Adjusting circuit of power supply voltage and servo driver equipment

Abstract

The invention discloses a power supply voltage regulating circuit and servo driver equipment. The power supply voltage regulating circuit comprises a rectifier bridge, an inverter circuit, a bus capacitor, an inductor, a first diode, a switch regulating circuit and a control module. According to the invention, the switch adjusting circuit is arranged between the rectifier bridge and the inverter circuit, and the control module controls the voltage input to the inverter circuit by the rectifier bridge through the switch adjusting circuit so as to control the input voltage of the motor, so that two input voltages of AC220V and AC380V can be compatible, and the servo motor of the same voltage class is driven; the research and development cost of the whole servo system is reduced, and the use convenience of a user is improved.

Description

Technical Field

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

[0002] The current industrial servo drive power supply solution usually consists of a grid input, a rectifier bridge, and a bus capacitor. The grid input is divided into two voltage levels: AC220V and AC380V. Specifically, the grid input is rectified into pulsating DC through a rectifier bridge, and the bus capacitor filters the bus DC to supply power to the inverter side, thereby driving the servo motor. Industrial electricity is usually three-phase AC380V. In order to meet the power supply needs of AC220V equipment, a three-phase transformer is used to step down the voltage or directly take one phase from the three phases for power supply. In this case, it is easy to make the three-phase voltage unbalanced, increase reactive power, and there is a risk of wrong wiring, which may cause the machine to explode.

[0003] In order to adapt to these two voltage levels, the servo drive is designed to have two voltage levels of AC220V and AC380V to match the servo motors of AC220V and AC380V. This servo drive design not only increases the R&D cost of the entire servo system, but also reduces the user's convenience. Summary of the invention

[0004] The present application mainly provides a power supply voltage regulation circuit and a servo driver device to solve the problems of high R&D cost of the entire servo system and low user convenience.

[0005] The present application provides a supply voltage regulation circuit, comprising:

[0006] A rectifier bridge, wherein an input end of the rectifier bridge receives mains power and outputs a first voltage based on rectification of the mains power;

[0007] 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;

[0008] 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 the bus capacitor is used to filter and output a second voltage;

[0009] an inductor and a first diode, one end of the inductor is connected to the first output end of the rectifier bridge, the other end of the inductor is connected to the anode of the first diode, and the cathode of the first diode is connected to the anode of the bus capacitor;

[0010] A switch regulating circuit, arranged between the rectifier bridge and the inverter circuit, for controlling the input voltage of the motor;

[0011] A control module is connected to the motor and the switch regulation circuit respectively, and is used to obtain the first voltage and the second voltage, identify the parameters of the motor, and determine a third voltage based on the parameters of the motor; the control module controls the input voltage of the motor based on the third voltage, the first voltage and the second voltage.

[0012] Among them, the switching regulation circuit includes a first switching circuit and a second switching circuit, the first end of the first switching circuit is connected between the first output end of the rectifier bridge and the inductor, the second end of the first switching circuit is connected between the second output end of the rectifier bridge and the negative electrode of the bus capacitor, the first end of the second switching circuit is connected between the first input end of the inverter circuit and the positive electrode of the bus capacitor, and the second end of the second switching circuit is connected between the second input end of the inverter circuit and the negative electrode of the bus capacitor.

[0013] Among them, the regulation circuit also includes a first drive circuit and a second drive circuit, the first drive circuit is respectively connected to the control module and the first switch circuit, and is used to control the first switch circuit to be turned on or off; the second drive circuit is respectively connected to the control module and the second switch circuit, and is used to control the second switch circuit to be turned on or off.

[0014] Wherein, the control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor;

[0015] The control module is used for controlling the first switch circuit to be disconnected through the first drive circuit when the third voltage is lower than the second voltage, and controlling the second switch circuit to be connected through the second drive circuit.

[0016] Wherein, the control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor;

[0017] The control module is used for controlling the first switch circuit to be turned on first and then turned off at a preset switching frequency through the first drive circuit when the third voltage is greater than the second voltage and the third voltage is less than the first voltage;

[0018] The control module is used for controlling the second switch circuit to be disconnected through the second drive circuit when the first switch circuit is turned on;

[0019] The control module is used for controlling the second switch circuit to be turned on through the second drive circuit when the first switch circuit is turned off.

[0020] Wherein, the control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor;

[0021] The control module is used to control the first switch circuit to be turned on through the first drive circuit, and to control the second switch circuit to be turned off through the second drive circuit when the third voltage is greater than the second voltage and the third voltage is greater than or equal to the first voltage.

[0022] Among them, the first switching circuit includes a first switch and a second diode, the first end of the first switch is connected to the first output end of the rectifier bridge, the second end of the first switch is connected to one end of the inductor, the anode of the second diode is connected between the second output end of the rectifier bridge and the negative electrode of the bus capacitor, and the cathode of the second diode is connected between the second end of the first switch and the inductor.

[0023] Among them, the second switching circuit includes a second switch, a third diode and a resistor, the first end of the second switch is connected between the second input end of the inverter circuit and the negative electrode of the bus capacitor, the second end of the second switch is connected to the positive electrode of the third diode, the negative electrode of the third diode is connected between the first input end of the inverter circuit and the positive electrode of the bus capacitor, 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 second switch.

[0024] 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.

[0025] The present application also provides a servo drive device, comprising the above-mentioned regulating circuit.

[0026] The beneficial effects of the present application are as follows: the power supply voltage regulating circuit of the present application includes a rectifier bridge, the input end of the rectifier bridge receives AC power, and outputs a first voltage based on the rectification of the AC power; an inverter circuit, the first input end of the inverter circuit is connected to the first output end of the rectifier bridge, the second input end of the inverter circuit is connected to the second output end of the rectifier bridge, and the output end of the inverter circuit is connected to the motor; a bus capacitor, 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, 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 the bus capacitor is used to The filter outputs a second voltage; an inductor and a first diode, one end of the inductor is connected to the first output end of the rectifier bridge, the other end of the inductor is connected to the positive electrode of the first diode, and the negative electrode of the first diode is connected to the positive electrode of the bus capacitor; a switch regulation circuit is arranged between the rectifier bridge and the inverter circuit, and is used to control the input voltage of the motor; a control module is respectively connected to the motor and the switch regulation circuit, and the control module is used to obtain the first voltage and the second voltage, identify the parameters of the motor, and determine the third voltage based on the parameters of the motor; the control module controls the input voltage of the motor based on the third voltage, the first voltage and the second voltage. The present application arranges a switch regulation circuit between the rectifier bridge and the inverter circuit, and the control module controls the voltage input from the rectifier bridge to the inverter circuit through the switch regulation circuit, thereby controlling the input voltage of the motor. At this time, it is compatible with both AC220V and AC380V input voltages, thereby driving servo motors of the same voltage level, reducing the R&D cost of the entire servo system and improving the user's convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] 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:

[0028] Figure 1 This is a circuit architecture example diagram of a power supply voltage regulation circuit provided in the present application;

[0029] Figure 2 This is a waveform diagram of an embodiment of the first voltage, the second voltage, the third voltage, the first switch and the second switch in the working state provided by the present application. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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).

[0036] 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.

[0037] 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.

[0038] In order to adapt to these two voltage levels, the servo drive is designed to have two voltage levels of AC220V and AC380V to match the servo motors of AC220V and AC380V. This servo drive design not only increases the R&D cost of the entire servo system, but also reduces the user's convenience.

[0039] This application provides a supply voltage regulation circuit, see Figure 1-Figure 2 As shown, Figure 1 This is a circuit architecture example diagram of a power supply voltage regulation circuit provided in 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 and the second switch in the working state provided by the present application. The power supply voltage regulation circuit 10 of this embodiment includes a rectifier bridge 11, an inverter circuit 12, a bus capacitor 13, an inductor L, a first diode D1, 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, the rectifier bridge 11 rectifies the three-phase electricity, and outputs a first voltage U1. The first voltage U1 is a DC voltage, and the first voltage U1 is also called an input voltage. For example, the input end of the rectifier bridge 11 receives three-phase AC380V.

[0042] 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 .

[0043] Optionally, the first output terminal 111 of the rectifier bridge 11 refers to the positive output terminal of the rectifier bridge 11, and the second output terminal 112 of the rectifier bridge 11 refers to the negative output terminal of the rectifier bridge 11; the first input terminal 121 of the inverter circuit 12 refers to the positive input terminal of the inverter circuit 12, and the second input terminal 122 of the inverter circuit 12 refers to the negative input terminal of the inverter circuit 12.

[0044] The inverter circuit 12 refers to a power conversion circuit that converts DC power into AC power. Optionally, the inverter circuit 12 receives the first voltage U1 rectified and output by the rectifier bridge 11, and converts it into AC power and outputs it to the motor 16. The voltage output by the inverter circuit 12 is used as the input voltage of the motor 16, also called the power supply voltage, which can drive the motor 16 to work.

[0045] 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. The bus capacitor 13 is used to filter and output the second voltage U2.

[0046] The bus capacitor 13 is located between the rectifier bridge 11 and the inverter circuit 12, the positive electrode of the bus capacitor 13 is connected between the positive output end of the rectifier bridge 11 and the positive input end of the inverter circuit 12, and the negative electrode of the bus capacitor 13 is connected between the negative output end of the rectifier bridge 11 and the negative input end of the inverter circuit 12.

[0047] The bus capacitor 13 refers to a high capacitance capacitor used for DC power filtering. Optionally, 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.

[0048] 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 , and converts it into alternating current and outputs it to the motor 16 .

[0049] One end of the inductor L is connected to the first output end 111 of the rectifier bridge 11 , the other end of the inductor L is connected to the anode of the first diode D1 , and the cathode of the first diode D1 is connected to the anode of the bus capacitor 13 .

[0050] The inductor L is also called an inductor, and is a component that can convert electrical energy into magnetic energy and store it. Optionally, the inductor L is used to receive the first voltage U1 output by the first output terminal 111 of the rectifier bridge 11 for filtering and energy storage.

[0051] The first diode D1 is located between the inductor L and the bus capacitor 13 , and is used to ensure that the current from the inductor L to the bus capacitor 13 flows in one direction.

[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.

[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. The control module 15 is used to obtain the first voltage U1 and the second voltage U2, identify the parameters of the motor 16, and determine the third voltage U3 based on the parameters of the motor 16; the control module 15 controls the input voltage of the motor 16 based on the third voltage U3, the first voltage U1 and the second voltage U2.

[0057] The control module 15 refers to a component responsible for the control logic and operation processing of the entire circuit in the regulating circuit 10. 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).

[0059] Optionally, the control module 15 identifies the parameters of the motor 16, such as the voltage level of the motor 16, through the motor parameter self-identification unit; the control module 15 obtains the first voltage U1 by real-time sampling through the 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 sample the first voltage U1; the control module 15 obtains the second voltage U2 by real-time sampling through the 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 sample the second voltage U2.

[0060] 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. Optionally, the parameter of the motor 16 is the voltage level of the motor 16, such as AC220V, and the third voltage U3 obtained according to the parameters of the motor 16 is 312V.

[0061] Since the input voltage levels include AC220V and AC380V, for example, when the input voltage level is AC380V, it does not match the parameters of motor 16, and it is necessary to control the input voltage of motor 16 by adjusting the input voltage to ensure that motor 16 can run stably.

[0062] Specifically, the control module 15 uses the acquired third voltage U3, the first voltage U1, and the second voltage U2 as inputs, dynamically adjusts the working state of the switch regulation circuit 14 through the built-in control algorithm, controls the input voltage of the inverter circuit 12, and further controls the input voltage of the motor 16. At this time, the control module 15 can accurately control the input voltage of the motor 16 through the switch regulation circuit 14, and is compatible with both AC220V and AC380V input voltages, ensuring that the motor 16 of the same voltage level can operate stably.

[0063] In this embodiment, a switch regulation circuit 14 is set between the rectifier bridge 11 and the inverter circuit 12. The control module 15 controls the voltage input from the rectifier bridge 11 to the inverter circuit 12 through the switch regulation circuit 14, thereby controlling the input voltage of the motor 16. At this time, the servo driver is compatible with both AC220V and AC380V input voltages, thereby driving a servo motor of the same voltage level, thereby reducing the R&D cost of the entire servo system and improving user convenience.

[0064] According to some embodiments of the present application, the switch regulation circuit 14 includes a first switch circuit 141 and a second switch circuit 142. The first end of the first switch circuit 141 is connected between the first output end 111 of the rectifier bridge 11 and the inductor L, the second end of the first switch circuit 141 is connected between the second output end 112 of the rectifier bridge 11 and the negative electrode of the bus capacitor 13, the first end of the second switch circuit 142 is connected between the first input end 121 of the inverter circuit 12 and the positive electrode of the bus capacitor 13, and the second end of the second switch circuit 142 is connected between the second input end 122 of the inverter circuit 12 and the negative electrode of the bus capacitor 13.

[0065] Specifically, the first switch circuit 141 is located between the rectifier bridge 11 and the inductor L, and is used to control or adjust the current flowing from the rectifier bridge 11 to the inductor L and the bus capacitor 13; the second switch circuit 142 is located between the bus capacitor 13 and the inverter circuit 12, and is used to control or adjust the current from the bus capacitor 13 to the inverter circuit 12, thereby controlling the input voltage of the motor 16.

[0066] This embodiment can accurately control the current from the rectifier bridge 11 to the inductor L and the bus capacitor 13, and from the bus capacitor 13 to the inverter circuit 12 by setting the first switch circuit 141 and the second switch circuit 142 between the rectifier bridge 11 and the inverter circuit 12. The control module controls the input voltage of the motor 16 by timely opening and closing the first switch circuit 141 and the second switch circuit 142. This design is compatible with both AC220V and AC380V input voltages, ensuring that the motor 16 of the same voltage level can operate stably, reducing the R&D cost of the entire servo system and improving user convenience.

[0067] According to some embodiments of the present application, the regulating circuit 10 also includes a first driving circuit 17 and a second driving circuit 18. The first driving circuit 17 is respectively connected to the control module 15 and the first switching circuit 141, and is used to control the first switching circuit 141 to be turned on or off; the second driving circuit 18 is respectively connected to the control module 15 and the second switching circuit 142, and is used to control the second switching circuit 142 to be turned on or off.

[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 to be turned on or off 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 to be turned on or off through the second drive circuit 18.

[0070] The control module 15 of this embodiment can accurately control the first switch circuit 141 and the second switch circuit 142 through the first drive circuit 17 and the second drive circuit 18, 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, the control module 15 is used to obtain the first voltage U1 and the second voltage U2 when the regulating circuit 10 is powered on, identify the parameters of the motor 16, and obtain the third voltage U3 based on the parameters of the motor 16. The control module 15 is used to control the first switch circuit 141 to be disconnected through the first drive circuit 17 when the third voltage U3 is less than the second voltage U2, and control the second switch circuit 142 to be turned on through the second drive circuit 18.

[0072] Specifically, when the regulating circuit 10 is powered on, the control module 15 samples the first voltage U1 and the second voltage U2, identifies the parameters of the motor 16, and obtains the third voltage U3 based on the parameters of the motor 16. 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 bus voltage is greater than the reference voltage, the control module 15 controls the first switch circuit 141 to be disconnected through the first drive circuit 17, and controls the second switch circuit 142 to be turned on through the second drive circuit 18. At this time, the second voltage U2 in the regulating circuit 10 gradually decreases, the inverter circuit 12 is powered by the bus capacitor 13 or the inductor L, and the inverter circuit 12 then powers the motor 16, thereby driving the motor 16. Further, when the third voltage U3 is greater than or equal to the second voltage U2, the control module 15 controls the second switch circuit 142 to be disconnected through the second drive circuit 18.

[0073] In this embodiment, when the third voltage U3 is less than the second voltage U2, the on and off of the first switch circuit 141 and the second switch circuit 142 are controlled by comparing the result, thereby controlling the power supply of the inverter circuit 12. The input voltage of the inverter circuit 12 can be effectively controlled within the required range, preventing the inverter circuit 12 and the motor 16 from being damaged by excessive voltage.

[0074] According to some embodiments of the present application, the control module 15 is used to obtain the first voltage U1 and the second voltage U2 when the regulating circuit 10 is powered on, identify the parameters of the motor 16, and obtain the third voltage U3 based on the parameters of the motor 16. The control module 15 is used to control the first switch circuit 141 to be turned on and then turned off at a preset switching frequency through the first drive circuit 17 when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1.

[0075] The control module 15 is used to control the second switch circuit 142 to be turned off through the second drive circuit 18 when the first switch circuit 141 is turned on; the control module 15 is used to control the second switch circuit 142 to be turned on through the second drive circuit 18 when the first switch circuit 141 is turned off.

[0076] The switching 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 switching frequency determines the number of times the first switch circuit 141 is turned on and off per unit time, that is, the rate of the switching action.

[0077] When the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is less than the first voltage U1, that is, the bus voltage is less than the reference voltage and the input voltage is greater than the reference voltage, the control module 15 controls the first switch circuit 141 to be turned on first and then turned off at a preset switching frequency through the first drive circuit 17; at the same time, the control module 15 controls the second switch circuit 142 to be turned on or off according to the on state of the first switch circuit 141. At this time, the regulating circuit 10 works in a step-down state, and its circuit model is a step-down circuit.

[0078] Optionally, when the first switch circuit 141 is turned on and the second switch circuit 142 is turned off, the input voltage in the regulation circuit 10 powers the inductor L, the bus capacitor 13 and the inverter circuit 12, that is, the first voltage U1 powers the inverter circuit 12; when the first switch circuit 141 is turned off and the second switch circuit 142 is turned on, the inductor L in the regulation circuit 10 powers the bus capacitor 13 and the inverter circuit 12.

[0079] Specifically, when the regulating circuit 10 is powered on, the control module 15 samples the first voltage U1 and the second voltage U2, identifies the parameters of the motor 16, and obtains the third voltage U3 based on the parameters of the motor 16. The control module 15 first compares the third voltage U3 and the second voltage U2, and then compares the third voltage U3 and 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 turned on first and then turned off at a preset switching frequency through the first drive circuit 17; when the first switch circuit 141 is turned on, the control module 15 controls the second switch circuit 142 to be turned off through the second drive circuit 18; when the first switch circuit 141 is turned off, the control module 15 controls the second switch circuit 142 to be turned on through the second drive circuit 18. Further, when the third voltage U3 is greater than or equal to the second voltage U2, the control module 15 controls the second switch circuit 142 to be turned off through the second drive circuit 18.

[0080] 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 first switch circuit 141 and the second switch circuit 142 are controlled to be turned on and off by comparing the result, thereby controlling the power supply of the inverter circuit 12. The input voltage of the inverter circuit 12 can be effectively controlled within the required range to prevent the inverter circuit 12 and the motor 16 from being damaged by excessive voltage.

[0081] According to some embodiments of the present application, the control module 15 is used to obtain the first voltage U1 and the second voltage U2 when the regulating circuit 10 is powered on, identify the parameters of the motor 16, and obtain the third voltage U3 based on the parameters of the motor 16. The control module 15 is used to control the first switch circuit 141 to be turned on through the first drive circuit 17, and control the second switch circuit 142 to be turned off through the second drive circuit 18 when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is greater than or equal to the first voltage U1.

[0082] When the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than or equal to the first voltage U1, that is, the bus voltage is less than the reference voltage and the input voltage is less than the reference voltage, the control module 15 controls the first switch circuit 141 to be turned on through the first drive circuit 17, and controls the second switch circuit 142 to be turned off through the second drive circuit 18. At this time, the input voltage and the bus capacitor 13 in the regulation circuit 10 supply power to the inverter circuit 12, that is, the first voltage U1 and the bus capacitor 13 supply power to the inverter circuit 12. Further, when the third voltage U3 is less than the second voltage U2, the control module 15 controls the first switch circuit 141 to be turned off through the first drive circuit 17.

[0083] Specifically, when the regulating circuit 10 is powered on, the control module 15 samples the first voltage U1 and the second voltage U2, identifies the parameters of the motor 16, and obtains the third voltage U3 based on the parameters of the motor 16. 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 or equal to the first voltage U1, the control module 15 controls the first switch circuit 141 to be turned on through the first drive circuit 17, and controls the second switch circuit 142 to be turned off through the second drive circuit 18.

[0084] In this embodiment, when the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than or equal to the first voltage U1, the first switch circuit 141 and the second switch circuit 142 are controlled to be turned on and off by comparing the result, thereby controlling the power supply of the inverter circuit 12, and the input voltage of the inverter circuit 12 can be effectively controlled within the required range, preventing the inverter circuit 12 and the motor 16 from not working properly when the voltage is too low.

[0085] According to some embodiments of the present application, the first switching circuit 141 includes a first switch S1 and a second diode D2, the first end of the first switch S1 is connected to the first output end 111 of the rectifier bridge 11, the second end of the first switch S1 is connected to one end of the inductor L, the positive electrode of the second diode D2 is connected between the second output end 112 of the rectifier bridge 11 and the negative electrode of the bus capacitor 13, and the negative electrode of the second diode D2 is connected between the second end of the first switch S1 and the inductor L.

[0086] Optionally, the first switch S1 serves as the first end of the first switch circuit 141, connected between the first output end 111 of the rectifier bridge 11 and the inductor L, and the positive electrode of the second diode D2 serves as the second end of the first switch circuit 141, connected between the second output end 112 of the rectifier bridge 11 and the negative electrode of the bus capacitor 13.

[0087] According to some embodiments of the present application, the second switching circuit 142 includes a second switch S2, a third diode D3 and a resistor R, the first end of the second switch S2 is connected between the second input terminal 122 of the inverter circuit 12 and the negative electrode of the bus capacitor 13, the second end of the second switch S2 is connected to the positive electrode of the third diode D3, the negative electrode of the third diode D3 is connected between the first input terminal 121 of the inverter circuit 12 and the positive electrode of the bus capacitor 13, 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 second switch S2.

[0088] Optionally, the cathode of the third diode D3 serves as the first end of the second switching circuit 142, connected between the first input terminal 121 of the inverter circuit 12 and the positive electrode of the bus capacitor 13, and the first end of the second switch S2 serves as the second end of the second switching circuit 142, connected between the second input terminal 122 of the inverter circuit 12 and the negative electrode of the bus capacitor 13.

[0089] In some embodiments, see Figure 2 As shown, when the third voltage U3 is less than the second voltage U2, in the regulation circuit 10, during the period t0 to t1, the control module 15 controls the first switch S1 of the first switch circuit 141 to be disconnected through the first drive circuit 17, and the second drive circuit 18 controls the second switch S2 of the second switch circuit 142 to be turned on.

[0090] 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 control module 15 controls the second switch S2 of the second switch circuit 142 to be disconnected through the second drive circuit 18.

[0091] In some embodiments, see Figure 2 As 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 regulating circuit 10 is in the stage t1-t3. The control module 15 controls the first switch S1 of the first switch circuit 141 to be turned on first and then turned off at a preset switching frequency through the first drive circuit 17; and when the first switch S1 is turned on, the control module 15 also controls the second switch S2 of the second switch circuit 142 to be turned off through the second drive circuit 18; when the first switch S1 is turned off, the control module 15 also controls the second switch S2 of the second switch circuit 142 to be turned on through the second drive circuit 18.

[0092] Optionally, the on and off of the second switch S2 is related to the third voltage U3 and the second voltage U2. When the third voltage U3 is less than the second voltage U2, the second switch S2 is on, otherwise it is off. In this embodiment, the on and off of the second switch S2 is related to the on state of the first switch S1. Figure 2 As shown, during the stage t1 to t2, the third voltage U3 is greater than the second voltage U2, the first switch S1 is turned on, and the second switch S2 is turned off; during the stage t2 to t3, the third voltage U3 is less than the second voltage U2, the first switch S1 is turned off, and the second switch S2 is turned on.

[0093] Optionally, the stage t1 to t3 is a switching cycle of the first switch S1, that is, the difference between t3 and t1 is a cycle time of the switching frequency. The stage t1 to t3 is further divided into two stages, namely the stage t1 to t2 and the stage t2 to t3; the first switch S1 is turned on in the stage t1 to t2, and the first switch S1 is turned off in the stage t2 to t3.

[0094] During the stage t1 to t3, the 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 first switch S1, where the on-duty cycle of the first switch S1 is represented by d, that is, U3 = U1 × d. It can be deduced that d = U3 / U1, and the value of d is determined by the first voltage U1 and the third voltage U3.

[0095] Since the difference between t3 and t1 is one cycle of the first frequency, d=(t2-t1) / (t3-t1), that is, the on-duty cycle of the first switch S1 is equal to the difference between t2 and t1 divided by the difference between t3 and t1, and the switching 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.

[0096] Specifically, when the first switch S1 is turned on and the second switch S2 is turned off, 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.

[0097] When the first switch S1 is turned off and the second switch S2 is turned on, 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. Further, when the third voltage U3 is greater than the second voltage U2, the control module 15 controls the second switch S2 of the second switch circuit 142 to be turned off through the second drive circuit 18.

[0098] In some embodiments, when the third voltage U3 is greater than the second voltage U2, and the third voltage U3 is greater than or equal to the first voltage U1, in the regulation circuit 10, in the stage t3-t4, the control module 15 controls the first switch S1 of the first switch circuit 141 to turn on through the first drive circuit 17, and controls the second switch S2 of the second switch circuit 142 to turn off through the second drive circuit 18.

[0099] At this time, 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 turned off, and the first voltage U1 and the bus capacitor 13 supply power to the inverter circuit 12. Further, when the third voltage U3 is less than the second voltage U2, the control module 15 controls the first switch S1 of the first switch circuit 141 to be turned off through the first drive circuit 17.

[0100] By controlling the conduction state of the first switch S1 and the second switch S2, this embodiment can make the regulating circuit 10 step down the voltage when the input voltage is too high, so that the same servo driver can be compatible with two voltage levels of AC220V and AC380V, and then drive the servo motor of the same level. For example, when the input voltage is AC380V, the input voltage of the motor 16 is controlled by the regulating circuit 10, and the AC220V motor 16 can be driven; thereby reducing the R&D cost of the entire servo system and improving the user's convenience.

[0101] Optionally, when the servo drive is operating normally, the bus capacitor 13 is continuously charged and discharged, generating a certain voltage ripple; when the load of the motor 16 increases, the voltage ripple of the bus will also increase, which not only reduces the service life of the bus capacitor 13 and the power device, but may also cause the servo drive to false alarm or even damage the power device.

[0102] In this embodiment, the input voltage of the motor 16 can be effectively controlled by controlling the first switch S1 and the second switch S2 through the control module 15. When the input voltage fluctuates greatly, it will not affect the normal use of the servo drive, and the output is more stable. The control module 15 also improves the bus voltage sampling accuracy, increases the reliability of the servo drive, and extends the service life of the bus capacitor 13 and the power device.

[0103] According to some embodiments of the present application, 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; 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.

[0104] By connecting the first end of the first switch S1, the second end of the first switch S1 and the first end 151 of the control module 15 respectively through the first drive circuit 17, the control module 15 can control the first end and the second end of the first switch S1 to be connected or disconnected through the first drive circuit 17, thereby controlling the first switch S1 to be turned on or off.

[0105] By connecting the second drive circuit 18 to the first end of the second switch S2, the second end of the second switch S2 and the second end 152 of the control module 15, the control module 15 can control the first end and the second end of the second switch S2 to be connected or disconnected through the second drive circuit 18, thereby controlling the second switch S2 to be turned on or off.

[0106] Another embodiment of the present application further provides a servo drive device, comprising the regulating circuit 10 of the above embodiment.

[0107] To summarize, the present application sets a switch regulation circuit 14 between the rectifier bridge 11 and the inverter circuit 12. The control module 15 controls the voltage input from the rectifier bridge 11 to the inverter circuit 12 through the switch regulation circuit 14, thereby controlling the input voltage of the motor 16. At this time, the servo driver is compatible with both AC220V and AC380V input voltages, thereby driving servo motors of the same voltage level, thereby reducing the R&D cost of the entire servo system and improving user convenience.

[0108] 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 power supply voltage regulating circuit, characterized in that: include: A rectifier bridge, wherein an input end of the rectifier bridge receives mains power and outputs a first voltage based on rectification of the mains power; 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 the bus capacitor is used to filter and output a second voltage; an inductor and a first diode, one end of the inductor is connected to the first output end of the rectifier bridge, the other end of the inductor is connected to the anode of the first diode, and the cathode of the first diode is connected to the anode 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, connected to the motor and the switch regulating circuit respectively, the control module being used to obtain the first voltage and the second voltage, identify parameters of the motor, and determine a third voltage based on the parameters of the motor; The control module controls an input voltage to the motor based on the third voltage, the first voltage, and the second voltage.

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

3. The regulating circuit according to claim 2, characterized in that: The regulating circuit also includes a first driving circuit and a second driving circuit. The first driving circuit is respectively connected to the control module and the first switching circuit to control the first switching circuit to be turned on or off; the second driving circuit is respectively connected to the control module and the second switching circuit to control the second switching circuit to be turned on or off.

4. The regulating circuit according to claim 3, characterized in that: The control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor; The control module is used for controlling the first switch circuit to be disconnected through the first drive circuit when the third voltage is lower than the second voltage, and controlling the second switch circuit to be connected through the second drive circuit.

5. The regulating circuit according to claim 3, characterized in that: The control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor; The control module is used for controlling the first switch circuit to be turned on first and then turned off at a preset switching frequency through the first drive circuit when the third voltage is greater than the second voltage and the third voltage is less than the first voltage; The control module is used for controlling the second switch circuit to be disconnected through the second drive circuit when the first switch circuit is turned on; The control module is used for controlling the second switch circuit to be turned on through the second drive circuit when the first switch circuit is turned off.

6. The regulating circuit according to claim 3, characterized in that: The control module is used to obtain the first voltage and the second voltage when the regulating circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor; The control module is used to control the first switch circuit to be turned on through the first drive circuit, and to control the second switch circuit to be turned off through the second drive circuit when the third voltage is greater than the second voltage and the third voltage is greater than or equal to the first voltage.

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

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

9. The regulating circuit according to claim 8, characterized in that: 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.

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

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