CN108574436A - A kind of servo-driver electric energy recovering system and electric energy recovery method - Google Patents
A kind of servo-driver electric energy recovering system and electric energy recovery method Download PDFInfo
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- CN108574436A CN108574436A CN201810359229.2A CN201810359229A CN108574436A CN 108574436 A CN108574436 A CN 108574436A CN 201810359229 A CN201810359229 A CN 201810359229A CN 108574436 A CN108574436 A CN 108574436A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
- H02P9/48—Arrangements for obtaining a constant output value at varying speed of the generator, e.g. on vehicle
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
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Abstract
The invention discloses a kind of servo-driver electric energy recovering systems, increase electric energy recovering system on the basis of conventional servo driving structure, electric energy recovering system includes externally six connecting terminals, two feeder ears are connect with the ends R1 and R2 of the external braking resistor of the servo-driver, two DC connecting ends are connect with the DC+ of the DC power supply and DC, and two DC output ends are connect with the bus and control unit and other DC loads.When servo motor regenerative electric energy and braking, electric energy recycling can be carried out.Recovery system and method for the present invention can be realized is converted to low voltage control electricity by the high voltage direct current of feedback, and can be exported in feedback electric energy, the automatic switchover between DC power supply output and the two increase-volume three kinds of operating modes of output, solve the problems, such as that oil drilling small servo driving manipulator braking electric energy and regenerative electric energy can not be utilized well.
Description
Technical field
The invention belongs to oil drilling equipment control technical fields, for realizing the braking of manipulator servo drive system or again
The recycling of raw electric energy and the in order to control function of system power supply, are related to a kind of servo-driver electric energy recovering system, further relate to one kind
Electric energy recovery method.
Background technology
In recent years, as servo-drive and automatic technology are in the extensive use of oil drilling equipment field, traditional people
Power operates the manipulator that is gradually automated and is replaced.Underloading, micromanipulator will meet environment temperature, dynamic response and determine simultaneously
The requirements such as position precision, are generally driven using servo motor.The operation short for Oil Field displacement distance, action repeatability is high is special
Point needs manipulator to be moved repeatedly by planning path, and such operating mode needs the frequent speed governing of servo-driver, braking, will produce big
The braking power consumption of amount.Secondly, manipulator is moved by desired trajectory fortune for leaning on equipment self-weight or load gravity to provide powered belt
Dynamic operating mode, motor operation will produce a certain amount of feedback electric energy in generating state.
It is servo-driver operation principle with reference to attached drawing 1.Inside servo-driver 1, AC power passes through rectification unit
2, which are transformed to direct current, is stored in capacitance C1, is again converted direct current by inversion unit 3 according to the load characteristic of servo motor 5
For the exchange electric drive servo motor 5 of specific frequency, voltage class.Above-mentioned transformation of electrical energy and retarding loss and regenerative electric energy control
System is completed by bus and control unit 4.It also needs that DC power supply 7 is separately provided in system, for bus and control unit 4 and its
The power supply of his DC load 8.There are three types of presently used braking electric energy and regenerative electric energy processing mode：One, without R1, R2 terminals
With regenerative electric energy control unit, by bus and control unit 4 by regenerative electric energy inversely by inversion unit 3, storage capacitor C1 and
Rectification unit 2 is converted to standard electric alternating current and is fed back to power grid；Two, without R1, R2 terminals and regenerative electric energy control unit, by bus
And regenerative electric energy is stored in storage capacitor C1 in direct current mode and provides power as other servo motors in system by control unit 4；
Electric energy is carried out heat loss by three, the junction loss resistance in R1 and R2.
But above-mentioned three kinds of schemes of oil drilling equipment field are all had some limitations.According to scheme one, when
Feedback electric energy phase angle and busbar phase angle can cause power grid impact, surge or harmonic wave when inconsistent, reduce power factor of electric network,
Weak current equipment is interfered, the small grids of diesel-driven generator are carried particularly with oil drilling, it is influenced to become apparent.According to
Scheme two, manipulator is generally single-drive and is sequentially-operating, no multi-axial Simultaneous operating mode, therefore feedback energy during oil drilling is equipped
Amount can not still be consumed by other driving devices, eventually led to capacitance C1 and overcharged and burn.The cost of implementation height of above-mentioned two scheme,
Occupied space is big, and the operating mode that apparatus body is installed on to driving device is difficult to meet miniature requirement.For oil drilling operating mode
It is general to select scheme three, but its loss electric energy is more, and equipment operating efficiency is low, and the braking resistor for needing external calorific value big, and
Technological processing for explosion protection feature is done, nor rational solution.Currently without a kind of oil field small servo driving manipulator of being completely suitable for
Electric energy recycles solution.
Invention content
The object of the present invention is to provide a kind of servo-driver electric energy recovering systems, solve the drive of oil drilling small servo
The problem of hand-made electrokinetic energy of motivation tool and regenerative electric energy can not be utilized well.
It is a further object of the present invention to provide a kind of servo-driver electric energy recovery methods, by servo drive system feedback
High voltage electric energy is converted to direct-current control voltage by DC chopper circuit, and system provides electric energy in order to control.
A technical solution of the present invention is a kind of servo-driver electric energy recovering system, including electric energy recycling
Control unit, input voltage measurement unit, feedback electric energy detection unit, DC chopper circuit, out-put supply detection unit, output
Power control switch device.Wherein：Electric energy recycles control unit and is examined for real-time reception input voltage measurement unit, feedback electric energy
The detected value of survey unit, out-put supply detection unit controls output power control switch device Z1, Z2 and Z3 by internal processes
On off operating mode；Input voltage measurement unit is used to detect the voltage value of feedback electric energy and is sent to electric energy recycling control list in real time
Member；Feedback electric energy detection unit is used to detect the voltage value that DC chopper circuit exports and current value and is sent to electric energy in real time and returns
Receive control unit；DC chopper circuit controls DC voltage for storing feedback high voltage electric energy, and by electric energy recycling control unit
The overall process of conversion；Out-put supply detection unit is for detecting external direct current power supply voltage value and load current value and sending in real time
Control unit is recycled to electric energy；Output power control switch device is controlled by electric energy recycling control unit, adjusts the electric energy
The output state of each switching device in recovery system.Electric energy recovering system includes externally six connecting terminals, respectively two confessions
Electric end, two DC connecting ends, two DC output ends, the R1 of two feeder ears and the external braking resistor of the servo-driver
It is connected with the ends R2, two DC connecting ends are connect with the DC+ of the DC power supply of the servo-driver and DC-, and two direct currents are defeated
Outlet is connect with the bus of the servo-driver and control unit and other DC loads.
Another technical solution of the present invention is a kind of servo-driver electric energy recovery method, is recycled using above-mentioned electric energy
Servo motor regenerative electric energy and servo-driver braking electric energy are reached electric energy recovering system by system by R1 and R2.By electric energy
The input voltage measurement unit of recovery system, feedback electric energy detection unit, out-put supply detection unit are to the feedback in main circuit
Electric energy is detected, and the working condition of the electric energy recovering system is uniformly controlled by electric energy recycling control unit.Ensure feedback
High voltage direct current is converted to stable control system voltage value by chopper circuit, and system provides electric energy in order to control.
The present invention is a kind of servo-driver electric energy recovery method there are one technical solution, and electric energy recycles control unit
In conjunction with the value of feedback of input voltage measurement unit and out-put supply detection unit, by internal arithmetic method control switching device Z1's
Make-and-break time is to stablize the control voltage value of output；Electric energy recycles control unit combination feedback electric energy detection unit and out-put supply
The value of feedback of detection unit, the on off operating mode by controlling switching device Z2 and Z3 realize that the electric energy recovering system is exported in power supply
Automatic switchover between three kinds of pattern, feedback electric energy output mode, increase-volume output mode operating modes.
The control voltage value of aforementioned stable output and the method switched between three kinds of operating modes are specially：Sentenced according to x
Whether disconnected feedback electric energy meets the power demands of DC load, and x indicates the ratio of C3 both end voltages value and direct current power source voltage value；
Work as x<When 0.9, indicates that feedback electric energy is unsatisfactory for demand, turn off switching device Z2, switching device Z3 is connected, by direct current
Power supply is load supplying, i.e., system works in power supply output mode；
When 0.9<x<When 1.1, further judged whether to meet present load demand according to y values, y indicates feedback for current value
With the ratio of load circuit, as y=1, indicate feedback electric energy can meet demand, be connected switching device Z2, turn off switching device
Z3, system work in feedback electric energy output mode；As y ≠ 1, switching device Z2 and switching device Z3 is connected, by feedback electric energy
Output current, system work in increase-volume output mode simultaneously with DC power supply；
Work as x>When 1.1, the monocyclic turn-on times of switching device Z1 and shutdown are calculated according to the switching frequency of program setting
Result is exported to switching device Z1 driving circuits and controls its break-make by the time, to stablize the control voltage value of output.
The electric energy recovering system of the present invention compares the prior art, has the advantages that：It 1) will braking electric energy and regeneration
Power storage simultaneously carries out decompression processing, in order to control system power supply；2) system is included detects and controls device, can be according to servo-drive
The duty ratio of the variation adjust automatically chopper circuit of device DC terminal voltage value, with this value of stabilizing the output voltage；3) system is included more
Locate electric energy detection device, it can be achieved that feedback electric energy output, DC power supply output the two increase-volume export three kinds of operating modes between from
Dynamic switching；4) system can be not only used for completely new mating servo drive, be equally applicable to the liter for having servo drive
Grade transformation.
Description of the drawings
Fig. 1 is conventional servo driving principle figure；
Fig. 2 is that the present invention implements structure chart；
Fig. 3 is schematic diagram inside the present invention；
Fig. 4 is DC voltage flow path switch figure of the present invention；
Fig. 5 is servo acceleration and deceleration and torque curve figure；
Fig. 6 is energy regenerating control unit internal logic figure of the present invention.
In figure, 1. servo-drivers, 2. rectification units, 3. inversion units, 4. buses and control unit, 5. servo motors,
6. brake, 7. DC power supplies, 8. DC loads, 9. brake control elements, 10. electric energy recovering systems, 11. input voltage measurements
Unit, 12. feedback electric energy detection units, 13. electric energy recycle control unit, 14. out-put supply detection units.
L1, L2, L3. indicate that three-phase alternating-current supply, the center line of N. three-phase alternating-current supplies, R1. braking circuit anodes connect respectively
Line end, R2. braking circuit negative terminals, 4 positive pole of V1+. buses and control unit, 4 electricity of V1-. buses and control unit
Source cathode, 7 anode of DC+. DC power supplies, 7 cathode of DC-. DC power supplies, L1. inductance, A. DC voltages flow path switch 1, B. direct currents
Voltage flow path switch 2.
C1, C2, C3 indicate capacitance respectively；
X1, X2X6 indicate that 10 feeder ear of electric energy recovering system anode, feeder ear cathode, direct current connect respectively
Connect proper pole, DC connecting end cathode, output head anode, negative pole of output end；
Z1, Z2, Z3 indicate power-type switching device respectively；
Y1, Y2 indicate diode respectively.
In addition, VregIndicate regeneration DC voltage value；
VbrkIndicate braking DC voltage value；
VchgIndicate the voltage value at the both ends capacitance C2；
VcapIndicate the voltage value at the both ends capacitance C3；
ΔVcapIndicate the voltage ripple value at the both ends capacitance C3；
VDCIndicate the output voltage values of DC power supply 7；
VLIndicate the voltage value at the both ends inductance L1；
C indicates the value of capacitance C3；
IcapIndicate the output current value at the both ends capacitance C3；
IoIndicate load current value；
L indicates the value of inductance L1；
V indicates 5 current speed value of servo motor；
vsetIndicate the positive setting speed of servo motor 5；
-vsetIndicate 5 reversed setting speed of servo motor；
T indicates the time；
t1、t2······t6Indicate the different time sections that servo motor 5 works；
tonIndicate turn-on time in the switching device Z1 monocycles；
toffIndicate the turn-off time in the switching device Z1 monocycles；
fsIndicate the switching frequency of switching device Z1；
T indicates 5 output torque of servo motor；
TsetIndicate the positive setting torque of servo motor 5；
-TsetIndicate the reversely setting torque of servo motor 5.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments, but the present invention is not limited to
These embodiments.
It is the embodiment of the present invention installation diagram with reference to attached drawing 2, the structure of conventional servo driver shown in Fig. 1
On the basis of, increase electric energy recovering system 10.Externally there are six connecting terminal, respectively two power supplies for tool for electric energy recovering system 10
End, two DC connecting ends, two DC output ends.For the servo-driver 1 that can connect braking resistor, by external braking electricity
The ends R1 and R2 of resistance are respectively connected to the feeder ear X1 and X2 of electric energy recovering system 10.The DC+ and DC- of DC power supply 7 connect respectively
It is connected to the DC connecting end X3 and X4 of electric energy recovering system 10.X5 and X6 is respectively the DC output end of electric energy recovering system 10.
When 5 regenerative electric energy of servo motor, the bus and control unit 4 of servo-driver 1 send 6 groups of arteries and veins to inversion unit 3
Signal is rushed, it is made to work in rectification mode, the alternating current of regenerative electric energy, which is converted to direct current, is stored in capacitance C1, capacitance C1 two
The voltage value at end is Vreg.Meanwhile bus and control unit 4 control rectification unit 2 and are stopped, and prevent regenerative electric energy adverse current；Control
Brake control element 9 processed is connected, and regenerative electric energy is reached electric energy recovering system 10 by R1 and R2.
When servo motor 5 is braked, the bus and control unit 4 of servo-driver 1 are watched after sending brake signal to brake 6
The meeting brake sticking brake of motor 5 is taken, while bus and control unit 4 are respectively to rectification unit 2, inversion unit 3 and brake control element 9
Control instruction is sent, so that rectification unit 2 is turned off, (in actual use, 1 power supply of servo-driver is alternatively list by power supply L1, L2 and L3
Mutually or two-phase) electric energy be no longer input to rectification unit 2；3 break-off of inversion unit, no longer to servo motor when operating mode is constant
5 output driving electric energy；Brake control element 9 is connected, and the electric energy that do not consume retained inside servo-driver 1 is passed by R1 and R2
To electric energy recovering system 10, transmission voltage value at this time is Vbrk。
The regenerative electric energy and braking electric energy for being input to electric energy recovering system 10 are referred to as feedback electric energy.
The input terminal of DC power supply 7 is single-phase alternating current, and being respectively connected to L3 and N, (DC power supply 7 is defeated in actual use
Enter end or three-phase, two-phase or to be connected to other single-phase).The direct current of the output end and electric energy recovering system 10 of DC power supply 7
Connecting pin connects, and is handled by electric energy recovering system 10, judges to be connected to always by DC output end X5 and X6 through internal logic
Line and control unit 4 and other DC loads 8.Output power line V2+ and V2- are respectively connected to the V1+ of bus and control unit 4
And V1-, the power supply for controlling power supply.
It is 10 inside schematic diagram of electric energy recovering system, including electric energy recycling control unit, input voltage inspection with reference to attached drawing 3
Survey unit, feedback electric energy detection unit, DC chopper circuit, out-put supply detection unit, output power control switch device.It should
Internal system uses closed-loop control, is participated in without any external control device or control signal.Feedback electric energy is defeated by X1 and X2
Enter to electric energy recovering system 10, capacitance C2 can realize that the quick absorption of feedback electric energy, anti-backflow diode Y1 are series at X1 accesses
In, to prevent the electric energy adverse current damage servo-driver 1 in capacitance C2.Input voltage measurement unit 11 is for measuring capacitance C2
Internal voltage value Vchg.Testing result is reached electric energy and recycles control unit 13 by input voltage measurement unit 11, is controlled in real time
Operation processed, result are used to control the duty ratio D1 of switching device Z1.Pass through capacitance C2, switching device Z1, diode Y2, operation
The high voltage electric energy of feedback can be converted voltage in order to control by the combination of inductance L1, capacitance C3 and electric energy recycling control unit 13,
It powers for V1+, V1- and other DC loads 8.
Feedback electric energy detection unit 12 is used for the voltage value V at the both ends on-line measurement capacitance C3cap, current value Icap, and in real time
Output to electric energy recycles control unit 13.Out-put supply detection unit 14 is used to measure the output voltage values V of DC power supply 7DCWith
Load current value Io, and exported in real time to electric energy and recycle control unit 13.It is single by two detections that electric energy recycles control unit 13
The feedback quantity of member 12 and 14 carries out logical calculated, to determine the on off operating mode of switching device Z2 and Z3, realizes only feedback electric energy
Output, only DC power supply output, feedback electric energy and DC power supply export (increase-volume output) simultaneously.
It is the DC voltage transfer principle figure of the present invention with reference to attached drawing 4.When input voltage measurement unit 11 detects capacitance
When having stored electric energy in C2, switch order is sent out to switching device Z1 from electric energy recycling control unit 13.Z1 can work in conducting
With shutdown two states.
It is the schematic diagram of switching device Z1 conducting states with reference to (a) in attached drawing 4.The voltage at the both ends capacitance C2 is Vchg, electricity
The voltage for holding the both ends C3 is Vcap, due to VchgMore than Vcap, electric current is flowed along the directions A in circuit, inductance when electric current rises along circuit
The electromagnetic field of L1 generates induced voltage VL, V at this timeLPolarity and VchgOn the contrary.The turn-on time of switching device Z1 is ton, i.e., electric
The charging time for holding C3 is ton, output voltage Vcap, load supplying electric current Icap。
It is the schematic diagram of switching device Z1 off states with reference to (b) in attached drawing 4.Due to containing inductance L1 in circuit, in Z1
The electric current of the moment of shutdown, the both ends L1 suddenly disappear, and according to electromagnetic principle, the magnetic field of inductance L1, which changes, leads to its internal electricity
Source polarity is mutated, and amplitude is constant, therefore diode Y2 is in forward conduction state, and electric current is flowed along the directions B in circuit, is continued
It charges for capacitance C3.The turn-off time of switching device Z1 is toff, inductance L1 and capacitance C3 is load supplying within the time period,
Ensure to stabilize the output voltage value VcapWith load current Icap。
In tonAnd toffIn the alternate period, such as the output voltage V at the both ends capacitance C3cap(VcapValue is defeated with DC power supply 7
Go out voltage value VDCIt is associated, 0.9VDC<Vcap<1.1VDC) and load current IcapLoading demand (V cannot be metDCAnd Io) indicate
The feedback electric energy stored in capacitance C2 has been exhausted.
The wherein calculation method of parameters of inductance L1 and capacitance C3 is as follows：
Switching device Z1 ratios in turn-on time and period within the single loop period are known as turn-on time duty ratio, use D1
It indicates：
Due toFormula (1) changeable type is：
In parts selection calculating process, regenerative electric energy voltage VregWith braking electric energy voltage VbrkMiddle the greater is considered as Vchg；
Assuming that the output voltage V of DC power supply 7DCWith the voltage V at the both ends capacitance C3capIt is equal；The switching frequency f of switching device Z1sIt can be by
Program in electric energy recycling control unit 13 is set as fixed value；Output current IcapIt can be determined by system practical working situation.By
This, the value of inductance L1 can be calculated according to formula (5)：
The ripple value of capacitance C3 output voltages is set as Δ Vcap, the capacitance of storage capacitor C3 can be obtained by formula (6)：
So far, the required parameter comprising energy-storage travelling wave tube all determines in the main circuit structure of electric energy recovering system 10.
In the circuit structure practical work process, due to the voltage value V at the both ends capacitance C2chgIt can be continuous with the consumption of electric energy
Variation, according to formula (1), it is ensured that stable control voltage value Vcap, the conducting dutycycle D1 of Z1 should be changed, need input voltage
The voltage value V at 11 both ends measuring capacitance in real time C2 of detection unitchg, and electric energy recycling control unit 13 is fed back to, by control program
According to current value adjust automatically control parameter.
It is servo motor speed and torque correspondence curve graph with reference to attached drawing 5.Onsite application is equipped for oil drilling
Operating mode, manipulator general work is between initial position and 2 points of setting target location.
First by initial position to target location.5 speed of servo motor accelerates to reach setting v by 0setTime used
For t1, at this time servo motor 5 export constant torque Tset.Reach setting speed vsetAfterwards, servo motor 5 runs on constant velocity stage t2,
The inertia torque of motor output at this time is less than Tset.Servo motor 5 reduces speed now after close to target location, and in t3Period
It is interior by speed by vset0 is reduced to, speed is positive value at this time, and torque is-Tset, it will generate feedback electric energy.
Then initial position is returned by target location.5 speed of servo motor is reversed by 0 to be accelerated to reach setting-vsetIt is used
Time is t4, at this time servo motor 5 export constant-torque-Tset.Reach setting speed-vsetAfterwards, servo motor 5 is run at the uniform velocity
Stage t5, the inertia torque of motor output at this time is less than Tset.Servo motor 5 reduces speed now after close to initial position, and in t6
By speed by-v in periodset0 is reduced to, speed is negative value at this time, and torque is Tset, it will generate feedback electric energy.
For above-mentioned operating mode, the capacity of capacitance C2 is determined by feedback electric energy.Its computational methods is as follows：
Servo motor 5 needs the specific parameter to include：Maximum power Pm(W), nominal torque Tm(Nm), load inertia JL
(Kgm2), maximum speed n (rpm)；
Servo-driver 1 needs the specific parameter to be：Deceleration time td(s)。
For limiting case, the deceleration torque that servo motor 5 can be born is 1.5 times of nominal torques：
Mm=1.5Tm (7)
Wherein：MmFor the maximum overload torque of permission.
The minimum deceleration time that power device can bear in servo-driver 1 is verified according to formula (7)：
Wherein：tsFor the minimum deceleration time.
The actual deceleration time should be between tsTo 1.5tsBetween, as shown in formula (9)：
ts＜ td＜ t3,4＜ 1.5ts (9)
Wherein：tdIt is less than t for one3,4Time quantum.
To ensure the steady operation of each power device in system, required maximum braking torque M is calculated with this valueb：
Wherein：MbFor maximum braking torque.
M is obtained by formula (10)bAfter can pass through formula (11) calculate braking power：
Wherein：PbFor maximum brake power.
T in the single loop period can be calculated by formula (12)3And t6The feedback electric energy of generation：
QC2=Pb×(t3+t4) (12)
Wherein：QC2Indicate the feedback electric energy in the monocycle.
I.e. the capacity of capacitance C2 is not less than QC2。
It is electric energy recycling 13 control logic figure of control unit with reference to attached drawing 6.It is measured by input voltage measurement unit 11 defeated
Enter voltage value Vchg；Feedback electric energy detection unit 12 measures feedback control voltage value VcapWith current value Icap；Export electric energy detection list
Member 14 measures 7 output voltage values V of DC power supplyDCWith load current IoValue.By VchgAnd VDCSwitch element is calculated by formula (1)
The conducting dutycycle D1 of Z1, according to the switching frequency f of program settingsSwitching device Z1 single-revolutions are calculated by formula (2) and formula (3)
The turn-on time t of phaseonWith turn-off time toff, result is exported to switching device Z1 driving circuits and controls its break-make, adjusts feedback
Control voltage Vcap。
The logic control part of switching device Z2 and Z3 should combine x (C3 both end voltage values VcapWith 7 voltage value of DC power supply
VDCRatio) and y (feedback power supply current value IcapWith load circuit IoRatio).Switching device Z1 modulation is judged by x first
Voltage value VcapWhether the power demands of DC load are met.Work as x>1.1 account for voltage value VcapExcessively high, i.e., there are one by duty ratio D1
Determine deviation, cope with it and be adjusted, this logic should be associated with the control logic of switching device Z1.x<When 0.9, illustrate feedback electricity
The not enough power supply of energy continues to collect feedback electric energy for load supplying, should turn off switching device Z2.It is to ensure to export at this time
Load has stable power supply power supply, and switching device Z3 should be connected, and is load supplying by DC power supply 7, i.e. system works in power supply
Output mode.When 0.9<x<When 1.1, C3 both end voltage values V is indicatedcapIn normal voltage range, it can be used for load supplying.
Further judge the both ends C3 output current I at this timecapWhether meet present load current demand, needs to be judged by y values.Work as y=1
When indicate electric current IcapLoad current I can be metoDemand, be connected switching device Z2, turn off switching device Z3, i.e., system work
In feedback electric energy output mode；If there are (or the y of y ≠ 1 when electricity consumption increased load suddenly in DC control circuit<1), such as：
Heater, direct current generator start moment etc., indicate electric current IcapIt can not sufficient load current IoDemand, derailing switch should be connected at this time
Part Z2 and switching device Z3, by feedback electric energy and DC power supply 7, simultaneously output current is to ensure the stability of system power supply
System works in increase-volume output mode.
Claims (4)
1. a kind of electric energy recovering system for servo-driver, which is characterized in that the electric energy recovering system includes externally six
A connecting terminal, respectively two feeder ears, two DC connecting ends, two DC output ends, two feeder ears are watched with described
The ends R1 with R2 for taking the external braking resistor of driver connect, the DC power supply of two DC connecting ends and the servo-driver
DC+ connected with DC-, two DC output ends and the bus and control unit of the servo-driver and other DC loads
Connection；
Include electric energy recycling control unit, input voltage measurement unit, feedback electric energy detection list inside the electric energy recovering system
Member, DC chopper circuit, out-put supply detection unit, output power control switch device；Wherein：Electric energy recycles control unit and uses
In real-time reception input voltage measurement unit, the detected value of feedback electric energy detection unit, out-put supply detection unit, control output
The on off operating mode of power control switch device Z1, Z2 and Z3；Input voltage measurement unit is used to detect the voltage value of feedback electric energy
And it is sent to electric energy recycling control unit in real time；Feedback electric energy detection unit is used to detect the voltage value of DC chopper circuit output
It is sent to current value and in real time electric energy recycling control unit；DC chopper circuit is used to store feedback high voltage electric energy, and by electricity
The overall process of control unit control DC voltage conversion can be recycled；Out-put supply detection unit is for detecting external direct current power supply electricity
Pressure value and load current value are simultaneously sent to electric energy recycling control unit in real time；It exports power control switch device and control is recycled by electric energy
Unit processed is controlled, and the output state of each switching device in the electric energy recovering system is adjusted.
2. a kind of method recycling electric energy using servo-driver electric energy recovering system as described in claim 1, feature exist
In, by servo motor regenerative electric energy and servo-driver braking electric energy the electric energy recovering system is reached by R1 and R2, by institute
The input voltage measurement unit of electric energy recovering system, feedback electric energy detection unit, out-put supply detection unit are stated in main circuit
Feedback electric energy be detected, the conducting state and on, off of each switching device are automatically controlled by electric energy recycling control unit
The high voltage direct current of feedback is converted to stable control system voltage value by DC chopper circuit, in order to control system by the time
Electric energy is provided.
3. a kind of method recycling electric energy using servo-driver electric energy recovering system as described in claim 1, feature exist
In the value of feedback of electric energy recycling control unit the combination input voltage measurement unit and out-put supply detection unit, control is opened
The make-and-break time of device Z1 is closed to stablize the control voltage value of output；The electric energy recycling control unit combination feedback electric energy detection
The value of feedback of unit and out-put supply detection unit, the on off operating mode by controlling switching device Z2 and Z3 realize that the electric energy returns
Automatic switchover of the receipts system between three kinds of power supply output mode, feedback electric energy output mode, increase-volume output mode operating modes.
4. the method for recycling electric energy according to claim 3, which is characterized in that the control voltage value of the stable output and
The method switched between three kinds of operating modes is specially：Judge whether feedback electric energy meets the power supply need of DC load according to x
It asks, x indicates the ratio of C3 both end voltages value and direct current power source voltage value；
Work as x<When 0.9, indicates that feedback electric energy is unsatisfactory for demand, turn off switching device Z2, switching device Z3 is connected, by DC power supply
For load supplying, i.e. system works in power supply output mode；
When 0.9<x<When 1.1, further judged whether to meet present load demand according to y values, y indicates feedback for current value and bears
Carry circuit ratio, as y=1, indicate feedback electric energy can meet demand, be connected switching device Z2, turn off switching device Z3, be
System works in feedback electric energy output mode；As y ≠ 1, switching device Z2 and switching device Z3 is connected, by feedback electric energy and direct current
Output current, system work in increase-volume output mode to power supply simultaneously；
Work as x>When 1.1, the monocyclic turn-on times of switching device Z1 and turn-off time are calculated according to the switching frequency of program setting,
Result is exported to switching device Z1 driving circuits and controls its break-make, to stablize the control voltage value of output.
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| CN113452286A (en) * | 2020-03-25 | 2021-09-28 | 上海铼钠克数控科技股份有限公司 | Servo motor driving system |
| CN114326588A (en) * | 2022-03-14 | 2022-04-12 | 深圳市山龙智控有限公司 | Efficiency optimization control method and system of servo drive system and storage medium |
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