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A Calculation Method for Characteristic Analysis of Output Components of Robotic Servo Drive

A servo drive and characteristic analysis technology, applied in the direction of controlling electromechanical brakes, output power conversion devices, controlling electromechanical transmission devices, etc., can solve problems such as unconsidered influence, and achieve the effect of intuitive result analysis.

Active Publication Date: 2022-06-07
HEBEI UNIV OF TECH +1
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Problems solved by technology

In the above analysis method, in the quantitative analysis method of the output component characteristics, the influence of the zero voltage vector action time on the output common mode component and harmonic component of the two-level driver is not considered.

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  • A Calculation Method for Characteristic Analysis of Output Components of Robotic Servo Drive
  • A Calculation Method for Characteristic Analysis of Output Components of Robotic Servo Drive
  • A Calculation Method for Characteristic Analysis of Output Components of Robotic Servo Drive

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[0057] The present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. In addition, it should be noted that, for the convenience of description, the drawings only show the parts related to the invention, and the embodiments of the present application and the features of the embodiments may be combined with each other if there is no conflict.

[0058] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0059] like figure 1 The topological structure of the robot servo driver is shown, which consists of 6 power switch tubes, the DC side voltage is constant, and the reference voltage is output by controlling the turn-off time of the 6 switch tubes.

[0060] like figure 1 The...

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Abstract

This application provides a calculation method for analyzing the characteristics of the output components of the robot servo driver. In the traditional modulation method of the two-level servo driver, considering the influence of the zero voltage vector action time on the characteristics of the output components, the double Fourier transform method is used to analyze the characteristics of the output components. The common-mode component and harmonic component of the output phase voltage are mathematically modeled, and the amplitude of the common-mode component and harmonic component corresponding to different frequencies can be accurately calculated, and the zero-voltage vector action time is harmonized with the output common-mode component The influence of the wave component has been quantified, and the influence of the zero voltage vector action time on the common mode component and harmonic component of the output phase voltage has been quantitatively analyzed, and the correctness of the analysis and calculation method of this application has been verified through FFT analysis and comparison. This application can also provide a new calculation method and analysis idea for the analysis of output component characteristics of other topology converters and other modulation methods.

Description

technical field [0001] The present application relates to the technical field of power electronics of servo drives, and in particular, to a calculation method for analyzing the characteristics of output components of robot servo drives. Background technique [0002] As one of the important parts of the servo system, the output performance and operation reliability of the driver affect the output performance and reliability of the servo system. Among them, the two-level driver is a simple voltage source driver. Because of its simple topology, low cost and simple control, it occupies more than 90% of the robot servo system. [0003] Two-level drivers often use the space vector modulation method, but during operation, the output phase voltage contains a large number of common mode components and harmonic components in addition to the fundamental component. As the inverter of the servo system, when driving the servo system, the high-frequency and high-amplitude output common-mo...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H02P21/14H02P27/06H02M7/5387H02M1/12G01R23/16
CPCH02P21/14H02P27/06H02M7/53871H02M1/12G01R23/16Y02E40/40
Inventor 李珊瑚鲁紫荆韩旭陶友瑞黄林峰
Owner HEBEI UNIV OF TECH
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