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SW Protection Logic of Motor

2023-11-27 16:42:31   6  举报

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Protection

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Vacuum Fan Motor Protection Logic

 ADC and real current

Designed Parameter and Vacuum degree

Quiet Mode: PWM = 8%, Vacuum Degree = 600Pa

Standard Mode: PWM = 16%, Vacuum Degree = 1000Pa

Medium Mode: PWM = 40%, Vacuum Degree = 2000 Pa

Strong Mode: PWM = 89%, Vacuum Degree > 4000 Pa

The Logic of decrease the PWM automatically

Strong Mode

Battery Level >= 80%, PWM 89%, Vacuum Degree > 4000 Pa

Battery Level >= 70%, 63% <= PWM <= 86%, the PWM will reduce 1% per 1 minute

Battery Level >= 60%, 63% <= PWM <= 80%, the PWM will reduce 1% per 1 minute

Battery Level >= 50%, 63% <= PWM <= 77%, the PWM will reduce 1% per 1 minute

Battery Level >= 40%, 63% <= PWM <= 71%, the PWM will reduce 1% per 1 minute

Battery Level >= 30%, 63% <= PWM <= 68%, the PWM will reduce 1% per 1 minute

Battery Level < 30%, PWM = 63%

Medium Mode

Battery Level >= 80%, PWM 40%, Vacuum Degree  2000 Pa

Battery Level >= 70%, 29% <= PWM <= 38%, the PWM will reduce 1% per 10 minutes

Battery Level >= 60%, 29% <= PWM <= 36%, the PWM will reduce 1% per 10 minutes

Battery Level >= 50%, 29% <= PWM <= 34%, the PWM will reduce 1% per 10 minutes

Battery Level >= 40%, 29% <= PWM <= 32%, the PWM will reduce 1% per 10 minutes

Battery Level >= 30%, 29% <= PWM <= 30%, the PWM will reduce 1% per 10 minutes

Battery Level < 30%, PWM = 29%

Main Brush Motor Protection Logic

ADC and real current

Designed Parameter

PWM = 65%, Rotation Speed = 1100rpm

The Logic of Protection based on current

Detect 90s, if 0.42A <= current <= 0.6A in 70% of 90s, go into slight protection mode

The main brush moto stop 2min then start again

Detect 30s, if 0.6A <= current <= 1.2A in 70% of 30s, go into mid protection mode

The main brush moto stop 2min then start again

Detect 5.2s, if 1.2A <= current <= 1.6A in 70% of 5.2s, go into strong protection mode

1st go into this protection mode, the main brush stop 5s    If not trigger this protection mode in 15s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

2nd go into this protection mode, the main brush stop 10s    If not trigger this protection mode in 25s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

3rd go into this protection mode, the main brush stop 1mrin    If not trigger this protection mode in 125s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

4th go into this protection mode, the main brush stop 5min    If not trigger this protection mode in 10min+5s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

Detect 2.2s, if 1.6A <= current in 90% of 2.2s, go into disaster protection mode

1st go into this protection mode, the main brush stop 5s    If not trigger this protection mode in 15s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

2nd go into this protection mode, the main brush stop 10s    If not trigger this protection mode in 25s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

3rd go into this protection mode, the main brush stop 1mrin    If not trigger this protection mode in 125s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

4th go into this protection mode, the main brush stop 5min    If not trigger this protection mode in 10min+5s, recover count to 0 and the logic of the first time go into this protection mode    else count +1

Left and Right Wheel Protection Logic

Detect 5 min, if .0.5A <= current <= 0.7A

The wheel stop 5s

Detect 1min, if 0.7A <= current <= 1A

The wheel stop 5s

Detect 3s, if 1A < current

The wheel stop 5s

In a single clean session, if 4 times were detected, the robot will alarm and stop

Side Brush Motor Protection Logic

0.1A < current

The side brush working on 1s and stop 2s