EP4128510A1 - Gleichspannungskonverter - Google Patents
GleichspannungskonverterInfo
- Publication number
- EP4128510A1 EP4128510A1 EP21701498.4A EP21701498A EP4128510A1 EP 4128510 A1 EP4128510 A1 EP 4128510A1 EP 21701498 A EP21701498 A EP 21701498A EP 4128510 A1 EP4128510 A1 EP 4128510A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- switching element
- connection
- voltage
- transformer
- voltage converter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/007—Physical arrangements or structures of drive train converters specially adapted for the propulsion motors of electric vehicles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M3/00—Conversion of DC power input into DC power output
- H02M3/22—Conversion of DC power input into DC power output with intermediate conversion into AC
- H02M3/24—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters
- H02M3/28—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC
- H02M3/325—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal
- H02M3/335—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only
- H02M3/33569—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements
- H02M3/33576—Conversion of DC power input into DC power output with intermediate conversion into AC by static converters using discharge tubes with control electrode or semiconductor devices with control electrode to produce the intermediate AC using devices of a triode or a transistor type requiring continuous application of a control signal using semiconductor devices only having several active switching elements having at least one active switching element at the secondary side of an isolation transformer
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0095—Hybrid converter topologies, e.g. NPC mixed with flying capacitor, thyristor converter mixed with MMC or charge pump mixed with buck
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2210/00—Converter types
- B60L2210/10—DC to DC converters
- B60L2210/12—Buck converters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/32—Means for protecting converters other than automatic disconnection
- H02M1/34—Snubber circuits
- H02M1/342—Active non-dissipative snubbers
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a DC voltage converter, in particular a DC voltage converter for transferring energy between a high-voltage network and a low-voltage network.
- traction battery which provides electrical energy to drive the vehicle.
- traction batteries usually have an output voltage of several hundred volts, for example 400 volts.
- the vehicles have a so-called low-voltage network to which other consumers, such as lighting, auxiliary drives, on-board computers or the like, are connected.
- the low-voltage network of a vehicle is usually fed with electrical energy from the high-voltage network. This requires a conversion of the electrical voltage upstream of the high-voltage network to the voltage level of the low-voltage network.
- the document DE102016220 679 A1 discloses a DC voltage converter and a method for controlling a DC voltage converter with a so-called phase-shift full-brigde DC voltage converter.
- this document proposes reducing the number of lossy switching operations by suitably controlling the DC-DC converter. Disclosure of the invention
- the present invention discloses a DC voltage converter, in particular a DC voltage converter for transferring energy between a high-voltage network and a low-voltage network with the features of independent claim 1. Further advantageous embodiments are the subject of the dependent claims.
- a DC converter for transferring energy between a high-voltage network and a low-voltage network.
- the DC voltage converter comprises an input connection, a transformer, a first switching element, a second switching element, a third switching element, a fourth switching element and a capacitor.
- the input connection is designed to be coupled to a DC voltage source.
- the transformer has a primary side and a secondary side. A first connection on the primary side of the transformer is connected to a first connection element of the first input connection. A first connection of the first switching element is connected to a second connection on the primary side of the transformer. A second connection of the first switching element is connected to a second connection element of the input connection. A first connection of the second switching element is connected to the first connection of the primary side of the transformer.
- a second connection of the second switching element is connected to a node.
- a first connection of the capacitor is connected to the node.
- a second connection of the capacitor is connected to the second connection of the primary side of the transformer.
- a first connection of the third switching element is connected to the node.
- a second connection of the third switching element is connected to a first connection of the fourth switching element.
- a second connection of the fourth switching element is connected to the second connection of the input connection.
- the present invention is based on the knowledge that a low-voltage network of an electric or hybrid vehicle usually uses energy is fed by a high-voltage network. This usually requires galvanic separation between the high-voltage network and the low-voltage network.
- the present invention is based on the knowledge that the performance and, in particular, the battery capacity of electrically powered vehicles increase as the vehicle continues to develop. In this context, traction batteries with a higher output voltage are increasingly being used.
- DC voltage converters are also required that have sufficient dielectric strength. According to this, DC converters are also desirable, which can be used over an input voltage range that is as wide as possible.
- the following invention creates a circuit concept for a DC voltage converter for coupling a high-voltage network with a low-voltage network, which has a very simple circuit topology.
- the DC voltage converter can convert the input DC voltage into a specified output DC voltage over a very large input voltage range.
- the circuit concept according to the invention makes it possible, in particular with high DC input voltages, to ensure adequate dielectric strength even with conventional components. Due to the relatively simple circuit topology, the DC converter can be implemented particularly inexpensively. Furthermore, the DC voltage converter according to the invention also only requires a relatively small installation space.
- the DC voltage converter comprises a rectifier.
- the rectifier is coupled to the secondary connection of the transformer.
- the rectifier is designed to rectify a voltage applied to the secondary connection of the transformer.
- the rectified voltage can then be provided at an output connection of the DC voltage converter.
- the rectification of the electrical voltage at the secondary connection of the transformer can take place in any way using an active or passive rectifier. By means of the transformer and subsequent rectification, it is thus possible to implement a galvanically separated energy transfer from the high-voltage network to the low-voltage network.
- the rectifier comprises a rectifier diode.
- the rectifier can also comprise a semiconductor switch, in particular with a rectifier diode provided in parallel with the semiconductor switch.
- the semiconductor switch can be activated actively, with the activation of the semiconductor switch causing the electrical voltage on the secondary side of the transformer to be rectified.
- a rectifier diode can be used to achieve particularly inexpensive rectification.
- the first switching element, the second switching element, the third switching element and the fourth switching element each comprise a semiconductor switch.
- a diode in particular a so-called body diode, can be provided in parallel with each semiconductor switch.
- the semiconductor switch can be, for example, a transistor, in particular a bipolar transistor with an insulated gate connection (IGBT).
- IGBT insulated gate connection
- any other semiconductor switches such as MOSFET or silicon carbide switches, are also possible.
- the diode which is provided in parallel with the third switching element is arranged opposite to the diode which is provided in parallel with the fourth switching element. In this way it can be ensured that an electrical interruption can also take place in the path with the third and fourth switching elements.
- the DC voltage converter comprises a control device.
- the control device can be designed to control the first switching element, the second switching element, the third switching element and the fourth switching element.
- the control device if in the rectifier of the DC voltage converter, can have an active switching element is provided to also control this switching element of the DC voltage converter. In this way, the activation of the individual switching elements can be specifically synchronized.
- the control device is designed to open the third switching element and the fourth switching element in a first operating mode and to actuate the first switching element and the second switching element in alternating cycles. Furthermore, in a second operating mode, the control device can open the first switching element and close the fourth switching element. In addition, in a second operating mode, the second switching element and the third switching element can each be actuated alternately in a clocked manner. In this way, a DC voltage conversion between the high-voltage side and the low-voltage side can be carried out in the first operating mode on the basis of a so-called flyback converter, in particular an active-clamp flyback converter, and with the same circuit topology in a further operating mode, the circuit can be used as an active-clamp buck converter operate. In this way, suitable control of the DC-DC converter can take place over a large voltage range.
- an input voltage at the input connection of the DC voltage converter for the control in the second operating mode is higher than the input voltage for the control in the first operating mode.
- a suitable operating mode for the DC voltage conversion can be selected, for example, by means of the control device for controlling the individual switching elements.
- FIG. 1 a block diagram of a DC voltage converter according to an embodiment
- FIG. 2 a block diagram of a DC voltage converter according to an embodiment in a first operating mode
- FIG. 3 a block diagram of a DC voltage converter according to an embodiment in a second operating mode.
- FIG. 1 shows a schematic representation of a block diagram of a DC voltage converter 1 according to an embodiment.
- the DC voltage converter 1 can be connected on the input side to a high-voltage network 2, for example.
- the DC voltage converter 1 can be connected to a low-voltage network 3, for example.
- the DC voltage converter 1 can have an input connection 10, for example.
- an input connection 10 for example, electrical energy from a traction battery of an electric vehicle can be provided.
- an electrical voltage U Jn is applied to the input connection 10.
- the DC voltage converter 1 can convert this input voltage U Jn into a further electrical DC voltage and provide it as an output DC voltage U_out at an output terminal 30.
- the DC voltage converter 1 comprises, in addition to the input connection 10 and the output connection 30, a transformer T.
- the transformer T has a primary side Pri and a secondary side Sek. Furthermore, the DC voltage converter 1 has four switching elements S1, S2, S3 and S4 between the input connection 10 and the primary side Pri of the transformer T and a capacitor C on.
- a rectifier 40 is provided on the secondary side Sek of the transformer T.
- the input connection 10 of the DC voltage converter 1 comprises a first connection element 11 and a second connection element 12.
- a corresponding input DC voltage UJn can be provided between the first connection element 11 and the second connection element 12.
- the first connection 11 of the input connection 10 is connected to a first connection 21 on the primary side Pri of the transformer T.
- a first switching element S1 is arranged between a second connection 22 on the primary side Pri of the transformer T and the second connection element 12 of the input connection 10.
- a second switching element S2 is arranged between the first connection 21 on the primary side Pri of the transformer T and a node point K.
- a capacitor C is arranged between the node K and the second connection 22 on the primary side Pri of the transformer T.
- a first connection of a third switching element S3 is connected to the node K and a second connection of the third switching element S3 is connected to a first connection of a fourth switching element S4.
- the second connection of the fourth switching element S4 is connected to the second connection element 12 of the input connection 10 and thus also to the corresponding connection of the first switching element S1.
- a rectifier 40 is provided between the secondary side Sek of the transformer T and the output connection 30 of the DC voltage converter 1.
- the rectifier 40 can be, for example, a passive diode which is provided between a connection on the secondary side Sek of the transformer T and a connection element of the output connection 30.
- active rectification can also take place by means of a switching element S5, in particular a semiconductor switching element, which is arranged between a connection on the secondary side Sek of the transformer T and a connection element of the output connection 30.
- a control device 50 can be provided to control the switching elements, in particular the first, second, third and fourth switching elements S1-S4, and optionally the switching element in the rectifier 40. The functional principle and the switching sequence for controlling the switching elements are explained in more detail below.
- FIG. 2 shows a schematic representation of a basic circuit diagram of the DC voltage converter 1 in a first operating mode.
- the DC voltage converter 1 can in particular be operated as a so-called active-clamp flyback converter.
- the third switching element S3 and the fourth switching element S4 are open in this first operating mode.
- the third switching element S3 and the fourth switching element S4 are therefore not shown here.
- the transformer T is magnetized by closing the first switching element S1.
- the second switching element S2 together with the capacitor C forms a clamping circuit.
- the first switching element S1 and the second switching element S2 are activated alternately. By adapting the frequency and / or pulse width, the energy transfer, in particular the output voltage, can be regulated.
- FIG. 3 shows a schematic representation of a basic circuit diagram of the DC voltage converter 1 in a second operating mode.
- the DC voltage converter 1 works as a galvanically isolated activ-clamp buck converter.
- the first switching element S1 is permanently open and is therefore not shown in FIG.
- the fourth switching element S4 is permanently closed in this operating mode.
- the third switching element S3 magnetizes the transformer T.
- the clamping circuit consists of the second switching element S2 and the capacitor C.
- the second switching element S2 and the third switching element S3 cycle alternately with a predetermined frequency and pulse width.
- the rectifier 40 is designed as a simple, unidirectional rectifier, it is important for the configuration of the circuit arrangement of the DC voltage converter 1 requires that the transformer T is magnetized in the same direction both in the first operating mode and in the second operating mode. This task of magnetizing is taken over by the first switching element S1 in the first operating mode and the third switching element S3 in the second operating mode. In both cases, the transformer T is demagnetized when the energy is transferred to the secondary side Sek of the transformer T. This takes place when the first switching element S1 and the third switching element S3 are switched off and the second switching element S2 is switched on accordingly.
- the first switching element S1 experiences a voltage load which results from the sum of the input voltage U Jn and the product of the output voltage U_out and the transmission ratio of the transformer T.
- the first switching element S1 must therefore have a correspondingly high dielectric strength.
- the maximum voltage load on the switching elements is only specified by the maximum input voltage U Jn.
- the second operating mode is therefore suitable for higher input voltages U Jn, while the first operating mode can be preferred for the lower input voltages U Jn.
- the described circuit arrangement for a DC voltage converter 1 can thus be used, for example, for traction batteries with a relatively low voltage level, for example voltages up to 500 volts.
- a DC voltage conversion with higher input voltages for example above 500 volts up to 800 or possibly 1000 volts, the same DC voltage converter 1 can be operated in the second operating mode.
- a simple and inexpensive DC voltage conversion for input DC voltage over a large voltage range is thus possible with relatively little circuit complexity.
- the present invention relates to a DC / DC converter for transferring energy from a high-voltage network to a Low voltage network.
- a simple circuit configuration is proposed which can alternatively be operated as an active-clamp flyback converter or an active-clamp buck converter.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Dc-Dc Converters (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102020203991.7A DE102020203991A1 (de) | 2020-03-27 | 2020-03-27 | Gleichspannungskonverter |
| PCT/EP2021/051313 WO2021190800A1 (de) | 2020-03-27 | 2021-01-21 | Gleichspannungskonverter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| EP4128510A1 true EP4128510A1 (de) | 2023-02-08 |
Family
ID=74215949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP21701498.4A Pending EP4128510A1 (de) | 2020-03-27 | 2021-01-21 | Gleichspannungskonverter |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US12244236B2 (de) |
| EP (1) | EP4128510A1 (de) |
| CN (1) | CN115280660B (de) |
| DE (1) | DE102020203991A1 (de) |
| WO (1) | WO2021190800A1 (de) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100355962B1 (ko) | 2000-04-25 | 2002-10-11 | 삼성전기주식회사 | 영전압 스위칭을 위한 고효율 컨버터 |
| KR100979905B1 (ko) * | 2008-09-03 | 2010-09-06 | 주식회사 아이디코리아 | 능동 클램프 포워드 컨버터 |
| JP5494154B2 (ja) * | 2010-04-08 | 2014-05-14 | 株式会社村田製作所 | 絶縁型スイッチング電源装置 |
| CN104871421B (zh) * | 2012-12-21 | 2018-07-13 | 陈威伦 | 单级开关电源 |
| DE102016220679A1 (de) | 2016-10-21 | 2018-04-26 | Robert Bosch Gmbh | Gleichspannungswandler und Verfahren zur Ansteuerung eines Gleichspannungswandlers |
| US20190341859A1 (en) * | 2018-05-04 | 2019-11-07 | Texas Instruments Incorporated | Active clamp flyback converters |
| TWI729585B (zh) * | 2019-11-22 | 2021-06-01 | 亞源科技股份有限公司 | 雙模式主動箝制返馳式轉換器 |
| KR102608668B1 (ko) * | 2021-09-28 | 2023-12-01 | 한국항공우주연구원 | 반도체 소자 수를 저감한 고효율 통합형 전력 회로 및 그 제어 방법 |
-
2020
- 2020-03-27 DE DE102020203991.7A patent/DE102020203991A1/de active Pending
-
2021
- 2021-01-21 US US17/914,512 patent/US12244236B2/en active Active
- 2021-01-21 CN CN202180024327.0A patent/CN115280660B/zh active Active
- 2021-01-21 EP EP21701498.4A patent/EP4128510A1/de active Pending
- 2021-01-21 WO PCT/EP2021/051313 patent/WO2021190800A1/de not_active Ceased
Also Published As
| Publication number | Publication date |
|---|---|
| CN115280660A (zh) | 2022-11-01 |
| WO2021190800A1 (de) | 2021-09-30 |
| CN115280660B (zh) | 2025-10-28 |
| DE102020203991A1 (de) | 2021-09-30 |
| US20230134977A1 (en) | 2023-05-04 |
| US12244236B2 (en) | 2025-03-04 |
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