Processing Equipment

Abstract

To suitably prevent fluctuations of the voltage of a power supply path for supplying power to a motor controller.SOLUTION: A processor prevents fluctuations of the voltage of a power supply path for supplying power from a DC power supply to a motor controller, and the processor comprises: a filter circuit that includes a plurality of predetermined units each having a circuit element having one or more predetermined passive elements and a semiconductor switch controlling power supply to the circuit element, and is connected with the power supply path; and a control section that controls switching of the semiconductor switches in the plurality of predetermined units included in the filter circuit so as to prevent fluctuations of the voltage or fluctuations of the current of DC on the power supply path.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a processing device that suppresses voltage fluctuations in a power supply path that supplies power from a DC power supply to a motor control device. [Background technology]

[0002] In factories and other places, systems are used in which multiple electric motors are PWM-driven by multiple servo drivers located at distant locations (such as a system consisting of a robot and its control device). Such systems have problems such as the inability to increase the switching speed in order to reduce radiated noise from the long cables between the electric motors and servo drivers, and the need for many cables to connect the electric motors and servo drivers.

[0003] The above problems can be prevented by arranging a device (hereinafter referred to as a motor control device) that is a servo driver with the converter removed, near each electric motor, and adopting a configuration in which power is supplied to each motor control device from a single DC power supply device via a DC bus. However, in a system that adopts this configuration, the LC circuit on the DC bus side and the motor control device side may interfere with each other, causing the voltage of the DC bus to fluctuate (oscillate) (for example, see Non-Patent Document 1). [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] Masashi Yokoo, Keiichiro Kondo, "Damping Control Design Method for Vector-Controlled Induction Motor Drive System in DC Electric Railway Vehicles", IEEJ Transactions on Electrical Engineering, Vol. 135, No. 6, pp. 622-631 (2015) Summary of the Invention [Problem to be solved by the invention]

[0005] There are various factors that cause voltage fluctuations in the power supply path (such as the above-mentioned DC bus) from the DC power supply device to the motor control device. For example, resonance may occur in the power supply path due to the behavior of the motor to which a drive current is supplied by the motor control device, leading to voltage fluctuations. The present invention has been made in view of such problems, and aims to provide a technology that can suitably suppress voltage fluctuations in the power supply path that supplies power to the motor control device. [Means for solving the problem]

[0006] A processing device according to one aspect of the present invention is a processing device that suppresses voltage fluctuations in a power supply path that supplies power from a DC power source to a motor control device, and includes a plurality of specified units each having a circuit element having one or more specified passive elements and a semiconductor switch that controls the current supply to the circuit element, and is equipped with a filter circuit connected to the power supply path, and a control unit that controls the switching of the semiconductor switches of the plurality of specified units included in the filter circuit so that DC voltage fluctuations or current fluctuations in the power supply path are suppressed.

[0007] Moreover, in the above processing device, the filter circuit may be configured to be able to adjust the resonance characteristics of the entire circuit by switching the semiconductor switch in the specified unit, and the control unit may control the switching of the semiconductor switch based on the rotation speed of a motor to which a drive current is supplied by the motor control device or a PWM frequency in the motor control device, so as to suppress DC voltage fluctuations or current fluctuations in the power supply path.

[0008] One of the causes of voltage fluctuations in the power supply line that supplies power to the motor control device is the motor Examples of such a frequency include the rotational speed of the motor, which is related to the frequency of the drive current generated by the motor control device, and the PWM frequency in the motor control device. If the frequency of the drive current associated with the fluctuation in the rotational speed of the motor or the PWM frequency in the motor control device becomes a value close to the resonance frequency of the power supply path, there is a risk of voltage fluctuations occurring due to electrical resonance. Therefore, the processing device has a filter circuit connected to the power supply path, and the control unit controls the switching of the semiconductor switches of each of a plurality of predetermined units included in the filter circuit.

[0009] Each of the predetermined units has a combination of a circuit element and a semiconductor switch, and the supply current to the circuit element is controlled by switching the semiconductor switch. Examples of the circuit element include passive elements such as capacitance, inductance, and resistance, and may include any of capacitance, inductance, and resistance, or may include an appropriate combination of capacitance, inductance, and resistance. As a result, a filter circuit having a plurality of such predetermined units can adjust the resonance characteristics of the entire filter circuit by switching the semiconductor switch. Examples of the resonance characteristics include a resonance frequency and a Q value. Therefore, by controlling the switching of the semiconductor switch by the control unit as described above, for example, the resonance frequency of the filter circuit can be set to a frequency sufficiently far away from the frequency of the drive current related to the rotation speed of the motor or the PWM frequency in the motor control device, thereby making it possible to suppress the voltage fluctuation or current fluctuation of the direct current in the power supply path.

[0010] Here, in the processing device, the control unit may be configured to control the switching of the semiconductor switches in the plurality of predetermined units so that the resonant frequency of the power supply path including the filter circuit falls outside a predetermined frequency range centered on the rotation speed of the motor or the frequency of the drive current based on a PWM frequency in a motor control device. With this configuration, it is possible to more suitably suppress DC voltage fluctuations or current fluctuations in the power supply path.

[0011] Alternatively, in the above processing device, the control unit may detect DC voltage fluctuations or current fluctuations in the power supply path, and based on the detection result, adjust the impedance of the power supply path including the filter circuit by controlling the switching of the semiconductor switch so that the DC voltage fluctuations or current fluctuations in the power supply path are suppressed. Fluctuations in the voltage of the power supply path may occur when the impedance of the motor side (e.g., a portion consisting of an inverter circuit and a motor body) controlled by the motor control device is smaller than the impedance of the power supply path side. Thus, by controlling the switching of the semiconductor switch, the peak value of the impedance on the power supply path side can be reduced, thereby suppressing the voltage fluctuations in the power supply path.

[0012] Here, in the processing device described above, the specific configuration of the plurality of predetermined units in the filter circuit is not limited to a specific configuration. For example, the plurality of predetermined units may be configured by arranging each of the plurality of predetermined units between the positive side wiring and the negative side wiring that form the power supply path. For example, depending on the form of the circuit element and the semiconductor switch in the predetermined unit, each of the plurality of predetermined units may be arranged in parallel or in series between the positive side wiring and the negative side wiring. Alternatively, the plurality of predetermined units may be arranged on one of the positive side wiring and the negative side wiring that form the power supply path. For example, depending on the form of the circuit element and the semiconductor switch in the predetermined unit, each of the plurality of predetermined units may be arranged in parallel or in series on one of the positive side wiring and the negative side wiring. Note that all the predetermined units included in the filter circuit may be configured by a combination of the same type of circuit element and semiconductor switch, or alternatively, may be configured by a combination of two or more types of circuit element and semiconductor switch.

[0013] Here, in the processing device described above, a plurality of the motor control devices may be connected to the power supply path, and power from the DC power source may be distributed and supplied to the plurality of motor control devices. In other words, the processing device of the present application can be applied to a configuration in which DC power is supplied to a plurality of motor control devices via a power supply path, and by controlling the switching of the semiconductor switch in this configuration, it becomes possible to suppress DC voltage fluctuations or current fluctuations in the power supply path.

[0014] Here, specific aspects of the processing device described above are exemplified. As a first aspect, the processing device may be a connector including a pair of input terminals and a pair of output terminals electrically connected to the pair of input terminals, and the pair of input terminals and the pair of output terminals may be connected to a positive wiring and a negative wiring forming the power supply path. As a second aspect, the processing device may be incorporated in the DC power source, and an output of the filter circuit may be output to the power supply path. As a third aspect, when the motor control device has an inverter circuit for converting a supplied DC to an AC for driving a servo motor, the processing device may be incorporated in the motor control device, and an output of the filter circuit may be output to the inverter circuit. Note that the processing device of the present application may be specifically configured according to aspects other than the above three aspects. Effect of the Invention

[0015] This makes it possible to effectively suppress fluctuations in voltage in the power supply path that supplies power to the motor control device. [Brief description of the drawings]

[0016] [Figure 1] 1 is an explanatory diagram of a schematic configuration of a servo DC power supply system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is an explanatory diagram of a schematic configuration of a motor control device in a servo DC power supply system. [Diagram 3] FIG. 1 is a first diagram showing a schematic configuration of a DC power supply device used in a servo DC power supply system. [Figure 4] FIG. 13 is a diagram showing a control flow for suppressing voltage fluctuations performed by a processing device incorporated in a DC power supply device. [Diagram 5] FIG. 2 is a second diagram showing a schematic configuration of a DC power supply device used in the servo DC power supply system. [Figure 6] FIG. 2 is an explanatory diagram of an equivalent circuit of a servo DC power supply system. [Figure 7] 7 is a diagram for explaining a region in which the equivalent circuit shown in FIG. 6 becomes unstable. FIG. [Figure 8] FIG. 2 is a diagram for explaining a function of a filter circuit. [Figure 9] FIG. 1 is a first diagram showing another schematic configuration of a motor control device in a servo DC power supply system. [Figure 10] FIG. 2 is a second diagram showing another schematic configuration of a motor control device in a servo DC power supply system. [Figure 11] FIG. 11 is a first diagram showing a schematic configuration of a servo DC power supply system according to another embodiment of the present invention. [Figure 12] FIG. 2 is a second diagram showing a schematic configuration of a servo DC power supply system according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows a schematic configuration of a servo DC power supply system according to an embodiment of the present invention, and Fig. 2 shows a schematic configuration of a motor control device 10 included in the servo DC power supply system.

[0018] <First embodiment> As shown in FIG. 1, the servo DC power supply system according to this embodiment includes a DC power supply device The DC power supply device 30 is a system in which a power supply line 35 connects between the DC power supply device 30 and a plurality of motor control devices 10. The DC power supply device 30 is a power supply that outputs a predetermined DC voltage, and has a power supply unit 31 inside (see FIG. 6 described later). The power supply unit 31 is a unit that outputs a predetermined DC voltage. The power supply unit 31 may be a unit that converts three-phase AC from a three-phase AC power supply 50 into a DC voltage, or the power supply unit 31 may be a unit that converts single-phase AC into a DC voltage. The power supply unit 31 may be a rectifier circuit (e.g., a full-wave rectifier circuit) in which diodes are combined, or an AC-DC converter (e.g., a power regeneration converter) using switching elements. Furthermore, the power supply unit 31 may be a secondary battery. The motor control device 10 is a device that controls a servo motor 40 (hereinafter, also simply referred to as a motor 40) according to commands (position commands, speed commands, etc.) from a higher-level device such as a PLC (Programmable Logic Controller). As shown in FIG. 2, the motor control device 10 includes an inverter circuit 11 and a control unit 12.

[0019] The inverter circuit 11 is a circuit for converting a DC voltage from the DC power supply device 30, which is input via a power supply path 35, into a three-phase AC. The inverter circuit 11 has a configuration in which a leg for a U phase, a leg for a V phase, and a leg for a W phase are connected in parallel between a positive power line and a negative power line, and the motor control device 10 is provided with a current sensor 28 for measuring the output current of each leg of the inverter circuit 11.

[0020] The control unit 12 is a unit that performs PWM (Pulse Width Modulation) control of the inverter circuit 11 in accordance with commands from a higher-level device (such as a PLC). The control unit 12 is composed of a processor (such as a microcontroller or CPU) and its peripheral circuits, and receives signals from the current sensors 28, a signal from an encoder 41 (such as an absolute encoder or an incremental encoder) attached to the motor 40, and the like.

[0021] 1, the power supply path 35 is a power supply path combining a plurality of power cables so that power (current) from the DC power supply device 30 can be distributed and supplied to each motor control device 10 in the servo DC power supply system. A smoothing capacitor 18 is usually provided at the connection portion between the power supply path 35 and each motor control device 10 (between the power supply terminals of each motor control device 10).

[0022] 3 shows a schematic configuration of a motor control device 10 used in the servo DC power supply system according to this embodiment. As shown in the figure, the motor control device 10 includes an inverter circuit 11 and a filter circuit 32. The filter circuit 32 is disposed at a position in the motor control device 10 where it is connected to a power supply path 35, and the DC power supplied from the power supply path 35 is output to the inverter circuit 11 through the filter circuit 32.

[0023] The filter circuit 32 is a circuit for stabilizing the direct current in the power supply path 35. As shown in the figure, the filter circuit 32 includes a control circuit 21 and a plurality of stabilization units 81 arranged between the positive power line and the negative power line (three stabilization units 81 are included in the example shown in FIG. 3), and each of the stabilization units has a capacitor 23, a series connection of a transistor 24 functioning as a semiconductor switch, and a drive circuit 22 for the transistor 24. The drive circuit 22 is a circuit that applies a voltage to the gate of the transistor 24 in response to a control signal from the control circuit 21, thereby causing the transistor 24 to function as a semiconductor switch.

[0024] The control circuit 21 receives information related to the rotational speed of the motor 40 contained in a command given from a higher-level device to the control unit 12 of the motor control device 10, and is configured to apply voltage to each of the drive circuits 22 of the multiple stabilization units 81 based on the information related to the rotational speed, and control the switching of the corresponding transistors 24.

[0025] Here, in power supply path 35, L1 is the inductance of power supply path 35, and C1 is the combined capacitance of the capacitance of power supply path 35 and the capacitance of smoothing capacitor 18. Furthermore, C2 is the capacitance of capacitor 23, which is a passive element, included in each stabilization unit 81 in filter circuit 32. As a result, the resonant frequencies of power supply path 35 are as follows when transistor 24 is turned on in only one stabilization unit 81 by control circuit 21 (case 1), when transistor 24 is turned on in only two stabilization units 81 by control circuit 21 (case 2), and when transistor 24 is turned on in all stabilization units 81 by control circuit 21 (case 3). (Case 1)

number

number

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[0026] In this way, the control circuit 21 controls the switching of the transistor 24, thereby making it possible to control the resonant frequency of the power supply path 35. Here, the switching control of the transistor 24 by the control circuit 21 in each motor control device 10 will be described with reference to Fig. 4. The process shown in Fig. 4 is realized by repeatedly executing a predetermined control program at predetermined intervals in the control circuit 21. First, in S101, speed information (information related to the rotation speed) of the motor 40 corresponding to each motor control device 10 is obtained in the servo DC power supply system shown in Fig. 1.

[0027] Next, in S102, it is determined whether or not the resonant frequency of the filter circuit 32 needs to be adjusted. Specifically, if the resonant frequency of the power supply path 35 derived from the current switching state (either ON or OFF state) of the transistor 24 of each stabilization unit 81 falls within a predetermined frequency range centered on the frequency of the drive current of the motor 40, it is determined that the resonant frequency of the filter circuit 32 needs to be adjusted. If the determination in S102 is affirmative, the process proceeds to S103, and if the determination is negative, the process proceeds to S104. Then, in S103, the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is changed so that the resonant frequency of the power supply path 35 falls outside the predetermined frequency range centered on the frequency of the drive current of the motor 40. Also, in S104, it is determined that the resonant frequency of the power supply path 35 needs to be adjusted due to resonance. Since the risk of voltage fluctuations in the power supply path 35 is low, the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is maintained as it is.

[0028] As described above, according to the control shown in FIG. 4, the control circuit 21 controls the switching of the transistor 24 so that the resonance frequency of the power supply path 35 falls outside a predetermined frequency range centered on the frequency of the drive current based on the rotational speed of the motor 40. This makes it possible to effectively avoid voltage fluctuations in the power supply path 35 caused by resonance of the DC voltage associated with driving the motor.

[0029] If it is unavoidable that the resonant frequency of the power supply path 35 falls within a predetermined frequency range centered on the frequency of the drive current of the motor 40 even when the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is adjusted, then the switching state of the transistor 24 may be adjusted so that the frequency of the drive current of the motor 40 and the resonant frequency of the power supply path 35 are as far apart as possible.

[0030] 4, information related to the rotation speed of the motor 40 is input to the control circuit 21, and the control circuit 21 is configured to control the switching of the transistor 24 based on the information related to the rotation speed, but instead of this embodiment, information related to the PWM frequency in the inverter circuit 11 may be passed to the control circuit 21. Then, the control circuit 21 controls the switching of the transistor 24 based on the information related to the PWM frequency, thereby suppressing voltage fluctuations in the power supply path 35 caused by the switching operation of the inverter circuit 11.

[0031] <Modification> A modified example of the filter circuit incorporated in the DC power supply device 32 will be described with reference to FIG. 5. The filter circuit 32A of this modified example is disposed on either the positive power line or the negative power line. In FIG. 5, the filter circuit 32A is disposed on the positive power line from the power supply unit 31. The filter circuit 32A includes a control circuit 21 and a plurality of stabilization units 82 (two stabilization units 82 are included in the example shown in FIG. 5), and each of the stabilization units has an inductance 25 as a passive element, a parallel connection of a transistor 24 functioning as a semiconductor switch, and a drive circuit 22 for the transistor 24. In the filter circuit 32A, the stabilization units 82 are connected in parallel with each other. The control circuit 21 and the drive circuit 22 are substantially the same as those in the first embodiment, and therefore detailed description thereof will be omitted.

[0032] In this modification as well, information related to the rotation speed of motor 40 is input to control circuit 21, and based on the information related to the rotation speed, voltage is applied to drive circuits 22 of each of multiple stabilization units 82, thereby controlling the switching of corresponding transistors 24. With such a configuration as well, it is possible to control the resonant frequency of power supply path 35.

[0033] Furthermore, the passive elements included in the stabilization unit 82 may include not only capacitance and inductance as described above, but also resistance. Furthermore, an appropriate combination of capacitance, inductance, and resistance may be used as the passive elements for the stabilization unit 82.

[0034] <Second embodiment> In the above embodiment, the resonant frequency of the power supply path 35 is controlled by switching control of the transistor 24, and the voltage fluctuation is suppressed. In the present embodiment, however, the DC voltage fluctuation or current fluctuation in the power supply path 35 is detected, and the transistor 24 is switched based on the detection result. By performing switching control of the filter circuits 32 and 32A, the impedance of the power supply path 35 including the filter circuits 32 and 32A is adjusted, and voltage fluctuations or current fluctuations in the power supply path are suppressed.

[0035] Specifically, in the servo DC power supply system disclosed in this application (i.e., a conventional servo DC power supply system), if the impedance on the motor side (the portion consisting of the multiple motor control devices 10 and the multiple motors 40 in FIG. 1) is denoted as Zm, it can be expressed by the equivalent circuit shown in FIG. 6. In this FIG. 6, L1 is the inductance of the power supply path 35, and rL is the series resistance of L1. Furthermore, C1 is the combined capacitance of the capacitance of the power supply path 35 and the capacitance of the smoothing capacitor 18, and rC is the series resistance of C1.

[0036] The peak value of the output impedance on the power supply side in this equivalent circuit (Figure 6) is Z o-peak is expressed by the following formula:

number

[0037] The stabilization units 81 and 82 including the transistors 24 in the filter circuits 32 and 32A can change the impedance of the power supply path 35 to which the filter circuits 32 and 32A are connected by controlling the switching of the transistors 24. Therefore, the control circuit 21 detects the voltage fluctuation or current fluctuation of the power supply path 35, and controls Z based on the detection result as shown in FIG. o-peak The switching control of the transistor 24 is performed so that the value falls below Zm, thereby preventing the voltage of the power supply path 35 from becoming unstable (fluctuations).

[0038] <Third embodiment> In the first embodiment, the filter circuits 32 and 32A are incorporated in the motor control device 10. In the present embodiment, as shown in FIG. 9 and FIG. 10, the filter circuits 32 and 32A are incorporated in the DC power supply device 30. The filter circuits 32 and 32A are as shown in the first embodiment. In FIG. 9, the filter circuit 32 is incorporated in the DC power supply device 30. The filter circuit 32 is disposed at a position connected to the power supply path 35, and the DC power output from the power supply unit 31 is output to the power supply path 35 through the filter circuit 32. In FIG. 10, the filter circuit 32A is incorporated in the positive power line 33p in the DC power supply device 30. The filter circuit 32A is disposed at a position connected to the positive wiring 33p of the power supply path 35, and the DC power output from the power supply unit 31 is output to the power supply path 35 through the filter circuit 32A. The filter circuit 32A may be incorporated in the negative wiring 33m of the DC power supply device 30.

[0039] Here, the switching control of the transistor 24 by the control circuit 21 in the third embodiment will be described with reference to Fig. 4. First, in S101, speed information (information related to rotation speed) of all the motors 40 to be driven is acquired in the servo DC power supply system shown in Fig. 1. Specifically, the speed information of each motor 40 is transmitted to the control circuit 21 from each of the motor control devices 10 corresponding to the three motors 40.

[0040] Next, in S102, it is determined whether or not the resonance frequency of the filter circuit 32 needs to be adjusted. If the determination in S102 is affirmative, the process proceeds to S103, and if the determination is negative, the process proceeds to S104. Then, in S103, the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is changed so that the resonance frequency of the power supply path 35 falls outside a predetermined frequency range centered on the frequency of the drive current of each of the three motors 40. Also, in S104, since there is little risk of voltage fluctuation in the power supply path 35 due to resonance, the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is maintained as it is.

[0041] In this way, the control circuit 21 controls the switching of the transistor 24 so that the resonance frequency of the power supply path 35 deviates from a predetermined frequency range centered on the frequency of the drive current based on the rotation speed of the motor 40, thereby making it possible to effectively avoid voltage fluctuations in the power supply path 35 due to resonance of the DC voltage occurring in relation to the drive of the motor. If it is unavoidable that the resonance frequency of the power supply path 35 is included in a predetermined frequency range centered on the frequency of the drive current of each of the three motors 40 even if the switching state of the transistor 24 of each stabilization unit 81 in the filter circuit 32 is adjusted, the switching state of the transistor 24 may be adjusted so that the frequency of the drive current of each of the three motors 40 and the resonance frequency of the power supply path 35 are as far apart as possible. In addition, if there is a motor among the three motors 40 that has a dominant effect on the fluctuation of the DC voltage of the power supply path 35 (for example, one motor 40 has a larger drive current than the other motors 40), the control shown in FIG. 4 may be performed based only on the speed information of that motor 40.

[0042] Also in this embodiment, the information input to the control circuit 21 may be information related to the PWM frequency in the inverter circuit 11, instead of the information related to the rotation speed of the motor 40. Then, the control circuit 21 controls the switching of the transistor 24 based on the information related to the PWM frequency, thereby suppressing the voltage fluctuation in the power supply path 35 caused by the switching operation in the inverter circuit 11.

[0043] <Fourth embodiment> In the first embodiment, the filter circuits 32, 32A are incorporated in the DC power supply device 30, but in this embodiment, as shown in Figures 11 and 12, they are incorporated in the connector 20 that constitutes the power supply path 35. The filter circuits 32, 32A are as shown in the first embodiment.

[0044] In FIG. 11, a filter circuit 32 is incorporated in a connector 20 placed on a power supply path 35. The connector 20 has a pair of input terminals 21p, 21m for connecting a power cable on the upstream side (the DC power supply device 30 side). The input terminal 21p is a positive input terminal, and the input terminal 21m is a negative input terminal. The connector 20 also has a pair of output terminals 22p, 22m for connecting a power cable on the downstream side. The output terminals 22p, 22m are connected to the input terminals 21p, 21m by wiring inside the connector. The connector 20 has terminals provided so that wiring branches inside the connector 20 and a power supply path 35 for another motor control device 10 can be connected. The filter circuit 32 is disposed in the connector 20 at a position where it is connected to the power supply path 35, and the DC power in the power supply path 35 is supplied from the DC power supply device 30 to the motor control device 10 via the filter circuit 32.

[0045] Further, a connector 55 for further branching off the power supply path is disposed downstream of the connector 20 in the power supply path 35. However, the connector 55 is a conventional connector for branching off the power supply path, and the filter circuit 32 is not provided therein. The connector 55 may also be provided with a filter circuit 32 .

[0046] In Fig. 12, a filter circuit 32 is incorporated in a connector 20 placed on a power supply path 35. The connector 20 has a pair of input terminals 21p, 21m for connecting an upstream (DC power supply 30) power cable and a pair of output terminals 22p, 22m for connecting a downstream power cable, and the output terminals 22p, 22m are connected to the input terminals 21p, 21m by wiring inside the connector. In the connector 20, a filter circuit 32A is disposed on a positive power line inside the connector, and DC power in the power supply path 35 is supplied from the DC power supply 30 to the motor control device 10 via the filter circuit 32A. The branching form of the supply path in the connectors 20 and 55 in Fig. 12 is the same as that shown in Fig. 11.

[0047] Even with this configuration, the control circuit 21 in the filter circuits 32, 32A controls the switching of the transistor 24, making it possible to effectively avoid voltage fluctuations in the power supply path 35 caused by resonance of the DC voltage associated with driving the motor.

[0048] <Appendix 1> A processing device that suppresses voltage fluctuations in a power supply line (35) that supplies power from a DC power source (30) to a motor control device (10), a filter circuit (32, 32A) including a plurality of predetermined units (81, 82) each having a circuit element (23, 25) having at least one of a predetermined capacitance and a predetermined inductance and a semiconductor switch (24) for controlling a current supply to the circuit element (23, 25), the filter circuit (32, 32A) being connected to the power supply path (35); a control unit (21) that controls switching of the semiconductor switches of the plurality of predetermined units (81, 82) included in the filter circuit (32, 32A) so as to suppress DC voltage fluctuations or current fluctuations in the power supply path (35); A processing device comprising: [Explanation of symbols]

[0049] 10 Motor control device 20 Connectors 21 Control circuit 23 Capacitor 24 Transistor 25 Inductance 30 DC power supply 32, 32A filter circuit 35 Power supply path 81, 82 Stabilization unit

Claims

1. A processing device that suppresses voltage fluctuations in a power supply path that supplies power from a DC power source to a motor control device, a filter circuit including a plurality of predetermined units each including a circuit element having one or more predetermined passive elements and a semiconductor switch for controlling a current supply to the circuit element, the filter circuit being connected to the power supply path; a control unit that controls switching of the semiconductor switches of the plurality of predetermined units included in the filter circuit so as to suppress DC voltage fluctuations or current fluctuations in the power supply path, the processing device is a connector including a pair of input terminals and a pair of output terminals electrically connected to the pair of input terminals, the pair of input terminals and the pair of output terminals being connected to a positive wiring and a negative wiring forming the power supply path; Processing unit.

2. A processing device that suppresses voltage fluctuations in a power supply path that supplies power from a DC power source to a motor control device, a filter circuit including a plurality of predetermined units each including a circuit element having one or more predetermined passive elements and a semiconductor switch for controlling a current supply to the circuit element, the filter circuit being connected to the power supply path; a control unit that controls switching of the semiconductor switches of the plurality of predetermined units included in the filter circuit so as to suppress DC voltage fluctuations or current fluctuations in the power supply path, The processing device is incorporated in the DC power supply, and is configured such that an output of the filter circuit is output to the power supply path. Processing unit.

3. the filter circuit is configured so that a resonance characteristic of the entire circuit can be adjusted by switching the semiconductor switch in the predetermined unit; The control unit controls the switching of the semiconductor switch based on the rotation speed of a motor to which a drive current is supplied by the motor control device or a PWM frequency in the motor control device so as to suppress DC voltage fluctuations or current fluctuations in the power supply path. 、 The processing device according to claim 1 or 2.

4. the control unit controls switching of the semiconductor switches in the plurality of predetermined units so that a resonance frequency of the power supply path including the filter circuit deviates from a predetermined frequency range centered on a rotation speed of the motor or a frequency of the drive current based on a PWM frequency of the motor control device. The processing device according to claim 3 .

5. the control unit detects DC voltage fluctuations or current fluctuations in the power supply path, and adjusts the impedance of the power supply path including the filter circuit by controlling switching of the semiconductor switch based on the detection result so that the DC voltage fluctuations or current fluctuations in the power supply path are suppressed. The processing device according to claim 1 or 2.

6. The plurality of predetermined units are configured by being disposed between a positive wiring and a negative wiring that form the power supply path, The processing apparatus according to any one of claims 1 to 5.

7. The plurality of predetermined units are configured by arranging each of the plurality of predetermined units on one of a positive side wiring and a negative side wiring that form the power supply path, The processing apparatus according to any one of claims 1 to 5.

8. a plurality of the motor control devices are connected to the power supply path, and power from the DC power supply is distributed and supplied to the plurality of motor control devices. The processing apparatus according to any one of claims 1 to 7.

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