Electric sucker controller

Abstract

The invention relates to the technical field of sucker control, in particular to an electric sucker controller. Comprising an input part connected with three-phase alternating current; the rectifying and filtering part is connected with the input part and is used for converting the three-phase alternating current into pulsating direct current; the inversion part is connected with the rectification filtering part and comprises a plurality of controllable IGBT modules, and the inversion part outputs constant direct current based on the received driving signal; the control part is connected with the inversion part, and performs closed-loop control based on the periodic sampling signal to output a control signal; and the output part is connected with the inversion part and controllably outputs forward or reverse direct current to the electromagnetic chuck. According to the invention, the control signal is output based on the sampling signal to drive the IGBT module of the inversion part, so that the accurate control of the output current is realized, and the control precision and the self-protection capability of the electric suction cup controller are remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of suction cup control, and in particular to an electric suction cup controller. Background Art

[0002] In industrial production and related fields, the application of electric suction cups is becoming more and more widespread, and the performance and function of electric suction cup controllers are crucial to the effective operation of electric suction cups. Existing electric suction cup controllers usually generate corresponding drive signals based on various output parameters to directly drive the electric suction cup to work, but due to the influence of the current input and output characteristics of the controller, the control accuracy and protection function of the existing technology have certain limitations, and the control accuracy and self-protection ability are weak, which cannot meet the increasingly complex and diversified use needs and need to be further improved. Summary of the invention

[0003] The purpose of the present invention is to provide an electric suction cup controller to solve the above technical problems;

[0004] The technical problem solved by the present invention can be achieved by adopting the following technical solutions:

[0005] An electric suction cup controller, comprising:

[0006] An input part, connected to a three-phase alternating current generated by a generator;

[0007] A rectifier and filter unit connected to the input unit and used to convert three-phase alternating current into pulsating direct current;

[0008] An inverter unit connected to the rectifying and filtering unit, the inverter unit comprising a plurality of controllable IGBT modules, and the inverter unit outputs a constant direct current based on a received driving signal;

[0009] A control unit, including a digital signal processor disposed on a circuit board, connected to the inverter unit, and further connected to a sampling unit including a plurality of sensors, wherein the control unit performs closed-loop control based on periodic sampling signals to output the control signal, wherein the sampling signals at least include an input side current sampling signal, a bus voltage sampling signal, a temperature sampling signal, and an output side current sampling signal;

[0010] The output part is connected to the inverter part, and the output part can controllably output forward or reverse direct current to the electromagnetic chuck.

[0011] Preferably, the input unit includes a starting unit and a pre-charging unit, the starting unit includes a main contactor arranged between the three-phase alternating current and the rectifying and filtering unit, the pre-charging unit includes a pre-charging contactor connected in parallel with the main contactor, based on a power-on signal, the pre-charging contactor is closed before the main contactor, and the switch states of the pre-charging contactor and the main contactor are switched after pre-charging is completed;

[0012] The U-phase switch of the pre-charging contactor is connected to a first pre-charging resistor, the W-phase switch of the pre-charging contactor is connected to a second pre-charging resistor, the first end of the coil of the pre-charging contactor is connected to the first pin of the first connector on the circuit board, and the second end of the coil of the pre-charging contactor is connected to the negative electrode of a DC power supply voltage;

[0013] A first end of the coil of the main contactor is connected to the third pin of the first connector, and a second end of the coil of the main contactor is connected to the negative electrode of the DC power supply voltage;

[0014] The first connector is also connected to a positive electrode of a DC power supply voltage.

[0015] Preferably, the rectification and filtering unit comprises:

[0016] a first power diode, wherein an anode of the first power diode is connected to a W-phase output terminal of the input unit, and an anode of the first power diode is connected to a positive electrode of a bus voltage;

[0017] a second power diode, wherein a cathode of the second power diode is connected to an anode of the first power diode, and an anode of the second power diode is connected to a negative electrode of a bus voltage;

[0018] a third power diode, wherein an anode of the third power diode is connected to the V-phase output terminal of the input unit, and an anode of the third power diode is connected to the positive electrode of the bus voltage;

[0019] a fourth power diode, wherein a cathode of the fourth power diode is connected to an anode of the third power diode, and an anode of the fourth power diode is connected to a negative electrode of a bus voltage;

[0020] a fifth power diode, wherein an anode of the fifth power diode is connected to the U-phase output terminal of the input part, and an anode of the fifth power diode is connected to the positive electrode of the bus voltage;

[0021] A sixth power diode, wherein a cathode of the sixth power diode is connected to an anode of the fifth power diode, and an anode of the sixth power diode is connected to a negative electrode of a bus voltage.

[0022] Preferably, the rectification and filtering unit further includes:

[0023] An energy storage capacitor, wherein the positive electrode of the energy storage capacitor is connected to the positive electrode of the bus voltage, and the negative electrode of the energy storage capacitor is connected to the negative electrode of the bus voltage;

[0024] A low-frequency energy storage filter capacitor, wherein a first end of the low-frequency energy storage filter capacitor is connected to the positive electrode of the bus voltage, and a second end of the low-frequency energy storage filter capacitor is connected to the negative electrode of the bus voltage;

[0025] A filter resistor, wherein a first end of the filter resistor is connected to the positive electrode of the bus voltage, and a second end of the filter resistor is connected to the negative electrode of the bus voltage;

[0026] An absorption capacitor is provided on a corresponding IGBT module, a first end of the absorption capacitor is connected to the positive pole of the bus voltage, and a second end of the absorption capacitor is connected to the negative pole of the bus voltage.

[0027] Preferably, the inverter unit includes:

[0028] A first IGBT module, the first IGBT module includes a first IGBT tube and a second IGBT tube, the collector of the first IGBT tube is connected to the first end of the rectifying and filtering part, the collector of the second IGBT tube is connected to the emitter of the first IGBT tube and serves as the first output end of the inverter part, the emitter of the second IGBT tube is connected to the second end of the rectifying and filtering part, and the first IGBT module is connected to the first driving board on the circuit board through a first driving cable to transmit the driving signal;

[0029] A second IGBT module, wherein the second IGBT module comprises a third IGBT tube and a fourth IGBT tube, wherein the collector of the third IGBT tube is connected to the first end of the rectifying and filtering unit, the collector of the fourth IGBT tube is connected to the emitter of the third IGBT tube and serves as the second output end of the inverter unit, the emitter of the fourth IGBT tube is connected to the second end of the rectifying and filtering unit, and the second IGBT module is connected to the second driving board on the circuit board through a second driving cable to transmit the driving signal;

[0030] The third IGBT module includes a fifth IGBT tube and a sixth IGBT tube, the collector of the fifth IGBT tube is connected to the first end of the rectification and filtering part, the collector of the sixth IGBT tube is connected to the emitter of the fifth IGBT tube, the emitter of the sixth IGBT tube is connected to the second end of the rectification and filtering part, the emitter of the sixth IGBT tube is also connected to a first resistor and then connected to the collector of the sixth IGBT tube, the third IGBT module is connected to the third drive board on the circuit board through a third drive cable to transmit the drive signal.

[0031] Preferably, the output unit comprises:

[0032] An output inductor, a first end of which is connected to a first output end of the rectifying and filtering unit;

[0033] An output capacitor, wherein a first end of the output capacitor is connected to a second end of the output inductor, and a second end of the output capacitor is connected to a second output end of the rectifying and filtering unit;

[0034] An output DC relay, wherein the first end of the output DC relay is connected to the first end of the output capacitor, the second end of the output DC relay serves as the first DC output end of the output unit, and the first end of the output capacitor serves as the second DC output end of the output unit.

[0035] Preferably, the sensor comprises:

[0036] A first current sensor is connected to the second connector on the circuit board, and a wire connected to the U-phase output end of the input unit and the rectifying and filtering unit passes through the first current sensor;

[0037] A second current sensor is connected to the third connector on the circuit board, and a wire connected to the W-phase output end of the input unit and the rectifying and filtering unit passes through the second current sensor;

[0038] The third current sensor is connected to the fourth connector on the circuit board, and the conductor of the output unit outputting direct current passes through the third current sensor.

[0039] Preferably, it also includes,

[0040] A switching power supply, wherein the input end of the switching power supply is connected to the U phase and the W phase of the three-phase alternating current, and the switching power supply outputs a DC supply voltage;

[0041] A plurality of heat sinks connected in parallel with each other, wherein one of the heat sinks is correspondingly arranged on one side of the IGBT module, and is used to cool the IGBT module;

[0042] The screen is connected to the screen interface on the circuit board and receives external control instructions through the screen.

[0043] Preferably, it also includes,

[0044] an AC input connector, through which the input unit is connected to three-phase AC power;

[0045] A DC output connector, to which the output end of the output unit is connected;

[0046] A power board is connected to the power interface on the circuit board, and the power board is connected to the switching power supply and is used to perform voltage conversion on the DC supply voltage.

[0047] Preferably, the circuit board is further provided with:

[0048] An output current detection interface, connected to the output unit, and used to collect the output current of the output unit;

[0049] Bus detection interface, connected to the bus voltage detection terminal, used to collect bus voltage;

[0050] A first three-phase current detection interface is connected to the three-phase alternating current and is used to collect the U-phase current and the V-phase current of the three-phase alternating current;

[0051] The second three-phase current detection interface is connected to the three-phase alternating current and is used to collect the V-phase current and the W-phase current of the three-phase alternating current;

[0052] The temperature detection interface is connected to the driving unit and is used to collect the base plate temperature of the IGBT module.

[0053] Beneficial effects of the present invention: Due to the adoption of the above technical scheme, the present invention drives the IGBT module of the inverter part based on the sampling signal output control signal, realizes precise control of the output current, and significantly improves the control accuracy and self-protection capability of the electric suction cup controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 is a circuit diagram of an electric suction cup controller in an embodiment of the present invention;

[0055] Figure 2 This is a schematic diagram of a circuit board interface in an embodiment of the present invention;

[0056] Figure 3 This is a schematic diagram of the connection of the first driving board in an embodiment of the present invention;

[0057] Figure 4 This is a schematic diagram of the connection of the second driving board in an embodiment of the present invention;

[0058] Figure 5 This is a schematic diagram of the connection of the third driving board in an embodiment of the present invention;

[0059] Figure 6 This is a schematic diagram of the connection of a power board in an embodiment of the present invention;

[0060] Figure 7 This is a schematic diagram of screen connection in an embodiment of the present invention;

[0061] Figure 8 This is a schematic diagram of the connection of a switch power supply in an embodiment of the present invention;

[0062] Fig. 9 This is a schematic diagram of the connection of a radiator in an embodiment of the present invention;

[0063] Fig.10 This is a schematic diagram of the connection of the AC input connector in an embodiment of the present invention;

[0064] Fig.11 This is a schematic diagram of the connection of a DC output connector in an embodiment of the present invention;

[0065] Fig.12 This is a schematic diagram of the initialization process in an embodiment of the present invention;

[0066] Fig.13 This is a schematic diagram of the main cycle flow in an embodiment of the present invention;

[0067] Fig.14 Schematic diagram of a switch logic state machine in an embodiment of the present invention;

[0068] Fig.15 Schematic diagram of the control cycle interruption process in an embodiment of the present invention. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0070] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0071] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0072] An electric suction cup controller, such as Figures 1 to 11 As shown, including,

[0073] The input part F1 is connected to the three-phase AC power generated by a generator;

[0074] The rectifier and filter unit F2 is connected to the input unit F1 and is used to convert the three-phase AC power into pulsating DC power;

[0075] The inverter part F3 is connected to the rectifying and filtering part F2, and the inverter part F3 includes a plurality of controllable IGBT modules. The inverter part F3 outputs a constant direct current based on the received driving signal;

[0076] A control unit, including a digital signal processor disposed on a circuit board, connected to the inverter unit F3, and further connected to a sampling unit including a plurality of sensors, the control unit performs closed-loop control and outputs a control signal based on a periodic sampling signal, and the sampling signal at least includes an input side current sampling signal, a bus voltage sampling signal, a temperature sampling signal, and an output side current sampling signal;

[0077] The output part F4 is connected to the inverter part F3, and the output part F4 can controllably output forward or reverse direct current to the electromagnetic chuck.

[0078] Specifically, the present invention as a whole includes a screen TK, a main contactor S1, a pre-charging contactor S2, a rectifier bridge, a DC support capacitor, a current sensor, an IGBT module and a drive circuit, an output DC relay S3, and a control circuit board. The control circuit board is composed of a digital signal processor (DSP) as a core controller, as well as sampling circuits for input voltage, input current, DC voltage, output voltage, output current, and temperature.

[0079] The generator outputs three-phase AC power, which is connected to the electromagnetic chuck controller and enters the power diode through the main contactor S1 or the pre-charge contactor S2. The power diode rectifies the three-phase AC power into pulsating DC power and outputs it to the DC support capacitor. The DC support capacitor forms a DC bus, which filters the pulsating DC power into a straight DC power and outputs it to the IGBT module.

[0080] The control circuit board controls the output PWM signal, which is controlled by the drive circuit of the IGBT module to control the drive unit, converting the DC current into a constant current DC, which is output to the electromagnetic suction cup through the output DC relay S3 to realize the function of the electromagnetic suction cup.

[0081] Specifically, the output performance parameter requirements of the system of the present invention are:

[0082] Input voltage: 230±45VAC;

[0083] Rated power: 12kW (24h);

[0084] Rated output: DC220±1.5%;

[0085] Output current: adjustable.

[0086] The controller function parameter requirements are:

[0087] Output voltage: DC220±1.5%, voltage has ±10% setting range;

[0088] Power: 12kW;

[0089] Working hours: continuous working system;

[0090] Voltage control: ± voltage output can be achieved;

[0091] Current control: allows setting the output current range from 0 to rated current;

[0092] Power-on time: ± voltage output allows setting output time;

[0093] Output control: The entire controller is output switch control.

[0094] In a preferred embodiment, the input part F1 includes a starting part and a pre-charging part, the starting part includes a main contactor S1 arranged between the three-phase alternating current and the rectifying and filtering part F2, the pre-charging part includes a pre-charging contactor S2 connected in parallel with the main contactor S1, based on a power-on signal, the pre-charging contactor S2 is closed before the main contactor S1, and the switch states of the pre-charging contactor S2 and the main contactor S1 are switched after the pre-charging is completed;

[0095] The U-phase switch of the pre-charging contactor S2 is connected to a first pre-charging resistor R1, the W-phase switch of the pre-charging contactor S2 is connected to a second pre-charging resistor R2, the first end of the coil of the pre-charging contactor S2 is connected to the first pin of the first connector J1 on the circuit board, and the second end of the coil of the pre-charging contactor S2 is connected to the negative electrode of the DC power supply voltage DCPW_24V-;

[0096] A first end of the coil of the main contactor S1 is connected to the third pin of the first connector J1, and a second end of the coil of the main contactor S1 is connected to the negative electrode of the DC power supply voltage DCPW_24V-;

[0097] The first connector J1 is also connected to a positive DC power supply voltage DCPW_24V+.

[0098] Specifically, the switching logic of the present invention is to control the power on and off through a micro switch or screen TK. After starting up, the pre-charging contactor S2 is closed, and the three-phase AC power of the generator charges the DC bus through the pre-charging part. After full charging, the main contactor S1 is closed, the pre-charging contactor S2 is disconnected, and the output DC relay S3 is closed to enter the power-on state. After starting up, the current loop control algorithm is run.

[0099] The present invention uses a sampling circuit of a control circuit board to instantaneously sample input voltage, input current, DC voltage, output voltage and output current, and the sampling period is 100us, which is consistent with the control period.

[0100] The current loop control algorithm uses the screen TK to set the current as the given value, samples the current as feedback, and then forms a current loop closed-loop control through the PID link, outputs the appropriate control quantity, and then converts it into a PWM signal, outputs it to the drive circuit of the IGBT module, controls the IGBT module, and converts the DC power of the DC bus into an output constant current to the electromagnetic suction cup.

[0101] The control cycle is 100us, i.e. 10KHZ switching frequency; the control algorithm is sampling PID control, the PID parameters are set by engineering, and can be fine-tuned and set by the screen TK. The control algorithm is added with disturbance observer and feedforward, and the control quantity is calculated through load observation and added to the control output to achieve a fast response effect.

[0102] In a preferred embodiment, the rectifying and filtering unit F2 includes:

[0103] A first power diode D1, wherein an anode of the first power diode D1 is connected to the W-phase output terminal of the input part F1, and an anode of the first power diode D1 is connected to the positive electrode of the bus voltage;

[0104] A second power diode D2, wherein the cathode of the second power diode D2 is connected to the anode of the first power diode D1, and the anode of the second power diode D2 is connected to the negative electrode of the bus voltage;

[0105] A third power diode D3, wherein an anode of the third power diode D3 is connected to the V-phase output terminal of the input part F1, and an anode of the third power diode D3 is connected to the positive electrode of the bus voltage;

[0106] a fourth power diode D4, wherein a cathode of the fourth power diode D4 is connected to an anode of the third power diode D3, and an anode of the fourth power diode D4 is connected to a negative electrode of the bus voltage;

[0107] a fifth power diode D5, wherein an anode of the fifth power diode D5 is connected to the U-phase output terminal of the input part F1, and an anode of the fifth power diode D5 is connected to the positive electrode of the bus voltage;

[0108] The sixth power diode D6 has a cathode connected to the anode of the fifth power diode D5 , and an anode connected to the negative electrode of the bus voltage.

[0109] Specifically, the bus voltage is DC300V.

[0110] In a preferred embodiment, the rectifying and filtering unit F2 further includes:

[0111] Energy storage capacitor C1, the positive electrode of the energy storage capacitor C1 is connected to the positive electrode of the bus voltage, and the negative electrode of the energy storage capacitor C1 is connected to the negative electrode of the bus voltage;

[0112] A low-frequency energy storage filter capacitor C2, wherein a first end of the low-frequency energy storage filter capacitor C2 is connected to the positive electrode of the bus voltage, and a second end of the low-frequency energy storage filter capacitor C2 is connected to the negative electrode of the bus voltage;

[0113] A filter resistor R3, wherein a first end of the filter resistor R3 is connected to the positive electrode of the bus voltage, and a second end of the filter resistor R3 is connected to the negative electrode of the bus voltage;

[0114] Absorption capacitor C3: an absorption capacitor C3 is arranged on a corresponding IGBT module, a first end of the absorption capacitor C3 is connected to the positive electrode of the bus voltage, and a second end of the absorption capacitor C3 is connected to the negative electrode of the bus voltage.

[0115] Specifically, the present invention uses a rectifier bridge, model MDS200-16, to convert AC input into DC. The rectifier bridge is connected to the AC input and outputs a DC voltage after rectification. The energy storage filter capacitor is used to filter the rectified DC voltage to reduce voltage pulsation.

[0116] Specifically, the present invention provides three absorption capacitors C3 according to the number of IGBT modules, and the absorption capacitors C3 are respectively installed on the corresponding IGBT modules.

[0117] In a preferred embodiment, the inverter F3 includes:

[0118] The first IGBT module B1 includes a first IGBT tube Q1 and a second IGBT tube Q2. The collector of the first IGBT tube Q1 is connected to the first end of the rectifier and filter unit F2. The collector of the second IGBT tube Q2 is connected to the emitter of the first IGBT tube Q1 and serves as the first output end of the inverter unit F3. The emitter of the second IGBT tube Q2 is connected to the second end of the rectifier and filter unit F2. The first IGBT module B1 is connected to the first drive board DB1 on the circuit board through the first drive cable BA to transmit the drive signal.

[0119] The second IGBT module B2 includes a third IGBT tube Q3 and a fourth IGBT tube Q4. The collector of the third IGBT tube Q3 is connected to the first end of the rectifier and filter unit F2. The collector of the fourth IGBT tube Q4 is connected to the emitter of the third IGBT tube Q3 and serves as the second output end of the inverter unit F3. The emitter of the fourth IGBT tube Q4 is connected to the second end of the rectifier and filter unit F2. The second IGBT module B2 is connected to the second drive board DB2 on the circuit board through the second drive cable BB to transmit the drive signal.

[0120] The third IGBT module B3 includes a fifth IGBT tube Q5 and a sixth IGBT tube Q6. The collector of the fifth IGBT tube Q5 is connected to the first end of the rectification and filtering part F2, the collector of the sixth IGBT tube Q6 is connected to the emitter of the fifth IGBT tube Q5, the emitter of the sixth IGBT tube Q6 is connected to the second end of the rectification and filtering part F2, the emitter of the sixth IGBT tube Q6 is also connected to a first resistor R4 and then connected to the collector of the sixth IGBT tube Q6. The third IGBT module B3 is connected to the third driving board DB3 on the circuit board through the third driving cable BC to transmit the driving signal.

[0121] Specifically, the first drive cable BA is connected to the first drive board DB1 through the first cable interface JD1 connected to the circuit board; the second drive cable BB is connected to the second drive board DB2 through the second cable interface JD2 connected to the circuit board; the third drive cable BC is connected to the third drive board DB3 through the third cable interface JD3 connected to the circuit board.

[0122] In a preferred embodiment, the output part F4 includes,

[0123] An output inductor L1, a first end of the output inductor L1 is connected to a first output end of the rectifying and filtering part F2;

[0124] An output capacitor C4, wherein a first end of the output capacitor C4 is connected to a second end of the output inductor L1, and a second end of the output capacitor C4 is connected to a second output end of the rectifying and filtering unit F2;

[0125] The output DC relay S3 has a first end connected to a first end of the output capacitor C4, a second end of the output DC relay S3 serves as a first DC output end of the output part F4, and a first end of the output capacitor C4 serves as a second DC output end of the output part F4.

[0126] Specifically, a first end of the coil of the output DC relay S3 is connected to the seventh pin of the first connector J1, and a second end of the coil of the output DC relay S3 is connected to the negative electrode of the DC power supply voltage DCPW_24V-.

[0127] In a preferred embodiment, the sensor includes:

[0128] The first current sensor T1 is connected to the second connector J2 on the circuit board, and the U-phase output end of the input part F1 is connected to the wire of the rectifier and filter part F2 passing through the first current sensor T1;

[0129] The second current sensor T2 is connected to the third connector J3 on the circuit board, and the wire connecting the W-phase output end of the input part F1 to the rectifying and filtering part F2 passes through the second current sensor T2;

[0130] The third current sensor T3 is connected to the fourth connector J4 on the circuit board, and the conductor of the output part F4 outputting direct current passes through the third current sensor T3.

[0131] In a preferred embodiment, it also includes:

[0132] A switching power supply RSD, wherein an input end of the switching power supply RSD is connected to a U phase and a W phase of a three-phase alternating current, and the switching power supply RSD outputs a DC supply voltage;

[0133] A plurality of heat sinks FAN connected in parallel with each other, one heat sink FAN being correspondingly arranged on one side of an IGBT module, for cooling the IGBT module;

[0134] The screen TK is connected to the screen interface J5 on the circuit board and receives external control instructions through the screen TK.

[0135] Specifically, the present invention is provided with three heat sinks FAN corresponding to the number of IGBT modules, including a first heat sink FAN1, a second heat sink FAN2 and a third heat sink FAN3. In the present invention, the heat sink FAN is a fan. The first end of the heat sink FAN is connected to the fifth pin of the first connector J1, and the second end of the heat sink FAN is connected to the negative electrode of the DC power supply voltage DCPW_24V-.

[0136] Specifically, the present invention realizes convenient power on and off control through a micro switch or a screen. During the startup process, the pre-charging contactor S2 is first closed for pre-charging to ensure smooth charging of the DC bus. After full charging, the switch state is switched, and the main contactor S1 is closed to enter a stable startup operation state. The control unit runs the current loop control algorithm in real time.

[0137] In a preferred embodiment, it also includes:

[0138] AC input connector X1, the input part F1 is connected to three-phase AC power through the AC input connector X1;

[0139] A DC output connector X2, the output end of the output part F4 is connected to the DC output connector X2;

[0140] The power board DBC is connected to the power interface on the circuit board. The power board DBC is connected to the switching power supply RSD for performing voltage conversion on the DC power supply voltage.

[0141] Specifically, the power board DBC converts the 24V DC supply voltage into 5V and 15V voltages for use by corresponding components.

[0142] In a preferred embodiment, the circuit board is further provided with:

[0143] The output current detection interface PD1 is connected to the output part F4 and is used to collect the output current of the output part F4;

[0144] Bus detection interface PD2, connected to the bus voltage detection terminal, used to collect bus voltage;

[0145] The first three-phase current detection interface PD3 is connected to the three-phase alternating current and is used to collect the U-phase current and the V-phase current of the three-phase alternating current;

[0146] The second three-phase current detection interface PD4 is connected to the three-phase alternating current and is used to collect the V-phase current and the W-phase current of the three-phase alternating current;

[0147] The temperature detection interface JPT1 is connected to the drive unit and is used to collect the base plate temperature of the IGBT module.

[0148] Specifically, in the present invention, a temperature sensor is provided at the IGBT module, specifically a PT100 temperature sensor is adopted, and the temperature detection interface JPT1 obtains the temperature sensing signals PT100+ and PT100-.

[0149] The circuit board also includes,

[0150] The first communication interface J7 is connected to an external CAN communication module and is used to transmit first communication signals CAN1L and CAN1H;

[0151] The second communication interface J8 is connected to an external CAN communication module and is used to transmit the second communication signals CAN2L and CAN2H;

[0152] Debug interface J9, connected to external debug signals 4852A and 4852B.

[0153] More specifically, the protection logic of the present invention is divided into time limit protection and instantaneous protection.

[0154] The time limit protection protects the input voltage, input current, output voltage and output current respectively, and protects according to their effective values. The protection threshold and protection time can be set through the screen TK;

[0155] Instantaneous protection protects DC voltage, input voltage, input current, output voltage, and output current respectively, and performs protection according to the instantaneous value.

[0156] In addition, there is hardware protection. The hardware protection signal enters the DSP, and the software immediately protects after receiving the protection signal. After protection, PWM is blocked, the output is turned off, all switches are disconnected, and the input is disconnected.

[0157] The control is divided into the main loop program and the control cycle interrupt program.

[0158] Initialize as Fig.12 As shown, the main loop program is as follows Fig.13 As shown, it includes DSP initialization, peripheral initialization, PWM initialization, communication initialization, software initialization, control algorithm initialization, interruption, temperature sampling, main cycle breathing light, effective value calculation, time limit protection, power value calculation, temperature sampling, switch logic state machine, screen TK communication;

[0159] The switch logic state machine is as follows Fig.14 As shown, including,

[0160] State 0: shutdown state;

[0161] State 1: pre-charge;

[0162] State 2: switch closed;

[0163] State 3: Power on state;

[0164] Control cycle interrupt program such as Fig.15 As shown, including: sampling, effective value calculation queue, interrupt breathing light, protection, current loop control algorithm,

[0165] Current loop control algorithm: closed-loop control plus disturbance observation feedforward control.

[0166] Specifically, the protection function of the present invention is:

[0167] Input overvoltage, the system input phase voltage exceeds 10% AC and automatically cuts off the AC input to enter protection. The alarm value can be set.

[0168] Output overvoltage, the system output phase voltage exceeds 10% DC and automatically cuts off the AC output to enter protection.

[0169] Alarm value can be set

[0170] Input undervoltage, the system input phase voltage is lower than 10% VAC, the AC input is automatically cut off, protection is activated, and the battery is switched to inverter power supply. The alarm value can be set

[0171] Output undervoltage, system output phase voltage is lower than 10% VDC, AC output is automatically cut off and protection is activated.

[0172] Alarm value can be set

[0173] When the system output is short-circuited or overloaded, it will automatically stop output and enter protection.

[0174] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. An electric suction cup controller, characterized in that: include, An input part (F1) connected to a three-phase alternating current generated by a generator; A rectifier and filter unit (F2), connected to the input unit (F1), for converting three-phase alternating current into pulsating direct current; An inverter unit (F3) connected to the rectifying and filtering unit (F2), wherein the inverter unit (F3) includes a plurality of controllable IGBT modules, and the inverter unit (F3) outputs a constant direct current based on a received driving signal; A control unit, comprising a digital signal processor disposed on a circuit board, connected to the inverter unit (F3), the control unit further connected to a sampling unit comprising a plurality of sensors, the control unit performs closed-loop control based on periodic sampling signals to output the control signal, the sampling signals at least comprising an input side current sampling signal, a bus voltage sampling signal, a temperature sampling signal and an output side current sampling signal; The output part (F4) is connected to the inverter part (F3), and the output part (F4) can controllably output forward or reverse direct current to the electromagnetic chuck.

2. The electric suction cup controller according to claim 1, characterized in that: The input part (F1) includes a starting part and a pre-charging part, the starting part includes a main contactor (S1) arranged between the three-phase alternating current and the rectifying and filtering part (F2), the pre-charging part includes a pre-charging contactor (S2) connected in parallel with the main contactor (S1), based on a power-on signal, the pre-charging contactor (S2) is closed before the main contactor (S1), and the switch states of the pre-charging contactor (S2) and the main contactor (S1) are switched after pre-charging is completed; The U-phase switch of the pre-charging contactor (S2) is connected to a first pre-charging resistor (R1), the W-phase switch of the pre-charging contactor (S2) is connected to a second pre-charging resistor (R2), a first end of the coil of the pre-charging contactor (S2) is connected to a first pin of a first connector (J1) on the circuit board, and a second end of the coil of the pre-charging contactor (S2) is connected to a negative electrode of a DC power supply voltage; A first end of the coil of the main contactor (S1) is connected to the third pin of the first connector (J1), and a second end of the coil of the main contactor (S1) is connected to the negative electrode of the DC power supply voltage; The first connector (J1) is also connected to a positive electrode of a DC power supply voltage.

3. The electric suction cup controller according to claim 1, characterized in that: The rectification and filtering unit (F2) comprises: a first power diode (D1), wherein an anode of the first power diode (D1) is connected to a W-phase output end of the input portion (F1), and an anode of the first power diode (D1) is connected to a positive electrode of a bus voltage; a second power diode (D2), wherein a cathode of the second power diode (D2) is connected to an anode of the first power diode (D1), and an anode of the second power diode (D2) is connected to a negative electrode of a bus voltage; a third power diode (D3), wherein an anode of the third power diode (D3) is connected to the V-phase output end of the input portion (F1), and an anode of the third power diode (D3) is connected to the positive electrode of the bus voltage; a fourth power diode (D4), wherein a cathode of the fourth power diode (D4) is connected to an anode of the third power diode (D3), and an anode of the fourth power diode (D4) is connected to a negative electrode of a bus voltage; a fifth power diode (D5), wherein an anode of the fifth power diode (D5) is connected to the U-phase output end of the input portion (F1), and an anode of the fifth power diode (D5) is connected to the positive electrode of the bus voltage; A sixth power diode (D6), wherein the cathode of the sixth power diode (D6) is connected to the anode of the fifth power diode (D5), and the anode of the sixth power diode (D6) is connected to the negative electrode of the bus voltage.

4. The electric suction cup controller according to claim 3, characterized in that: The rectification and filtering unit (F2) further includes: An energy storage capacitor (C1), wherein the positive electrode of the energy storage capacitor (C1) is connected to the positive electrode of the bus voltage, and the negative electrode of the energy storage capacitor (C1) is connected to the negative electrode of the bus voltage; A low-frequency energy storage filter capacitor (C2), wherein a first end of the low-frequency energy storage filter capacitor (C2) is connected to a positive electrode of a bus voltage, and a second end of the low-frequency energy storage filter capacitor (C2) is connected to a negative electrode of the bus voltage; A filter resistor (R3), wherein a first end of the filter resistor (R3) is connected to a positive electrode of a bus voltage, and a second end of the filter resistor (R3) is connected to a negative electrode of the bus voltage; An absorption capacitor (C3), wherein the absorption capacitor (C3) is arranged on a corresponding IGBT module, a first end of the absorption capacitor (C3) is connected to the positive pole of the bus voltage, and a second end of the absorption capacitor (C3) is connected to the negative pole of the bus voltage.

5. The electric suction cup controller according to claim 1, characterized in that: The inverter unit (F3) includes: A first IGBT module (B1), the first IGBT module (B1) comprising a first IGBT tube (Q1) and a second IGBT tube (Q2), the collector of the first IGBT tube (Q1) being connected to the first end of the rectifying and filtering part (F2), the collector of the second IGBT tube (Q2) being connected to the emitter of the first IGBT tube (Q1) and serving as the first output end of the inverter part (F3), the emitter of the second IGBT tube (Q2) being connected to the second end of the rectifying and filtering part (F2), the first IGBT module (B1) being connected to the first driving board (DB1) on the circuit board via a first driving cable (BA) to transmit the driving signal; a second IGBT module (B2), wherein the second IGBT module (B2) comprises a third IGBT tube (Q3) and a fourth IGBT tube (Q4), wherein the collector of the third IGBT tube (Q3) is connected to the first end of the rectifying and filtering part (F2), the collector of the fourth IGBT tube (Q4) is connected to the emitter of the third IGBT tube (Q3) and serves as the second output end of the inverter part (F3), the emitter of the fourth IGBT tube (Q4) is connected to the second end of the rectifying and filtering part (F2), and the second IGBT module (B2) is connected to the second driving board (DB2) on the circuit board through a second driving cable (BB) to transmit the driving signal; A third IGBT module (B3), the third IGBT module (B3) comprising a fifth IGBT tube (Q5) and a sixth IGBT tube (Q6), the collector of the fifth IGBT tube (Q5) being connected to the first end of the rectifying and filtering part (F2), the collector of the sixth IGBT tube (Q6) being connected to the emitter of the fifth IGBT tube (Q5), the emitter of the sixth IGBT tube (Q6) being connected to the second end of the rectifying and filtering part (F2), the emitter of the sixth IGBT tube (Q6) being further connected to a first resistor and then to the collector of the sixth IGBT tube (Q6), the third IGBT module (B3) being connected to a third driving board (DB3) on the circuit board via a third driving cable (BC) to transmit the driving signal.

6. The electric suction cup controller according to claim 1, characterized in that: The output unit (F4) includes, An output inductor (L1), wherein a first end of the output inductor (L1) is connected to a first output end of the rectifying and filtering unit (F2); an output capacitor (C4), wherein a first end of the output capacitor (C4) is connected to a second end of the output inductor (L1), and a second end of the output capacitor (C4) is connected to a second output end of the rectifying and filtering unit (F2); An output DC relay (S3), wherein a first end of the output DC relay (S3) is connected to a first end of the output capacitor (C4), a second end of the output DC relay (S3) serves as a first DC output end of the output portion (F4), and a first end of the output capacitor (C4) serves as a second DC output end of the output portion (F4).

7. The electric suction cup controller according to claim 1, characterized in that: The sensor comprises: A first current sensor (T1) is connected to a second connector (J2) on the circuit board, and a wire connecting a U-phase output end of the input unit (F1) to the rectifying and filtering unit (F2) passes through the first current sensor (T1); A second current sensor (T2) is connected to a third connector (J3) on the circuit board, and a wire from the W-phase output end of the input unit (F1) to the rectifying and filtering unit (F2) passes through the second current sensor (T2); The third current sensor (T3) is connected to the fourth connector (J4) on the circuit board, and the conductor of the output unit (F4) outputting direct current passes through the third current sensor (T3).

8. The electric suction cup controller according to claim 1, characterized in that: Also includes, a switching power supply (RSD), wherein an input end of the switching power supply (RSD) is connected to a U phase and a W phase of a three-phase alternating current, and the switching power supply (RSD) outputs a DC supply voltage; A plurality of heat sinks (FAN) connected in parallel with each other, wherein one of the heat sinks (FAN) is correspondingly arranged on one side of the IGBT module, and is used to cool the IGBT module; The screen (TK) is connected to the screen interface (J5) on the circuit board and receives external control instructions through the screen (TK).

9. The electric suction cup controller according to claim 8, characterized in that: Also includes, an AC input connector (X1), the input portion (F1) being connected to three-phase AC power via the AC input connector (X1); A DC output connector (X2), the output end of the output unit (F4) is connected to the DC output connector (X2); A power board (DBC) is connected to the power interface on the circuit board. The power board (DBC) is connected to the switching power supply (RSD) and is used to perform voltage conversion on the DC power supply voltage.

10. The electric suction cup controller according to claim 1, characterized in that: The circuit board is also provided with: An output current detection interface (PD1), connected to the output part (F4), and used for collecting the output current of the output part (F4); Bus detection interface (PD2), connected to the bus voltage detection terminal, used to collect bus voltage; A first three-phase current detection interface (PD3), connected to a three-phase alternating current, for collecting a U-phase current and a V-phase current of the three-phase alternating current; The second three-phase current detection interface (PD4) is connected to the three-phase alternating current and is used to collect the V-phase current and the W-phase current of the three-phase alternating current; A temperature detection interface (JPT1) is connected to the driving unit and is used to collect the base plate temperature of the IGBT module.

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