 is conducted to enable the VCC to supply 5V. The second voltage dividing resistor 520 is used for meeting the conduction condition of the MOS tube, the second filtering capacitors 513 and 515 are used for filtering the output of the triode 516 and the optical coupler 510, and the power supply filtering capacitors 517, 520, 522 and 523 are used for filtering VCC and 5V power supplies. Zener diode 518 is characterized by a substantially constant voltage across it after breakdown. After the voltage stabilizing tube is connected into the circuit, if the VCC voltage fluctuates, the voltage at two ends of the load will be basically kept unchanged.
In the technical scheme of the invention, the power supply overvoltage protection circuit 70 is arranged, so that the power supply voltage detection function and the overvoltage protection function are realized, the power supply output overvoltage can be effectively prevented, and the safety and the stability of the trigger feedback control circuit 30 are improved.
In order to better explain the inventive concept of the present invention, the working principle of the present invention is explained by combining the above embodiments, referring to fig. 3, fig. 3 is a schematic circuit structure diagram of an embodiment of the trigger feedback control circuit 30, and the switches include a handheld box emergency stop switch, a remote controller emergency stop switch, a main lifting jacking limit switch, and an auxiliary lifting jacking limit switch. When any one of the handheld box emergency stop switch and the remote controller emergency stop switch is triggered, the corresponding optocoupler position detection circuit detects that the switch is triggered and outputs a first switch trigger signal to the microprocessor 31, at the moment, the microprocessor 31 determines the triggered switch according to the received switch trigger signal and outputs the first trigger signal to the three buffer circuits 33, so that the three buffer circuits 33 stop working, namely, the control signal output by the microprocessor 31 is stopped being converted into a drive signal, the buffer circuits 33 stop outputting the drive signals to the three motors, and further the three motors stop working. Meanwhile, the microprocessor 31 also outputs a brake triggering signal to the three brake control circuits 50, so that the three brake control circuits 50 control the brake components in the corresponding motors to be locked, the three motors all stop rotating, and the crane cannot slide. In addition to the software control part of the microprocessor 31, the present invention further has a hardware control part, when any one of the emergency stop switch of the handheld box and the emergency stop switch of the remote controller is triggered, because the three optical coupling detection circuits 32 are all connected with the first switch trigger circuit 10, the three optical coupling detection circuits 32 can both detect that the first switch circuit is triggered, and then the three optical coupling detection circuits 32 all output switch turn-off signals to the three buffer circuits 33, so that the three buffer circuits 33 all stop working, that is, the control signals output by the microprocessor 31 are stopped being converted into driving signals, so that the buffer circuits 33 stop outputting driving signals to the three motors, and further the three motors all stop working. Meanwhile, the three optocoupler detection circuits 32 respectively output a brake triggering signal to the corresponding brake control circuits 50, so that the three brake control circuits 50 control the brake components in the corresponding motors to be locked, the three motors are all stopped to rotate, and the crane cannot slide. So, realized the software control process through opto-coupler position detection circuit, microprocessor 31, buffer circuit 33 and band-type brake control circuit 50 to synchronous through opto-coupler detection circuit 32, buffer circuit 33 and band-type brake control circuit 50 realized the hardware control process, the user alright with through triggering handheld box scram switch or remote controller scram switch, realize the software and the hardware dual control to three motor operating condition, thereby realize the safety protection to motor and hoist.
Similarly, the main lifting topping limit switch and an optical coupler position detection circuit form a second switch trigger circuit 20, the auxiliary lifting topping limit switch and an optical coupler position detection circuit form another second switch trigger circuit 20, when the main lifting topping limit switch is triggered, the optical coupler position detection circuit detects that the main lifting topping limit switch is triggered, and outputs a corresponding second switch trigger signal to the microprocessor 31, at this time, the microprocessor 31 determines that the triggered switch is the main lifting topping limit switch according to the received second switch trigger signal, and outputs a second trigger signal to the buffer circuit 33 corresponding to the main lifting topping limit switch, so that the buffer circuit 33 stops working, that is, the control signal output by the microprocessor 31 is stopped being converted into the drive signal, so that the buffer circuit 33 stops outputting the drive signal to the main lifting motor, and further the main lifting motor stops working. Meanwhile, the microprocessor 31 also outputs a brake trigger signal to the brake control circuit 50 corresponding to the main hoisting motor, so that the brake control circuit 50 controls the brake component in the main hoisting motor to be locked, the main hoisting motor stops rotating, and the main hoisting of the crane cannot continue to hoist. Similarly, when the main lifting topping limit switch is triggered, the optical coupler detection circuit 32 connected with the main lifting topping limit switch detects that the main lifting topping limit switch is triggered, and then the optical coupler detection circuit 32 outputs a switch turn-off signal to the buffer circuit 33 corresponding to the main lifting topping limit switch, so that the buffer circuit 33 stops working, that is, the control signal output by the microprocessor 31 is stopped being converted into the driving signal, so that the buffer circuit 33 stops outputting the driving signal to the main lifting motor, and further the main lifting motor stops working. Meanwhile, the optocoupler detection circuit 32 connected with the main lifting jacking limit switch also outputs a contracting brake trigger signal to a contracting brake control circuit 50 corresponding to the main lifting motor, so that the contracting brake control circuit 50 controls a contracting brake component in the main lifting motor to be locked, the main lifting motor stops rotating, and the main lifting of the crane cannot continue to lift. And when the auxiliary lifting jacking limit switch is triggered, software control and hardware control of the auxiliary lifting motor can be realized in the same way. The user can realize the software and hardware dual control of the working state of the main lifting motor or the auxiliary lifting motor by triggering the main lifting jacking limit switch or the auxiliary lifting jacking limit switch, thereby realizing the safety protection of the motor and the crane. It should be noted that, buffer circuit 33 is two enable drives, microprocessor 31 outputs enable signal promptly, and when opto-coupler detection circuit 32 output switch turn-on signal, buffer circuit 33 just can work and output drive signal driving motor work, realizes motor drive's dual guarantee, so set up, hardware device is invalid or software program flies away promptly, all still can protect the motor when the switch is triggered, avoid the incident.
It will be appreciated that the trigger feedback control circuit as described hereinbefore may also be applied in a single motor application scenario, where there may be a plurality of different trigger conditions for a single motor, so as to control the motor to perform corresponding actions, such as stop, increase speed, decrease speed, etc., when triggered.
To this end, the present invention further proposes a trigger feedback control circuit, and referring to fig. 7, in an embodiment, the trigger feedback control circuit 30 includes:
a first switch trigger circuit 10, wherein the first switch trigger circuit 10 is used for outputting a first switch trigger signal when triggered;
at least one second switch trigger circuit 20, said second switch trigger circuit 20 being configured to output a corresponding second switch trigger signal when triggered;
the control circuit 30 is electrically connected with the first switch trigger circuit 10, the second switch trigger circuit 20 and the motor respectively; the control circuit 30 is configured to control the motor to stop working when receiving the first switch trigger signal;
and/or the control circuit controls the motor to execute corresponding actions when receiving the second switch trigger signal.
It will be appreciated that when the motor is used in different application scenarios, the triggering conditions for performing the corresponding actions are different, for example, when the motor is used in a crane to drive a crane component to move left and right, a first switch, i.e. a switch in the first switch triggering circuit 10, such as a handheld box emergency stop switch and a remote controller emergency stop switch, may be provided in the crane to control the motor to stop working when the first switch is triggered. Because the motor is used for driving the crane component to move left and right, the crane can also be provided with a second switch as a limit switch at the limit positions on the left side and the right side of the component, and when the motor drives the crane component to move leftwards or rightwards to reach a certain position, the corresponding limit switch can be triggered, so that the motor is controlled to stop working, and the limit function of the crane is realized. In addition, when the motor is applied to other application scenarios, a function trigger switch such as a speed-down switch or an acceleration switch may be further provided as the second switch, and when the speed-down switch or the acceleration switch is triggered, the corresponding second switch trigger circuit 20 outputs a corresponding second switch trigger signal to the control circuit 30, so that the control circuit 30 adjusts the rotation speed of the motor, thereby implementing the acceleration or deceleration function of the device.
The switch trigger circuit can be realized by selecting a capacitor, a resistor, a comparator, an optical coupler and other devices, and is used for detecting the switch state of the corresponding switch and outputting the corresponding switch trigger signal to the control circuit 30, so that the control circuit 30 judges the switch state of each switch according to the received switch trigger signal, and the corresponding motor is controlled to work/stop working according to the switch state of each switch. The control circuit 30 may include a microprocessor 31 such as an MCU, a CPLD, and an FPGA to drive and control the motor. The switch trigger circuit and the control circuit 30 may be implemented by using the same circuit structure as that in the foregoing, or may be implemented by using different circuit structures to implement the same circuit function, which is not limited herein.
In the technical scheme of the invention, the first switch trigger circuit 10 and the second switch trigger circuit 20 are arranged, so that the switch states of the switches in the switch trigger circuits can be detected, and when any one switch is triggered, a corresponding switch trigger signal is output to the control circuit 30, so that the control circuit 30 controls the motor to execute a corresponding action according to the corresponding switch trigger signal, and the triggering control and the safety protection of the motor are realized. Meanwhile, the first switch trigger circuit 10 and the second switch trigger circuit 20 are arranged, so that the control circuit 30 can accurately know the switch state of each switch, and can quickly position the trigger switch when the switch is triggered, so that a user can quickly position a fault position, the maintenance time for reusing the motor is further shortened, and the stability and the working efficiency of the motor are improved.
In one embodiment, the control circuit includes:
the microprocessor is respectively electrically connected with the first switch trigger circuit and the second switch trigger circuit, and is used for outputting a first trigger signal when receiving the first switch trigger signal and regulating the duty ratio of an output control signal or outputting a second trigger signal when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor and used for converting the control signal output by the microprocessor into a corresponding driving signal and outputting the corresponding driving signal to the motor so as to drive the motor to work;
the motor driving circuit is further used for stopping outputting the driving signal to the motor when receiving the first triggering signal or the second triggering signal so as to control the motor to stop working.
Optionally, the trigger feedback control circuit further includes:
the input end of the band-type brake control circuit is connected with the microprocessor, the first controlled end of the band-type brake control circuit is connected with the control end of the motor driving circuit, and the control end of the band-type brake control circuit is connected with the motor;
the motor driving circuit is further used for outputting a brake triggering signal to the brake control circuit when receiving the first triggering signal or the second triggering signal, so that the brake control circuit controls the motor to stop rotating.
In this embodiment, the microprocessor 31 may select the microprocessor 31 such as an MCU, a CPLD, and an FPGA to drive and control the motor, the motor driving circuit may select a buffer to implement, the buffer is serially connected between the microprocessor 31 and the motor, and the buffer is configured to perform level conversion on the control signal output by the microprocessor 31 during operation, convert the control signal into a corresponding driving signal, and output the driving signal to the motor, thereby driving the motor to operate. Specifically, the microprocessor 31 outputs an enable signal to enable the motor driving circuit, so that the motor driving circuit starts to operate, and outputs a PWM waveform, that is, a control signal, which is converted into a driving signal by level conversion of the motor driving circuit to enhance the driving capability of the driving signal, and the driving signal is transmitted to a driver of the motor by the motor driving circuit, thereby realizing driving of the motor. When the motor driving circuit receives the first trigger signal output by the microprocessor 31, that is, the output of the enable signal is stopped, so that the motor driving circuit stops outputting the driving signal to the motor, and further the motor is controlled to stop working. When the microprocessor 31 receives the second switch trigger signal, the microprocessor 31 determines a control instruction triggered by a user according to the received second switch trigger signal, and when the triggered control instruction is determined to be an acceleration instruction or a deceleration instruction for adjusting the rotation speed of the motor, the microprocessor 31 adjusts the duty ratio of the output control signal, that is, the duty ratio of the PWM waveform, so as to change the driving signal sent to the motor driver, thereby adjusting the rotation speed of the motor; or, when it is determined that the triggered control command is to control the motor to stop working, the microprocessor 31 stops outputting the enable signal, so that the motor driving circuit stops outputting the driving signal to the motor, and further controls the motor to stop working.
Like the previous embodiment, when the motor stops working, the rotating shaft may continue to rotate due to inertia, and therefore, in an embodiment, a brake control circuit 50 is further provided, so that when the motor stops working, a brake component in the motor is controlled to lock the rotating shaft, the rotating shaft cannot continue to rotate, and a vehicle sliding accident caused by the fact that the rotating shaft is not locked by the motor is avoided.
It should be noted that when the trigger feedback control circuit is applied to an application scenario of a single motor, the trigger feedback control circuit may further include a functional circuit such as the optocoupler detection circuit, the buffer circuit, and the optocoupler test circuit described in the foregoing embodiment, and a specific circuit structure thereof may be set with reference to the foregoing embodiment, or may perform equivalent structure conversion in an actual application scenario based on the single motor, so as to achieve the functional effects of the foregoing embodiment, which is not limited herein.
The present invention further provides a controller, which includes the above-mentioned trigger feedback control circuit, and the specific structure of the trigger feedback control circuit refers to the above-mentioned embodiments.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (14)

1. A trigger feedback control circuit, comprising:
the first switch trigger circuit is used for outputting a first switch trigger signal when being triggered;
a plurality of second switch trigger circuits for outputting respective second switch trigger signals when triggered;
the control circuit is respectively and electrically connected with the first switch trigger circuit, the second switch trigger circuit and the plurality of motors; the control circuit is used for controlling the motors to stop working when receiving the first switch trigger signal;
and/or the control circuit controls the motor corresponding to the triggered second switch trigger circuit to stop working when receiving the second switch trigger signal.
2. The trigger feedback control circuit of claim 1, wherein the control circuit comprises:
the microprocessor is respectively electrically connected with the first switch trigger circuit and the plurality of second switch trigger circuits, and is used for outputting a first trigger signal when receiving the first switch trigger signal and outputting a second trigger signal corresponding to the triggered second switch trigger circuit when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor and used for converting a plurality of control signals output by the microprocessor into corresponding driving signals and outputting the driving signals to the plurality of motors in a one-to-one correspondence manner so as to drive the plurality of motors to work;
and the motor driving circuit is also used for stopping outputting the driving signals to the motors when receiving the first trigger signal so as to control the motors to stop working, and stopping outputting the driving signals to the motors corresponding to the triggered second switch trigger circuit so as to control the corresponding motors to stop working when receiving the second trigger signal.
3. The trigger feedback control circuit according to claim 2, wherein the first detection terminal of the motor driving circuit is connected to the first switch trigger circuit, the second detection terminals of the motor driving circuit are connected to the second switch trigger circuits in a one-to-one correspondence, and the motor driving circuit is further configured to stop outputting the driving signal to the plurality of motors to control each of the plurality of motors to stop operating when detecting that the first switch trigger circuit is triggered, and/or stop outputting the driving signal to the motor corresponding to the triggered second switch trigger circuit to control the corresponding motor to stop operating when detecting that any one of the second switch trigger circuits is triggered; and the number of the first and second groups,
and the motor driving circuit is also used for converting the control signal output by the microprocessor into a corresponding driving signal and outputting the corresponding driving signal to a corresponding motor to drive the corresponding motor to work after receiving the enabling signal output by the microprocessor and detecting that the corresponding switch trigger circuit is not triggered.
4. The trigger feedback control circuit of claim 3, wherein the motor drive circuit comprises:
the optical coupler detection circuits are used for outputting corresponding switch turn-off signals when the corresponding switch trigger circuit is triggered, and outputting corresponding switch turn-on signals when the corresponding switch is not triggered;
the buffer circuit comprises a plurality of buffer circuits, wherein a first controlled end of each buffer circuit is connected with an output end of one optocoupler detection circuit, an output end of each buffer circuit is connected with one motor, an input end and a second controlled end of each buffer circuit are connected with the microprocessor, and the buffer circuits are used for converting control signals output by the microprocessor into corresponding driving signals and then outputting the driving signals to the corresponding motors to drive the corresponding motors to work when receiving enable signals output by the microprocessor and corresponding switch on signals, and stopping outputting the driving signals to the corresponding motors to control the corresponding motors to stop working when receiving corresponding switch off signals and/or corresponding trigger signals.
5. The trigger feedback control circuit of claim 4, wherein each of the buffer circuits comprises two buffers arranged in series.
6. The trigger feedback control circuit according to claim 5, wherein each of the optical coupler detection circuits includes two optical coupler circuits, detection ends of the two optical coupler circuits are connected to a first switch trigger circuit or a second switch trigger circuit, output ends of the two optical coupler circuits are connected to first controlled ends of the two buffers in a one-to-one correspondence manner, and the optical coupler circuits are configured to output a corresponding switch-off signal to the buffers when detecting that the corresponding switch trigger circuit is triggered, and output a corresponding switch-on signal to the buffers when detecting that the corresponding switch trigger circuit is not triggered.
7. The trigger feedback control circuit of claim 6, wherein the motor drive circuit further comprises:
the optical coupling test circuit is used for outputting an optical coupling test signal to the optical coupling circuit when receiving the optical coupling test signal output by the microprocessor;
each opto-coupler circuit's test output end with microprocessor is connected, opto-coupler circuit still is used for receiving when opto-coupler test signal, output corresponding test feedback signal to microprocessor to make microprocessor judge according to test feedback signal the operating condition of opto-coupler circuit.
8. The trigger feedback control circuit of claim 3, further comprising:
the input end of each band-type brake control circuit is connected with the microprocessor, the first controlled end of each band-type brake control circuit is connected with the control end of one motor driving circuit, and the control end of each band-type brake control circuit is connected with one motor;
the motor driving circuit is further used for outputting a contracting brake trigger signal to the contracting brake control circuit when detecting that any one of the first switch trigger circuits is triggered, so that the contracting brake control circuit controls the motor to stop rotating, and/or outputting the contracting brake trigger signal to the contracting brake control circuit corresponding to the triggered second switch trigger circuit when detecting that any one of the second switch trigger circuits is triggered, so that the contracting brake control circuit controls the corresponding motor to stop rotating.
9. The trigger feedback control circuit of claim 8, wherein the second controlled terminal of each of the band-type brake control circuits is connected to the microprocessor;
the microprocessor is also used for outputting a brake triggering signal to the plurality of brake control circuits when receiving the first switch triggering signal so as to enable the plurality of brake control circuits to control the plurality of motors to stop rotating, and outputting the brake triggering signal to the brake control circuit corresponding to the triggered second switch triggering circuit when receiving the second switch triggering signal so as to control the corresponding motor to stop rotating by the brake control circuit.
10. The trigger feedback control circuit of claim 1, wherein the trigger feedback control circuit further comprises:
the input end of the power supply circuit is connected with a power supply, the output end of the power supply circuit is connected with the power supply end of the microprocessor, and the power supply circuit is used for converting the output voltage of the power supply into a power supply voltage and then outputting the power supply voltage to supply power to the microprocessor;
the power supply overvoltage protection circuit comprises a power supply overvoltage protection circuit, wherein the detection end of the power supply overvoltage protection circuit is connected with the output end of the power supply circuit, the control end of the power supply overvoltage protection circuit is connected with the controlled end of the power supply circuit, and the power supply overvoltage protection circuit is used for detecting the overvoltage of the power supply voltage output by the power supply circuit and controlling the power supply circuit to stop working.
11. A trigger feedback control circuit, comprising:
the first switch trigger circuit is used for outputting a first switch trigger signal when being triggered;
at least one second switch trigger circuit for outputting a corresponding second switch trigger signal when triggered;
the control circuit is respectively and electrically connected with the first switch trigger circuit, the second switch trigger circuit and the motor; the control circuit is used for controlling the motor to stop working when receiving the first switch trigger signal;
and/or the control circuit controls the motor to execute corresponding actions when receiving the second switch trigger signal.
12. The trigger feedback control circuit of claim 11, wherein the control circuit comprises:
the microprocessor is respectively electrically connected with the first switch trigger circuit and the second switch trigger circuit, and is used for outputting a first trigger signal when receiving the first switch trigger signal and regulating the duty ratio of an output control signal or outputting a second trigger signal when receiving the second switch trigger signal;
the motor driving circuit is connected with the microprocessor and used for converting the control signal output by the microprocessor into a corresponding driving signal and outputting the corresponding driving signal to the motor so as to drive the motor to work;
the motor driving circuit is also used for stopping outputting the driving signal to the motor when receiving the first triggering signal or the second triggering signal so as to control the motor to stop working.
13. The trigger feedback control circuit of claim 12, wherein the trigger feedback control circuit further comprises:
the input end of the band-type brake control circuit is connected with the microprocessor, the first controlled end of the band-type brake control circuit is connected with the control end of the motor driving circuit, and the control end of the band-type brake control circuit is connected with the motor;
the motor driving circuit is further used for outputting a brake triggering signal to the brake control circuit when receiving the first triggering signal or the second triggering signal, so that the brake control circuit controls the motor to stop rotating.
14. A controller comprising the trigger feedback control circuit of any one of claims 1-10; or,
comprising a trigger feedback control circuit according to any of claims 11-13.
CN202211617872.3A 2022-12-14 2022-12-14 Trigger feedback control circuit and controller Pending CN115833656A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211617872.3A CN115833656A (en) 2022-12-14 2022-12-14 Trigger feedback control circuit and controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211617872.3A CN115833656A (en) 2022-12-14 2022-12-14 Trigger feedback control circuit and controller

Publications (1)

Publication Number Publication Date
CN115833656A true CN115833656A (en) 2023-03-21

Family

ID=85545857

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211617872.3A Pending CN115833656A (en) 2022-12-14 2022-12-14 Trigger feedback control circuit and controller

Country Status (1)

Country Link
CN (1) CN115833656A (en)

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