Robot joint controller active filtering system based on operational amplifier
Through the operational amplifier feedback circuit and series RC filtering system, combined with the voltage regulator, the problems of limited frequency response and insufficient immunity in the prior art are solved, effective filtering and high stability within the full frequency range are achieved, and suitable for robot joint controllers.
Patent Information
- Application Number
- CN202422646730.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-31
- Publication Date
- 2025-09-05
- Estimated Expiration
- 2034-10-31
AI Technical Summary
The existing EMI active active filtering system is limited in frequency response, and cannot achieve effective filtering within the full frequency range, and has insufficient immunity, which cannot meet the strict electromagnetic compatibility standards.
The feedback circuit based on the operational amplifier is adopted, and a series RC filtering system combined with high-frequency capacitors and resistors is combined to adjust the filtering reference voltage through the voltage regulator to achieve effective filtering in the full frequency range, and ensure the stable operation of the operational amplifier through the connection between the capacitors and resistors.
It realizes effective filtering effect within the full frequency range, improves disturbance immunity, reduces system complexity and cost, and meets the electromagnetic compatibility requirements of the robot joint controller.
Smart Images
Figure CN223309836U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of active filtering, and in particular to an operational amplifier-based active filtering system for a robot joint controller. Background Art
[0002] Robotics is an integral part of modern science and technology, widely used in manufacturing, healthcare, and the service industries. Robot joint motors and controllers are key components of robotic systems, and their performance directly impacts the robot's motion and control accuracy. Electromagnetic interference (EMI) is a key consideration in the design of robotic joint motors and controllers. The Active Electromagnetic Interference Filtering System (AEMI) is a technology used to suppress electromagnetic interference by actively injecting a signal with a phase opposite to the interfering signal, thereby counteracting the effects of the interfering signal.
[0003] Existing active EMI filtering systems typically use operational amplifier-based feedback circuits, detecting residual voltage or current interference via high-frequency capacitors and injecting an opposing signal to directly counteract the noise. This design can reduce the impact of EMI to a certain extent, but it has some problems.
[0004] Existing active EMI filtering systems present several practical challenges. While they can mitigate the impact of EMI to a certain extent, their filtering effectiveness is limited by their frequency response and cannot achieve adequate filtering across the entire frequency range. Furthermore, existing active filtering systems often require additional magnetic components, which not only increases system complexity but can also impact reliability and stability. Finally, existing active filtering systems lack robustness against sudden disturbances such as line voltage surges, failing to meet stringent electromagnetic compatibility standards. Utility Model Content
[0005] The technical problem to be solved by the present invention is that the active filtering system in the prior art has a small operating frequency range and cannot achieve effective filtering in the full frequency range. In order to overcome the above defects of the prior art, the present invention provides an active filtering system for a robot joint controller based on an operational amplifier.
[0006] The utility model provides an operational amplifier-based robot joint controller active filtering system, comprising: an operational amplifier U1, a voltage regulator U2;
[0007] The reverse connection end of the operational amplifier U1 is connected in series with the capacitor C1 to serve as the first active positive electrode port, and the output end of the operational amplifier U1 is connected in series with the resistor R3 and the capacitor C2 to serve as the second active positive electrode port;
[0008] The positive electrode of the operational amplifier U1 is electrically connected to the cathode of the voltage regulator U2 through the resistor R5, the cathode of the voltage regulator U2 is electrically connected to the reference electrode of the voltage regulator U2, the reference electrode of the voltage regulator U2 is electrically connected to the active positive electrode first port through the resistor R4, the anode of the voltage regulator U2 serves as the active negative electrode first port, the positive electrode of the operational amplifier U1 is electrically connected to the active negative electrode first port through the resistor R6, and the active positive electrode second port serves as the active negative electrode second port after being connected in series with the resistor R2 and the capacitor C5;
[0009] The active positive electrode first port is electrically connected to the active positive electrode second port, and the active negative electrode first port is electrically connected to the active negative electrode second port.
[0010] Compared with the existing technology, the active filtering system of the robot joint controller based on the operational amplifier in the present application has the following advantages: based on the feedback circuit of the operational amplifier, high-frequency noise can be effectively filtered out through the high-frequency capacitor C1; at the same time, the output end of the operational amplifier is current limited by the resistor R3, and the value of the CM choke coil can be reduced by the capacitor C2; the operational amplifier filter reference voltage is conveniently adjusted through the voltage regulator, and the system has strong anti-interference ability when the line voltage surges suddenly interfere, so that effective filtering can be achieved in the full frequency range.
[0011] In a possible implementation, the connection end of the capacitor C2 and the resistor R3 is electrically connected to the inverting connection end of the operational amplifier U1 via a capacitor C4 and a resistor R1 connected in series.
[0012] Compared with the prior art, by connecting an RC filter system in series to the operational amplifier, the feedback network of the operational amplifier is made capacitive at low frequencies to perform low-frequency compensation and prevent the operational amplifier from saturating.
[0013] In a possible implementation, the connection terminal of the capacitor C2 and the resistor R3 is electrically connected to the inverting connection terminal of the operational amplifier U1 through the resistor R7.
[0014] Compared with the prior art, the output of the operational amplifier is fed back through the resistor R7 to ensure that the operational amplifier can operate stably.
[0015] In a possible implementation manner, the active positive electrode first port is electrically connected to the active negative electrode first port via a capacitor C3.
[0016] Compared with the prior art, the capacitor C3 is provided to filter the active positive port and the active negative port, thereby further ensuring signal stability.
[0017] In a possible implementation, the operational amplifier U1 is an OPA340 operational amplifier.
[0018] In a possible implementation, the voltage regulator U2 is a TL431 voltage regulator.
[0019] In a possible implementation, the capacitor C1 is a ceramic capacitor, and the capacitance of the capacitor C1 is 10nF.
[0020] In a possible implementation, the capacitor C2 is a ceramic capacitor, and the capacitance of the capacitor C2 is 22 nF.
[0021] In a possible implementation manner, the resistance of the resistor R3 is 1-10Ω. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 This is a circuit diagram of an active filtering system for a robot joint controller based on an operational amplifier in the utility model.
[0023] Description of Figure Numbers:
[0024] 11 - active positive electrode first port; 12 - active positive electrode second port; 21 - active negative electrode first port; 22 - active negative electrode second port. DETAILED DESCRIPTION
[0025] First, those skilled in the art should understand that these embodiments are merely used to explain the technical principles of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Those skilled in the art may adjust them as needed to suit specific application scenarios.
[0026] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.
[0027] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.
[0028] See also Figure 1As shown, an embodiment of the present application discloses an active filtering system of a robot joint controller based on an operational amplifier, including: an operational amplifier U1 and a voltage regulator U2.
[0029] The reverse connection terminal of the operational amplifier U1 is connected in series with the capacitor C1 and serves as the active positive electrode first port 11 . The output terminal of the operational amplifier U1 is connected in series with the resistor R3 and the capacitor C2 and serves as the active positive electrode second port 12 .
[0030] The feedback circuit of operational amplifier U1 detects residual voltage or current interference through high-frequency capacitor C1 and injects an opposite signal that directly cancels the noise interference, effectively filtering out high-frequency noise. The output of the operational amplifier is then current-limited through resistor R3, and capacitor C2 reduces the value of the CM choke.
[0031] Among them, the operational amplifier U1 is an OPA340 operational amplifier, which has the characteristics of high bandwidth, low noise and low power consumption, and can effectively detect and inject signals.
[0032] Capacitor C1 is a ceramic capacitor with a capacitance of 10nF. Capacitor C2 is a ceramic capacitor with a capacitance of 22nF. Resistor R3 has a resistance of 1 to 10Ω.
[0033] In this embodiment, the connection end of capacitor C2 and resistor R3 is electrically connected to the reverse connection end of operational amplifier U1 through resistor R7, and the connection end of capacitor C2 and resistor R3 is electrically connected to the reverse connection end of operational amplifier U1 through series capacitor C4 and resistor R1.
[0034] The output of operational amplifier U1 is fed back through resistor R7 to ensure stable operation of the operational amplifier. An RC filter system is then connected in series with operational amplifier U1, making the feedback network of operational amplifier U1 capacitive at low frequencies to provide low-frequency compensation and prevent saturation of operational amplifier U1.
[0035] In this embodiment, the positive electrode of the operational amplifier U1 is electrically connected to the cathode of the voltage regulator U2 through the resistor R5, the cathode of the voltage regulator U2 is electrically connected to the reference electrode of the voltage regulator U2, and the reference electrode of the voltage regulator U2 is electrically connected to the active positive electrode first port 11 through the resistor R4.
[0036] The anode of the voltage regulator U2 serves as the active negative first port 21 , the positive electrode of the operational amplifier U1 is electrically connected to the active negative first port 21 through the resistor R6 , and the active positive second port 12 serves as the active negative second port 22 through the series resistor R2 and the capacitor C5 .
[0037] The voltage regulator U2 is a TL431 precision voltage regulator. A current-limiting resistor R4 is connected in series with the front stage to generate a 2.5V voltage, which is then divided by high-precision resistors R5 and R6 to adjust the filter reference voltage of the operational amplifier U1.
[0038] Op amp U1 typically has a low-frequency pole. However, at high frequencies, the output impedance of op amp U1 and the bus capacitor creates a pole, causing a phase lag in the loop gain. Consequently, the loop gain has two poles at high frequencies, and its phase approaches negative 180°, leading to instability at high frequencies. Therefore, resistor R2 and capacitor C5 are added for high-frequency compensation.
[0039] The active positive electrode first port 11 is electrically connected to the active positive electrode second port 12 , and the active negative electrode first port 21 is electrically connected to the active negative electrode second port 22 .
[0040] The operational amplifier filter reference voltage can be easily adjusted through the voltage regulator. When the line voltage surge suddenly interferes, it has strong anti-interference ability and can achieve effective filtering in the full frequency range.
[0041] In this embodiment, the active positive first port 11 is electrically connected to the active negative first port 21 via a capacitor C3. By providing the capacitor C3 to filter the active positive port and the active negative port, signal stability is further ensured.
[0042] The active filtering system of this embodiment can directly replace passive EMI filtering circuits such as common-mode inductors and Y capacitors, or reduce their capacity and volume to achieve high power density and reduce the cost of passive filtering components.
[0043] Specifically, the system features a miniaturized circuit board, measuring only 10cm x 10cm, effectively reducing cost and size. The above are the specific steps of this embodiment. Through these steps, an operational amplifier-based active EMI filter system for a robot joint controller can be effectively implemented, thereby improving the system's anti-interference capability and electromagnetic compatibility.
[0044] Compared with the existing technology, the beneficial effects of this technical solution are as follows:
[0045] 1. Reduced size and weight: The AEF topology of the present invention reduces the value of the CM choke by using an injection capacitor similar to a Y capacitor, thereby reducing the number and size of the required magnetic components and capacitors, reducing the volume and weight of the entire filtering system, and meeting the controller size requirements of the robotics industry.
[0046] 2. Improved filtering effect: The AEF topology of the present invention improves the frequency response of the filter by using an active circuit to amplify the value of the injected capacitor, which can achieve good filtering effect in a wider frequency range and effectively reduce the impact of electromagnetic interference.
[0047] 3. Improved anti-interference capability: The AEF topology of the present invention enhances system security by using a low-voltage AEF IC based on the chassis ground. The flexible placement of the independent AEF IC enables the system to better cope with sudden interference such as line voltage surges, meeting the requirements of strict electromagnetic compatibility standards.
[0048] 4. Reduce costs: The AEF topology of the present invention does not require additional magnetic components, only Y-type detection and injection capacitors, which not only simplifies the system structure and reduces the complexity of the system, but also reduces the manufacturing cost and improves the cost performance of the system.
[0049] 5. High stability margin: The AEF topology of the present invention has a simple filter structure, a wide operating frequency range and a high stability margin, and can maintain a stable filtering effect under various working environments.
[0050] In general, the AEF topology of the present invention has significant advantages over existing EMI active filtering systems in terms of reducing volume and weight, improving filtering effect, improving anti-interference ability, reducing costs and high stability margin, and is an ideal electromagnetic interference suppression technology.
[0051] Due to the advanced nature of this technical solution, it can be widely used in application fields such as robotics, electronic engineering and signal processing.
[0052] In the field of robotics, this new active filtering system can effectively reduce the impact of electromagnetic interference, improve the performance of robot joint motors and controllers, and thus enhance the robot's motion and control accuracy. Furthermore, due to its small size, light weight, and low power loss, it is ideally suited for use in robot joint controllers where space is limited.
[0053] In the field of electronic engineering, the active filtering system of this utility model can replace traditional passive filtering components such as common-mode inductors and Y capacitors, thereby reducing the cost of filtering components and improving system integration and reliability. In addition, due to its wide frequency response, it can achieve good filtering effects across the entire frequency range, making it widely applicable to various electronic devices.
[0054] In the field of signal processing, the active filtering system of this utility model can be used to detect and suppress various noise interferences, thereby improving signal processing effectiveness. Due to its strong anti-interference ability, it can effectively deal with sudden interferences such as line voltage surges, and therefore has wide application in signal processing systems that require high electromagnetic compatibility standards.
[0055] In general, the active filtering system of the present invention has broad application prospects and market demand in the fields of robotics, electronic engineering and signal processing due to its unique design and technical advantages.
[0056] In the description of the embodiments of the present application, it should be noted that in the description of the present application, terms such as "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or component must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present application.
[0057] In the description of the present application, the description with reference to the terms "one embodiment", "some embodiments", "in the present embodiment", "specific example", or "some examples" means that the specific features, mechanisms, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, mechanisms, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.
[0058] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.
Claims
1. An active filtering system for a robot joint controller based on an operational amplifier, characterized in that: include: Operational amplifier U1, voltage regulator U2; The reverse connection end of the operational amplifier U1 is connected in series with a capacitor C1 to serve as an active positive electrode first port (11), and the output end of the operational amplifier U1 is connected in series with a resistor R3 and a capacitor C2 to serve as an active positive electrode second port (12); The positive electrode of the operational amplifier U1 is electrically connected to the cathode of the voltage regulator U2 through a resistor R5, the cathode of the voltage regulator U2 is electrically connected to the reference electrode of the voltage regulator U2, the reference electrode of the voltage regulator U2 is electrically connected to the active positive electrode first port through a resistor R4, the anode of the voltage regulator U2 serves as the active negative electrode first port (21), the positive electrode of the operational amplifier U1 is electrically connected to the active negative electrode first port (21) through a resistor R6, and the active positive electrode second port (12) serves as the active negative electrode second port (22) after being connected in series with a resistor R2 and a capacitor C5; The active positive electrode first port (11) is electrically connected to the active positive electrode second port (12), and the active negative electrode first port (21) is electrically connected to the active negative electrode second port (22).
2. The active filtering system of the robot joint controller based on an operational amplifier according to claim 1, characterized in that: The connection end of the capacitor C2 and the resistor R3 is electrically connected to the inverting connection end of the operational amplifier U1 through the series capacitor C4 and the resistor R1.
3. The operational amplifier-based active filtering system for a robot joint controller according to claim 1, characterized in that: The connection end of the capacitor C2 and the resistor R3 is electrically connected to the reverse connection end of the operational amplifier U1 through the resistor R7.
4. The operational amplifier-based robot joint controller active filtering system according to claim 1, characterized in that: The active positive electrode first port is electrically connected to the active negative electrode first port via capacitor C3.
5. The operational amplifier-based active filtering system for a robot joint controller according to claim 1, characterized in that: The operational amplifier U1 is an OPA340 operational amplifier.
6. The operational amplifier-based robot joint controller active filtering system according to claim 1, characterized in that: The voltage regulator U2 is a TL431 voltage regulator.
7. The operational amplifier-based active filtering system for a robot joint controller according to claim 1, characterized in that: The capacitor C1 is a ceramic capacitor, and the capacitance of the capacitor C1 is 10nF.
8. The operational amplifier-based active filtering system for a robot joint controller according to claim 1, characterized in that: The capacitor C2 is a ceramic capacitor, and the capacitance of the capacitor C2 is 22nF.
9. The operational amplifier-based active filtering system for a robot joint controller according to claim 1, characterized in that: The resistance of the resistor R3 is 1-10Ω.