CN202889185U - Soft start device of busbar voltage of AC current servo driver - Google Patents
Soft start device of busbar voltage of AC current servo driver Download PDFInfo
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- CN202889185U CN202889185U CN 201220473541 CN201220473541U CN202889185U CN 202889185 U CN202889185 U CN 202889185U CN 201220473541 CN201220473541 CN 201220473541 CN 201220473541 U CN201220473541 U CN 201220473541U CN 202889185 U CN202889185 U CN 202889185U
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Abstract
The utility model discloses a soft start device of busbar voltage of an AC current servo driver. The soft start device comprises a synchronization pulse signal generation module which generates equal periodic synchronization pulse signals according to three-phase AC voltage, a synchronization pulse signal phase detection module connected with the synchronization pulse signal generation module and used to obtain time of zero cross of a forward direction of the three-phase AC voltage, a synchronization pulse signal phase sequence detection module connected with the synchronization pulse signal generation module and used to determine phase sequence of the input three-phase AC voltage and determine silicon controlled rectifier corresponding to any phase of the three-phase AC voltage in a three phase semi-controlled bridge rectifier, and a trigger pulse generation module which generates trigger pulse trains according to phase-shift trigger angels set to reduce gradually, controls breakover of corresponding silicon controlled rectifier, and realizes soft start. The busbar structure of the soft start device is compact, and size of the driver is reduced. In addition, using FPGA to control a process of the soft start, special-purpose integrated control chips are not needed. The soft start device has good anti-interference performance and wide application range.
Description
Technical field:
The utility model relates to the AC servo driver field, is specifically related to the soft starting device of AC servo driver busbar voltage.
Background technology
At present, AC servo motor is widely used in the every field of industry, and the control of AC servo motor need to be used AC servo driver.In general AC servo driver, the general structure that adopts interchange-AC/DC, be that two-phase or three-phase alternating current input voltage change into direct current through rectifying devices such as diodes, between the direct current positive and negative busbar, power according to servo-driver, and the filter capacitor of company's certain capacity, it has the effect of filtering and storage power.When actuator power was larger, the filter capacitor capacity of DC side was very large.Power in a flash at driver; in order to prevent that excessive charging current from causing damage to wire on the protective tube in the driver, copper bar, the printed circuit board etc.; simultaneously also for the rectifying device of protecting driver and the filter capacitor of bus, must limit the flashy charging current that powers on.
At present, the most frequently used soft start scheme is in the busbar charging loop, and the thermistor of certain resistance of connecting is such as Fig. 1.After powering on, AC-input voltage is slowly charged to the bus filter capacitor by the thermistor that is serially connected on the bus through not controlling rectification again.After charging finished, the relay in parallel with thermistor or silicon controlled module were with the thermistor short circuit, and driver enters normal operating conditions.The shortcoming of this scheme is to be connected in series thermistor at bus bar, and this has increased difficulty and the complexity of bus bar design.In addition, and the relay of thermistor parallel connection or controllable silicon, increased the volume of driver, and the reliability of system is reduced.When the power of driver is larger, be difficult to find suitable relay.
In addition, also have another busbar voltage soft starting mode, i.e. the mode of half control rectification is adopted in rectification, turns on and off the electric current of bus when control starts by the controllable silicon of controlling the half control rectifier bridge.It has saved thermistor on the bus and relay or the controllable silicon in parallel with thermistor, so that activation configuration is compact, system is more safe and reliable.The frequency converter A TV58 Series Frequency Converter that France Schneider company releases, the inner mode of just having used this soft start.In soft start-up process, it has adopted special-purpose integrated chip control half control rectifier bridge.This mode is reliable, but integrated chip peripheral circuit more complicated, and integrated chip is expensive, therefore, is difficult to be promoted in a big way use.
The utility model content
The purpose of this utility model is to propose a kind of soft starting device of AC servo driver dc bus, and it utilizes the controllable silicon of wherein arbitrary phase of three-phase half-controlled rectifier bridge that busbar voltage is controlled, and realizes the soft start of dc bus, specifically comprises:
The synchronization pulse generation module, it is according to the synchronization pulse in the cycles such as three-phase alternating voltage generation of input;
The synchronization pulse phase detecting module, it is connected with described synchronization pulse generation module, is used for determining the rising edge of described synchronization pulse, and then obtains the moment of the positive going zeror crossing point of three-phase alternating voltage;
Synchronization pulse phase sequence detection module, it is connected with described synchronization pulse generation module, be used for to judge the phase sequence of input three-phase alternating voltage, and according to phase sequence determine in the three-phase alternating voltage arbitrary in described three-phase half-controlled rectifier bridge corresponding controllable silicon;
The trigger impulse generation module, it produces corresponding trigger impulse string according to the phase shift Trigger Angle that progressively reduces of setting, and the controlled silicon conducting that control is corresponding so that the voltage of dc bus rises gradually, is realized soft start.
As improvement of the present utility model, this device also comprises isolation and power amplifier module, its be used for to the trigger impulse string isolate with power amplification after, trigger again controlled silicon conducting.
The method that the utility model adopts three-phase half-controlled rectification and controllable silicon phase shift to trigger is used general digitial controller control half control rectifier bridge, thereby DC bus-bar voltage is charged.The utility model has solved the shortcoming of driver bus bar difficult design, structural redundancy in the conventional method, the outstanding feature that has compact conformation, reliability height and be easy to promote, can effectively solve phase shortage and phase sequence test problems when unbalanced source voltage, reliability is high, and is practical.
A kind of soft-start method of AC servo driver dc bus utilizes the controllable silicon of wherein arbitrary phase of three-phase half-controlled rectifier bridge that busbar voltage is controlled, and realizes the soft start of dc bus, and it specifically comprises:
Determine the initial time in any cycle of three-phase alternating voltage of input, that is: according to the synchronization pulse in the cycles such as three-phase alternating voltage acquisition, the moment that the rising edge of synchronization pulse is corresponding is the moment of the positive going zeror crossing point of phase voltage, also is the initial time in any cycle of three-phase alternating voltage.
Judge the phase sequence of input three-phase alternating voltage, and according to phase sequence determine in the three-phase alternating voltage arbitrary in described three-phase half-controlled rectifier bridge corresponding controllable silicon;
Initial time according to this arbitrary phase in the three-phase alternating voltage, progressively reduce its corresponding silicon controlled phase shift Trigger Angle, and constantly control the controlled silicon conducting of described correspondence at corresponding phase shift Trigger Angle, so that the voltage of dc bus rises gradually, realize soft start.
As further improvement, the detailed process of the phase sequence of described judgement input three-phase alternating voltage is:
The voltage cycle of three-phase alternating voltage is divided into six subcycles, there is a combinations of states in three road lock-out pulses described in each subcycle, according to the order that six six combinations of states corresponding to subcycle occur, can judge the phase sequence of three-phase alternating voltage.
As further improvement, constantly produce the trigger impulse string at corresponding phase shift Trigger Angle, thereby control the controlled silicon conducting of described correspondence.
As further improvement, described trigger impulse string isolate first with power amplification after, trigger again controlled silicon conducting.
Phase sequence in the utility model can be positive sequence or backward.
The utility model detects phase sequence and the phase place of input ac voltage, the phase shifting angle generation module utilizes phase sequence and phase place, produce the phase-shift pulse trigger impulse, trigger impulse is through last Pulse Power Magnification module drive controllable silicon, finish silicon controlled control, realize half control rectification and soft start-up process.
Silicon controlled phase shift Trigger Angle in the utility model, the angle of flow open loops control that can fix by setting some also can by detecting busbar voltage, according to the instantaneous value calculating silicon controlled angle of flow of busbar voltage feedback, realize closed-loop control.
Input ac voltage in the utility model is through electric resistance partial pressure, diode rectification and voltage comparator, and the output of comparator is through light-coupled isolation, and the signal of the output pin of optocoupler output is the cyclic pulse signal with the cycle such as three-phase input ac voltage.The rising edge correspondence of synchronization pulse the positive going zeror crossing point of phase voltage, and the trailing edge correspondence the negative sense zero crossing of phase voltage.
The combinations of states of three tunnel periodic synchronization pulse signals in the utility model is divided into six little cycles with a voltage cycle, and six minor cycle correspondences six kinds of different combinations of states of three road lock-out pulses.In the absence of three-phase input voltage, be designated as state 0.According to the order that seven kinds of states occur, can judge the phase sequence of input three-phase voltage, namely positive sequence, backward or three-phase input voltage are unusual.
According to described synchronization pulse positive going zeror crossing point, determine the initial time of input phase voltage one-period in the utility model.Input voltage judging phase order according to detecting when three-phase input voltage is normal, begins to produce trigger impulse, the work of three-phase half-controlled rectifier bridge.In the process of soft start, only need a certain phase controlled silicon conducting of control to get final product.Excessive in order to prevent the soft start charging current, control silicon controlled delay angle slowly reduces, thereby busbar voltage is risen gradually.
According to the phase shifting angle that obtains, the control impuls string is at the initial time of one-period in the utility model.In the utility model, can adopt FPGA to produce pulse train and trigger controllable silicon.Each pulse train has the square wave in several cycles, and the frequency of square wave is determined according to the amplitude of pulse signal and the parameter parameter of pulse transformer.
The pulse signal that obtains in the utility model can carry out power amplification through optocoupler, then by being connected with silicon controlled module by pulse transformer.
The utility model control circuit is simple and reliable, do not need thermistor, bus bar structure is compact, reduced the volume of driver, adopt in addition FPGA control soft start-up process, saved special-purpose integrated control chip, strong interference immunity, applied widely can extend to digitial controllers such as single-chip microcomputer, ARM of other kind.
Description of drawings
Below in conjunction with drawings and the embodiments the utility model is described further, in the accompanying drawing:
Fig. 1 is three phase rectifier and soft starting circuit schematic diagram in the AC servo driver of the prior art, and R, S, T are the three-phase input ac voltages, and P represents the positive pole of dc bus, and N represents the negative pole of dc bus.
Fig. 2 is connection layout and rectification circuit figure between each disparate modules of present embodiment.R, S, T are the three-phase input ac voltages, and G1, K1 represent silicon controlled grid and the negative electrode of the brachium pontis that R is corresponding, and G2, K2 represent silicon controlled grid and the negative electrode of the brachium pontis that S is corresponding, and G3, K3 represent silicon controlled grid and the negative electrode of the brachium pontis that T is corresponding.
Fig. 3 is the synchronization signal detection circuit of present embodiment, and R, S, T are the three-phase input ac voltages, and Rin, Sin and Tin represent that the three-phase alternating current input voltage is through the pulse signal after the synchronization signal detection module.
Fig. 4 is present embodiment three-phase input R, S and T phase sequence when being positive sequence, is divided into the schematic diagram of six state Q1, Q2, Q3, Q4, Q5 and Q6 an alternating voltage cycle according to three-phase synchronous pulse signal Rin, Sin and Tin.Three road different pulse signal correspondences specific state in six different time sections.Ordinate represents amplitude, and unit is volt V.Abscissa represents the time, and unit is a second S.
Fig. 5 is present embodiment three-phase input R, S and T phase sequence when being inverted sequence, is divided into the schematic diagram of six state Q1, Q2, Q3, Q4, Q5 and Q6 an alternating voltage cycle according to three-phase synchronous pulse signal Rin, Sin and Tin.Three road different pulse signal correspondences specific state in six different time sections.Ordinate represents amplitude, and unit is volt V.Abscissa represents the time, and unit is a second S.
Fig. 6 is the positive sequence of present embodiment and the state machine diagram of inverted sequence.Different phase sequences, six different state conversion orders are different.Wherein, the state value of the expression three-phase synchronous pulse signal Rin such as 001,100 and 010, Sin and Tin.0 this phase pulse signal of expression is low level, and 1 this phase pulse signal of expression is high level.
Fig. 7 is three-phase input voltage R, S, T and the R trigger waveform schematic diagram mutually of present embodiment.An A point expression pilot angle α is 120 ° the moment, and B point expression delay angle α is 210 ° the moment.Ordinate represents amplitude, and unit is volt V.Abscissa represents the time, and unit is a second S.
Fig. 8 is the flow chart of present embodiment method.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is further described in detail.But following embodiment only is illustrative, does not consist of restriction of the present utility model.
The soft-start method of AC servo driver dc bus comprises:
Step 1: the synchronization pulse in the cycles such as generation and three-phase alternating voltage.
Such as Fig. 3, input ac voltage R, S, T are through electric resistance partial pressure, diode rectification and comparator, and the output of comparator is through light-coupled isolation, and output pin Rin, the Sin of optocoupler, Tin export periodic pulse signal, see Fig. 4.When a certain phase voltage is timing, the high level of this phase optocoupler output half period, when this phase voltage when negative, the low level of this phase optocoupler output half period.
Step 2: the initial time of determining any cycle of three-phase alternating voltage of input, that is: according to the synchronization pulse in the cycles such as three-phase alternating voltage acquisition, the moment that the rising edge of synchronization pulse is corresponding is the moment of the positive going zeror crossing point of phase voltage, also is the initial time in any cycle of three-phase alternating voltage.
Step 3: detect the phase sequence of input three-phase alternating voltage, and according to phase sequence determine in the three-phase alternating voltage arbitrary in described three-phase half-controlled rectifier bridge corresponding controllable silicon.
In actual conditions, two kinds of situations may appear in the order that three-phase input voltage connects: positive sequence (such as Fig. 4) and inverted sequence (such as Fig. 5).When the phase place of three-phase input voltage is A, B, C, i.e. 120 ° in the phase place of the leading B of phase place of A, 120 ° in the phase place of the leading C of phase place of B is positive phase sequence.When the phase place of three-phase input voltage is A, C, B, i.e. 120 ° in the phase place of the leading C of phase place of A, 120 ° in the phase place of the leading B of phase place of C is backward sequence.One-period at input ac power, according to the periodic synchronization pulse signal Rin of three optocoupler outputs, the high-low level of Sin, Tin, one-period can be divided into six subcycles, there is a combinations of states in three road lock-out pulses in each subcycle, are 1,2,3,4,5,6 with these six kinds of state encodings.In the situation that does not have the three-phase input, be designated as state 0.According to the order that seven kinds of states occur, can judge the phase sequence of input three-phase voltage.The pin that the lock-out pulse output signal Rin of optocoupler, Sin, Tin are connected to digitial controller has adopted the method for state machine in digitial controller, real-time status is detected.According to detection, judge three-phase input phase sequence.If it is all inconsistent to detect optocoupler output and be not order and positive sequence inverted sequence that 1,2,3,4,5,6 these six kinds of states or several state occur, then may be not input or a certain phase voltage disappearance, state value is 0.The specific algorithm that phase sequence detects is seen Fig. 6.
Step 4: according to the initial time of arbitrary phase in the three-phase alternating voltage, progressively reduce its corresponding silicon controlled phase shift Trigger Angle α, and constantly produce the trigger impulse string at corresponding phase shift Trigger Angle α.Can set some fixing angle of flow open loop controls, also can be by detecting busbar voltage, the instantaneous value that feeds back according to busbar voltage calculates the silicon controlled angle of flow, realizes closed-loop control.
When synchronization signal detection module and phase sequence detection module detect three-phase input voltage when normal, begin to trigger controlled silicon conducting, the work of three-phase half-controlled rectification module.In the process of soft start, only need a certain phase controlled silicon conducting of control to get final product.Excessive in order to prevent the soft start charging current, control silicon controlled delay angle α slowly reduces from 210 ° to 120 °, and the scope of delay angle is 90 °.Such as Fig. 7, the corresponding delay angle α of A point is 120 °, and the corresponding delay angle α of B point is 210 °, and in the process of soft start, the phase shift trigger impulse is constantly mobile toward the A point from the B point.
Step 5: the trigger impulse string isolate first with power amplification after, trigger again controlled silicon conducting.The pulse signal that digitial controller produces carries out power amplification through optocoupler, then by linking to each other with silicon controlled module by pulse transformer.
The soft starting device of the AC servo driver dc bus of present embodiment comprises five concrete modules: synchronization pulse generation module, synchronization pulse phase detecting module, synchronization pulse phase sequence detection module, trigger impulse generation module and pulse signal isolation and power amplifier module.
This device detects phase sequence and the phase place of input ac voltage according to synchronization signal detection and electrical network phase sequence module, the phase shifting angle generation module utilizes phase sequence and phase place to produce the phase-shift pulse trigger impulse, trigger impulse is through last Pulse Power Magnification module drive controllable silicon, finish silicon controlled control, realize half control rectification and soft start-up process.The function of modules is as follows:
The synchronization pulse generation module, for generation of with the synchronization pulse in the cycles such as three-phase alternating voltage.
Such as Fig. 3, the synchronization pulse generation module comprises three tunnel resistance, diode, comparator and the optical coupling isolators of connecting successively respectively, three road input ac voltage R, S, T are through electric resistance partial pressure, diode rectification and comparator, the output of comparator is through light-coupled isolation, output pin Rin, the Sin of optocoupler, Tin export periodic pulse signal, see Fig. 4.When a certain phase voltage is timing, the high level of this phase optocoupler output half period, when this phase voltage when negative, the low level of this phase optocoupler output half period.
The synchronization pulse phase detecting module, the initial time that is used for any cycle of three-phase alternating voltage of definite input, that is: according to the synchronization pulse in the cycles such as three-phase alternating voltage acquisition, the moment that the rising edge of synchronization pulse is corresponding is the moment of the positive going zeror crossing point of phase voltage, also is the initial time in any cycle of three-phase alternating voltage.
Synchronization pulse phase sequence detection module, for detection of the phase sequence of access driver input end three-phase voltage, and according to phase sequence determine in the three-phase alternating voltage arbitrary in described three-phase half-controlled rectifier bridge corresponding controllable silicon.
In actual conditions, two kinds of situations may appear in the order that three-phase input voltage connects: positive sequence (such as Fig. 4) and inverted sequence (such as Fig. 5).When the phase place of three-phase input voltage is A, B, C, be positive phase sequence, when the phase place of three-phase input voltage is A, C, B, be backward sequence.At the one-period of input ac power, the high-low level according to three optocoupler outputs Rin, Sin, Tin can be divided into one-period six kinds of states, is 1,2,3,4,5,6 with these six kinds of state encodings.In the situation that does not have the three-phase input, be designated as state 0.According to the order that seven kinds of states occur, can judge the phase sequence of input three-phase voltage.Synchronization pulse Rin, the Sin of optocoupler output, the pin that Tin is connected to digitial controller.In digitial controller, adopted the method for state machine, real-time status has been detected.According to detection, judge three-phase input phase sequence.If it is all inconsistent to detect optocoupler output and be not order and positive sequence inverted sequence that 1,2,3,4,5,6 these six kinds of states or several state occur, then may be not input or the phase shortage phenomenon occurred, state value is 0.Wherein, specific algorithm is seen Fig. 6.
The trigger impulse generation module is used for calculating the silicon controlled delay angle.Can set some fixing angle of flow open loop controls, also can be by detecting busbar voltage, the instantaneous value that feeds back according to busbar voltage calculates the silicon controlled angle of flow, realizes closed-loop control.
When synchronization signal detection module and phase sequence detection module detect three-phase input voltage when normal, begin to trigger controlled silicon conducting, the work of three-phase half-controlled rectification module.In the process of soft start, only need a certain phase controlled silicon conducting of control to get final product.In this programme, during soft start, trigger A phase controlled silicon conducting.Excessive in order to prevent the soft start charging current, control silicon controlled delay angle α slowly reduces from 210 ° to 120 °, and the scope of delay angle is 90 °.Such as Fig. 7, the corresponding delay angle α of A point is 120 °, and the corresponding delay angle α of B point is 210 °, and in the process of soft start, the phase shift trigger impulse is constantly mobile toward the A point from the B point.
In the process that busbar voltage rises, busbar voltage is sampled, according to set the soft start control law control delay angle α.Delay angle α has two kinds of method controls: open loop control and closed-loop control.Open loop control does not need busbar voltage is sampled, and sets in advance a series of delay angle that reduces gradually in time in program.Closed-loop control is according to the busbar voltage that detects, compares with busbar voltage given in the program, draws error, utilizes error that delay angle is controlled, and realizes the PID control of soft start-up process median generatrix voltage.
For silicon controlled module, adopt pulse train to trigger.Each pulse train has the square wave in 4 cycles, and the frequency of square wave is 10kHz, as shown in Figure 7.
Pulse signal isolation and power amplifier module are used for the trigger impulse that the phase shifting angle generation module produces is carried out power amplification, can trigger reliably silicon controlled module with the trigger impulse after amplifying.Adopt optocoupler and pulse transformer to carry out power amplification.The pulse signal that FPGA sends carries out power amplification through optocoupler, then by linking to each other with silicon controlled module by pulse transformer.
Claims (3)
1. the soft starting device of an AC servo driver dc bus, its utilize the three-phase half-controlled rectifier bridge wherein the controllable silicon of arbitrary phase busbar voltage is controlled, realize the soft start of dc bus, it is characterized in that this soft starting device comprises:
The synchronization pulse generation module, it is according to the synchronization pulse in the cycles such as three-phase alternating voltage generation of input;
The synchronization pulse phase detecting module, it is connected with described synchronization pulse generation module, is used for determining the rising edge of described synchronization pulse, and then obtains the moment of the positive going zeror crossing point of described three-phase alternating voltage;
Synchronization pulse phase sequence detection module, it is connected with described synchronization pulse generation module, be used for to judge the phase sequence of the described three-phase alternating voltage of input, and according to phase sequence determine in the three-phase alternating voltage arbitrary in described three-phase half-controlled rectifier bridge corresponding controllable silicon;
The trigger impulse generation module, it produces corresponding trigger impulse string according to the phase shift Trigger Angle that progressively reduces of setting, and the controlled silicon conducting that control is corresponding so that the voltage of dc bus rises gradually, is realized soft start.
2. the soft starting device of AC servo driver dc bus according to claim 1 is characterized in that, this device also comprises isolation and power amplifier module, its be used for to the trigger impulse string isolate with power amplification after, trigger again controlled silicon conducting.
3. the soft starting device of AC servo driver dc bus according to claim 1 and 2 is characterized in that, described synchronization pulse phase sequence detection module judges that the detailed process of the phase sequence of input three-phase alternating voltage is:
The voltage cycle of three-phase alternating voltage is divided into six subcycles, there is a combinations of states in three road lock-out pulses described in each subcycle, according to the order that six six combinations of states corresponding to subcycle occur, can judge the phase sequence of three-phase alternating voltage.
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| CN 201220473541 CN202889185U (en) | 2012-09-17 | 2012-09-17 | Soft start device of busbar voltage of AC current servo driver |
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| CN 201220473541 CN202889185U (en) | 2012-09-17 | 2012-09-17 | Soft start device of busbar voltage of AC current servo driver |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712113A (en) * | 2018-05-04 | 2018-10-26 | 云南兆富科技有限公司 | A kind of online soft starting device of motor |
| CN109374951A (en) * | 2018-11-15 | 2019-02-22 | 上海发电设备成套设计研究院有限责任公司 | A kind of synchronization signal detection circuit based on FPGA |
| CN113328609A (en) * | 2021-06-03 | 2021-08-31 | 深圳弘远电气有限公司 | Drive circuit suitable for converter rectifier circuit silicon controlled rectifier |
| CN113381625A (en) * | 2021-08-13 | 2021-09-10 | 天津飞旋科技股份有限公司 | Soft start rectification circuit, control panel, control method and frequency converter |
-
2012
- 2012-09-17 CN CN 201220473541 patent/CN202889185U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712113A (en) * | 2018-05-04 | 2018-10-26 | 云南兆富科技有限公司 | A kind of online soft starting device of motor |
| CN109374951A (en) * | 2018-11-15 | 2019-02-22 | 上海发电设备成套设计研究院有限责任公司 | A kind of synchronization signal detection circuit based on FPGA |
| CN109374951B (en) * | 2018-11-15 | 2024-03-19 | 上海发电设备成套设计研究院有限责任公司 | Synchronous signal detection loop based on FPGA |
| CN113328609A (en) * | 2021-06-03 | 2021-08-31 | 深圳弘远电气有限公司 | Drive circuit suitable for converter rectifier circuit silicon controlled rectifier |
| CN113381625A (en) * | 2021-08-13 | 2021-09-10 | 天津飞旋科技股份有限公司 | Soft start rectification circuit, control panel, control method and frequency converter |
| CN113381625B (en) * | 2021-08-13 | 2021-10-29 | 天津飞旋科技股份有限公司 | Soft start rectification circuit, control panel, control method and frequency converter |
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