CN102491137B - 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 PDF

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CN102491137B
CN102491137B CN201110414038.XA CN201110414038A CN102491137B CN 102491137 B CN102491137 B CN 102491137B CN 201110414038 A CN201110414038 A CN 201110414038A CN 102491137 B CN102491137 B CN 102491137B
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dsp
signal
module
control
chip
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CN201110414038.XA
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CN102491137A (en
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郭健
吴益飞
王铭明
秦建波
陈庆伟
米运洪
陈辉扬
刘智君
王苏华
施惟惟
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南京理工大学
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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

Elevator drive, control and energy saving integrated system and method thereof based on two DSP

Technical field

The invention belongs to elevator control field, particularly a kind of elevator traction machine driving, control and energy saving integrated system and method thereof based on two DSP (digital signal processor).

Background technology

Along with scientific and technical development and the raising of living standards of the people, the use of elevator is more and more general.Show according to Chinese elevator association statistics, reached 1,650,000 by China's elevator recoverable amount in 2011, productive output and the consumption of elevator are the first in the world.

Because elevator production installation, operating maintenance and supervision and management exist problems, national elevator accident takes place frequently, and elevator operation has become the new hidden danger of municipal public safety.How to improve the safety and 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 in runaway condition, now can only rely on hardware protection measure and ensure passenger safety, and elevator malfunction event is also just unavoidable.If service personnel can not arrive in time, 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, be also the difficult problem that needs solve but how to make two dsp chip collaborative works.

Elevator, in operational process, can constantly change for the dynamo-electric parameter of towing machine control, friction coefficient, rotor inertia etc.Elevator maintenance personnel often can not obtain and upgrade the needed parameters of control housing in time, make the controller performance of towing machine often not in optimum regime, and the traveling comfort of elevator also is just difficult to obtain ensure.How dynamically updating the needed parameters of control becomes a difficult point of elevator control.

Adopting gearless permanent-magnet synchronous dynamo traction system is the huge leap forward of elevator drive technology, and it can replace all traction technology for elevator drive system now completely.In the vector controlled of permagnetic synchronous motor, adopt current feedback decoupling zero control, but current feedback decoupling zero control has some limitations more, be difficult to guarantee current tracking effect.

Along with the development of machine room and small room technology, actuator, control system etc. are proposed to miniaturization, integrated, modularization and low-power consumption requirement, therefore motor driving, control and communicate by letter etc. integrated, integrated to be development tendency, to be also 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 saving integrated 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 saving integrated integrated technology, to improve 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 saving integrated system and method thereof, comprise rectification module, two DSP control modules, inversion module, towing machine module, electric capacity, three-phase alternating-current supply and super-capacitor module, two DSP control modules respectively with rectification module, super-capacitor module, inversion module, towing machine module is connected with standard traffic port, two DSP control modules are communicated by letter with upper computer or electric life controller, rectification module is connected with three-phase alternating-current supply, inversion module is connected with towing machine module, rectification module is also connected with inversion module by two DC buss, electric capacity is connected respectively two DC buss with super-capacitor module, two DSP control modules DC bus-bar voltage signal of sampling, code device signal, bank of super capacitors voltage and IPM breakdown signal, the pwm signal of rectification module and inversion module is controlled in output, and control super-capacitor module reclaims braking energy and is utilizing, three-phase alternating-current supply is converted to DC bus-bar voltage by rectification module, for inversion module, the control signal that this inversion module receives two DSP control modules drives elevator traction machine, two DSP control modules are according to magnitude of voltage and the current value of sampling, the pwm signal of inversion module is controlled in output, realize the two closed-loop vector control of permanent magnetic synchronous traction machine, the two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt Multimode Controlling Method,

Wherein two DSP control modules are by main DSP control circuit, from DSP control circuit and acquisition of signal and pre-process circuit formation, main DSP control circuit be connected by serial communication bus from DSP control circuit, main DSP control circuit be connected with pre-process circuit with acquisition of signal respectively from DSP control circuit, receive acquisition of signal and the pre-process circuit DC bus-bar voltage signal obtaining of sampling, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal, the pwm signal that main DSP control circuit sends and super capacitor control signal are via receiving respectively inversion module and super-capacitor module from DSP control circuit, main DSP control circuit and from the collaborative work of DSP control circuit, it is wherein the control backup of main DSP control circuit from DSP control circuit.

The present invention compared with prior art, its remarkable advantage: integrate towing machine driving, control and energy-conservation, use on the one hand two DSP frameworks, backup from DSP control circuit as main DSP control circuit, improve the safety of apparatus for controlling elevator, prevented the generation of the elevator safety accident causing because of controller failure; Reclaim and utilize by the energy that braking is produced on the other hand, making elevator energy-saving effect remarkable.In addition, owing to adopting this integral system to adopt permanent-magnet synchnorous gearless dragging machine, and control function and concentrate and realized by two DSP control modules, reduced the needed space of elevator, can realize easily the layout of machine room.

Below in conjunction with accompanying drawing, the present invention is described in further detail.

Accompanying drawing explanation

Fig. 1 is the structural representation of towing machine driving, control and energy saving integrated system.

Fig. 2 is the inner annexation figure of two DSP control modules.

Fig. 3 is from 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 the elevator drive of two DSP, control and energy saving integrated system, comprise rectification module 1, two DSP control modules 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 forms by permanent-magnetic synchronous tractor for elevator with the coaxial coder of this permanent-magnetic synchronous tractor for elevator, two DSP control modules 2 respectively with rectification module 1, super-capacitor module 4, inversion module 3, towing machine module 5 is connected with standard traffic port 8, two DSP control modules 2 are communicated by letter with upper computer or electric life controller, rectification module 1 is connected with three-phase alternating-current supply 6, inversion module 3 is connected with towing machine module 5, rectification module 1 is also connected with inversion module 3 by two DC buss, electric capacity 7 is connected respectively two DC buss with super-capacitor module 4, two DSP control modules 2 DC bus-bar voltage signal of sampling, code device signal, bank of super capacitors voltage and IPM breakdown signal, and the pwm signal of rectification module 1 and inversion module 3 and the control signal of control super-capacitor module 4 are controlled in output, three-phase alternating-current supply 6 is converted to DC bus-bar voltage by rectification module 1, for inversion module 3, 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, according to actual needs flexible configuration: if desired regulate DC bus-bar voltage, or braking energy need to be fed back to electrical network in the future, adopt controllable rectifier module; If do not need, DC bus-bar voltage is regulated, or do not need braking energy to feed back to the uncontrollable rectification module of recommend adoption of electrical network, to reduce costs.

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 again overcurrent protection, short-circuit protection, overheating protection and under-voltage protection.In the time breaking down, IPM passes through to controller output alarm signal (ALM), and halt system in time, prevents dangerous generation.Signal isolation circuit Main Function is protection control circuit, improves the obstacle overcome ability of system.IPM can adopt the product of Mitsubishi or Toshiba.

Super-capacitor module 4 is to have patent (patent publication No.: CN 101807821A) by oneself as basis, for storage and the recycling of towing machine braking energy.Super-capacitor module 4 is mainly made up of three submodules: the cond group reclaiming for energy with all press submodule; The electrical source exchange submodule utilizing for energy; For the DC/DC changer of voltage transitions.Cond group is connected with DC/DC changer with all pressing submodule; DC/DC changer is connected with electrical source exchange submodule; Electrical source exchange submodule is connected in series to DC bus side.In electrical source exchange submodule function, be similar at DC bus and add a gate-controlled switch.The effect of DC/DC changer is while reclaiming braking energy, to reduce bus voltage to charge to super capacitor, and the super capacitor voltage that raises in the time utilizing super capacitor power supply is convenient to elevator device and is used.The effect of super-capacitor module is: the braking energy producing in absorption and storage running process of elevator on the one hand; On the other hand by power supply switch circuit realize super capacitor group to system power supply and external electrical network the switching controls to system power supply.

As shown in Figure 2, two DSP control modules 2 are by main DSP control circuit, from DSP control circuit and acquisition of signal and pre-process circuit formation, main DSP control circuit be connected by serial communication bus from DSP control circuit, main DSP control circuit be connected with pre-process circuit with acquisition of signal respectively from DSP control circuit, receive acquisition of signal and the pre-process circuit DC bus-bar voltage signal obtaining of sampling, code device signal, bank of super capacitors voltage, towing machine current signal and IPM breakdown signal, the pwm signal that main DSP control circuit sends and super capacitor control signal are via receive respectively inversion module 3 and super-capacitor module 4 from DSP control circuit.

Wherein, the Main Function of main DSP control circuit has: (1), according to the electric current and the code device signal that gather, 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, controls super-capacitor module and carries 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 the first isolating chip, and dsp chip I is connected with the 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 the second isolating chip from DSP control circuit, dsp chip II is connected with the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit and the second isolating chip respectively; The one MAX3232 chip is connected with the 2nd MAX3232 chip, and the first isolating chip, the 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 by standard traffic port 8; Dsp chip I, dsp chip II are connected with pre-process circuit with acquisition of signal, code device signal is processed and obtained elevator speed, to DC bus-bar voltage signal, bank of super capacitors voltage process obtain bus voltage value and and bank of super capacitors magnitude of voltage, towing machine current signal is processed and obtains 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 of predetermining to dsp chip II by the serial communication bus cycle, dsp chip II judges according to control information and elevator speed whether dsp chip I normally works, and this control information comprises the current value of the status information of dsp chip I internal register and the sampling of the AD port of dsp chip I; IPM breakdown signal is used for carrying out IPM fault handling, when dsp chip I, dsp chip II receive after the IPM breakdown signal of acquisition of signal and pre-process circuit transmission, and the pwm signal of cutting-off controlling inversion module 3; According to the control information of elevator speed and dsp chip I transmission, judge whether dsp chip I breaks down from DSP control circuit, and in the time of dsp chip 1 et out of order, serve as the control backup of main DSP control circuit.It is the mode of operation of monitoring main control circuit dsp chip I from the effect of the dsp chip II of control circuit, 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 and control inversion module 3 and super-capacitor module 4, lift car is slowly stopped to nearest floor, allow passenger safety leave, send corresponding breakdown signal to upper strata control unit simultaneously, maintain easily personnel's maintenance.Signal selecting circuit function from DSP control circuit is similar to six groups of alternative data selectors, is to be exported by main DSP control circuit for selecting the control signal of inversion module and super-capacitor module, or by exporting from DSP control circuit.Signal selecting circuit can be realized by FPGA, also can build with two 74LS257 chips.

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 adoption Hall current sensor coordinates amplifying circuit to realize, and concrete methods of realizing is: the output voltage of Hall current sensor is zoomed in or out to the input voltage range that can allow to dsp chip AD port via amplifying circuit.If control accuracy is less demanding or funds disapprove, also can adopt the mode of electric resistance partial pressure to measure current value.DC bus testing circuit can coordinate amplifying circuit to realize by Hall voltage sensor, and specific implementation adopts circuit with electric current.Encoder signal processing circuit requires to decode accurately to the output signal of coder.Whether the output signal of coder is accurate most important, recommend adoption Heidenhain ERN series coder.Because waveform or the amplitude of sampled signal often can not meet the requirement of dsp chip to incoming signal, therefore also need adopting signal to process accordingly.

Rectification module 1 and inversion module 3 adopt existing mature technology.Rectification module 1 can be controlled, also can right and wrong controlled, depends on the requirement of real system.Inversion module 3, take IPM as core, has signal isolation and protective circuit concurrently.It is integrated that has all accomplished in IPM internal drive loop and protection loop etc., can significantly shorten the design and development time, and have overcurrent, short circuit, power voltage insufficient, the defencive function such as overheated, improved the safety and reliability of system.

In conjunction with Fig. 1, the present invention is based on the elevator drive of two DSP, control and energy saving integrated method, by rectification module 1, two DSP control modules 2, inversion module 3, towing machine module 5, electric capacity 7, three-phase alternating-current supply 6 and super-capacitor module 4 realize, two DSP control modules 2 respectively with rectification module 1, super-capacitor module 4, inversion module 3, towing machine module 5 is connected with standard traffic port 8, two DSP control modules 2 are communicated by letter with upper computer or electric life controller, rectification module 1 is connected with three-phase alternating-current supply 6, inversion module 3 is connected with towing machine module 5, rectification module 1 is also connected with inversion module 3 by two DC buss, electric capacity 7 is connected respectively two DC buss with super-capacitor module 4, two DSP control modules 2 DC bus-bar voltage signal of sampling, code device signal, bank of super capacitors voltage and IPM breakdown signal, the pwm signal of rectification module 1 and inversion module 3 is controlled in output, and control super-capacitor module 4 reclaims braking energy and is utilizing, three-phase alternating-current supply 6 is converted to DC bus-bar voltage by rectification module 1, for inversion module 3, the control signal that this inversion module 3 receives two DSP control modules 2 drives elevator traction machine, two DSP control modules 2 are according to magnitude of voltage and the current value of sampling, the pwm signal of inversion module 3 is controlled in output, realize the two closed-loop vector control of permanent magnetic synchronous traction machine, the two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt Multimode Controlling Method,

Wherein two DSP control modules 2 are by main DSP control circuit, from DSP control circuit and acquisition of signal and pre-process circuit formation, main DSP control circuit be connected by serial communication bus from DSP control circuit, main DSP control circuit be connected with pre-process circuit with acquisition of signal respectively from DSP control circuit, receive acquisition of signal and the pre-process circuit DC bus-bar voltage signal obtaining of sampling, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal, the pwm signal that main DSP control circuit sends and super capacitor control signal are via receive respectively inversion module 3 and super-capacitor module 4 from DSP control circuit, main DSP control circuit and from the collaborative work of DSP control circuit, it is wherein the control backup of main DSP control circuit from DSP control circuit.

The present invention is based in elevator drive, control and the energy saving integrated method of two DSP by two dsp chip collaborative works, the i.e. dsp chip I of main DSP control circuit and the dsp chip II collaborative work from DSP control circuit, when normal work, 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, if it is abnormal that dsp chip II monitors dsp chip I, control rectification module 1, super-capacitor module 4, inversion module 3 by dsp chip II, concrete implementation procedure is as follows:

The first step, from the dsp chip II of control circuit to the encoder pulse signal-count collecting, survey elevator actual speed by M/T method, if find, elevator actual speed departs from the setting speed of upper computer or electric life controller transmission, and absolute value of the bias is higher than 30% of setting speed, or elevator actual speed is higher than the maximum speed of setting, and carries out second step, otherwise attonity.

Second step, carries out logic judgement from control circuit to breakdown signal, finds out the reason that elevator speed is abnormal, and the reason that elevator speed is abnormal includes but not limited to: bus voltage is too low, IPM fault, motor rotation blockage, signal acquisition circuit are abnormal etc.If the control information that velocity anomaly and dsp chip I send is abnormal, can be considered dsp chip I fault, otherwise cannot conclude that velocity anomaly is caused by dsp chip I fault.If the control information that velocity anomaly and dsp chip I send is abnormal, can be considered dsp chip I fault, otherwise cannot conclude that velocity anomaly is caused by dsp chip I fault; Wherein, described control information refers to that the mode bit of dsp chip I internal register is abnormal extremely, 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 defined as main control circuit dsp chip I fault, carry out 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 by IO port, cut off the control signal output of master control dsp chip I, complete the work of main control circuit dsp chip I: according to the electric current and the code device signal that gather, the pwm signal of inversion module 3 is controlled in output simultaneously; The realization of towing machine vector control strategy and multi-modal control algorithm; Communicate by letter with upper strata machine (or electric life controller); Control super-capacitor module and carry out energy recovery and utilization; IPM fault handling etc.

The 4th step, sends breakdown signal to upper computer or electric life controller, facilitates elevator maintenance personnel to keep in repair.

The present invention is based in elevator drive, control and the energy saving integrated method of two DSP, two DSP control modules 2 are controlled that super-capacitor module 4 reclaims 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, if when the voltage of cond group has exceeded capping threshold value, the energy that is super capacitor reaches the upper limit, realizes the power supply of super capacitor to elevator device by controlling power supply switch circuit and DC/DC translation circuit; Super capacitor to the process of system power supply in, 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 setting when lower threshold, by controlling power supply switch circuit, withdraw from use super capacitor, to system power supply, changes by outer net three-phase alternating-current supply system power supply; If the voltage of cond group does not exceed capping threshold value, super capacitor can also continue energy storage, carries out second step;

Second step: dsp chip I judges that according to the voltage swing of DC bus whether towing machine is in brake power generating state, the magnitude of voltage of output in the time that d-c bus voltage value exceedes rectification module and normally works, towing machine is in brake power generating state; When towing machine is during in generating state, dsp chip I, by opening DC/DC converter circuit, makes DC bus charge to super capacitor by reduction voltage circuit; In to the process of super capacitor charging, if when the voltage of cond group has exceeded capping threshold value, the rebound first step; When towing machine is not during in brake power generating state, get back to the first step.

Wherein, the measurement of the magnitude of voltage of dsp chip I to bank of super capacitors realizes by voltage sensor; Dsp chip I is the low and high level signal of IO output to the control signal of electrical source exchange submodule.It should be noted that to be, in the time of dsp chip I fault, be responsible for controlling super-capacitor module by dsp chip II.Two DSP control modules 2 are controlled the details that realizes of super-capacitor module 4 can be with reference to existing patent energy saving system of elevator (patent No.: CN 101807821A)

Electric current (voltage) fast iterative algorithm based on multi-modal control technology is realized by the dsp chip in two DSP control modules.The application that the vector control strategy of permanent magnetic synchronous traction machine is 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 is in fact a kind of PID switching control strategy, similar and subregion PID controls, it is characterized in that according to error and derivative thereof be that PID controller is chosen different scale parameters, integral parameter and differential parameter, and obtain accordingly needed controlling quantity.

In two closed-loop vector controls of permanent magnetic synchronous traction machine, speed outer shroud adopts PID controller more.As shown in Figure 4, the implementation procedure of speed outer shroud Multimode Controlling Method is as follows:

The first step, calculate deviation and the derivative thereof of given rotating speed and actual speed, given rotating speed is given by upper computer or electric life controller, actual speed is tested the speed and tries to achieve according to M/T method according to code device signal by the dsp chip I of two DSP control modules, deviation is the difference of given rotating speed and actual speed, and deviation derivative is the difference of double deviation of trying to achieve.

Second step, judges state n according to the size of error and derivative thereof, as shown in table 1.

The 3rd step, according to residing condition selecting scale parameter Kpn, integral parameter Kin and differential parameter Kdn, Kpn, Kin and Kdn are the normal values of being determined by state n;

The 4th step, call number pid control algorithm calculates needed current value i (k).

Digital PID Algorithm expression formula is:

i ( k ) = K pn e ( k ) + K in Σ m = 0 k e ( m ) + K dn ( e ( k ) - e ( k - 1 ) )

Wherein, K pn, K inand K dnbe respectively by velocity deviation and definite ratio, the integration and differentiation parameter of derivative thereof.

Table 1 parameter is selected reference table

The current inner loop of permanent magnetic synchronous traction machine vector controlled adopts 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 large, just can realize the tracking control effect to electric current.But the conference excessively that scale parameter is chosen makes the output of interior ring controller all the time in saturation conditions, and when the too small meeting that scale parameter is chosen makes motor speed very fast, actual current cannot tracing preset current value.If adopt multi-modal control policy, change in due course the size of scale parameter, just can well realize current tracking effect.As shown in Figure 5, the implementation procedure of current inner loop Multimode Controlling Method is as follows:

The first step, calculate deviation and the derivative thereof of given current value and the PMSM quadrature axis current value under dq system of axes, given current value is the output i (k) of the outer ring controller of speed, and quadrature axis current value is converted by CLARK by the current value of towing machine U, V, W phase and PARK conversion is tried to achieve.

Second step, judges residing state n, reference table 1 according to error and derivative thereof.

The 3rd step, according to residing state n selection percentage parameter K pn and integral parameter Kin.Wherein Kpn, Kin are the normal values of being determined by state n.

The 4th step, call number PI control algorithm calculates needed magnitude of voltage U (k).

Numeral PI control algorithm expression formula is:

u ( k ) = K pn ( k ) + K in Σ m = 0 k e ( m )

Wherein, K pnand K inbe respectively by current deviation and definite scale parameter and the integral parameter of derivative thereof.

Claims (6)

1. the elevator drive based on two DSP, control and energy saving integrated system, it is characterized in that comprising rectification module (1), two DSP control modules (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) forms by permanent-magnetic synchronous tractor for elevator with the coaxial coder of this permanent-magnetic synchronous tractor for elevator, two DSP control modules (2) respectively with rectification module (1), super-capacitor module (4), inversion module (3), towing machine module (5) is connected with standard traffic port (8), two DSP control modules (2) are communicated by letter with upper computer or electric life controller, rectification module (1) is connected with three-phase alternating-current supply (6), inversion module (3) is connected with towing machine module (5), rectification module (1) is also connected with inversion module (3) by two DC buss, electric capacity (7) is connected respectively two DC buss with super-capacitor module (4), two DSP control modules (2) DC bus-bar voltage signal of sampling, code device signal, bank of super capacitors voltage and IPM breakdown signal, and the pwm signal of rectification module (1) and inversion module (3) and the control signal of control super-capacitor module (4) are controlled in output, three-phase alternating-current supply (6) is converted to DC bus-bar voltage by rectification module (1), for inversion module (3), the control signal that this inversion module (3) receives two DSP control modules (2) drives elevator traction machine,
Wherein two DSP control modules (2) are by main DSP control circuit, from DSP control circuit and acquisition of signal and pre-process circuit formation, main DSP control circuit be connected by serial communication bus from DSP control circuit, main DSP control circuit be connected with pre-process circuit with acquisition of signal respectively from DSP control circuit, receive acquisition of signal and the pre-process circuit DC bus-bar voltage signal obtaining of sampling, code device signal, bank of super capacitors voltage, towing machine current signal and IPM breakdown signal, the pwm signal that main DSP control circuit sends and super capacitor control signal are via receive respectively inversion module (3) and super-capacitor module (4) from DSP control circuit,
Described main DSP control circuit is made up of dsp chip I, the first passive crystal oscillator, an E2PROM chip, a MAX3232 chip and the first isolating chip, and dsp chip I is connected with the 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 the second isolating chip from DSP control circuit, dsp chip II is connected with the second passive crystal oscillator, the 2nd E2PROM chip, the 2nd MAX3232 chip, signal selecting circuit and the second isolating chip respectively; The one MAX3232 chip is connected with the 2nd MAX3232 chip, and the first isolating chip, the 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 by standard traffic port (8); Dsp chip I, dsp chip II are connected with pre-process circuit with acquisition of signal, code device signal is processed and obtained elevator speed, to DC bus-bar voltage signal, bank of super capacitors voltage process obtain bus voltage value and and bank of super capacitors magnitude of voltage, towing machine current signal is processed and obtains 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 of predetermining to dsp chip II by the serial communication bus cycle, dsp chip II judges according to control information and elevator speed whether dsp chip I normally works, and this control information comprises the current value of the status information of dsp chip I internal register and the sampling of the AD port of dsp chip I; IPM breakdown signal is used for carrying out IPM fault handling, when dsp chip I, dsp chip II receive after the IPM breakdown signal of acquisition of signal and pre-process circuit transmission, and the pwm signal of cutting-off controlling inversion module (3); According to the control information of elevator speed and dsp chip I transmission, judge whether dsp chip I breaks down from DSP control circuit, and in the time of dsp chip 1 et out of order, serve as the control backup of main DSP control circuit.
2. the elevator drive based on two DSP, control and energy saving integrated method, it is characterized in that two DSP control modules (2) respectively with rectification module (1), super-capacitor module (4), inversion module (3), towing machine module (5) is connected with standard traffic port (8), two DSP control modules (2) are communicated by letter with upper computer or electric life controller, rectification module (1) is connected with three-phase alternating-current supply (6), inversion module (3) is connected with towing machine module (5), rectification module (1) is also connected with inversion module (3) by two DC buss, electric capacity (7) is connected respectively two DC buss with super-capacitor module (4), two DSP control modules (2) DC bus-bar voltage signal of sampling, code device signal, bank of super capacitors voltage and IPM breakdown signal, the pwm signal of rectification module (1) and inversion module (3) is controlled in output, and control super-capacitor module (4) is for recycling and reuse to braking energy, three-phase alternating-current supply (6) is converted to DC bus-bar voltage by rectification module (1), for inversion module (3), the control signal that this inversion module (3) receives two DSP control modules (2) drives elevator traction machine, two DSP control modules (2) are according to magnitude of voltage and the current value of sampling, the pwm signal of inversion module (3) is controlled in output, realize the two closed-loop vector control of permanent magnetic synchronous traction machine, the two closed-loop vector control medium velocity outer shrouds of towing machine and current inner loop all adopt Multimode Controlling Method,
Wherein two DSP control modules (2) are by main DSP control circuit, from DSP control circuit and acquisition of signal and pre-process circuit formation, main DSP control circuit be connected by serial communication bus from DSP control circuit, main DSP control circuit be connected with pre-process circuit with acquisition of signal respectively from DSP control circuit, receive acquisition of signal and the pre-process circuit DC bus-bar voltage signal obtaining of sampling, code device signal, bank of super capacitors voltage, current signal and IPM breakdown signal, the pwm signal that main DSP control circuit sends and super capacitor control signal are via receive respectively inversion module (3) and super-capacitor module (4) from DSP control circuit, main DSP control circuit and from the collaborative work of DSP control circuit, it is wherein the control backup of main DSP control circuit from DSP control circuit.
3. the elevator drive based on two DSP according to claim 2, control and energy saving integrated method, it is characterized in that the dsp chip I of main DSP control circuit and the dsp chip II collaborative work from DSP control circuit, when normal work, be responsible for controlling rectification module (1) by dsp chip I, super-capacitor module (4), inversion module (3), dsp chip II is responsible for monitoring the mode of operation of dsp chip I, if it is abnormal that dsp chip II monitors dsp chip I, control rectification module (1) by dsp chip II, super-capacitor module (4), inversion module (3), concrete implementation procedure is as follows:
The first step, from the dsp chip II of control circuit to the encoder pulse signal-count collecting, survey elevator actual speed by M/T method, if find, elevator actual speed departs from the setting speed of upper computer or electric life controller transmission, and absolute value of the bias is higher than 30% of setting speed, or elevator actual speed is higher than the maximum speed of setting, and carries out second step, otherwise attonity;
Second step, from control circuit, breakdown signal is carried out to logic judgement, find out the reason that elevator speed is abnormal, if the control information that velocity anomaly and dsp chip I send is abnormal, can be considered dsp chip I fault, otherwise cannot conclude that velocity anomaly is caused by dsp chip I fault; Wherein, described control information refers to that the mode bit of dsp chip I internal register is abnormal extremely, 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 defined as main control circuit dsp chip I fault, carry out the 3rd step, otherwise attonity;
The 3rd step, sends a high level signal to signal selecting circuit from the dsp chip II of control circuit by IO port, cuts off the control signal output of master control dsp chip I, completes the work of main control circuit dsp chip I simultaneously;
The 4th step, sends breakdown signal to upper computer or electric life controller.
4. elevator drive, control and the energy saving integrated method based on two DSP according to claim 2, is characterized in that the implementation procedure that two DSP control modules (2) control super-capacitor module (4) are for recycling and reuse to braking energy is:
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), if when the voltage of cond group has exceeded capping threshold value, the energy that is super capacitor reaches the upper limit, realizes the power supply of super capacitor to elevator device by controlling power supply switch circuit and DC/DC translation circuit; Super capacitor to the process of system power supply in, 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 setting when lower threshold, by controlling power supply switch circuit, withdraw from use super capacitor, to system power supply, changes by outer net three-phase alternating-current supply system power supply; If the voltage of cond group does not exceed capping threshold value, super capacitor can also continue energy storage, carries out second step;
Second step: dsp chip I judges that according to the voltage swing of DC bus whether towing machine is in brake power generating state, the magnitude of voltage of output in the time that d-c bus voltage value exceedes rectification module and normally works, towing machine is in brake power generating state; When towing machine is during in generating state, dsp chip I, by opening DC/DC converter circuit, makes DC bus charge to super capacitor by reduction voltage circuit; In to the process of super capacitor charging, if when the voltage of cond group has exceeded capping threshold value, the rebound first step; When towing machine is not during in brake power generating state, get back to the first step.
5. elevator drive, control and the energy saving integrated method based on two DSP according to claim 2, is characterized in that in two closed-loop vector controls of permanent magnetic synchronous traction machine, the implementation procedure of speed outer shroud Multimode Controlling Method is as follows:
The first step, calculate deviation and the derivative thereof of given rotating speed and actual speed, given rotating speed is given by upper computer or electric life controller, actual speed is tested the speed and tries to achieve according to M/T method according to code device signal by the dsp chip I of two DSP control modules, deviation is the difference of given rotating speed and actual speed, and deviation derivative is the difference of double deviation of trying to achieve;
Second step, judges state n according to the size of deviation and derivative thereof;
The 3rd step, according to residing condition selecting scale parameter Kpn, integral parameter Kin and differential parameter Kdn, Kpn, Kin and Kdn are the normal values of being determined by state n;
The 4th step, call number pid control algorithm calculates needed current value i (k).
6. elevator drive, control and the energy saving integrated method based on two DSP according to claim 2, is characterized in that in two closed-loop vector controls of permanent magnetic synchronous traction machine, the implementation procedure of current inner loop Multimode Controlling Method is as follows:
The first step, calculate deviation and the derivative thereof of given current value and the PMSM quadrature axis current value under dq system of axes, given current value is the output i (k) of the outer ring controller of speed, and quadrature axis current value is converted by CLARK by the current value of towing machine U, V, W phase and PARK conversion is tried to achieve;
Second step, judges residing state n according to deviation and derivative thereof;
The 3rd step, according to residing state n selection percentage parameter K pn and integral parameter Kin, wherein Kpn, Kin are the normal values of being determined by state n;
The 4th step, call number PI control algorithm calculates needed magnitude of voltage U (k).
CN201110414038.XA 2011-12-13 2011-12-13 Double digital signal processor(DSP)-based elevator drive, control and energy conservation integrated system and method CN102491137B (en)

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