CN216599461U - Multi-axis integrated servo driving device topology circuit with isolation - Google Patents
Multi-axis integrated servo driving device topology circuit with isolation Download PDFInfo
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- CN216599461U CN216599461U CN202123067758.1U CN202123067758U CN216599461U CN 216599461 U CN216599461 U CN 216599461U CN 202123067758 U CN202123067758 U CN 202123067758U CN 216599461 U CN216599461 U CN 216599461U
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Abstract
The utility model relates to a multi-axis-in-one servo device topological circuit with isolation, which comprises a power supply unit and at least one servo drive unit, wherein the power supply unit is used for providing a direct-current bus power supply and a control power supply for each servo drive unit, each servo drive unit is provided with an isolation power supply, a lower bridge arm control power supply positive end Vn1 and a lower bridge arm control ground end Vnc of a power module of each servo drive unit are respectively connected with two output ends of the isolation power supply, and the input end of the isolation power supply of each servo drive unit is connected with control power supply output ends VCC2 and N2 of the power supply unit. The lower bridge arm of each IPM power module of the servo drive unit is an independent power supply and is isolated from each other and not grounded, so that each servo drive unit is isolated from each other and not grounded to form a loop under the condition that a bootstrap circuit is conducted by front-end isolation, the safe operation of the drive device is ensured, and the volume of the multi-axis servo control device is small.
Description
Technical Field
The utility model belongs to the technical field of electronics, and particularly relates to a multi-axis-in-one servo module device topological circuit with isolation.
Background
In scientific research and industrial actual production, some engineers design a multi-axis integrated servo drive device, wherein each servo drive unit is configured with a switching power supply, each servo drive unit needs a high-frequency transformer and a switching MOSET tube, so that the cost is increased, the volume is large, a general multi-axis servo drive device needs to be designed with small volume and high reliability, if each servo drive unit has a switching power supply, the volume cannot be reduced, the reliability is poor due to electromagnetic interference, and as shown in fig. 1, a typical topological structure schematic diagram of a bootstrap multi-axis servo drive device before improvement is shown.
In addition, in the case that each servo drive unit is provided with a corresponding bootstrap circuit to provide a control circuit for the IPM power module or the IGBT power module group, a loop problem may occur, and the power module may be easily damaged. As shown in fig. 6, for dip ipm1, applicants first thought that a control ground to power ground jumper 3 would need to be added, hoping that the lower arm charging current of dip ipm1 would follow current path 4. As the current path 1 is still not resistive. Current path 1 and current path 4 will exist simultaneously. In addition, the 5 sections will form a new ground loop. The right edge trace of 5 is actually a power ground trace and is not suitable for increasing the resistance. The lower edge of 5 is also the current 2 loop where increasing impedance affects the switching speed of dip 2.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provides a multi-axis integrated servo drive device topological circuit with isolation, which is used for providing power for IPM or IGBT module objects in each servo drive device, wherein the lower bridge arm of each independent IPM power module of a servo drive unit is an independent power supply and is isolated from each other and not grounded, so that a loop is formed by the mutual isolation and not grounded of each servo drive unit under the condition of carrying out a bootstrap circuit by front-end isolation, the safe operation of a module device and the like are ensured.
The technical scheme of the utility model is realized as follows: the utility model discloses a multi-axis-in-one servo driving device topological circuit with isolation, which comprises a power supply unit and at least one servo driving unit, wherein the power supply unit is used for providing a direct-current bus power supply and a control power supply for each servo driving unit, each servo driving unit is provided with an isolation power supply, a lower bridge arm control power supply positive end Vn1 and a lower bridge arm control ground end Vnc of a power module of each servo driving unit are respectively connected with two output ends of the isolation power supply of each servo driving unit, and the input end of the isolation power supply of each servo driving unit is connected with a control power supply output end VCC2 and N2 of the power supply unit.
Furthermore, a short connecting wire is connected between a lower bridge arm control ground end Vnc and a power ground end N of the power module of each servo driving unit; the positive ends P of the DC bus voltage of the inverters of the power modules of each servo drive unit are connected with each other and are connected with the positive end of the power supply; the negative terminals of the inverter direct-current buses, namely the negative power terminals N, of the power modules of each servo driving unit are connected with each other and are connected with the negative terminal of the power supply.
Furthermore, a capacitor is connected between two output ends of the isolation power supply of each servo driving unit; the positive electrode of the capacitor is connected with the positive end Vp1 of the upper bridge arm control power supply of the power module; the isolated power supply is a DC-DC isolated power supply.
Furthermore, the power module of each servo drive unit shares three pairs of upper and lower bridge arms, and the control power supplies of the three pairs of upper and lower bridge arms are all provided by the same isolated power supply.
Furthermore, each phase upper bridge arm of the power module of each servo driving unit is connected with the power supply through a bootstrap control circuit.
Further, the bootstrap control circuit comprises a bootstrap resistor, a bootstrap high-voltage ultrafast recovery diode and a bootstrap capacitor, wherein the bootstrap resistor and the bootstrap high-voltage ultrafast recovery diode are connected in series between the positive electrode of the output of the isolation power supply and the positive electrode Vp1 of the upper bridge arm, the anode of the bootstrap high-voltage ultrafast recovery diode is connected with the positive electrode of the output of the isolation power supply, the cathode of the bootstrap high-voltage ultrafast recovery diode is connected with the positive electrodes Vp1 of the upper bridge arm of the power module and the positive electrode of the bootstrap capacitor, and the cathode of the bootstrap capacitor is connected with the ground Vpn of the upper bridge arm of the power module.
Furthermore, the power supply unit comprises a control chip, a rectifying module, a braking module, a soft start module, a bus voltage sampling circuit and a switching power supply, wherein the input end of the rectifying module is connected with an external alternating current power supply, the output end of the rectifying module is connected with a direct current bus P, N through the soft start module, and two input ends of the switching power supply are respectively connected with a direct current bus P, N; the switching power supply is used for outputting a plurality of paths of VCC power supplies, and respectively providing a weak current control VCC1 power supply for each servo driving unit and a strong power supply VCC2 for the input end of the isolation power supply of each servo driving unit; the input end of the bus voltage sampling circuit is connected with the direct current bus P, N, and the output end of the bus voltage sampling circuit is connected with the control chip.
Furthermore, the power supply unit also comprises at least one RJ485 interface, the RJ485 interface is connected with the control chip through a PHY chip and a network transformer to form an industrial Ethernet bus physical layer, a corresponding industrial Ethernet protocol is supported on the physical layer, and the upper computer controls the multi-axis integrated servo driving device through the industrial Ethernet.
Furthermore, a control chip of the power supply unit is connected with a display screen and is used for monitoring parameters of the power supply unit and each servo driving unit; and the control chip of the power supply unit is connected with a key.
Furthermore, the power supply unit and each servo driving unit are connected through an internal bus; the power supply unit is connected with the outside only through the network port interface.
The utility model has at least the following beneficial effects: according to the utility model, the DC _ DC isolation power supply is added in the servo drive unit, and different servo drive units respectively use the respective DC _ DC isolation power supplies to provide power for the IPM power module, so that a loop is not formed, and the reliability of a multi-axis topological structure is ensured.
The topology circuit of the bootstrap multi-axis servo drive device with the isolation provided by the utility model can be applied to the multi-axis servo drive device, and is respectively applied to each servo drive unit to avoid the common formation of a loop between the units and prevent the misoperation of a module.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a typical topology of a bootstrap multi-axis servo drive device before improvement;
fig. 2 is a schematic structural diagram of a topology circuit of a multi-axis-in-one servo driving device with isolation according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a topology circuit of the isolated multi-axis unified servo driving apparatus expanded to N (N ≧ 3) according to another embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of a power supply unit according to an embodiment of the present invention;
FIG. 5 is a schematic circuit diagram of a servo driving unit according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of two prior parallel IPM power modules modified;
fig. 7 is a schematic diagram of two parallel IPM power modules after improvement.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2 and 3, an embodiment of the present invention provides a multi-axis integrated servo drive device topology circuit with isolation, including a power supply unit and at least one servo drive unit, where the power supply unit includes bus communication, braking, and functions of providing a dc bus power supply and a switching power supply, each servo drive unit is provided with an isolation power supply, a positive end Vn1 of a lower bridge arm control power supply and a lower bridge arm control ground end Vnc of a power module (IPM power module or IGBT power module) of each servo drive unit are respectively connected to two output ends of the isolation power supply, and an input end of the isolation power supply of each servo drive unit is connected to control power supply output ends VCC2 and N2 of the power supply unit.
Furthermore, a short-circuit wire is connected between a lower bridge arm control ground end Vnc of the IPM power module of each servo drive unit and a power ground end N1; the positive DC voltage ends P of the inverters of the IPM power modules of each servo drive unit are mutually connected and are connected with the positive pole of the power supply; the negative terminals of the inverter direct current power supplies, namely power ground terminals N1, of the IPM power modules of each servo drive unit are connected with each other and are connected with the negative terminal of the power supply.
Furthermore, each phase of an upper bridge arm of the IPM power module of each servo drive unit is connected to a power supply through a bootstrap control circuit.
Furthermore, each phase upper bridge arm of the IPM power module of each servo drive unit is connected to the positive output end of the isolated power supply through a bootstrap control circuit.
Referring to fig. 7, the bootstrap control circuit includes a bootstrap resistor R1, a bootstrap high-voltage ultrafast recovery diode D1, and a bootstrap capacitor C1, where the bootstrap resistor R1 and the bootstrap high-voltage ultrafast recovery diode D1 are connected in series between the positive electrode of the power supply and the positive electrode Vp1 of the upper arm, the anode of the bootstrap high-voltage ultrafast recovery diode D1 is connected to the positive electrode of the power supply, the cathode of the bootstrap high-voltage ultrafast recovery diode D1 is connected to the positive electrodes Vp1 of the upper arm of the IPM power module and the bootstrap capacitor C1, and the cathode of the bootstrap capacitor C1 is connected to the ground of the upper arm of the IPM power module. The bootstrap control circuit only teaches one phase of the bridge arm, and the other two phases are designed in the same way. The power module of each servo drive unit shares three pairs of upper and lower bridge arms, and the above description is only that the first pair of upper and lower bridge arms, and the control power supplies of the other two pairs of upper and lower bridge arms and the control power supplies of the first pair of upper and lower bridge arms are provided by the same DC _ DC isolated power supply, and are respectively connected with corresponding pins of the upper and lower bridge arms of the power module by each bootstrap control circuit.
Further, a capacitor C2 and a capacitor C3 are connected between the two output ends of the isolation power supply of each servo driving unit; the positive electrodes of the capacitor C2 and the capacitor C3 are connected with a positive end Vn1 of a lower bridge arm control power supply of the IPM power module. The isolated power supply adopts a DC-DC module.
Referring to fig. 4, the power supply unit includes a control chip, a rectifier module, a soft start module, a bus voltage sampling circuit, and a switching power supply, the power supply unit provides an ac power supply from the outside, an input end of the rectifier module is connected to the external ac power supply, an output end of the rectifier module is connected to a DC bus P, N after passing through the soft start module, two input ends of the switching power supply are respectively connected to a DC bus P, N, the switching power supply is configured to output multiple paths of VCC power supplies, respectively provide a weak current control VCC1 power supply for each servo drive unit, and provide a strong power supply VCC2 for an input end of a DC _ DC isolation power supply of each servo drive unit power module, and respectively connect to interfaces at positive and negative ends of each servo drive unit power supply; the input end of the bus voltage sampling circuit is connected with the direct current bus P, N, and the output end of the bus voltage sampling circuit is connected with the control chip.
The output end of the switch power supply is used for providing a VCC power supply for each IPM power module, and the input end of the isolation power supply is connected with the output end of the switch power supply; the input end of the bus voltage sampling circuit is connected with the direct current bus P, N, and the output end of the bus voltage sampling circuit is connected with the control chip. The control chip can adopt a commercially available control chip.
A capacitor is connected between the dc bus P, N of the power supply unit.
Furthermore, the power supply unit also comprises at least one RJ485 interface, the RJ485 interface is connected with the control chip through a PHY chip and a network transformer to form an industrial ethernet bus physical layer, a corresponding industrial ethernet protocol can be supported on the physical layer, and the upper computer can control the multi-axis integrated servo driving device through the industrial ethernet.
Furthermore, a control chip of the power supply unit is connected with a display screen, so that parameters of the power supply unit and parameters of each servo driving unit can be monitored; and the control chip of the power supply unit is connected with a key.
Furthermore, the power supply unit and each servo driving unit are connected through an internal bus; the power supply unit is connected with the outside only through the network port interface.
Referring to fig. 5, the servo driving unit includes a control chip, an IPM power module, and a current feedback circuit, the control chip is connected to an input terminal of the driving circuit, an output terminal of the driving circuit is connected to the IPM power module, and a three-phase output terminal of the IPM power module is connected to the servo motor; the servo motor is provided with an encoder, the encoder is connected with the input end of the feedback encoder processing module, and the output end of the feedback encoder processing module is connected with the control chip; the input end of the current feedback circuit is connected with the output end of the IPM power module, and the output end of the current feedback circuit is connected with the control chip.
The servo drive unit in the multi-axis-in-one servo drive device comprises a single servo drive unit or N servo drive units.
The working principle of the utility model is as follows: a high-frequency switching power supply is adopted on a power supply unit to provide 2 groups of VCC1 isolated power supplies for a plurality of servo modules at the back, one group of VCC1 power supplies are converted into VCC3 on each servo drive unit to provide power supplies for a weak current control part of each servo drive unit, the other group of VCC1 power supplies for a lower bridge arm control power supply of an IPM or IGBT module, meanwhile, the power supplies for driving of an upper bridge arm U, V, W part through ultrafast recovery diodes D1, D2 and D3, when the power supply is started, a DSP or control chip of the control part of the servo module sends out PWM to control the lower bridge arm of the IPM or the IGBT module, the lower bridge arm is switched on, the upper bridge arm is charged through respective diodes D1, D2 and D3 of the upper bridge arm U, V, W, no special processing is needed on a motor control algorithm during normal operation, but the minimum duty ratio needs to be controlled to ensure that the voltage of the upper bridge arm is within a normal range, this forms a bootstrap circuit. The circuit topology structure can be used in a single module or a plurality of modules connected in parallel, as shown in FIG. 3, and provides a topology structure circuit diagram with N energy storage objects to be tested (N is more than or equal to 3) for another embodiment of the utility model.
In the present embodiment, in the multi-axis miniaturized servo driving apparatus, the bootstrap multi-axis servo control circuit with isolation is mainly implemented in the servo module unit. The scheme also solves the problem that the lower bridge arm in the multi-shaft servo driving device loop is N in total, and the application in a multi-servo driving unit is realized, so that the scheme is not limited to one of the multi-servo driving unit.
The power supply unit P, N is connected with each servo drive unit in parallel and an internal switch power supply provides two groups of VCC1 power supplies for each large servo drive unit, the power supplies are respectively provided for a weak current control part on the servo drive unit and a strong current part on the IPM power module, meanwhile, the power supply unit is connected with the servo drive unit through an internal bus, and the power supply unit is only externally connected through a network port interface.
The utility model discloses a common-bus new topological circuit structure of a bootstrap multi-axis servo drive device with isolation, which comprises a power supply unit, a servo drive unit and a communication module; the power supply unit circuit mainly comprises a rectification part, a soft start part, a brake part and a switch power supply part, the servo drive unit circuit mainly comprises a three-phase inversion unit and a strong and weak control circuit, the communication module circuit mainly comprises a physical layer of data communication among modules and a direct current bus shared by the modules, a multi-shaft servo drive device is formed, the power supply unit is used as a direct current bus power supply and a control power supply of each servo drive unit during working, the servo drive unit control power supply comprises 2 groups of VCC1 power supplies, one group of DC _ DC is provided for the weak current control panel circuit, and the other group of isolated DC _ DC provides four groups of VCC2 power supplies for upper and lower bridge arms of an IPM or IGBT module through a bootstrap circuit. The lower bridge arm ground wire provided by the utility model can prevent the mutually independent power supplies in the operation of the multi-servo driving unit from forming a loop, and the multi-servo driving unit can be ensured to be safely operated without forming a loop with a PN bus. The power level of the IPM power module of each servo drive unit may be different, but the above-described circuit is applicable.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a multiaxis unification servo drive topology circuit of area isolation which characterized in that: including a power supply unit and at least one servo drive unit, power supply unit is used for providing direct current bus power and control power for each servo drive unit, and every servo drive unit is provided with an isolation power, and every servo drive unit's power module's lower bridge arm control power positive end Vn1, lower bridge arm control ground end Vnc are connected with two outputs of its isolation power respectively, and every servo drive unit's isolation power's input all is connected with power supply unit's control power output VCC2, N2.
2. The isolated multiple-axis-in-one servo drive topology circuit of claim 1, wherein: a short-circuit wire is connected between a lower bridge arm control ground end Vnc and a power ground end N of the power module of each servo driving unit; the inverter direct-current bus voltage positive end P of the power module of each servo drive unit is connected with each other and is connected with the power supply positive end; the negative terminals of the inverter direct-current buses, namely the negative power terminals N, of the power modules of each servo driving unit are connected with each other and are connected with the negative terminal of the power supply.
3. The isolated multiple-axis-in-one servo drive topology circuit of claim 1, wherein: a capacitor is connected between the two output ends of the isolation power supply of each servo driving unit; the positive electrode of the capacitor is connected with the positive end Vp1 of the upper bridge arm control power supply of the power module; the isolated power supply is a DC-DC isolated power supply.
4. The isolated multiple-axis-in-one servo drive topology circuit of claim 1, wherein: the power module of each servo driving unit shares three pairs of upper and lower bridge arms, and the control power supplies of the three pairs of upper and lower bridge arms are all provided by the same isolated power supply.
5. The isolated multiple-axis-in-one servo drive topology circuit of claim 1 or 4, wherein: and the upper bridge arm of each phase of the power module of each servo driving unit is respectively connected with a power supply through a bootstrap control circuit.
6. The isolated multiple-axis-in-one servo drive topology circuit of claim 5, wherein: the bootstrap control circuit comprises a bootstrap resistor, a bootstrap high-voltage ultrafast recovery diode and a bootstrap capacitor, wherein the bootstrap resistor and the bootstrap high-voltage ultrafast recovery diode are connected in series between an output positive electrode of an isolation power supply and a positive electrode Vp1 of an upper bridge arm, an anode of the bootstrap high-voltage ultrafast recovery diode is connected with the output positive electrode of the isolation power supply, a cathode of the bootstrap high-voltage ultrafast recovery diode is connected with a positive electrode Vp1 of the upper bridge arm of the power module and a positive electrode of the bootstrap capacitor, and a cathode of the bootstrap capacitor is connected with a ground Vpn of the upper bridge arm of the power module.
7. The isolated multiple-axis-in-one servo drive topology circuit of claim 1, wherein: the power supply unit comprises a control chip, a rectifying module, a braking module, a soft start module, a bus voltage sampling circuit and a switching power supply, wherein the input end of the rectifying module is connected with an external alternating current power supply, the output end of the rectifying module is connected with a direct current bus P, N through the soft start module, and two input ends of the switching power supply are respectively connected with a direct current bus P, N; the switching power supply is used for outputting a plurality of paths of VCC power supplies, and respectively providing a weak current control VCC1 power supply for each servo driving unit and a strong power supply VCC2 for the input end of the isolation power supply of each servo driving unit; the input end of the bus voltage sampling circuit is connected with the direct current bus P, N, and the output end of the bus voltage sampling circuit is connected with the control chip.
8. The isolated multiple-axis-in-one servo drive topology circuit of claim 7, wherein: the power supply unit further comprises at least one RJ485 interface, the RJ485 interface is connected with the control chip through the PHY chip and the network transformer to form an industrial Ethernet bus physical layer, a corresponding industrial Ethernet protocol is supported on the physical layer, and the upper computer controls the multi-axis integrated servo driving device through the industrial Ethernet.
9. The isolated multiple-axis-in-one servo drive topology circuit of claim 7, wherein: the control chip of the power supply unit is connected with a display screen and is used for monitoring parameters of the power supply unit and each servo driving unit; and the control chip of the power supply unit is connected with a key.
10. The isolated multiple-axis-in-one servo drive topology circuit of claim 1, wherein: the power supply unit and each servo driving unit are connected through an internal bus; the power supply unit is connected with the outside only through the network port interface.
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| CN202123067758.1U CN216599461U (en) | 2021-12-08 | 2021-12-08 | Multi-axis integrated servo driving device topology circuit with isolation |
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| CN202123067758.1U CN216599461U (en) | 2021-12-08 | 2021-12-08 | Multi-axis integrated servo driving device topology circuit with isolation |
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