Power supply circuit and power supply system, mobile device

Abstract

This application discloses a power supply circuit and system, and a mobile device, belonging to the field of electronic technology. The circuit includes a pre-charging unit and multiple power distribution branches. The positive input terminal of each power distribution branch is connected to the input terminal of the pre-charging unit, and the positive output terminal of each power distribution branch is connected to the respective output terminal of the pre-charging unit. The input terminal of the pre-charging unit is also used to connect to the positive power supply terminal of a power source, and the positive output terminals of each power distribution branch are used to connect to loads. The pre-charging unit outputs pre-charge energy to the target load when pre-charging is required for the target load corresponding to the target power distribution branch. The target power distribution branch remains off when the voltage corresponding to the target load is less than a preset threshold, and turns on when the voltage of the target load is greater than or equal to the preset threshold, to supply power to the target load. This application can effectively suppress surge currents or inrush currents that may occur when capacitive loads are powered on, thereby improving the safety and reliability of power supply.

Description

Technical Field

[0001] This application relates to the field of electronic technology, and to, but is not limited to, a power supply circuit and power supply system, and a mobile device. Background Technology

[0002] With the rapid development of electronic technology, various electronic devices have become ubiquitous in people's work and daily lives, such as robots and CNC machine tools. Taking robots as an example, a robot integrates multiple loads that need to work independently, such as controllers, sensors, communication modules, and joint actuators.

[0003] In related technologies, a corresponding power supply system is generally required to supply power to each load. This power supply system typically adopts a centralized or distributed architecture, with a main power source (such as a battery or AC-DC power module) providing the total electrical energy, which is then distributed to various distribution branches through a power distribution network or power management integrated circuit. A common implementation method is to control the on / off state of each distribution branch using a controllable switch or power management chip to achieve power supply management for each load. This architecture is simple to design and can meet the requirement of independent power-on and power-off for each load.

[0004] However, if electronic devices contain a large number of capacitive loads, huge inrush currents or surge currents will be generated during power supply, which may damage the power supply and electronic equipment. In other words, the related technical solutions have problems with poor power supply safety and reliability. Summary of the Invention

[0005] In view of this, the power supply circuit, power supply system, and mobile device provided in the embodiments of this application can effectively suppress surge currents or inrush currents that may occur when capacitive loads are powered on, thereby improving the safety and reliability of power supply. The power supply circuit, power supply system, and mobile device provided in the embodiments of this application are implemented as follows: A first aspect of this application provides a power supply circuit, the power supply circuit comprising: a pre-charging unit and multiple power distribution branches; The positive input terminal of each of the power distribution branches is connected to the input terminal of the pre-charge unit, and the positive output terminal of each of the power distribution branches is connected to each output terminal of the pre-charge unit. The input terminal of the pre-charge unit is also used to connect to the positive power supply terminal of the power source, and the positive output terminal of each of the power distribution branches is used to connect to the load. The pre-charging unit is used to output pre-charging energy to the target load when it is necessary to pre-charge the target load corresponding to the target distribution branch; the target distribution branch is any one of the multiple distribution branches, and the target load is the load connected to the target distribution branch; The target power distribution branch is used to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load; the preset threshold is the voltage when the target load completes pre-charging.

[0006] Optionally, the pre-charge unit includes: a pre-charge resistor and at least one pre-charge switch; At least one of the precharge switching transistors is connected in series with the precharge resistor; The precharge switch is used to output the precharge energy from the power supply to the corresponding target load when it is turned on, and to stop outputting the precharge energy to the corresponding target load when it is turned off. The pre-charge resistor is used to limit the current value of the pre-charge energy and / or to collect the current value flowing through the pre-charge resistor.

[0007] Optionally, the pre-charge resistor includes a first resistor, the pre-charge switch includes a first switch, and the pre-charge unit further includes a plurality of first diodes; The first end of the first resistor is used to connect to the positive power supply terminal of the power supply, the second end of the first resistor is connected to the first terminal of the first switching transistor, the second terminal of the first switching transistor is connected to the positive terminal of each of the first diodes, and the negative terminal of each of the first diodes is connected to the positive output terminal of one of the power distribution branches. The third terminal of the first switching transistor is used to receive the first control signal; The number of the first diodes is equal to the number of all the power distribution branches; The first control signal is configured to: control the first switch to turn on when it is necessary to precharge the target load corresponding to the target power distribution branch, so as to output the precharge energy to the target load; and control the first switch to turn off when the voltage of the target load is greater than or equal to the preset threshold.

[0008] Optionally, the pre-charge resistor includes a second resistor, the pre-charge switch includes a second switch, and the pre-charge unit further includes at least one second diode and at least one third switch; The first end of the second resistor is used to connect to the positive power supply terminal of the power supply, the second end of the second resistor is connected to the first terminal of the second switching transistor, the second terminal of the second switching transistor is connected to the positive terminal of each second diode and the first terminal of each third switching transistor, and the negative terminal of each second diode and the second terminal of each third switching transistor are connected to the positive output terminal of one of the power distribution branches. The third terminal of the second switching transistor is used to receive the second control signal, and the third terminal of the third switching transistor is used to receive the third control signal; Wherein, the sum of the number of at least one second diode and the number of at least one third switch is equal to the number of all the power distribution branches, and each second diode and each third switch is connected to a different power distribution branch; The second control signal is configured to: control the second switch to turn on when it is necessary to supply power to the load corresponding to the target power distribution branch; and control the second switch to turn off when the voltage of the target load is greater than or equal to the preset threshold. The third control signal is configured to: control the third switch to turn on when it is necessary to precharge the target load corresponding to the third switch; and control the third switch to turn off when the voltage of the target load corresponding to the third switch is greater than or equal to the preset threshold.

[0009] Optionally, the pre-charge resistor includes a third resistor, and the pre-charge switch includes at least one fourth switch. The first end of the third resistor is used to connect to the positive power supply terminal of the power supply, the second end of the third resistor is connected to the first terminal of each of the fourth switching transistors, and the second terminal of each of the fourth switching transistors is connected to the positive output terminal of one of the power distribution branches. The third terminal of the fourth switch is used to receive the fourth control signal; The number of the fourth switch tubes is equal to the number of all the power distribution branches; The fourth control signal is configured to: control the fourth switch to turn on when it is necessary to precharge the target load corresponding to the fourth switch, so as to output the precharge energy to the target load corresponding to the fourth switch; and control the fourth switch to turn off when the voltage of the target load corresponding to the fourth switch is greater than or equal to the preset threshold.

[0010] Optionally, the pre-charge resistor includes a fourth resistor, the pre-charge switch includes a fifth switch, and the pre-charge unit further includes an inductor and at least one third diode; The first terminal of the fifth switching transistor is used to connect to the positive power supply terminal of the power supply. The second terminal of the fifth switching transistor is connected to the first terminal of the fourth resistor and the negative terminal of each of the third diodes. The second terminal of the fourth resistor is connected to the first terminal of the inductor. The second terminal of the inductor is connected to the positive output terminal of each of the power distribution branches. The positive terminal of each of the third diodes is used to connect to the negative power supply terminal of the power supply, and the third terminal of the fifth switching transistor is used to receive the fifth control signal; The fifth control signal is configured to: when it is necessary to supply power to the target load corresponding to the target power distribution branch, control the fifth switch to alternately turn on and off according to a preset duty cycle to output the pre-charged energy to the target load; or, when the voltage of the target load is greater than or equal to the preset threshold, control the fifth switch corresponding to the target power distribution branch to remain off. The inductor is used to store energy when the fifth switch is turned on, and to release the stored energy when the fifth switch is turned off; The third diode is used to form a current path with the inductor when the fifth switch is turned off.

[0011] Optionally, any of the power distribution branches further includes: a power distribution switch; The first end of the power distribution switch is connected to the input end of the pre-charge unit, the second end of the power distribution switch is connected to each output end of the pre-charge unit, and the first end of the power distribution switch is used to connect to the positive power supply end of the power source. The power distribution switch is configured to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load.

[0012] Optionally, the power supply circuit further includes: a control unit; The control unit is connected to the pre-charge unit and each of the power distribution branches respectively; The control unit is used to control the operation of the pre-charge unit and / or each of the power distribution branches according to the acquired target voltage and the target conditions corresponding to the target voltage. The target voltage includes: the voltage at the input terminal of the precharge unit and the voltage at at least one output terminal of the precharge unit.

[0013] Optionally, the power supply circuit further includes: a detection unit; The detection unit is connected to the pre-charge unit, each of the power distribution branches, and the control unit, respectively. The detection unit is used to detect the target voltage and output the target voltage to the control unit.

[0014] A second aspect of the embodiments of this application also provides a power supply system, which includes at least: a power supply and any of the power supply circuits described in the first aspect above.

[0015] A third aspect of the embodiments of this application also provides a mobile device, which includes at least: a load, a power supply, and any of the power supply circuits described in the first aspect above; Alternatively, it may include at least: the load and the power supply system described in the second aspect above.

[0016] The power supply circuit, power supply system, and mobile device provided in this application embodiment are configured with a pre-charging unit and multiple power distribution branches in the power supply circuit. The positive input terminal of each power distribution branch is connected to the input terminal of the pre-charging unit, and the positive output terminal of each power distribution branch is connected to each output terminal of the pre-charging unit. The input terminal of the pre-charging unit is also used to connect to the positive power supply terminal of the power source, and the positive output terminal of each power distribution branch is used to connect to the load.

[0017] The pre-charging unit is used to output pre-charge energy to the target load corresponding to the target power distribution branch when pre-charging is required. The target power distribution branch is used to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load. Furthermore, the preset threshold is the voltage at which the target load completes pre-charging.

[0018] As can be seen from the above working principle, before supplying power to the target load through the target distribution branch, the power supply circuit can first output a small amount of pre-charging energy to the target load through a pre-charging unit set between the power source and the load to pre-charge the target load. At this time, because the current of this pre-charging energy is small, the power supply circuit will not experience a large inrush current or surge current when pre-charging or when the pre-charging unit is turned on.

[0019] Then, if the voltage corresponding to the target load is greater than or equal to the preset threshold, it can be determined that the capacitor (or equivalent capacitor) in the target load is fully charged or nearly fully charged. At this time, the target power distribution branch is turned on to supply power to the target load. Because the difference between the voltage of the capacitor (or equivalent capacitor) in the target load and the output voltage of the power supply is very small, the power supply circuit will not experience a large inrush current or surge current when the target power distribution branch is turned on.

[0020] In this way, the surge current or inrush current that may occur when capacitive loads are powered on can be effectively suppressed, thereby improving the safety and reliability of power supply and at least partially solving the technical problems mentioned in the background art. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the structure of the first power supply circuit provided in the embodiments of this application; Figure 2 This is a schematic diagram of the structure of a second power supply circuit provided in an embodiment of this application; Figure 3 This is a schematic diagram of the third power supply circuit provided in the embodiments of this application; Figure 4 This is a schematic diagram of the fourth power supply circuit provided in the embodiments of this application; Figure 5 This is a schematic diagram of the structure of the fifth power supply circuit provided in the embodiments of this application; Figure 6 This is a schematic diagram of the sixth power supply circuit provided in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the seventh power supply circuit provided in the embodiments of this application; Figure 8 This is a schematic diagram of the eighth power supply circuit provided in the embodiments of this application; Figure 9 This is a schematic diagram of the ninth power supply circuit provided in the embodiments of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0025] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0026] It should be noted that the terms "first, second, third" used in the embodiments of this application are used to distinguish similar or different objects and do not represent a specific order of objects. It can be understood that "first, second, third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0027] In related technologies, a power supply system is generally required to power the various loads in electronic devices. This system typically employs a centralized or distributed architecture, with a main power source (such as a battery or AC-DC power module) providing the total power, which is then distributed to various distribution branches via a power distribution network or power management integrated circuit. A common implementation method is to control the on / off state of each distribution branch using a controllable switch or power management chip to manage the power supply to each load. This architecture is simple to design and can meet the requirement of independent power-on and power-off for each load.

[0028] However, if electronic devices contain a large number of capacitive loads, huge inrush currents or surge currents will be generated during power supply, which may damage the power supply and electronic equipment. In other words, the related technical solutions have problems with poor power supply safety and reliability.

[0029] To at least partially solve the above problems, embodiments of this application provide a power supply circuit. This circuit includes multiple power distribution branches and a pre-charging unit. The positive input terminal of each power distribution branch is connected to the input terminal of the pre-charging unit, and the positive output terminal of each power distribution branch is connected to the respective output terminal of the pre-charging unit. The input terminal of the pre-charging unit is also used to connect to the positive power supply terminal of a power source, and the positive output terminal of each power distribution branch is used to connect to a load. The pre-charging unit outputs pre-charging energy to the target load when pre-charging is required for the target load corresponding to the target power distribution branch. The target power distribution branch is any one of the multiple power distribution branches, and the target load is the load connected to the target power distribution branch. The target power distribution branch remains off when the voltage corresponding to the target load is less than a preset threshold, and turns on when the voltage of the target load is greater than or equal to the preset threshold to supply power to the target load. The preset threshold is the voltage at which the target load completes pre-charging. This effectively suppresses surge currents or inrush currents that may occur when capacitive loads are powered on, thereby improving power supply safety and reliability.

[0030] This application uses a power supply circuit applied in a mobile device, specifically a robot, as an example for illustration. However, it does not imply that this application's embodiments can only be applied to powering corresponding loads in mobile devices or robots. For instance, the power supply circuit provided in this application can also be applied to any electrical device that needs to power multiple loads.

[0031] It is understood that the power supply circuit provided in this application embodiment can be applied to mobile devices including service robots, industrial-grade mobile devices, special-operation mobile devices, medical mobile devices, and outdoor portable intelligent devices, etc., and can be selected according to actual conditions. Service robots can include household cleaning robots, commercial cleaning robots, restaurant delivery robots, hotel service robots, etc., without specific limitations. Industrial-grade mobile devices can include warehouse autonomous handling robots, workshop sorting robots, port unmanned transfer vehicles, etc. Special-operation mobile devices can include fire inspection robots, power maintenance robots, mining exploration robots, etc., without specific limitations. Medical mobile devices can include medical delivery robots, portable diagnostic equipment, mobile nursing workstations, etc., without specific limitations. Outdoor portable intelligent devices can include outdoor surveying drone ground stations, mobile monitoring terminals, portable emergency rescue equipment, etc. This application embodiment does not limit these applications.

[0032] The power supply circuit provided in the embodiments of this application will be explained in detail below.

[0033] Figure 1 A schematic diagram of a power supply circuit provided in this application is shown below. Figure 1 This application provides a power supply circuit 100, which includes a pre-charging unit 101 and multiple power distribution branches 102.

[0034] The positive input terminal of each power distribution branch 102 is connected to the input terminal of the pre-charge unit 101, and the positive output terminal of each power distribution branch 102 is connected to each output terminal of the pre-charge unit 101. The input terminal of the pre-charge unit 101 is also used to connect to the positive power supply terminal (+) of the power supply, and the positive output terminal of each power distribution branch 102 is used to connect to the load.

[0035] It should be noted that the positive output terminals of each power distribution branch 102 are used to connect to the positive power supply terminal (+) of the load. Furthermore, the various components in circuit 100 can be connected via positive (+) and negative (-) lines to form a complete current loop. For example, the negative input terminals of each power distribution branch 102 are used to connect to the negative power supply terminal (-) of the power source, and the negative output terminals of each power distribution branch 102 are connected to the negative power supply terminal (-) of the load. For specific connection relationships, please refer to [reference needed]. Figure 1 As shown, this embodiment will not be described in detail here.

[0036] The pre-charging unit 101 is used to output pre-charging energy to the target load corresponding to the target power distribution branch when it is necessary to pre-charge the target load corresponding to the target power distribution branch.

[0037] The target power distribution branch is used to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load.

[0038] Optionally, the power source can be a DC battery of any possible voltage level. For example, the power source can be the power battery pack in the mobile device, used to supply power to any possible power-consuming units in the mobile device. This application does not limit this aspect.

[0039] In this embodiment, the pre-charge unit 101 may be a functional module that can output the pre-charge energy to the target load before the main power supply channel of the power distribution branch 102 supplies power to the target load is turned on.

[0040] Optionally, when the pre-charge unit 101 outputs the pre-charge energy to the target load, it can form a pre-charge path with high impedance or current limiting function, and output the pre-charge energy to the target load through the pre-charge path. That is, the pre-charge unit 101 can step down and / or limit the current of the power received from the power source to obtain the pre-charge energy. This application embodiment does not limit this aspect.

[0041] Optionally, the current value of the pre-charge energy can be less than a preset current value, which can be set relatively small. For example, it is only necessary to ensure that the current value of the pre-charge energy does not cause a large surge current or inrush current in circuit 100 and / or the target load; specifically, it can be determined based on any possible parameters such as the output parameters of the power supply and the operating parameters of the target load. This application embodiment does not limit this.

[0042] Optionally, the target power distribution branch can be any one of multiple power distribution branches 102. In this case, the target load is the load connected to this target power distribution branch. Furthermore, the load can be any one or more devices within the mobile device. For example, the load can be a motor used to drive the robot's joints to move, located in the robot's left leg, right leg, left arm, right arm, head, or waist / neck area; the load can also be an inverter used to convert direct current to alternating current; the load can also be any possible device such as a camera, fan, or various sensors (e.g., temperature sensors, infrared sensors) installed at different locations on the robot. This application embodiment uses the example of the load being a motor controller and / or motor in different parts of the robot for illustration. This application embodiment does not limit this.

[0043] Optionally, the target power distribution branch can be any one of the multiple power distribution branches 102. In this case, the target load refers to the load connected to all target power distribution branches.

[0044] For example, from Figure 1 As can be seen, any distribution branch 102 is generally connected to at least one load. When the mobile device is powered on and the target load (which can be any load) needs to be powered on, the target distribution branch (distribution branch 102) corresponding to the target load needs to supply power to the target load. Moreover, before the target distribution branch supplies power to the target load, it needs to pre-charge the target load to avoid the target distribution branch directly outputting a large current to the target load, which could cause surge current or inrush current in circuit 100.

[0045] In other words, before powering any load corresponding to any power distribution branch 102, the load needs to be pre-charged. Therefore, when pre-charging is required for any load corresponding to any power distribution branch 102, the pre-charging unit 101 can output corresponding pre-charging energy to the load. This application embodiment does not limit this aspect.

[0046] In this embodiment, the voltage of the target load can refer to the overall voltage of the target load, or it can refer to the voltage of the capacitor or equivalent capacitance in the target load. This application does not limit this aspect.

[0047] Optionally, the preset threshold is the voltage at which the target load completes pre-charging. For example, the preset threshold can generally be slightly lower than the output voltage of the power supply, or it can be equal to the output voltage of the power supply. This application does not limit this.

[0048] Generally, when the voltage of the target load is less than the preset threshold, it indicates that the capacitor (or equivalent capacitance) in the target load is not fully charged. In other words, the voltage difference between the capacitor (or equivalent capacitance) in the target load and the output voltage of the power supply is large. In this case, if the target power distribution branch is turned on to supply power to the target load, the resulting inrush current or surge current may be large. Therefore, the target power distribution branch remains off; that is, it will not supply power to the target load until the target load has completed its pre-charging.

[0049] Furthermore, when the voltage of the target load is greater than or equal to the preset threshold, it indicates that the capacitor (or equivalent capacitance) in the target load is fully charged or nearly fully charged. That is, the difference between the voltage of the capacitor (or equivalent capacitance) in the target load and the output voltage of the power supply is very small. In this case, if the target distribution branch is turned on to supply power to the target load, the resulting inrush current or surge current will be very small.

[0050] Optionally, the power supply circuit 100 may also include any control unit with functions such as detection, identification, processing, calculation, and control. In this way, the control unit can determine whether it is necessary to supply power or precharge the target load corresponding to each power distribution branch 102, detect the voltage corresponding to any load, and control the precharging unit 101 and each power distribution branch 102 to be turned on or off. This application embodiment does not limit this aspect.

[0051] It should be understood that, in order to better explain the power supply circuit 100 provided in the embodiments of this application, the working principle of the power supply circuit 100 will be briefly introduced below: When the mobile device and / or power supply circuit 100 is in the off state, the loads connected to each power distribution branch 102 are not working, the power supply does not output electrical energy, and the pre-charging unit 101 and each power distribution branch 102 can be turned off. At this time, no current flows through the power supply circuit 100.

[0052] When the mobile device and / or power supply circuit 100 is powered on, and at least one power distribution branch 102 needs to supply power to the corresponding load, assuming Figure 1 The first distribution branch 102 shown needs to supply power to the load, so the first distribution branch 102 can be used as the target distribution branch, and the load connected to the first distribution branch 102 can be used as the target load. At this time, the load connected to the first distribution branch 102 outputs the pre-charge energy, and the capacitor in the load begins to charge based on the pre-charge energy, and the voltage of the load gradually increases. Since the current value of the pre-charge energy is small, there will be no large inrush current or surge current in the power transmission path between the load and the first distribution branch 102, or in the circuit 100.

[0053] During the pre-charging process of the load, the voltage of the load connected to the first power distribution branch 102 can be continuously monitored, and the magnitude of the voltage of the load connected to the first power distribution branch 102 and the preset threshold can be determined. Specifically, when the voltage corresponding to the target load is less than the preset threshold, the pre-charging unit 101 remains on and continuously outputs the pre-charging energy to the target load, while the first power distribution branch 102 remains off; this avoids the problem of the power distribution branch 102 and the pre-charging unit 101 being on simultaneously. When the voltage corresponding to the target load is greater than or equal to the preset threshold, the pre-charging unit 101 is off and continuously outputs the pre-charging energy to the target load, while the first power distribution branch 102 begins to conduct, so as to output a normal operating current to the target load; because the difference between the voltage of the capacitor (or equivalent capacitor) in the target load and the output voltage of the power supply is already very small, at this time, no inrush current or surge current will be generated (or the generated inrush current or surge current will be very small).

[0054] The power supply circuit 100 provided in this application embodiment includes a pre-charge unit 101 and multiple power distribution branches 102. The positive input terminal of each power distribution branch 102 is connected to the input terminal of the pre-charge unit 101, and the positive output terminal of each power distribution branch 102 is connected to each output terminal of the pre-charge unit 101. The input terminal of the pre-charge unit 101 is also used to connect to the positive power supply terminal (+) of the power source, and the positive output terminal of each power distribution branch 102 is used to connect to the load.

[0055] The pre-charging unit 101 is used to output pre-charging energy to the target load corresponding to the target power distribution branch when pre-charging is required. The target power distribution branch is used to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load. Furthermore, the preset threshold is the voltage at which the target load completes pre-charging.

[0056] As can be seen from the above working principle, before supplying power to the target load through the target distribution branch, the power supply circuit 100 can first output a small amount of pre-charging energy to the target load through the pre-charging unit 101 set between the power source and the load to pre-charge the target load. At this time, because the current of the pre-charging energy is small, the power supply circuit 100 will not experience a large inrush current or surge current when pre-charging or when the pre-charging unit 101 is turned on.

[0057] Then, if the voltage corresponding to the target load is greater than or equal to the preset threshold, it can be determined that the capacitor (or equivalent capacitor) in the target load is fully charged or nearly fully charged. At this time, the target power distribution branch is turned on to supply power to the target load. Since the difference between the voltage of the capacitor (or equivalent capacitor) in the target load and the output voltage of the power supply is very small, the power supply circuit 100 will not experience a large inrush current or surge current when the target power distribution branch is turned on.

[0058] In this way, the surge current or inrush current that may occur when capacitive loads are powered on can be effectively suppressed, thereby improving the safety and reliability of power supply.

[0059] In one possible implementation, see [link to relevant documentation]. Figure 2 Each power distribution branch 102 also includes: a power distribution switch S.

[0060] The first end of the power distribution switch S is connected to the input end of the pre-charge unit 101, the second end of the power distribution switch S is connected to each output end of the pre-charge unit 101, and the first end of the power distribution switch S is used to connect to the positive power supply terminal (+) of the power supply.

[0061] In addition, each distribution branch 102 also includes a negative terminal line for forming a complete current loop between the load and the power supply, that is, connecting the negative power supply terminal (-) of the power supply to the negative power supply terminal (-) of the load. For specific connection details, please refer to [link to relevant documentation]. Figure 2 As shown, this embodiment will not be described in detail here.

[0062] The power distribution switch S is used to remain closed when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load.

[0063] Optionally, the power distribution switch S can be any possible switching transistor such as a MOSFET, transistor, or IGBT, and the controllable switch can also be an electronic switch such as a relay or electronic fuse. This application does not limit this aspect.

[0064] For example, in Figure 2 Based on this, continue to see Figure 3 Any one of the power distribution switches S can be a power distribution switch tube Q0.

[0065] As can be seen, in any power distribution branch 102, the first pole of the power distribution switch tube Q0 is connected to the input terminal of the pre-charge unit 101 and the positive power supply terminal of the power supply, the second pole of the power distribution switch tube Q0 is connected to one output terminal of the pre-charge unit 101 and the positive power supply terminal of a load, and the third pole of the power distribution switch tube Q0 is used to receive the corresponding power distribution control signal.

[0066] Optionally, the power distribution switch Q0 can be an N-channel switch, such as an NMOS or an N-channel IGBT; it can also be an NPN transistor. In some possible embodiments, the power distribution switch Q0 can also be a P-channel switch. This application does not limit this.

[0067] Optionally, the power distribution control signal can be output by the control unit to the power distribution switch Q0. The power distribution control signal can be configured to: control the power distribution switch Q0 to turn off when it is not necessary to supply power to the target load and / or the voltage corresponding to the target load is less than a preset threshold; and control the power distribution switch Q0 to turn on when it is necessary to supply power to the target load and the voltage of the target load is greater than or equal to the preset threshold.

[0068] It is worth noting that by setting a controllable power distribution switch S (i.e., power distribution switch Q0), the power distribution switch S can be turned off before pre-charging is completed, thereby cutting off the current transmission path between the power supply, power distribution branch 102, and the load to minimize the possibility of inrush current or surge current. After pre-charging is completed, the power distribution switch S can be turned on, providing a low-impedance, high-efficiency current transmission path to supply power to the load. Moreover, by setting the power distribution switch S (power distribution switch Q0), the judgment logic based on the voltage corresponding to the target load and the preset threshold can be converted into a control signal, which can improve the reliability of control to a certain extent.

[0069] In one possible implementation, the precharge unit 101 includes a precharge resistor and at least one precharge switch.

[0070] At least one precharge switch is connected in series with the precharge resistor.

[0071] The precharge switch is used to output the precharge energy from the power supply to the corresponding target load when it is turned on, and to stop outputting the precharge energy to the corresponding target load when it is turned off.

[0072] Optionally, the pre-charge resistor is used to limit the current value of the pre-charge energy and / or to collect the current value flowing through the pre-charge resistor. The pre-charge resistor can be used as a current-limiting resistor and / or a sampling resistor; the pre-charge resistor can be any possible resistance value, which can be set according to actual needs (such as the output voltage of the power supply and / or the rated current of the load). This application embodiment does not limit this.

[0073] Optionally, each pre-charge switch can be any possible switch such as a MOSFET, transistor, or IGBT. This application does not limit this.

[0074] It is understandable that by setting the pre-charging resistor in the pre-charging unit 101, current limiting can be achieved. Furthermore, in some possible embodiments, the pre-charging resistor can also detect the current flowing through it, thus facilitating the control unit to control the corresponding switch to turn on or off based on the detected current value. Additionally, by setting at least one pre-charging switch in series with the pre-charging resistor, a controllable current transmission channel is formed. Therefore, by controlling the on / off state of at least one pre-charging switch, the pre-charging unit 101 can be controlled to output the pre-charged energy to the corresponding load.

[0075] The following is a detailed description of several possible pre-charge units 101 provided in the embodiments of this application: In the first implementation, see Figure 4The pre-charge resistor includes a first resistor R1, the pre-charge switch includes a first switch Q1, and the pre-charge unit 101 also includes a plurality of first diodes D1.

[0076] The first end of the first resistor R1 is used to connect to the positive power supply terminal (+) of the power supply. The second end of the first resistor R1 is connected to the first terminal of the first switching transistor Q1. The second terminal of the first switching transistor Q1 is connected to the positive terminal of each first diode D1. The negative terminal of each first diode D1 is connected to the positive output terminal of a power distribution branch 102.

[0077] The third terminal of the first switching transistor Q1 is used to receive the first control signal.

[0078] The number of first diodes D1 is equal to the number of all power distribution branches 102. That is, the cathode of each first diode D1 is connected to the positive output terminal of each power distribution branch 102 in a one-to-one correspondence, that is, the cathode of each first diode D1 is connected to a load.

[0079] In this embodiment, the first resistor R1 is used as a current-limiting resistor. In addition, the first diode D1 has a unidirectional conduction characteristic. Therefore, each first diode D1 is used to prevent the positive output terminal of the power distribution branch 102 from flowing into the precharge unit 101, thereby improving the safety of the circuit 100.

[0080] Optionally, the first switching transistor Q1 can be a P-channel switching transistor, such as a PMOS or a P-channel IGBT; it can also be a PNP transistor. This application does not limit this specific type.

[0081] In this embodiment, the precharge switch may further include a switch connected back-to-back with the first switch Q1, but this application embodiment does not limit this.

[0082] In this embodiment, the first control signal is configured to: control the first switch Q1 to turn on when it is necessary to precharge the target load corresponding to the target power distribution branch, so as to output the precharge energy to the target load; and control the first switch Q1 to turn off when the voltage of the target load is greater than or equal to the preset threshold.

[0083] Optionally, the first control signal may be generated by the aforementioned control unit and output to the first switching transistor Q1, and the first control signal may be any possible type of signal. This application does not limit this aspect.

[0084] Optionally, the first switch Q1 can be turned off if the voltage difference corresponding to the precharge unit 101 is less than a preset value. For example, see below. Figure 4 , Figure 4Voltage sampling points V1 and V2 are shown. Voltage sampling point V1 is a common sampling point. The voltage at voltage sampling point V1 can indicate the sum of the load voltage and the forward voltage drop of the first diode D1 (that is, the voltage output by the first switch Q1). The voltage at voltage sampling point V2 indicates the output voltage of the power supply.

[0085] For example, the voltage difference corresponding to the pre-charge unit 101 can be the first difference between the voltage at voltage sampling point V1 and the voltage at voltage sampling point V2. For another example, at the instant pre-charge starts, the voltage of each load is 0V or close to 0V, and each first diode D1 is turned on. At this time, the voltage at voltage sampling point V1 is very small, and the first difference is large. As pre-charging continues, the voltage of each load and the voltage at voltage sampling point V1 gradually increase, and the first difference gradually decreases. When pre-charging is complete or nearly complete, the voltage of each load is greater than or equal to the preset threshold. At this time, the first difference has become very small (less than the preset value). In this case, it can also be determined that pre-charging is complete, and then the first switch Q1 is controlled to turn off.

[0086] It is worth noting that the working principle of the pre-charge unit 101 provided in this embodiment will be briefly explained below: When the mobile device and / or power supply circuit 100 is in the off state, the first switch Q1 is turned off, and no current flows between the first resistor R1, the first switch Q1 and the plurality of first diodes D1.

[0087] When the mobile device and / or power supply circuit 100 is powered on, and at least one power distribution branch 102 needs to supply power to the corresponding load, the first switch Q1 is turned on. The power output from the power supply is limited by the first resistor R1 and then flows through the first switch Q1, and then flows into each load through each first diode D1 to precharge each load. The voltage of each load gradually rises. When the voltage of all loads is greater than or equal to the preset threshold (or the first difference is less than the preset value), the first switch Q1 is turned off to complete the precharging.

[0088] It is understood that the pre-charge unit 101 provided in this embodiment, by using a common first resistor R1 and a common first switch Q1, constructs a path with each first diode D1 that can pre-charge the loads corresponding to all power distribution branches, which has the advantages of simple control logic and low cost. Moreover, due to the unidirectional conduction characteristic of the first diode D1, it can also achieve the purpose of preventing backflow, thereby improving the safety of the circuit 100.

[0089] In the second implementation, see Figure 5 The pre-charge resistor includes a second resistor R2, the pre-charge switch includes a second switch Q2, and the pre-charge unit 101 further includes at least one second diode D2 and at least one third switch Q3.

[0090] The first end of the second resistor R2 is used to connect to the positive power supply terminal (+) of the power supply. The second end of the second resistor R2 is connected to the first terminal of the second switch Q2. The second terminal of the second switch Q2 is connected to the positive terminal of each second diode D2 and the first terminal of each third switch Q3. The negative terminal of each second diode D2 and the second terminal of each third switch Q3 are connected to the positive output terminal of a power distribution branch 102.

[0091] The third terminal of the second switch Q2 is used to receive the second control signal, and the third terminal of the third switch Q3 is used to receive the third control signal.

[0092] The sum of the number of at least one second diode D2 and the number of at least one third switch Q3 is equal to the number of all power distribution branches 102, and each second diode D2 and each third switch Q3 is connected to a different power distribution branch 102. That is, the cathode of each second diode D2 and the second terminal of each third switch Q3 are connected to the positive output terminal of each power distribution branch 102 in a one-to-one correspondence. In other words, the cathode of each second diode D2 is connected to a load, and the second terminal of each third switch Q3 is connected to a load.

[0093] In this embodiment, the second resistor R2 is used as a current-limiting resistor. In addition, the second diode D2 has a unidirectional conduction characteristic. Therefore, each second diode D2 is used to prevent the positive output terminal of the corresponding power distribution branch 102 from flowing into the pre-charge unit 101, thereby improving the safety of the circuit 100.

[0094] Optionally, the second switch Q2 can be an N-channel switch, such as an NMOS or an N-channel IGBT; it can also be an NPN transistor. This application does not limit this specific type of switch.

[0095] In this embodiment, the precharge switch may further include a switch connected back-to-back with the second switch Q2, but this application embodiment does not limit this.

[0096] In this embodiment, the second control signal is configured to: control the second switch Q2 to turn on when it is necessary to supply power to the load corresponding to the target power distribution branch; and control the second switch Q2 to turn off when the voltage of the target load is greater than or equal to the preset threshold.

[0097] In this embodiment, the third control signal is configured to: control the third switch Q3 to turn on when it is necessary to precharge the target load corresponding to the third switch Q3; and control the third switch Q3 to turn off when the voltage of the target load corresponding to the third switch Q3 is greater than or equal to the preset threshold.

[0098] Optionally, the second control signal may be generated by the aforementioned control unit and output to the second switch Q2, and the third control signal may be generated by the aforementioned control unit and output to the third switch Q3. The second and third control signals may be signals of any possible type. This application embodiment does not limit this.

[0099] Optionally, the second switch Q2 can be turned off when the voltage difference corresponding to the precharge unit 101 is less than a preset value; similarly, the third switch Q3 can be turned off when the voltage difference corresponding to the third switch Q3 is less than a preset value. For example, see below. Figure 5 , Figure 5 Voltage sampling points V3, V4, V5, and V6 are shown. Voltage sampling point V3 is a common sampling point, and the voltage at voltage sampling point V3 can indicate the output voltage of the second switch Q2. The voltages at voltage sampling points V4 and V5 can each indicate the output voltage of a third switch Q3. The voltage at voltage sampling point V6 indicates the output voltage of the power supply.

[0100] For example, the voltage difference corresponding to the precharge unit 101 can be the second difference between the voltage of voltage sampling point V3 and the voltage of voltage sampling point V6, and the voltage difference corresponding to the third switch Q3 can be the second difference between the voltage output by the third switch Q3 (in this example, the voltage of voltage sampling point V4 and / or the voltage of voltage sampling point V5) and the voltage of voltage sampling point V6.

[0101] For example, at the instant pre-charging starts, the voltage of each load is 0V or close to 0V, and each first diode D1 is turned on. At this time, the voltage at voltage sampling point V3 is very small, and the second difference is large. As pre-charging continues, the voltage of each load and the voltage at voltage sampling point V3 gradually increase, and the second difference gradually decreases. When pre-charging is complete or nearly complete, the voltage of each load is greater than or equal to the preset threshold. At this time, the second difference has become very small (less than the preset value). In this case, it can also be determined that pre-charging is complete, and then the second switch Q2 is turned off. Similarly, at the instant pre-charging starts and each third switch Q3 is turned on, the voltage sampling points V4 and V5 are very small, and the third difference is large. During pre-charging, the third difference gradually decreases. When pre-charging is complete or nearly complete, the voltage of each load is greater than or equal to the preset threshold. At this time, the third difference has become very small. In this case, it can also be determined that pre-charging is complete, and then the third switch Q3 is turned off.

[0102] It is worth noting that the working principle of the pre-charge unit 101 provided in this embodiment will be briefly explained below: When the mobile device and / or power supply circuit 100 is in the off state, the first switch Q1 is turned off, and no current flows between the second resistor R2, the second switch Q2, the multiple second diodes D2 and the third switch Q3.

[0103] When the mobile device and / or power supply circuit 100 is powered on, and at least one power distribution branch 102 needs to supply power to the corresponding load, the second switch Q2 is turned on. The power output from the power supply is limited by the second resistor R2 and flows through the second switch Q2, and then flows into the corresponding load through each second diode D2 to precharge the corresponding load. The voltage of the load corresponding to the second diode D2 gradually increases. When the voltage of the load corresponding to the second diode D2 is greater than or equal to the preset threshold (or the second difference is less than the preset value), the second diode D2 is turned off, and then each third switch Q3 is turned on, and then flows into the corresponding load through each third switch Q3 to precharge the corresponding load. The voltage of the load corresponding to the third switch Q3 gradually increases. When the voltage of the load corresponding to the third switch Q3 is greater than or equal to the preset threshold (or the third difference is less than the preset value), the second switch Q2 is turned off to complete the precharging.

[0104] It is worth noting that each of the third switches Q3 can be connected to loads with large static load current and small load capacitance, and each of the second diodes D2 can be connected to loads with small static load current and large load capacitance. Moreover, when multiple loads need to be precharged, the second switches Q2 can be turned on first and all the third switches Q3 can be turned off. In this way, the loads connected to each of the second diodes D2 can be precharged first. Then, after all the third switches Q3 are turned on or the loads corresponding to all the second diodes D2 have been precharged, one or more of the third switches Q3 can be turned on to precharge the loads with large static load current.

[0105] Based on this, after pre-charging is complete, the power distribution branch 102 corresponding to the third switch Q3 can be turned on sequentially. After all the power distribution branches 102 corresponding to the third switch Q3 are turned on, the power distribution branches 102 corresponding to each of the second diodes D2 can be turned on sequentially. In this way, power can be supplied to some loads with larger static load currents first, while the remaining loads have smaller static load currents. By turning on the power distribution branches 102 in batches, the possibility of inrush current or surge current can be further reduced.

[0106] It is understood that the pre-charge unit 101 provided in this embodiment provides an independent pre-charge path for loads with large quiescent current by introducing an independent third switch Q3. In this way, it can avoid the problem of simultaneously pre-charging all loads, resulting in a large current flowing through the second resistor R2 and / or a high voltage on the second switch Q2. This effectively solves the problem of a large voltage difference generated on the second resistor R2 by a large quiescent current. At the same time, for loads with small quiescent current, a lower-cost second diode D2 is used, thereby improving the effect of suppressing inrush current while taking cost into consideration.

[0107] If the mobile device is a robot, then the static current can refer to the current that maintains the operation of the corresponding control system after the load is powered on, that is, the static current before the motor in the load is enabled to output torque. During the pre-charging process, the voltage across the pre-charging resistor is the product of the static current and the pre-charging resistor value. A large static current will lead to a large pre-charging voltage difference. Therefore, the following relationship can be obtained: a large static current will generate a large pre-charging voltage difference across the pre-charging resistor, which may cause the load voltage to fail to pre-charge to the target value (such as the aforementioned preset threshold), resulting in incomplete pre-charging. In this state, if the corresponding distribution switch S is turned on, a high voltage difference will exist across the distribution switch S, thereby generating a huge closing surge current (impact current). When the distribution switch S in each distribution branch 102 is closed, there may be a large current impact. The peak current of the impact current is related to the pre-charging resistor value and / or the static current (generally, the larger the pre-charging resistor and / or the static load current, the larger the voltage difference). In this embodiment, the third switch Q3 can be used to precharge some loads with large static load currents individually. By precharging some loads in batches, the precharge voltage difference corresponding to each load can be reduced, thereby reducing the possibility of inrush current or surge current.

[0108] In the third implementation, see Figure 6 The pre-charge resistor includes a third resistor R3, and the pre-charge switch includes at least one fourth switch Q4.

[0109] The first end of the third resistor R3 is used to connect to the positive power supply terminal (+) of the power supply. The second end of the third resistor R3 is connected to the first terminal of each fourth switch Q4. The second terminal of each fourth switch Q4 is connected to the positive output terminal of a power distribution branch 102.

[0110] The third terminal of the fourth switch Q4 is used to receive the fourth control signal.

[0111] The number of fourth switching transistors Q4 is equal to the number of all power distribution branches 102. That is, the second terminal of each fourth switching transistor Q4 is connected to the positive output terminal of each power distribution branch 102 in a one-to-one correspondence, that is, the second terminal of each fourth switching transistor Q4 is connected to a load.

[0112] In this embodiment, the third resistor R3 is used as a current-limiting resistor. The fourth switch Q4 can be an N-channel switch, such as an NMOS or an N-channel IGBT; it can also be an NPN transistor. This application embodiment does not limit this.

[0113] In this embodiment, the fourth control signal is configured to: control the fourth switch Q4 to turn on when it is necessary to precharge the target load corresponding to the fourth switch Q4, so as to output the precharge energy to the target load corresponding to the fourth switch Q4; and control the fourth switch Q4 to turn off when the voltage of the target load corresponding to the fourth switch Q4 is greater than or equal to the preset threshold.

[0114] Optionally, the fourth control signal can be generated by the aforementioned control unit and output to the fourth switch Q4, and the fourth control signal can be any possible type of signal. This application does not limit this aspect.

[0115] Alternatively, the fourth switch Q4 can be turned off if the voltage difference corresponding to it is less than a preset value. For example, see [link to example]. Figure 6 , Figure 6 Voltage sampling points V7, V8, V9, V10, and V11 are shown. The voltages at voltage sampling points V7, V8, V9, and V10 can each indicate the output voltage of a fourth switch Q4; the voltage at voltage sampling point V11 indicates the output voltage of the power supply.

[0116] For example, the voltage difference corresponding to the fourth switch Q4 can be the fourth difference between the output voltage of the fourth switch Q4 and the voltage at the voltage sampling point V11. At the moment when pre-charging starts and any fourth switch Q4 is turned on, the voltage at the sampling point corresponding to the fourth switch Q4 is very small, and the fourth difference is very large; during the pre-charging process, the fourth difference gradually decreases; when the pre-charging is completed or nearly completed, the voltage of each load is greater than or equal to the preset threshold. At this time, the fourth difference has become very small. Under these circumstances, it can also be determined that the pre-charging is complete, and then the fourth switch Q4 can be turned off.

[0117] It is worth noting that the working principle of at least one fourth switch Q4 provided in this embodiment is similar to that of at least one third switch Q3 described above. The difference is that in this embodiment, each load is pre-charged independently by one fourth switch Q4. For the specific working principle, please refer to the description of the related embodiments of the first switch Q1 and the third switch Q3 described above, which will not be repeated here.

[0118] It is understood that in this embodiment, the third resistor R3 is used as a current-limiting element, and multiple independently controllable fourth switches Q4 are used instead of diodes. That is, the pre-charging of each load is independent of each other. Therefore, each fourth switch Q4 is turned on sequentially to pre-charge each load separately. This reduces the quiescent current flowing through the third resistor R3 and the voltage drop generated by it. Furthermore, compared to the first diode D1 solution described above, the fourth switch Q4 has lower on-resistance and better switching characteristics, which not only reduces the voltage drop in the pre-charging path and improves pre-charging efficiency, but also avoids reverse recovery problems, further improving the reliability of the power supply circuit 100.

[0119] In the fourth implementation, see Figure 7 The pre-charge resistor includes a fourth resistor R4, the pre-charge switch includes a fifth switch Q5, and the pre-charge unit 101 also includes an inductor L and at least one third diode D3.

[0120] The first terminal of the fifth switch Q5 is used to connect to the positive power supply terminal (+) of the power supply. The second terminal of the fifth switch Q5 is connected to the first terminal of the fourth resistor R4 and the negative terminal of each third diode D3. The second terminal of the fourth resistor R4 is connected to the first terminal of the inductor L. The second terminal of the inductor L is connected to the positive output terminal of each power distribution branch 102.

[0121] The positive terminal of each third diode D3 is used to connect to the negative power supply terminal of the power supply, and the third terminal of the fifth switching transistor Q5 is used to receive the fifth control signal.

[0122] The fifth control signal is configured to: when it is necessary to supply power to the target load corresponding to the target power distribution branch, control the fifth switch Q5 to alternately turn on and off according to a preset duty cycle to output the pre-charged energy to the target load; or, when the voltage of the target load is greater than or equal to the preset threshold, control the fifth switch Q5 corresponding to the target power distribution branch to remain off.

[0123] In this embodiment, the fifth switch Q5, inductor L, and each of the third diodes D3 can constitute a BUCK unit. Specifically, the switching frequency of the fifth switch Q5 can be controlled by the fifth control signal, thereby adjusting the voltage division of the power supply output voltage across inductor L. In this case, the fifth control signal can be a PWM signal, and the switching frequency of the fifth switch Q5 can be changed by adjusting the duty cycle of the PWM signal. This application does not limit this aspect.

[0124] In this embodiment, the inductor L is used to store energy when the fifth switch Q5 is turned on, and to release the stored energy when the fifth switch Q5 is turned off.

[0125] Optionally, the fifth switch Q5 can be an N-channel switch, such as an NMOS or an N-channel IGBT; it can also be an NPN transistor. This application does not limit this specific type of switch.

[0126] In this embodiment, the precharge switch may also include a switch connected back-to-back with the fifth switch Q5, but this application embodiment does not limit this.

[0127] Optionally, the fifth control signal can be generated by the aforementioned control unit and output to the fifth switching transistor Q5. Furthermore, the preset duty cycle can be set according to actual needs. Generally, at the beginning of pre-charging, the preset duty cycle is relatively small, and as pre-charging progresses, the preset duty cycle gradually increases. When pre-charging is complete or about to be completed, the preset duty cycle can be 100%. This application does not limit this aspect.

[0128] In this embodiment, the fourth resistor R4 is used as a current sensing resistor to collect the current value flowing through the fourth resistor R4 or through the inductor L. Therefore, the resistance value of the fourth resistor R4 can be relatively small.

[0129] In this embodiment, the third diode D3 is used to form a current path with the inductor L when the fifth switch Q5 is turned off. That is, the third diode D3 can serve as the freewheeling diode of the BUCK unit. The third diode D3 can be a TVS diode, which has unidirectional conduction characteristics and the function of suppressing transient voltages.

[0130] Alternatively, if the voltage difference corresponding to the precharge unit 101 is less than a preset value, the fifth switch Q5 can be kept off. For example, see below. Figure 7 , Figure 7 Voltage sampling points V12 and V13 are shown. The voltage at sampling point V12 indicates the output voltage of the BUCK unit, which is also the voltage of the load. The voltage at sampling point V13 indicates the output voltage of the power supply.

[0131] For example, the voltage difference corresponding to the pre-charge unit 101 can be the fifth difference between the voltage at voltage sampling point V12 and the voltage at voltage sampling point V13. For another example, at the instant pre-charge starts, the voltage of each load is 0V or close to 0V. At this time, the voltage at voltage sampling point V12 is very small, and the fifth difference is large. As pre-charging continues, the voltage output by the BUCK unit gradually increases, and the voltage of each load and the voltage at voltage sampling point V12 gradually increase, and the fifth difference gradually decreases. When pre-charging is complete or nearly complete, the voltage output by the BUCK unit is very close to the power supply voltage, or even equal to the power supply voltage, and the voltage of each load is greater than or equal to the preset threshold. At this time, the fifth difference has become very small (less than the preset value). In this case, it can also be determined that pre-charging is complete, and then the fifth switch Q5 is controlled to remain off.

[0132] It is worth noting that the working principle of the pre-charge unit 101 provided in this embodiment will be briefly explained below: When the mobile device and / or power supply circuit 100 is in the off state, the fifth switch Q5 is turned off, and no current flows between the fourth resistor R4, the fifth switch Q5, the inductor L and at least one third diode D3.

[0133] When the mobile device and / or power supply circuit 100 is powered on, and at least one power distribution branch 102 needs to supply power to the corresponding load, a fifth control signal with the preset duty cycle is output to the fifth switch Q5. The fifth switch Q5 alternately turns on and off under the action of this fifth control signal. When the fifth switch Q5 is on, the electrical energy output by the power supply flows sequentially through the positive power supply terminal, the fifth switch Q5, the fourth resistor R4, the inductor L, the target load, and the negative power supply terminal. The third diode D3 is negatively biased and does not conduct. During this stage, according to Kirchhoff's voltage law, there is... ,in, The output voltage of the power supply (i.e., the input voltage of the precharge unit 101). The voltage across the inductor is This is the voltage across the load (i.e., the output voltage of the precharge unit 101). The current in inductor L increases linearly, and electrical energy is converted into magnetic energy and stored in inductor L, while simultaneously charging the load capacitor. The fourth resistor R4 is used to sample the current flowing through inductor L in real time, providing current feedback.

[0134] During the pre-charging process, when the fifth switch Q5 is turned off, the current in inductor L cannot change abruptly. Inductor L generates a reverse electromotive force to maintain current continuity, and the third diode D3 is forward-biased and conducts, forming a freewheeling circuit. At this time, the current flow is: inductor L, load, third diode D3, inductor L. During this stage, the voltage across inductor L... (Ignoring diode voltage drop), the current in inductor L decreases linearly, and the magnetic energy stored in inductor L is converted into electrical energy to continue charging the load, ensuring that the charging current is uninterrupted and smooth.

[0135] In addition, under normal circumstances, the controller dynamically adjusts the preset duty cycle D of the fifth control signal based on a predetermined charging strategy (such as constant current charging) and the real-time current signal fed back from the fourth resistor. According to the volt-second balance principle of the Buck unit, the average inductor voltage within one switching cycle is zero in steady state. Therefore, the relationship between the average output voltage and the input voltage is derived as follows: Therefore, by adjusting the preset duty cycle D, the average output voltage can be linearly controlled. .

[0136] For example, in the initial stage of pre-charging, the load voltage The voltage is very low (close to 0V). To prevent excessive instantaneous current, it starts with a small preset duty cycle. At this time, the output voltage V of the Buck cell is... out (=D×V) in Only slightly higher than V load This generates a controlled and safe pre-charge energy. As the pre-charge process proceeds, the load voltage V... load The duty cycle D is gradually increased to extend the on-time of the fifth switch Q5, compensating for the decrease in the input-output voltage difference and thus maintaining a constant current change slope to ensure that the pre-charge current remains stable at a preset safety value. This can be adjusted according to actual needs; for example, it can also be adjusted when the load voltage V... load When the voltage rises to near a preset threshold (e.g., 95% of the power supply voltage), the system switches from constant current (CC) mode to constant voltage (CV) mode. This application does not limit this specific mode.

[0137] It is important to note that Figure 7 The pre-charge unit 101 shown includes multiple third diodes D3, and the positive terminal of each third diode D3 is connected to the negative power supply terminal of the power supply through a different negative line in the power distribution branch 102. See details. Figure 7 As shown. Additionally, in Figure 7 Based on this, continue to see Figure 8 , Figure 8 The precharge unit 101 shown includes only one third diode D3, and the positive terminal of this third diode D3 is connected to the negative power supply terminal of the power supply through a negative line in a power distribution branch 102. See details. Figure 8 As shown. It can be seen that, Figure 7 and Figure 8 The only difference between the circuits shown is the number of third diodes D3; their working principles are exactly the same. Figure 7 and Figure 8 Compared to the circuit shown, Figure 7 The circuit shown can distribute the freewheeling current of the inductor L to multiple third diodes D3, which can prevent the third diodes D3 from being damaged by overcurrent as much as possible. Figure 8 The circuit shown uses only one third diode, D3, which has a cost advantage.

[0138] It should be noted that in the pre-charge unit 101 provided in this embodiment, the fifth switch Q5, the inductor L and at least one third diode D3 form a BUCK unit. Through the current sampling and feedback of the fourth resistor R4, instantaneous current can be realized. That is, regardless of the size of the load capacitor, the peak current of the pre-charge energy will be limited to the preset value, which avoids the possibility of surge current or impact current as much as possible, and greatly improves the safety and reliability of power supply.

[0139] In one possible implementation, the power supply circuit 100 further includes a control unit.

[0140] The control unit is connected to the precharge unit 101 and each power distribution branch 102.

[0141] The control unit is used to control the operation of the pre-charge unit 101 and / or each power distribution branch 102 according to the acquired target voltage and the target conditions corresponding to the target voltage.

[0142] Optionally, the target voltage includes: the voltage at the input terminal of the precharge unit 101, the voltage at at least one output terminal of the precharge unit 101, and / or the voltage of each load. For example, the target voltage may include the voltage of any one or more sampling points among the voltage sampling points V1, ..., V13 mentioned above, and the target voltage may also include the voltage of the target load mentioned in any of the above embodiments. This application does not limit this aspect.

[0143] In this embodiment, the target condition may be: whether the voltage of the target load is greater than or equal to the preset threshold, whether the voltage difference corresponding to the precharge unit 101 is less than the corresponding preset value, whether the voltage difference corresponding to any possible switching transistor is less than the corresponding preset value, or any other possible conditions. This application embodiment does not limit this.

[0144] Optionally, the control unit can be used to control the on / off state of each switch in the precharge unit 101 and / or the power distribution switch S in each power distribution branch 102. Specifically, the operation of the precharge unit 101 and / or each power distribution branch 102 can be controlled by outputting the aforementioned power distribution control signals, first control signal, second control signal, third control signal, fourth control signal, and fifth control signal. This application embodiment does not limit this aspect.

[0145] Optionally, the control unit can also be used to receive the current value collected by the fourth resistor R4 and determine the preset duty cycle based on the current value. This application embodiment does not limit this aspect.

[0146] In this way, by setting up a control unit to uniformly control and allocate the pre-charging unit 101 and each power distribution branch 102, the power supply circuit 100 can be automated.

[0147] In one possible implementation, the power supply circuit 100 further includes a detection unit.

[0148] The detection unit is connected to the pre-charge unit 101, each power distribution branch 102 and the control unit respectively.

[0149] The detection unit is used to detect the target voltage and output the target voltage to the control unit.

[0150] Optionally, the detection unit may include a voltage detection device for detecting the target voltage, such as a probe for detecting any of the voltage sampling points mentioned above, or any other possible device. The detection unit may also include the aforementioned fourth resistor R4. This application does not limit this aspect.

[0151] In this way, the target voltage or current and other parameters can be accurately obtained so that the control unit can control the pre-charge unit 101 and each power distribution branch 102.

[0152] In another possible way, in the above Figure 1-8 Based on the above embodiments, see below. Figure 9 When the power supply circuit 100 is applied to the mobile device and the mobile device is a robot, the load in the mobile device (i.e. the load connected to each power distribution branch 102) may include a plurality of actuators X, each actuator X driving at least one component to move, thereby causing at least a portion of the mobile device to move.

[0153] Optionally, the rated voltage of each actuator X can be the same or different, depending on actual needs; for example, the voltage of each actuator X can be 48V, 36V, or any other possible voltage level. This application does not limit this.

[0154] Figure 9 The specific structure of actuator X is also shown, and multiple actuators X can be connected to a single power distribution branch 102. Each actuator X can include at least one electrical component and a protection unit. For example, in Figure 9The first actuator X shown may include a microcontroller unit (MCU), a sixth switch Q6 (as a protection unit), an inverter (DC load), and a motor (AC load).

[0155] The inverter can be used to convert DC power from the power supply circuit 100 into AC power and output the AC power to the motor. The motor can operate on AC power. This application embodiment does not limit this.

[0156] Optionally, the sixth switch Q6 can be a P-channel switch, such as a PMOS or a P-channel IGBT; it can also be a PNP transistor. In some possible embodiments, the sixth switch Q6 can also be an N-channel switch. This application does not limit this.

[0157] Furthermore, the sixth switch Q6 disconnects when the current flowing through it exceeds the corresponding current threshold, thereby cutting off the current path between the load in actuator X and the corresponding power distribution branch 102. In other words, the sixth switch Q6 can function as an overcurrent protection or short-circuit protection device.

[0158] In addition, the control terminal of the aforementioned control unit can be connected to the sixth switch Q6, meaning that the control unit can control the sixth switch Q6.

[0159] In one possible way, Figure 9 The other actuator X shown may include an actuator controller, a sixth switch Q6, and a sensor (DC load).

[0160] Furthermore, actuator X may also include a communication component that can perform any possible operations such as filtering and format conversion on the signal between the MCU and the communication module in the mobile device; the communication component and the communication module may be components based on EtherCAT communication.

[0161] Optionally, the communication component and the communication module can enable efficient data transmission between the MCU in each actuator X and the aforementioned control unit.

[0162] Optionally, the actuator X may also include a power supply module C for the actuator controller. The power supply module C can provide operating voltage to the actuator controller, so that power can be drawn from the outside of the sixth switch Q6, that is, directly from the power distribution branch 102. After the sixth switch Q6 is turned off, the actuator controller can still work and interact with the external communication module. This application embodiment does not limit this.

[0163] In addition, the specific connection relationships of the various components in actuator X can be found in [reference needed]. Figure 9As shown, the embodiments of this application will not be described in detail here.

[0164] The power supply system including the power supply circuit 100 provided in this application will be described below. The specific implementation process and technical effects are described above and will not be repeated below.

[0165] Based on the foregoing embodiments, this application provides a power supply system, which includes at least a power source and a power supply circuit 100 provided in any of the above embodiments.

[0166] Optionally, the power supply can be any possible component that provides the operating voltage for the pre-charge unit 101, the control unit, the detection unit, etc.

[0167] In addition, the power supply system may include any other possible devices to realize any other functions related to power supply, and the embodiments of this application do not limit this.

[0168] This application provides a mobile device, which includes at least: a power source, a load, and a power supply circuit 100 provided in any of the above embodiments.

[0169] Alternatively, the mobile device may include at least a load and a power supply system provided in the above embodiments.

[0170] It is understood that the power supply system and the mobile device include the power supply circuit 100 provided in the foregoing embodiments. The power supply system, the mobile device, and the power supply circuit 100 belong to the same inventive concept, and their implementation principles and technical effects are similar. For technical details not disclosed in the product-side embodiments of this application, please refer to the description of the circuit-side embodiments of this application for understanding. The embodiments of this application will not be repeated here.

[0171] Those skilled in the art will understand that Figure 1-9 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the mobile device to which the present application is applied. A specific mobile device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0172] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0173] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three kinds of relationships. For example, object A and / or object B can represent three situations: object A exists alone, object A and object B exist simultaneously, and object B exists alone.

[0174] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0175] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple modules or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or modules can be electrical, mechanical, or other forms.

[0176] The features disclosed in the several circuit or product embodiments provided in this application can be arbitrarily combined without conflict to obtain new circuit or product embodiments.

[0177] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0178] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A power supply circuit, characterized by comprising: The power supply circuit includes: a pre-charging unit and multiple power distribution branches; The positive input terminal of each of the power distribution branches is connected to the input terminal of the pre-charge unit, and the positive output terminal of each of the power distribution branches is connected to each output terminal of the pre-charge unit. The input terminal of the pre-charge unit is also used to connect to the positive power supply terminal of the power source, and the positive output terminal of each of the power distribution branches is used to connect to the load. The pre-charging unit is used to output pre-charging energy to the target load when it is necessary to pre-charge the target load corresponding to the target distribution branch; the target distribution branch is any one of the multiple distribution branches, and the target load is the load connected to the target distribution branch; The target power distribution branch is used to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load; the preset threshold is the voltage when the target load completes pre-charging.

2. The power supply circuit of claim 1, wherein, The pre-charge unit includes: a pre-charge resistor and at least one pre-charge switch transistor; At least one of the precharge switching transistors is connected in series with the precharge resistor; The precharge switch is used to output the precharge energy from the power supply to the corresponding target load when it is turned on, and to stop outputting the precharge energy to the corresponding target load when it is turned off. The pre-charge resistor is used to limit the current value of the pre-charge energy and / or to collect the current value flowing through the pre-charge resistor.

3. The power supply circuit of claim 2, wherein, The pre-charge resistor includes a first resistor, the pre-charge switch includes a first switch, and the pre-charge unit further includes a plurality of first diodes; The first end of the first resistor is used to connect to the positive power supply terminal of the power supply, the second end of the first resistor is connected to the first terminal of the first switching transistor, the second terminal of the first switching transistor is connected to the positive terminal of each of the first diodes, and the negative terminal of each of the first diodes is connected to the positive output terminal of one of the power distribution branches. The third terminal of the first switching transistor is used to receive the first control signal; The number of the first diodes is equal to the number of the power distribution branches; The first control signal is configured to: control the first switch to turn on when it is necessary to precharge the target load corresponding to the target power distribution branch, so as to output the precharge energy to the target load; and control the first switch to turn off when the voltage of the target load is greater than or equal to the preset threshold.

4. The power supply circuit as described in claim 2, characterized in that, The pre-charge resistor includes a second resistor, the pre-charge switch includes a second switch, and the pre-charge unit further includes at least one second diode and at least one third switch. The first end of the second resistor is used to connect to the positive power supply terminal of the power supply, the second end of the second resistor is connected to the first terminal of the second switching transistor, the second terminal of the second switching transistor is connected to the positive terminal of each second diode and the first terminal of each third switching transistor, and the negative terminal of each second diode and the second terminal of each third switching transistor are connected to the positive output terminal of one of the power distribution branches. The third terminal of the second switching transistor is used to receive the second control signal, and the third terminal of the third switching transistor is used to receive the third control signal; Wherein, the sum of the number of at least one second diode and the number of at least one third switch is equal to the number of all the power distribution branches, and each second diode and each third switch is connected to a different power distribution branch; The second control signal is configured to: control the second switch to turn on when it is necessary to supply power to the load corresponding to the target power distribution branch; and control the second switch to turn off when the voltage of the target load is greater than or equal to the preset threshold. The third control signal is configured to: control the third switch to turn on when it is necessary to precharge the target load corresponding to the third switch; and control the third switch to turn off when the voltage of the target load corresponding to the third switch is greater than or equal to the preset threshold.

5. The power supply circuit as described in claim 2, characterized in that, The pre-charge resistor includes a third resistor, and the pre-charge switch includes at least one fourth switch. The first end of the third resistor is used to connect to the positive power supply terminal of the power supply, the second end of the third resistor is connected to the first terminal of each of the fourth switching transistors, and the second terminal of each of the fourth switching transistors is connected to the positive output terminal of one of the power distribution branches. The third terminal of the fourth switch is used to receive the fourth control signal; The number of the fourth switch tubes is equal to the number of all the power distribution branches; The fourth control signal is configured to: control the fourth switch to turn on when it is necessary to precharge the target load corresponding to the fourth switch, so as to output the precharge energy to the target load corresponding to the fourth switch; and control the fourth switch to turn off when the voltage of the target load corresponding to the fourth switch is greater than or equal to the preset threshold.

6. The power supply circuit as described in claim 2, characterized in that, The pre-charge resistor includes a fourth resistor, the pre-charge switch includes a fifth switch, and the pre-charge unit further includes an inductor and at least one third diode; The first terminal of the fifth switching transistor is used to connect to the positive power supply terminal of the power supply. The second terminal of the fifth switching transistor is connected to the first terminal of the fourth resistor and the negative terminal of each of the third diodes. The second terminal of the fourth resistor is connected to the first terminal of the inductor. The second terminal of the inductor is connected to the positive output terminal of each of the power distribution branches. The positive terminal of each of the third diodes is used to connect to the negative power supply terminal of the power supply, and the third terminal of the fifth switching transistor is used to receive the fifth control signal; The fifth control signal is configured to: when it is necessary to supply power to the target load corresponding to the target power distribution branch, control the fifth switch to alternately turn on and off according to a preset duty cycle to output the pre-charged energy to the target load; or, when the voltage of the target load is greater than or equal to the preset threshold, control the fifth switch corresponding to the target power distribution branch to remain off. The inductor is used to store energy when the fifth switch is turned on, and to release the stored energy when the fifth switch is turned off; The third diode is used to form a current path with the inductor when the fifth switch is turned off.

7. The power supply circuit as described in any one of claims 1-6, characterized in that, Any of the aforementioned power distribution branches further includes: a power distribution switch; The first end of the power distribution switch is connected to the input end of the pre-charge unit, the second end of the power distribution switch is connected to each output end of the pre-charge unit, and the first end of the power distribution switch is used to connect to the positive power supply end of the power source. The power distribution switch is configured to remain off when the voltage corresponding to the target load is less than a preset threshold, and to be turned on when the voltage of the target load is greater than or equal to the preset threshold, so as to supply power to the target load.

8. The power supply circuit as described in any one of claims 1-6, characterized in that, The power supply circuit also includes: a control unit; The control unit is connected to the pre-charge unit and each of the power distribution branches respectively; The control unit is used to control the operation of the pre-charge unit and / or each of the power distribution branches according to the acquired target voltage and the target conditions corresponding to the target voltage. The target voltage includes: the voltage at the input terminal of the precharge unit and the voltage at at least one output terminal of the precharge unit.

9. The power supply circuit as described in claim 8, characterized in that, The power supply circuit further includes: a detection unit; The detection unit is connected to the pre-charge unit, each of the power distribution branches, and the control unit, respectively. The detection unit is used to detect the target voltage and output the target voltage to the control unit.

10. A power supply system, characterized in that, At least including: The power supply and the power supply circuit according to any one of claims 1 to 9.

11. A mobile device, characterized in that, At least including: Power supply, load, and power supply circuit as described in any one of claims 1 to 9; Alternatively, it may include at least: a load and the power supply system as described in claim 10.

Images