安全集成伺服电机驱动模块设计

Design of safety integrated servo motor drive module

为了避免装备制造过程中机械部件发生不期望的运动而导致的安全事故,根据IEC61800-5-2标准对伺服驱动模块功能安全集成设计方法进行研究。通过分析伺服驱动数学模型、硬件构成、功能架构,明确了伺服驱动模块原理。根据其原理讨论了伺服驱动模块的失效机理、失效方式以及失效对系统的影响,并建立了基于参数约束的安全运行区间,可对伺服驱动模块危险失效进行主动监测。然后,通过对IEC61800-5-2建议的17项安全功能的特性分析,设计了安全相关系统架构,提出了基于对象字典的安全功能集成方法,可根据具体的安全要求实现安全功能的配置。最后,搭建实验平台并设计典型安全逻辑,对安全集成方法进行验证。实验结果表明,所提出的功能安全集成方法能够通过配置有效地实现IEC61800-5-2建议的安全功能,满足伺服驱动模块对安全功能的通用化需求。

To avoid safety accidents caused by the unexpected movement of mechanical parts during equipment manufacturing, this paper investigates the safety integrated design method of the servo drive module according to the IEC61800-5-2 standard. First, the principle of servo drive module is clarified by analyzing the mathematical model, hardware structure, and functional architecture of the servo drive. According to the principle, the failure mechanism, failure mode, and effect of failure on the system are discussed. The safe operation interval based on parameter constraint is established, which can actively monitor the dangerous failure of the servo drive module. Then, by analyzing the characteristics of 17 safety functions suggested by IEC61800-5-2, the architecture of safety related system is designed, and a method for safety function integration based on object dictionary is proposed, which can realize the configuration of safety functions according to the specific security requirements. Finally, the experimental platform is built, and the typical safe logic is designed to verify the safety integration method. The experimental results show that the proposed functional safety integration method can effectively implement the IEC61800-5-2 recommended safety functions through configuration, and it meets the requirements of the servo drive module to generalize the safety functions.