CN102491137A - Double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated system and method - Google Patents
Double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated system and method Download PDFInfo
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Abstract
The invention discloses a double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated system and a double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated method. The system comprises a rectifying module, a double DSP control module, an inversion module, a tractor module, a capacitor, a three-phase alternating current power supply and a supercapacitor module, wherein the double DSP control module is connected with the rectifying module, the supercapacitor module, the inversion module, the tractor module and a standard communication port respectively; the double DSP control module communicates with an upper computer or an elevator controller; the rectifying module is connected with the three-phase alternating current power supply; the inversion module is connected with the tractor module; the rectifying module is connected with the inversion module through two direct current buses; and the capacitor and the supercapacitor module are connected with the two direct current buses respectively. Tractor drive, control and energy conservation are integrated, and the safety of an elevator control system is improved.
Description
Technical field
The invention belongs to elevator control field, particularly a kind of elevator traction machine driving, control and energy-conservation integral system and method thereof based on two DSP (digital signal processor).
Background technology
Along with the raising of science and technology development and living standards of the people, the use of elevator is more and more general.The Chinese elevator of certificate association statistics shows that reached 1,650,000 by China's elevator recoverable amount in 2011, the productive output and the consumption of elevator are the first in the world.
Because there are problems in elevator production installation, operating maintenance and supervision and management, national elevator accident takes place frequently, the new hidden danger of elevator operation having become municipal public safety.How to improve the safety and the reliability of elevator, be related to the development of whole elevator industry.At present, quite a few elevator manufacturer adopts the control chip of monolithic DSP (digital signal processor) as actuator, but the stability of dsp chip has much room for improvement.If dsp chip breaks down, elevator traction machine is easy to be in runaway condition, and can only rely on hardware protection measure and ensure passenger safety this moment, and the oppressive incident of elevator is also just unavoidable.If service personnel can not in time arrive, certainly will impact passenger's physical and mental health.If adopt the control chip of two dsp chips as actuator, can improve the reliability of actuator, also be the difficult problem that needs solve but how to make two dsp chip collaborative works.
Elevator is in operational process, and the dynamo-electric parameter, friction coefficient, rotor inertia etc. that are used for towing machine control can constantly change.The elevator maintenance personnel often can not in time obtain and upgrade the needed parameters of control housing, make the controller performance of towing machine often not be in optimum regime, and the traveling comfort of elevator also just is difficult to obtain to ensure.How to dynamically update the needed parameters of control and become the difficult point that elevator is controlled.
Adopting gearless permanent-magnet synchronous dynamo traction system is the huge leap forward of elevator drive technology, and it can replace all traction technology that are used for elevator drive system now fully.In the vector controlled of permagnetic synchronous motor, adopt current feedback decoupling zero control, but there is certain limitation in current feedback decoupling zero control, is difficult to guarantee the current tracking effect more.
Development along with no machine room and small room technology; Actuator, control system etc. are proposed miniaturization, integrated, modularization and low-power consumption requirement; Therefore motor-driven, control and communicate by letter etc. integrated, integrated to be development tendency, also to be an emphasis of elevator control technology.
Summary of the invention
The object of the present invention is to provide a kind of elevator drive, control and energy-conservation integral system and method thereof based on two DSP; Electric current (voltage) fast tracking method based on multi-modal control technology; And elevator drive, control and energy-conservation integrated technology, to improve the safety and the traveling comfort of elevator.
The technical solution that realizes the object of the invention is: a kind of elevator drive based on two DSP, control and energy-conservation integral system and method thereof; Comprise rectification module, two DSP control module, inversion module, towing machine module, electric capacity, three-phase alternating-current supply and super-capacitor module; Two DSP control modules link to each other with rectification module, super-capacitor module, inversion module, towing machine module and standard traffic port respectively; Two DSP control modules are communicated by letter with upper computer or electric life controller; Rectification module links to each other with three-phase alternating-current supply, and inversion module links to each other with the towing machine module, and rectification module also is connected with inversion module through two dc buss; Electric capacity is connected two dc buss respectively with super-capacitor module; Two DSP control modules will sample DC bus-bar voltage signal, code device signal, bank of super capacitors voltage and IPM breakdown signal, the pwm signal of output control rectification module and inversion module, and the control super-capacitor module reclaims braking energy and in utilization; Rectification module converts three-phase alternating-current supply into DC bus-bar voltage; The confession inversion module uses; The control signal that this inversion module receives two DSP control modules drives elevator traction machine, and two DSP control modules are according to the magnitude of voltage and the current value of sampling, and the pwm signal of inversion module is controlled in output; Realize the two closed-loop vector controls of permanent magnetic synchronous traction machine, two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt multi-modal control method;
Wherein two DSP control modules are by main DSP control circuit, constitute from DSP control circuit and acquisition of signal and pre-process circuit; Main DSP control circuit with link to each other through serial communication bus from the DSP control circuit; Main DSP control circuit with link to each other with pre-process circuit with acquisition of signal respectively from the DSP control circuit; Receive DC bus-bar voltage signal, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal that the sampling of acquisition of signal and pre-process circuit obtains; Pwm signal that main DSP control circuit sends and super capacitor control signal are via receiving inversion module and super-capacitor module respectively from the DSP control circuit; Main DSP control circuit and from the collaborative work of DSP control circuit wherein is the control backup of main DSP control circuit from the DSP control circuit.
The present invention compared with prior art; Its remarkable advantage: integrate towing machine driving, control and energy-conservation; Use two DSP frameworks on the one hand; From of the backup of DSP control circuit as main DSP control circuit, the safety that has improved apparatus for controlling elevator, the generation of the elevator safety accident that prevents to cause because of controller failure; Reclaim and utilize through braking the energy that produces on the other hand, make that the elevator energy-saving effect is remarkable.In addition, owing to adopt this integral system to adopt permanent-magnet synchnorous gearless dragging machine, and controllable function concentrates by two DSP control modules and realizes, reduced the needed space of elevator, can realize not having the layout of machine room easily.
Below in conjunction with accompanying drawing the present invention is described in further detail.
Description of drawings
Fig. 1 is the structural representation of towing machine driving, control and energy-conservation integral system.
Fig. 2 is two DSP control module internal connection graphs of a relation.
Fig. 3 is from the DSP control flow chart.
Fig. 4 is the multi-modal algorithm flow chart of permanent magnetic synchronous traction machine vector control strategy speed outer shroud.
Fig. 5 is the multi-modal algorithm flow chart of permanent magnetic synchronous traction machine vector control strategy current inner loop.
Fig. 6 is the structural representation of information acquisition and pre-process circuit.
The specific embodiment
As shown in Figure 1; The present invention is based on elevator drive, control and the energy-conservation integral system of two DSP; Comprise rectification module 1, two DSP control module 2, inversion module 3, towing machine module 5, electric capacity 7, three-phase alternating-current supply 6 and super-capacitor module 4; Wherein, Towing machine module 5 constitutes by the permanent-magnet synchronous elevator traction machine with the coaxial coder of this permanent-magnet synchronous elevator traction machine, and two DSP control modules 2 link to each other with rectification module 1, super-capacitor module 4, inversion module 3, towing machine module 5 and standard traffic port 8 respectively, and two DSP control modules 2 are communicated by letter with upper computer or electric life controller; Rectification module 1 links to each other with three-phase alternating-current supply 6; Inversion module 3 links to each other with towing machine module 5, and rectification module 1 also is connected with inversion module 3 through two dc buss, and electric capacity 7 is connected two dc buss respectively with super-capacitor module 4; Two DSP control modules 2 will sample DC bus-bar voltage signal, code device signal, bank of super capacitors voltage and IPM breakdown signal, and the control signal of the pwm signal of output control rectification module 1 and inversion module 3 and control super-capacitor module 4; Rectification module 1 converts three-phase alternating-current supply 6 into DC bus-bar voltage, supplies inversion module 3 to use, and for guaranteeing the stable of DC bus-bar voltage, need between dc bus, be connected in series an electric capacity 7.The control signal that this inversion module 3 receives two DSP control modules 2 drives elevator traction machine.Rectification module 1 is divided into uncontrollable rectification module and controllable rectifier module, flexible configuration according to actual needs: if need to regulate DC bus-bar voltage, or need braking energy be fed back to electrical network future, then adopt controllable rectifier module; If need not regulate DC bus-bar voltage, or need braking energy not fed back to electrical network then recommends to adopt uncontrollable rectification module, with cost-cutting.
The main portion of inversion module 3 is IPM module and signal isolation circuit.IPM is inner integrated driving loop, braking circuit and protective circuit, its protective circuit comprises overcurrent protection, short-circuit protection, overheating protection and under-voltage protection again.When breaking down, IPM passes through to controller output alarm signal (ALM), and in time halt system prevents dangerous generation.It is the protection control circuit that signal isolation circuit mainly acts on, and improves the obstacle overcome ability of system.IPM can adopt the product of Mitsubishi or Toshiba.
Super-capacitor module 4 is with own patent (patent publication No.: CN 101807821A) be the basis, be used for the storage of towing machine braking energy and utilize.Super-capacitor module 4 mainly is made up of three sub-module: be used for the cond group of energy recovery and all press submodule; Be used for the power supply switching submodule that energy utilizes; The DC/DC changer that is used for voltage transitions.The cond group links to each other with the DC/DC changer with all pressing submodule; The DC/DC changer links to each other with the power supply switching submodule; The power supply switching submodule is connected in series to the dc bus side.Be similar on the power supply switching submodule function at dc bus and add a gate-controlled switch.The effect of DC/DC changer is to reduce bus voltage when reclaiming braking energy to charge to super capacitor, and rising super capacitor voltage is convenient to the elevator device use when utilizing the super capacitor power supply.The effect of super-capacitor module is: the braking energy that produces in absorption and the storage running process of elevator on the one hand; Realize the switching controls that the super capacitor group is supplied power to system to system's power supply and external electrical network through power supply switch circuit on the other hand.
As shown in Figure 2; Two DSP control modules 2 are by main DSP control circuit, constitute from DSP control circuit and acquisition of signal and pre-process circuit; Main DSP control circuit with link to each other through serial communication bus from the DSP control circuit; Main DSP control circuit with link to each other with pre-process circuit with acquisition of signal respectively from the DSP control circuit; Receive DC bus-bar voltage signal, code device signal, bank of super capacitors voltage, towing machine current signal and IPM breakdown signal that the sampling of acquisition of signal and pre-process circuit obtains, pwm signal that main DSP control circuit sends and super capacitor control signal are via receive inversion module 3 and super-capacitor module 4 respectively from the DSP control circuit.
Wherein, the main effect of main DSP control circuit has: (1) according to electric current and the code device signal gathered, the pwm signal of inversion module is controlled in output; (2) realization of towing machine vector control strategy and multi-modal control algorithm; (3) communicate by letter with upper strata machine (or electric life controller) and dsp chip II; (4) monitoring bank of super capacitors voltage and bus voltage, the control super-capacitor module is carried out energy recovery and utilization; (5) IPM fault handling etc.Main DSP control circuit is made up of dsp chip I, the first passive crystal oscillator, an E2PROM chip, a MAX3232 chip and first isolating chip, and dsp chip I links to each other with first isolating chip with the first passive crystal oscillator, an E2PROM chip, a MAX3232 chip respectively; Be made up of dsp chip II, the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit and second isolating chip from the DSP control circuit, dsp chip II is connected with second isolating chip with the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit respectively; The one MAX3232 chip is connected with the 2nd MAX3232 chip, and first isolating chip, second isolating chip are connected with signal selecting circuit respectively; Dsp chip I, dsp chip II communicate by letter with upper computer or electric life controller through standard traffic port 8; Dsp chip I, dsp chip II are connected with pre-process circuit with acquisition of signal; Code device signal handled obtain elevator speed; To DC bus-bar voltage signal, bank of super capacitors voltage process obtain bus voltage value and and the bank of super capacitors magnitude of voltage, the towing machine current signal processed obtains the three-phase electricity flow valuve;
Wherein, Dsp chip I, dsp chip II receive the speed command of upper computer or electric life controller; And the driving of feedback towing machine, control and energy-conservation status information; Dsp chip I sends the control information predesignate through the serial communication bus cycle and gives dsp chip II, and dsp chip II judges whether normal operation of dsp chip I according to control information and elevator speed, and this control information comprises the current value that the AD port of status information and the dsp chip I of dsp chip I internal register is sampled; The IPM breakdown signal is used to carry out the IPM fault handling, after dsp chip I, dsp chip II receive the IPM breakdown signal that acquisition of signal and pre-process circuit send, cuts off the pwm signal of control inversion module 3; From the control information of DSP control circuit, judge whether dsp chip I breaks down, and when dsp chip 1 et out of order, serve as the control backup of main DSP control circuit according to elevator speed and dsp chip I transmission.From the effect of the dsp chip II of control circuit is the mode of operation of monitoring main control circuit dsp chip I; If note abnormalities, cut off the control signal of dsp chip I to inversion module 3 and super-capacitor module 4, change by dsp chip II control inversion module 3 and super-capacitor module 4; Lift car is slowly stopped to nearest floor; Let passenger safety leave, send corresponding breakdown signal simultaneously and give the upper strata control unit, maintain easily personnel's maintenance.Signal selecting circuit function from the DSP control circuit is similar to six groups of alternative data selectors, and being used to select the control signal of inversion module and super-capacitor module is by main DSP control circuit output, still by exporting from the DSP control circuit.Signal selecting circuit can be realized by FPGA, also can use two 74LS257 chips to make up.
Information acquisition and pre-process circuit comprise current sampling circuit, dc bus testing circuit and encoder signal processing circuit, referring to Fig. 6.Current sampling circuit recommend to adopt Hall current sensor to cooperate amplifying circuit to realize, concrete implementation method is: the output voltage of Hall current sensor is amplified via amplifying circuit or is contracted to the input voltage range that dsp chip AD port can allow.If control accuracy is less demanding or funds disapprove, also can adopt the mode of electric resistance partial pressure to measure current value.The dc bus testing circuit can cooperate amplifying circuit to realize through the Hall voltage sensor, and concrete implementation adopts circuit with electric current.Encoder signal processing circuit requires and can decode accurately to the output signal of coder.Whether the output signal of coder is accurate most important, recommends to adopt Heidenhain ERN series coder.Because the waveform or the amplitude of sampled signal often can not satisfy the requirement of dsp chip to incoming signal, so also need handle accordingly to adopting signal.
In conjunction with Fig. 1; The present invention is based on elevator drive, control and the energy-conservation integral method of two DSP; Realize through rectification module 1, two DSP control module 2, inversion module 3, towing machine module 5, electric capacity 7, three-phase alternating-current supply 6 and super-capacitor module 4; Two DSP control modules 2 link to each other with rectification module 1, super-capacitor module 4, inversion module 3, towing machine module 5 and standard traffic port 8 respectively, and two DSP control modules 2 are communicated by letter with upper computer or electric life controller, and rectification module 1 links to each other with three-phase alternating-current supply 6; Inversion module 3 links to each other with towing machine module 5; Rectification module 1 also is connected with inversion module 3 through two dc buss, and electric capacity 7 is connected two dc buss respectively with super-capacitor module 4, two DSP control modules 2 will sample DC bus-bar voltage signal, code device signal, bank of super capacitors voltage and IPM breakdown signal; The pwm signal of output control rectification module 1 and inversion module 3, and 4 pairs of braking energys of control super-capacitor module reclaim and are utilizing; Rectification module 1 converts three-phase alternating-current supply 6 into DC bus-bar voltage; Supply inversion module 3 to use; The control signal that this inversion module 3 receives two DSP control modules 2 drives elevator traction machine, and two DSP control modules 2 are according to the magnitude of voltage and the current value of sampling, and the pwm signal of inversion module 3 is controlled in output; Realize the two closed-loop vector controls of permanent magnetic synchronous traction machine, two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt multi-modal control method;
Wherein two DSP control modules 2 are by main DSP control circuit, constitute from DSP control circuit and acquisition of signal and pre-process circuit; Main DSP control circuit with link to each other through serial communication bus from the DSP control circuit; Main DSP control circuit with link to each other with pre-process circuit with acquisition of signal respectively from the DSP control circuit; Receive DC bus-bar voltage signal, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal that the sampling of acquisition of signal and pre-process circuit obtains; Pwm signal that main DSP control circuit sends and super capacitor control signal are via receive inversion module 3 and super-capacitor module 4 respectively from the DSP control circuit; Main DSP control circuit and from the collaborative work of DSP control circuit wherein is the control backup of main DSP control circuit from the DSP control circuit.
The present invention is based in elevator drive, control and the energy-conservation integral method of two DSP by two dsp chip collaborative works; The dsp chip I of promptly main DSP control circuit and from the dsp chip II collaborative work of DSP control circuit; During normal operation; Be responsible for controlling rectification module 1, super-capacitor module 4, inversion module 3 by dsp chip I, dsp chip II is responsible for monitoring the mode of operation of dsp chip I, and is unusual if dsp chip II monitors dsp chip I; Then by dsp chip II control rectification module 1, super-capacitor module 4, inversion module 3, concrete implementation procedure is following:
The first step; From the encoder pulse signal-count of dsp chip II to collecting of control circuit, survey the elevator actual speed through the M/T method, depart from the setting speed of upper computer or electric life controller transmission if find the elevator actual speed; And absolute value of the bias is higher than 30% of setting speed; Or the elevator actual speed is higher than the maximum speed of setting, then carries out for second step, otherwise attonity.
Second step, from control circuit breakdown signal is carried out logic determines, find out the unusual reason of elevator speed, the reason that elevator speed is unusual includes but not limited to: bus voltage is low excessively, IPM fault, motor rotation blockage, signal acquisition circuit are unusual etc.If the control information that velocity anomaly and dsp chip I send is unusual, then can be considered dsp chip I fault, otherwise can't conclude that velocity anomaly is caused by dsp chip I fault.If the control information that velocity anomaly and dsp chip I send is unusual, then can be considered dsp chip I fault, otherwise can't conclude that velocity anomaly is caused by dsp chip I fault; Wherein, described control information is meant that unusually the mode bit of dsp chip I internal register is unusual, or the current sampling data of the double transmission of dsp chip I is almost constant, or dsp chip I does not send control information on time; If the reason of velocity anomaly is confirmed as main control circuit dsp chip I fault, carried out for the 3rd step, otherwise attonity.
The 3rd step; Send a high level signal to signal selecting circuit from the dsp chip II of control circuit through the IO port; Cut off the control signal output of master control dsp chip I; Accomplish the work of main control circuit dsp chip I simultaneously: according to electric current and the code device signal gathered, the pwm signal of output control inversion module 3; The realization of towing machine vector control strategy and multi-modal control algorithm; Communicate by letter with upper strata machine (or electric life controller); The control super-capacitor module is carried out energy recovery and utilization; IPM fault handling etc.
The 4th step, send breakdown signal and give upper computer or electric life controller, make things convenient for the elevator maintenance personnel to keep in repair.
The present invention is based in elevator drive, control and the energy-conservation integral method of two DSP, 4 pairs of braking energys of two DSP control module 2 control super-capacitor module reclaim and in the implementation procedure of utilizing are:
The first step: dsp chip I utilizes voltage sensor to measure the magnitude of voltage of the bank of super capacitors of super-capacitor module 4; When if the voltage of cond group has surpassed the capping threshold value; The energy that is super capacitor reaches the upper limit, realizes the power supply of super capacitor to elevator device through control power supply switch circuit and DC/DC translation circuit; In the process of super capacitor to system's power supply; Dsp chip I utilizes voltage sensor to measure the magnitude of voltage of bank of super capacitors; If the voltage of cond group is lower than when setting lower threshold; Through the control power supply switch circuit, the withdraw from use super capacitor is supplied power to system, changes by the outer net three-phase alternating-current supply system is supplied power; If the voltage of cond group does not surpass the capping threshold value, promptly super capacitor can also continue energy storage, carries out for second step;
Second step: dsp chip I judges according to the voltage swing of dc bus whether towing machine is in the brake power generating state, the magnitude of voltage of when d-c bus voltage value surpasses the rectification module normal operation, exporting, and then towing machine is in the brake power generating state; When towing machine was in generating state, dsp chip I made dc bus pass through reduction voltage circuit super capacitor is charged through opening the DC/DC converter circuit; In electrically-charged process to super capacitor, if when the voltage of cond group has surpassed the capping threshold value, the rebound first step; When towing machine is not in the brake power generating state, get back to the first step.
Wherein, dsp chip I realizes through voltage sensor the measurement of the magnitude of voltage of bank of super capacitors; Dsp chip I is the high-low level signal of IO output to the control signal of power supply switching submodule.It should be noted that to be, when dsp chip I fault, be responsible for controlling super-capacitor module by dsp chip II.The realization details of two DSP control module 2 control super-capacitor module 4 can be with reference to the existing patent energy saving system of elevator (patent No.: CN 101807821A)
Realize by the dsp chip in two DSP control modules based on the quick track algorithm of the electric current (voltage) of multi-modal control technology.The vector control strategy of permanent magnetic synchronous traction machine is that the application of multi-modal control technology provides prerequisite, choosing of speed outer shroud and current inner loop controller parameter, all can adopt multi-modal control technology.Multi-modal control technology comes down to a kind of PID switching control strategy; Similar and subregion PID controls; It is characterized in that choosing different scale parameters, integral parameter and differential parameter for the PID controller, and obtain needed controlling quantity in view of the above according to error and derivative thereof.
In two closed-loop vector controls of permanent magnetic synchronous traction machine, the speed outer shroud adopts the PID controller more.As shown in Figure 4, the implementation procedure of the multi-modal control method of speed outer shroud is following:
The first step; The deviation of calculated for given rotating speed and actual speed and derivative thereof; Given rotating speed is given by upper computer or electric life controller; Actual speed is tested the speed according to the M/T method according to code device signal by the dsp chip I of two DSP control modules and tries to achieve, and deviation is the difference of given rotating speed and actual speed, and the deviation derivative is the difference of double deviation of trying to achieve.
Second step, judge state n according to the size of error and derivative thereof, as shown in table 1.
In the 3rd step, according to residing state selection percentage parameter K pn, integral parameter Kin and differential parameter Kdn, Kpn, Kin and Kdn are the normal values of being confirmed by state n;
In the 4th step, the call number pid control algorithm calculates needed current value i (k).
Digital PID control algorithm expression formula is:
Wherein, K
Pn, K
InAnd K
DnBe respectively ratio, integration and the differential parameter confirmed by velocity deviation and derivative thereof.
Table 1 parameter is selected reference table
The current inner loop of permanent magnetic synchronous traction machine vector controlled adopts the PI controller more, is mainly used in current feedback decoupling zero control, according to the requirement of current feedback decoupling zero control, as long as given scale parameter is enough big, just can realize the follow-up control effect to electric current.But the conference of crossing that scale parameter is chosen makes the output of interior ring controller be in saturation conditions all the time, and the too small meeting that scale parameter is chosen makes when motor speed is very fast that actual current can't the tracing preset current value.If adopt multi-modal control policy, change the size of scale parameter in due course, just can well realize the current tracking effect.As shown in Figure 5, the implementation procedure of the multi-modal control method of current inner loop is following:
The first step; The deviation and the derivative thereof of calculated for given current value and the PMSM friendship shaft current value under the dq system of axes; Given current value is the output i (k) of the outer ring controller of speed, hands over the shaft current value to be tried to achieve through CLARK conversion and PARK conversion by the current value of towing machine U, V, W phase.
In second step, judge residing state n, reference table 1 according to error and derivative thereof.
The 3rd step is according to residing state n selection percentage parameter K pn and integral parameter Kin.Wherein Kpn, Kin are the normal values of being confirmed by state n.
In the 4th step, call number PI control algorithm calculates needed magnitude of voltage U (k).
Numeral PI control algorithm expression formula is:
Wherein, K
PnAnd K
InBe respectively scale parameter and the integral parameter confirmed by current deviation and derivative thereof.
Claims (8)
1. the elevator drive based on two DSP, control and energy-conservation integral system; It is characterized in that comprising rectification module (1), two DSP control module (2), inversion module (3), towing machine module (5), electric capacity (7), three-phase alternating-current supply (6) and super-capacitor module (4); Wherein, Towing machine module (5) constitutes by the permanent-magnet synchronous elevator traction machine with the coaxial coder of this permanent-magnet synchronous elevator traction machine; Two DSP control modules (2) link to each other with rectification module (1), super-capacitor module (4), inversion module (3), towing machine module (5) and standard traffic port (8) respectively; Two DSP control modules (2) are communicated by letter with upper computer or electric life controller, and rectification module (1) links to each other with three-phase alternating-current supply (6), and inversion module (3) links to each other with towing machine module (5); Rectification module (1) also is connected with inversion module (3) through two dc buss; Electric capacity (7) is connected two dc buss respectively with super-capacitor module (4), two DSP control modules (2) will sample DC bus-bar voltage signal, code device signal, bank of super capacitors voltage and IPM breakdown signal, and the pwm signal of output control rectification module (1) and inversion module (3) and the control signal of controlling super-capacitor module (4); Rectification module (1) converts three-phase alternating-current supply (6) into DC bus-bar voltage, supplies inversion module (3) to use, and the control signal that this inversion module (3) receives two DSP control modules (2) drives elevator traction machine.
2. the elevator drive based on two DSP according to claim 1, control and energy-conservation integral system; It is characterized in that two DSP control modules (2) are by main DSP control circuit, constitute from DSP control circuit and acquisition of signal and pre-process circuit; Main DSP control circuit with link to each other through serial communication bus from the DSP control circuit; Main DSP control circuit with link to each other with pre-process circuit with acquisition of signal respectively from the DSP control circuit; Receive DC bus-bar voltage signal, code device signal, bank of super capacitors voltage, towing machine current signal and IPM breakdown signal that the sampling of acquisition of signal and pre-process circuit obtains, pwm signal that main DSP control circuit sends and super capacitor control signal are via receive inversion module (3) and super-capacitor module (4) respectively from the DSP control circuit.
3. the elevator drive based on two DSP according to claim 2, control and energy-conservation integral system; It is characterized in that main DSP control circuit is made up of dsp chip I, the first passive crystal oscillator, an E2PROM chip, a MAX3232 chip and first isolating chip, dsp chip I links to each other with first isolating chip with the first passive crystal oscillator, an E2PROM chip, a MAX3232 chip respectively; Be made up of dsp chip II, the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit and second isolating chip from the DSP control circuit, dsp chip II is connected with second isolating chip with the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit respectively; The one MAX3232 chip is connected with the 2nd MAX3232 chip, and first isolating chip, second isolating chip are connected with signal selecting circuit respectively; Dsp chip I, dsp chip II communicate by letter with upper computer or electric life controller through standard traffic port (8); Dsp chip I, dsp chip II are connected with pre-process circuit with acquisition of signal; Code device signal handled obtain elevator speed; To DC bus-bar voltage signal, bank of super capacitors voltage process obtain bus voltage value and and the bank of super capacitors magnitude of voltage, the towing machine current signal processed obtains the three-phase electricity flow valuve; Wherein, Dsp chip I, dsp chip II receive the speed command of upper computer or electric life controller; And the driving of feedback towing machine, control and energy-conservation status information; Dsp chip I sends the control information predesignate through the serial communication bus cycle and gives dsp chip II, and dsp chip II judges whether normal operation of dsp chip I according to control information and elevator speed, and this control information comprises the current value that the AD port of status information and the dsp chip I of dsp chip I internal register is sampled; The IPM breakdown signal is used to carry out the IPM fault handling, after dsp chip I, dsp chip II receive the IPM breakdown signal that acquisition of signal and pre-process circuit send, cuts off the pwm signal of control inversion module (3); From the control information of DSP control circuit, judge whether dsp chip I breaks down, and when dsp chip 1 et out of order, serve as the control backup of main DSP control circuit according to elevator speed and dsp chip I transmission.
4. the elevator drive based on two DSP, control and energy-conservation integral method; It is characterized in that two DSP control modules (2) link to each other with rectification module (1), super-capacitor module (4), inversion module (3), towing machine module (5) and standard traffic port (8) respectively; Two DSP control modules (2) are communicated by letter with upper computer or electric life controller; Rectification module (1) links to each other with three-phase alternating-current supply (6); Inversion module (3) links to each other with towing machine module (5); Rectification module (1) also is connected with inversion module (3) through two dc buss, and electric capacity (7) is connected two dc buss respectively with super-capacitor module (4), two DSP control modules (2) will sample DC bus-bar voltage signal, code device signal, bank of super capacitors voltage and IPM breakdown signal; The pwm signal of output control rectification module (1) and inversion module (3), and control super-capacitor module (4) reclaims braking energy and in utilization; Rectification module (1) converts three-phase alternating-current supply (6) into DC bus-bar voltage; Supply inversion module (3) to use; The control signal that this inversion module (3) receives two DSP control modules (2) drives elevator traction machine, and two DSP control modules (2) are according to the magnitude of voltage and the current value of sampling, and the pwm signal of inversion module (3) is controlled in output; Realize the two closed-loop vector controls of permanent magnetic synchronous traction machine, two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt multi-modal control method;
Wherein two DSP control modules (2) are by main DSP control circuit, constitute from DSP control circuit and acquisition of signal and pre-process circuit; Main DSP control circuit with link to each other through serial communication bus from the DSP control circuit; Main DSP control circuit with link to each other with pre-process circuit with acquisition of signal respectively from the DSP control circuit; Receive DC bus-bar voltage signal, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal that the sampling of acquisition of signal and pre-process circuit obtains; Pwm signal that main DSP control circuit sends and super capacitor control signal are via receive inversion module (3) and super-capacitor module (4) respectively from the DSP control circuit; Main DSP control circuit and from the collaborative work of DSP control circuit wherein is the control backup of main DSP control circuit from the DSP control circuit.
5. the elevator drive based on two DSP according to claim 4, control and energy-conservation integral method; It is characterized in that the dsp chip I of main DSP control circuit and from the dsp chip II collaborative work of DSP control circuit; During normal operation; Be responsible for controlling rectification module (1), super-capacitor module (4), inversion module (3) by dsp chip I, dsp chip II is responsible for monitoring the mode of operation of dsp chip I, and is unusual if dsp chip II monitors dsp chip I; Then by dsp chip II control rectification module (1), super-capacitor module (4), inversion module (3), concrete implementation procedure is following:
The first step; From the encoder pulse signal-count of dsp chip II to collecting of control circuit, survey the elevator actual speed through the M/T method, depart from the setting speed of upper computer or electric life controller transmission if find the elevator actual speed; And absolute value of the bias is higher than 30% of setting speed; Or the elevator actual speed is higher than the maximum speed of setting, then carries out for second step, otherwise attonity;
Second step; From control circuit breakdown signal is carried out logic determines, find out the unusual reason of elevator speed, if the control information that velocity anomaly and dsp chip I send is unusual; Then can be considered dsp chip I fault, otherwise can't conclude that velocity anomaly is caused by dsp chip I fault; Wherein, described control information is meant that unusually the mode bit of dsp chip I internal register is unusual, or the current sampling data of the double transmission of dsp chip I is almost constant, or dsp chip I does not send control information on time; If the reason of velocity anomaly is confirmed as main control circuit dsp chip I fault, carried out for the 3rd step, otherwise attonity;
The 3rd step, send a high level signal from the dsp chip II of control circuit through the IO port and give signal selecting circuit, cut off the control signal output of master control dsp chip I, accomplish the work of main control circuit dsp chip I simultaneously;
In the 4th step, send breakdown signal and give upper computer or electric life controller.
6. the elevator drive based on two DSP according to claim 4, control and energy-conservation integral method is characterized in that two DSP control modules (2) control super-capacitor module (4) reclaim braking energy and in the implementation procedure of utilizing are:
The first step: dsp chip I utilizes voltage sensor to measure the magnitude of voltage of the bank of super capacitors of super-capacitor module (4); When if the voltage of cond group has surpassed the capping threshold value; The energy that is super capacitor reaches the upper limit, realizes the power supply of super capacitor to elevator device through control power supply switch circuit and DC/DC translation circuit; In the process of super capacitor to system's power supply; Dsp chip I utilizes voltage sensor to measure the magnitude of voltage of bank of super capacitors; If the voltage of cond group is lower than when setting lower threshold; Through the control power supply switch circuit, the withdraw from use super capacitor is supplied power to system, changes by the outer net three-phase alternating-current supply system is supplied power; If the voltage of cond group does not surpass the capping threshold value, promptly super capacitor can also continue energy storage, carries out for second step;
Second step: dsp chip I judges according to the voltage swing of dc bus whether towing machine is in the brake power generating state, the magnitude of voltage of when d-c bus voltage value surpasses the rectification module normal operation, exporting, and then towing machine is in the brake power generating state; When towing machine was in generating state, dsp chip I made dc bus pass through reduction voltage circuit super capacitor is charged through opening the DC/DC converter circuit; In electrically-charged process to super capacitor, if when the voltage of cond group has surpassed the capping threshold value, the rebound first step; When towing machine is not in the brake power generating state, get back to the first step.
7. the elevator drive based on two DSP according to claim 4, control and energy-conservation integral method is characterized in that the implementation procedure of the multi-modal control method of speed outer shroud is following in two closed-loop vector controls of permanent magnetic synchronous traction machine:
The first step; The deviation of calculated for given rotating speed and actual speed and derivative thereof; Given rotating speed is given by upper computer or electric life controller; Actual speed is tested the speed according to the M/T method according to code device signal by the dsp chip I of two DSP control modules and tries to achieve, and deviation is the difference of given rotating speed and actual speed, and the deviation derivative is the difference of double deviation of trying to achieve;
In second step, judge state n according to the size of error and derivative thereof;
In the 3rd step, according to residing state selection percentage parameter K pn, integral parameter Kin and differential parameter Kdn, Kpn, Kin and Kdn are the normal values of being confirmed by state n;
In the 4th step, the call number pid control algorithm calculates needed current value i (k).
8. the elevator drive based on two DSP according to claim 4, control and energy-conservation integral method is characterized in that the implementation procedure of the multi-modal control method of current inner loop is following in two closed-loop vector controls of permanent magnetic synchronous traction machine:
The first step; The deviation and the derivative thereof of calculated for given current value and the PMSM friendship shaft current value under the dq system of axes; Given current value is the output i (k) of the outer ring controller of speed, hands over the shaft current value to be tried to achieve through CLARK conversion and PARK conversion by the current value of towing machine U, V, W phase;
In second step, judge residing state n according to error and derivative thereof;
The 3rd step is according to residing state n selection percentage parameter K pn and integral parameter Kin.Wherein Kpn, Kin are the normal values of being confirmed by state n;
In the 4th step, call number PI control algorithm calculates needed magnitude of voltage U (k).
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Application publication date: 20120613 Assignee: Jiangsu General Elevator Co., Ltd. Assignor: Nanjing University of Science and Technology Contract record no.: 2014320000727 Denomination of invention: Double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated system and method Granted publication date: 20140604 License type: Exclusive License Record date: 20141120 |
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