Voltage regulation circuit and servo driver equipment

Abstract

The invention discloses a voltage regulation circuit and servo driver equipment, and the voltage regulation circuit comprises a rectifier bridge, an inverter circuit, a bus capacitor, an inductor, a switch regulation circuit, and a control module. The rectifier bridge receives mains supply, the output end of the inverter circuit is connected with the motor, the inductor, the bus capacitor and the switch adjusting circuit are arranged between the rectifier bridge and the inverter circuit, the control module identifies parameters of the motor, and first voltage rectified and output by the rectifier bridge and second voltage filtered and output by the bus capacitor are obtained through sampling. Based on the parameters of the motor, the first voltage and the second voltage, the control module controls the input voltage of the motor through the switch adjusting circuit. The switch adjusting circuit is arranged between the rectifier bridge and the inverter circuit to control the input voltage of the motor, and a smaller bus capacitor can be used at the moment, so that the research and development cost and the size are reduced.

Description

Technical Field

[0001] The present application relates to the field of motor technology, and in particular to a voltage regulation circuit and a servo drive device. Background Art

[0002] In the field of industrial automation, the performance of servo drives is crucial for the precise control of machines. Servo drives need to adapt to different industrial power supply environments. Therefore, servo drives are usually designed with two voltage levels: AC220V and AC380V to match servo motors of corresponding voltage levels. However, due to the influence of the power grid transmission itself and the surrounding high-power electrical equipment, the power supply voltage often fluctuates, which poses a challenge to the stability and reliability of the servo drive.

[0003] The power supply of the servo drive usually consists of the grid input, rectifier bridge and bus capacitor. The grid input is rectified into pulsating DC through the rectifier bridge, and the bus DC is filtered by the bus capacitor to supply power to the inverter side, thereby driving the servo motor. When the servo drive is working normally, the large bus capacitor is continuously charged and discharged, generating a certain voltage ripple. When the servo motor load increases, the voltage ripple of the bus will also increase, which not only reduces the service life of the bus capacitor and power devices, but may also cause false alarms of the servo drive and even damage the power devices.

[0004] For this reason, existing servo drives usually use large electrolytic capacitors as bus capacitors. However, this design increases R&D costs and volume, and is not compatible with servo drives and servo motors of the same power but different voltage levels, reducing user convenience. Summary of the invention

[0005] The present application mainly provides a voltage regulation circuit and a servo driver device to solve the problem of incompatibility between servo drivers and servo motors with the same power but different voltage levels.

[0006] The present application provides a voltage regulation circuit, comprising:

[0007] A rectifier bridge, wherein an input end of the rectifier bridge receives the mains power and is used for rectifying and outputting a first voltage;

[0008] An inverter circuit, wherein a first input end of the inverter circuit is connected to a first output end of the rectifier bridge, a second input end of the inverter circuit is connected to a second output end of the rectifier bridge, and an output end of the inverter circuit is connected to a motor;

[0009] A bus capacitor, wherein the positive electrode of the bus capacitor is connected between the first input end of the inverter circuit and the first output end of the rectifier bridge, and the negative electrode of the bus capacitor is connected between the second input end of the inverter circuit and the second output end of the rectifier bridge, and is used for filtering and outputting a second voltage;

[0010] an inductor, one end of which is connected to the first output end of the rectifier bridge, and the other end of which is connected to the positive electrode of the bus capacitor;

[0011] A switch regulating circuit, arranged between the rectifier bridge and the inverter circuit, for controlling the input voltage of the motor;

[0012] A control module is respectively connected to the motor and the switch regulation circuit, identifies the parameters of the motor, and samples the first voltage and the second voltage. The control module is used to control the input voltage of the motor based on the parameters of the motor, the first voltage and the second voltage.

[0013] Among them, the switching regulation circuit includes a first switching circuit, a second switching circuit and a third switching circuit, the first end of the second switching circuit is connected to the first output end of the rectifier bridge, the second end of the second switching circuit is connected to the second output end of the rectifier bridge, and the third end of the second switching circuit is connected to one end of the inductor; the first end of the first switching circuit is connected between the other end of the inductor and the positive electrode of the bus capacitor, and the second end of the first switching circuit is connected to the second output end of the rectifier bridge; the first end of the third switching circuit is connected between the positive electrode of the bus capacitor and the first input end of the inverter circuit, and the second end of the third switching circuit is connected between the negative electrode of the bus capacitor and the second input end of the inverter circuit.

[0014] Among them, the voltage regulation circuit also includes a first drive circuit, a second drive circuit and a third drive circuit, the first drive circuit is respectively connected to the control module and the first switch circuit, the second drive circuit is respectively connected to the control module and the second switch circuit, and the third drive circuit is respectively connected to the control module and the third switch circuit.

[0015] Wherein, when the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage;

[0016] When the third voltage is less than the second voltage, the first drive circuit controls the first switch circuit to be disconnected, the second drive circuit controls the second switch circuit to be disconnected, and the third drive circuit controls the third switch circuit to be turned on.

[0017] Wherein, when the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage;

[0018] When the third voltage is greater than the second voltage and less than the first voltage, the first drive circuit controls the first switch circuit to disconnect, the third drive circuit controls the third switch circuit to disconnect, and the second drive circuit controls the second switch circuit to be turned on and off at a preset first frequency.

[0019] Wherein, when the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage;

[0020] When the third voltage is greater than the second voltage and the third voltage is greater than the first voltage, the second drive circuit controls the second switch circuit to be turned on, the third drive circuit controls the third switch circuit to be turned off, and the first drive circuit controls the first switch circuit to be turned on and off at a preset second frequency.

[0021] Among them, the second switching circuit includes a second switch and a second diode, the first end of the second switch is connected to the first output end of the rectifier bridge, the second end of the second switch is connected to one end of the inductor, the anode of the second diode is connected to the second output end of the rectifier bridge, and the cathode of the second diode is connected between the second end of the second switch and one end of the inductor; the first switching circuit includes a first switch and a first diode, the anode of the first diode is connected to the other end of the inductor, the cathode of the first diode is connected to the positive electrode of the bus capacitor, the first end of the first switch is connected between the other end of the inductor and the anode of the first diode, and the second end of the first switch is connected to the second output end of the rectifier bridge.

[0022] Among them, the third switching circuit includes a third switch, a third diode and a resistor, the first end of the third switch is connected between the negative electrode of the bus capacitor and the second input end of the inverter circuit, the second end of the third switch is connected to the positive electrode of the third diode, the negative electrode of the third diode is connected between the positive electrode of the bus capacitor and the first input end of the inverter circuit, one end of the resistor is connected between the positive electrode of the bus capacitor and the negative electrode of the third diode, and the other end of the resistor is connected between the positive electrode of the third diode and the second end of the third switch.

[0023] Among them, the first end of the first drive circuit is connected to the first end of the first switch, the second end of the first drive circuit is connected to the second end of the first switch, and the third end of the drive circuit is connected to the first end of the control module; the first end of the second drive circuit is connected to the first end of the second switch, the second end of the second drive circuit is connected to the second end of the second switch, and the third end of the second drive circuit is connected to the second end of the control module; the first end of the third drive circuit is connected to the first end of the third switch, the second end of the third drive circuit is connected to the second end of the third switch, and the third end of the third drive circuit is connected to the third end of the control module.

[0024] The present application also provides a servo drive device, comprising the voltage regulating circuit as described above.

[0025] The beneficial effects of the present application are as follows: in the present application, the rectifier bridge receives the mains power, the output end of the inverter circuit is connected to the motor, and by setting the inductor, bus capacitor and switch regulation circuit between the rectifier bridge and the inverter circuit, the control module identifies the parameters of the motor, and samples to obtain the first voltage of the rectifier bridge rectifier output and the second voltage of the bus capacitor filter output, and based on the parameters of the motor, the first voltage and the second voltage, the control module controls the input voltage of the motor through the switch regulation circuit. The present application controls the input voltage of the motor by setting a switch regulation circuit between the rectifier bridge and the inverter circuit, and a smaller bus capacitor can be used at this time, thereby reducing the R&D cost and volume. The control module can identify the motor parameters and adjust and control according to the voltage sampled in real time, so that the servo drive of the same model can adapt to motors of different voltage levels, which improves the convenience of user use. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0027] Figure 1 is a circuit architecture example diagram of a voltage regulation circuit provided by the present application;

[0028] Figure 2 It is a waveform diagram of an embodiment of the first voltage, the second voltage, the third voltage, the first switch, the second switch and the third switch in the working state provided by the present application. DETAILED DESCRIPTION

[0029] The following embodiments of the technical solution of the present application are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0031] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0032] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0033] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0034] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0035] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0036] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be connected between, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0037] The power supply of the servo drive usually consists of the grid input, rectifier bridge and bus capacitor. The grid input is rectified into pulsating DC through the rectifier bridge, and the bus DC is filtered by the bus capacitor to supply power to the inverter side, thereby driving the servo motor. When the servo drive is working normally, the large bus capacitor is continuously charged and discharged, generating a certain voltage ripple. When the servo motor load increases, the voltage ripple of the bus will also increase, which not only reduces the service life of the bus capacitor and power devices, but may also cause false alarms of the servo drive and even damage the power devices.

[0038] For this reason, existing servo drives usually use large electrolytic capacitors as bus capacitors. However, this design increases R&D costs and volume, and is not compatible with servo drives and servo motors of the same power but different voltage levels, reducing the convenience of customer use.

[0039] This application provides a voltage regulation circuit, see Figure 1-Figure 2 As shown, Figure 1 is a circuit architecture example diagram of a voltage regulation circuit provided by the present application; Figure 2 1 is a waveform diagram of an embodiment of the first voltage, the second voltage, the third voltage, the first switch, the second switch and the third switch in the working state provided by the present application. The voltage regulation circuit 10 of this embodiment includes a rectifier bridge 11, an inverter circuit 12, a bus capacitor 13, an inductor L, a switch regulation circuit 14 and a control module 15.

[0040] The input end of the rectifier bridge 11 receives the mains current, that is, the input end of the rectifier bridge 11 is connected to the mains. The main function of the rectifier bridge 11 is to convert alternating current into direct current, that is, the rectifier bridge 11 is used to convert the mains into direct current.

[0041] Optionally, the input end of the rectifier bridge 11 receives three-phase electricity, and the three-phase electricity is rectified by the rectifier bridge 11 to output a first voltage U1. The first voltage U1 is a DC voltage, and the first voltage U1 is also called an input voltage.

[0042] In other embodiments, the input end of the rectifier bridge 11 receives single-phase power or three-phase power with a missing phase.

[0043] The first input terminal 121 of the inverter circuit 12 is connected to the first output terminal 111 of the rectifier bridge 11 , the second input terminal 122 of the inverter circuit 12 is connected to the second output terminal 112 of the rectifier bridge 11 , and the output terminal of the inverter circuit 12 is connected to the motor 16 .

[0044] The inverter circuit 12 is a power conversion circuit for converting DC power into AC power.

[0045] Among them, the first output end 111 of the rectifier bridge 11 refers to the positive output end of the rectifier bridge 11, and the second output end 112 of the rectifier bridge 11 refers to the negative output end of the rectifier bridge 11; the first input end 121 of the inverter circuit 12 refers to the positive input end of the inverter circuit 12, and the second input end 122 of the inverter circuit 12 refers to the negative input end of the inverter circuit 12.

[0046] The positive electrode of the bus capacitor 13 is connected between the first input terminal 121 of the inverter circuit 12 and the first output terminal 111 of the rectifier bridge 11, and the negative electrode of the bus capacitor 13 is connected between the second input terminal 122 of the inverter circuit 12 and the second output terminal 112 of the rectifier bridge 11, for filtering and outputting the second voltage U2.

[0047] Specifically, the positive electrode of the bus capacitor 13 is connected between the positive output terminal of the rectifier bridge 11 and the positive input terminal of the inverter circuit 12, and the negative electrode of the bus capacitor 13 is connected between the negative output terminal of the rectifier bridge 11 and the negative input terminal of the inverter circuit 12.

[0048] The bus capacitor 13 is a capacitor located in a power electronic device, which is used to smooth and stabilize the current and voltage of the DC power supply, also known as filtering. That is, the bus capacitor 13 is used to filter the current output by the rectifier bridge 11 and output the second voltage U2 to the inverter circuit 12. The second voltage U2 is also called the bus voltage.

[0049] Optionally, the inverter circuit 12 receives a first voltage U1 rectified and output by the rectifier bridge 11 or a second voltage U2 filtered and output by the bus capacitor 13 .

[0050] One end of the inductor L is connected to the first output terminal 111 of the rectifier bridge 11 , and the other end of the inductor L is connected to the positive electrode of the bus capacitor 13 .

[0051] The inductor L is used to receive the first voltage U1 outputted by the first output terminal 111 of the rectifier bridge 11 for filtering and energy storage.

[0052] The switch regulation circuit 14 is disposed between the rectifier bridge 11 and the inverter circuit 12 , and is used to control the input voltage of the motor 16 .

[0053] The input voltage of the motor 16 refers to the voltage supplied to the motor 16, that is, the voltage required to drive the motor 16; motors 16 of different voltage levels correspond to different input voltages, that is, the voltages required to drive motors 16 of different voltage levels are different. In this embodiment, the input voltage of the motor 16 is supplied by the inverter circuit 12, that is, the input voltage of the motor 16 is used to describe the source of electrical energy required when the motor 16 is working.

[0054] The switch regulation circuit 14 refers to a circuit in a power electronic device for controlling and adjusting output voltage or current. Optionally, the switch regulation circuit 14 uses one or more switches to regulate energy transmission, thereby achieving precise control of the output voltage or current.

[0055] Optionally, the switch regulation circuit 14 is disposed between the rectifier bridge 11 and the inverter circuit 12 , and the switch regulation circuit 14 controls the voltage or current input to the inverter circuit 12 , thereby controlling the input voltage of the motor 16 .

[0056] The control module 15 is connected to the motor 16 and the switch regulation circuit 14 respectively, identifies the parameters of the motor 16, and samples the first voltage U1 and the second voltage U2. The control module 15 is used to control the input voltage of the motor 16 based on the parameters of the motor 16, the first voltage U1 and the second voltage U2.

[0057] The control module 15 is a core component in the voltage regulation circuit 10, which is responsible for the control logic and operation processing of the entire circuit. The control module 15 includes but is not limited to a microcontroller unit (MCU), a field programmable gate array (FPGA), a digital signal processor (DSP), and a programmable logic device (PLD).

[0058] Optionally, the control module 15 includes a motor parameter self-identification unit (not shown), an input voltage sampling unit (not shown), a bus voltage sampling unit (not shown), a first judgment processing module (not shown) and a second judgment processing module (not shown). The control module 15 identifies the parameters of the motor 16, such as the voltage level of the motor, through the motor parameter self-identification unit.

[0059] Optionally, the control module 15 obtains the first voltage U1 by real-time sampling through an input voltage sampling unit, for example, the input voltage sampling unit is connected to the first output terminal 111 of the rectifier bridge 11, and the input voltage sampling unit can obtain the first voltage U1 by sampling. The control module 15 obtains the second voltage U2 by real-time sampling through a bus voltage sampling unit, for example, the bus voltage sampling unit is connected to the positive electrode of the bus capacitor 13, and the bus voltage sampling unit can obtain the second voltage U2 by sampling.

[0060] Specifically, the control module 15 uses the self-identified parameters of the motor 16, the first voltage U1, and the second voltage U2 as inputs, and dynamically adjusts the working state of the switch regulation circuit 14 through a built-in control algorithm, thereby controlling the input voltage of the motor 16. At this time, the control module 15 can accurately control the input voltage of the motor 16 to ensure that the motor 16 adapted to different voltage levels can operate stably.

[0061] In this embodiment, an inductor L, a bus capacitor 13 and a switch regulating circuit 14 are arranged between the rectifier bridge 11 and the inverter circuit 12. The control module 15 identifies the parameters of the motor 16, and samples the first voltage U1 output by the rectifier bridge 11 and the second voltage U2 output by the bus capacitor 13. Based on the parameters of the motor 16, the first voltage U1 and the second voltage U2, the control module 15 controls the input voltage of the motor 16 through the switch regulating circuit 14. By arranging the switch regulating circuit 14 between the rectifier bridge 11 and the inverter circuit 12 to control the input voltage of the motor 16, a smaller bus capacitor 13 can be used at this time, thereby reducing the R&D cost and volume. The control module 15 can identify the parameters of the motor 16 and adjust and control it according to the voltage sampled in real time, so that the servo drive of the same model can adapt to motors 16 of different voltage levels, thereby improving the convenience of user use.

[0062] According to some embodiments of the present application, the switch regulation circuit 14 includes a first switch circuit 141, a second switch circuit 142, and a third switch circuit 143. The first end of the second switch circuit 142 is connected to the first output end 111 of the rectifier bridge 11, the second end of the second switch circuit 142 is connected to the second output end 112 of the rectifier bridge 11, and the third end of the second switch circuit 142 is connected to one end of the inductor L. The first end of the first switch circuit 141 is connected between the other end of the inductor L and the positive electrode of the bus capacitor 13, and the second end of the first switch circuit 141 is connected to the second output end 112 of the rectifier bridge 11. The first end of the third switch circuit 143 is connected between the positive electrode of the bus capacitor 13 and the first input end 121 of the inverter circuit 12, and the second end of the third switch circuit 143 is connected between the negative electrode of the bus capacitor 13 and the second input end 122 of the inverter circuit 12.

[0063] Specifically, the first end of the second switch circuit 142 is connected to the positive output end of the rectifier bridge 11, the second end of the second switch circuit 142 is connected to the negative output end of the rectifier bridge 11, and the third end of the second switch circuit 142 is connected to one end of the inductor L, that is, the second switch circuit 142 is located between the rectifier bridge 11 and the inductor L, and is used to regulate the current flowing from the rectifier bridge 11 to the inductor L and the bus capacitor 13.

[0064] The first end of the first switch circuit 141 is connected between the other end of the inductor L and the positive electrode of the bus capacitor 13, and the second end of the first switch circuit 141 is connected to the negative output end of the rectifier bridge 11, that is, the first switch circuit 141 is located between the inductor L and the bus capacitor 13, and is used to regulate the current flowing from the second switch circuit 142 and the inductor L to the bus capacitor 13.

[0065] The first end of the third switch circuit 143 is connected between the positive electrode of the bus capacitor 13 and the positive input terminal of the inverter circuit 12, and the second end of the third switch circuit 143 is connected between the negative electrode of the bus capacitor 13 and the negative input terminal of the inverter circuit 12, that is, the third switch circuit 143 is located between the bus capacitor 13 and the inverter circuit 12, and is used to control the current from the bus capacitor 13 to the inverter circuit 12, and then control the input voltage of the motor 16.

[0066] This embodiment can accurately control the current and voltage from the rectifier bridge 11 to the bus capacitor 13, and from the bus capacitor 13 to the inverter circuit 12 by setting the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143 between the rectifier bridge 11 and the inverter circuit 12. By timely opening and closing the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143, the control module 15 can adjust the input voltage of the motor 16 to adapt to motors 16 of different voltage levels. This design helps to improve the energy efficiency of the system, reduce energy loss, and ensure the stable operation of the motor 16.

[0067] According to some embodiments of the present application, the voltage regulating circuit 10 also includes a first drive circuit 17, a second drive circuit 18 and a third drive circuit 19. The first drive circuit 17 is respectively connected to the control module 15 and the first switch circuit 141, the second drive circuit 18 is respectively connected to the control module 15 and the second switch circuit 142, and the third drive circuit 19 is respectively connected to the control module 15 and the third switch circuit 143.

[0068] The driving circuit refers to a circuit responsible for converting the control signal of the control module 15 into a signal capable of driving the switch circuit to be turned on or off.

[0069] Optionally, the first drive circuit 17 is used to convert the control signal of the control module 15 into a signal that can drive the first switch circuit 141 to be turned on or off, that is, the control module 15 controls the first switch circuit 141 through the first drive circuit 17; the second drive circuit 18 is used to convert the control signal of the control module 15 into a signal that can drive the second switch circuit 142 to be turned on or off, that is, the control module 15 controls the second switch circuit 142 through the second drive circuit 18; the third drive circuit 19 is used to convert the control signal of the control module 15 into a signal that can drive the third switch circuit 143 to be turned on or off, that is, the control module 15 controls the third switch circuit 143 through the third drive circuit 19.

[0070] The control module 15 of this embodiment can accurately control the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143 through the first drive circuit 17, the second drive circuit 18 and the third drive circuit 19, thereby adjusting the voltage input to the inverter circuit 12 and further adjusting the input voltage of the motor 16 to meet the needs of the motor 16.

[0071] According to some embodiments of the present application, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2.

[0072] When the third voltage U3 is lower than the second voltage U2, the first drive circuit 17 controls the first switch circuit 141 to be turned off, the second drive circuit 18 controls the second switch circuit 142 to be turned off, and the third drive circuit 19 controls the third switch circuit 143 to be turned on.

[0073] The third voltage U3 refers to a reference voltage obtained according to the parameters of the motor 16. The reference voltage can ensure that the motor 16 operates at a safe voltage to avoid performance degradation or damage to the motor 16 due to excessively high or low voltage.

[0074] Optionally, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, that is, the control module 15 identifies the voltage level of the motor 16, and obtains the third voltage U3 according to the parameters of the motor 16. Since the voltage levels of the motor 16 are AC220V and AC380V, that is, there are two parameters of the motor 16, the corresponding third voltage U3 is different. For example, when the voltage level of the motor 16 is AC220V, the third voltage U3 is DC312V; when the voltage level of the motor 16 is AC380V, the third voltage U3 is DC600V.

[0075] Specifically, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2. The control module 15 first compares the third voltage U3 and the second voltage U2. If the third voltage U3 is less than the second voltage U2, the third voltage U3 and the first voltage U1 are not compared. When the third voltage U3 is less than the second voltage U2, that is, when the reference voltage is less than the bus voltage, the control module 15 controls the first switch circuit 141 to be disconnected through the first drive circuit 17, controls the second switch circuit 142 to be disconnected through the second drive circuit 18, and controls the third switch circuit 143 to be turned on through the third drive circuit 19. At this time, the bus capacitor 13 or the inductor L in the voltage regulating circuit 10 supplies power to the inverter circuit 12, and the inverter circuit 12 supplies power to the motor 16, thereby driving the motor 16, and the second voltage U2 gradually decreases. Further, when the third voltage U3 is greater than or equal to the second voltage U2, the control module 15 controls the third switch circuit 143 to be disconnected through the third drive circuit 19.

[0076] In this embodiment, when the third voltage U3 is lower than the second voltage U2, the on and off of the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143 are controlled by comparison results to adjust the voltage, that is, to adjust the power supply of the inverter circuit 12, which can effectively maintain the voltage within the required range and prevent the inverter circuit 12 from being damaged by excessive voltage.

[0077] According to some embodiments of the present application, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2.

[0078] When the third voltage U3 is greater than the second voltage U2 and less than the first voltage U1, the first drive circuit 17 controls the first switch circuit 141 to disconnect, the third drive circuit 19 controls the third switch circuit 143 to disconnect, and the second drive circuit 18 controls the second switch circuit 142 to turn on and off at a preset first frequency.

[0079] The first frequency refers to a preset fixed frequency value, which is used to control the on and off actions of the second switch circuit 142. The first frequency determines the number of times the second switch circuit 142 is turned on and off per unit time, that is, the rate of the switching action.

[0080] When the third voltage U3 is less than the first voltage U1, that is, the input voltage is greater than the reference voltage, the first drive circuit 17 controls the first switch circuit 141 to be disconnected, the third drive circuit 19 controls the third switch circuit 143 to be disconnected, and the second drive circuit 18 controls the second switch circuit 142 to be turned on and off at a preset first frequency. At this time, the voltage regulating circuit 10 works in a step-down state, and its circuit model is a step-down circuit.

[0081] Optionally, when the first switch circuit 141 is disconnected, the third switch circuit 143 is disconnected, and the second switch circuit 142 is turned on, the input voltage in the voltage regulation circuit 10 powers the inverter circuit 12, that is, the first voltage U1 powers the inverter circuit 12; when the first switch circuit 141 is disconnected, the third switch circuit 143 is disconnected, and the second switch circuit 142 is disconnected, the inductor L in the voltage regulation circuit 10 powers the inverter circuit 12.

[0082] Specifically, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2. The control module 15 first compares the third voltage U3 with the second voltage U2, and then compares the third voltage U3 with the first voltage U1. When the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1, the control module 15 controls the first switch circuit 141 to be disconnected through the first drive circuit 17, controls the third switch circuit 143 to be disconnected through the third drive circuit 19, and controls the second switch circuit 142 to be turned on and off at a preset first frequency through the second drive circuit 18.

[0083] In this embodiment, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1, the on and off of the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143 are controlled by comparison results to adjust the voltage, that is, adjust the power supply of the inverter circuit 12, which can effectively maintain the voltage within the required range and prevent the inverter circuit 12 from being damaged by excessive voltage.

[0084] According to some embodiments of the present application, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2.

[0085] When the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than the first voltage U1, the second drive circuit 18 controls the second switch circuit 142 to turn on, the third drive circuit 19 controls the third switch circuit 143 to turn off, and the first drive circuit 17 controls the first switch circuit 141 to turn on and off at a preset second frequency.

[0086] The second frequency refers to a preset fixed frequency value, which is used to control the on and off actions of the first switch circuit 141. The second frequency determines the number of times the first switch circuit 141 completes on and off in a unit time, that is, the rate of the switching action.

[0087] Optionally, the second frequency is not equal to the first frequency. In other embodiments, the second frequency is equal to the first frequency.

[0088] When the third voltage U3 is greater than the first voltage U1, that is, the input voltage is less than the reference voltage, the second drive circuit 18 controls the second switch circuit 142 to turn on, the third drive circuit 19 controls the third switch circuit 143 to turn off, and the first drive circuit 17 controls the first switch circuit 141 to turn on and off at a preset second frequency. At this time, the voltage regulation circuit 10 works in a boost state, and its circuit model is a boost circuit.

[0089] Optionally, when the second switch circuit 142 is turned on, the third switch circuit 143 is turned off, and the first switch circuit 141 is turned on, the bus capacitor 13 in the voltage regulation circuit 10 supplies power to the inverter circuit 12; when the second switch circuit 142 is turned on, the third switch circuit 143 is turned off, and the first switch circuit 141 is turned off, the input voltage and the inductor L in the voltage regulation circuit 10 supply power to the inverter circuit 12, that is, the first voltage U1 and the inductor L supply power to the inverter circuit 12.

[0090] Specifically, when the voltage regulating circuit 10 is powered on, the control module 15 identifies the parameters of the motor 16, obtains the third voltage U3, and samples the first voltage U1 and the second voltage U2. The control module 15 first compares the third voltage U3 with the second voltage U2, and then compares the third voltage U3 with the first voltage U1. When the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than the first voltage U1, the control module 15 controls the second switch circuit 142 to turn on through the second drive circuit 18, controls the third switch circuit 143 to turn off through the third drive circuit 19, and controls the first switch circuit 141 to turn on and off at a preset second frequency through the first drive circuit 17.

[0091] In this embodiment, when the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than the first voltage U1, the first switch circuit 141, the second switch circuit 142 and the third switch circuit 143 are controlled to be turned on and off by comparing the result, and the voltage is adjusted, that is, the power supply of the inverter circuit 12 is adjusted, which can effectively maintain the voltage within the required range and prevent the inverter circuit 12 from being damaged by too low a voltage.

[0092] According to some embodiments of the present application, the second switching circuit 142 includes a second switch S2 and a second diode D2, the first end of the second switch S2 is connected to the first output end 111 of the rectifier bridge 11, the second end of the second switch S2 is connected to one end of the inductor L, the positive electrode of the second diode D2 is connected to the second output end 112 of the rectifier bridge 11, and the negative electrode of the second diode D2 is connected between the second end of the second switch S2 and one end of the inductor L.

[0093] The first switch circuit 141 includes a first switch S1 and a first diode D1, the anode of the first diode D1 is connected to the other end of the inductor L, the cathode of the first diode D1 is connected to the positive electrode of the bus capacitor 13, the first end of the first switch S1 is connected between the other end of the inductor L and the anode of the first diode D1, and the second end of the first switch S1 is connected to the second output end 112 of the rectifier bridge 11.

[0094] According to some embodiments of the present application, the third switch circuit 143 includes a third switch S3, a third diode D3 and a resistor R, the first end of the third switch S3 is connected between the negative electrode of the bus capacitor 13 and the second input terminal 122 of the inverter circuit 12, the second end of the third switch S3 is connected to the positive electrode of the third diode D3, the negative electrode of the third diode D3 is connected between the positive electrode of the bus capacitor 13 and the first input terminal 121 of the inverter circuit 12, one end of the resistor R is connected between the positive electrode of the bus capacitor 13 and the negative electrode of the third diode D3, and the other end of the resistor R is connected between the positive electrode of the third diode D3 and the second end of the third switch S3.

[0095] For details, see Figure 2 As shown, when the third voltage U3 is less than the second voltage U2, in the voltage regulation circuit 10, during the period t0 to t1, the first drive circuit 17 controls the first switch S1 of the first switch circuit 141 to be disconnected, the second drive circuit 18 controls the second switch S2 of the second switch circuit 142 to be disconnected, and the third drive circuit 19 controls the third switch S3 of the third switch circuit 143 to be turned on.

[0096] At this time, the second voltage U2 gradually decreases, and the inverter circuit 12 is powered by the bus capacitor 13 or the inductor L. Further, when the third voltage U3 is greater than or equal to the second voltage U2, the third drive circuit 19 controls the third switch S3 of the third switch circuit 143 to be disconnected.

[0097] See also Figure 2As shown, when the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is less than the first voltage U1, the voltage regulating circuit 10 is in the stage t1 to t3, the first drive circuit 17 controls the first switch S1 of the first switch circuit 141 to be disconnected, the third drive circuit 19 controls the third switch S3 of the third switch circuit 143 to be disconnected, and the second drive circuit 18 controls the second switch S of the second switch circuit 142 to be turned on and off at a preset first frequency.

[0098] Among them, Figure 2 As shown, the second switch S2 is in the on state during the period t1 to t2 and in the off state during the period t2 to t3, that is, the difference between t3 and t1 is one cycle time of the first frequency.

[0099] At this time, the voltage regulating circuit 10 is a step-down circuit, the output voltage is the third voltage U3, and the input voltage is the first voltage U1; the output voltage is equal to the input voltage multiplied by the on-duty cycle of the second switch S2, where the on-duty cycle of the second switch S2 is represented by d2, that is, U3 = U1 × d2. It can be deduced that d2 = U3 / U1, and the value of d2 is determined by the first voltage U1 and the third voltage U3.

[0100] Since the difference between t3 and t1 is one cycle of the first frequency, d2 = (t2-t1) / (t3-t1), that is, the on-duty cycle of the second switch S2 is equal to the difference between t2 and t1 divided by the difference between t3 and t1, and the first frequency is equal to 1 divided by the difference between t3 and t1. The difference between t3 and t1 can be obtained by calculation, and then the difference between t2 and t1 can be obtained.

[0101] Specifically, when the first switch S1 is disconnected, the third switch S3 is disconnected, and the second switch S2 is turned on, that is, in the stage t1 to t2, the voltage of the inductor L is equal to the value of the first voltage U1 minus the second voltage U2, the current of the inductor L increases linearly, the first diode D1 is turned on, the second diode D2 is reversely cut off, the first voltage U1 supplies power to the inductor L and the inverter circuit 12, the bus capacitor 13 is charged, and the second voltage U2 gradually increases.

[0102] When the first switch S1 is disconnected, the third switch S3 is disconnected, and the second switch S2 is disconnected, that is, in the stage t2-t3, the voltage of the inductor L is equal to the negative second voltage U2, the current of the inductor L decreases linearly, the first diode D1 and the second diode D2 are turned on, and the inductor L supplies power to the bus capacitor 13 and the inverter circuit 12.

[0103] See also Figure 2As shown, when the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than the first voltage U1, the voltage regulating circuit 10 is in the stage t4 to t6, the second drive circuit 18 controls the second switch S2 of the second switch circuit 142 to be turned on, the third drive circuit 19 controls the third switch S3 of the third switch circuit 143 to be turned off, and the first drive circuit 17 controls the first switch S1 of the first switch circuit 141 to be turned on and off at a preset second frequency.

[0104] Among them, Figure 2 As shown, the first switch S1 is in the on state during the period t4 to t5, and is in the off state during the period t5 to t6, that is, the difference between t6 and t4 is one cycle time of the second frequency.

[0105] At this time, the voltage regulating circuit 10 is a boost circuit, the output voltage is the third voltage U3, and the input voltage is the first voltage U1; the output voltage is equal to the difference between the input voltage multiplied by 1 and the on-duty cycle of the first switch S1, where the on-duty cycle of the first switch S1 is represented by d1, that is, U3=U1×1 / (1-d1). It can be deduced that d1=1-U1 / U3, and the value of d1 is determined by the first voltage U1 and the third voltage U3.

[0106] Since the difference between t6 and t4 is one cycle of the second frequency, d1=(t5-t4) / (t6-t4), that is, the on-duty cycle of the first switch S1 is equal to the difference between t5 and t4 divided by the difference between t6 and t4, and the first frequency is equal to 1 divided by the difference between t6 and t4. The difference between t6 and t4 can be obtained by calculation, and then the difference between t5 and t4 can be obtained.

[0107] Specifically, when the second switch S2 is turned on, the third switch S3 is turned off, and the first switch S1 is turned on, that is, in the stage t4-t5, the voltage of the inductor L is equal to the first voltage U1, the current of the inductor L increases linearly, the inductor L stores energy, the first diode D1 and the second diode D2 are both reversely cut off, and the bus capacitor 13 supplies power to the inverter circuit 12.

[0108] When the second switch S2 is turned on, the third switch S3 is turned off, and the first switch S1 is turned off, that is, in the stage t5-t6, the voltage of the inductor L is equal to the value of the first voltage U1 minus the second voltage U2, the current of the inductor L decreases linearly, the first diode D1 is turned on, the second diode D2 is reversely cut off, and the first voltage U1 and the inductor L supply power to the inverter circuit 12.

[0109] This embodiment can make the voltage regulating circuit 10 operate in a step-up or step-down state by controlling the conduction states of the first switch S1, the second switch S2 and the third switch S3, so that the same servo driver can operate at an AC220V input voltage or an AC380V input voltage; and by identifying the parameters of the motor 16 to determine the third voltage U3, the same servo driver can control both the AC220V motor 16 and the AC380V motor 16.

[0110] According to some embodiments of the present application, a first end of the first drive circuit 17 is connected to a first end of the first switch S1, a second end of the first drive circuit 17 is connected to a second end of the first switch S1, and a third end of the first drive circuit 17 is connected to a first end 151 of the control module 15; a first end of the second drive circuit 18 is connected to a first end of the second switch S2, a second end of the second drive circuit 18 is connected to a second end of the second switch S2, and a third end of the second drive circuit 18 is connected to a second end 152 of the control module 15; a first end of the third drive circuit 19 is connected to a first end of the third switch S3, a second end of the third drive circuit 19 is connected to a second end of the third switch S3, and a third end of the third drive circuit 19 is connected to a third end 153 of the control module 15.

[0111] Specifically, the first end of the first drive circuit 17 is connected to the first end of the first switch S1, the second end of the first drive circuit 17 is connected to the second end of the first switch S1, and the third end of the first drive circuit 17 is connected to the first end 151 of the control module 15, so that the control module 15 controls the first end and the second end of the first switch S1 to be connected or disconnected through the first drive circuit 17, that is, controls the first switch S1 to be turned on or off.

[0112] The first end of the second drive circuit 18 is connected to the first end of the second switch S2, the second end of the second drive circuit 18 is connected to the second end of the second switch S2, and the third end of the second drive circuit 18 is connected to the second end 152 of the control module 15, so that the control module 15 controls the first end and the second end of the second switch S2 to be connected or disconnected through the second drive circuit 18, that is, controls the second switch S2 to be turned on or off.

[0113] The first end of the third drive circuit 19 is connected to the first end of the third switch S3, the second end of the third drive circuit 19 is connected to the second end of the third switch S3, and the third end of the third drive circuit 19 is connected to the third end 153 of the control module 15, so that the control module 15 controls the first end and the second end of the third switch S3 to be connected or disconnected through the third drive circuit 19, that is, controls the third switch S3 to be turned on or off.

[0114] Another embodiment of the present application further provides a servo drive device, comprising the voltage regulating circuit 10 of the above embodiment.

[0115] In summary, the present application controls the input voltage of the motor 16 by setting the first switch S1, the second switch S2 and the third switch S3 between the rectifier bridge 11 and the inverter circuit 12. At this time, a smaller bus capacitor 13 can be used, thereby reducing the R&D cost and volume. The control module 15 can identify the parameters of the motor 16 and adjust and control it according to the voltage sampled in real time, so that the servo drive of the same model can adapt to motors 16 of different voltage levels, thereby improving the convenience of user use.

[0116] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A voltage regulating circuit, characterized in that: include: A rectifier bridge, wherein an input end of the rectifier bridge receives the mains power and is used for rectifying and outputting a first voltage; An inverter circuit, wherein a first input end of the inverter circuit is connected to a first output end of the rectifier bridge, a second input end of the inverter circuit is connected to a second output end of the rectifier bridge, and an output end of the inverter circuit is connected to a motor; A bus capacitor, wherein the positive electrode of the bus capacitor is connected between the first input end of the inverter circuit and the first output end of the rectifier bridge, and the negative electrode of the bus capacitor is connected between the second input end of the inverter circuit and the second output end of the rectifier bridge, and is used for filtering and outputting a second voltage; an inductor, one end of which is connected to the first output end of the rectifier bridge, and the other end of which is connected to the positive electrode of the bus capacitor; A switch regulating circuit, arranged between the rectifier bridge and the inverter circuit, for controlling the input voltage of the motor; A control module is respectively connected to the motor and the switch regulation circuit, identifies the parameters of the motor, and samples the first voltage and the second voltage. The control module is used to control the input voltage of the motor based on the parameters of the motor, the first voltage and the second voltage.

2. The voltage regulating circuit according to claim 1, characterized in that: The switch regulation circuit includes a first switch circuit, a second switch circuit and a third switch circuit, wherein the first end of the second switch circuit is connected to the first output end of the rectifier bridge, the second end of the second switch circuit is connected to the second output end of the rectifier bridge, and the third end of the second switch circuit is connected to one end of the inductor; the first end of the first switch circuit is connected between the other end of the inductor and the positive electrode of the bus capacitor, and the second end of the first switch circuit is connected to the second output end of the rectifier bridge; the first end of the third switch circuit is connected between the positive electrode of the bus capacitor and the first input end of the inverter circuit, and the second end of the third switch circuit is connected between the negative electrode of the bus capacitor and the second input end of the inverter circuit.

3. The voltage regulating circuit according to claim 2, characterized in that: The voltage regulation circuit also includes a first drive circuit, a second drive circuit and a third drive circuit, the first drive circuit is respectively connected to the control module and the first switch circuit, the second drive circuit is respectively connected to the control module and the second switch circuit, and the third drive circuit is respectively connected to the control module and the third switch circuit.

4. The voltage regulating circuit according to claim 3, characterized in that: When the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage; When the third voltage is less than the second voltage, the first drive circuit controls the first switch circuit to be disconnected, the second drive circuit controls the second switch circuit to be disconnected, and the third drive circuit controls the third switch circuit to be turned on.

5. The voltage regulating circuit according to claim 3, characterized in that: When the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage; When the third voltage is greater than the second voltage and less than the first voltage, the first drive circuit controls the first switch circuit to disconnect, the third drive circuit controls the third switch circuit to disconnect, and the second drive circuit controls the second switch circuit to be turned on and off at a preset first frequency.

6. The voltage regulating circuit according to claim 3, characterized in that: When the voltage regulating circuit is powered on, the control module identifies the parameters of the motor, obtains the third voltage, and samples the first voltage and the second voltage; When the third voltage is greater than the second voltage and the third voltage is greater than the first voltage, the second drive circuit controls the second switch circuit to be turned on, the third drive circuit controls the third switch circuit to be turned off, and the first drive circuit controls the first switch circuit to be turned on and off at a preset second frequency.

7. The voltage regulating circuit according to claim 6, characterized in that: The second switch circuit includes a second switch and a second diode, the first end of the second switch is connected to the first output end of the rectifier bridge, the second end of the second switch is connected to one end of the inductor, the anode of the second diode is connected to the second output end of the rectifier bridge, and the cathode of the second diode is connected between the second end of the second switch and one end of the inductor; the first switch circuit includes a first switch and a first diode, the anode of the first diode is connected to the other end of the inductor, the cathode of the first diode is connected to the positive electrode of the bus capacitor, the first end of the first switch is connected between the other end of the inductor and the anode of the first diode, and the second end of the first switch is connected to the second output end of the rectifier bridge.

8. The voltage regulating circuit according to claim 7, characterized in that: The third switching circuit includes a third switch, a third diode and a resistor, wherein a first end of the third switch is connected between the negative electrode of the bus capacitor and the second input end of the inverter circuit, a second end of the third switch is connected to the positive electrode of the third diode, a negative electrode of the third diode is connected between the positive electrode of the bus capacitor and the first input end of the inverter circuit, one end of the resistor is connected between the positive electrode of the bus capacitor and the negative electrode of the third diode, and the other end of the resistor is connected between the positive electrode of the third diode and the second end of the third switch.

9. The voltage regulating circuit according to claim 8, characterized in that: A first end of the first drive circuit is connected to a first end of the first switch, a second end of the first drive circuit is connected to a second end of the first switch, and a third end of the drive circuit is connected to a first end of the control module; a first end of the second drive circuit is connected to a first end of the second switch, a second end of the second drive circuit is connected to a second end of the second switch, and a third end of the second drive circuit is connected to a second end of the control module; a first end of the third drive circuit is connected to a first end of the third switch, a second end of the third drive circuit is connected to a second end of the third switch, and a third end of the third drive circuit is connected to a third end of the control module.

10. A servo drive device, characterized in that: The method comprises the voltage regulating circuit as claimed in any one of claims 1 to 9.

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