Method and apparatus for protecting circuit
A method and apparatus for protecting a circuit are provided. The method and apparatus may measure a physical quantity of a motor by an external physical stimulus, may calculate a counter electromotive voltage generated by the motor, based on the physical quantity, may compare the counter electromotive voltage to an output voltage, and may control a circuit connected to the motor to be open when the counter electromotive voltage is greater than the output voltage.
1. A circuit protection method comprising:
indirectly measuring a rotational speed of a shaft of a motor generated based on an external physical stimulus by,
measuring, via a rotation sensor, a joint angle of a support mechanically connected to the motor via gears having a gear ratio,
determining a speed at which the support rotates based on the joint angle, and
calculating the rotational speed of the motor based on the speed at which the support rotates and the gear ratio of the gears;
calculating a counter electromotive voltage based on the rotational speed, the counter electromotive voltage being a voltage generated by the motor; and
controlling a circuit connected to the motor based on whether the counter electromotive voltage is greater than a set voltage supported by the circuit.
2. The circuit protection method of claim 1 , wherein the external physical stimulus is an external force applied to the motor.
3. The circuit protection method of claim 1 , further comprising:
closing the circuit when the counter electromotive voltage is equal to or less than the set voltage.
4. The circuit protection method of claim 2 , wherein the calculating the counter electromotive voltage comprises:
calculating the counter electromotive voltage based on the rotational speed and a motor constant associated with the motor.
5. The circuit protection method of claim 1 , wherein the set voltage is a maximum voltage supported by the circuit.
6. The circuit protection method of claim 1 , wherein the circuit is included in a walking assistance apparatus.
7. The circuit protection method of claim 6 , further comprising:
driving, via the set voltage, the motor based on an gait status of a user wearing the walking assistance apparatus.
8. A circuit protection apparatus comprising:
a rotation sensor;
a switch configured to open a circuit connected to a motor based on a control signal; and
a processor configured to,
indirectly measuring a rotational speed of a shaft of the motor generated based on an external physical stimulus by,
measuring, via the rotation sensor, a joint angle of a support mechanically connected to the motor via gears having a gear ratio,
determining a speed at which the support rotates based on the joint angle, and
calculating the rotational speed of the motor based on the speed at which the support rotates and the gear ratio of the gears,
calculate a counter electromotive voltage based on rotational speed, the counter electromotive voltage being generated by the motor, and
generate the control signal based on whether the counter electromotive voltage is greater than a set voltage supported by the circuit.
9. The circuit protection apparatus of claim 8 , wherein the external physical stimulus is an external force applied to the motor.
10. The circuit protection apparatus of claim 8 , wherein
the processor is configured to generate a second control signal when the counter electromotive voltage is equal to or less than the set voltage, and
the switch is configured to close the circuit based on the second control signal.
11. The circuit protection apparatus of claim 9 , wherein the processor is configured to calculate the counter electromotive voltage based on the rotational speed of the motor and a motor constant associated with the motor.
12. The circuit protection apparatus of claim 8 , wherein the set voltage is a maximum voltage supported by the circuit.
13. The circuit protection apparatus of claim 8 , wherein the circuit is included in a walking assistance apparatus.
14. The circuit protection apparatus of claim 13 , wherein the walking assistance apparatus is configured to drive, via the set voltage, the motor based on an gait status of a user wearing the walking assistance apparatus.
15. A walking assistance apparatus configured to be worn by a user, the walking assistance apparatus comprising:
a driver configured to drive a motor to apply a torque to a joint of the user via a support; and
a controller configured to,
indirectly measure a rotational speed of a shaft of the motor generated based on an external physical stimulus applied thereto by,
measuring, via a rotation sensor, a joint angle of the support mechanically connected to the motor via gears having a gear ratio,
determining a speed at which the support rotates based on the joint angle, and
calculating the rotational speed of the motor based on the speed at which the support rotates and the gear ratio of the gears,
calculate a counter electromotive voltage generated by the motor based on the speed of the motor, and
generate a control signal to electrically isolate the driver from the motor based on the counter electromotive voltage generated by the motor.
16. The walking assistance apparatus of claim 15 , further comprising:
a switch configured to open based on the control signal such that the driver is electrically isolated from the motor.