Classifications

• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
  • H02P1/02—Details of starting control
  • H02P1/027—Special design of starting resistor
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
  • H02H9/00—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection
  • H02H9/001—Emergency protective circuit arrangements for limiting excess current or voltage without disconnection limiting speed of change of electric quantities, e.g. soft switching on or off
• • 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
  • H02M1/36—Means for starting or stopping converters
• • H—ELECTRICITY
  • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
  • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
  • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
  • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
  • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor
  • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking

Definitions

• the present disclosure relates to the technical field of motor driving, and in particular, relates to a control method for a servo motor.
• the present disclosure further relates to a servo driver using the control method, and a servo motor including the servo driver.
• a braking function is configured in the servo driver.
• costs in software development and hardware for additionally configuring the braking function are high.
• An object of the present disclosure is to provide a control method for a servo motor, which is conducive to lowering costs in additional configuring a braking function.
• Another object of the present disclosure is to provide a servo driver, which is conducive to lowering costs in additional configuring a braking function.
• Another object of the present disclosure is to provide a servo driver, which is conducive to lowering costs in additional configuring a braking function.
• the servo motor includes a servo driver and a motor.
• the servo driver includes a rectifier unit, a DC bus, an inverter unit, a bus capacitor, and a pre-charge resistor.
• the rectifier unit is connected to an AC mains power source and capable of converting an AC power to a DC power.
• the DC bus is connected to a DC power output terminal of the rectifier unit.
• the inverter unit being connected to the DC bus and capable of converting a DC power to an AC power.
• the motor is connected to an AC power output terminal of the inverter unit.
• the bus capacitor and the pre-charge resistor are connected in series and subsequently connected between positive and negative terminals of the DC bus.
• the control method includes: in a process of pre-charging the bus capacitor, in a case that a voltage of the bus capacitor is less than a predetermined first voltage value, releasing the short circuit between the two terminals of the pre-charge resistor, and establishing a short circuit between at least two phases of the AC power output terminal of the inverter unit; and in the process of pre-charging the bus capacitor, in a case that the voltage of the bus capacitor is greater than the predetermined first voltage value, short-circuiting the two terminals of the pre-charge resistor, and releasing a short circuit between any two phases of the AC power output terminal of the inverter unit.
• activation and deactivation of short circuit braking are associated with switching of charge modes of a pre-charge circuit, which is conducive to lowering costs in additional configuring a brake function.
• the control method further includes: in a process of discharging the bus capacitor upon power off of the AC mains power source, in a case that the voltage of the bus capacitor is greater than a predetermined second voltage value, short-circuiting the two terminals of the pre-charge resistor, and releasing the short circuit between the any two phases of the AC power output terminal of the inverter unit, wherein the predetermined second voltage value is less than the predetermined first voltage value; and in the process of discharging the bus capacitor upon power off of the AC mains power source, in a case that the voltage of the bus capacitor is less than the predetermined second voltage value, releasing the short circuit between the two terminals of the pre-charge resistor, and establishing the short circuit between the at least two phases of the AC power output terminal of the inverter unit. In this way, costs in additionally configuring a braking function are further lowered.
• control method further includes: in a case that the bus capacitor is fully charged, short-circuiting the two terminals of the pre-charge resistor, and releasing the short circuit between the any two phases of the AC power output terminal of the inverter unit. In this way, costs in additionally configuring a braking function are further lowered.
• the switch unit includes a third relay.
• the control unit is connected to a control terminal of the third relay.
• a controlled terminal of the third relay includes the pair of first contacts and the group of second contacts.
• FIG. 1 is a flowchart of a control method for a servo motor according to an exemplary embodiment of the present disclosure
• the servo motor includes a servo driver and a motor.
• the motor is, for example, a permanent-magnet synchronous motor or a separately excited motor.
• a servo driver 100 of the servo motor for example, includes a rectifier unit 10, a DC bus 20, an inverter unit 30, a pre-charge circuit 40, and a switch unit 50.
• the rectifier unit 10 is configured to be connected to an AC mains power source and capable of converting an AC power to a DC power.
• the DC bus 20 is connected to a DC power output terminal of the rectifier unit 10.
• the inverter unit 30 is connected to the DC bus 20 and capable of converting an DC power to an AC power.
• An AC power output terminal of the inverter unit 30 is connected to a motor 200.
• the pre-charge circuit 40 includes a bus capacitor 41 and a pre-charge resistor 42.
• the bus capacitor 41 and the pre-charge resistor 42 are connected in series and subsequently connected between positive and negative terminals of the DC bus 20.
• the switch unit 50 includes a pair of first contacts 53 and a pair of second contacts 54.
• the pair of contacts 53 is connected in parallel to the pre-charge resistor 42 and subsequently connected in parallel to the bus capacitor 41.
• the group of second contacts 54 is connected to two phases of the AC power output terminal of the inverter unit 30.
• the pair of first contacts 53 is conducted, and then two terminals of the pre-charge resistor 42 are short-circuited.
• the pair of second contacts 54 is conducted, and then a short circuit is established between two phases of the AC power output terminal of the inverter unit 30.
• a specific example of the servo driver is given merely for illustrating the control method according to this exemplary embodiment. However, the control method according to this exemplary embodiment is not limited to implementation based on this specific example.
• FIG. 3 illustrates a time correspondence relationship between a voltage of a bus capacitor and connection and disconnection of a pair of first contacts and connection and disconnection of a pair of second contacts according to an exemplary embodiment of the present disclosure.
• an abscissa represents time t
• Vt represents a variation of the voltage of the bus capacitor with time
• S 53 represents connection and disconnection of a pair of first contacts 53
• S 54 represents connection and disconnection of a pair of second contacts 54
• B represents disconnection
• C represents connection.
• the two terminals of the pre-charge resistor 42 are short-circuited (that is, the pair of first contacts 53 is connected) such that the pre-charge circuit is in a high-voltage charge mode, and the short circuit between at least two phases of the AC power output terminal of the inverter unit 30 is released (that is, the pair of second contacts 54 is disconnected) such that short circuit braking of the servo motor is in a deactivated state.
• the first voltage value V1 needs to be defined according to the needs of pre-charging, which is generally 90%of the voltage of the DC bus, but is not limited to this value.
• activation and deactivation of short circuit braking are associated with switching of charge modes of the pre-charge circuit, which is conducive to lowering costs in additionally configuring a braking function.
• step S30 further includes: in the process of discharging the bus capacitor 41 upon power off of the AC mains power source, in a case that the voltage of the bus capacitor 41 is greater than a predetermined third voltage value V3, controlling the inverter unit 30 to supply power to the motor 200; and in the process of discharging the bus capacitor 41, in a case that the voltage of the bus capacitor 41 is less than the predetermined third voltage value V3, controlling the inverter unit 30 to switch to a free stop mode or a deceleration stop mode.
• the third voltage value V3 needs to be defined according to the need of braking, which should be less than or equal to the first voltage value V1 and greater than the second voltage value V2.
• FIG. 2 illustrates a servo driver according to an embodiment of the present disclosure.
• a servo driver 100 includes a rectifier unit 10, a DC bus 20, an inverter unit 30, a pre-charge circuit 40, a switch unit 50, a voltage detection unit 60, and a control unit 70.
• control unit 70 is capable of controlling the inverter unit 30 based on the voltage signal, such that: in the process of pre-charging the bus capacitor 41, in the case that the voltage of the bus capacitor 41 is less than a predetermined first voltage value V1, the inverter unit 30 stops outputting power; and in the process of pre-charging the bus capacitor 41, in the case that the voltage of the bus capacitor 41 is greater than the predetermined first voltage value V1, the inverter unit 30 supplies power to the motor 200.
• activation and deactivation of short circuit braking are associated with switching of charge modes of a pre-charge circuit, which is conducive to lowering costs in additionally configuring a braking function.
• the control unit 70 is capable of controlling the inverter unit 30 based on the voltage signal, such that: in the process of discharging the bus capacitor 41 upon power off of the AC mains power source, in a case that the voltage of the bus capacitor 41 is greater than a predetermined third voltage value V3, the inverter unit 30 supplies power to the motor 200; and in the process of discharging the bus capacitor 41 upon power off of the AC mains power source, in a case that the voltage of the bus capacitor 41 is less than the predetermined third voltage value V3, the inverter unit 30 switches to a free stop mode or a deceleration stop mode
• the third voltage value V3 needs to be defined according to the need of braking, which should be less than or equal to the first voltage value V1 and greater than the second voltage value V2.

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• Engineering & Computer Science (AREA)
• Power Engineering (AREA)
• Stopping Of Electric Motors (AREA)
• Inverter Devices (AREA)
• Control Of Ac Motors In General (AREA)

Applications Claiming Priority (1)

Publications (2)

Family

ID=90475560

Family Applications (1)

Country Status (3)

Family Cites Families (8)

• 2022
  • 2022-09-30 EP EP22960395.6A patent/EP4573649A4/de active Pending
  • 2022-09-30 WO PCT/CN2022/123522 patent/WO2024065783A1/en not_active Ceased
  • 2022-09-30 CN CN202280099237.2A patent/CN120077565A/zh active Pending

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