DE102017009878A1 - Control system and method for operating an electric motor - Google Patents

Abstract

The invention relates to an electric control system for an electric motor of a robot comprising a rectifier circuit, a DC link and a multi-channel inverter module. A first inverter circuit of the inverter module is set up to provide a controllable AC voltage for controlled supply of the electric motor in motor operation at a first AC voltage channel and convert a AC voltage generated thereby in the generator mode of the electric motor into a DC voltage and fed back to the DC link. A second inverter circuit of the inverter module is set up to supply an AC voltage for feeding back into the AC voltage network from the DC intermediate circuit to a second AC voltage channel. In this case, the first and the second inverter circuit have a shared circuit.

Description

The present invention is in the field of inverter systems for electric drives, particularly in robotics, and more particularly relates to an electric control system for controlled operation of an electric motor, a method therefor, and a robot assembly having an electric motor adapted to controllably drive the electric motor ,

Electric motors - or electric motors for short - are commonly operated to accelerate, decelerate and / or maintain a mechanical load. Thus, in particular in robotics, the individual members of a robot are moved by means of one or more electric motors. To accelerate or hold the mechanical load, the electric motor must be supplied with electrical energy while operating in engine mode. If the mechanical load is to be braked out of a movement, the electric motor can basically also work as a generator. In this generator operation, the electric motor generates electrical energy, i. it converts mechanical energy into electrical energy. In addition, such an electric motor can usually be controlled in motor operation by the controlled supply of electrical energy and in particular in the generator mode by the controlled removal of electrical energy in its movement - thus in particular by accelerating, braking and / or holding the mechanical load - by the controlled operation, that is controlled by controlled supply or removal of electrical energy.

Typically, for controlled operation of such an electric motor, a control system is used with an inverter, which converts a DC voltage into a controllable AC voltage, ie in particular a variable voltage with changeable polarity, and supplies the electric motor with it during engine operation. In particular, such an inverter can also convert a generator voltage generated in the generator mode - and in particular dependent on its respective mechanical load and / or movement speed and / or movement direction - into a DC voltage.

Particularly in applications with high mechanical loads - such as in industrial robotics - and / or in a stationary application and / or in the use of a plurality of electric motors - such as a robot with a plurality of links, which are moved by electric motors , and / or a robot arrangement with one or more such robots, a primary energy source and / or a primary energy store may be arranged in a different spatial area than the electric motors, that is, in particular be separated from the electric motors. For example, the electrical energy can be recovered in a power plant and used in a production facility with robots. This electrical energy can be transmitted by means of an alternating voltage network and then converted into a DC voltage for feeding the inverter.

In generator mode, the electrical energy generated by the electric motor, in particular for controlling the braking, can be taken from the electric motor and stored or converted into another form of energy. Usually, this electrical energy is converted by a ballast resistor into heat energy. Also, this electrical energy can be fed into a DC memory, by means of which in motor operation of the inverter and thus the electric motor can be operated again. In addition, this generated electrical energy can be fed back into the AC voltage network by means of a regenerative module, ie in particular a grid-controlled inverter. However, the use of the ballast resistor causes a heat generation, which makes additional heat dissipation measures necessary, especially at high power levels - such as high loads and / or in industrial robotics. Also, the available storage capacity for (intermediate) storage of electrical energy is usually limited for technical and / or economic reasons. Finally, a regenerative module increases the technical complexity and thus in particular the space requirement, the susceptibility to errors and / or the costs.

The invention is based on an object to improve the efficiency in operating an electric motor in the generator mode and in particular to increase the electrical energy efficiency of the electric power taken in generator operation of the electric motor to reduce the susceptibility to errors and / or reduce the space requirement.

The invention solves this problem in each case by an electrical control system according to the teaching of claim 1, by a method according to the teaching of claim 14, an apparatus according to the teaching of claim 14 and by a robot assembly according to the teaching of claim 15. Advantageous embodiments and further developments The present invention is in particular the subject of the dependent claims.

A first aspect of the invention relates to an electrical control system for the controlled operation of an electric motor, in particular for a robot. The control system includes a rectifier circuit configured to convert an AC voltage provided from an AC power network to a DC voltage, and a multi-channel inverter device including at least a first inverter circuit providing a first AC voltage channel and a second inverter circuit providing a second AC voltage channel; having. In addition, a DC link of the electrical control system is adapted to be fed with the DC voltage of the rectifier circuit, such as DC voltage by means of storage of electrical energy to buffers and / or smooth and to provide the multi-channel inverter assembly. In addition, the first inverter circuit, in particular by means of a first configuration circuit, configured to provide a controllable AC voltage to the first AC voltage channel for controlled drive of the electric motor during engine operation and convert in generator operation of the electric motor thereby generated AC voltage into a DC voltage and fed back to the DC link. In addition, the second inverter circuit, in particular by means of a second configuration circuit, is arranged to convert the DC voltage at the DC intermediate circuit into an AC voltage and to provide this at the second AC voltage channel for feeding back into the AC voltage network.

In particular, the electric motor may optionally be a component of the electrical control system according to the invention. In particular, the shared circuit and the DC link are separate from each other.

For the purposes of the invention, a "mounting unit" is to be understood as at least one physical unit which can be installed at least substantially in a physical piece in a device or a system. In particular, a mounting unit may be a module for installation in a device or a system. Also, in particular, all components of the installation unit may be physically integrated therein and / or physically connected to one another. In particular for physical connection, a component of another component may be spatially encompassed and / or physically held and / or physically enclosed. Furthermore, the components of such an installation unit can be positively, materially, non-positively and / or integrally connected.

For the purposes of the invention, a "physical connection" is in particular a mechanical connection. In particular, a physical connection may be cohesive, positive and / or non-positive. In particular, a physical connection may be formed by means of a connection means.

For the purposes of the invention, "connecting means" may be, in particular, an adhesive, corresponding latching elements, magnets, for example in cooperation with an additional ferromagnetic material, screwed connection elements, a solder such as solder, a housing or a welding together.

For the purposes of the invention, an "alternating voltage channel" is to be understood as at least one device for one or more electrical voltages, in particular alternating voltages, which has or at least essentially consists of an arrangement of electrical conductors and / or electrical connections for these electrical voltages at several electrical voltages this combines into a logical unit. In particular, the AC voltages of such an AC channel may be in a physical or logical relationship with each other, such as correlating with each other. For example, such an AC voltage channel can summarize the three phases of a three-phase current. Alternatively, such an AC voltage channel can be set up for exactly one electrical (alternating) voltage and thus in particular provide one phase for a single-phase AC voltage network or for an AC motor.

For the purposes of the invention, an "electric motor" may in particular be a DC motor, an AC motor or a three-phase motor. In particular, a DC motor in motor operation can also be supplied with an AC voltage in a broader sense in order to change the polarity of the supply voltage and thus the direction of the DC motor. The running speed can also be controlled as a function of the supply voltage, that is to say in particular by a modulation of the supply voltage. In particular, a DC motor in generator operation usually generates a dependent of its direction of travel and / or movement speed voltage, which is at least no constant DC voltage in the narrower sense and / or has the same polarity. The same applies to the AC motor and the three-phase motor.

While the invention will be described with reference to an electric motor, it will be understood in particular that a different electrical Machine or component which can be driven in a first by an electrical voltage and in another operating mode can generate an electrical voltage, also according to the electric motor, as far as this is technically possible, can be operated controlled and the invention expressly to the controlled operation of such an electric machine relates.

For the purposes of the invention, an "electrical control system for the controlled operation of an electric motor" is a system which is designed to control the electric motor by supplying and / or by removing electrical energy. In particular, the electric motor can be caused by the supply of electrical energy to convert this electrical energy into mechanical energy and thus to move about a mechanical load, in particular to accelerate. Also, the electric motor can be caused in particular by applying a certain electrical voltage and / or a certain electrical current to hold a mechanical load in a predetermined position, that is, in particular to prevent movement of the mechanical load, such as by a force which on the mechanical load acts counteracts a corresponding counterforce generated by the electric motor. By removing electrical energy, the electric motor can in particular be caused to convert a mechanical energy of a mechanical load into an electrical energy depending on the removal in generator operation, whereby a movement of the mechanical load is correspondingly braked and thus controllable by means of a control of the removal.

An advantage of the control system may be, in particular, that in the generator operation of the electric motor, the generated electrical energy can be fed back into the alternating voltage network, whereby the energy efficiency can be increased and heat generation can be avoided. In contrast to a control system with an additional regenerative module, the multi-channel inverter module with the second inverter circuit for feeding back into the AC voltage network, the number of components to reduce, which can be reduced in particular the error rate, space requirements and / or costs. Due to the shared circuit of the multi-channel inverter module, certain electrical components of the multi-channel inverter module can be shared, so that not all for their respective functionalities - ie in particular for the controlled operation of the electric motor or for the power supply back into the individual inverter circuits AC power supply - required electrical components must be provided individually. In this advantageous manner, the manufacturing costs, the resource requirements in the production and / or the space required can be reduced.

According to one embodiment of the present invention, the first inverter circuit is set up by means of a first configuration circuit for the controlled operation of the electric motor, and the second inverter circuit is set up by means of a second configuration circuit for the voltage feedback into the AC voltage network. In this advantageous manner, additional electrical components for the respective functionality - ie in particular for the controlled operation of the electric motor or for the voltage feedback into the AC voltage network - can be provided.

In addition, in each case specific configuration circuits can in each case be provided only the electrical components required for the respective functionality and thus reduce, and in particular avoid, unused electrical components.

Alternatively, in particular, the first and the second configuration circuit may have a common base circuit, which is formed by further electrical components or by an adjustment, in particular by means of software or switches, to the first or second configuration circuit. In this case, an advantage may be, in particular, that the respective functionalities of the respective inverter circuit can be adapted as needed, in particular according to the wishes of the expert or software-controlled.

According to one embodiment of the present invention, the first and the second inverter circuit, in particular up to the respective configuration circuit, at least substantially identical. In this advantageous manner, both inverter circuits can be finished in the same way and set up according to the needs and / or desire of the skilled person application-specific for the functionalities of the first inverter circuit or the second inverter circuit, whereby the manufacturing cost, the manufacturing costs and / or by a higher number of pieces same inverter circuits the error rate can be reduced. Also, an advantage of the respective setting by means of the first or the second configuration circuit and / or the identical inverter circuits may be, in particular, that a limited number of different multi-channel inverter units for each predetermined number of AC voltage channels and thus with a predetermined number of inverter circuits can be made - such as 2-channel inverter modules, 3-channel inverter modules, 6-channel inverter modules or 10-channel inverter modules - which are cheaper due to the higher number and / or have a lower error rate and / or more efficiently - ie in particular with less resource requirements - can be made.

Also can be in a multi-channel inverter module with a predetermined number of AC voltage channels such AC voltage channels, which are not required to operate an electric motor - so are not set up according to a first inverter circuit - set up by means of such a second configuration circuit for feeding back into the AC network and remain thus in particular not unused. In particular, compared to the use of an additional regenerative module, the costs, the susceptibility to errors and / or the space requirement can be reduced. In particular, compared to a lack of feedback so the energy efficiency can be increased and / or heat generation in the operation of electric motors, especially in their brakes in generator mode, can be reduced.

According to one embodiment of the present invention, the multi-channel inverter assembly comprises an integrated circuit comprising the inverter circuits and the shared circuit or at least a portion of these circuits. In this advantageous manner, the inverter assembly can be manufactured particularly cost-effectively and / or reliably. In particular, the inverter circuits for the use of the shared circuit can be coordinated by the common production in an integrated circuit and / or compensate for manufacturing tolerances.

According to an embodiment of the present invention, the multichannel inverter module further comprises, for at least one of the AC voltage channels, power electronics circuitry for providing the AC voltage to that AC voltage channel. In particular, that inverter circuit which provides this alternating voltage can have the power electronics circuit for this purpose or at least be electrically connected to it. In particular, the multi-channel inverter module for each of the AC voltage channels each have such a power electronics circuit - ie in particular the first inverter circuit having a first power electronics circuit for providing the AC voltage to the first AC voltage channel and the second inverter circuit having a second power electronics circuit for providing the AC voltage to the second AC channel. In addition to the above-mentioned possible advantages of the multi-channel inverter module - especially when combined with an integrated circuit - can in particular an advantage of the division of the electrical components at least in a part, which for a lower electrical power - and in particular in the integrated circuit - is formed , And each additional part, which is designed as power electronics circuit, are that the power electronics circuits of the other circuits - in particular the integrated circuit - spatially and in particular thermally separated, creating a heat generation, which usually occurs in power electronics , the other circuit - in particular the integrated circuit and / or in particular compared to a solution in which all components are formed in a single integrated circuit - less influenced and / or disturbs. In this advantageous manner, the susceptibility to errors and / or the cooling effort can be reduced. Also, the electronic components of the integrated circuit, which do not conduct electrical power and / or switch, with a smaller feature size and / or a smaller footprint on a semiconductor chip manufacture, which in particular the resource requirements in the production and / or manufacturing costs can be reduced ,

According to one embodiment of the present invention, the shared circuit is arranged, one or more operating voltages, one or more reference voltages, one or more auxiliary voltages, one or more operating currents, one or more reference currents, one or more auxiliary currents, and / or one or more control signals to provide a combination of at least two of them for the inverter circuits and / or to receive one or more control signals.

For the purposes of the invention, an "operating voltage" is to be understood as meaning at least one electrical voltage which is used to operate a further electrical component-in particular to supply it with electrical energy. In particular, such voltages are also called supply voltages. In particular, an operating voltage for an electrical component or in particular an electronic component can be in a voltage range between 0.5 V and 30 V. Also, in addition to such an operating voltage, a corresponding operating voltage with the opposite polarity can be provided, and in particular a ground branch whose Voltage potential centered between these two voltages and usually has the potential of grounding, be provided. In particular, an operating voltage is provided such that it is at least substantially a constant DC voltage and / or providing this operating voltage for a predefined current range, which corresponds in particular to the expected energy requirement of the electrical component to be supplied, in particular a circuit to be supplied, at least in Is essentially independent of the respective power load. For control electronics, which is not power electronics or their power electronics part is separated, in particular about operating voltages of +12 V, 0 V, -12 V and for a current range of 0 A to 5 A, in particular by the shared circuit, could be provided.

For the purposes of the invention, a "reference voltage" is to be understood as meaning at least one electrical voltage which has a predefined value or a predefined modulation of values. In particular, a reference voltage usually does not serve to supply an electrical circuit with electrical energy, but rather defines a predetermined voltage value for this circuit-that is to say a voltage reference or potential reference-which is required for the function of the circuit and therefore one, in particular with respect to an operating voltage. has higher demands on its accuracy and / or low noise.

For the purposes of the invention, an "auxiliary voltage" is to be understood as meaning an electrical voltage which is similar to an operating voltage of the supply of electrical energy for a circuit and / or serves as a voltage reference for this circuit, similar to a reference voltage. In particular, however, the requirements on the accuracy and / or low noise, with which the voltage value of the auxiliary voltage is provided, compared to a reference voltage and / or compared to an operating voltage lower. In particular, the electric current to be supplied with this auxiliary voltage may be lower than at an operating voltage. Usually, auxiliary voltages in a circuit serve to bring one or more electrical components into a predetermined voltage range, wherein the respective exact voltage value at least substantially does not matter. Rather, in particular, it may merely be necessary for this auxiliary voltage to be greater or smaller than another or at least substantially equal to another voltage, for example an operating voltage or reference voltage. By means of such an auxiliary voltage can also be electrical components that would cause interference with other electrical components due to a type of their energy requirements, electrically separate from them.

According to the invention, the same applies to an "operating current", a "reference current" or an "auxiliary current".

An advantage of the shared circuit, which is set up to provide an operating voltage, a reference voltage, an auxiliary voltage, an operating current, a reference current of an auxiliary current and / or a control signal and / or for receiving a control signal, may be, in particular, that this an operating voltage etc. can supply for several of the inverter circuits. In this advantageous manner, provision of operating voltages, reference voltages, etc. can be bundled in the shared circuit, so that the number of required electrical components can be reduced, in particular for the multi-channel inverter assembly.

According to an embodiment of the present invention, the shared circuit comprises means, in particular a data processing device, which is adapted to receive a control signal and to determine based thereon a control signal for at least one of the inverter circuits by means of which this inverter circuit is controllable.

For the purposes of the invention, "taxes" are to be understood in particular as "rules". For this purpose, a control system-or else a control device, a control device, a control unit or a control component-is preferably set up to receive one or more input variables, in particular one or more control signals, to process them and, based thereon, one or more output variables, in particular one or more a plurality of control signals, by means of which a system to be controlled - or correspondingly also a device, device, unit or component - is controlled or controlled. In particular, the feedback effect of the changed output variables on the input variables via the controlled system together with the calculation of the output variables on the basis of the input variables can form a control loop. In particular, a control system may have a means for calculating the output variables.

For the purposes of the invention, a "means" may be designed in terms of hardware and / or software technology, in particular a data-connected or signal-connected, in particular digital, preferably with a memory and / or bus system. Data processing device, processing, in particular microprocessor unit (CPU), and / or one or more programs or program modules. The CPU can be configured to process commands implemented as a program stored in a memory system, to acquire input signals-that is to say in particular input variables-from a data bus and / or to output output signals-that is, in particular output variables-to a data bus. A storage system may comprise one or more, in particular different, storage media, in particular optical, magnetic, solid state and / or other non-volatile media. The program may be arranged to be capable of embodying the methods described herein so that the CPU may perform the steps of such methods and thereby control, in particular, the control system, the multi-channel inverter assembly or a portion thereof, and thus the electric motor can.

In one embodiment, a computer program product may include, in particular, a storage medium for storing a program or a program stored thereon, in particular a nonvolatile storage medium, a program or a controller, in particular a computer or a data processing device, being added to this program causes to perform a method described herein or one or more of its steps.

For the purposes of the invention, "based on" is to be understood as at least "conditioned by" and / or "as a function of". In particular, the determination of one or more parameters to be determined on the basis of data - in particular sensor data -, an input variable, one or more previous parameters, a control signal or a combination thereof. In this case, the result, that is to say the specific parameters, may depend on a part of the basis on which the determination is based-in particular functionally, in particular linearly or polynomially-while the result does not depend on another part of the basis. Also, the dependency may be due to a part of the base, that is, in particular, that this part of the base conditionally determines from which parts of the base the outcome depends. The same applies to the control or activation, in particular based on parameters, input variables, control points or data.

For the purposes of the invention, "set up" means that a device is not only suitable in principle to perform a specific function - for example only after a specific program code has been loaded, that is to say when the device has been programmed, or the device has been determined in a specific way but the device already has all the means to actually perform the function. For this purpose, the device is preferably already programmed with a program code for this function and / or already shaped and / or arranged and / or already has such a configuration that the device actually fulfills the function - ie in particular one or more functionalities ,

An advantage of the shared circuit with the data processing device may be, in particular, that it can receive a control signal with respect to the control of one or more of the inverter circuits and / or it is configured several of the inverter circuits, in particular based on one or more control signals by means of one or to control by means of several control signals. In this advantageous manner, the control can be bundled in the shared circuit, which in particular for the multi-channel inverter module less electrical components are needed. In addition, the functionalities can be adapted to the particular application, in particular by means of software, the data processing device as desired by the person skilled in the art.

According to one embodiment of the present invention, an AC voltage channel of the AC voltage channels is formed in a single-phase or polyphase. In this advantageous manner can be or can provide one or more phases of an AC voltage by means of an AC voltage channel.

According to one embodiment of the present invention, in which a plurality of AC voltage channels are formed in a single phase, a plurality of these are connected to a corresponding multi-phase AC voltage channel.

According to an embodiment of the present invention, an inverter circuit of the inverter circuits, which is arranged to provide an AC voltage for a single-phase AC voltage channel, has a controllable single-phase H-bridge. In this advantageous manner, the part of the inverter circuit with power electronics components can be separated from another part of the inverter circuit for controlling the power electronics components, which in particular increases the reliability and / or the manufacturing costs and / or resource requirements can be reduced during manufacture. In particular, in a variant of the present invention, the single-phase H-bridge can be controlled by means of a pulse width modulation.

According to one embodiment of the present invention, an inverter circuit of the inverter circuits, which is arranged to provide an AC voltage for a three-phase AC voltage channel, a controllable, three-phase H-bridge, in particular with three half-bridges on. In this advantageous manner, the part of the inverter circuit with power electronics components, in particular the three-phase H-bridge, can be separated from another part of the inverter circuit for controlling the power electronics components, thus increasing the reliability and / or the production costs and / or the Resource requirements during production can be reduced. In particular, in a variant of the present invention, the three-phase H-bridge can be controlled by means of a pulse width modulation.

According to an embodiment of the present invention, the number of phases provided on the second AC voltage channel by means of the second inverter circuit corresponds to the number of phases of the AC voltage network. In particular, in a variant for a single-phase AC voltage network - that is to say in particular for feeding back into a single-phase AC voltage network - the second AC voltage channel can be set up with the second inverter circuit to provide a phase, in particular exactly one phase. In particular and alternatively, in a variant for a three-phase alternating voltage network, in particular for a three-phase system, ie in particular for feeding back into a three-phase alternating voltage network, in particular a three-phase system, the second alternating voltage channel can be set up with the second inverter circuit, at least three phases, in particular exactly three phases. provide. In this advantageous manner, in particular in each phase of the alternating voltage network, an electrical energy, in particular from the DC link and / or the electric motor in the generator mode, be fed back, which in particular avoids an uneven load distribution to the different phases of the AC mains or - with appropriate control - can even be compensated.

According to an embodiment of the present invention, the second inductance matching configuration circuit comprises a choke circuit or a transformer having a number of phases corresponding to the number of phases of the AC mains and / or the second AC voltage channel. An advantage of the choke circuit or of the transformer can be, in particular, that by means of this or this the inductances of the second inverter circuit can be adapted to the inductances of the AC voltage network and thus an efficient power supply to the AC mains is made possible. In addition, in particular by the number of phases of the choke circuit or of the transformer in each case an AC voltage in each case a phase of the AC voltage network can be fed. In particular, can be increased by a galvanic isolation by means of the transformer, the reliability of the electrical control system.

According to one embodiment of the present invention, the second configuration circuit is adapted to adapt the amplitude of the alternating voltage provided on the second alternating voltage channel, in particular in cooperation with the second inverter circuit, in particular to increase the latter so that it can be fed back into the alternating voltage network. In this advantageous manner, the provided AC voltage - ie about the electrical energy generated by the electric motor - can also be fed back into the AC mains if an amplitude of an AC voltage of the AC mains is higher than the DC voltage in the DC bus and / or as the maximum possible Amplitude at the second AC channel. Also, the provided AC voltage can be fed back into the AC voltage network, if the amplitude of the AC voltage in the AC voltage network, in which is to be fed back, less than it is the minimum possible amplitude in the second AC voltage channel.

In an advantageous variant, the second configuration circuit can have a transformer for this purpose, which transforms the alternating voltage applied to its primary side to a higher or lower alternating voltage on its secondary side connectable to the AC voltage network, that is to say in particular connected, ie in particular the amplitude the AC voltage increases or decreases.

Also, in an advantageous variant, the second configuration circuit may include a choke circuit and the second inverter circuit and / or the controller of the second inverter circuit may be configured to generate an AC voltage at the second AC voltage channel such that it is increased by the choke circuit when connected to the AC mains ,

The electrical control system further comprises, in one embodiment of the present invention, a power input for connection to the AC power network, a power output for feeding back into the AC power grid or a combined power connection. An advantage of the combined mains connection can be, in particular, that only one connection is required for connecting the control system to the AC voltage network and thus, in particular, the connection is facilitated and / or errors during connection - such as a non-connected regenerative feedback - can be avoided. In contrast, an advantage of a separate network input and network output in particular be that they can be connected to different AC networks and thus various configuration options can be achieved - in particular the network output to the desire of the skilled person also can not be connected, such as in a particular application Regenerative feedback is not desired.

The electrical control system further comprises a network phase determination device in an embodiment of the present invention having a network output and / or a combined network connection. In this case, the network phase determination device is set up to determine one or more phase positions of one or more phases of the AC voltage network at the network output or at the combined network connection. In addition, the multichannel inverter module is set up to provide the AC voltage at the second AC voltage channel so that it is fed back into the AC voltage network with a matching phase relationship or with a phase relationship such that the respective phase of the corresponding phase corresponds to the AC voltage network after the inductance adjustment can be. By determining the phases of the alternating voltage network and the adaptation of the phases in the feedback can be avoided in particular disturbances of the AC voltage network and / or increase the efficiency of the return feed.

According to one embodiment of the present invention, the DC link has one or more capacitors. The capacitors can advantageously store electrical energy and thus buffer and / or smooth the DC voltage in the DC intermediate circuit.

According to one embodiment of the present invention, the electrical control system, in particular the DC link, a ballast resistor. In addition, the electrical control system, in particular by means of a data processing device and / or electrical connections and electrical switches, set up when the DC voltage - reaches or exceeds a defined with respect to the recovery voltage threshold value - in particular in the DC-DC link, the ballast resistor so with the DC link connect that electrical energy from the DC link is converted by the ballast resistor into thermal energy. In this advantageous manner, it is possible to avoid exceeding the DC voltage above a predetermined threshold value, in particular an overvoltage in the DC intermediate circuit.

According to one embodiment of the present invention, the electrical control system, in particular by means of a data processing device and / or electrical connections and electrical switches, is set up when the DC voltage - in particular in the case of the DC intermediate circuit - reaches or exceeds a voltage threshold defined with respect to the recovery, the second inverter circuit to control, in particular to activate that electrical energy is fed back from the DC-DC link in the AC mains. In this advantageous manner, it is possible to avoid exceeding the DC voltage above a predetermined threshold value, in particular an overvoltage in the DC intermediate circuit, to regenerate the electrical energy into the AC voltage network in a threshold-dependent manner and / or to improve the smoothing and / or buffering of the DC intermediate circuit Energy storage of the DC link is not fully charged.

According to one embodiment of the present invention, which has a ballast resistor and controls the second inverter circuit depending on a threshold voltage - in particular activated - the voltage threshold defined as the threshold with respect to the recovery is smaller in magnitude or at least equal to the voltage threshold defined as the threshold with respect to the ballast resistor. In particular, electrical energy can thereby first be fed back into the alternating voltage network and, when this regeneration is insufficient to dissipate the energy, and thus the DC voltage in the DC intermediate circuit continues to increase, transform into thermal energy by means of the ballast resistor. In this advantageous manner, the energy efficiency can be improved and / or the cooling effort can be reduced.

According to one embodiment of the present invention, the second inverter circuit is electrically separable from the AC mains so that no electrical energy flows from the second inverter circuit into the AC mains or vice versa. It is the Separation controllable based on one or more separation criteria. For this purpose, the second configuration circuit in particular electrical switches - such as in particular relays or switching transistors - on and a data processing device of the control system is set up to determine the separation criteria and / or to control these electrical switches depending on the separation criteria. Such separation criteria can be in particular a drop below the DC voltage in the DC link below a predetermined threshold, a fault in the second inverter circuit, an error in the determination of the phases of the AC voltage network, an alternative - in particular software-controlled - configuration of the second inverter circuit for operating a further electric motor or Combination of it. In this advantageous manner, the reliability can be increased and / or avoid interference in the AC mains or in the electrical control system. An advantage of the alternative configuration of the second inverter circuit may be, in particular, that it depends on whether another electric motor is to be operated as a first inverter circuit for operating this further electric motor or as the second inverter circuit for feeding back into the AC mains, in particular by a controller in particular by means of a data processing device can be configured.

A second aspect of the invention relates to a method for controlled operation of an electric motor, in particular for driving the electric motor and for feeding back an electrical energy generated by this in an AC voltage network. The method has. An AC voltage is converted from the AC voltage network to a DC voltage. It is fed with a DC voltage DC link in the motor operation, a first inverter circuit is supplied with the DC voltage from the DC link, this DC voltage is converted into a controllable AC voltage and provided on a first AC voltage channel for the electric motor. It is rectified in the generator mode of an AC voltage generated by the generator operation of the electric motor in the form of AC voltage by means of the first inverter circuit and fed back this electrical energy to the DC link. It is the DC voltage at the DC intermediate circuit by means of a second inverter circuit converted into an AC voltage and fed back this AC voltage in the AC voltage network. In this case, the first and the second inverter circuit have a shared circuit, in particular for carrying out at least part of their functionalities. These functionalities are in particular the controlled operation of the electric motor or the voltage feedback into the AC voltage network.

The possible advantages already mentioned above as well as embodiments, developments or variants of the first aspect of the invention also apply correspondingly to the method according to the invention of the second aspect of the invention.

In one embodiment of the present invention, the first inverter circuit for the first AC voltage channel and the second inverter AC circuit for a second AC channel are provided. In particular, providing can also be a setting up of the already existing inverter circuits for their respective functionalities, in particular in each case by means of a configuration circuit.

A third aspect of the invention relates to a device for controlled operation of an electric motor, in particular for driving the electric motor and for feeding back an electrical energy generated by this in an AC voltage network.

This device comprises the following means: means for converting an AC voltage from the AC mains to a DC voltage. A means for supplying a DC link with the DC voltage. A means for feeding a first inverter circuit with the DC voltage from the DC link. A means for converting said DC voltage into a controllable AC voltage and means for providing said AC voltage to a first AC voltage channel for the electric motor during engine operation. A means for rectifying an electrical energy generated in the form of AC voltage by a generator operation of the electric motor and a means for feeding back this electrical energy to the DC intermediate circuit. Finally, a means for converting the DC voltage at the DC intermediate circuit into an AC voltage by means of a second inverter circuit and means for feeding back this AC voltage to the AC mains.

In this case, the first and the second inverter circuit have a shared circuit.

The already mentioned above possible advantages and embodiments, developments or variants of the preceding aspects Accordingly, the invention also applies to the device according to the invention.

A fourth aspect of the invention relates to a robot assembly with an electric motor, which is in particular an actuator for a part of the robot assembly or a robot of the robot assembly. In this case, the robot arrangement for operating this motor has an electrical supply system according to the first aspect of the invention or a device according to the third aspect of the invention and / or is adapted to carry out a method according to the second aspect of the invention.

The previously mentioned possible advantages as well as embodiments, developments or variants of the preceding aspects of the invention also apply correspondingly to the robot arrangement according to the invention.

• 1: ein elektrisches Steuerungssystem zum gesteuerten Betreiben eines elektrischen Motors nach einer Ausführung der vorliegenden Erfindung;
• 2: ein Verfahren zum gesteuerten Betreiben eines elektrischen Motors nach einer Ausführung der vorliegenden Erfindung; und
• 3: eine Roboteranordnung mit mehreren elektrischen Motoren und einem elektrischen Steuerungssystem nach einer Ausführung der vorliegenden Erfindung.

Further advantages and features emerge from the subclaims and the exemplary embodiments. Like components of the embodiments will be denoted essentially by like reference numerals, unless otherwise described or otherwise indicated by context. This shows, partially schematized ,:

• 1 an electrical control system for controlled operation of an electric motor according to an embodiment of the present invention;
• 2 A method of controlled operation of an electric motor according to an embodiment of the present invention; and
• 3 A robot assembly including a plurality of electric motors and an electrical control system according to an embodiment of the present invention.

1 shows an electrical control system 10 for controlled operation of an electric motor according to an embodiment of the present invention.

In one embodiment, the electrical control system 10 a rectifier circuit 100 , a multi-channel inverter assembly 200 and a DC link 300 on. For connection to an AC power supply, the electrical control system 10 also a combined mains connection 12 on.

In particular, the AC voltage network can be a three-phase network, which has three, in particular symmetrical, phases and consequently an AC voltage L1 , an AC voltage L2 and an AC voltage L3 in particular, each having a 120 ° offset phase, and may accordingly the electrical control system 10 , as in 1 shown to be designed for three phases. By means of a three-phase network, electric power can advantageously be delivered uniformly, which can increase efficiency and / or reduce installation or operating costs, particularly in high-power applications, such as in industry. In a modification, in one variant, in particular, the AC voltage network may be a single-phase AC voltage network and the electrical control system may accordingly be designed for one phase, as desired by the person skilled in the art and / or depending on the respective application. An advantage of this may be, in particular, that such a control system can be connected to a household power connection, which can be about applications for home appliances such as home automation by means of robotics realize.

The rectifier circuit 100 has the six rectifier diodes D01 to D06 on. These are connected in pairs such that for the AC voltage L1 the rectifier diode D01 a positive half wave from the AC voltage L1 conducts and blocks at a negative half-wave and the rectifier diode D02 at a negative half-wave of the AC voltage L1 conducts and blocks at a positive half wave and thus either an upper or a lower branch for a DC voltage UZ is supplied. The same applies to the AC voltage L2 with the pair of rectifier diodes D03 . D04 and for the AC voltage L3 with the rectifier diodes D05 . D06 , An advantage of the rectifier circuit 100 with the rectifier diodes D01 to D06 may in particular be that by means of these the high voltage of the three-phase network can be rectified with low losses and / or high electrical power.

Alternatively, as will be appreciated by those skilled in the art, the rectifier circuit 100 otherwise, in particular with an active rectifier circuit having active electronic components such as power transistors may be formed.

In addition, the electrical control system 10 , in particular the rectifier circuit 100 as in 1 illustrates a network phase determination device 110 on which is set up the electrical phases of the AC voltages L1 . L2 and L3 and determining a phase signal based thereon. In the event of a fault, the electrical control system can be determined by determining the network phases 10 disconnected from the AC mains and / or a fault mode can be activated.

The DC link 300 has a buffer capacitor C31 on to Storage of electrical energy in the buffer capacitor C31 the DC voltage UZ to buffer and smooth.

The multi-channel inverter module 200 is in the embodiment for two AC voltage channels, a first AC voltage channel 212 and a second AC voltage channel 222 , formed and correspondingly has two inverter circuits, a first inverter circuit 210 and a second inverter circuit 220 , as well as one of the two inverter circuits 210 . 220 shared circuit 202 on, which have the two inverter circuits in particular as a common circuit part. As in 1 shown, are the two AC voltage channels 212 . 222 each formed three-phase, which correspond to the three-phase three-phase network and in particular a three-phase motor, such as a permanent magnet synchronous machine can operate.

The shared circuit 202 is set up, from the DC voltage UZ at least one positive and one negative operating voltage, which is a lower voltage than the DC voltage UZ have to generate and for the multi-channel inverter assembly 200 and the inverter circuits 210 . 220 and / or other components of the multi-channel inverter assembly 200 provide. A supply of these operating voltages is not shown for clarity. In addition, the shared circuit 202 set, the - in particular time-dependent - voltage value of the DC voltage UZ and to calculate a voltage control signal dependent on one or more predetermined voltage thresholds.

The first inverter circuit 210 has a first power electronics circuit 218 and a first pulse width modulation device 219 on and is by means of a first configuration circuit 214 for the controlled operation of the electric motor, which in the in 1 illustrated three-phase AC voltage channel 212 in particular a three-phase motor can be set up.

The first configuration circuit 214 has a first configuration module 215 , a connection arrangement 216 for connecting the electric motor to the first AC voltage channel - in particular designed as a connection socket with at least three electrical connections -, a first current sensor device 217 and the - only partially shown - for the functionalities of the first inverter circuit 210 required electrical connections. Also, the first configuration circuit 214 at least partially a part of the first inverter circuit 210 his. For example, the current sensor device 217 spatially in the first power electronics circuit 218 be arranged to pass through the AC voltage channel 212 to detect flowing currents.

For controlled operation of the electric motor, in particular for regulating the first pulse width modulation device 219 , the first configuration module 215 be set up by the AC voltage channel 212 flowing streams by means of the first current sensor device 217 to receive, receive a control signal for a target speed and / or target rotational position of the electric motor and based thereon a control signal for the pulse width modulation means 219 to determine.

This may be the first configuration module 215 be configured in particular to additionally receive a control signal for an actual speed and / or actual rotational position of the electric motor, based on the means of the first current sensor device 217 detected currents to perform a Clarke transformation, based on it and on the control signal to carry out a Park transformation and the thus obtained actual currents I _{a, should} and I _b, each by means of a PI controller (proportional and integral) with the setpoint Current I _{a, is} and I _b, which correspond to the control signal for the actual speed and actual rotational position to compare, to transform the two control variables thus obtained by means of an inverse Park transformation into a signal for space vector modulation and thus the first pulse width modulation device 219 driving. In this case, the first pulse width modulation device 219 configured to perform a space vector modulation and so the control signals for controlling the first power electronics circuit 218 to determine for a pulse width modulation.

In the exemplary embodiment, the first power electronics circuit 218 a controllable, three-phase H-bridge on. The three-phase H-bridge is made up of three half-bridges each with two electrical switching elements T11 and T12 or. T13 and T14 or. T15 and T16 and each with two freewheeling diodes D11 and D12 or. D13 and D14 or. D15 and D16 educated. Here are the electrical switching elements T11 to T16 controllable by the pulse width modulation. In particular, the electrical switching elements T11 to T16 Power transistors.

When operating the electric motor of this is in engine operation with electrical energy from the electrical control system 10 over the first AC voltage channel 212 supplied or this in generator mode via the first AC voltage channel 212 taken from electrical energy. If electrical energy supplied or taken depends in particular on how the phases and amplitudes of the first AC voltage channel 212 provided AC voltages relative to a rotational phase of the electric motor - ie in particular its speed and rotational position - are.

The second inverter circuit 220 has a first power electronics circuit 228 and a second pulse width modulation device 229 on and is by means of a second configuration circuit 224 for the return of electrical energy in the AC voltage network, in particular the three-phase network, set up.

In the exemplary embodiment, the two inverter circuits 210 . 220 except for the respective configuration circuits 214 . 224 at least substantially identical.

Therefore, the second power electronics circuit 228 a corresponding controllable, three-phase H-bridge on. This three-phase H-bridge is made up of three half-bridges each with two electrical switching elements T21 and T22 or. T23 and T24 or. T25 and T26 and each with two freewheeling diodes D21 and D22 or. D23 and D24 or. D25 and D26 educated. Here are the electrical switching elements T21 to T26 by means of a pulse width modulation by the second pulse width modulation device 229 controllable. Also, the electrical switching elements T21 to T26 in particular power transistors.

For feeding back electrical energy into the AC voltage network, the second configuration circuit 224 a second configuration module 225 and provides electrical connections on the one hand with the combined mains connection 12 for the alternating voltages L1 . L2 . L3 and on the other hand with the second AC voltage channel 222 ago. The second configuration module 225 is established, the voltage control signal from the shared circuit 202 and the phase signal from the network phase determining device 110 to receive and when exceeding the DC voltage UZ over a predetermined threshold - in particular from a DC voltage UZ 100V, 200V, 300V or 400V - the second power electronics circuit 228 by means of the second pulse width modulation device 229 to cause at the second AC voltage channel 222 to provide an AC voltage, and this AC voltage, in particular after adaptation of the inductors, via the combined mains connection 12 fed back into the AC mains. Here is the second configuration module 225 set up, the second power electronics circuit 228 in particular so that the phases in the second AC voltage channel 222 the phases of the alternating voltage network at the combined mains connection 12 correspond, so in particular after the adaptation of the inductances, the phases are equal to each other.

2 illustrates a flowchart with a method 500 for controlled operation of an electric motor according to an embodiment of the present invention. In this case, the electric motor can be supplied in particular with electrical energy from an AC voltage network and, when the electric motor generates electrical energy in the generator mode, this generated electrical energy can be fed back into the AC voltage network.

In one embodiment, the method 500 the following process steps.

In the process step 510 An AC voltage is converted by the AC voltage network into a DC voltage.

In the process step 520 a DC intermediate circuit is fed with the DC voltage.

In the process step 530 For example, a first inverter circuit for a first AC voltage channel and a second inverter AC circuit for a second AC voltage channel are provided.

In the process step 540 the first inverter circuit is supplied with the DC voltage from the DC link, this DC voltage is converted by means of the first inverter circuit into a controllable AC voltage and provided this AC voltage to the first AC voltage channel for the electric motor in engine operation.

In the process step 550 is rectified by means of the first inverter circuit in the form of AC voltage generated by the generator operation of the electric motor electrical energy and fed back to the DC bus.

In the process step 560 is converted by means of the second inverter circuit, the DC voltage at the DC intermediate circuit in an AC voltage and fed back this AC voltage in the AC voltage network.

In doing so, they use the process step 530 provided inverter circuits a shared circuit and / or are at least substantially, in particular to your respective configuration, in particular by means of a respective configuration circuit, identical.

3 shows a robot assembly 1 with several electric motors 481 to 485 and an electrical control system 10 according to an embodiment of the present invention.

In one embodiment, the robot assembly comprises a robot 400 on. In particular, in a variant of the exemplary embodiment, this can be a palletizing robot. The robot has a pedestal 410 , a first robot member 411 , a second robot member 412 , a third robot link 413 , a fourth robot link 414 and a fifth robot link 415 as well as the electric motors 481 to 485 on. Here is the first robot link 411 relative to the robot stand 410 by means of the electric motor 481 movable, the second robot member 412 relative to the first robot member 411 by means of the electric motor 482 movable, the third robot member 413 relative to the second robot member 412 by means of the electric motor 483 movable, the fourth robot link 414 relative to the third robot member 413 by means of the electric motor 484 movable and by means of the electric motor 485 a first and / or a second gripping element 451 . 452 of the fifth robot member 415 relative to each other and / or relative to the fifth robot member 415 movable.

In the embodiment, the electrical control system 10 a rectifier circuit 100 , a multi-channel inverter assembly 200 , a DC link 300 , a network entrance 14 for connection to an AC mains and a mains output 16 for connection to the same or another AC mains.

The rectifier circuit 100 is set up, the AC voltage from the AC mains at the mains input 14 To rectify, and can in particular from a rectifier circuit according to the embodiment of 1 be formed.

The DC link 300 has a buffer capacitor C31 , a ballast resistor R31 and an electrical switch S31 on. In the process, the DC link becomes DC 300 from the rectifier circuit 100 fed with a DC voltage and buffers and / or smooths these by means of the buffer capacitor C31 and put these as the DC voltage UZ ready. In addition, the ballast resistance R31 between an upper and a lower voltage branch by means of the switch S31 be switched so that the resistance R31 the DC voltage UZ is applied and thus electrical energy by means of the ballast resistor R31 is converted into thermal energy.

The multi-channel inverter module 200 is designed for six AC voltage channels - so a 6-channel inverter module - and has six inverter circuits, the inverter circuits each having a power electronics circuit 218 . 228 . 238 . 248 . 258 . 268 respectively. For the sake of clarity, the inverter circuits are in 3 not or only parts of it shown.

The inverter circuits with the power electronics circuits 218 . 238 . 248 . 258 and 268 are set up, each one of the electric motors 481 to 485 to provide for controlled operation of these electric motors with electrical energy or to remove electrical energy from these electric motors in the generator mode - that is set up according to a first inverter circuit. In 3 However, for the sake of clarity, the corresponding AC voltage channels 212 . 232 . 242 . 252 . 262 as well as the electrical connections to the respective electric motors indicated only by dashed lines or not shown.

Usually, multi-channel inverter units are offered for a certain number of AC voltage channels. In particular, such multi-channel inverter modules have in particular six channels, as are required for a 6-axis robot, for example. The robot off 3 However, it has only five axes and five electric motors, so another channel would remain unused. This further channel, the AC voltage channel 222 from the inverter circuit to the power electronics circuit 228 , Is in the embodiment set up, electrical energy, which is called DC voltage UZ at the DC link 300 is present in the AC mains at the mains output 16 rückzuspeisen. In this advantageous manner, in particular electrical energy, which in the generator operation of the electric motors 481 to 485 is generated, are fed back into the AC mains and for the otherwise unused AC channel 222 be used.

The multi-channel inverter module 200 further includes an integrated circuit 204 with a shared circuit 202 , a data processing device 206 and each AC voltage channel in each case a channel control device 208 on. In particular, the data processing device can 206 also part of the shared circuit 202 his. In addition, the shared circuit 202 set up, one or more operating voltages and / or clock signals for the data processing device 206 provide. Furthermore can the shared circuit 202 In particular, one or more functionalities of the shared circuit according to the embodiment to 1 to implement.

To operate the electric motors 481 to 485 is the data processing device 206 arranged, in each case in cooperation with one of the channel control device 208 each one drive signal for the power electronics circuits 218 . 238 . 248 . 258 . 268 to determine and issue. This is the data processing device 206 set up for the feedback, a corresponding drive signal in cooperation with the power electronics circuit 228 associated channel control device 208 to determine and issue. In particular, the power electronics circuits can each be made of a power electronics circuit according to the embodiment 1 be formed and thus controlled by a pulse width modulation. In particular, the data processing device can 206 be set up, control signals from the electric motors, which correspond to their actual rotational speeds and / or actual rotational positions, and control signals from the AC voltage channels, which correspond to the currents in the respective AC voltage channels, and control signals with respect to the desired rotational speeds and / or nominal Receive rotational positions based thereon to determine control signals for the pulse width modulation. In addition, the data processing device 206 established a phase signal with respect to the phases at the network output 16 to receive and based thereon to determine a control signal for the pulse width modulation for the feedback into the AC network. In this advantageous manner, the shared circuit 202 and the data processing device 206 common to the inverter circuits, which partially by means of the shared circuit 202 under data processing device 206 As well as their programming are implemented, can be used, which can reduce the number of electrical components, the susceptibility to errors and / or the need for resources in the production. Another advantage may be, in particular, that the respective configuration can be adapted by means of programming.

For feeding back into the AC mains at the mains output 16 has the electrical control system 10 also a second configuration circuit 224 with a second configuration module 225 and a switch assembly S26 on. The second configuration module 225 is with the AC voltage channel 222 and via the switch assembly S26 with the network output 16 electrically connected or switched connectable. The second configuration module 225 has a transformer 226 on which is established the voltage on its primary side of the AC voltage channel 222 to a higher voltage on its secondary side, which is connected to the mains output 16 and so that the AC voltage network is connectable to transform. This can be done by the transformer 226 in particular, have a turns ratio of 2 to 3. In this advantageous manner, electrical energy can be fed back into the alternating voltage network even if the achievable voltage amplitude in the AC voltage channel 222 is smaller than the voltage amplitude in the AC voltage network. Also, an advantage of the transformer may be, in particular, that the AC voltage channel 222 from the AC mains at the network output 16 can be galvanically isolated. By up-converting or down-transforming in the opposite direction by means of the transformer 226 can also be advantageously avoided that a current or voltage from the AC voltage network by any freewheeling diodes of the second power electronics circuit 228 to the DC link 300 be coupled. In a modification or in addition, such a coupling can also be done by means of the switch arrangement S26 Avoid this by disconnecting the network 16 from the configuration module 225 separates, if - due to low DC voltage UZ - No feedback into the AC mains is possible.

In addition, the second configuration module 225 and / or the data processing device 206 set up the secondary side of the transformer 226 with the network output 16 by means of the switch arrangement S26 electrically connect when at the AC voltage channel 222 an AC voltage is provided for the feedback into the AC voltage network, and / or otherwise disconnect or disconnect this electrical connection if there is an error - in particular the phase or phases of the AC voltage network at the network output 16 can not be determined.

Finally, the data processing device 206 set up, when the DC voltage is exceeded UZ via a predetermined voltage value with respect to the feedback, the inverter circuit for the AC voltage channel 222 to drive so that this at the AC voltage channel 222 provides an AC voltage suitable for the feedback, and when the DC voltage is exceeded UZ over a predetermined voltage value with respect to the ballast resistor, the electrical switch S31 to drive so that this is the tension UZ to the ballast resistor R31 invests. In a variant of the Embodiment, the predetermined voltage value with respect to the feedback is smaller than the predetermined voltage value with respect to the ballast resistor. Specifically, the predetermined voltage value with respect to the regenerative power may be 300 V and the predetermined voltage value with respect to the ballast resistance may be 350 V; more specifically, in a modification, the predetermined voltage value with respect to the regenerative power may be 350 V and the predetermined voltage value with respect to the ballast resistance may be 380 V; more specifically, in a modification, the predetermined voltage value with respect to the regenerative power may be 350 V and the predetermined voltage value with respect to the ballast resistance may be 400 V; Specifically, in a modification, the predetermined voltage value with respect to the regenerative power may be 400 V and the predetermined voltage value with respect to the ballast resistance may be 420 V.

Although exemplary embodiments have been explained in the foregoing description, it should be understood that a variety of modifications are possible. It should also be noted that the exemplary embodiments are merely examples that are not intended to limit the scope, applications and construction in any way. Rather, the expert is given by the preceding description, a guide for the implementation of at least one exemplary embodiment, with various changes, in particular with regard to the function and arrangement of the components described, can be made without departing from the scope, as it turns out according to the claims and these equivalent combinations of features.

LIST OF REFERENCE NUMBERS

1

robotic assembly

10

Electric control system

12

combined mains connection

14

power input

16

power output

100

Rectifier circuit

110

Mains phase determining device

L1, L2, L3

AC voltage from an AC voltage network, in particular three-phase network

D01 to D06

Rectifier diodes

200

Multichannel Wechselrichterbaueinheit

202

shared circuit

204

integrated circuit

206

Data processing device

208

Channel control device

210

first inverter circuit

212

first AC voltage channel

214

first configuration circuit

215

first configuration module

216

Connection arrangement for connecting the electric motor to the first AC voltage channel

217

first current sensor device

218

first power electronics circuit

219

first pulse width modulation device

T11 to T16

electrical switching elements of the first inverter circuit

D11 to D16

Freewheeling diodes of the first inverter circuit

220

second inverter circuit

222

second AC voltage channel

224

second configuration circuit

225

second configuration module

226

transformer

228

second power electronics circuit

229

second pulse width modulation device

T21 to T26

electrical switching elements of the second inverter circuit

D21 to D26

Freewheeling diodes of the first inverter circuit

S26

switch arrangement

232

third AC voltage channel

238

third power electronics circuit

242

fourth AC voltage channel

248

fourth power electronics circuit

252

fifth AC voltage channel

258

fifth power electronics circuit

262

sixth AC voltage channel

268

sixth power electronics circuit

300

DC intermediate circuit

C31

buffer capacitor

R31

ballast resistor

S31

electrical switch

UZ

DC voltage at the DC link

400

robot

410

robot stand

411

first robot member

412

second robot member

413

third robot link

414

fourth robot member

415

fifth robot link

451

first gripping element

452

second gripping element

481 ... 485

electric motors

500

Method for the controlled operation of an electric motor

510 ... 560

steps

Claims (15)

An electrical control system (10) for controlled operation of an electric motor, in particular for a robot, comprising: a rectifier circuit (100) configured to convert an AC voltage (L1, L2, L3) provided by an AC power network into a DC voltage; a multi-channel inverter assembly (200) comprising at least a first inverter circuit (210) providing a first AC voltage channel (212) and a second inverter circuit (220) providing a second AC voltage channel (222); and a DC link (300) adapted to be fed with the DC voltage (UZ) of the rectifier circuit, to buffer and / or smooth the DC voltage (UZ) by means of electrical energy storage and to provide the multi-channel inverter module (200) ; and in which: the first inverter circuit (210) is adapted to provide at the first AC voltage channel (212) a controllable AC voltage for controlled driving of the electric motor during engine operation and to convert an AC voltage generated thereby into a DC voltage in generator operation of the electric motor and to feed it back to the DC intermediate circuit (300); the second inverter circuit (220) is arranged to convert the DC voltage (UZ) at the DC intermediate circuit (300) into an AC voltage and to provide this to the second AC voltage channel (222) for feeding back into the AC voltage network; and the first and second inverter circuits (210, 220) comprise a shared circuit (202). Electric control system (10) according to Claim 1 wherein: the first inverter circuit (210) is arranged by means of a first configuration circuit (214) for the controlled operation of the electric motor and the second inverter circuit (220) is set up by means of a second configuration circuit (224) for the voltage feedback into the AC voltage network; and the first and the second inverter circuit (210, 220) are at least substantially identical except for the respective configuration circuit (214, 224). An electrical control system (10) according to any one of the preceding claims, wherein the multi-channel inverter assembly (200) comprises an integrated circuit (204) comprising the inverter circuits (210, 220) and the shared circuit (202) or at least a portion of each of these circuits having. The electrical control system (10) of any one of the preceding claims, wherein the multichannel inverter assembly (200) further comprises power electronics circuitry (218, 228) for providing at least one of the AC voltage channels (212, 222) to provide the AC voltage at that AC voltage channel. The electrical control system (10) of any of the preceding claims, wherein the shared circuit (202) is configured to have an operating voltage, a reference voltage, an auxiliary voltage, an operating current, a reference current, an auxiliary current and / or a control signal, or a combination of at least two thereof for the inverter circuits (210, 220) and / or to receive a control signal. An electrical control system (10) according to any one of the preceding claims, wherein the shared circuit (202) comprises data processing means (206) adapted to receive a control signal and based thereon a control signal to at least one of the inverter circuits (210, 220) determine, by means of which this inverter circuit is controllable. An electrical control system (10) according to any one of the preceding claims, wherein: an AC voltage channel (212, 222) of the AC voltage channels is formed multi-phase; and one of the inverter circuits (210, 220) adapted to provide an AC voltage for a three-phase AC voltage channel comprises a controllable three-phase H-bridge. Electric control system (10) according to one of the preceding claims, wherein the number of phases provided at the second AC voltage channel (222) by means of the second inverter circuit (220) corresponds to the number of phases of the AC voltage network. An electrical control system (10) according to any one of the preceding claims, wherein the second inductor matching configuration circuit (224) comprises a choke circuit or transformer (226) having a number of phases corresponding to the number of phases of the AC mains and / or the second AC voltage channel (222). corresponds, has. Electric control system (10) according to one of the preceding claims, wherein the second configuration circuit (224) is adapted to adjust the AC voltage provided on the second AC voltage channel (222) in amplitude so that it can be fed back into the AC mains. Electrical control system (10) according to one of the preceding claims, further comprising a network phase determination device (110) and a network input (14) for connection to the AC voltage network, a network output (16) for feeding back into the AC network or a combined power supply (12) ; in which: the network phase determination device (110) is set up to determine one or more phase positions of one or more phases of the AC voltage network at the network output (16) or at the combined network connection (12); and the multichannel inverter installation unit (200) is set up to provide the AC voltage at the second AC voltage channel (222) in such a way that it can be fed back into the AC voltage network with a suitable phase position. An electrical control system (10) according to any one of the preceding claims, further comprising a ballast resistor (R31) and configured, when the DC voltage (UZ) reaches or exceeds a voltage threshold defined with respect to recovery, to the second inverter circuit (220) control that electrical energy from the DC link (300) is fed back into the AC mains, and / or, when the DC voltage (UZ) reaches or exceeds a defined with respect to the ballast voltage threshold, the ballast resistor (R31) so with the DC link (300) to convert electrical energy from the DC link (300) into thermal energy by means of the ballast resistor (R31). A method (500) for controlled operation of an electric motor, in particular for driving the electric motor and for feeding back an electrical energy generated thereby into an AC voltage network, comprising: - (510) converting an AC voltage from the AC voltage network into a DC voltage (UZ); - (520) feeding a DC intermediate circuit (300) with the DC voltage; - (540) feeding a first inverter circuit (210) with the DC voltage (UZ) from the DC link (300), converting that DC voltage into a controllable AC voltage and providing that AC voltage to a first AC voltage channel (212) for the electric motor during engine operation; - (550) rectifying, by means of the first inverter circuit (210), electrical energy generated in the form of AC voltage by generator operation of the electric motor and feeding that electrical energy back to the DC link (300); and - (560) converting the DC voltage across the DC link (300) into a second inverter circuit (220) AC voltage and feedback of this AC voltage in the AC voltage network; and wherein the first and second inverter circuits (210, 220) comprise a shared circuit (202). Device (10) for controlled operation of an electric motor, in particular for driving the electric motor and for feeding back an electrical energy generated by the latter into an AC voltage network, comprising: - means (100) for converting an AC voltage from the AC mains to a DC voltage (UZ); - means for supplying a DC intermediate circuit (300) with the DC voltage; - means for feeding a first inverter circuit (210) with the DC voltage (UZ) from the DC link (300), means (210, 218) for converting this DC voltage into a controllable AC voltage and means for providing this AC voltage to a first AC voltage channel (212 ) for the electric motor in engine operation; - means (210) for rectifying an electrical energy generated in the form of an alternating voltage by a generator operation of the electric motor and means (210) for feeding back this electrical energy to the DC intermediate circuit (300); and - means (220) for converting the DC voltage at the DC intermediate circuit (300) into an AC voltage by means of a second inverter circuit (220) and means (224) for feeding back this AC voltage to the AC mains; - wherein the first and the second inverter circuit (210, 220) have a shared circuit (202). A robot assembly (1) comprising an electric motor (481, 482, 483, 484, 485) comprising an electrical supply system (10) according to any one of Claims 1 to 12 for operating this motor or the device according to Claim 14 and / or which is arranged to operate this motor according to the method (500) Claim 14 perform.

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