WO2015198409A1 - Dispositif de conversion d'énergie et actionneur l'utilisant - Google Patents

Dispositif de conversion d'énergie et actionneur l'utilisant Download PDF

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Publication number
WO2015198409A1
WO2015198409A1 PCT/JP2014/066765 JP2014066765W WO2015198409A1 WO 2015198409 A1 WO2015198409 A1 WO 2015198409A1 JP 2014066765 W JP2014066765 W JP 2014066765W WO 2015198409 A1 WO2015198409 A1 WO 2015198409A1
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Prior art keywords
resonance
pulse
circuit
control means
conversion device
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PCT/JP2014/066765
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English (en)
Japanese (ja)
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宮崎　泰三
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株式会社日立製作所
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Priority to PCT/JP2014/066765 priority Critical patent/WO2015198409A1/fr
Publication of WO2015198409A1 publication Critical patent/WO2015198409A1/fr

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    • 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
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode

Definitions

  • the present invention relates to a power converter that converts a DC power source into AC power.
  • the power converter according to the present invention is particularly suitable for driving an actuator that is required to have low noise.
  • an actuator for nursing care assumed to be used in combination with a medical precision instrument such as an examination instrument, a wearable actuator used in close proximity to a high precision sensor such as an myoelectric sensor, etc. are driven It assumes use.
  • Switching power supplies are widely used in the field of power electronics. Switching power supplies are excellent in controllability and high in efficiency, but high frequency noise is generated with switching. Further, from the recent demand for further energy saving, a high efficiency, low noise switching system is required.
  • a resonant switching power supply is known as one of the techniques to meet this demand. This is to perform ZVS (zero voltage switching) or ZCS (zero current switching) using resonant operation of an inductor and a capacitor. By switching at zero voltage or zero current, switching loss can theoretically be made zero. In addition, since the current and voltage waveforms are also gradually changed with time, generation of surge voltage particularly in the case of inductive load is reduced, and generation of noise is also suppressed.
  • composite resonance As a resonant switching power supply, one that regulates a generated voltage by using a circuit having two or more resonance points is known. For the sake of simplicity, having two or more resonance points is hereinafter referred to as "composite resonance".
  • the complex resonant circuit is configured by combining a plurality of inductors and capacitors.
  • the generated voltage can be adjusted according to the pulse width. This realizes a high efficiency, low noise variable voltage switching power supply.
  • High efficiency and low noise are required not only for switching power supplies, but also for inverters that supply AC power to motors and actuators.
  • An example of noise reduction means utilizing the concept of resonance also in an inverter is disclosed, for example, in [Patent Document 2].
  • the load power is controlled by controlling the power pulse density by first generating a power pulse by resonance and selecting whether the power pulse is passed to the load side by the switching element or not. It is a thing.
  • this method is referred to as PDM (Pulse Density Modulation) for the sake of simplicity.
  • ZVS can also be realized by the method described in [Patent Document 2], and high efficiency and low noise effects can be expected.
  • the present invention is directed to high efficiency, low noise inverters that provide power to motors and actuators.
  • the inverter is required to be able to operate continuously from zero voltage to the maximum voltage.
  • the complex resonant circuit system used in switching power supplies has a problem that the adjustment range of the voltage is narrow.
  • the adjustment range of the voltage is wide, but the resolution depends on the resonance period. Although it is necessary to shorten the cycle to increase the resolution, it is necessary to increase the switching frequency accordingly, and it has been difficult to improve the resolution using PDM.
  • the power converter according to the present invention is characterized by having two or more complex resonance units provided with a pulse generation circuit at the front stage of a complex resonance circuit having a plurality of resonance points.
  • the power conversion device is characterized in that the pulse control means for controlling the pulse generation circuit selectively operates the complex resonance unit in accordance with the positive / negative of the command signal.
  • the complex resonance unit has a coupling portion in which magnetic coupling or electric field coupling is performed, the power converter is separated into the primary side and the secondary side by the coupling portion, and the power conversion is performed.
  • the apparatus is characterized by including a coupler for attaching and detaching the primary side and the secondary side.
  • the present invention is characterized by using the power converter as an actuator that generates an assisting force for assisting the movement of a living body.
  • the primary side is disposed on the normal environment side of the isolated space maintenance bench, and the secondary side is a management environment of the isolated space maintained bench An actuator is disposed on the side.
  • the present invention relates to a power conversion device having a complex resonance unit provided with a pulse generation circuit at a front stage of a complex resonance circuit having a plurality of resonance points.
  • a pulse control means for changing both the circuit cycle and the pulse density is provided, and the ratio of the output adjustment lower limit to the upper limit by the pulse control means of the complex resonant circuit is 2 or more.
  • the power conversion device of the present invention is characterized in that the pulse control means comprises sampling means for sampling a command signal, and the pulse control means extends the execution cycle of the sampling means when the command signal is small.
  • the power conversion device of the present invention is characterized in that the pulse control means has monitoring means for detecting a sudden change of the command signal, and the monitoring means causes the sampling means to be re-executed when the command signal is suddenly changed.
  • power control can be performed on a plurality of phases by providing two or more complex resonance units provided with a pulse generation circuit in the front stage of the complex resonance circuit having a plurality of resonance points in the power converter.
  • actuators are often driven in two or three phases, and stepping motors and SR motors have an even greater number of phases.
  • the advantages of the complex resonance switching power source of high efficiency and low noise can be applied to the actuator driving inverter.
  • control means for controlling the pulse generation circuit causes the compound resonant unit to operate in a fixed polarity (monopolar) operation by selectively operating the compound resonance unit in accordance with the positive or negative of the command signal. ) Can be run on applications that require it. As a result, the current direction of the load can be switched to positive or negative. In the motor, the applied voltage can be increased by bipolar operation, which is advantageous when realizing a high torque motor.
  • the composite resonance unit has a coupling portion which is magnetically or electrically coupled, and the power converter is separated into the primary side and the secondary side by the coupling portion, and the power converter is the primary
  • the primary side having a power supply and the secondary side having a load can be configured to be detachable.
  • the coupler portion can be covered with a resin or the like, the possibility of an electric shock or the like due to direct contact with a contactor or the like is reduced even when the primary side is directly touched.
  • the power conversion device as an actuator that generates an assisting force for assisting the movement of a living body
  • the low noise effect of the present invention can be maximally exhibited.
  • Some equipment for rehabilitation, actuators for walking assistance, etc. acquire minute muscle current with a sensor and perform feedback.
  • the present invention is applied to an actuator for an isolated space maintenance bench having the power conversion device, the composite resonance unit is disposed on the normal environment side of the isolated space maintenance bench, and the load is the isolated space.
  • the isolated space maintenance bench is assumed to be a biological safety cabinet or a clean room for semiconductor manufacturing.
  • the load side can be realized by only passive components such as an inductor, a capacitor, and a diode. Therefore, there is no taking in of the power line from the outside, and it is easy to cover the entire load. Therefore, by providing a mechanical seal or magnetic fluid seal on the bearing portion, the amount of contamination released to the control environment can be reduced.
  • the complex resonant unit requires an active element such as a switching circuit and sealing is difficult, the load and the complex resonant unit can be separated. Placing the load on the management environment side and placing the complex resonance unit on the normal environment side has the effect of reducing the adverse effect on the management environment.
  • the power conversion device has a complex resonance unit including a pulse generation circuit at the front stage of a complex resonance circuit having a plurality of resonance points, wherein the power conversion device has a cycle and a pulse of the pulse generation circuit.
  • the pulse control means has sampling means for sampling the command signal, and the pulse control means extends the execution cycle of the sampling means when the command signal is small, even if the command signal is small. Resolution can be secured.
  • the pulse control means has a monitoring means for detecting a sudden change of the command signal, and the monitoring means ensures responsiveness by re-executing the sampling means when the command signal is suddenly changed. it can.
  • FIG. 1 shows a block diagram of a power converter according to the present invention.
  • FIG. 2 shows an operation explanatory view of the composite resonance circuit.
  • FIG. 3 shows a graphical representation of the transfer function.
  • FIG. 4 shows an example of quantization of the command signal.
  • FIG. 5 shows the gate signal and the output voltage.
  • FIG. 6 shows an embodiment of pulse width correction.
  • FIG. 7 shows an operation flowchart of the pulse control means.
  • FIG. 8 shows an embodiment of a power converter main circuit performing bipolar operation.
  • FIG. 9 shows an embodiment of a power converter main circuit performing unipolar operation.
  • FIG. 10 shows an embodiment in which the main circuit is constituted by an LCC resonant circuit.
  • FIG. 11 shows an LCC equivalent circuit.
  • FIG. 12 illustrates one embodiment of an actuator within a biological safety cabinet.
  • FIG. 13 shows an embodiment of the end effector of the robot.
  • FIG. 14 shows an embodiment of a power assist device.
  • FIG. This figure shows an example of using the power conversion device according to the present invention as an inverter for driving a three-phase motor.
  • the power converter 10 is composed of a control unit 11 and a main circuit 12.
  • the three-phase motor is realized by three windings of U-phase, V-phase and W-phase, but this figure shows only U-phase for simplicity.
  • the command signal creation means 13 creates a voltage command signal to be applied to the U-phase, and creates a voltage command according to a desired torque or speed.
  • the command signal generating means 13 and the like output the command signal 14, and the image thereof is shown in the figure.
  • the command signal 14 is sent to the positive side signal extraction means 15 and the negative side signal extraction means 16.
  • the positive side signal extraction means 15 generates a signal obtained by cutting off the negative part of the command signal 14.
  • the positive side signal extraction means 15 outputs the generated positive side signal 17.
  • An image of the positive side signal 17 is shown in the figure.
  • the negative signal extraction means 16 cuts off the positive part of the command signal 14 and generates a signal whose absolute value is taken.
  • the negative signal extraction means 16 outputs the generated negative signal 18.
  • An image of the negative side signal 18 is shown in the figure.
  • the positive side signal 17 and the negative side signal 18 are sent to separate pulse control means 19 independent of each other.
  • the pulse control means 19 for inputting the positive side signal is numbered 19a
  • the pulse control means 19 for inputting the negative side signal is numbered 19b.
  • the pulse control means 19 generates a gate signal 20 for operating the main circuit 12 from the positive side signal 17 or the negative side signal 18 inputted. The operation of the pulse control means 19 will be described later with reference to the drawings.
  • gate signals 20 are generated per pulse control means 19. Since there are two pulse control means 19 in this figure, four gate signals are generated.
  • a label 21 is added to the generated gate signal 20 and is electrically connected to a label in the main circuit 12 having the same name.
  • the gate signals 21a, 21b, 21c and 21d are respectively assigned to the four gate signals.
  • the main circuit 12 is composed of a plurality of circuit blocks.
  • a pulse generation circuit 22, a complex resonance circuit 23, and a full wave rectification converter 24 are provided.
  • the full wave rectification converter 24 is used here, the effect of the present invention is not lost even with the half wave rectification converter.
  • the present invention is characterized by having a plurality of combinations of the pulse generation circuit 22 and the complex resonance circuit 23.
  • a combination of the pulse generation circuit 22 and the complex resonance circuit 23 is referred to as a complex resonance unit 25.
  • the output of the full wave rectification converter 24 is connected to one side of the motor coil 26.
  • One side of motor coil 26 is neutral point 27, and neutral point 27 is normally connected to one of V-phase and W-phase motor coils (not shown) when a three-phase equilibrium voltage is applied. .
  • a configuration example in which the neutral point 27 is not connected for each phase is also possible.
  • the direct current component is not transmitted by the full wave rectification converter 24, even if the pulse generation circuit 22 of a certain phase has a short circuit failure, the motor coil 26 of the defective phase is not affected. Therefore, there is an advantage that the degenerate operation using only two phases at the time of failure is also possible.
  • the power converter according to this figure converts the power of the DC power supply 28 into three-phase AC power for driving a motor (not shown).
  • the pulse generation circuit 22 is realized by a bridge by the switching element 31.
  • the switching element 31 is realized by a transistor, a MOS-FET, an IGBT or the like. Since the MOS-FET has relatively high-speed body diode in the device and can perform zero voltage switching (ZVS) and zero current switching (ZCS) using parasitic capacitance between drain and source, here -FET is illustrated. The operations of ZVS and ZCS are omitted because they are well known.
  • the complex resonant circuit 23 is composed of a resonant capacitance 32, a resonant inductance 33, and a transformer magnetization inductance 34.
  • the resonant inductance 33 may be realized by the leakage inductance of the transformer 35. The operation of the complex resonant circuit will be described later.
  • the full wave rectification converter is realized by a transformer 35 and a diode 36.
  • An AC voltage generated by resonance is applied to the primary side of the transformer, and is sent to the secondary side by the transformer.
  • the AC voltage sent to the secondary side is converted to a time-varying DC voltage by using two diodes 36. Since the full wave rectification converter 24 generates only a positive voltage, two sets of the complex resonance unit 25 and the full wave rectification converter 24 attached thereto are used to perform bipolar driving. One set is connected to one side of the motor coil 26 and the other set is connected to the opposite side of the motor coil 26. This makes it possible to make the potential difference between both ends of the motor coil 26 positive and negative.
  • a general resonant circuit is configured by combining one resonant capacitor and one resonant inductor.
  • the resonance frequency at this time is calculated by [Equation 1].
  • L is an inductance and C is a capacitance value.
  • the complex resonant circuit 23 shown in FIG. 2 is configured by connecting one resonant capacitor and two resonant inductors in series.
  • the resonant inductance 33 and the transformer magnetizing inductance 34 in FIG. 1 correspond to the two resonant inductors in FIG.
  • Such a circuit configuration is called an LLC composite resonant circuit.
  • a resonant frequency fr in the transmission line resonant circuit 37 and a resonant frequency fr2 as viewed in the entire composite resonant circuit 23 exist, and the frequency characteristics of the general resonant circuit shown in equation 1 change.
  • Equations 2 and 3 show equations for calculating the resonant frequency fr of the transmission line resonant circuit 37 and the resonant frequency fr2 of the complex resonant circuit 23.
  • Equation 4 a transfer function defined by the absolute value of the input voltage Vin in FIG. 2 and the absolute value of the voltage Vout across the transformer magnetization inductance 34 is M (f).
  • f represents the frequency of Vin.
  • Equation 4 The definition of M (f) is shown in Equation 4.
  • f is defined by normalizing f at the first resonance frequency.
  • Formula 5 defines the definition of fn.
  • Equation 6 the transfer function M (f) is expressed by the normalized frequency fn on the assumption that it is linear.
  • ⁇ is defined by Equation 7.
  • Q is a so-called Q value (dissipation energy ratio), which is a value determined by the impedance of the load and the characteristic impedance of the input path.
  • FIG. 3 is a graphical representation of the transfer function represented by [Equation 6].
  • the composite resonance circuit changes the voltage peak value of the transformer magnetization inductance 34 in accordance with the input frequency.
  • the frequency 41 and the switching element limit frequency 42 at which the transfer function maximizes M (f) are shown. Since it is difficult to obtain the noise reduction effect by ZVS and ZCS at a frequency of 41 or less at which the transfer function maximizes M (f), the LLC composite resonant circuit has a frequency 41 at which the transfer function maximizes M (f). Use at frequencies above.
  • the LLC complex resonant circuit can theoretically operate at a frequency between the frequency 41 which maximizes the transfer function M (f) and the switching element limit frequency 42.
  • the stability is degraded near the frequency 41 where the transfer function maximizes M (f), and when the normalized frequency fn is larger than 1, the sensitivity of the transfer function transfer function M (f) to the increase of the switching frequency Is small. Therefore, the operation region 43 shown in the following description will be driven.
  • the operating region 43 is determined such that the transfer function M (f) is in the range of 1 to 2, and the circuit constant is determined such that the resonant operation is stable within this range.
  • the pulse generation circuit 22 has the same effect by changing the duty ratio of the pulse by the pulse control means 19 instead of the frequency itself.
  • a detailed description of the LLC resonant circuit is described in, for example, application note AN1336 published by Microchip Technology, Inc. shown in [Non-patent Document 1].
  • the pulse control means 19 quantizes the input command signal first.
  • FIG. 5 shows gate signals 20 (Up1 and Up2) generated and voltage Uout appearing in the motor coil 26 with respect to the quantized signal 52 surrounded by a broken line in FIG.
  • the number of pulses in the sampling period 51 is determined first.
  • quantization is performed to four levels, and when the signal level is maximum (4/4), four sets of pulses are generated within the sampling period.
  • the signal level is 3/4, 3 sets, 2/4, 2 sets, and 1/4, 1 set.
  • PDM Pulse Density Modulation
  • time slot 53 The time when this pulse enters is referred to as a time slot, and is shown by a time slot 53 in FIG.
  • a combination of two time slots is represented as a time slot pair 54.
  • Each time slot is numbered from 1a to 4b.
  • the first number is the serial number of the time slot pair 54
  • "a” means the time slot for generating the gate signal of the switching element 31 on the upper arm side in the pulse generation circuit 22.
  • b means a time slot for generating a gate signal on the lower arm side.
  • the quantization result is 3/4, three sets of pulses may be generated, and since a and b of time slot 53 having the same first number operate as a pair, three of four time slot pairs 54 are generated. Operate, one pauses.
  • time slot pair 2 is paused in the figure.
  • known techniques such as ⁇ conversion can be diverted.
  • the time slot interval 55 is described as ts in FIG.
  • the length 56 of one pulse is described as ton.
  • the frequency characteristic shown in FIG. 3 is used to correct this error. That is, the pulse width generated by the pulse generation circuit 22 is changed to finely adjust the magnitude of the output.
  • FIG. 6 is an example of pulse width correction.
  • f 1 / t0
  • t0 2 ⁇ / fr.
  • the frequency fr is expressed by [Equation 2].
  • the pulse width As the pulse width is increased from t0, the pulse period decreases, and the transfer function M (f) increases in the operation region shown in FIG. As a result, the pulse peak value of Uout is higher than in the case where the pulse width is t0. Along with that, the area per pulse increases. By this, the power applied to the motor coil 26 can be finely corrected.
  • the width of the fine correction needs to be larger as the pulse has a smaller signal level.
  • the maximum value of the transfer function M (f) is 2 and the minimum value is 1, the ratio of the maximum value to the minimum value is 2.
  • the pulse width can be changed continuously, an area between signal levels 1/4 and 2/4 can be realized without error. Since an area of 2/4 or more may be corrected with a smaller amount, an error due to PDM can be eliminated as a result in an area of 1 ⁇ 4 or more. This is not limited to the case where the number of time slot pairs is four, and the same holds for an arbitrary two or more natural numbers N, and it is possible to adjust so as to eliminate errors in the area of signal level 1 / N or more.
  • This characteristic is not limited to the assumption based on FIG. 3 where the output adjustment lower limit is 1 and the output adjustment upper limit is 2, but similar effects can be obtained if the ratio of the output adjustment lower limit and the upper limit is 2 or more.
  • the error ⁇ can not be made 0 by the above method, but this range is a region where the output torque is very small and the time change is small in the motor. Therefore, there is no practical problem even if the sampling period 51 is sufficiently wide. For example, if the sampling period 51 is quadrupled and the number of pulse slots is 16, errors due to PDM can be eliminated in a region of 1/16 or more. In the case of a motor inverter, it is possible to reduce the output by setting the sampling cycle as required. When a large output is suddenly required in a state where the sampling cycle is increased, it is possible to cope with it by resetting the sampling cycle by an interrupt.
  • FIG. 7 shows a flowchart illustrating the operation of the pulse control means 19 described above.
  • Step 701 (hereinafter referred to as S701) is a start node, from which the program is started.
  • step 702 initialization is performed for a standard sampling period: T0, a standard number of time slots: Ns0, a maximum number of time slots: Nmax, and an input signal maximum value: vmax.
  • the sampling period 51 and the number (Ns) of time slots 53 are set to initial values. After that, operate the two operations in parallel.
  • One is main control processing and the other is input monitoring processing.
  • the main control process generates a gate signal 20, and the input monitoring process monitors whether or not the input has suddenly changed.
  • the input signal is sampled and held to perform quantization. If the quantization result is other than 0 or 1, the quantization result correction process is performed in S705. This is an operation of subtracting 1 from the quantization result if the quantization signal 52 is larger than the original signal (here, the positive side signal 17). If the quantization result is 0 (S706), the operation of doubling the sampling time 51 (T) and the number of time slots 53 (Ns) is repeated until the quantization result is 1 or more (S708, S709, S711) .
  • the on-time 56 (ton) is set to 0 in S710 and the pulse generation is paused during the sampling period 51 (T).
  • the on-time ton at which the quantization error ⁇ becomes 0 is obtained in S715, and the gate signal 20 is generated and output in S716.
  • the sampling time 51 (T) waits (S717). Note that this standby state is canceled by the input monitoring process when the input suddenly changes, and is canceled.
  • the input signal is monitored in S712, and it is determined in S713 whether or not the predetermined voltage change rate is exceeded. As a result, if it exceeds the base value, an interrupt is generated in S714, and the standby state in S717 is released.
  • S 718 is an annotation. If the voltage change rate is within the base value, the process returns to the monitoring state of S712. This makes it possible to ensure high-speed response even when there is a sudden change in voltage.
  • FIG. 8 is an example of a main circuit 12 of a power converter according to the present invention for driving a motor in bipolar operation.
  • it is a separable line 60, and the main circuit 12 can be separated into the primary side 61 and the secondary side 62 on the primary side and the secondary side of the transformer 35.
  • magnetic coupling is used to energetically connect the primary side 61 and the secondary side 62, and it is characterized in that no electrical contactor is required. For this reason, it is easy to completely seal the secondary side 62, and the secondary side 62 can cope with an electrically severe environment such as water or a corrosive atmosphere.
  • the primary side 61 is normally installed in an environment, and it is suitable for applications in which the secondary side 62 is installed in an isolated environment using a partition wall.
  • the secondary side 62 side is configured only with passive components such as an inductor and a diode, which is robust and has an advantage that the number of maintenance can be reduced.
  • This configuration uses two switching elements for one composite resonance unit 25.
  • bipolar operation two composite resonance units are combined to drive a one-phase motor coil 26.
  • FIG. 9 shows an embodiment of the main circuit 12 in which the motor is driven in unipolar operation and the switching elements are reduced to half.
  • the neutral point 27 is taken as the reference potential 63.
  • one composite resonance unit is sufficient for one phase, and the total number of switching elements is six.
  • FIG. 10 shows an example in which the main circuit 12 is configured by an LCC resonant circuit.
  • the electric field coupling 64 is formed by arranging two conductive plates close to each other, and is equivalent to a capacitor in electric circuit.
  • the neutral point realization capacitor 65 is for creating a neutral point voltage in the primary side 61.
  • the reference potential 63 is a neutral point 27.
  • the separable wire 60 exists between the electric field couplings, and can be separated into the primary side 61 and the secondary side 62 on both sides of the separable wire 60.
  • FIG. 11 is an equivalent circuit of FIG. An inductor 66 and a capacitor 67 are provided.
  • the transmission line resonant unit 37 is composed of an inductor 66 and a capacitor 67, and the complex resonant circuit 23 is composed of two inductors 66 and capacitors 67. Even with this configuration, the power converter can be configured in the same way as in the case of using the LLC composite resonant circuit.
  • FIG. 12 shows an embodiment in which the power converter according to the present invention is used as an actuator in a biological safety cabinet.
  • the biological safety cabinet 71 is a device used for manipulating biological samples such as infectious bacteria and genetically modified cells which should not leak to the outside.
  • the intake filter 72 and the exhaust filter 73 are provided to completely isolate and manage the sample and the normal environment. The operation performed from the outside, such as culture and observation, is performed using the glove 74 so that the operator does not directly contact the biological sample.
  • the biological safety cabinet 71 needs to be exchanged with the outside when introducing or discarding a biological sample, but at that time, the inside of the biological safety cabinet 71 needs to be sterilized.
  • the medicine 76 provided with a medicine input port 75 for sterilization, formaldehyde, hydrogen peroxide water or the like is used. Formaldehyde is oxidized to form formic acid, which is likely to corrode metal materials. Also, since hydrogen peroxide solution is a strong oxidizing agent and causes rusting of metal materials, when installing a mechanical device in biological safety cabinet 71, measures against acid and rust are necessary.
  • an actuator 77 using the power converter according to the present invention is provided.
  • Such an actuator 77 is used, for example, to handle a culture vessel installed on the component shelf 78.
  • the actuator 77 is characterized in that the primary side is disposed in a normal environment and the secondary side is disposed in an isolated space (management environment). Since the secondary side of the power converter according to the present invention is easy to seal, by separately sealing the joint part, it is possible to minimize the influence of corrosion and oxidation due to the dispersion of the drug 76.
  • FIG. 13 shows an embodiment in which a power converter according to the present invention is used as a robot end effector.
  • a hand effect device 80 is shown, which is attached to the hand of the robot to perform operations such as gripping and rotation.
  • 80a and 80b are illustrated as hand effect devices.
  • the end effectors 80a and 80b are attached to the primary side 61 by a coupling mechanism 81 and are interchangeable.
  • a linear actuator 82, a gripping mechanism 83, a rotary actuator 84, and a winch 85 are shown. Since the power converter according to the present invention has less noise generated by the power converter itself and there is no electrical contactor on the primary side 61 and the secondary side 62, the hand effect device 80 can be replaced as shown in the figure. There is also an advantage that noise shielding is easy as a structure.
  • FIG. 14 shows a power assist device using the power converter according to the present invention as an actuator.
  • the power assist device 90 is mounted in contact with the human body 91.
  • the surface myoelectric potential sensor 92 measures a minute electric potential that appears on the surface of the human body 91 when the myoelectric potential changes due to contraction and extension of the muscle.
  • the measurement result of the surface myoelectric potential sensor 92 is sent to the upper control system to determine the assist amount.
  • the surface myoelectric potential sensor can measure noninvasively, but since the voltage to be measured is very small, the signal is easily degraded by noise. Since the power converter according to the present invention has less generation noise, more accurate myoelectric potentials can be measured, and an assist that accurately captures the user's intention is possible.

Abstract

L'invention concerne un dispositif de conversion d'énergie équipé de deux unités à résonance multiple ou plus, chacune équipée d'un circuit de génération d'impulsions au niveau de l'étage précédent d'un circuit à résonance multiple ayant une pluralité de points de résonance. Des moyens de commande d'impulsions destinés à commander ledit circuit de génération d'impulsions sélectionne et fait fonctionner les unités à résonance multiple en fonction de la valeur positive ou négative d'un signal de commande en tension du dispositif de conversion d'énergie et permet aux unités à résonance multiple d'être utilisées dans une application nécessitant les deux polarités, permettant ainsi d'accroître une tension appliquée. En variante, le dispositif de conversion d'énergie est pourvu d'une unité à résonance multiple équipée d'un circuit de génération d'impulsions au niveau de l'étage précédent d'un circuit à résonance multiple ayant une pluralité de points de résonance et comprend des moyens de commande d'impulsions destinés à modifier à la fois la fréquence et la densité d'impulsions dudit circuit de génération d'impulsions. La zone de fonctionnement est réglée de telle sorte que le rapport entre les limites supérieure et inférieure de la fonction de transfert du circuit à résonance multiple devient égal ou supérieur à 2 et des constantes de circuit sont déterminées de telle sorte que l'opération de résonance est stable dans la zone de fonctionnement, élargissant ainsi la plage de réglage de la tension et augmentant la résolution.
PCT/JP2014/066765 2014-06-25 2014-06-25 Dispositif de conversion d'énergie et actionneur l'utilisant WO2015198409A1 (fr)

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PCT/JP2014/066765 WO2015198409A1 (fr) 2014-06-25 2014-06-25 Dispositif de conversion d'énergie et actionneur l'utilisant

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0965589A (ja) * 1995-08-25 1997-03-07 Matsushita Electric Works Ltd 電源装置
JP2008515379A (ja) * 2004-10-01 2008-05-08 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Ｌｅｄ広域光源ランプ用電力変換器
WO2012101906A1 (fr) * 2011-01-26 2012-08-02 株式会社村田製作所 Dispositif d'alimentation à découpage

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0965589A (ja) * 1995-08-25 1997-03-07 Matsushita Electric Works Ltd 電源装置
JP2008515379A (ja) * 2004-10-01 2008-05-08 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ Ｌｅｄ広域光源ランプ用電力変換器
WO2012101906A1 (fr) * 2011-01-26 2012-08-02 株式会社村田製作所 Dispositif d'alimentation à découpage

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