CN100554122C - Halbach permanent magnetism gearless elevator drag machine - Google Patents
Halbach permanent magnetism gearless elevator drag machine Download PDFInfo
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- CN100554122C CN100554122C CNB2007100573272A CN200710057327A CN100554122C CN 100554122 C CN100554122 C CN 100554122C CN B2007100573272 A CNB2007100573272 A CN B2007100573272A CN 200710057327 A CN200710057327 A CN 200710057327A CN 100554122 C CN100554122 C CN 100554122C
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- synchronous motor
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- rope sheave
- permagnetic synchronous
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Abstract
The invention belongs to elevator Drag Control field, relate to a kind of Halbach permanent magnetism gearless elevator drag machine, this kind elevator traction machine, comprise Halbach permagnetic synchronous motor, rope sheave, magnet stopper, brake disc, controller, wherein, brake disc and rope sheave are installed on the rotor shaft of Halbach permagnetic synchronous motor; The Halbach permagnetic synchronous motor is made up of stator and rotor, and rotor surface is pasted the Halbach permanent magnet array, and stator adopts the short distance winding, is used to drive rope sheave, directly provides to drag the needed torque of car; Rope sheave, by and steel rope between friction moment traction car up-and-down movement; Brake control lever is subjected to the control of magnet stopper, is used for allowing rope sheave stop operating under situations such as power failure; Controller is regulated the size and Orientation of motor speed with space voltage vector pulse duration modulation (SVPWM) frequency control way control Halbach permagnetic synchronous motor.Elevator traction machine provided by the invention has high efficiency, non-maintaining, low-cost, advantage that noise is low.
Description
Technical field
The present invention relates to electric machine design and control technology, belong to elevator and drag the control field, relate in particular to high efficiency, non-maintaining, low-cost, noise is low, the elevator traction machine of gearless speed reduction gearing.
Background technology
Along with China's rapid economy development, in recent years, Chinese elevator industry emerged rapidly.By the end of the end of the year 2005, the whole nation produces elevator and reaches 13.5 ten thousand, and yearly output meets and exceeds 1/3 of whole world elevator sales volume, and the huge market potentiality attract people's attention.That but extensively adopts in the elevator at present remains geared machine.This class towing machine has been installed the gear drive deceleration between motor and rope sheave, thereby extensively exists problems such as mechanical wear is big, the life-span is short, cost is high, inconvenient maintenance.Along with growth in the living standard, people have had higher requirement to aspects such as noise of elevator, traveling comforts, and problems such as the cost of elevator traction system, life-span and dynamic property are demanded urgently improving.Application number is that 200410094540.7 patent application has proposed a kind of permanent magnet synchronous high-speed tractive machine without gear wheel.Because it has adopted common permagnetic synchronous motor as actuating unit, be still waiting at aspects such as motor volume, torque pulsation, rotor inertias to improve.
As a kind of typical products of electromechanical integration, the development of new elevator traction machine not only can satisfy the needs of people's daily life energetically, can also drive the development of high-new mechanical ﹠ electrical technology.
Summary of the invention
The proposition of elevator traction machine of the present invention mainly is in order to address the above problem, thereby reduces torque fluctuation, mechanical friction, the fault rate of elevator traction system, improves system service life.
To achieve these goals, the present invention proposes following technical scheme:
A kind of Halbach permanent magnetism gearless elevator drag machine comprises Halbach permagnetic synchronous motor, rope sheave, magnet stopper, brake disc, controller, and wherein, brake disc and rope sheave are installed on the rotor shaft of Halbach permagnetic synchronous motor; The Halbach permagnetic synchronous motor is made up of stator and rotor, and rotor surface is pasted the Halbach permanent magnet array, the rotor magnetic circuit self closing, and stator adopts the short distance winding, is used to drive rope sheave, directly provides to drag the needed torque of car; Rope sheave, by and steel rope between friction moment traction car up-and-down movement; Brake disc is subjected to the control of magnet stopper, is used for allowing rope sheave stop operating under power-off condition; Major loop adopts voltage source inverter, and wherein energy can two-way flow; Controller is regulated the size and Orientation of motor speed with space voltage vector pulse duration modulation (SVPWM) frequency control way control Halbach permagnetic synchronous motor.
In technique scheme, the rotor-position signal that controller provides by the rotor angular displacement sensor that is installed on the Halbach permagnetic synchronous motor, determine rotor-position, speed, turn to, and according to the current of electric and the voltage signal of electric current, voltage sensor sampling, send space voltage vector pulse duration modulation (SVPWM) signal, regulate the service direction and the speed of motor.
The present invention has following outstanding beneficial effect:
1.Halbach permagnetic synchronous motor has, and air gap flux density is big, power density is big, volume is little, air-gap field is near advantage such as sinusoidal, that torque fluctuation is little.Halbach permanent-magnetic synchronous motor rotor magnetic circuit self closing in addition, this makes that rotor selection space is bigger, reasonable material can increase rotor strength, reduces rotor inertia, improve dynamic property.Adopt the Halbach permagnetic synchronous motor as actuating unit, help improving the torque control stiffness and the system dynamic characteristic of gearless elevator drag entire system, can reduce the drive disk assembly volume, reduce system failure rate, increase the service life.
2. stator adopts the short distance winding further to suppress the harmonic components of air gap flux density, reduces torque fluctuation, improves comfort level.
3. space voltage vector pulse duration modulation (SVPWM) frequency control way has the voltage utilization height, produces characteristics such as harmonic wave is few, the switch number of times is few, the power tube power consumption is little.Controller is installed in the rotor-position signal that the position transduser on the motor provides by detection incremental encoder or other, control the Halbach permagnetic synchronous motor with SVPWM, torque pulsation is little, operate steadily, speed governing is convenient, noise is low, is used in the control of elevator traction machine to improve comfort level.
Description of drawings
Fig. 1 Halbach permanent magnetic synchronous traction machine structural representation.
Fig. 2 Halbach permagnetic synchronous motor structural representation.
Fig. 3 electric machine control system scheme drawing.
Fig. 4 SVPWM control principle scheme drawing.
Fig. 5 elevator starter, retro-speed curve synoptic diagram.
Some parts label declarations in the accompanying drawing
1 magnet stopper; The jiggering handle of 2 manual jigger wheels; 3 brake control levers; 4 rope sheaves; 5 brake discs; 6 armature loops; 7 iron yokes; The 8Halbach array permanent magnet; 9 rotors
The specific embodiment
Gearless elevator drag machine of the present invention comprises Halbach permagnetic synchronous motor, rope sheave 4, magnet stopper 1, brake disc 5, manual jigger wheel and jiggering handle 2, controller, power module, support etc., and structure as shown in Figure 1.Rope sheave 4, brake disc 5 and rotor are coaxial, and are agreed with into an integral body.Across rope sheave 4 both sides, towing machine is drawing car and counterweight up-and-down movement thereof by the friction force between rope sheave 4 and the steel rope by steel rope for car and counterweight.Magnet stopper 1 is being controlled brake control lever 3, and brake control lever 3 is promoted to be pressed in tightly on the brake disc by spring under the powering-off state, meets accident when avoiding having a power failure; Can overcome acting force of the spring after the energising of magnet stopper 1 control coil, push brake control lever 3 open, towing machine can normally be rotated.Manually have jiggering handle 2 on the jigger wheel, under the situation of shutting off power in emergency, the engineering staff can manually push brake control lever 3 open, by jiggering handle 2 rolling disc wheels and then 4 rotations of drive rope sheave, allows car be accommodated to certain layer, rescues stranded passenger.
The rotor 9 of the Halbach permagnetic synchronous motor that adopts among the present invention adopts surperficial adhesive type permanent magnet, and promptly Halbach array permanent magnet 8 is set up magnetic field, and the armature loop 6 of stator adopts short distance winding mode reduced harmonic magnetic potential, and its structural representation as shown in Figure 2.Because Halbach permagnetic synchronous motor air gap flux density is big, it is big to exert oneself, less relatively by its gearless machine volume that constitutes, and is applicable to the requirement to towing machine of small room elevator or machine-roomless lift.
Fig. 3 has shown the driving and the control system scheme drawing of elevator traction machine of the present invention, wherein mainly comprises Halbach permagnetic synchronous motor, major loop, control loop, rotor angular displacement sensor.
1) Halbach permagnetic synchronous motor.By the special-purpose Halbach permagnetic synchronous motor of elevator drive system requirement design-calculated, good torque performance is arranged during low cruise.
2) major loop.Major loop adopts voltage source inverter, wherein energy can two-way flow to adapt to motor four quadrant running, energy savings.
3) control loop.For making system satisfy many, the real-time requirement of function, controller adopts dual-cpu structure.Host CPU adopts the TMS320F24x or the 28x treater of TI company, the function of the finishing voltage vector conversion of having living space; Voltage, current sample; Electric current, speed double closed loop control; Panel shows and the keyboard input; Terminal (simulation and switch) input and output; The RS485/232 communication of upper and lower machine and various defencive function.The analog signal of another CPU special disposal position transduser sends the location information after handling to DSP and uses.
4) rotor angular displacement sensor.In order to reach required controller performance, need to select suitable position transduser.Apparatus for controlling elevator requires very high to feedback signal, particularly during the motor low cruise, the error of position signal has very big influence to system performance.System adopts import high precision sine and cosine encoder as position transduser among the embodiment, adopt relevant soft, hardware handles after, can obtain suitable high accuracy mechanical position signal.
When motor rotates, adopt the mode of space vector modulation SVPWM to control rotating speed of motor, groundwork is as follows.By the voltage inverter that the IGBT element is formed, the power switch component of each brachium pontis is one group, and except they are the not conducting in very short dead band, their on off state is always opposite: go up that brachium pontis turn-offs the time, the certain conducting of following brachium pontis, vice versa.Like this inverter has 8 kinds of possible on off states, have 8 kinds of voltage statuss accordingly, U1, U2, U3, U4, U5, U6 and two zero vectors of difference corresponding diagram 4, the space vector of voltage of optional position like this, all availablely think to be obtained by linear combination by adjacent two fundamental space vectorial sum zero vectors, the coefficient of this linear combination then is respectively the in-service time of two fundamental space vectors.Obtain after the in-service time of each fundamental space vector in the one-period, they are converted to the pwm signal with corresponding dutycycle just can control rotating speed of motor.
Elevator traction machine among the present invention can be set different kinematic velocitys with range ability according to elevator car position, allows elevator according to setting starting, the operation of retro-speed curve smoothing, as shown in Figure 5.Among Fig. 5, tq can adjust between 1～5 second for starting pick-up time; Td is the braking deceleration time, can adjust between second at 1.～5S; Smooth operation speed is the motor rated speed of rotation.In the starting section, S word curve is regulated by p1, a1, p2.P1 representative starting beginning section acceleration/accel increment rate, this value is more little, and starting beginning section is slow more, feels steady more; A1 is a starting section acceleration/accel, and this value is more little, and the starting accelerating sections is slow more, feels steady more; P2 is starting knot speed section acceleration/accel reduced rate, and this value is more little, and the proceed-to-send section is slow more, feels steady more.The S word curve of retaining segment is regulated by p3, a2, p4.P3 is braking beginning section acceleration/accel absolute value increment rate, and this value is more little, and the beginning section of slowing down is slow more, feels steady more; A2 represents the braking section acceleration/accel, and this value is more little, and the braking deceleration section is slow more, feels steady more; P4 is braking knot speed section acceleration/accel absolute value reduced rate, and its value is more little, and the end of braking section is slow more, feels steady more.
7 segment decoders are installed on the controller, and when the towing machine system broke down, 7 segment decoders can show corresponding signal so that maintenance.
According to present embodiment, elevator traction machine does not need to install gear or other speed reduction gearings, directly provides the torque that drives lift car with the Halbach permagnetic synchronous motor, adopts SVPWM control technology smooth adjustment motor speed.Use the present invention and not only can reduce noise, improve comfort index, can also improve the efficient and the reliability of towing machine.
The controller that the present invention adopts is by the detection rotor angular-motion transducer, with space voltage vector pulse duration modulation (SVPWM) frequency control way control Halbach permagnetic synchronous motor four quadrant running, so just can produce stable electromagnetic torque, in very wide speed range, regulate the size and Orientation of motor speed flexibly, smoothly.Moreover, this controller also has the defencive function under the situations such as under-voltage, excess current, hypervelocity, controller failure.In running process of elevator, it is instantaneous that mechanical hatching gate is opened, and this controller also has pre-torque compensate function, and the step load torque that balanced system is subjected to improves dynamic performance.
Here the detailed explanation that has been center deployment with embodiments of the invention, the imbody of described optimal way or some characteristic, should be understood to this specification sheets only is to describe the present invention by the mode that provides embodiment, in fact on some details of forming, construct and using, can change to some extent, comprise the combination and the assembly of parts, these distortion and application all should belong in the scope of the present invention.
Claims (2)
1. a Halbach permanent magnetism gearless elevator drag machine comprises Halbach permagnetic synchronous motor, rope sheave, magnet stopper, brake disc, controller, and wherein, brake disc and rope sheave are installed on the rotor shaft of Halbach permagnetic synchronous motor; The Halbach permagnetic synchronous motor is made up of stator and rotor, and rotor surface is pasted the Halbach permanent magnet array, the rotor magnetic circuit self closing, and stator adopts the short distance winding, is used to drive rope sheave, directly provides to drag the needed torque of car; Rope sheave, by and steel rope between friction moment traction car up-and-down movement; Brake disc is subjected to the control of magnet stopper, is used for allowing rope sheave stop operating under power-off condition; Major loop adopts voltage source inverter, and wherein energy can two-way flow; Controller is regulated the size and Orientation of motor speed with space voltage vector pulse duration modulation (SVPWM) frequency control way control Halbach permagnetic synchronous motor.
2. Halbach permanent magnetism gearless elevator drag machine according to claim 1, it is characterized in that, the rotor-position signal that controller provides by the rotor angular displacement sensor that is installed on the Halbach permagnetic synchronous motor, determine rotor-position, speed, turn to, and according to the current of electric and the voltage signal of electric current, voltage sensor sampling, send space voltage vector pulse duration modulation (SVPWM) signal, regulate the service direction and the speed of motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007100573272A CN100554122C (en) | 2007-05-11 | 2007-05-11 | Halbach permanent magnetism gearless elevator drag machine |
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| CNB2007100573272A CN100554122C (en) | 2007-05-11 | 2007-05-11 | Halbach permanent magnetism gearless elevator drag machine |
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| CN100554122C true CN100554122C (en) | 2009-10-28 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102088265B (en) * | 2011-03-08 | 2013-04-24 | 东南大学 | Method for restraining torque ripple of permanent magnet motor based on direct torque control |
| CN102514989A (en) * | 2011-12-14 | 2012-06-27 | 杭州优迈科技有限公司 | Elevator control system and elevator control circuit board therein |
| CN102684400A (en) * | 2012-05-31 | 2012-09-19 | 天津工业大学 | Halbach array permanent magnetic efficient energy-saving textile motor |
| CN103693537B (en) * | 2013-12-25 | 2017-07-25 | 北京祥远通达科技有限公司 | Quasi- Halbach array external rotor type permanent magnetism synchronous gearless machine |
| US10427908B2 (en) * | 2016-04-15 | 2019-10-01 | Otis Elevator Company | Emergency mode operation of elevator system having linear propulsion system |
| CN106865377A (en) * | 2017-04-14 | 2017-06-20 | 上海昶屹机电科技有限公司 | Elevator traction machine |
| CN107994839B (en) * | 2017-12-25 | 2020-10-13 | 厦门市逢兴机电设备有限公司 | Motor safety control circuit and motor safety control system |
| CN109987490B (en) * | 2017-12-29 | 2021-03-19 | 苏州江南嘉捷光机电技术有限公司 | Elevator door motor controller starting control method |
| CN108002188A (en) * | 2018-01-02 | 2018-05-08 | 成都光华锦业教育咨询有限公司 | New no wirerope, without rack, chain emergency staircase |
| CN109707894B (en) * | 2019-01-15 | 2023-09-15 | 西华大学 | Halbach magnetic moment array transmission self-sealing main valve |
| CN113697635B (en) * | 2021-10-28 | 2021-12-31 | 江苏钜熙矿用设备科技有限公司 | Optimization device for braking part of mining elevator |
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Application publication date: 20071010 Assignee: Hebei Motor Co.,Ltd. Assignor: Tianjin University Contract record no.: 2010120000040 Denomination of invention: Machine of Halbach permanent magnetism without gear wheel for dragging elevator Granted publication date: 20091028 License type: Exclusive License Record date: 20100415 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091028 Termination date: 20210511 |