WO2024040609A1 - 电机驱动器和电机驱动*** - Google Patents

电机驱动器和电机驱动*** Download PDF

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Publication number
WO2024040609A1
WO2024040609A1 PCT/CN2022/115275 CN2022115275W WO2024040609A1 WO 2024040609 A1 WO2024040609 A1 WO 2024040609A1 CN 2022115275 W CN2022115275 W CN 2022115275W WO 2024040609 A1 WO2024040609 A1 WO 2024040609A1
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Prior art keywords
motor driver
motor
circuit
capacitor
converter
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PCT/CN2022/115275
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English (en)
French (fr)
Inventor
廖华
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西门子股份公司
西门子（中国）有限公司
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Priority to PCT/CN2022/115275 priority Critical patent/WO2024040609A1/zh
Publication of WO2024040609A1 publication Critical patent/WO2024040609A1/zh

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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
    • H02M1/00—Details of apparatus for conversion
    • H02M1/32—Means for protecting converters other than automatic disconnection
    • 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
    • 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
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • 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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present disclosure relates generally to the field of circuit technology, and more specifically, to a motor driver and a motor drive system.
  • VFC Frequency converters
  • capacitors are used in DC links as power supply decoupling devices.
  • regenerative energy will be applied to the DC link capacitor, causing the DC voltage to rise. If the voltage continues to rise above the allowed operating voltage, the DC capacitor may be damaged.
  • a braking resistor is used to dissipate regenerated energy to prevent overvoltage damage to components.
  • a VFC using PWM technology will generate high-frequency common-mode voltages on the motor, which causes bearing currents and may lead to severe bearing damage.
  • high-frequency leakage current can cause EMI problems.
  • the output common-mode voltage of the inverter should be limited.
  • Figure 1 is a general motor drive topology with a three-phase diode bridge input.
  • Three-phase two-level IGBT half-bridge is used in DC/AC inverter.
  • a large braking resistor R1 is connected to the DC link via switch T8. If the DC voltage rises to the limit value, T8 will be activated and R1 will absorb the overvoltage.
  • braking resistor R1 needs to dissipate the regenerative energy of the motor, so it should have higher power capacity and larger volume. At the same time, it is usually customized, so the cost is quite expensive. The most important thing is that large dissipated power will generate high temperatures inside the resistor, even as high as hundreds of degrees Celsius, which will bring serious challenges to the heat sink and structural design of the entire system.
  • the present disclosure provides a motor driver capable of eliminating common mode voltage and overvoltage damage.
  • a motor driver including: a passive AC/DC converter, a DC link circuit, an inverter and a filter circuit, wherein,
  • the passive AC/DC converter includes three AC/DC conversion branch circuits for converting AC voltage input to the motor driver into DC voltage;
  • the DC link circuit is connected to the passive AC/DC converter and is used to filter the DC voltage output by the passive AC/DC converter.
  • the DC link circuit includes:
  • a capacitor circuit including a first capacitor and a second capacitor in series, disposed between the positive and negative output terminals of the passive AC/DC converter;
  • a fourth DC/AC conversion branch circuit including two switching devices, the fourth DC/AC conversion branch circuit being connected in parallel with the capacitor circuit;
  • the inverter includes first to third DC/AC conversion branch circuits arranged in parallel between the positive and negative output terminals of the DC link circuit, and the first to third DC/AC conversion branch circuits Each of them respectively includes two switching devices;
  • the filter circuit includes first to fourth filters, wherein the first to fourth filters are respectively disposed at a node between the first capacitor, the second capacitor and the first to fourth DC/AC Switch between nodes in a branch circuit between two switching devices.
  • the motor driver further includes a rechargeable battery
  • the rechargeable battery is connected between the inductor in the fourth filter of the filter circuit and the negative electrode of the DC link circuit,
  • the motor driver when the motor driver operates in the braking regeneration mode, the regenerative energy generated during braking is stored in the rechargeable battery.
  • regenerative energy generated during braking can be stored in the rechargeable battery, thereby effectively utilizing the regenerative energy.
  • an external power supply is required as an auxiliary power supply and a motor-holding braking power supply, so rechargeable batteries can also be directly used as an auxiliary power supply and motor-holding braking power supply.
  • the first capacitor and the second capacitor are capacitors with the same capacitance value
  • the switching device is a switching device of the same type.
  • the switching device includes a fully controlled power transistor and a diode, and the anode and cathode of the diode are respectively connected to the emitter and collector of the fully controlled power transistor.
  • the fully controlled power transistor includes an insulated gate bipolar transistor.
  • the switching device includes a fully controlled power field effect transistor and a diode, and the anode and cathode of the diode are respectively connected to the source and drain of the fully controlled power field effect transistor. Extremely connected.
  • the fully controlled field effect transistor includes a fully controlled enhancement type field effect transistor or a fully controlled depletion type field effect transistor.
  • Each of the first to fourth filters includes one of the following filters: LC filter, LCL filter.
  • the inverter uses pulse width modulation to control the output common mode voltage to be 0.
  • a motor driving system including a motor driver according to the above and a motor, the motor driver being used to drive the motor, wherein,
  • the motor When the motor operates in the braking regeneration mode, the regenerative energy generated during the braking process of the motor is stored in the rechargeable battery of the motor driver.
  • the fourth DC/AC conversion branch circuit added in the DC link circuit can realize different functions in different operating modes.
  • the inverter containing the fourth branch circuit can use appropriate PWM (pulse width modulation) technology to eliminate the motor common mode voltage; in the motor braking state, the fourth branch circuit can be used to Store regenerative energy in rechargeable batteries. Therefore, the technical solution according to the present disclosure has at least one of the following advantages:
  • Circuit topologies according to the present disclosure can eliminate common-mode voltages and mitigate possible damage to motor bearings, thus improving system reliability.
  • the motor braking regenerative energy can be stored, which is beneficial to energy conservation.
  • Figure 1 is a circuit topology diagram of a motor driver in the prior art.
  • Figure 2 is a circuit topology diagram of another motor driver in the prior art.
  • FIG. 3 is a circuit topology diagram of a motor driver according to an embodiment of the present disclosure.
  • FIG. 4 is a circuit topology diagram of a motor driver according to another embodiment of the present disclosure.
  • Motor driver 310 Passive AC/DC converter
  • Filter circuit 3301 First DC/AC conversion branch circuit
  • Second DC/AC conversion branch circuit 3303 Third DC/AC conversion branch circuit
  • the term "includes” and variations thereof represent an open term meaning “including, but not limited to.”
  • the term “based on” means “based at least in part on.”
  • the terms “one embodiment” and “an embodiment” mean “at least one embodiment.”
  • the term “another embodiment” means “at least one other embodiment”.
  • the terms “first”, “second”, etc. may refer to different or the same object. Other definitions may be included below, whether explicit or implicit. The definition of a term is consistent throughout this specification unless the context clearly dictates otherwise.
  • FIG. 3 shows an example circuit topology diagram of motor driver 30 according to one embodiment of the present disclosure.
  • the motor driver 30 includes a passive AC/DC converter 310 , a DC link circuit 320 , an inverter 330 , and a filter circuit 340 .
  • the passive AC/DC (alternating current/direct current) converter 310 is used to convert the AC voltage input to the motor driver 30 into a DC voltage.
  • the passive AC/DC converter 310 includes three AC/DC conversion branch circuits, each branch circuit including two diodes connected in series in the same direction, such as diodes D1, D2, D3, D4, D5 and D6.
  • the input terminals R, S and T of the three-phase power supply of the motor driver are respectively connected to the node between the two diodes of the corresponding branch circuit.
  • the DC link circuit 320 is connected to the passive AC/DC converter 310 and is used to filter the DC voltage output by the passive AC/DC converter 310 .
  • the DC link circuit 320 includes a first capacitor Ca, a second capacitor Cb, and switching devices T7 and T8.
  • the first capacitor Ca and the second capacitor Cb are disposed in series between the positive output terminal and the negative output terminal of the passive AC/DC converter 310, and preferably, the first capacitor Ca and the second capacitor Cb are the same capacitor.
  • the first capacitor Ca and the second capacitor Cb may be respectively composed of multiple capacitors in parallel, series or mixed connection.
  • the first capacitor Ca and the second capacitor Cb The same Cb means that the type, quantity and composition of the components of the capacitor are exactly the same.
  • the switching device T7 and the switching device T8 are connected in series, and the switching device T7 is connected to the positive output terminal of the passive AC/DC converter 310 , and the switching device T8 is connected to the negative output terminal of the passive AC/DC converter 310 .
  • the switching device T7 and the switching device T8 actually constitute the fourth DC/AC conversion branch 3201.
  • switching devices T7 and T8 are the same switching devices.
  • the switching device T7 is composed of a single fully controlled power transistor and a single diode. The anode and cathode of the diode are connected to the emitter and collector of the fully controlled power transistor respectively.
  • the single fully controlled power transistor may be composed of multiple fully controlled power transistors in parallel, series, or mixed connection.
  • the single diode can also be composed of multiple diodes connected in parallel, series or mixed connection.
  • the fully controlled power transistor is, for example, an insulated gate bipolar transistor (IGBT).
  • the switching device T7 may also be composed of a single fully controlled power field effect transistor and a single diode.
  • the anode and cathode of the diode are respectively connected to the source and drain of the fully controlled power field effect transistor. Extremely connected.
  • the single fully controlled power field effect transistor may be composed of multiple fully controlled power field effect transistors in parallel, series or mixed connection.
  • the single diode can also be composed of multiple diodes connected in parallel, series or mixed connection.
  • the fully controlled power field effect transistor is, for example, a fully controlled enhancement mode field effect transistor or a fully controlled depletion mode field effect transistor.
  • the inverter 330 is connected to the DC link circuit 320 and includes three parallel first to third DC/AC (direct current/alternating current) conversion branch circuits for converting the DC voltage output by the DC link circuit into an AC voltage.
  • DC/AC direct current/alternating current
  • the inverter 330 includes first to third DC/AC conversion branch circuits 3301, 3302, and 3303 arranged in parallel between the positive output terminal and the negative output terminal of the DC link circuit 320.
  • Each of the AC conversion branch circuits 3301, 3302, and 3303 is composed of two switching devices T1, T2, T3, T4, T5, and T6, where the switching devices T1, T2, T3, T4, T5, and T6 are
  • the switching device T7 is the same switching device.
  • the filter circuit 340 is connected to the DC link circuit 320 and the inverter 330, and is used to filter the voltage output by the DC link circuit 320 and the inverter 330.
  • the filter circuit includes a node O and two of the first to fourth DC/AC conversion branch circuits 3301, 3302, 3303, and 3201 respectively disposed between the first capacitor Ca and the second capacitor Cb. Switch devices between the first to fourth filters between nodes V1, V2, V3 and V4.
  • the first filter is an LC-type filter composed of an inductor L1 and a capacitor C1 connected in series
  • the second filter is an LC-type filter composed of an inductor L2 and a capacitor C2 connected in series
  • the third filter The first filter is an LC type filter composed of an inductor L3 and a capacitor C3 connected in series
  • the fourth filter is an LC type filter composed of an inductor L4 and a capacitor C4 connected in series.
  • L1 to L4, R1 to R4 and C1 to C4 can take the same parameters.
  • each of the first to fourth filters may also adopt an LCL type filter.
  • One end of the inductor L1 in the first filter is connected to the node V1 of the two switching devices T1 and T2 in the first DC/AC conversion branch circuit 3301, and one end of the capacitor C1 is connected to the first capacitor Ca and the second capacitor Node O of Cb is connected.
  • One end of the inductor L2 in the second filter is connected to the node V2 of the two transistors T3 and T4 in the second DC/AC conversion branch circuit 3302, and one end of the capacitor C2 is connected to the first capacitor Ca and the second capacitor Cb. Node O is connected.
  • One end of the inductor L3 in the third filter is connected to the node V3 of the two switching devices T5 and T6 in the first DC/AC conversion branch circuit 3303, and one end of the capacitor C3 is connected to the first capacitor Ca and the second capacitor Node O of Cb is connected.
  • One end of the inductor L4 in the fourth filter is connected to the node V4 of the two switching devices T7 and T8 in the fourth DC/AC conversion branch circuit 3201, and one end of the capacitor C4 is connected to the first capacitor Ca and the second capacitor Cb The node O is connected.
  • the switching devices T7 and T8 can be regarded as the fourth DC/AC conversion branch circuit. It can be deduced theoretically that the common mode voltage Vcm of the motor can be expressed for:
  • V 1O to V 4O are the output voltages of the four branch circuits respectively connected to the node O between the first capacitor Ca and the second capacitor Cb in the DC link circuit.
  • the inverter PWM mechanism if the upper side IGBT of each branch is turned on, the output of the phase is +Vdc; if the lower side IGBT is turned on, the output of the phase is -Vdc.
  • the possible states of motor operation V 1o , V 2o , and V 3o are 1 positive and 2 negative, or 1 negative and 2 positive.
  • the high voltage generated by the inverter can be completely eliminated by including a DC/AC conversion branch circuit in the DC link circuit that is the same as the DC/AC conversion branch in the inverter. Frequency common mode voltage and overvoltage damage.
  • FIG. 4 shows an example circuit topology diagram of motor driver 30 according to another embodiment of the present disclosure.
  • the motor driver 30 shown in Figure 4 also includes a passive AC/DC converter 310, a DC link circuit 320, an inverter 330 and a filter circuit 340.
  • the topology of these parts is similar to that of the motor driver 30 shown in Figure 3
  • the topology of the corresponding parts is the same.
  • the motor driver 30 in Figure 4 also includes a rechargeable battery 350.
  • a rechargeable battery 350 is connected between the inductor L4 in the fourth filter of the filter circuit 340 and the negative electrode of the DC link circuit.
  • a 24V rechargeable battery can be used.
  • the switching devices T7 and T8 and the inductor L4 can be regarded as a step-down converter. If the DC link voltage is greater than the protection voltage, the switching device T7 will be activated, and the regenerative energy generated during the braking process can be stored in the rechargeable battery 350, thereby effectively utilizing the regenerative energy.
  • an external power supply is required as an auxiliary power supply and a motor-holding braking power supply, so the rechargeable battery 350 can also be directly used as an auxiliary power supply and motor-holding braking power supply.
  • the fourth DC/AC conversion branch circuit added in the DC link circuit can realize different functions in different operating modes.
  • the inverter containing the fourth branch circuit can use appropriate PWM (pulse width modulation) technology to eliminate the motor common mode voltage; in the motor braking state, the fourth branch circuit can be used to Store regenerative energy in rechargeable batteries. Therefore, the technical solution according to the present disclosure has at least one of the following advantages:
  • Circuit topologies according to the present disclosure can eliminate common-mode voltages and mitigate possible damage to motor bearings, thus improving system reliability.
  • Eliminating the need to use a larger and heat-generating braking resistor in the circuit topology is beneficial to system thermal design and can eliminate the impact of the braking resistor on other thermal sensing components.
  • the motor braking regenerative energy can be stored, which is beneficial to energy conservation.

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Abstract

提供一种电机驱动器（30），包括：无源AC/DC转换器（310），直流链电路（320），逆变器（330）和滤波电路（340），其中，无源AC/DC转换器（310）包括三个AC/DC转换分支电路，用于将输入的交流电压转换为直流电压；直流链电路（320）与无源AC/DC转换器（310）相连，用于对无源AC/DC转换器（310）输出的直流电压进行滤波，包括：包括第一和第二电容器串联的电容器电路，其设置在无源AC/DC转换器（310）的正极和负极输出端之间；以及包括两个开关器件的第四直流/交流转换分支电路（3201）；逆变器（330）包括并联地设置在正极和负极输出端之间的第一到第三直流/交流转换分支电路（3301,3302,3303），分别包括两个开关器件；滤波电路（340）包括第一到第四滤波器，分别设置在第一、第二电容器之间的节点与第一到第四直流/交流转换分支电路（3301,3302,3303，3201）中的两个开关器件之间的节点之间。

Description

电机驱动器和电机驱动*** 技术领域
本公开通常涉及电路技术领域，更具体地，涉及一种电机驱动器和电机驱动***。
背景技术
变频器(VFC)被广泛用于电机驱动和伺服行业。在大多数情况下，电容器被用在直流链路中作为电源去耦装置。在电机制动过程中，再生能量将被施加到直流链路电容器上，导致直流电压上升。如果电压持续上升超过允许的工作电压，可能会损坏直流电容器。对于有基本整流器输入的VFC，再生能量不能馈送回到电网。通常，使用制动电阻来消耗再生的能源，以防过压损坏元件。
另一方面，采用PWM技术的VFC将在电机上产生高频共模电压，这导致轴承电流，并可能导致严重的轴承损坏。此外，高频漏电流会带来EMI问题。为了抑制这些不利影响，提高可靠性，应该限制变频器的输出共模电压。
图1是具有三相二极管整流桥输入的一般电机驱动拓扑结构。三相两电平IGBT半桥被用于直流/交流逆变器。一个大制动电阻R1通过开关T8连接到直流链路。如果直流电压上升到限制值，T8将被激活，R1将吸收过电压。增加续流二极管D7，以消除由制动电阻R1的杂散电感引起的瞬时过电压。但是，制动电阻R1需要耗散电机的再生能量，所以它应该具有较高的功率容量和较大的体积。同时，它通常是定制的，所以成本相当昂贵。最重要的是，大的耗散功率会在电阻内部产生高温，甚至高达几百摄氏度，这将给整个***的散热器和结构设计带来严峻挑战。
为了减轻共模电压对电机的影响，可以在输出端加一个滤波器，如图2所示，但这种方法只能将共模电压降低到较小的数值，不能完全消除共模电压。
发明内容
在下文中给出关于本发明的简要概述，以便提供关于本发明的某些方面的基本理解。应当理解，这个概述并不是关于本发明的穷举性概述。它并不是意图确定本发明的关键或重要部分，也不是意图限定本发明的范围。其目的仅仅是以简化的形式给出某些概念，以此作为稍后论述的更详细描述的前序。
鉴于上述，本公开提供了一种能够消除共模电压和过压损害的电机驱动器。
根据本公开的一个方面，提供了一种电机驱动器，包括：无源交流/直流转换器，直流链电路，逆变器和滤波电路，其中，
所述无源交流/直流转换器包括三个交流/直流转换分支电路，用于将输入到电机驱动器的交流电压转换为直流电压；
所述直流链电路与无源交流/直流转换器相连，用于对无源交流/直流转换器输出的直流电压进行滤波，所述直流链电路包括：
包括第一电容器和第二电容器串联的电容器电路，其设置在所述无源交流/直流转换器的正极和负极输出端之间；以及
包括两个开关器件的第四直流/交流转换分支电路，所述第四直流/交流转换分支电路与所述所述电容器电路并联；
所述逆变器包括并联地设置在所述直流链电路的正极和负极输出端之间的第一到第三直流/交流转换分支电路，所述第一到第三直流/交流转换分支电路中的每个分别包括两个开关器件；
所述滤波电路包括第一到第四滤波器，其中第一到第四滤波器分别设置在所述第一电容器、所述第二电容器之间的节点与所述第一到第四直流/交流转换分支电路中的两个开关器件之间的节点之间。
通过这样的方式，可以完全消除逆变器所生成的高频共模电压以及过压损害。
可选地，在上述方面的一个示例中，所述电机驱动器还包括一个可充电电池，
所述可充电电池连接在所述滤波电路的所述第四滤波器中的电感器和直流链电路的负极之间，
其中，当所述电机驱动器工作在制动再生模式下时，在制动过程中产生的再生能量被存储到所述可充电电池中。
通过这样的方式，在制动过程产生的再生能量可以被存储到可充电电池中，从而有效利用再生能量。此外，对于低压伺服驱动器，本身需要一个外部电源作为辅助电源和电机保持制动电源，因此可充电电池也可以直接用于作为辅助电源和电机保持制动电源。
可选地，在上述方面的一个示例中，所述第一电容器和所述第二电容器是具有相同电容值的电容器，以及所述开关器件是相同类型的开关器件。
可选地，在上述方面的一个示例中，所述开关器件包括全控型功率晶体管和二极管，所述二极管的阳极和阴极分别与所述全控型功率晶体管的发射极和集电极相连。
可选地，在上述方面的一个示例中，所述全控型功率晶体管包括绝缘栅双极型晶体管。
可选地，在上述方面的一个示例中，所述开关器件包括全控型功率场效应管和二极管，所述二极管的阳极和阴极分别与所述全控型功率场效应管的源极和漏极相连。
可选地，在上述方面的一个示例中，所述全控型场效应管包括全控型增强型场效应管或全控型耗尽型场效应管。
所述第一到第四滤波器中的各个滤波器包括下述滤波器中的一种：LC滤波器、LCL滤波器。
可选地，在上述方面的一个示例中，所述逆变器采用脉冲宽度调制来控制输出的共模电压为0。
根据本公开的另一个方面，提供了一种电机驱动***，包括根据以上所述的电机驱动器以及电机，所述电机驱动器用于驱动所述电机，其中，
当所述电机工作在正常模式下，所述电机的共模电压被控制为零，
当所述电机工作在制动再生模式下，在所述电机的制动过程中产生的再生能量被存储至所述电机驱动器的可充电电池中。
根据本公开的电机驱动器，在直流链电路中增加的第四直流/交流转换分支电路可以在不同工作模式下实现不同功能。在电机驱动器的正常工作模式下，包含第四分支电路的逆变器可以利用适当的PWM(脉冲宽度调制)技术消除电机共模电压；在电机制动状态下，第四分支电路可以被用于将再生能量存储到可充电电池中。因此，根据本公开的技术方案至少具有以下优势中的一项：
根据本公开的电路拓扑结构可以消除共模电压，并且减轻对电机轴承可能的损害，因此提高了***可靠性。
在电路拓扑中无需使用较大并且产生热量的制动电阻，对于***热设计是有利的，并且可以消除由制动电阻对其它热敏感元件的影响。
此外，通过增加一个额外的可充电电池，可以存储电机制动再生能量，有利于节约能源。
附图说明
参照下面结合附图对本发明实施例的说明，会更加容易地理解本发明的以上和其它目的、特点和优点。附图中的部件只是为了示出本发明的原理。在附图中，相同的或类似的 技术特征或部件将采用相同或类似的附图标记来表示。附图中：
图1是现有技术中电机驱动器的电路拓扑图。
图2是现有技术中另一电机驱动器的电路拓扑图。
图3为根据本公开实施例的电机驱动器的电路拓扑图。
图4是根据本公开另一个实施例的电机驱动器的电路拓扑图。
其中，附图标记如下：
30：电机驱动器                   310：无源交流/直流转换器
320：直流链电路                  330：逆变器
340：滤波电路                    3301：第一直流/交流转换分支电路
3302：第二直流/交流转换分支电路  3303：第三直流/交流转换分支电路
3201：第四直流/交流转换分支电路  350：可充电电池
具体实施方式
现在将参考示例实施方式讨论本文描述的主题。应该理解，讨论这些实施方式只是为了使得本领域技术人员能够更好地理解从而实现本文描述的主题，并非是对权利要求书中所阐述的保护范围、适用性或者示例的限制。可以在不脱离本公开内容的保护范围的情况下，对所讨论的元素的功能和排列进行改变。各个示例可以根据需要，省略、替代或者添加各种过程或组件。例如，所描述的方法可以按照与所描述的顺序不同的顺序来执行，以及各个步骤可以被添加、省略或者组合。另外，相对一些示例所描述的特征在其它例子中也可以进行组合。
如本文中使用的，术语“包括”及其变型表示开放的术语，含义是“包括但不限于”。术语“基于”表示“至少部分地基于”。术语“一个实施例”和“一实施例”表示“至少一个实施例”。术语“另一个实施例”表示“至少一个其他实施例”。术语“第一”、“第二”等可以指代不同的或相同的对象。下面可以包括其他的定义，无论是明确的还是隐含的。除非上下文中明确地指明，否则一个术语的定义在整个说明书中是一致的。
图3示出了根据本公开一个实施例的电机驱动器30的示例电路拓扑图。如图3所示，电机驱动器30包括无源AC/DC转换器310、直流链电路320、逆变器330、滤波电路340。
无源AC/DC(交流/直流)转换器310用于将输入到电机驱动器30的交流电压转换为 直流电压。
无源AC/DC转换器310包括三个AC/DC转换分支电路，每个分支电路包括两个同向串联的二极管，比如二极管D1、D2、D3、D4、D5和D6。电机驱动器的三相电源的输入端子R、S和T分别与对应分支电路的两个二极管之间的节点连接。
直流链电路320与无源AC/DC转换器310相连，用于对无源AC/DC转换器310输出的直流电压进行滤波。
具体地，直流链电路320包括第一电容器Ca、第二电容器Cb、开关器件T7和T8。其中，第一电容器Ca和第二电容器Cb串联地设置在无源AC/DC转换器310的正极输出端和负极输出端之间，并且优选地，第一电容器Ca和第二电容器Cb是相同的电容器。此外，在本发明的其它示例中，第一电容器Ca和第二电容器Cb可以分别由多个电容器以并联、串联或混联的方式构成，在这种情况下，第一电容器Ca和第二电容器Cb相同是指电容器的组成组件的类型、数量和组成方式完全相同。
开关器件T7和开关器件T8串联，并且开关器件T7与无源AC/DC转换器310的正极输出端连接，开关器件T8与无源AC/DC转换器310的负极输出端连接。这里，开关器件T7和开关器件T8实际上构成了第四直流/交流转换分支3201。在本公开中，开关器件T7和T8是相同的开关器件。如图所示，开关器件T7由单个全控型功率晶体管和单个二极管构成，二极管的阳极和阴极分别与全控型功率晶体管的发射极和集电极相连。在本公开的其它示例中，所述单个全控型功率晶体管可以由多个全控型功率晶体管以并联、串联或混联的方式构成。同样，所述单个二极管也可以由多个二极管以并联、串联或混联的方式构成。在本公开中，所述全控型功率晶体管比如是绝缘栅双极型晶体管(Insulated Gate Bipolar Transistor，IGBT)。
在本公开的其它示例中，开关器件T7也可以由单个全控型功率场效应管和单个二极管构成，所述二极管的阳极和阴极分别与所述全控型功率场效应管的源极和漏极相连。同样，在本公开的其它示例中，所述单个全控型功率场效应管可以由多个全控型功率场效应管以并联、串联或混联的方式构成。同样，所述单个二极管也可以由多个二极管以并联、串联或混联的方式构成。在本示例中，所述全控型功率场效应管比如是全控型增强型场效应管、全控型耗尽型场效应管。
逆变器330与直流链电路320相连，并且包括三个并联的第一到第三DC/AC(直流/交流)转换分支电路，用于将直流链电路输出的直流电压转换为交流电压。
具体地，逆变器330包括并联地设置在直流链电路320的正极输出端和负极输出端之 间的第一到第三直流/交流转换分支电路3301,3302,3303，第一到第三直流/交流转换分支电路3301,3302,3303中的每个分别由两个开关器件T1，T2，T3，T4，T5，T6组成，其中，开关器件T1、T2、T3、T4、T5和T6是与开关器件T7相同的开关器件。
滤波电路340与直流链电路320和逆变器330相连，用于对直流链电路320和逆变器330输出的电压进行滤波。
具体地，滤波电路包括分别设置在所述第一电容器Ca、所述第二电容器Cb之间的节点O与第一到第四直流/交流转换分支电路3301,3302,3303,3201中的两个开关器件之间的节点V1，V2，V3和V4之间的第一到第四滤波器。如图3中所示，第一滤波器是由电感器L1和电容器C1串联组成的LC型滤波器，第二滤波器是由电感器L2和电容器C2串联组成的LC型滤波器，第三滤波器是由电感器L3和电容器C3串联组成的LC型滤波器，以及第四滤波器是由电感器L4和电容器C4串联组成的LC型滤波器。这里，L1到L4，R1到R4以及C1到C4可以采用相同的参数。在本公开的其它示例中，第一到第四滤波器中的各个滤波器也可以采用LCL型滤波器。
第一滤波器中的电感器L1的一端与第一直流/交流转换分支电路3301中的两个开关器件T1和T2的节点V1相连，并且电容器C1的一端与第一电容器Ca和第二电容器Cb的节点O相连。第二滤波器中的电感器L2的一端与第二直流/交流转换分支电路3302中的两个晶体管T3和T4的节点V2相连，并且电容器C2的一端与第一电容器Ca和第二电容器Cb的节点O相连。
第三滤波器中的电感器L3的一端与第一直流/交流转换分支电路3303中的两个开关器件T5和T6的节点V3相连，并且电容器C3的一端与第一电容器Ca和第二电容器Cb的节点O相连。第四滤波器中的电感器L4的一端与第四直流/交流转换分支电路3201中的两个开关器件T7和T8的节点V4相连，并且电容器C4的一端与第一电容器Ca和第二电容器Cb的节点O相连。
这里要说明的是，第一到第四直流/交流转换分支电路的各个电路中的两个开关器件在电机驱动器正常工作期间每个瞬间仅仅只有一个处于导通状态，另一个处于截止状态。
当图3所示的电机驱动器工作在正常工作状态下时，开关器件T7和T8可以被看做第四直流/交流转换分支电路，从理论上可以推导出，电机的共模电压Vcm可以被表示为：
Figure PCTCN2022115275-appb-000001
V 1O～V 4O是4个分支电路分别连接至直流链电路中的第一电容器Ca和第二电容器Cb 之间的节点O的输出电压。根据逆变器PWM的机制，每个分支如果上侧IGBT开通，该相输出为+Vdc；如果下侧IGBT开通，该相输出为-Vdc。电机工作V 1o，V 2o，V 3o可能的状态为1个正2个负，或1个负2个正，那根据V 1o，V 2o，V 3o的状态，相应地控制V 4o，让4个分支保持有2个正，2个负，这样总体的共模电压Vcm就可以控制为0，输出电压V 1o～V 4o被补偿，可以得到：
V 1o+V 2o+V 3o+V 4o＝0
因此，利用图3中示出的电机驱动器，通过在直流链电路中包括一个与逆变器中的直流/交流转换分支相同的直流/交流转换分支电路，可以完全消除逆变器所生成的高频共模电压以及过压损害。
图4示出了根据本公开另一个实施例的电机驱动器30的示例电路拓扑图。
图4所示的电机驱动器30也包括无源AC/DC转换器310、直流链电路320、逆变器330和滤波电路340，这几部分的拓扑结构与图3所示的电机驱动器30中的对应部分的拓扑结构相同。当图4所示的电机驱动器工作在正常模式下时，与以上参照图3所描述的操作类似，可以消除共模电压，在此不再详述。
图4中的电机驱动器30还包括一个可充电电池350。具体地，在滤波电路340的第四滤波器中的电感器L4和直流链电路的负极之间连接一个可充电电池350，例如可以采用一个24V可充电电池。
当图4所示的电机驱动器工作在制动再生模式下时，开关器件T7和T8和电感L4可以被看做是一个降压变流器。如果直流链路电压大于保护电压，开关器件T7将被激活，在制动过程产生的再生能量可以被存储到可充电电池350中，从而有效利用再生能量。此外，对于低压伺服驱动器，本身需要一个外部电源作为辅助电源和电机保持制动电源，因此可充电电池350也可以直接用于作为辅助电源和电机保持制动电源。
根据本公开的电机驱动器，在直流链电路中增加的第四直流/交流转换分支电路可以在不同工作模式下实现不同功能。在电机驱动器的正常工作模式下，包含第四分支电路的逆变器可以利用适当的PWM(脉冲宽度调制)技术消除电机共模电压；在电机制动状态下，第四分支电路可以被用于将再生能量存储到可充电电池中。因此，根据本公开的技术方案至少具有以下优势中的一项：
根据本公开的电路拓扑结构可以消除共模电压，并且减轻对电机轴承可能的损害，因此提高了***可靠性。
在电路拓扑中无需使用较大并且产生热量的制动电阻，对于***热设计是有利的，并且可以消除由制动电阻对其它热感测部件的影响。
此外，通过增加一个额外的可充电电池，可以存储电机制动再生能量，有利于节约能源。
上面结合附图阐述的具体实施方式描述了示例性实施例，但并不表示可以实现的或者落入权利要求书的保护范围的所有实施例。在整个本说明书中使用的术语“示例性”意味着“用作示例、实例或例示”，并不意味着比其它实施例“优选”或“具有优势”。出于提供对所描述技术的理解的目的，具体实施方式包括具体细节。然而，可以在没有这些具体细节的情况下实施这些技术。在一些实例中，为了避免对所描述的实施例的概念造成难以理解，公知的结构和装置以框图形式示出。
本公开内容的上述描述被提供来使得本领域任何普通技术人员能够实现或者使用本公开内容。对于本领域普通技术人员来说，对本公开内容进行的各种修改是显而易见的，并且，也可以在不脱离本公开内容的保护范围的情况下，将本文所定义的一般性原理应用于其它变型。因此，本公开内容并不限于本文所描述的示例和设计，而是与符合本文公开的原理和新颖性特征的最广范围相一致。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种电机驱动器(30)，包括：无源交流/直流转换器(310)，直流链电路(320)，逆变器(330)和滤波电路(340)，其中，
    所述无源交流/直流转换器(310)包括三个交流/直流转换分支电路，用于将输入到电机驱动器(30)的交流电压转换为直流电压；
    所述直流链电路(320)与无源交流/直流转换器(310)相连，用于对无源交流/直流转换器(310)输出的直流电压进行滤波，所述直流链电路(320)包括：
    包括第一电容器(Ca)和第二电容器(Cb)的电容器电路，其设置在所述无源交流/直流转换器(310)的正极和负极输出端之间；以及
    包括两个开关器件(T7，T8)的第四直流/交流转换分支电路(3201)，所述第四直流/交流转换分支电路(3201)与所述所述电容器电路并联；
    所述逆变器(330)包括并联地设置在所述直流链电路(320)的正极和负极输出端之间的第一到第三直流/交流转换分支电路(3301,3302,3303)，所述第一到第三直流/交流转换分支电路(3301,3302,3303)中的每个分别包括两个开关器件(T1，T2，T3，T4，T5，T6)；
    所述滤波电路(340)包括第一到第四滤波器，其中所述第一到第四滤波器分别设置在所述第一电容器、所述第二电容器(Ca，Cb)之间的节点(O)与所述第一到第四直流/交流转换分支电路(3301,3302,3303,3201)中的两个开关器件(T1，T2，T3，T4，T5，T6，T7，T8)之间的节点(V1，V2，V3，V4)之间。
  2. 如权利要求1所述的电机驱动器(30)，还包括一个可充电电池(350)，
    所述可充电电池(350)连接在所述滤波电路(340)的所述第四滤波器中的电感器(L4)和所述直流链电路的负极之间，
    其中，当所述电机驱动器(30)工作在制动再生模式下时，在制动过程中产生的再生能量被存储到所述可充电电池(350)中。
  3. 如权利要求1或2所述的电机驱动器(30)，其中，所述第一电容器(Ca)和所述第二电容器(Cb)是具有相同电容值的电容器，以及所述开关器件(T1，T2，T3，T4，T5，T6，T7，T8)是相同类型的开关器件。
  4. 如权利要求1或2所述的电机驱动器(30)，其中，所述开关器件(T1，T2，T3， T4，T5，T6，T7，T8)包括全控型功率晶体管和二极管，所述二极管的阳极和阴极分别与所述全控型功率晶体管的发射极和集电极相连。
  5. 如权利要求4所述的电机驱动器(30)，其中，所述全控型功率晶体管为绝缘栅双极型晶体管。
  6. 如权利要求1或2所述的电机驱动器(30)，其中，所述开关器件(T1，T2，T3，T4，T5，T6，T7，T8)包括全控型功率场效应管和二极管，所述二极管的阳极和阴极分别与所述全控型功率场效应管的源极和漏极相连。
  7. 如权利要求6所述的电机驱动器(30)，其中，所述全控型场效应管为全控型增强型场效应管或全控型耗尽型场效应管。
  8. 如权利要求1或2所述的电机驱动器(30)，其中，所述第一到第四滤波器中的各个滤波器包括下述滤波器中的一种：LC滤波器、LCL滤波器。
  9. 如权利要求1或2所述的电机驱动器(30)，其中，所述逆变器(330)采用脉冲宽度调制来控制输出的共模电压为0。
  10. 电机驱动***，包括根据权利要求1-9中任意一项所述的电机驱动器以及电机，所述电机驱动器用于驱动所述电机，其中，
    当所述电机工作在正常模式下，所述电机的共模电压被控制为零，
    当所述电机工作在制动再生模式下，在所述电机的制动过程中产生的再生能量被存储至所述电机驱动器的可充电电池中。
PCT/CN2022/115275 2022-08-26 2022-08-26 电机驱动器和电机驱动*** WO2024040609A1 (zh)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005094918A (ja) * 2003-09-17 2005-04-07 Fuji Electric Holdings Co Ltd 電力変換装置のノイズ低減回路
JP2007259688A (ja) * 2006-02-24 2007-10-04 Fuji Electric Holdings Co Ltd 三相交流−交流変換装置
JP2008131756A (ja) * 2006-11-21 2008-06-05 Fuji Electric Holdings Co Ltd 電力変換装置
CN207475439U (zh) * 2017-09-25 2018-06-08 西门子公司 电机驱动器
CN110545048A (zh) * 2019-07-30 2019-12-06 东南大学 一种电流源型电机驱动***零电压开关及共模电压抑制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005094918A (ja) * 2003-09-17 2005-04-07 Fuji Electric Holdings Co Ltd 電力変換装置のノイズ低減回路
JP2007259688A (ja) * 2006-02-24 2007-10-04 Fuji Electric Holdings Co Ltd 三相交流−交流変換装置
JP2008131756A (ja) * 2006-11-21 2008-06-05 Fuji Electric Holdings Co Ltd 電力変換装置
CN207475439U (zh) * 2017-09-25 2018-06-08 西门子公司 电机驱动器
CN110545048A (zh) * 2019-07-30 2019-12-06 东南大学 一种电流源型电机驱动***零电压开关及共模电压抑制方法

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