Control methods, control devices, and servo drivers for laminated busbar structures

Abstract

This application provides a control method, control device, and servo driver for a stacked busbar structure. The stacked busbar structure includes stacked busbars and switching devices. The switching devices include multiple switching components, each connected to a single-layer busbar of the stacked busbar. The method includes: obtaining the maximum operating current of a single-layer busbar; obtaining the actual current of the stacked busbar structure when it is powered on; determining a first number of closed switches based on the maximum operating current and the actual current, where the first number of closed switches is the number of first target switches, and the first target switches are the switching components that need to be closed; controlling the first number of closed first target switches to close, and controlling other switching components except for the first target switches to open, to adjust the inductance of the stacked busbar structure. This application solves the problem of poor environmental adaptability of stacked busbars in the prior art.

Description

Technical Field

[0001] This application relates to the field of servo drives, and more specifically, to a control method, control device, computer-readable storage medium, processor, servo driver, and servo system for a stacked busbar structure. Background Technology

[0002] With the continuous development of industrial technology, there are more and more medium and high power servo drives, which makes the application of stacked busbars in drives more and more widespread.

[0003] Laminated busbars, also known as composite busbars, are multi-layered composite connection busbars that can be considered the high-speed circuits in power distribution systems. They offer high-tech power distribution systems with easily designed, clear structures. They possess characteristics such as repeatable electrical performance, low inductive impedance, strong anti-interference capabilities, and high reliability, making them suitable as electrical connection components for high-power modules. In addition to these features, laminated busbars are also easy to assemble and space-saving, making them applicable not only to servo drives but also to power conversion modules in wind power, photovoltaic, electric traction equipment, and large-scale network equipment.

[0004] Laminated busbars have many advantages. First, they offer high safety and reliability while maintaining low manufacturing costs. Second, their compact design saves a significant amount of space. Third, laminated busbars have low inductance and impedance. Fourth, their easy installation greatly reduces the probability of incorrect installation. Finally, compared to traditional cables, they have better current-carrying capacity and a slower temperature rise.

[0005] However, with the development of technology, the requirements for laminated busbars in some high-end R&D environments are becoming increasingly stringent. The electrical performance of existing laminated busbars cannot be adaptively adjusted to change with the working conditions, resulting in poor environmental adaptability.

[0006] The information disclosed above in the background section is only intended to enhance the understanding of the background art of the art described herein. Therefore, the background art may contain certain information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0007] The main objective of this application is to provide a control method, control device, computer-readable storage medium, processor, servo driver, and servo system for a stacked busbar structure, in order to solve the problem of poor environmental adaptability of stacked busbars in the prior art.

[0008] According to one aspect of the present invention, a control method for a stacked busbar structure is provided. The stacked busbar structure includes stacked busbars and switching devices. The switching devices include a plurality of switching components, each of which is connected to a single-layer busbar of the stacked busbar in a one-to-one correspondence. The method includes: obtaining the maximum operating current of the single-layer busbar; obtaining the actual current of the stacked busbar structure when the stacked busbar structure is powered on; determining a first number of closed switches based on the maximum operating current and the actual current, wherein the first number of closed switches is the number of first target switches, and the first target switches are the switching components that need to be closed; controlling the first number of closed first target switches to close, and controlling the other switching components except the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

[0009] Optionally, the total number of single-layer busbars is even. The first number of closures is determined based on the maximum operating current and the actual current, including: rounding up the ratio of the actual current to the maximum operating current to obtain a first predetermined value; and determining that the first number of closures is twice the first predetermined value.

[0010] Optionally, controlling the closure of the first target switch of the first closed quantity includes: determining that the positions of the first predetermined number of switch devices arranged along a first direction, starting from the center position of the stacked busbar, and the positions of the first predetermined number of switch devices arranged along a second direction are both first closed positions, wherein the first direction is opposite to the second direction and both are perpendicular to the length direction of the single-layer busbar, and the first closed position is the position of the first target switch; and controlling the closure of the corresponding first closed quantity of the first target switches according to the first closed position.

[0011] Optionally, after controlling the first number of closed first target switches to close and controlling the other switching devices besides the first target switches to open, the method further includes: obtaining the maximum tolerable temperature and real-time temperature of the stacked busbar structure; and adjusting the switching state of each of the switching devices based at least on the real-time temperature and the maximum tolerable temperature to adjust the real-time temperature.

[0012] Optionally, the position of the first target switch is a first closed position. The switching state of each of the switching devices is adjusted based on at least the real-time temperature and the maximum tolerable temperature to adjust the real-time temperature. This includes: determining a second number of closed switches when the real-time temperature is greater than or equal to the maximum tolerable temperature, and determining a second closed position based on the first closed position. The second number of closed switches is the number of second target switches, and the second target switches are the switching devices that need to be closed other than the first target switch; controlling the first target switch to remain closed, and controlling the corresponding second number of second target switches to close based on the second closed position.

[0013] Optionally, when the real-time temperature is greater than or equal to the maximum tolerable temperature, a second number of closures is determined, and a second closure position is determined based on the first closure position, including: an acquisition step, acquiring a count value; a control step, when the real-time temperature is greater than or equal to the maximum tolerable temperature, controlling the count value to increase by a second predetermined value to obtain a new count value, and determining twice the new count value as the second number of closures; a determination step, determining the positions of the new count value number of switching devices adjacent to the first target switch and arranged along a first direction, and the positions of the new count value number of switching devices adjacent to the first target switch and arranged along a second direction, both of which are the second closure positions, wherein the first direction and the second direction are opposite and both are perpendicular to the length direction of the single-layer busbar; and a looping step, sequentially executing the control step and the determination step at least once, until the real-time temperature is less than the maximum tolerable temperature, or until the new count value is greater than a third predetermined value, wherein the third predetermined value is the difference between half the total number of single-layer busbars and the first number of closures.

[0014] Optionally, after the control step, the method further includes: determining whether the new count value is greater than the third predetermined value; if the new count value is greater than the third predetermined value, issuing an over-temperature alarm message, the over-temperature alarm message being used to indicate that the real-time temperature is greater than or equal to the maximum tolerable temperature, and the real-time temperature cannot be adjusted by adjusting the switching state of the switching device.

[0015] Optionally, after obtaining the first predetermined value, the method further includes: determining whether the first number of closures is greater than the total number; and issuing an overcurrent alarm message if the first number of closures is greater than the total number, wherein the overcurrent alarm message is used to characterize that the actual current exceeds the maximum current of the stacked busbar structure.

[0016] Optionally, before obtaining the actual current of the stacked busbar structure when the stacked busbar structure is powered on, the method further includes: controlling all the switching devices to close when the stacked busbar structure is not powered on.

[0017] According to another aspect of the present invention, a control device for a stacked busbar structure is also provided. The stacked busbar structure includes stacked busbars and switching devices. The switching devices include a plurality of switching components, each of which is connected to a single-layer busbar of the stacked busbar. The device includes: a first acquisition unit for acquiring the maximum operating current of the single-layer busbar; a second acquisition unit for acquiring the actual current of the stacked busbar structure when the stacked busbar structure is powered on; a first determination unit for determining a first number of closures based on the maximum operating current and the actual current, wherein the first number of closures is the number of first target switches, and the first target switches are the switching components that need to be closed; and a first control unit for controlling the first number of first target switches to close and controlling the other switching components except for the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein the program executes any one of the methods described.

[0019] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, executes any one of the methods described.

[0020] According to another aspect of the present invention, a servo driver is also provided, comprising: a rectifier circuit, a first terminal of which is electrically connected to an AC power supply; a stacked busbar structure, the first terminal of which is electrically connected to a second terminal of the rectifier circuit, the stacked busbar structure including stacked busbars and switching devices, the switching devices including a plurality of switching devices, the switching devices being connected one-to-one with each single-layer busbar of the stacked busbar; an inverter circuit, the first terminal of which is electrically connected to a second terminal of the stacked busbar structure, the second terminal of which is electrically connected to a servo motor; and a control device for the stacked busbar structure, comprising one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing any one of the methods described.

[0021] Optionally, the switching device includes a first sub-device and a second sub-device. The first sub-device includes a plurality of first sub-switches, and the second sub-device includes a plurality of second sub-switches. The first end of each first sub-switch is the first end of the stacked busbar structure. The second end of each first sub-switch is electrically connected to the first end of the single-layer busbar in a one-to-one correspondence. The first end of each second sub-switch is electrically connected to the second end of the single-layer busbar in a one-to-one correspondence. The second end of each second sub-switch is the second end of the stacked busbar structure. The first sub-switches and second sub-switches electrically connected to the same single-layer busbar constitute the switching device.

[0022] Optionally, the servo driver further includes a detection device for detecting the real-time temperature and actual current of the stacked busbar structure.

[0023] According to another aspect of the present invention, a servo system is also provided, including: a servo motor and any of the aforementioned servo drivers.

[0024] In this embodiment of the invention, the stacked busbar structure includes stacked busbars and multiple switching devices. One switching device is correspondingly set on each single-layer busbar. The control method first obtains the maximum operating current of each single-layer busbar in the stacked busbar; then, when the stacked busbar structure is powered on, the actual current of the stacked busbar structure is obtained; then, based on the maximum operating current and the actual current, a first number of target switches to be closed is determined; finally, the first number of target switches to be closed is controlled to close, and other switching devices are controlled to open. This application, by setting switching devices on each single-layer busbar and controlling the switching state of each switching device based on the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure, can at least adjust the number of conducting single-layer busbars, thereby achieving adjustment of the inductance of the stacked busbar structure. This allows the actual working mesh thickness of the stacked busbar structure to change according to its current, maintaining a low parasitic inductance at any time and possessing high electrical performance. This achieves matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring strong environmental adaptability. Attached Figure Description

[0025] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0026] Figure 1 A flowchart illustrating a control method for a stacked busbar structure according to an embodiment of this application is shown.

[0027] Figure 2A schematic diagram of the structure of a servo driver according to an embodiment of this application is shown;

[0028] Figure 3 A schematic diagram of the structure of a first sub-device according to an embodiment of this application is shown;

[0029] Figure 4 A schematic diagram of the structure of a second sub-device according to an embodiment of this application is shown;

[0030] Figure 5 A schematic diagram of an equivalent model of a stacked busbar structure according to an embodiment of this application is shown;

[0031] Figure 6 A schematic diagram of the stacked busbar according to an embodiment of this application is shown;

[0032] Figure 7 A schematic diagram of a control device for a stacked busbar structure according to an embodiment of this application is shown;

[0033] Figure 8 A flowchart of the operation of a servo driver according to an embodiment of this application is shown.

[0034] The above figures include the following reference numerals:

[0035] 10. Laminated busbar structure; 20. Rectifier circuit; 30. AC power supply; 40. Inverter circuit; 50. Servo motor; 60. Control device; 70. Detection equipment; 80. Power-on buffer circuit; 100. Laminated busbar; 101. Switching device; 102. First sub-device; 103. Second sub-device; 800. Control switch; 801. Resistor structure. Detailed Implementation

[0036] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0037] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0038] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0039] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element, or there may be an intermediate element present. Furthermore, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element, or "connected" to the other element via a third element.

[0040] As mentioned in the background section, the existing stacked busbars have poor environmental adaptability. In order to solve the above problems, in a typical embodiment of this application, a control method, control device, computer-readable storage medium, processor, servo driver and servo system for a stacked busbar structure are provided.

[0041] According to an embodiment of this application, a control method for a stacked busbar structure is provided.

[0042] Figure 1 This is a flowchart of a control method for a laminated busbar structure according to an embodiment of this application, wherein, as Figure 2 As shown, the above-mentioned stacked busbar structure includes a stacked busbar 100 and a switchgear 101, as follows: Figure 3 as well as Figure 4 As shown, the aforementioned switchgear 101 includes multiple switching devices, each of which is connected to a single-layer busbar of the aforementioned stacked busbar in a one-to-one correspondence. For example... Figure 1 As shown, the method includes the following steps:

[0043] Step S101: Obtain the maximum operating current of the single-layer busbar.

[0044] The aforementioned maximum operating current is the maximum operating current that each single-layer busbar can withstand, which is determined by the material and size of each single-layer busbar. In the embodiments of this application, the maximum operating current of each of the aforementioned single-layer busbars is the same.

[0045] In practical applications, the individual busbars of a laminated busbar are generally made of copper or aluminum. Due to the superior conductivity and reasonable cost-effectiveness of T2 copper, T2 copper is commonly used to manufacture single-layer busbars in the market. Laminated busbars are used for connections in high-voltage components, such as connecting the positive and negative terminals of the busbar between rectifier and inverter circuits.

[0046] Step S102: When the above-mentioned stacked busbar structure is powered on, obtain the actual current of the above-mentioned stacked busbar structure.

[0047] Those skilled in the art can test the actual current of the above-mentioned stacked busbar structure in any suitable way, such as by using sampling resistors and Hall devices.

[0048] Figure 5 This is an equivalent model of the multilayer busbar structure 10. L1 represents the parasitic inductance of the positive terminal of the busbar (+), L2 represents the parasitic inductance of the negative terminal of the busbar (-), and C1 represents the parasitic capacitance between the positive and negative terminals of the busbar (+). For servo drives, L1 and L2 are critical parameters. When L1 and L2 are too large, voltage spikes will appear during servo drive operation, and these voltage spikes are positively correlated with the inductance of L1 and L2. Therefore, to achieve higher performance for the servo drive, the inductance of L1 and L2 must be reduced. For multilayer busbars, the inductance decreases as the effective conductive thickness decreases. For every 1mm reduction in thickness, the inductance decreases by approximately 30%.

[0049] Figure 6 This is a schematic diagram of the multi-layer stacked busbar. The stacked busbar of this application includes n single-layer busbars, where n is determined by the actual installation space of the stacked busbar and the thickness of the stacked busbar required inside the servo driver, and can be any even number. Each pair of adjacent single-layer busbars is separated by an insulating layer, and there are a total of (n+1) insulating layers. Each single-layer busbar and insulating layer is made as thin as possible while meeting the process and electrical performance requirements, and finally, they are pressed and sealed.

[0050] To prevent the laminated busbar structure from burning out due to excessive current when first powered on, in another embodiment of this application, before obtaining the actual current of the laminated busbar structure when it is powered on, the method further includes: controlling all the aforementioned switching devices to close when the laminated busbar structure is not powered on. This ensures that all single-layer busbars of the laminated busbar are turned on, allowing the laminated busbar structure to withstand the maximum current.

[0051] Step S103: Determine the first number of closures based on the maximum operating current and the actual current. The first number of closures is the number of the first target switches, and the first target switches are the switching devices that need to be closed.

[0052] Due to practical use, such as Figure 3 as well as Figure 4 As shown, each end of the stacked busbar structure is used to connect the positive and negative terminals of the busbar in the circuit (e.g., ...). Figure 3 The first end of the stacked busbar structure shown is electrically connected to the positive terminal and the negative terminal of the first end busbar, respectively, and as shown in the figure. Figure 4 The second end of the stacked busbar structure shown is electrically connected to the positive terminal of the second busbar and the negative terminal of the second busbar, respectively. Therefore, the total number of the single-layer busbars is even. Half of the single-layer busbars in the stacked busbars are used to electrically connect to the positive terminal of the first busbar and the positive terminal of the second busbar, respectively. The other half of the single-layer busbars are used to electrically connect to the negative terminal of the first busbar and the negative terminal of the second busbar, respectively. In a specific embodiment of this application, the specific implementation of determining the first number of closures based on the maximum operating current and the actual current can be as follows: round up the ratio of the actual current to the maximum operating current to obtain a first predetermined value; determine that the first number of closures is twice the first predetermined value.

[0053] In the above embodiments, the actual current of the stacked busbar structure is divided by the maximum operating current of a single-layer busbar and then rounded up to determine the specific number of single-layer busbars connected to the positive or negative terminal of the busbar when the actual current needs to flow, which is the first predetermined value mentioned above. Finally, the first predetermined value is multiplied by two to obtain the minimum number of single-layer busbars that the stacked busbar structure must open under the current actual current, which is the first closed number mentioned above. This facilitates the subsequent adjustment of the electrical performance of the stacked busbar based on the first closed number while ensuring the operational safety of the stacked busbar structure.

[0054] Specifically, the method for determining the first number of closures based on the maximum operating current and the actual current is not limited to the above-described method. In other embodiments, determining the first number of closures based on the maximum operating current and the actual current may further include: dividing the actual current by the maximum operating current to obtain a quotient; determining whether the quotient is an integer; if the quotient is an integer, determining twice the quotient as the first number of closures; if the quotient is not an integer, rounding the quotient up and determining twice the rounded value as the first number of closures.

[0055] Step S104: Control the first number of the first target switches to close, and control the other switching devices except the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

[0056] The above process controls the closing of the first target switches to activate the corresponding number of single-layer busbars, while keeping the other single-layer busbars closed. This effectively adjusts the conductive thickness of the stacked busbar structure, ensuring that the stacked busbar structure can withstand the current actual current while avoiding the problem of large inductance when all the single-layer busbars are activated. This ensures that the overall parasitic inductance of the current stacked busbar structure is small, thereby ensuring high performance of the servo driver and other equipment where the stacked busbar structure is located.

[0057] Specifically, those skilled in the art can arbitrarily select the first number of closing switching devices from the aforementioned switching equipment to close, such as continuously closing multiple adjacent switching devices, or closing one switching device at intervals of several switching devices. To further ensure that the electrical performance of the laminated busbar structure reaches an optimal state under the current working environment, in this embodiment, controlling the closing of the first number of closing first target switches includes: such as... Figure 6 As shown, the positions of the first predetermined number of the aforementioned switching devices arranged along the first direction, starting from the center position of the aforementioned stacked busbar, and the positions of the first predetermined number of the aforementioned switching devices arranged along the second direction are both determined to be first closed positions. The first direction is opposite to the aforementioned second direction and is perpendicular to the length direction of the aforementioned single-layer busbar. The first closed position is the position of the aforementioned first target switch. Based on the aforementioned first closed position, the corresponding number of the aforementioned first closed first target switches are controlled to close.

[0058] In the above embodiments, starting from the center of the stacked busbar, a first predetermined number of the aforementioned switching devices are sequentially determined as first target switches from the middle outwards. These first target switches are then closed respectively, thereby turning on the multiple single-layer busbars extending from the middle outwards of the stacked busbar. In this way, the multiple unopened single-layer busbars located on the two outer sides of the stacked busbar are equivalent to a metal shielding layer, which can provide the entire stacked busbar with a stronger anti-interference capability, thereby further ensuring that the stacked busbar has a strong anti-interference capability. The stacked busbar structure can achieve better performance in the current working environment, further improving the environmental adaptability of the stacked busbar structure.

[0059] In addition, to further address the problem of poor environmental adaptability of the laminated busbar, according to another embodiment, after controlling the closing of the first target switch and controlling the opening of other switching devices besides the first target switch, the method further includes: obtaining the maximum tolerable temperature and real-time temperature of the laminated busbar structure; and adjusting the switching state of each of the switching devices based at least on the real-time temperature and the maximum tolerable temperature to adjust the real-time temperature.

[0060] The above embodiments obtain the maximum tolerable temperature of the stacked busbar structure and the current real-time temperature, and adjust the switching state of each of the above-mentioned switching devices based at least on the real-time temperature and the maximum tolerable temperature, thereby adjusting the number and position of the single-layer busbars that are turned on, so as to achieve temperature control of the entire stacked busbar structure. This can further make the electrical performance of the adjusted stacked busbar structure adapt to the current working environment, and further ensure that the stacked busbar structure has strong environmental adaptability.

[0061] Those skilled in the art can use any suitable method to test and obtain the above real-time temperature, such as using a temperature sensing bulb, an NTC (Negative Temperature Coefficient) thermistor, or a PTC (Positive Temperature Coefficient) thermistor.

[0062] Specifically, the position of the first target switch is the first closed position. The switching state of each of the aforementioned switching devices is adjusted at least according to the real-time temperature and the maximum tolerable temperature to adjust the real-time temperature. This includes: when the real-time temperature is greater than or equal to the maximum tolerable temperature, determining a second number of closed switches, and determining a second closed position according to the first closed position. The second number of closed switches is the number of second target switches, and the second target switches are the switching devices that need to be closed other than the first target switch. The first target switch is controlled to remain closed, and the corresponding number of second target switches are controlled to close according to the second closed position. By determining the closing position and number of closing the second target switch based on the real-time temperature, the maximum tolerable temperature, and the first closed position, and closing the first and second target switches, this embodiment of the application reduces the overall temperature rise of the stacked busbar structure by closing more switching devices when the real-time temperature is greater than or equal to the maximum tolerable temperature, ensuring the operational safety of the stacked busbar structure and enabling the stacked busbar structure to adapt to current environmental requirements. This further ensures that the servo drive and other equipment where the stacked busbar structure is located can always maintain a good operating condition, thereby reducing the failure rate of the servo drive and other equipment in different environments.

[0063] Of course, the specific implementation of adjusting the switching state of each of the aforementioned switching devices to adjust the real-time temperature based at least on the aforementioned real-time temperature and the aforementioned maximum tolerable temperature is not limited to the above-described method. In another specific embodiment, adjusting the switching state of each of the aforementioned switching devices to adjust the real-time temperature based at least on the aforementioned real-time temperature and the aforementioned maximum tolerable temperature includes: when the aforementioned real-time temperature is greater than or equal to the aforementioned maximum tolerable temperature, determining a second number of closed switches, wherein the second number of closed switches is the number of second target switches, and the second target switches are the aforementioned switching devices that need to be closed in addition to the aforementioned first target switch; controlling the aforementioned first target switch to remain closed, and closing the aforementioned second number of open switching devices.

[0064] In this embodiment, when the real-time temperature is greater than or equal to the maximum tolerable temperature, determining a second number of closures and a second closure position based on the first closure position includes: an acquisition step of acquiring a count value; a control step of controlling the count value to increase by a second predetermined value to obtain a new count value when the real-time temperature is greater than or equal to the maximum tolerable temperature, and determining twice the new count value as the second number of closures; a determination step of determining the positions of the new count value number of switching devices adjacent to the first target switch and arranged along a first direction, and the positions of the new count value number of switching devices adjacent to the first target switch and arranged along a second direction, both of which are the second closure positions, wherein the first direction is opposite to the second direction and both are perpendicular to the length direction of the single-layer busbar; and a looping step of sequentially executing the control step and the determination step at least once until the real-time temperature is less than the maximum tolerable temperature, or until the new count value is greater than a third predetermined value, wherein the third predetermined value is the difference between half the total number of single-layer busbars and the first number of closures.

[0065] The above embodiments achieve dynamic determination of the second closing quantity and the second closing position through the above acquisition steps, the above control steps, the above determination steps, and the above looping steps. This further ensures that after closing the first target switch and the second target switch according to the above process, the temperature of the stacked busbar structure can be reduced to an acceptable temperature range. This further optimizes the heat dissipation method of the stacked busbar structure, and can meet the heat dissipation requirements of actual working conditions while taking into account the performance of the stacked busbar structure.

[0066] In one embodiment, the count value is 0 and the second predetermined value is 1, meaning that the count value is incremented by 1 each time the control step and the determination step are cycled. Of course, the count value and the second predetermined value are not limited to the values ​​described above, and those skilled in the art can flexibly set them according to actual circumstances.

[0067] Furthermore, since the number of single-layer busbars in a laminated busbar structure is limited, the range of control over its electrical performance is also limited. To further ensure the operational safety of the laminated busbar structure and further reduce its failure rate, according to another embodiment of this application, after the above control steps, the method further includes: determining whether a new count value is greater than a third predetermined value; and issuing an over-temperature alarm message if the new count value is greater than the third predetermined value. The over-temperature alarm message indicates that the real-time temperature is greater than or equal to the maximum tolerable temperature, and the real-time temperature cannot be adjusted by adjusting the switching state of the switchgear. If the new count value is greater than the third predetermined value, it indicates that all single-layer busbars have been turned on, but the operating temperature of the laminated busbar structure still exceeds its maximum tolerable temperature. In this case, it is impossible to adjust the number of single-layer busbars turned on by adjusting the switching state of the switchgear, thereby adjusting the real-time temperature. Therefore, an over-temperature alarm message needs to be issued in this situation so that personnel can intervene in a timely manner to prevent damage to the laminated busbar structure.

[0068] Similarly, after obtaining the first predetermined value, the method further includes: determining whether the first number of closures is greater than the total number; and issuing an overcurrent alarm message if the first number of closures is greater than the total number, wherein the overcurrent alarm message indicates that the actual current exceeds the maximum current of the stacked busbar structure. If the first number of closures is greater than the total number, it means that even if all the single-layer busbars are open, they cannot withstand the current actual current. In this case, it is impossible to adjust the number of single-layer busbars open by adjusting the switching state of the switchgear, thereby adjusting the current-bearing capacity of the stacked busbar structure. Therefore, in this situation, an overcurrent alarm message needs to be issued so that personnel can intervene in time to prevent the stacked busbar structure from being burned out due to high current.

[0069] The aforementioned stacked busbar structure includes stacked busbars and multiple switching devices. Each single-layer busbar has one corresponding switching device. The control method involves first obtaining the maximum operating current of each single-layer busbar in the stacked busbar; then, with the stacked busbar structure powered on, obtaining the actual current of the stacked busbar structure; next, determining the first number of target switches to be closed based on the maximum operating current and the actual current; and finally, controlling the first number of target switches to close and controlling the other switching devices to open. This application, by setting switching devices on each single-layer busbar and controlling the switching state of each switching device based on the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure, can at least adjust the number of conducting single-layer busbars. This allows for the adjustment of the inductance of the stacked busbar structure, ensuring that the actual working grid thickness of the stacked busbar structure varies according to its current, maintaining a low parasitic inductance at any given time, and exhibiting high electrical performance. This achieves matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring strong environmental adaptability.

[0070] It should be noted that the execution order of the above steps is not limited to sequential execution; they can also be executed in parallel or in any other arbitrary order.

[0071] The aforementioned stacked busbar structure can be applied to servo drives, inverters, motor controllers, and other high-voltage controllers. This application can detect the current flowing through each individual busbar in real time and adjust the number of layers connected to the single busbar based on the current magnitude. This allows the actual network thickness of the stacked busbar to vary according to the current, maintaining a low parasitic inductance at all times and effectively preventing the stacked busbar from burning out due to high current. Depending on the ambient temperature and the current flowing through the stacked busbar, the parasitic inductance can be reduced by several times or even tens of times, ensuring high electrical performance for servo drives, inverters, and motor controllers at all times. When only some single busbars in the stacked busbar structure are operational, the unoperated single busbars can act as shielding layers to counteract external interference, thereby improving the anti-interference capability of servo drives, inverters, and motor controllers.

[0072] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0073] This application also provides a control device for a laminated busbar structure. It should be noted that the control device for the laminated busbar structure in this application can be used to execute the control method for the laminated busbar structure provided in this application. The control device for the laminated busbar structure provided in this application is described below.

[0074] Figure 7 This is a schematic diagram of a control device for a laminated busbar structure according to an embodiment of this application, wherein, as shown... Figure 2 As shown, the above-mentioned stacked busbar structure includes a stacked busbar 100 and a switchgear 101, as follows: Figure 3 as well as Figure 4 As shown, the aforementioned switchgear 101 includes multiple switching devices, each of which is connected to a single-layer busbar of the aforementioned stacked busbar in a one-to-one correspondence. For example... Figure 7 As shown, the device includes:

[0075] The first acquisition unit 900 is used to acquire the maximum operating current of the single-layer busbar mentioned above.

[0076] The aforementioned maximum operating current is the maximum operating current that each single-layer busbar can withstand, which is determined by the material and size of each single-layer busbar. In the embodiments of this application, the maximum operating current of each of the aforementioned single-layer busbars is the same.

[0077] In practical applications, the individual busbars of a laminated busbar are generally made of copper or aluminum. Due to the superior conductivity and reasonable cost-effectiveness of T2 copper, T2 copper is commonly used to manufacture single-layer busbars in the market. Laminated busbars are used for connections in high-voltage components, such as connecting the positive and negative terminals of the busbar between rectifier and inverter circuits.

[0078] The second acquisition unit 901 is used to acquire the actual current of the stacked busbar structure when the stacked busbar structure is powered on.

[0079] Those skilled in the art can test the actual current of the above-mentioned stacked busbar structure in any suitable way, such as by using sampling resistors and Hall devices.

[0080] Figure 5This is an equivalent model of the multilayer busbar structure 10. L1 represents the parasitic inductance of the positive terminal of the busbar (+), L2 represents the parasitic inductance of the negative terminal of the busbar (-), and C1 represents the parasitic capacitance between the positive and negative terminals of the busbar (+). For servo drives, L1 and L2 are critical parameters. When L1 and L2 are too large, voltage spikes will appear during servo drive operation, and these voltage spikes are positively correlated with the inductance of L1 and L2. Therefore, to achieve higher performance for the servo drive, the inductance of L1 and L2 must be reduced. For multilayer busbars, the inductance decreases as the effective conductive thickness decreases. For every 1mm reduction in thickness, the inductance decreases by approximately 30%.

[0081] Figure 6 This is a schematic diagram of the multi-layer stacked busbar. The stacked busbar of this application includes n single-layer busbars, where n is determined by the actual installation space of the stacked busbar and the thickness of the stacked busbar required inside the servo driver, and can be any even number. Each pair of adjacent single-layer busbars is separated by an insulating layer, and there are a total of (n+1) insulating layers. Each single-layer busbar and insulating layer is made as thin as possible while meeting the process and electrical performance requirements, and finally, they are pressed and sealed.

[0082] To prevent the laminated busbar structure from burning out due to excessive current when first powered on, in another embodiment of this application, the device further includes a second control unit, configured to control all the aforementioned switching devices to close before acquiring the actual current of the laminated busbar structure when it is not powered on. This ensures that all single-layer busbars of the laminated busbar are switched on, allowing the laminated busbar structure to withstand the maximum current.

[0083] The first determining unit 902 is used to determine a first number of closures based on the maximum operating current and the actual current. The first number of closures is the number of first target switches, and the first target switches are the switching devices that need to be closed.

[0084] Due to practical use, such as Figure 3 as well as Figure 4 As shown, each end of the stacked busbar structure is used to connect the positive and negative terminals of the busbar in the circuit (e.g., ...). Figure 3 The first end of the stacked busbar structure shown is electrically connected to the positive terminal and the negative terminal of the first end busbar, respectively, and as shown in the figure. Figure 4The second end of the stacked busbar structure shown is electrically connected to the positive terminal of the second busbar and the negative terminal of the second busbar, respectively. Therefore, the total number of the single-layer busbars is even. Half of the single-layer busbars in the stacked busbars are used to electrically connect to the positive terminal of the first busbar and the positive terminal of the second busbar, respectively. The other half of the single-layer busbars are used to electrically connect to the negative terminal of the first busbar and the negative terminal of the second busbar, respectively. In a specific embodiment of this application, the first determining unit includes: a first rounding module, used to round up the ratio of the actual current to the maximum operating current to obtain a first predetermined value; and a first determining module, used to determine that the first number of closures is twice the first predetermined value.

[0085] In the above embodiments, the actual current of the stacked busbar structure is divided by the maximum operating current of a single-layer busbar and then rounded up to determine the specific number of single-layer busbars connected to the positive or negative terminal of the busbar when the actual current needs to flow, which is the first predetermined value mentioned above. Finally, the first predetermined value is multiplied by two to obtain the minimum number of single-layer busbars that the stacked busbar structure must open under the current actual current, which is the first closed number mentioned above. This facilitates the subsequent adjustment of the electrical performance of the stacked busbar based on the first closed number while ensuring the operational safety of the stacked busbar structure.

[0086] Specifically, the method for determining the first number of closed connections based on the maximum operating current and the actual current is not limited to the above-described method. In other embodiments, the first determining unit includes: a division module, used to divide the actual current by the maximum operating current to obtain a quotient; a second determining module, used to determine whether the quotient is an integer; a third determining module, used to determine that twice the quotient is the first number of closed connections if the quotient is an integer; and a second rounding module, used to round the quotient up if the quotient is not an integer, and determine that twice the rounded value is the first number of closed connections.

[0087] The first control unit 903 controls the first target switch to close, and controls other switching devices except the first target switch to open, so as to adjust the inductance of the stacked busbar structure.

[0088] The above process controls the closing of the first target switches to activate the corresponding number of single-layer busbars, while keeping the other single-layer busbars closed. This effectively adjusts the conductive thickness of the stacked busbar structure, ensuring that the stacked busbar structure can withstand the current actual current while avoiding the problem of large inductance when all the single-layer busbars are activated. This ensures that the overall parasitic inductance of the current stacked busbar structure is small, thereby ensuring high performance of the servo driver and other equipment where the stacked busbar structure is located.

[0089] Specifically, those skilled in the art can arbitrarily select the first number of closing switching devices from the aforementioned switching equipment to close, such as continuously closing multiple adjacent switching devices, or closing one switching device at intervals of several switching devices. To further ensure that the electrical performance of the laminated busbar structure reaches an optimal state under the current working environment, in this embodiment, the aforementioned first control unit includes: a fourth determining module, such as... Figure 6 As shown, the positions of the first predetermined number of the aforementioned switching devices arranged along a first direction, starting from the center position of the aforementioned stacked busbar, and the positions of the first predetermined number of the aforementioned switching devices arranged along a second direction are both first closed positions. The first direction is opposite to the aforementioned second direction and is perpendicular to the length direction of the aforementioned single-layer busbar. The first closed position is the position of the aforementioned first target switch. The first control module is used to control the corresponding first closed number of the aforementioned first target switches to close according to the aforementioned first closed position.

[0090] In the above embodiments, starting from the center of the stacked busbar, a first predetermined number of the aforementioned switching devices are sequentially determined as first target switches from the middle outwards. These first target switches are then closed respectively, thereby turning on the multiple single-layer busbars extending from the middle outwards of the stacked busbar. In this way, the multiple unopened single-layer busbars located on the two outer sides of the stacked busbar are equivalent to a metal shielding layer, which can provide the entire stacked busbar with a stronger anti-interference capability, thereby further ensuring that the stacked busbar has a strong anti-interference capability. The stacked busbar structure can achieve better performance in the current working environment, further improving the environmental adaptability of the stacked busbar structure.

[0091] In addition, to further address the problem of poor environmental adaptability of the laminated busbar, according to another embodiment, the above-mentioned device further includes: a third acquisition unit, configured to acquire the maximum tolerable temperature and real-time temperature of the laminated busbar structure after controlling the first closed number of the first target switches to close and controlling the other switching devices other than the first target switches to open; and an adjustment unit, configured to adjust the switching state of each of the switching devices at least according to the real-time temperature and the maximum tolerable temperature, so as to adjust the real-time temperature.

[0092] The above embodiments obtain the maximum tolerable temperature of the stacked busbar structure and the current real-time temperature, and adjust the switching state of each of the above-mentioned switching devices based at least on the real-time temperature and the maximum tolerable temperature, thereby adjusting the number and position of the single-layer busbars that are turned on, so as to achieve temperature control of the entire stacked busbar structure. This can further make the electrical performance of the adjusted stacked busbar structure adapt to the current working environment, and further ensure that the stacked busbar structure has strong environmental adaptability.

[0093] Those skilled in the art can use any suitable method to test and obtain the above real-time temperature, such as using a temperature sensing bulb, an NTC thermistor, or a PTC thermistor.

[0094] Specifically, the position of the first target switch is the first closed position. The adjustment unit includes: a fifth determining module, used to determine a second closing quantity when the real-time temperature is greater than or equal to the maximum tolerable temperature, and to determine the second closing position according to the first closing position, wherein the second closing quantity is the number of second target switches, and the second target switches are the switching devices that need to be closed in addition to the first target switch; and a second control module, used to control the first target switch to remain closed, and to control the corresponding second closing quantity of the second target switches to close according to the second closing position. By determining the closing position and closing quantity of the second target switches through the real-time temperature, the maximum tolerable temperature, and the first closing position, and closing the first and second target switches, this embodiment of the application reduces the overall temperature rise of the stacked busbar structure by closing more switching devices when the real-time temperature is greater than or equal to the maximum tolerable temperature, ensuring the working safety of the stacked busbar structure, and enabling the stacked busbar structure to adapt to the current environmental requirements. This further ensures that the servo drives and other equipment where the stacked busbar structure is located can always maintain a good condition during operation, thereby reducing the failure rate of the servo drives and other equipment in different environments.

[0095] Of course, the specific implementation of adjusting the switching state of each of the aforementioned switching devices to adjust the aforementioned real-time temperature based at least on the aforementioned real-time temperature and the aforementioned maximum tolerable temperature is not limited to the aforementioned method. In another specific embodiment, the aforementioned adjustment unit includes: a sixth determining module, used to determine a second closing quantity when the aforementioned real-time temperature is greater than or equal to the aforementioned maximum tolerable temperature, the aforementioned second closing quantity being the number of second target switches, the aforementioned second target switches being the aforementioned switching devices that need to be closed in addition to the aforementioned first target switch; and a third control module, used to control the aforementioned first target switch to remain closed and to close the aforementioned second closing quantity of the disconnected aforementioned switching devices.

[0096] In this embodiment, the fifth determining module includes: an acquisition submodule for acquiring a count value; a control submodule for controlling an increment of the count value by a second predetermined value when the real-time temperature is greater than or equal to the maximum tolerable temperature, to obtain a new count value, and determining that twice the new count value is the second number of closures; a determining submodule for determining the positions of the new count value of the switching devices adjacent to the first target switch and arranged along a first direction, and the positions of the new count value of the switching devices adjacent to the first target switch and arranged along a second direction are both the second closed positions, wherein the first direction is opposite to the second direction and both are perpendicular to the length direction of the single-layer busbar; and a looping submodule for looping an execution step, sequentially executing the control step and the determining step at least once, until the real-time temperature is less than the maximum tolerable temperature, or until the new count value is greater than a third predetermined value, wherein the third predetermined value is the difference between half the total number of single-layer busbars and the first number of closures.

[0097] The above embodiments achieve dynamic determination of the second closing quantity and the second closing position through the above acquisition steps, the above control steps, the above determination steps, and the above looping steps. This further ensures that after closing the first target switch and the second target switch according to the above process, the temperature of the stacked busbar structure can be reduced to an acceptable temperature range. This further optimizes the heat dissipation method of the stacked busbar structure, and can meet the heat dissipation requirements of actual working conditions while taking into account the performance of the stacked busbar structure.

[0098] In one embodiment, the count value is 0 and the second predetermined value is 1, meaning that the count value is incremented by 1 each time the control step and the determination step are cycled. Of course, the count value and the second predetermined value are not limited to the values ​​described above, and those skilled in the art can flexibly set them according to actual circumstances.

[0099] Furthermore, since the number of single-layer busbars in a laminated busbar structure is limited, the range of control over its electrical performance is also limited. To further ensure the operational safety of the laminated busbar structure and further reduce its failure rate, according to another embodiment of this application, the device further includes: a second determining unit, used to determine whether a new count value is greater than a third predetermined value after the control steps; and a first issuing unit, used to issue an over-temperature alarm message when the new count value is greater than the third predetermined value. The over-temperature alarm message indicates that the real-time temperature is greater than or equal to the maximum tolerable temperature, and the real-time temperature cannot be adjusted by adjusting the switching state of the switching equipment. When the new count value is greater than the third predetermined value, it indicates that all the single-layer busbars have been turned on, but the operating temperature of the laminated busbar structure still exceeds its maximum tolerable temperature. In this case, it is impossible to adjust the number of single-layer busbars turned on by adjusting the switching state of the switching equipment, thereby adjusting the real-time temperature. Therefore, an over-temperature alarm message needs to be issued in this case so that personnel can intervene in time to prevent damage to the laminated busbar structure.

[0100] Similarly, the above-mentioned device further includes: a third determining unit, used to determine whether the first number of closures is greater than the total number after obtaining the first predetermined value; and a second issuing unit, used to issue an overcurrent alarm message when the first number of closures is greater than the total number, the overcurrent alarm message indicating that the actual current exceeds the maximum current of the stacked busbar structure. When the first number of closures is greater than the total number, it indicates that even if all the single-layer busbars are open, they cannot withstand the current actual current. In this case, it is impossible to adjust the number of single-layer busbars open by adjusting the switching state of the switching equipment, thereby adjusting the current-bearing capacity of the stacked busbar structure. Therefore, in this case, an overcurrent alarm message needs to be issued so that personnel can intervene in time to prevent the stacked busbar structure from being burned out due to high current.

[0101] The aforementioned stacked busbar structure includes stacked busbars and multiple switching devices. Each single-layer busbar is equipped with one of the aforementioned switching devices. In its control device, the maximum operating current of the single-layer busbar in the stacked busbar is obtained through a first acquisition unit; when the stacked busbar structure is powered on, the actual current of the stacked busbar structure is obtained through a second acquisition unit; the first determination unit determines the first number of first target switches to be closed based on the maximum operating current and the actual current; and the first control unit controls the first number of first target switches to be closed to close, and controls the other switching devices to open. This application adjusts the number of conducting single-layer busbars by setting switching devices on each single-layer busbar and controlling the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure. This allows for the adjustment of the inductance of the stacked busbar structure, making the actual working grid thickness of the stacked busbar structure change according to its current, so that it maintains a low parasitic inductance at any time and has high electrical performance. This achieves the matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring its strong environmental adaptability.

[0102] The aforementioned stacked busbar structure can be applied to servo drives, inverters, motor controllers, and other high-voltage controllers. This application can detect the current flowing through each individual busbar in real time and adjust the number of layers connected to the single busbar based on the current magnitude. This allows the actual network thickness of the stacked busbar to vary according to the current, maintaining a low parasitic inductance at all times and effectively preventing the stacked busbar from burning out due to high current. Depending on the ambient temperature and the current flowing through the stacked busbar, the parasitic inductance can be reduced by several times or even tens of times, ensuring high electrical performance for servo drives, inverters, and motor controllers at all times. When only some single busbars in the stacked busbar structure are operational, the unoperated single busbars can act as shielding layers to counteract external interference, thereby improving the anti-interference capability of servo drives, inverters, and motor controllers.

[0103] The control device for the aforementioned stacked busbar structure includes a processor and a memory. The aforementioned first acquisition unit, the aforementioned second acquisition unit, the aforementioned first determination unit, and the aforementioned first control unit are all stored in the memory as program units. The processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0104] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the poor environmental adaptability of stacked busbars in existing technologies.

[0105] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0106] This invention provides a computer-readable storage medium storing a program thereon, which, when executed by a processor, implements the control method for the aforementioned stacked busbar structure.

[0107] This invention provides a processor for running a program, wherein the program executes the control method for the stacked busbar structure.

[0108] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0109] Step S101: Obtain the maximum operating current of the single-layer busbar.

[0110] Step S102: When the above-mentioned stacked busbar structure is powered on, obtain the actual current of the above-mentioned stacked busbar structure.

[0111] Step S103: Determine the first number of closures based on the maximum operating current and the actual current. The first number of closures is the number of the first target switches, and the first target switches are the switching devices that need to be closed.

[0112] Step S104: Control the first number of the first target switches to close, and control the other switching devices except the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

[0113] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0114] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0115] Step S101: Obtain the maximum operating current of the single-layer busbar.

[0116] Step S102: When the above-mentioned stacked busbar structure is powered on, obtain the actual current of the above-mentioned stacked busbar structure.

[0117] Step S103: Determine the first number of closures based on the maximum operating current and the actual current. The first number of closures is the number of the first target switches, and the first target switches are the switching devices that need to be closed.

[0118] Step S104: Control the first number of the first target switches to close, and control the other switching devices except the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

[0119] According to another typical embodiment of this application, a method is also provided as follows: Figure 2 The servo driver shown includes: a rectifier circuit 20, the first end of which is electrically connected to an AC power supply 30; a stacked busbar structure, the first end of which is electrically connected to the second end of the rectifier circuit 20, the stacked busbar structure including a stacked busbar 100 and a switching device 101, the switching device including a plurality of switching devices, the switching devices being connected one-to-one with each single-layer busbar of the stacked busbar 100; an inverter circuit 40, the first end of which is electrically connected to the second end of the stacked busbar structure, the second end of which is electrically connected to a servo motor 50; and a control device 60 for the stacked busbar structure, including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the above-described methods.

[0120] The aforementioned servo driver includes a rectifier circuit, a stacked busbar structure, and an inverter circuit connected in sequence. The stacked busbar structure includes stacked busbars and a switching device including multiple switching devices. Each switching device is connected to a single-layer busbar of the stacked busbar. The control device is used to execute any of the aforementioned methods. This application, by setting switching devices on each single-layer busbar and controlling the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure, can at least adjust the number of conducting single-layer busbars. This allows for adjustment of the inductance of the stacked busbar structure, ensuring that the actual working grid thickness of the stacked busbar structure varies according to its current, maintaining a low parasitic inductance at any given time and exhibiting high electrical performance. This achieves matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring strong environmental adaptability and guaranteeing high performance of the servo driver under any operating environment.

[0121] Specifically, the aforementioned rectifier circuit can be a rectifier bridge, and the aforementioned inverter circuit can be a three-phase inverter structure.

[0122] In another embodiment, such as Figure 2 , Figure 3 as well as Figure 4As shown, the switching device 101 includes a first sub-device 102 and a second sub-device 103. The first sub-device 102 includes a plurality of first sub-switches S'1 to S'n, and the second sub-device 103 includes a plurality of second sub-switches S1 to Sn. The first end of each of the first sub-switches is the first end of the stacked busbar structure. The second end of each of the first sub-switches is electrically connected to the first end of the single-layer busbar in a one-to-one correspondence. The first end of each of the second sub-switches is electrically connected to the second end of the single-layer busbar in a one-to-one correspondence. The second end of each of the second sub-switches is the second end of the stacked busbar structure. The first sub-switches and the second sub-switches electrically connected to the same single-layer busbar constitute the switching device.

[0123] Specifically, such as Figure 3 As shown, S'1 connects to the first single-layer busbar, S'2 connects to the second single-layer busbar, ..., S'n connects to the nth single-layer busbar. Along the arrangement direction of the single-layer busbars, among the multiple first sub-switches, the first ends of S'1 to S'(n / 2) are electrically connected to the positive terminal of the first-end busbar, and the first ends of S'(n / 2+1) to S'n are electrically connected to the negative terminal of the first-end busbar. The aforementioned positive and negative terminals of the first-end busbar constitute the second terminal of the aforementioned rectifier circuit. Figure 4 As shown, S1 is connected to the first single-layer busbar, S2 is connected to the second single-layer busbar, ..., Sn is connected to the nth single-layer busbar. Along the arrangement direction of the single-layer busbars, among the multiple second sub-switches, the first ends of S1 to S(n / 2) are all electrically connected to the positive terminal of the second terminal busbar, and the first ends of S(n / 2+1) to Sn are all electrically connected to the negative terminal of the second terminal busbar. The positive terminal and the negative terminal of the second terminal busbar constitute the first terminal of the inverter circuit.

[0124] According to another embodiment of this application, such as Figure 2 As shown, the servo driver further includes a detection device 70 for detecting the real-time temperature and actual current of the stacked busbar structure. By acquiring the actual current and real-time temperature through the detection device, the control device controls the switching state of each switching device based on the actual current and real-time temperature.

[0125] In addition, such as Figure 2 As shown, the servo driver also includes a power-on buffer circuit 80, which includes a control switch 800 and a resistor structure 801. The second end of the rectifier circuit 20 is electrically connected to the first end of the stacked busbar structure through the resistor structure 801. The control switch 800 is connected in parallel across the resistor structure 801.

[0126] The aforementioned control switch, first sub-switch, and second sub-switch can be any suitable controllable switch available in the prior art, such as diodes, MOSFETs, and BJT transistors.

[0127] In one embodiment, the workflow of the servo driver described above is as follows: Figure 8 As shown, the specific workflow is explained below:

[0128] Step 1: To prevent the stacked busbar from burning out due to excessive current when powered on, close all switches in the first and second sub-devices to make all single-layer busbars of the stacked busbar conduct, so that the stacked busbar can withstand the maximum current, and then start the servo driver.

[0129] Step 2: Detect the actual current and real-time temperature, and record the current as A and the temperature as B;

[0130] Step 3: Calculate the first predetermined value M. The maximum working current of a single-layer busbar is a. If the actual current needs to flow through A, the minimum number of first closed circuits to be opened is 2M, where the first predetermined value M = A / a layers (M is taken as an integer).

[0131] Step 4: Determine if M < n / 2 (N is the total number of single-layer busbars, since there are two networks, n / 2 is the peak value of a single network of the stacked busbar). If yes, the maximum current of the stacked busbar has not been exceeded, and the operation continues; if not, even opening all single-layer busbars cannot meet the current requirement, so an overcurrent alarm is triggered and an overcurrent alarm message is generated.

[0132] Step 5: Determine whether A is divisible by a. Since in step 4, M only took the integer part. If it is not divisible, it means that the current requirement cannot be met. Therefore, more single-layer busbars need to be opened to meet the current requirement, i.e., M = M + 1.

[0133] Step 6: In the first and second sub-devices, start the connection from the middle single-layer busbar according to the value of M. Assuming there are 10 layers of stacked busbars (n=10), and M=2 needs to be connected, then the positive pole of the busbar will connect the 4th and 5th layers, the negative pole of the busbar will connect the 6th and 7th layers, and so on.

[0134] Step 7: Determine if B≥b is satisfied, i.e., whether the real-time temperature of the stacked busbar exceeds the maximum tolerable temperature? If yes, proceed to step 8; otherwise, the servo drive will continue to operate as it is and the detection will restart from step 2.

[0135] Step 8: The count value c = c + 1, and then c more switches are turned on in both the first and second sub-devices to slow down the temperature rise;

[0136] Step 9: Determine whether c > (n / 2 - M), that is, whether the stacked busbar exceeds the maximum number of layers that can be opened. If yes, the current stacked busbar cannot meet the temperature rise requirements, triggering an over-temperature alarm and generating an over-temperature alarm message; if no, continue to determine whether the temperature rise is met, and return to step 7 to continue execution.

[0137] This technical solution uses a controller to adjust the number of layers on and off of the multilayer busbar, thereby regulating the effective conductive thickness of the multilayer busbar and ensuring high performance at all times. When not all layers of the multilayer busbar are on, the unconnected layers act as a metallic shield, providing stronger anti-interference capabilities. When fewer layers are on, the actual conductive thickness is smaller, resulting in lower inductance and improved driver performance.

[0138] According to another typical embodiment of this application, a servo system is also provided, including: a servo motor and any of the above-described servo drivers.

[0139] The aforementioned servo system includes any of the aforementioned servo drivers. These servo drivers, by setting switching devices on each single-layer busbar and controlling the switching state of each switching device based on the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure, can adjust at least the number of conducting single-layer busbars. This allows for the adjustment of the inductance of the stacked busbar structure, ensuring that the actual working grid thickness of the stacked busbar structure varies according to its current. This maintains a low parasitic inductance at any given time, resulting in high electrical performance. Consequently, the parasitic inductance of the stacked busbar structure is matched with the current operating current, ensuring strong environmental adaptability and guaranteeing high performance of the servo system under any working environment.

[0140] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0142] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0145] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0146] 1) In the control method described above in this application, the stacked busbar structure includes a stacked busbar and multiple switching devices. Each single-layer busbar is provided with one of the aforementioned switching devices. In the control method, the maximum operating current of a single-layer busbar in the stacked busbar is first obtained; when the stacked busbar structure is powered on, the actual current of the stacked busbar structure is then obtained; then, based on the maximum operating current and the actual current, the first number of first target switches to be closed is determined; finally, the first number of first target switches to be closed is controlled to close, and the other switching devices are controlled to open. This application adjusts the number of conducting single-layer busbars by setting switching devices on each single-layer busbar and controlling the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure. This allows for the adjustment of the inductance of the stacked busbar structure, making the actual working grid thickness of the stacked busbar structure change according to its current, so that it maintains a low parasitic inductance at any time and has high electrical performance. This achieves the matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring its strong environmental adaptability.

[0147] 2) In the control device described above in this application, the stacked busbar structure includes a stacked busbar and a plurality of switching devices. Each single-layer busbar is provided with one of the aforementioned switching devices. In the control device, the maximum operating current of a single-layer busbar in the stacked busbar is obtained by a first acquisition unit; when the stacked busbar structure is powered on, the actual current of the stacked busbar structure is obtained by a second acquisition unit; the first determination unit determines the first number of first target switches to be closed based on the maximum operating current and the actual current; and the first control unit controls the first number of first target switches to be closed to close, and controls the other switching devices to open. This application adjusts the number of conducting single-layer busbars by setting switching devices on each single-layer busbar and controlling the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure. This allows for the adjustment of the inductance of the stacked busbar structure, making the actual working grid thickness of the stacked busbar structure change according to its current, so that it maintains a low parasitic inductance at any time and has high electrical performance. This achieves the matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring its strong environmental adaptability.

[0148] 3) The servo driver described in this application includes a rectifier circuit, a stacked busbar structure, and an inverter circuit connected in sequence. The stacked busbar structure includes a stacked busbar and a switching device including multiple switching devices. The switching devices are connected one-to-one with each single-layer busbar of the stacked busbar. The control device is used to execute any of the methods described above. By setting switching devices on each single-layer busbar and controlling the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure, this application can adjust at least the number of conducting single-layer busbars. This allows for the adjustment of the inductance of the stacked busbar structure, so that the actual working grid thickness of the stacked busbar structure changes according to its current, maintaining a low parasitic inductance at any time and possessing high electrical performance. This achieves matching of the parasitic inductance of the stacked busbar structure with the current operating current, ensuring strong environmental adaptability and thus guaranteeing high performance of the servo driver under any working environment.

[0149] 4) The servo system described above in this application includes any of the aforementioned servo drivers. The servo driver sets switching devices on each single-layer busbar and controls the switching state of each switching device according to the maximum operating current of each single-layer busbar and the actual current of the stacked busbar structure. This allows for adjustment of the inductance of the stacked busbar structure, making the actual working grid thickness of the stacked busbar structure change according to its current. This ensures that it maintains a low parasitic inductance at any time and has high electrical performance. As a result, the parasitic inductance of the stacked busbar structure is matched with the current operating current, ensuring strong environmental adaptability and high performance of the servo system under any working environment.

[0150] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A control method for a laminated busbar structure, characterized in that, The stacked busbar structure includes a stacked busbar and a switching device, the switching device including multiple switching components, each of which is connected to a single-layer busbar of the stacked busbar in a one-to-one correspondence. The method includes: Obtain the maximum operating current of the single-layer busbar; When the stacked busbar structure is powered on, the actual current of the stacked busbar structure is obtained; Based on the maximum operating current and the actual current, a first number of closures is determined, where the first number of closures is the number of first target switches, and the first target switches are the switching devices that need to be closed. The first target switch is closed by controlling the first number of closed switches to close, and other switching devices besides the first target switch are opened to adjust the inductance of the stacked busbar structure.

2. The method according to claim 1, characterized in that, The total number of single-layer busbars is even. The first number of closures is determined based on the maximum operating current and the actual current, including: The ratio of the actual current to the maximum operating current is rounded up to obtain a first predetermined value; The first number of closures is determined to be twice the first predetermined value.

3. The method according to claim 2, characterized in that, Controlling the closing of the first target switch by the first number of closed switches includes: The positions of the first predetermined number of switching devices arranged along the first direction and along the second direction, starting from the center position of the stacked busbar, are determined to be the first closed positions. The first direction is opposite to the second direction and is perpendicular to the length direction of the single-layer busbar. The first closed position is the position of the first target switch. Based on the first closed position, control the corresponding number of the first target switches to close.

4. The method according to any one of claims 1 to 3, characterized in that, After controlling the first number of closed first target switches to close, and controlling the other switching devices besides the first target switches to open, the method further includes: Obtain the maximum withstand temperature and real-time temperature of the stacked busbar structure; The switching state of each of the switching devices is adjusted based on at least the real-time temperature and the maximum tolerable temperature in order to adjust the real-time temperature.

5. The method according to claim 4, characterized in that, The first target switch is in a first closed position. The switching state of each of the switching devices is adjusted based on at least the real-time temperature and the maximum tolerable temperature to adjust the real-time temperature, including: When the real-time temperature is greater than or equal to the maximum tolerable temperature, a second number of closures is determined, and a second closure position is determined based on the first closure position. The second number of closures is the number of second target switches, and the second target switches are the switching devices that need to be closed in addition to the first target switch. The first target switch is kept closed, and according to the second closed position, the corresponding number of second target switches are closed.

6. The method according to claim 5, characterized in that, When the real-time temperature is greater than or equal to the maximum tolerable temperature, a second number of closures is determined, and a second closure position is determined based on the first closure position, including: Get the steps, get the count value; In the control step, when the real-time temperature is greater than or equal to the maximum tolerable temperature, the count value is increased by a second predetermined value to obtain a new count value, and twice the new count value is determined as the second closing quantity. The determination step involves determining the positions of the new count value number of switch devices adjacent to the first target switch and arranged along the first direction, and determining that the positions of the new count value number of switch devices adjacent to the first target switch and arranged along the second direction are both the second closed positions, wherein the first direction and the second direction are opposite and both are perpendicular to the length direction of the single-layer busbar; The loop process involves sequentially executing the control step and the determination step at least once, until the real-time temperature is less than the maximum tolerable temperature, or until the new count value is greater than a third predetermined value, the third predetermined value being the difference between half the total number of single-layer busbars and the first number of closures.

7. The method according to claim 6, characterized in that, Following the control step, the method further includes: Determine whether the new count value is greater than the third predetermined value; If the new count value is greater than the third predetermined value, an over-temperature alarm is issued. The over-temperature alarm indicates that the real-time temperature is greater than or equal to the maximum tolerable temperature, and the real-time temperature cannot be adjusted by adjusting the switching state of the switching device.

8. The method according to claim 2 or 3, characterized in that, After obtaining the first predetermined value, the method further includes: Determine whether the first number of closures is greater than the total number; If the first number of closed circuits is greater than the total number, an overcurrent alarm is issued. The overcurrent alarm is used to indicate that the actual current exceeds the maximum current of the stacked busbar structure.

9. The method according to any one of claims 1 to 3, characterized in that, Before obtaining the actual current of the stacked busbar structure when it is powered on, the method further includes: When the stacked busbar structure is not powered on, control all the switching devices to close.

10. A control device for a laminated busbar structure, characterized in that, The stacked busbar structure includes a stacked busbar and a switching device. The switching device includes multiple switching components, each of which is connected to a single-layer busbar of the stacked busbar. The device includes: The first acquisition unit is used to acquire the maximum operating current of the single-layer busbar; The second acquisition unit is used to acquire the actual current of the stacked busbar structure when the stacked busbar structure is powered on. The first determining unit is configured to determine a first closing quantity based on the maximum operating current and the actual current, wherein the first closing quantity is the number of first target switches, and the first target switches are the switching devices that need to be closed; The first control unit controls the first number of closed first target switches to close, and controls other switching devices except the first target switches to open, so as to adjust the inductance of the stacked busbar structure.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program performs the method according to any one of claims 1 to 9.

12. A processor, characterized in that, The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 9 when it runs.

13. A servo driver, characterized in that, include: A rectifier circuit, wherein the first terminal of the rectifier circuit is used for electrical connection to an AC power source; A stacked busbar structure, wherein a first end of the stacked busbar structure is electrically connected to a second end of the rectifier circuit, the stacked busbar structure includes a stacked busbar and a switching device, the switching device includes a plurality of switching devices, and the switching devices are connected one-to-one with each single-layer busbar of the stacked busbar; An inverter circuit, wherein the first terminal of the inverter circuit is electrically connected to the second terminal of the stacked busbar structure, and the second terminal of the inverter circuit is used to be electrically connected to a servo motor; The control device for the stacked busbar structure includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any one of claims 1 to 9.

14. The servo driver according to claim 13, characterized in that, The switching device includes a first sub-device and a second sub-device. The first sub-device includes a plurality of first sub-switches, and the second sub-device includes a plurality of second sub-switches. The first end of each first sub-switch is the first end of the stacked busbar structure. The second end of each first sub-switch is electrically connected to the first end of the single-layer busbar in a one-to-one correspondence. The first end of each second sub-switch is electrically connected to the second end of the single-layer busbar in a one-to-one correspondence. The second end of each second sub-switch is the second end of the stacked busbar structure. The first sub-switches and second sub-switches electrically connected to the same single-layer busbar constitute the switching device.

15. The servo driver according to claim 13 or 14, characterized in that, The servo driver further includes a detection device for detecting the real-time temperature and actual current of the stacked busbar structure.

16. A servo system, characterized in that, include: A servo motor and a servo driver according to any one of claims 13 to 15.

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