A kind of voltage stabilizing regulating circuit and servo driver equipment

Abstract

The application discloses a voltage stabilizing and adjusting circuit and a servo driver device. The voltage stabilizing and adjusting circuit comprises a rectifier bridge, an inverter circuit, a bus capacitor, a first inductor, a first capacitor, a first diode, a switching adjusting circuit and a control circuit. The switching adjusting circuit is arranged between the inverter circuit and the rectifier bridge and is used for controlling the input voltage of a motor. The control circuit is connected with the motor and the switching adjusting circuit respectively. The control circuit is used for acquiring a first voltage and a second voltage, identifying parameters of the motor and determining a third voltage based on the parameters of the motor. The control circuit is used for controlling the voltage stabilizing and adjusting circuit to be in a step-up state or a step-down state through the switching adjusting circuit based on the third voltage, the first voltage and the second voltage, so as to control the input voltage of the motor. In the above manner, the charging and discharging pressure of the bus capacitor is reduced, the ripple voltage of the bus capacitor is reduced, the service life of the bus capacitor is prolonged, the size of the servo driver is reduced and the use convenience is improved.

Description

Technical Field

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

[0002] Existing industrial servo drives typically employ a power supply scheme consisting of a mains input, a rectifier bridge, and a bus capacitor. The AC input is passively rectified into pulsating DC by the rectifier bridge, and then filtered by the bus capacitor to form bus DC, which is then supplied to the inverter side to drive the servo motor.

[0003] However, due to grid voltage fluctuations and load changes, the charging and discharging of the bus capacitors leads to increased bus voltage ripple, reducing the lifespan of the bus capacitors. Furthermore, the large electrolytic capacitors used to cope with voltage fluctuations increase the size of the servo driver, reducing its ease of use. Utility Model Content

[0004] This application mainly provides a voltage regulation circuit and a servo driver device to solve the problem that the charging and discharging of the bus capacitor due to power grid voltage fluctuations and load changes will cause the bus voltage ripple to increase.

[0005] This application provides a voltage regulation circuit, including:

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

[0007] An inverter circuit, wherein the first input terminal of the inverter circuit is connected to the first output terminal of the rectifier bridge, the second input terminal of the inverter circuit is connected to the second output terminal of the rectifier bridge, and the output terminal of the inverter circuit is connected to the motor;

[0008] A bus capacitor, the positive terminal of which is connected between the first input terminal of the inverter circuit and the first output terminal of the rectifier bridge, and the negative terminal of which is connected between the second input terminal of the inverter circuit and the second output terminal of the rectifier bridge, the bus capacitor is used to filter the output second voltage;

[0009] A first inductor, one end of which is connected between the positive terminal of the bus capacitor and the first output terminal of the rectifier bridge, and the other end of which is connected between the negative terminal of the bus capacitor and the second output terminal of the rectifier bridge;

[0010] A first capacitor and a first diode, one end of the first capacitor is connected to the first output terminal of the rectifier bridge, the other end of the first capacitor is connected to one end of the first inductor, the anode of the first diode is connected to one end of the first inductor, and the cathode of the first diode is connected to the anode of the bus capacitor.

[0011] A switching adjustment circuit is disposed between the inverter circuit and the rectifier bridge, and is used to control the input voltage of the motor;

[0012] A control circuit is connected to the motor and the switching regulation circuit respectively. The control circuit is used to acquire the first voltage and the second voltage, identify the parameters of the motor, and determine a third voltage based on the parameters of the motor. The control circuit is used to control the voltage regulation circuit to be in a boost state or a buck state through the switching regulation circuit based on the third voltage, the first voltage, and the second voltage, so as to control the input voltage of the motor.

[0013] The switching adjustment circuit includes a first switching circuit and a second switching circuit. One end of the first switching circuit is connected between one end of the first capacitor and the first output terminal of the rectifier bridge, and the other end of the first switching circuit is connected between the other end of the first inductor and the second output terminal of the rectifier bridge. One end of the second switching circuit is connected between the first input terminal of the inverter circuit and the positive terminal of the bus capacitor, and the other end of the second switching circuit is connected between the second input terminal of the inverter circuit and the negative terminal of the bus capacitor.

[0014] The voltage regulation circuit further includes a first driving circuit and a second driving circuit. The first driving circuit is connected to the control circuit and the first switching circuit respectively, and is used to control the first switching circuit to be turned on or off. The second driving circuit is connected to the control circuit and the second switching circuit respectively, and is used to control the second switching circuit to be turned on or off.

[0015] The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor.

[0016] The control circuit is used to control the first switching circuit to disconnect via the first driving circuit and to control the second switching circuit to turn on via the second driving circuit when the third voltage is less than the second voltage.

[0017] The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor.

[0018] The control circuit is used to control the first switching circuit to turn on and then turn off at a preset first switching frequency through the first driving circuit when the third voltage is greater than the second voltage and the third voltage is greater than the first voltage, and to control the second switching circuit to turn off through the second driving circuit, so that the voltage regulation circuit is in a boost state.

[0019] The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain the third voltage based on the parameters of the motor.

[0020] The control circuit is used to control the first switching circuit to turn on and then turn off at a preset second switching frequency through the first driving circuit when the third voltage is greater than the second voltage and the third voltage is less than the first voltage, and to control the second switching circuit to turn off through the second driving circuit, so that the voltage regulation circuit is in a step-down state.

[0021] The first switching circuit includes a second inductor and a first switch. One end of the second inductor is connected to the first output terminal of the rectifier bridge, and the other end of the second inductor is connected to one end of the first capacitor. One end of the first switch is connected between the other end of the second inductor and one end of the first capacitor, and the other end of the first switch is connected between the other end of the first inductor and the second output terminal of the rectifier bridge.

[0022] The second switching circuit includes a second diode, a first resistor, and a second switch. One end of the second switch is connected between the second input terminal of the inverter circuit and the negative terminal of the bus capacitor. The other end of the second switch is connected to the positive terminal of the second diode. The negative terminal of the second diode is connected between the first input terminal of the inverter circuit and the positive terminal of the bus capacitor. One end of the first resistor is connected between the positive terminal of the bus capacitor and the negative terminal of the second diode. The other end of the first resistor is connected between the positive terminal of the second diode and the other end of the second switch.

[0023] Wherein, the input terminal of the first driving circuit is connected to the first output terminal of the control circuit, the first output terminal of the first driving circuit is connected to one end of the first switch, and the second output terminal of the first driving circuit is connected to the other end of the first switch; the input terminal of the second driving circuit is connected to the second output terminal of the control circuit, the first output terminal of the second driving circuit is connected to one end of the second switch, and the second output terminal of the second driving circuit is connected to the second end of the second switch.

[0024] This application also provides a servo driver device, including the voltage regulation circuit described above.

[0025] The beneficial effects of this application are as follows: In this application, the switching regulation circuit is located between the inverter circuit and the rectifier bridge to control the input voltage of the motor. The control circuit is connected to both the motor and the switching regulation circuit. The control circuit acquires the first voltage and the second voltage, identifies the motor parameters, and determines the third voltage based on the motor parameters. Based on the third voltage, the first voltage, and the second voltage, the control circuit controls the voltage regulator circuit to be in a boost or buck state via the switching regulation circuit to control the motor's input voltage. The control circuit of this application controls the voltage regulator circuit to be in a boost or buck state via the switching regulation circuit, thereby adjusting the motor's input voltage. This allows the voltage regulator circuit to quickly adapt to grid voltage fluctuations and load changes. Using a smaller capacity bus capacitor reduces the charging and discharging pressure of the bus capacitor. Furthermore, the synergistic effect of the first inductor and the first capacitor reduces the ripple voltage of the bus capacitor, extending its service life. Using a smaller capacity bus capacitor also reduces the size of the servo driver and improves ease of use. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of 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. Wherein:

[0027] Figure 1 This is a circuit diagram of one embodiment of the voltage regulation circuit provided in this application;

[0028] Figure 2 This is a waveform example diagram of an embodiment of the first voltage, second voltage, third voltage, first switch, and second switch in the working state provided in this application. Detailed Implementation

[0029] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0030] 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 pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

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

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0034] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0035] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0036] In the description of the embodiments of this application, unless otherwise expressly specified and limited, the technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a connection between two components or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0037] Please see Figure 1 As shown, Figure 1This is a circuit diagram of an embodiment of the voltage regulation circuit provided in this application. The voltage regulation circuit 10 of this embodiment includes a rectifier bridge 11, an inverter circuit 12, a bus capacitor 13, a first inductor L1, a first capacitor C1, a first diode D1, a switching regulation circuit 14, and a control circuit 15.

[0038] The input terminal of rectifier bridge 11 receives AC current, meaning the input terminal of rectifier bridge 11 is connected to AC power. The main function of rectifier bridge 11 is to convert AC power to DC power; that is, rectifier bridge 11 is used to convert AC power to DC power.

[0039] In some embodiments, the input terminal of the rectifier bridge 11 receives three-phase power, rectifies the three-phase power, and outputs a first voltage U1. The first voltage U1 is a DC voltage, also called the input voltage. For example, the input terminal of the rectifier bridge 11 receives three-phase AC380V or AC220V. In other embodiments, the input terminal of the rectifier bridge 11 receives single-phase power or a three-phase power supply with one phase missing.

[0040] The first input terminal 121 of the inverter circuit 12 is connected to the first output terminal 111 of the rectifier bridge 11, the second input terminal 122 of the inverter circuit 12 is connected to the second output terminal 112 of the rectifier bridge 11, and the output terminal of the inverter circuit 12 is connected to the motor 16.

[0041] Optionally, the first output terminal 111 of the rectifier bridge 11 refers to the positive output terminal of the rectifier bridge 11, and the second output terminal 112 of the rectifier bridge 11 refers to the negative output terminal of the rectifier bridge 11; the first input terminal 121 of the inverter circuit 12 refers to the positive input terminal of the inverter circuit 12, and the second input terminal 122 of the inverter circuit 12 refers to the negative input terminal of the inverter circuit 12.

[0042] Inverter circuit 12 refers to a power conversion circuit that converts DC power into AC power. In some embodiments, inverter circuit 12 receives the first voltage U1 rectified by rectifier bridge 11 and converts it into AC power output to motor 16. The voltage output by inverter circuit 12 serves as the input voltage of motor 16, also called the supply voltage, which drives motor 16 to operate.

[0043] The positive terminal of the bus capacitor 13 is connected between the first input terminal 121 of the inverter circuit 12 and the first output terminal 111 of the rectifier bridge 11, and the negative terminal of the bus capacitor 13 is connected between the second input terminal 122 of the inverter circuit 12 and the second output terminal 112 of the rectifier bridge 11. The bus capacitor 13 is used to filter the output second voltage U2.

[0044] Bus capacitor 13 is a capacitor used for DC power supply filtering. Optionally, bus capacitor 13 is used to filter the current output from rectifier bridge 11 and output a second voltage U2 to inverter circuit 12. The second voltage U2 is also called bus voltage.

[0045] Optionally, the inverter circuit 12 receives the first voltage U1 rectified by the rectifier bridge 11 and / or the second voltage U2 filtered by the bus capacitor 13, and converts it into AC power output to the motor 16.

[0046] One end of the first inductor L1 is connected between the positive terminal of the bus capacitor 13 and the first output terminal 111 of the rectifier bridge 11, and the other end of the first inductor L1 is connected between the negative terminal of the bus capacitor 13 and the second output terminal 112 of the rectifier bridge 11.

[0047] Optionally, the first inductor L1 is used to filter and store energy in the first voltage U1 output by the rectifier bridge 11.

[0048] One end of the first capacitor C1 is connected to the first output terminal 111 of the rectifier bridge 11, the other end of the first capacitor C1 is connected to one end of the first inductor L1, the positive terminal of the first diode D1 is connected to one end of the first inductor L1, and the negative terminal of the first diode D1 is connected to the positive terminal of the bus capacitor 13.

[0049] The switching regulation circuit 14 is located between the inverter circuit 12 and the rectifier bridge 11 and is used to control the input voltage of the motor 16.

[0050] The input voltage of motor 16 refers to the voltage supplied to motor 16, which is the voltage required to drive motor 16.

[0051] Optionally, the switching regulation circuit 14 uses one or more switches to regulate energy transfer, thereby achieving precise control of the input voltage of the motor 16.

[0052] In some embodiments, the switching regulation circuit 14 is disposed between the rectifier bridge 11 and the inverter circuit 12. The switching regulation circuit 14 controls the input from the rectifier bridge 11 to the inverter circuit 12, thereby controlling the input voltage of the motor 16.

[0053] The control circuit 15 is connected to the motor 16 and the switching adjustment circuit 14 respectively. The control circuit 15 is used to acquire the first voltage U1 and the second voltage U2, identify the parameters of the motor 16, and determine the third voltage U3 based on the parameters of the motor 16. The control circuit 15 is used to control the voltage regulation circuit 10 to be in a boost state or a buck state through the switching adjustment circuit 14 based on the third voltage U3, the first voltage U1 and the second voltage U2, so as to control the input voltage of the motor 16.

[0054] The control circuit 15 refers to the component in the voltage regulation circuit 10 that is responsible for the control logic and arithmetic processing of the entire circuit. The control circuit 15 includes, but is not limited to, a microcontroller unit (MCU), a field-programmable gate array, a digital signal processor, and a programmable logic device.

[0055] In some embodiments, the control circuit 15 includes a motor parameter self-identification unit (not shown), an input voltage sampling unit (not shown), and a bus voltage sampling unit (not shown); the motor parameter self-identification unit identifies the parameters of the motor 16, such as the voltage level of the motor 16; the input voltage sampling unit samples the first voltage U1 in real time, for example, the input voltage sampling unit is connected to the first output terminal 111 of the rectifier bridge 11, at which time the input voltage sampling unit can sample the first voltage U1; the bus voltage sampling unit samples the second voltage U2 in real time, for example, the bus voltage sampling unit is connected to the positive terminal of the bus capacitor 13, at which time the bus voltage sampling unit can sample the second voltage U2.

[0056] The third voltage U3 refers to a reference voltage obtained based on the parameters of motor 16. This reference voltage ensures that motor 16 operates under a safe voltage, preventing performance degradation or damage due to excessively high or low voltage. Optionally, the parameters of motor 16 may be its voltage rating, such as AC220V, in which case the third voltage U3 obtained based on these parameters would be DC320V.

[0057] Since the input voltage levels are AC220V and AC380V, for example, when the input voltage level is AC380V, the parameters of motor 16 are AC220V. The input voltage level does not match the parameters of motor 16, so it is necessary to adjust the input voltage to control the input voltage of motor 16 to ensure that motor 16 can operate stably.

[0058] In some embodiments, the control circuit 15 takes the acquired third voltage U3, first voltage U1, and second voltage U2 as inputs and dynamically adjusts the operating state of the switching regulation circuit 14 through a built-in control algorithm, so that the voltage regulator circuit 10 is in a boost or buck state, thereby controlling the input voltage of the inverter circuit 12 and the input voltage of the motor 16. At this time, the control circuit 15 can accurately control the input voltage of the motor 16 through the switching regulation circuit 14, so that the same servo driver can operate within a wider input voltage range.

[0059] In this embodiment, the control circuit 15 controls the voltage regulation circuit 10 to be in a boost or buck state through the switching adjustment circuit 14, thereby adjusting the input voltage of the motor 16. This allows the voltage regulation circuit 10 to quickly adapt to grid voltage fluctuations and load changes. By using a smaller capacity bus capacitor 13, the charging and discharging pressure of the bus capacitor 13 can be reduced. Furthermore, through the synergistic effect of the first inductor L1 and the first capacitor C1, the ripple voltage of the bus capacitor 13 is reduced, extending its service life. The use of a smaller capacity bus capacitor 13 also reduces the size of the servo driver and improves ease of use.

[0060] According to some embodiments of this application, such as Figure 1 As shown, the switching adjustment circuit 14 in this embodiment includes a first switching circuit 141 and a second switching circuit 142. One end of the first switching circuit 141 is connected between one end of the first capacitor C1 and the first output terminal 111 of the rectifier bridge 11, and the other end of the first switching circuit 141 is connected between the other end of the first inductor L1 and the second output terminal 112 of the rectifier bridge 11. One end of the second switching circuit 142 is connected between the first input terminal 121 of the inverter circuit 12 and the positive terminal of the bus capacitor 13, and the other end of the second switching circuit 142 is connected between the second input terminal 122 of the inverter circuit 12 and the negative terminal of the bus capacitor 13.

[0061] Optionally, the first switching circuit 141 is disposed between the rectifier bridge 11 and the first capacitor C1, and is used to regulate the current flowing from the rectifier bridge 11 to the first capacitor C1, the first inductor L1 and the bus capacitor 13; the second switching circuit 142 is disposed between the bus capacitor 13 and the inverter circuit 12, and is used to regulate the current flowing from the bus capacitor 13 to the inverter circuit 12.

[0062] This embodiment, by setting a first switching circuit 141 and a second switching circuit 142 between the rectifier bridge 11 and the inverter circuit 12, can precisely control the current and voltage from the rectifier bridge 11 to the first capacitor C1, the first inductor L1 and the bus capacitor 13, as well as control the current and voltage from the bus capacitor 13 to the inverter circuit 12, thereby achieving voltage regulation.

[0063] According to some embodiments of this application, such as Figure 1 As shown, the voltage regulation circuit 10 in this embodiment further includes a first driving circuit 17 and a second driving circuit 18. The first driving circuit 17 is connected to the control circuit 15 and the first switching circuit 141 respectively, and is used to control the first switching circuit 141 to be turned on or off. The second driving circuit 18 is connected to the control circuit 15 and the second switching circuit 142 respectively, and is used to control the second switching circuit 142 to be turned on or off.

[0064] The drive circuit is the circuit responsible for converting the control signal of the control circuit 15 into a signal that can drive the switch circuit to turn on or off.

[0065] Optionally, the first driving circuit 17 is used to convert the control signal of the control circuit 15 into a signal that can drive the first switching circuit 141 to be turned on or off, that is, the control circuit 15 controls the first switching circuit 141 to be turned on or off through the first driving circuit 17; the second driving circuit 18 is used to convert the control signal of the control circuit 15 into a signal that can drive the second switching circuit 142 to be turned on or off, that is, the control circuit 15 controls the second switching circuit 142 to be turned on or off through the second driving circuit 18.

[0066] In this embodiment, the control circuit 15 can control the first switch circuit 141 and the second switch circuit 142 to be turned on or off through the first drive circuit 17 and the second drive circuit 18, thereby adjusting the voltage input to the inverter circuit 12 and thus adjusting the input voltage of the motor 16 to meet the needs of the motor 16.

[0067] According to some embodiments of this application, the control circuit 15 is used to acquire a first voltage U1 and a second voltage U2 when the voltage regulator circuit 10 is powered on, identify the parameters of the motor 16, and obtain a third voltage U3 based on the parameters of the motor 16. When the third voltage U3 is less than the second voltage U2, the control circuit 15 controls the first switching circuit 141 to open via the first driving circuit 17 and controls the second switching circuit 142 to open via the second driving circuit 18.

[0068] In some embodiments, when the voltage regulator circuit 10 is powered on, the control circuit 15 samples the first voltage U1 and the second voltage U2, identifies the parameters of the motor 16, and obtains the third voltage U3 based on the parameters of the motor 16. The control circuit 15 first compares the third voltage U3 and the second voltage U2. If the third voltage U3 is less than the second voltage U2, then the third voltage U3 and the first voltage U1 are not compared. When the third voltage U3 is less than the second voltage U2, that is, when the bus voltage is greater than the reference voltage, the control circuit 15 controls the first switching circuit 141 to open through the first driving circuit 17 and controls the second switching circuit 142 to open through the second driving circuit 18. At this time, the second voltage U2 in the voltage regulator circuit 10 gradually decreases, the inverter circuit 12 is powered by the bus capacitor 13, and the inverter circuit 12 then powers the motor 16, thereby driving the motor 16.

[0069] When the third voltage U3 is greater than or equal to the second voltage U2, the control circuit 15 controls the second switch circuit 142 to disconnect through the second drive circuit 18.

[0070] In this embodiment, when the third voltage U3 is less than the second voltage U2, the control circuit 15 controls the first switch circuit 141 to open and the second switch circuit 142 to open through the first drive circuit 17 and the second drive circuit 18 respectively, so that the inverter circuit 12 is powered by the bus capacitor 13, which can effectively control the input voltage of the inverter circuit 12 within the required range and prevent the voltage from being too high.

[0071] According to some embodiments of this application, the control circuit 15 is used to acquire a first voltage U1 and a second voltage U2 when the voltage regulator circuit 10 is powered on, identify the parameters of the motor 16, and obtain a third voltage U3 based on the parameters of the motor 16. When the third voltage U3 is greater than the second voltage U2 and greater than the first voltage U1, the control circuit 15 controls the first switching circuit 141 to be turned on and then off at a preset first switching frequency f1 via the first driving circuit 17, and controls the second switching circuit 142 to be turned off via the second driving circuit 18, so that the voltage regulator circuit 10 is in a boost state.

[0072] Here, the first switching frequency f1 refers to a preset fixed frequency value used to control the conduction and disconnection of the first switching circuit 141. The first switching frequency f1 determines the number of times the first switching circuit 141 completes conduction and disconnection per unit time.

[0073] In some embodiments, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is greater than the first voltage U1, that is, when the bus voltage is less than the reference voltage and the input voltage is less than the reference voltage, the control circuit 15 controls the first switching circuit 141 to be turned on and then turned off at the first switching frequency f1 through the first driving circuit 17, and controls the second switching circuit 142 to be turned off through the second driving circuit 18; at this time, the voltage regulation circuit 10 is in the boost state.

[0074] When the first switching circuit 141 is turned on and the second switching circuit 142 is turned off, the first capacitor C1 charges the first inductor L1 through the first switching circuit 141, the first diode D1 remains in the off state, the bus capacitor 13 supplies power to the inverter circuit 12, and the second voltage U2 gradually decreases; when the first switching circuit 141 is turned off and the second switching circuit 142 is turned off, the first capacitor C1 is charged, the first diode D1 is turned on, the first inductor L1 transfers energy to the bus capacitor 13 and the inverter circuit 12, and the second voltage U2 gradually increases.

[0075] In this embodiment, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is greater than the first voltage U1, the control circuit 15 controls the first switching circuit 141 to be turned on and then turned off at the first switching frequency f1 and the second switching circuit 142 to be turned off through the first driving circuit 17 and the second driving circuit 18 respectively. This allows the inverter circuit 12 to be powered by the bus capacitor 13 or the first inductor L1, which can effectively control the input voltage of the inverter circuit 12 within the required range and prevent the voltage from being too low.

[0076] According to some embodiments of this application, the control circuit 15 is used to acquire a first voltage U1 and a second voltage U2 when the voltage regulator circuit 10 is powered on, identify the parameters of the motor 16, and obtain a third voltage U3 based on the parameters of the motor 16. When the third voltage U3 is greater than the second voltage U2 and less than the first voltage U1, the control circuit 15 controls the first switching circuit 141 to be turned on and then off at a preset second switching frequency f2 via the first driving circuit 17, and controls the second switching circuit 142 to be turned off via the second driving circuit 18, so that the voltage regulator circuit 10 is in a step-down state.

[0077] The second switching frequency f2 is a preset fixed frequency value used to control the on and off actions of the first switching circuit 141. The second switching frequency f2 determines the number of times the first switching circuit 141 completes on and off actions per unit time.

[0078] In some embodiments, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1, that is, when the bus voltage is less than the reference voltage and the input voltage is greater than the reference voltage, the control circuit 15 controls the first switching circuit 141 to be turned on and then turned off at the second switching frequency f2 through the first driving circuit 17; and controls the second switching circuit 142 to be turned off through the second driving circuit 18; at this time, the voltage regulation circuit 10 is in the step-down state.

[0079] When the first switching circuit 141 is turned on and the second switching circuit 142 is turned off, the first capacitor C1 charges the first inductor L1 through the first switching circuit 141, the first diode D1 is turned off, the bus capacitor 13 supplies power to the inverter circuit 12, and the second voltage U2 gradually decreases; when the first switching circuit 141 is turned off and the second switching circuit 142 is turned off, the first capacitor C1 is charged, the first diode D1 is turned on, the first inductor L1 transfers energy to the bus capacitor 13 and the inverter circuit 12, and the second voltage U2 gradually increases.

[0080] In this embodiment, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1, the control circuit 15 controls the first switching circuit 141 to be turned on and then turned off at the second switching frequency f2 and the second switching circuit 142 to be turned off through the first driving circuit 17 and the second driving circuit 18 respectively. This allows the inverter circuit 12 to be powered by the bus capacitor 13 or the first inductor L1, which can effectively control the input voltage of the inverter circuit 12 within the required range and prevent the voltage from being too high.

[0081] According to some embodiments of this application, see Figure 1 As shown, the first switching circuit 141 in this embodiment includes a second inductor L2 and a first switch S1. One end of the second inductor L2 is connected to the first output terminal 111 of the rectifier bridge 11, and the other end of the second inductor L2 is connected to one end of the first capacitor C1. One end of the first switch S1 is connected between the other end of the second inductor L2 and one end of the first capacitor C1, and the other end of the first switch S1 is connected between the other end of the first inductor L1 and the second output terminal 112 of the rectifier bridge 11.

[0082] According to some embodiments of this application, the second switching circuit 142 includes a second diode D2, a first resistor R1, and a second switch S2. One end of the second switch S2 is connected between the second input terminal 122 of the inverter circuit 12 and the negative terminal of the bus capacitor 13. The other end of the second switch S2 is connected to the positive terminal of the second diode D2. The negative terminal of the second diode D2 is connected between the first input terminal 121 of the inverter circuit 12 and the positive terminal of the bus capacitor 13. One end of the first resistor R1 is connected between the positive terminal of the bus capacitor 13 and the negative terminal of the second diode D2. The other end of the first resistor R1 is connected between the positive terminal of the second diode D2 and the other end of the second switch S2.

[0083] See Figure 2 As shown, Figure 2 This is a waveform example diagram of an embodiment of the first voltage, second voltage, third voltage, first switch, and second switch in the working state provided in this application. Figure 2 There are three coordinate systems, from top to bottom: the first coordinate system, the second coordinate system, and the third coordinate system. In the first coordinate system, the vertical axis represents voltage U, and the horizontal axis represents time t. In the second coordinate system, the vertical axis represents the voltage U of the first switch S1. S1 The horizontal axis represents time t; the vertical axis in the third coordinate system represents the voltage U of the second switch S2. S2 The horizontal axis represents time t.

[0084] like Figure 2 As shown, both the first switch S1 and the second switch S2 are turned on when the voltage is high and turned off when the voltage is low.

[0085] When the third voltage U3 is less than the second voltage U2, during the t2 to t3 stage, the control circuit 15 controls the first switch S1 to open through the first drive circuit 17 and controls the second switch S2 to open through the second drive circuit 18. At this time, the second voltage U2 gradually decreases, and the inverter circuit 12 is powered by the bus capacitor 13. The inverter circuit 12 then powers the motor 16, thereby driving the motor 16. When the third voltage U3 is greater than or equal to the second voltage U2, the control circuit 15 controls the second switch S2 to open through the second drive circuit 18.

[0086] In some embodiments, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is greater than the first voltage U1, the voltage regulation circuit 10 is in the t0~t2 stage; the control circuit 15 controls the first switch S1 to perform switching action at the first switching frequency f1 and the duty cycle is greater than 0.5 through the first drive circuit 17, and controls the second switch S2 to open through the second drive circuit 18; at this time, the voltage regulation circuit 10 is in the boost state.

[0087] like Figure 2 As shown, the t0~t2 stage is one switching cycle of the first switch S1. The t0~t2 stage is further divided into two stages, namely the t0~t1 stage and the t1~t2 stage. The first switch S1 is turned on in the t0~t1 stage and turned off in the t1~t2 stage.

[0088] During the t0 to t1 stage, the voltage regulator circuit 10 is in boost mode, with the output voltage being the third voltage U3 and the input voltage being the first voltage U1. The formula for the output voltage is: U3 = U1 × d1 / (1 - d1), where d1 is the duty cycle of the first switch S1. It can be derived that d1 = U3 / (U1 + U3), and the value of d1 is determined by the first voltage U1 and the third voltage U3. Since the first voltage U1 is less than the third voltage U3, the duty cycle of the first switch S1, d1 > 0.5.

[0089] Since the difference between t2 and t0 is one cycle of the first switching frequency f1, we obtain d1 = (t1 - t0) / (t2 - t0). That is, the duty cycle d1 of the first switch S1 is equal to the difference between t1 and t0 divided by the difference between t2 and t0, and the first switching frequency f1 is equal to 1 divided by the difference between t2 and t0. Through calculation, we can obtain the difference between t2 and t0, and further obtain the difference between t1 and t0.

[0090] When the first switch S1 is turned on and the second switch S2 is turned off, that is, during the t0 to t1 stage, the voltage of the second inductor L2 is equal to the first voltage U1, the current of the second inductor L2 increases linearly, the first capacitor C1 charges the first inductor L1 through the first switch S1, the first diode D1 and the second diode D2 remain in the off state, the bus capacitor 13 supplies power to the inverter circuit 12, and the second voltage U2 gradually decreases.

[0091] When the first switch S1 is open and the second switch S2 is open, that is, during the t1 to t2 stage, the second inductor L2 and the first voltage U1 charge the first capacitor C1, the current of the second inductor L2 decreases linearly, the first diode D1 is turned on, the second diode D2 is turned off, the first inductor L1 transfers energy to the bus capacitor 13 and the inverter circuit 12, and the second voltage U2 gradually increases.

[0092] In some embodiments, when the third voltage U3 is greater than the second voltage U2 and the third voltage U3 is less than the first voltage U1, during the t3 to t5 stage, the control circuit 15 controls the first switch S1 to switch at the second switching frequency f2 and a duty cycle less than 0.5 through the first drive circuit 17, and controls the second switch S2 to open through the second drive circuit 18; at this time, the voltage regulation circuit 10 is in a step-down state.

[0093] like Figure 2 As shown, the t3 to t5 stage is one switching cycle of the first switch S1. The t3 to t5 stage is further divided into two stages, namely the t3 to t4 stage and the t4 to t5 stage. The first switch S1 is turned on in the t3 to t4 stage and turned off in the t4 to t5 stage.

[0094] During the t3 to t5 phase, the voltage regulator circuit 10 is in a step-down state, with the output voltage being the third voltage U3 and the input voltage being the first voltage U1. The formula for the output voltage is: U3 = U1 × d2 / (1 - d2), where d2 is the duty cycle of the first switch S1. It can be derived that d2 = U3 / (U1 + U3), and the value of d2 is determined by the first voltage U1 and the third voltage U3. Since the first voltage U1 is greater than the third voltage U3, the duty cycle d2 of the first switch S1 is less than 0.5.

[0095] Since the difference between t5 and t3 is one cycle of the second switching frequency f2, we obtain d2 = (t4 - t3) / (t5 - t3). That is, the duty cycle d2 of the first switch S1 is equal to the difference between t4 and t3 divided by the difference between t5 and t3, and the second switching frequency f2 is equal to 1 divided by the difference between t5 and t3. Through calculation, we can obtain the difference between t5 and t3, and thus the difference between t4 and t3.

[0096] When the first switch S1 is turned on and the second switch S2 is turned off, that is, during the t3 to t4 stage, the voltage of the second inductor L2 is equal to the first voltage U1, the current of the second inductor L2 increases linearly, the first capacitor C1 charges the first inductor L1 through the second switch S2, the first diode D1 is turned off, the second diode D2 remains in the off state, the bus capacitor 13 supplies power to the inverter circuit 12, and the second voltage U2 gradually decreases.

[0097] When the first switch S1 is open and the second switch S2 is open, that is, during the t4 to t5 stage, the second inductor L2 and the first voltage U1 charge the first capacitor C1, the current of the second inductor L2 decreases linearly, the first diode D1 is turned on, the second diode D2 is turned off, the first inductor L1 transfers energy to the bus capacitor 13 and the inverter circuit 12, and the second voltage U2 gradually increases.

[0098] According to some embodiments of this application, the input terminal of the first driving circuit 17 is connected to the first output terminal 151 of the control circuit 15, the first output terminal of the first driving circuit 17 is connected to one end of the first switch S1, and the second output terminal of the first driving circuit 17 is connected to the other end of the first switch S1.

[0099] The input terminal of the second driving circuit 18 is connected to the second output terminal 152 of the control circuit 15, the first output terminal of the second driving circuit 18 is connected to one end of the second switch S2, and the second output terminal of the second driving circuit 18 is connected to the other end of the second switch S2.

[0100] Another embodiment of this application provides a servo driver device, including the voltage regulation circuit 10 of the above embodiment.

[0101] In summary, the control circuit 15 of this embodiment controls the voltage regulation circuit 10 to be in a boost or buck state through the switching adjustment circuit 14, thereby adjusting the input voltage of the motor 16. This allows the voltage regulation circuit 10 to quickly adapt to grid voltage fluctuations and load changes. By using a smaller capacity bus capacitor 13, the charging and discharging pressure of the bus capacitor 13 can be reduced. Furthermore, through the synergistic effect of the first inductor L1 and the first capacitor C1, the ripple voltage of the bus capacitor 13 is reduced, extending its service life. The use of a smaller capacity bus capacitor 13 also reduces the size of the servo driver and improves ease of use.

[0102] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A voltage regulation circuit, characterized in that, include: A rectifier bridge, wherein the input terminal of the rectifier bridge receives mains power and rectifies and outputs a first voltage based on the mains power; An inverter circuit, wherein the first input terminal of the inverter circuit is connected to the first output terminal of the rectifier bridge, the second input terminal of the inverter circuit is connected to the second output terminal of the rectifier bridge, and the output terminal of the inverter circuit is connected to the motor; A bus capacitor, the positive terminal of which is connected between the first input terminal of the inverter circuit and the first output terminal of the rectifier bridge, and the negative terminal of which is connected between the second input terminal of the inverter circuit and the second output terminal of the rectifier bridge, the bus capacitor is used to filter the output second voltage; A first inductor, one end of which is connected between the positive terminal of the bus capacitor and the first output terminal of the rectifier bridge, and the other end of which is connected between the negative terminal of the bus capacitor and the second output terminal of the rectifier bridge; A first capacitor and a first diode, one end of the first capacitor is connected to the first output terminal of the rectifier bridge, the other end of the first capacitor is connected to one end of the first inductor, the anode of the first diode is connected to one end of the first inductor, and the cathode of the first diode is connected to the anode of the bus capacitor. A switching adjustment circuit is disposed between the inverter circuit and the rectifier bridge, and is used to control the input voltage of the motor; A control circuit is connected to the motor and the switching regulation circuit respectively. The control circuit is used to acquire the first voltage and the second voltage, identify the parameters of the motor, and determine a third voltage based on the parameters of the motor. The control circuit is used to control the voltage regulation circuit to be in a boost state or a buck state through the switching regulation circuit based on the third voltage, the first voltage, and the second voltage, so as to control the input voltage of the motor.

2. The voltage regulation circuit according to claim 1, characterized in that, The switching adjustment circuit includes a first switching circuit and a second switching circuit. One end of the first switching circuit is connected between one end of the first capacitor and the first output terminal of the rectifier bridge, and the other end of the first switching circuit is connected between the other end of the first inductor and the second output terminal of the rectifier bridge. One end of the second switching circuit is connected between the first input terminal of the inverter circuit and the positive terminal of the bus capacitor, and the other end of the second switching circuit is connected between the second input terminal of the inverter circuit and the negative terminal of the bus capacitor.

3. The voltage regulation circuit according to claim 2, characterized in that, The voltage regulation circuit further includes a first driving circuit and a second driving circuit. The first driving circuit is connected to the control circuit and the first switching circuit respectively, and is used to control the first switching circuit to be turned on or off. The second driving circuit is connected to the control circuit and the second switching circuit respectively, and is used to control the second switching circuit to be turned on or off.

4. The voltage regulation circuit according to claim 3, characterized in that, The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain a third voltage based on the parameters of the motor. The control circuit is used to control the first switching circuit to disconnect via the first driving circuit and to control the second switching circuit to turn on via the second driving circuit when the third voltage is less than the second voltage.

5. The voltage regulation circuit according to claim 3, characterized in that, The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain a third voltage based on the parameters of the motor. The control circuit is used to control the first switching circuit to turn on and then turn off at a preset first switching frequency through the first driving circuit when the third voltage is greater than the second voltage and the third voltage is greater than the first voltage, and to control the second switching circuit to turn off through the second driving circuit, so that the voltage regulation circuit is in a boost state.

6. The voltage regulation circuit according to claim 3, characterized in that, The control circuit is used to acquire the first voltage and the second voltage when the voltage regulator circuit is powered on, identify the parameters of the motor, and obtain a third voltage based on the parameters of the motor. The control circuit is used to control the first switching circuit to turn on and then turn off at a preset second switching frequency through the first driving circuit when the third voltage is greater than the second voltage and the third voltage is less than the first voltage, and to control the second switching circuit to turn off through the second driving circuit, so that the voltage regulation circuit is in a step-down state.

7. The voltage regulation circuit according to claim 3, characterized in that, The first switching circuit includes a second inductor and a first switch. One end of the second inductor is connected to the first output terminal of the rectifier bridge, and the other end of the second inductor is connected to one end of the first capacitor. One end of the first switch is connected between the other end of the second inductor and one end of the first capacitor, and the other end of the first switch is connected between the other end of the first inductor and the second output terminal of the rectifier bridge.

8. The voltage regulation circuit according to claim 7, characterized in that, The second switching circuit includes a second diode, a first resistor, and a second switch. One end of the second switch is connected between the second input terminal of the inverter circuit and the negative terminal of the bus capacitor. The other end of the second switch is connected to the positive terminal of the second diode. The negative terminal of the second diode is connected between the first input terminal of the inverter circuit and the positive terminal of the bus capacitor. One end of the first resistor is connected between the positive terminal of the bus capacitor and the negative terminal of the second diode. The other end of the first resistor is connected between the positive terminal of the second diode and the other end of the second switch.

9. The voltage regulation circuit according to claim 8, characterized in that, The input terminal of the first driving circuit is connected to the first output terminal of the control circuit, the first output terminal of the first driving circuit is connected to one end of the first switch, and the second output terminal of the first driving circuit is connected to the other end of the first switch; the input terminal of the second driving circuit is connected to the second output terminal of the control circuit, the first output terminal of the second driving circuit is connected to one end of the second switch, and the second output terminal of the second driving circuit is connected to the second end of the second switch.

10. A servo driver device, characterized in that, Includes the voltage regulation circuit as described in any one of claims 1-9.

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