CN107979095A - A kind of intelligent industrial drive system of robot - Google Patents
A kind of intelligent industrial drive system of robot Download PDFInfo
- Publication number
- CN107979095A CN107979095A CN201710988291.3A CN201710988291A CN107979095A CN 107979095 A CN107979095 A CN 107979095A CN 201710988291 A CN201710988291 A CN 201710988291A CN 107979095 A CN107979095 A CN 107979095A
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
- H02J3/1821—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators
- H02J3/1835—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control
- H02J3/1842—Arrangements for adjusting, eliminating or compensating reactive power in networks using shunt compensators with stepless control wherein at least one reactive element is actively controlled by a bridge converter, e.g. active filters
-
- 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
- H02M1/08—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
- H02M1/083—Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters for the ignition at the zero crossing of the voltage or the current
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intelligent industrial drive system of robot, including controller, computation chip, voltage zero-cross detection module, current over-zero detection module, drive circuit, MOSFET bridge formula circuit and divide-shut brake storage capacitor, controller connects charging control unit respectively, computation chip, CAN bus communication module, temperature-measuring module, voltage zero-cross detection module, current over-zero detection module, display module and drive circuit, charging control unit is also respectively connected with divide-shut brake storage capacitor and power-switching circuit, power-switching circuit is also connected with exchange AC, the computation chip is also respectively connected with three-phase voltage acquisition module and three-phase current acquisition module.Intelligent industrial drive system of robot of the present invention, by various measure voltage ＆amps, to the signal of system be controlled after accurately detecting, precision is high, and system structure is simple, and cost is low, applied widely.
Description
Technical field
The present invention relates to a kind of robot, is specifically a kind of intelligent industrial drive system of robot.
Background technology
Drive system of robot uses asynchronous machine mostly, and asynchronous machine consumes the same of active power in the process of running
When, also from power grid absorbing reactive power, the reactive power of absorption the electric current in circuit can be caused to increase, cause electric energy need not
The waste wanted, reduces power factor and quality of voltage.Parallel capacitor device is installed in power grid and may be reduced by idle work(
The flowing of rate, thus reduce transmission line of electricity because extra conveying reactive power and caused by transmission losses.It is more existing to adopt
Throw that capacitor mode is unreliable, and precise control is not high with cutting of controlling of relay, and system structure is complicated, the scope of application
It is small.
The content of the invention
It is an object of the invention to provide a kind of intelligent industrial drive system of robot, to solve to carry in above-mentioned background technology
The problem of going out.
To achieve the above object, the present invention provides following technical solution：
A kind of intelligent industrial drive system of robot, including controller, computation chip, voltage zero-cross detection module, current over-zero
Detection module, drive circuit, MOSFET bridge formula circuit and divide-shut brake storage capacitor, the controller connect charge control list respectively
It is member, computation chip, CAN bus communication module, temperature-measuring module, voltage zero-cross detection module, current over-zero detection module, aobvious
Show module and drive circuit, charging control unit is also respectively connected with divide-shut brake storage capacitor and power-switching circuit, power supply conversion
Circuit is also connected with exchange AC, and the computation chip is also respectively connected with three-phase voltage acquisition module and three-phase current acquisition module, institute
State drive circuit and permanent-magnet synchronous vacuum switch is also connected by MOSFET bridge formula circuit；The drive circuit includes chip U1, electricity
Resistance R1, capacitance C1, inductance L1, transformer T, metal-oxide-semiconductor VT1 and metal-oxide-semiconductor VT2, the chip U1 pins 12 connect power supply respectively
VCC, chip U1 pins 11, chip U1 pins 8 and transformer T primary coil taps, chip U1 pins 14 connect chip U1 respectively
Pin 13, capacitance C1 and resistance R10, the resistance R10 other ends connect resistance R9, capacitance C4 and resistance R8 respectively, and capacitance C4 is another
End connection resistance R9 is simultaneously grounded, and the resistance R8 other ends connect chip U1 pins 2, resistance R7 and capacitance C2 respectively, and capacitance C2 is another
End connects the resistance R7 other ends respectively and chip U1 pins 3, chip U1 pins 7 are grounded, and chip U1 pins 4 connect resistance R1 respectively
With the capacitance C1 other ends, the resistance R1 other ends connect resistance R11 and capacitance C5 and are grounded respectively, capacitance C5 other ends connection chip
U1 pins 5, chip U1 pins 6 connect the resistance R11 other ends, and chip U1 pins 10 connect the G of resistance R2 and metal-oxide-semiconductor VT1 respectively
Pole, the S poles of metal-oxide-semiconductor VT1 connect the resistance R2 other ends, diode VD3 cathodes, the S poles of metal-oxide-semiconductor VT2 and resistance R3 and connect respectively
Ground, the D poles of metal-oxide-semiconductor VT1 connect diode VD1 cathodes and transformer T primary coils one end, diode VD1 anode difference respectively
Connect diode VD3 anode and diode VD2 anode, diode VD2 cathodes connect respectively the transformer T primary coils other end and
The D poles of metal-oxide-semiconductor VT2, the G poles of metal-oxide-semiconductor VT2 connect the resistance R3 other ends and chip U1 pins 9 respectively, and chip U1 pins 1 connect
Potentiometer R5 slide plates, potentiometer R5 one end ground connection, potentiometer R5 other ends connection resistance R4, the resistance R4 other ends connect defeated respectively
Outlet VO, ground capacity C3 and inductance L1, the inductance L1 other ends connect diode D1 anode and diode D2 anode, two poles respectively
Pipe D1 cathodes connect diode D4 anode and transformer T secondary coils one end respectively, and the transformer T secondary coil other ends connect respectively
Diode D2 cathodes and diode D3 anode are connect, diode D3 cathode connecting diode D4 cathodes are simultaneously grounded；The chip U1 types
Number it is TL494.
As the further scheme of the present invention：The computation chip uses ATT7022A.
As the further scheme of the present invention：The controller uses TMS320F2812.
As the further scheme of the present invention：The diode VD3 is zener diode.
As further scheme of the invention：The power supply VCC voltages are 12V.
Compared with prior art, the beneficial effects of the invention are as follows：Intelligent industrial drive system of robot of the present invention, by each
Kind measure voltage ＆amp, to the signal of system be controlled after accurately detecting, and precision is high, and system structure is simple, into
This is low, applied widely.
Brief description of the drawings
Fig. 1 is the circuit structure block diagram of intelligent industrial drive system of robot.
Fig. 2 is the circuit diagram of drive circuit in intelligent industrial drive system of robot.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Referring to Fig. 1, in the embodiment of the present invention, a kind of intelligent industrial drive system of robot, including controller, metering core
Piece, voltage zero-cross detection module, current over-zero detection module, drive circuit, MOSFET bridge formula circuit and divide-shut brake storage capacitor,
The controller connects charging control unit, computation chip, CAN bus communication module, temperature-measuring module, voltage zero-cross respectively
Detection module, current over-zero detection module, display module and drive circuit, charging control unit are also respectively connected with divide-shut brake energy storage
Capacitance and power-switching circuit, power-switching circuit are also connected with exchange AC, and the computation chip is also respectively connected with three-phase voltage and adopts
Collect module and three-phase current acquisition module, the drive circuit also connects permanent-magnet synchronous vacuum by MOSFET bridge formula circuit and opens
Close；The drive circuit includes chip U1, resistance R1, capacitance C1, inductance L1, transformer T, metal-oxide-semiconductor VT1 and metal-oxide-semiconductor VT2, institute
State chip U1 pins 12 and connect power supply VCC, chip U1 pins 11, chip U1 pins 8 and transformer T primary coil taps respectively,
Chip U1 pins 14 connect chip U1 pins 13, capacitance C1 and resistance R10 respectively, the resistance R10 other ends connect respectively resistance R9,
Capacitance C4 and resistance R8, capacitance the C4 other end connection resistance R9 simultaneously be grounded, the resistance R8 other ends connect respectively chip U1 pins 2,
Resistance R7 and capacitance C2, capacitance the C2 other end connect the resistance R7 other ends and chip U1 pins 3 respectively, and chip U1 pins 7 are grounded,
Chip U1 pins 4 connect resistance R1 and the capacitance C1 other ends respectively, and the resistance R1 other ends connect resistance R11 and capacitance C5 simultaneously respectively
Ground connection, capacitance C5 other ends connection chip U1 pins 5, chip U1 pins 6 connect the resistance R11 other ends, and chip U1 pins 10 divide
Not Lian Jie resistance R2 and metal-oxide-semiconductor VT1 G poles, the S poles of metal-oxide-semiconductor VT1 connect respectively the resistance R2 other ends, diode VD3 cathodes,
The S poles of metal-oxide-semiconductor VT2 and resistance R3 are simultaneously grounded, and the D poles of metal-oxide-semiconductor VT1 connect diode VD1 cathodes and transformer T primary lines respectively
One end is enclosed, diode VD1 anode connect diode VD3 anode and diode VD2 anode respectively, and diode VD2 cathodes connect respectively
The transformer T primary coils other end and the D poles of metal-oxide-semiconductor VT2 are connect, the G poles of metal-oxide-semiconductor VT2 connect the resistance R3 other ends and core respectively
Piece U1 pins 9, chip U1 pins 1 connect potentiometer R5 slide plates, potentiometer R5 one end ground connection, potentiometer R5 other ends connection resistance
R4, resistance the R4 other end connect output terminal VO, ground capacity C3 and inductance L1 respectively, and the inductance L1 other ends connect diode respectively
D1 anode and diode D2 anode, diode D1 cathodes connect diode D4 anode and transformer T secondary coils one end respectively, become
The depressor T secondary coils other end connects diode D2 cathodes and diode D3 anode, diode D3 cathode connecting diodes respectively
D4 cathodes are simultaneously grounded；The chip U1 models TL494.Computation chip uses ATT7022A.Controller uses
TMS320F2812.The diode VD3 is zener diode.The power supply VCC voltages are 12V.
The present invention operation principle be：At present, most of electrical equipment in power grid is all the load for belonging to perception, than
Such as asynchronous machine, transformer, while they consume active power in the process of running, will also absorb idle work(from power grid
Rate, the reactive power of absorption can cause the electric current in circuit to increase, cause the unnecessary waste of electric energy, reduce power factor and
Quality of voltage.Parallel capacitor device is installed in power grid and may be reduced by the flowing of reactive power, so as to reduce power transmission line
Road transmission losses caused by because of extra conveying reactive power.Obviously, the reactive power absorbed by inductive load, if all
Will generator come provide and over long distances transmission be it is impossible, correct method should be consumption reactive power place provide
The reactive power needed, by the capacitor installation of suitable capacity in parallel in place, and to change idle in load
Change the flowing for carrying out accurate switching compensation using controller control capacitor and reaching reduction reactive power, improve power factor
Purpose, substantially, reactive-load compensation are just equivalent to raising power factor.
Reactive-load compensation is carried out to power grid, first have to the integral status of accurately measure operation of power networks, these include electricity
The parameters such as power factor and Harmonic Conditions in net, active and reactive power, energy.Present invention employs high, smart with reliability
High and high stability three-phase electrical energy computation chip ATT7022A is spent to collect these data, is sampled for AC signal, control
Device processed realizes that controller TMS320F2812 is well positioned to meet computationally intensive, the CPU speeds of service using existing fft algorithm
Fast requirement, then calculates each phase such as reactive power, active power and power factor according to the electric current of sampling and voltage signal
Parameter.
During capacitor switching, the voltage over zero in power grid, circuit AC are detected using voltage zero-cross detection module
Signal passes through the conversion of three-phase current acquisition module, adjusts PWM input signals by controller to realize control drive circuit, from
And MOSFET bridge formula circuit turn-on duty cycle is controlled, so as to control permanent-magnet synchronous vacuum switch.
Reclosing command is begun to send out in voltage over zero, vacuum switch is acted, and puts into capacitor；In current over-zero
Point, sends separating brake instruction, and vacuum receives instruction and carries out switch motion, capacitance is cut off；Controlled three phase electric machine is mended
Repay.
In Fig. 2, control circuits of the TL494 as power supply, in addition to as oscillation source, also undertakes adjustment and stablizes output
The task of voltage, its frequency of oscillation are mainly determined by outward element R1 and C1.The switching frequency of this power supply is 100kHz.VD1、
VD2 is isolating diode, operating voltage 33V.T is output push-pull transformer, its primary coil centre cap and direct current 12V are defeated
Enter power supply to connect.Secondary connects output bridge rectifier.Output filter is made of choke coil L1 and filter capacitor C3, can be right
The alternating current of 100kHz plays good filter action.When output voltage is raised and lowered, its by sample divider resistance R4,
R5, R6 feed back to 1 foot of TL494, are converted into the driving power of pulse width and output terminal VO voltage inverse variations, pass through
9,10 feet of TL494 are transferred to metal-oxide-semiconductor VT1, VT2 respectively, change its output pulse width, output terminal VO voltages is kept steady
It is fixed.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of intelligent industrial drive system of robot, including controller, computation chip, voltage zero-cross detection module, electric current mistake
Zero detection module, drive circuit, MOSFET bridge formula circuit and divide-shut brake storage capacitor, it is characterised in that the controller difference
Connect charging control unit, computation chip, CAN bus communication module, temperature-measuring module, voltage zero-cross detection module, electric current
Zero passage detection module, display module and drive circuit, charging control unit is also respectively connected with divide-shut brake storage capacitor and power supply turns
Circuit is changed, power-switching circuit is also connected with exchange AC, and the computation chip is also respectively connected with three-phase voltage acquisition module and three-phase
Current acquisition module, the drive circuit also connect permanent-magnet synchronous vacuum switch by MOSFET bridge formula circuit；The driving electricity
Road includes chip U1, resistance R1, capacitance C1, inductance L1, transformer T, metal-oxide-semiconductor VT1 and metal-oxide-semiconductor VT2, the chip U1 pins 12
Power supply VCC, chip U1 pins 11, chip U1 pins 8 and transformer T primary coil taps, chip U1 pins 14 is connected respectively to divide
Not Lian Jie chip U1 pins 13, capacitance C1 and resistance R10, the resistance R10 other ends connect resistance R9, capacitance C4 and resistance respectively
R8, capacitance the C4 other end connect resistance R9 and are grounded, and the resistance R8 other ends connect chip U1 pins 2, resistance R7 and capacitance respectively
C2, capacitance the C2 other end connect the resistance R7 other ends and chip U1 pins 3 respectively, and chip U1 pins 7 are grounded, chip U1 pins 4
Connect resistance R1 respectively and the capacitance C1 other ends, the resistance R1 other ends connect resistance R11 and capacitance C5 and be grounded, capacitance C5 respectively
Other end connection chip U1 pins 5, chip U1 pins 6 connect the resistance R11 other ends, and chip U1 pins 10 connect resistance R2 respectively
With the G poles of metal-oxide-semiconductor VT1, the S poles of metal-oxide-semiconductor VT1 connect the resistance R2 other ends, diode VD3 cathodes, the S poles of metal-oxide-semiconductor VT2 respectively
With resistance R3 and be grounded, the D poles of metal-oxide-semiconductor VT1 connect diode VD1 cathodes and transformer T primary coils one end, diode respectively
VD1 anode connect diode VD3 anode and diode VD2 anode respectively, and diode VD2 cathodes connect transformer T primary respectively
The D poles of the coil other end and metal-oxide-semiconductor VT2, the G poles of metal-oxide-semiconductor VT2 connect the resistance R3 other ends and chip U1 pins 9, chip respectively
U1 pins 1 connect potentiometer R5 slide plates, potentiometer R5 one end ground connection, and the potentiometer R5 other ends connect resistance R4, and resistance R4 is another
End connects output terminal VO, ground capacity C3 and inductance L1, inductance the L1 other end and connects diode D1 anode and two poles respectively respectively
Pipe D2 anode, diode D1 cathodes connect diode D4 anode and transformer T secondary coils one end, transformer T secondary wires respectively
The circle other end connects diode D2 cathodes and diode D3 anode respectively, and diode D3 cathode connecting diode D4 cathodes simultaneously connect
Ground；The chip U1 models TL494.
2. intelligent industrial drive system of robot according to claim 1, it is characterised in that the computation chip uses
ATT7022A。
3. intelligent industrial drive system of robot according to claim 1, it is characterised in that the controller uses
TMS320F2812。
4. intelligent industrial drive system of robot according to claim 1, it is characterised in that the diode VD3 is steady
Press diode.
5. intelligent industrial drive system of robot according to claim 1, it is characterised in that the power supply VCC voltages are
12V。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988291.3A CN107979095A (en) | 2017-10-21 | 2017-10-21 | A kind of intelligent industrial drive system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988291.3A CN107979095A (en) | 2017-10-21 | 2017-10-21 | A kind of intelligent industrial drive system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107979095A true CN107979095A (en) | 2018-05-01 |
Family
ID=62012556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710988291.3A Pending CN107979095A (en) | 2017-10-21 | 2017-10-21 | A kind of intelligent industrial drive system of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107979095A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362567A (en) * | 2021-12-28 | 2022-04-15 | 深圳市华思旭科技有限公司 | Circuit structure, control method thereof, inverter and energy storage device |
| CN118538572A (en) * | 2024-07-26 | 2024-08-23 | 南昌航空大学 | Interactive phased closing device and method |
-
2017
- 2017-10-21 CN CN201710988291.3A patent/CN107979095A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362567A (en) * | 2021-12-28 | 2022-04-15 | 深圳市华思旭科技有限公司 | Circuit structure, control method thereof, inverter and energy storage device |
| CN118538572A (en) * | 2024-07-26 | 2024-08-23 | 南昌航空大学 | Interactive phased closing device and method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180501 |
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| WD01 | Invention patent application deemed withdrawn after publication |