CN102633170B - Elevator energy-saving device and control method thereof - Google Patents
Elevator energy-saving device and control method thereof Download PDFInfo
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Abstract
The invention discloses an elevator energy-saving device, which comprises an energy storage device (20), an energy storage state detector (21), a charge-discharge circuit (19) and an energy storage device controller (22), wherein a working mode of the energy storage device is switched by the energy storage device controller according to a relationship between terminal voltage and lowest working voltage of the energy storage device. The invention also discloses a control method of the elevator energy-saving device. According to the device and the method, while the elevator energy saving is realized, the control problem of elevator energy saving in a large voltage ratio of direct current bus voltage to the terminal voltage of the energy storage device, and the control mode switching problem of the elevator energy saving device in the large voltage ratio and a normal situation are solved simultaneously.
Description
Technical Field
The invention relates to an elevator energy-saving device for realizing energy conservation by utilizing an energy storage device. The invention also relates to a control method for the energy-saving device of the elevator.
Background
In recent years, an energy storage device additionally arranged in an elevator driving main loop stores regenerated energy when an elevator motor operates in a regeneration mode and releases the stored energy when the elevator motor operates in an electric mode through proper control, so that electric energy is provided for the electric operation of the motor, the problem of processing the regenerated energy generated in the operation of the elevator motor is solved, and meanwhile, the energy-saving effect of the elevator is achieved, and the energy storage device becomes a research hotspot of the elevator industry. Such as chinese invention patent application publication specifications CN101381046A, CN1845417A, CN1946625A, CN101817471A, chinese invention patent specifications CN100593504C, CN100450907C, CN1229275C and international application specifications WO2010/019122a1, WO2010/019123a1, WO2010/019126a1, WO2010/027346a1, etc.
In the energy-saving device of the elevator based on the energy storage device, due to the limitation of the controller structure of the energy storage device, the execution period of the controller structure, the switching frequency of the switching element of the charging and discharging circuit and other physical factors, when the voltage ratio between the direct current bus voltage and the end voltage of the energy storage device is higher than a certain upper limit value (if the system is electrified, the voltage ratio of the end voltage of the energy storage device is infinite if the end voltage of the energy storage device is zero), one or more combinations of a very small bus voltage error, the variation of power required by the operation of the elevator and the variation of the load current of a motor can cause a huge jump of the charging and discharging current instruction value of the energy storage device due to the huge voltage ratio between the direct current. The large jump in the current command value can have a very adverse effect on the performance of the elevator energy saving device: on one hand, the charging and discharging current can not track the current instruction value under the control of the controller, and even the current instruction value is out of control; on the other hand, the charging and discharging current of the energy storage device fluctuates sharply. For this purpose, an upper limit value can be determined in advance for the voltage ratio between the direct current bus voltage and the end voltage of the energy storage device, and when the voltage ratio between the direct current bus voltage and the end voltage of the energy storage device is higher than the upper limit value, the energy storage device is only charged, so that the end voltage of the energy storage device is increased to or higher than the upper limit value; and when the voltage ratio between the voltage of the direct current bus and the voltage of the energy storage device is lower than the upper limit value, the energy storage device is normally charged and discharged.
The control method in the special case of a large voltage ratio (the ratio of the dc bus voltage to the energy storage device terminal voltage is higher than the above upper limit value) is obviously different from that in the normal case (i.e., the ratio of the dc bus voltage to the energy storage device terminal voltage is lower than the above upper limit value). The prior art does not relate to how to control the energy-saving device of the elevator based on the energy storage device in the special situation of large voltage ratio and how to realize the smooth switching between the large voltage ratio and the energy-saving device of the elevator based on the energy storage device in the normal situation.
Therefore, the stable switching of the elevator energy-saving device based on the energy storage device under the large voltage ratio and normal conditions becomes a problem to be solved for processing the elevator regenerated energy by using the energy storage device and realizing the elevator energy saving.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an elevator energy-saving device, which can ensure the performance of the elevator energy-saving device based on an energy storage device when the voltage ratio is large and can realize the stable switching of the elevator energy-saving device when the voltage ratio is large and the elevator energy-saving device is in a normal state; to this end, the invention also provides a control method for the elevator energy saving device.
In order to solve the technical problem, the elevator energy-saving device of the invention comprises:
the energy storage device is bridged at two ends of the direct current bus through a charging and discharging circuit and is used for storing the regenerated energy generated during the regeneration operation of the elevator motor and releasing the stored energy to the direct current bus when the elevator motor operates electrically;
the energy storage device state detector is used for detecting the working state of the energy storage device;
the energy storage device controller is used for controlling the energy flow between the direct current bus and the energy storage device;
the charging and discharging circuit is arranged between the direct current bus and the energy storage device and is used for realizing the bidirectional flow of energy between the direct current bus and the energy storage device; wherein,
the energy storage device controller switches the working mode of the energy storage device according to the relation between the terminal voltage of the energy storage device and the lowest working voltage.
The control method for the elevator energy-saving device comprises the following steps:
generating a primary current instruction value according to one or more combinations of output values of a voltage control module, a power calculation module required by elevator operation and a motor load current calculation module;
step two, judging the voltage of the end of the energy storage device and the lowest working voltage u according to the voltage of the end of the energy storage device obtained by the state detector of the energy storage deviceminThe relationship of (1);
step three, according to the end voltage of the energy storage device and the lowest working voltage uminChange of relation between current limitsAn amplitude value;
fourthly, amplitude limiting is carried out on the primary current instruction value by utilizing the changed current limiting amplitude;
step five, smoothing the amplitude-limited primary current instruction value to obtain a final current instruction value and sending the final current instruction value to a current control unit;
and step six, controlling the charging and discharging current of the energy storage device according to the final current instruction value so as to enable the energy storage device to track the current instruction value.
The invention can achieve the following beneficial technical effects:
the energy storage device has different working modes according to the relation between the terminal voltage and the lowest working voltage, can realize stable switching, solves the control problem under the special condition that the terminal voltage of the energy storage device is far lower than the direct current bus voltage, such as the system power-on initial state, and ensures that the charging current of the energy storage device has good waveform.
The prior art related to the energy-saving device of the elevator based on the energy storage device, especially the patent documents disclosed in the prior art are all directed to the normal situation (i.e. the situation that the ratio of the direct current bus voltage to the energy storage device terminal voltage is lower than the upper limit value), but do not relate to the special situation of large voltage ratio (i.e. the situation that the ratio of the direct current bus voltage to the energy storage device terminal voltage is higher than the upper limit value), which makes the large voltage ratio situation a blank that the technology has not covered yet. The invention solves the control problem of the energy-saving device of the elevator based on the energy storage device under the condition of large voltage ratio through a variable amplitude limiting mode, ensures that the charging current of the energy storage device has good waveform at the moment, and simultaneously realizes the stable switching of the energy-saving device of the elevator under the condition of large voltage ratio and normal condition, thereby filling the blank of the prior art.
Drawings
The invention will be described in further detail with reference to the following detailed description and accompanying drawings:
fig. 1 is a schematic diagram of the general structure of an embodiment of an elevator energy-saving device provided by the invention;
FIG. 2 is a schematic structural diagram of an embodiment of a voltage control module employed in the present invention;
fig. 3 is a schematic structural diagram of an embodiment of a current control unit employed in the present invention.
The symbols in the drawings illustrate that:
1. external power supply 2, rectifier 3, and smoothing dc capacitor
4. Bus voltage detection device 5, energy consumption circuit 6 and direct current bus
7. Inverter 8, current detection device 9, and elevator motor
10. Traction sheave 11, guide sheave 12 and counterweight
13. Car 14, current controller 15, speed detection device
16. Speed controller 17, elevator controller 18, energy consumption controller
19. Charging and discharging circuit 20, energy storage device 21, and energy storage device state detector
22. Energy storage device controller 23, elevator control device.
Detailed Description
In the following description, it is specified that: the charging and discharging current flows from the direct current bus to the energy storage device to be positive, otherwise, the charging and discharging current is negative, and the power when the elevator motor regeneratively operates to release electric energy is positive, otherwise, the power is negative.
Referring to fig. 1, in the present embodiment, an external power source 1 is connected to three-phase current-intersecting sides of a rectifier 2, two-phase dc sides of the rectifier 2 are connected to two-phase dc sides of an inverter 7 via a dc bus 6, a smoothing dc capacitor 3 and an energy consumption circuit 5 are respectively connected across both ends of the dc bus 6, a bus voltage detection device 4 is disposed at both ends of the smoothing dc capacitor 3, a three-phase ac side of the inverter 7 is connected to an elevator motor 9 via a current detection device 8, the elevator motor 9 is connected to a traction sheave 10 via a specific structure, and a car 13 and a counterweight 12 are suspended from both sides of the traction sheave 10 and a guide sheave 11 via a rope. The elevator controller 17 generates a speed instruction value for elevator operation according to a landing call, an in-car instruction or a dispatching command of a group control system, and the speed controller 16 generates a current instruction value of the current controller 14 according to the speed instruction value determined by the elevator controller 17 and the actual rotating speed of the elevator motor 9 detected by the speed detection device 15. The current controller 14 generates a control signal for the inverter 7 based on the current command value generated by the speed controller 16 and the current detection result of the current detection device 8. The elevator controller 17, the speed controller 16, and the current controller 14 are collectively referred to as an elevator control device 23.
The energy storage device 20 is connected across the two ends of the direct current bus 6 through the charging and discharging circuit 19. The energy storage device controller 22 controls the charging and discharging circuit 19 according to the charging state information of the energy storage device 20 detected by the energy storage device state detector 21 and the dc bus voltage detected by the bus voltage detecting device 4, thereby realizing energy transfer between the energy storage device 20 and the dc bus 6.
The energy consumption controller 18 controls the switching elements of the energy consumption circuit 5 to be turned on and off according to the dc bus voltage detected by the bus voltage detection device 4.
In the present embodiment, the terminal voltage of the energy storage device 20 is detected by the energy storage device state detector 21.
The energy storage device controller 22 is a double closed-loop structure, and includes the following 3 subunits:
and the current instruction generating unit generates a primary current instruction value according to one or more combinations of output values of the voltage control module, the elevator operation required power calculating module and the motor load current calculating module.
And the amplitude limiting unit is used for carrying out amplitude limiting on the primary current instruction value to obtain a current instruction value of the current control unit.
And the current control unit controls the charging and discharging current of the energy storage device according to the current instruction value obtained after the amplitude limiting of the amplitude limiting unit so as to enable the charging and discharging current to track the current instruction value.
The energy storage device controller 22 further includes:
and the current instruction value preprocessing unit is used for smoothing the current instruction value generated by the amplitude limiting unit through interpolation and/or filtering and then sending the smoothed current instruction value to the current control unit as a final current instruction value.
The control method disclosed by the invention is operated in the energy storage device controller 22 and corresponds to the corresponding subunit of the energy storage device controller 22 according to different specific contents of each step included in the control method. The specific working process comprises the following steps:
step 1, generating a primary current instruction value according to one or more combinations of output values of a voltage control module, an elevator operation required power calculation module and a motor load current calculation module.
The primary current command value is obtained in the following ways:
mode 1, the output of the voltage control module.
The load current of the elevator motor 9 can be obtained in several ways:
mode a, direct bus current is detected directly.
And the mode B is obtained by detecting the current of the three-phase side of the inverter, or calculating the quadrature axis current or the quadrature axis current command value, or the torque current command value.
The mode C, the car load condition output by the elevator running speed, the acceleration and the car load weighing device (not shown in figure 1) is obtained by calculation with the help of elevator related information such as elevator system parameters.
The power required by the running of the elevator can be obtained in the following modes:
the method a is obtained by calculating the torque of the elevator motor or the product of the torque current or the torque current command value and the angular velocity, or the sum obtained by calculating the product of the quadrature axis current and the quadrature axis voltage command value and the product of the direct axis current and the direct axis voltage command value, or the sum obtained by adding the product of the quadrature axis current command value and the quadrature axis voltage command value and the product of the direct axis current and the direct axis voltage command value, or the sum obtained by adding the product of the quadrature axis current and the quadrature axis voltage command value and the product of the direct axis current command value and the direct axis voltage command value, or the sum obtained by adding the product of the quadrature axis current command value and the quadrature axis voltage command value and the product of the direct axis current command value and the direct axis voltage command value.
And b, firstly calculating the real-time moment of the elevator according to the car load condition, the elevator running acceleration and the elevator system parameters output by the car load weighing device, then calculating the real-time power of the elevator by combining the running speed of the elevator, and finally properly adjusting the calculated elevator real-time power by comprehensively considering the factors such as system loss, efficiency and the like to obtain the final power required by the elevator running.
Mode c, the sum of the bus voltage error power determined from the dc bus voltage and its reference value and the calculation result of the method in mode a or b.
The lowest working voltage is the lowest working voltage of the energy storage device during normal charging and discharging, which is determined by the characteristics of the energy storage device and the system parameters of the energy-saving device of the elevator.
The system parameters of the elevator energy-saving device refer to the direct-current bus voltage, the structure of the energy storage device controller and the parameters thereof (for example, the parameters refer to P gain and I gain in the PI controller if the energy storage device controller is a PI controller), and the combination of one or more parameters of the execution period, the parameters of the charge and discharge circuit and the current waveform of the energy storage device.
When the characteristics of the energy storage device and the parameters of the elevator energy-saving device system are known, the lowest working voltage of the energy storage device can be determined and is expressed as umin. Therefore, the voltage of the end of the energy storage device detected by the energy storage device state detector can be judged to be the lowest working voltage uminThe relationship between them.
And 4, limiting the primary current instruction value by using the changed current limiting amplitude value.
Obtaining the primary current instruction value and judging the end voltage of the energy storage device and the lowest working voltage uminAfter the relationship between the primary current and the secondary current, the amplitude limiting unit changes the amplitude of the amplitude limit and performs amplitude limit operation on the primary current instruction value according to the following method:
when u ises＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage, i*Is a current command value of the current control means,
is a primary current command value, -i generated by a current command generation unitminAnd imaxThe energy storage device and the charging and discharging circuit respectively determine a lower limit value and an upper limit value of charging and discharging current, and all the current flowing into the energy storage device is regulated to be positive, and otherwise, the current is regulated to be negative.
Or, the amplitude limit value is changed and the amplitude limit operation is carried out on the primary current instruction value according to the following method:
when u ises(k)＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage, i*(k) Is the current command value at the time k of the current control unit, i (k) is the charging current of the energy storage device at the time k, Δ iaGreater than 0 is ues(k)＜uminThe maximum fluctuation amount of the charging current of the energy storage device,
is a primary current command value-i at time k generated by a current command generation unitminAnd imaxThe energy storage device and the charging and discharging circuit respectively determine a lower limit value and an upper limit value of charging and discharging current, and all the current flowing into the energy storage device is regulated to be positive, and otherwise, the current is regulated to be negative.
Or, the amplitude limit value is changed and the amplitude limit operation is carried out on the primary current instruction value according to the following method:
when u ises＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula i*Is a current command value of the current control means,
is a primary current command value, -i generated by a current command generation unitminAnd imaxThe lower limit value and the upper limit value of the charging and discharging current are respectively determined by the energy storage device and the charging and discharging circuit together, and all the current flowing into the energy storage device is regulated to be positive, otherwise, the current is negative, uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage;
is a positive constant, or a non-negative continuous function, and satisfies
t0Is the initial moment, t, at which the energy storage device enters the single charging mode1The voltage at the end of the energy storage device rises to the lowest working voltage uminAnd ending the moment when the single charging mode enters the charging and discharging mode.
The above non-negative continuous function
The following boundary conditions may be further satisfied:
wherein, t0Is the initial moment, t, at which the energy storage device enters the single charging mode1The voltage at the end of the energy storage device rises to the lowest working voltage uminWhen the single charging mode is finished to enter the charging and discharging mode, i (t) is the charging current of the energy storage device,
is a primary current instruction value, delta i, generated by the current instruction generating unit and subjected to preliminary amplitude limiting of the maximum charging and discharging current value determined by the energy storage device and the charging and discharging circuitxNot less than 0 and Δ iyT is not less than 00Time t and1the maximum amount of fluctuation of the charging current of the energy storage device allowed at the moment.
And 5, smoothing the limited current instruction value to obtain a final current instruction value and sending the final current instruction value to a current control unit.
In the invention, a double closed-loop control mode is adopted for controlling the energy storage device, wherein the contents of generation, amplitude limiting and the like of the current instruction values in the steps 1-4 are used as an outer ring for controlling the energy storage device, and the control on the charging and discharging current of the energy storage device in the following step 6 is used as an inner ring for controlling the energy storage device. Since the instruction cycle of the outer loop is typically several times or even ten times that of the inner loop, the inner loop control instruction value given by the outer loop is not smooth, and it is very necessary to perform smoothing processing including interpolation, filtering, and the like on the non-smooth instruction value. Therefore, a step 5 of smoothing the clipped current command value by interpolation and/or filtering is provided between the step 4 and the step 6, that is, a current command value preprocessing step.
And 6, controlling the charging and discharging current of the energy storage device according to the final current instruction value so as to enable the energy storage device to track the current instruction value.
In addition, when the current command value after the clipping is not equal to the primary current command value, that is, there is a difference therebetween and the difference lasts for a certain time, if an integrator is present in the current command generating unit, an integration supersaturation phenomenon may occur in the integrator due to the difference, which obviously adversely affects the system performance. Therefore, the amplitude limiting unit can generate a signal when the current instruction value after amplitude limiting is not equal to the primary current instruction value, and the signal can clear the integral accumulation result in the current instruction generating unit, so that the occurrence of integral supersaturation can be avoided.
As can be seen from the above control method, under the control of the energy storage device 22, the energy storage device has the following two operation modes due to the appropriate change of the amplitude limiter, and is switched between the two operation modes:
the single charging mode refers to an operating mode in which the energy storage device is charged only singly without discharging when the terminal voltage of the energy storage device is lower than the lowest operating voltage, or continuously or discontinuously, so that the terminal voltage of the energy storage device is increased to the lowest operating voltage as soon as possible.
The charging and discharging mode is a working mode in which the energy storage device is located when the voltage at the end of the energy storage device is higher than or equal to the lowest working voltage, and energy flows between the direct current bus and the energy storage device through the charging and discharging circuit through the charging and discharging process of the energy storage device.
In addition, by appropriately changing the amplitude of the limiter under the control of the energy storage device 22, the charging process in the single charging mode of the energy storage device can be performed both when the voltage at the energy storage device is lower than the minimum operating voltage and the elevator motor is in a regenerative operation state.
FIG. 2 is a schematic structural diagram of a voltage control module, which controls a bus voltage according to a bus voltage reference value to track the reference value of the bus voltage; the working process is as follows: actual value V of bus voltage output by bus voltage detection device 4DCrefReference to bus voltageValue VDCThe two are used as input quantities and sent to a subtracter, and the subtracter obtains a bus voltage error e after subtractionVDCError e ofVDCFurther as input to a voltage controller which outputs all or part of the obtained primary current command value (depending on how the current command value of the current control means is obtained).
Fig. 3 is a schematic structural diagram of a current control unit, and the working process thereof is as follows: current command irefThe current and the charging and discharging current i of the energy storage device 20 are used as input quantities and sent to a subtracter, and the subtracter obtains a current error e after subtractioniError e ofiFurther as input is sent to the current controller, which outputs a control command for obtaining the charge and discharge circuit 19, and controls the charge and discharge circuit 19 according to the control command, thereby completing the exchange of energy between the dc bus 6 and the energy storage device 20.
In this embodiment, the charging and discharging circuit 19 may be any single branch circuit, or may be a bidirectional DC-DC power converter including n (n is greater than or equal to 2) branch circuits; the energy storage device 20 may be one or a combination of several of a storage battery, a super capacitor, a nano capacitor, and other energy storage devices not mentioned; or a combination of one or more of a battery, a super capacitor and a nano capacitor with a fuel cell.
Under the control of the control method disclosed by the invention, the elevator energy-saving device can utilize the energy storage device to store regenerated energy when the elevator motor operates in a regeneration mode, and release the stored energy when the elevator motor operates in an electric mode to supply the elevator motor with the stored energy for the electric operation of the elevator motor so as to reduce the energy consumption of the elevator (when the voltage at the end of the energy storage device is higher than the lowest working voltage).
The present invention has been described in detail with reference to the specific embodiments and examples, but these are not intended to limit the present invention. Many variations and modifications may be made by one of ordinary skill in the art without departing from the principles of the present invention, which should also be considered as within the scope of the present invention.
Claims (23)
1. An elevator energy saving device comprising:
the energy storage device is bridged at two ends of the direct current bus through a charging and discharging circuit and is used for storing the regenerated energy generated during the regeneration operation of the elevator motor and releasing the stored energy to the direct current bus when the elevator motor operates electrically;
the energy storage device state detector is used for detecting the working state of the energy storage device;
the energy storage device controller is used for controlling the energy flow between the direct current bus and the energy storage device;
the charging and discharging circuit is arranged between the direct current bus and the energy storage device and is used for realizing the bidirectional flow of energy between the direct current bus and the energy storage device; it is characterized in that the preparation method is characterized in that,
the energy storage device controller switches the working mode of the energy storage device according to the relation between the terminal voltage of the energy storage device and the lowest working voltage of the energy storage device.
2. The elevator energy saving device of claim 1, wherein: the lowest working voltage is the lowest working voltage of the energy storage device during normal charging and discharging, which is determined by the characteristics of the energy storage device and the system parameters of the energy-saving device of the elevator.
3. The elevator energy saving device of claim 2, wherein: the system parameters of the elevator energy-saving device refer to one or a combination of a plurality of parameters of direct-current bus voltage, the structure and the parameters of the energy storage device controller, the execution period of the parameters, the parameters of a charging and discharging circuit and the current waveform of the energy storage device.
4. The elevator energy saving device of claim 1, wherein the operating mode comprises:
the single charging mode is an operating mode in which the energy storage device is in a state that the terminal voltage of the energy storage device is lower than the lowest operating voltage, or is in a continuous or discontinuous state, and only single charging is carried out but discharging is not carried out, so that the terminal voltage of the energy storage device is increased to the lowest operating voltage as soon as possible;
and the charging and discharging mode is a working mode in which the energy storage device is located when the voltage at the end of the energy storage device is higher than or equal to the lowest working voltage and energy flows between the direct current bus and the energy storage device through a charging and discharging circuit through the charging and discharging process of the energy storage device.
5. The elevator energy saving device of claim 4, wherein: the charging process in the single charging mode occurs when the voltage at the energy storage device is lower than the lowest working voltage, or when the voltage at the energy storage device is lower than the lowest working voltage and the elevator motor is in a regeneration operation state.
6. The elevator energy saving device of claim 1, wherein the energy storage device controller is a double closed loop structure comprising 3 subunits as follows:
the current instruction generating unit generates a primary current instruction value according to one or more combinations of output values of the voltage control module, the elevator operation required power calculating module and the motor load current calculating module;
the amplitude limiting unit is used for carrying out amplitude limiting on the primary current instruction value to obtain a current instruction value of the current control unit;
and the current control unit controls the charging and discharging current of the energy storage device according to the current instruction value obtained after the amplitude limiting of the amplitude limiting unit so as to enable the charging and discharging current to track the current instruction value.
7. The elevator energy saving device of claim 6, wherein: the energy storage device controller realizes the switching of the working mode of the energy storage device by changing the amplitude limiting amplitude of the amplitude limiting unit.
8. The elevator energy saving device of claim 6, wherein: the energy storage device controller also comprises a current instruction value preprocessing unit, and the current instruction value obtained after the amplitude limiting of the amplitude limiting unit is smoothed through interpolation and/or filtering and then is sent to the current control unit as a final current instruction value.
9. The elevator energy saving device of claim 6, wherein: and the voltage control module controls the bus voltage according to the bus voltage reference value to realize the tracking of the bus voltage on the reference value.
10. The elevator energy saving device of claim 6, wherein: the power calculation module required by the running of the elevator obtains the power required by the running of the elevator in the following mode:
mode 1, the power required by the operation of the elevator is obtained by calculating the torque of an elevator motor, or the product of the torque current or the torque current command value and the angular velocity, or the sum of the product of the quadrature axis current and the quadrature axis voltage command value and the product of the direct axis current and the direct axis voltage command value, or the sum of the product of the quadrature axis current command value and the quadrature axis voltage command value and the product of the direct axis current command value and the direct axis voltage command value;
in the method 2, the real-time moment of the elevator is calculated according to the car load condition output by the car load weighing device, the running acceleration of the elevator and the parameters of the elevator system, the real-time power of the elevator is calculated by combining the running speed of the elevator, and finally the calculated real-time power of the elevator is properly adjusted by comprehensively considering the system loss and efficiency to obtain the final power required by the running of the elevator;
mode 3 is the sum of the bus voltage error power determined from the dc bus voltage and its reference value and the calculation result obtained in mode 1 or 2.
11. The elevator energy saving device of claim 6, wherein: the motor load current calculating module obtains the elevator motor load current in the following way and directly detects the direct current bus current; or the three-phase side current of the inverter, or the quadrature axis current command value, or the moment current command value is calculated; or the elevator running speed, the acceleration and the car load condition output by the car load weighing device are obtained by calculation with the help of elevator system parameters.
12. The elevator energy saving device of claim 1, wherein: the energy storage device is one or more of a storage battery, a super capacitor and a nano capacitor, or the combination of one or more of the storage battery, the super capacitor and the nano capacitor and a fuel cell.
13. The elevator energy saving device of claim 1, wherein: the charging and discharging circuit is any single branch or a bidirectional DC-DC power converter with n branches, wherein n is more than or equal to 2.
14. A control method of an energy saving device of an elevator according to any one of claims 1 to 8, 12 or 13, characterized by comprising the steps of:
generating a primary current instruction value according to one or more combinations of output values of a voltage control module, a power calculation module required by elevator operation and a motor load current calculation module;
step two, judging the voltage of the end of the energy storage device and the lowest working voltage u according to the voltage of the end of the energy storage device obtained by the state detector of the energy storage deviceminThe relationship of (1);
step three, according to the end voltage of the energy storage device and the lowest working voltage uminThe relationship between changes the current limit amplitude;
fourthly, amplitude limiting is carried out on the primary current instruction value by utilizing the changed current limiting amplitude;
step five, smoothing the current instruction value after amplitude limiting to obtain a final current instruction value and sending the final current instruction value to a current control unit;
and step six, controlling the charging and discharging current of the energy storage device according to the final current instruction value so as to enable the energy storage device to track the current instruction value.
15. The control method according to claim 14, characterized in that: and the voltage control module controls the bus voltage according to the bus voltage reference value to realize the tracking of the bus voltage on the reference value.
16. The control method according to claim 14, characterized in that: the power calculation module required by the running of the elevator obtains the power required by the running of the elevator in the following mode:
mode 1, the power required by the operation of the elevator is obtained by calculating the torque of an elevator motor, or the product of the torque current or the torque current command value and the angular velocity, or the sum of the product of the quadrature axis current and the quadrature axis voltage command value and the product of the direct axis current and the direct axis voltage command value, or the sum of the product of the quadrature axis current command value and the quadrature axis voltage command value and the product of the direct axis current command value and the direct axis voltage command value;
in the method 2, the real-time moment of the elevator is calculated according to the car load condition output by the car load weighing device, the running acceleration of the elevator and the parameters of the elevator system, the real-time power of the elevator is calculated by combining the running speed of the elevator, and finally the calculated real-time power of the elevator is properly adjusted by comprehensively considering the system loss and efficiency to obtain the final power required by the running of the elevator;
mode 3 is the sum of the bus voltage error power determined from the dc bus voltage and its reference value and the calculation result obtained in mode 1 or 2.
17. The control method according to claim 14, characterized in that: the motor load current calculating module obtains the elevator motor load current in the following way and directly detects the direct current bus current; or the three-phase side current of the inverter, or the quadrature axis current command value, or the moment current command value is calculated; or the elevator running speed, the acceleration and the car load condition output by the car load weighing device are obtained by calculation with the help of elevator system parameters.
18. The control method according to claim 14, wherein the clipping of the primary current command value in step four is performed by:
when u ises＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage, i*Is a current command value of the current control means,
is a primary current command value, -i generated by a current command generation unitminAnd imaxThe energy storage device and the charging and discharging circuit respectively determine a lower limit value and an upper limit value of charging and discharging current, and all the current flowing into the energy storage device is regulated to be positive, and otherwise, the current is regulated to be negative.
19. The control method according to claim 14, wherein the clipping of the primary current command value in step four is performed by:
when u ises(k)＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage, i*(k) Is the current command value at the time k of the current control unit, i (k) is the charging current of the energy storage device at the time k, Δ iaGreater than 0 is ues(k)＜uminThe maximum fluctuation amount of the charging current of the energy storage device,is a primary current command value-i at time k generated by a current command generation unitminAnd imaxThe energy storage device and the charging and discharging circuit respectively determine a lower limit value and an upper limit value of charging and discharging current, and all the current flowing into the energy storage device is regulated to be positive, and otherwise, the current is regulated to be negative.
20. The control method according to claim 14, wherein the clipping of the primary current command value in step four is performed by:
when u ises＜uminWhen the temperature of the water is higher than the set temperature,
when u ises≥uminWhen the temperature of the water is higher than the set temperature,
in the formula i*Is a current command value of the current control means,
is a primary current command value, -i generated by a current command generation unitminAnd imaxAre respectively an energy storage device andthe lower limit value and the upper limit value of the charge-discharge current are determined by the charge-discharge circuit together, and all the current flowing into the energy storage device is regulated to be positive, otherwise, the current is negative, uesIs the terminal voltage of the energy storage device, uminIs the lowest operating voltage of the battery pack,
is a positive constant, or a non-negative continuous function, and satisfies
Wherein, t0Is the initial moment, t, at which the energy storage device enters the single charging mode1The voltage at the end of the energy storage device rises to the lowest working voltage uminAnd ending the moment when the single charging mode enters the charging and discharging mode.
21. Control method according to claim 20, characterized in that the non-negative continuous function
The following boundary conditions are satisfied:
wherein, t0Is the initial moment, t, at which the energy storage device enters the single charging mode1The voltage at the end of the energy storage device rises to the lowest working voltage uminWhen the single charging mode is finished to enter the charging and discharging mode, i (t) is the charging current of the energy storage device,
is a primary current instruction value, delta i, generated by the current instruction generating unit and subjected to preliminary amplitude limiting of the maximum charging and discharging current value determined by the energy storage device and the charging and discharging circuitxNot less than 0 and Δ iyT is not less than 00Time t and1the maximum amount of fluctuation of the charging current of the energy storage device allowed at the moment.
22. The control method according to claim 14, wherein when the current instruction value obtained after the amplitude limiting is not equal to the primary current instruction value before the amplitude limiting, the amplitude limiting unit generates a signal to clear the integration and accumulation result in the current instruction generating unit.
23. The control method according to claim 14, characterized in that: the step five of smoothing the current instruction value after amplitude limiting refers to smoothing the current instruction value after amplitude limiting through interpolation and/or filtering.
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| CN104444648B (en) * | 2014-12-12 | 2016-09-07 | 苏州弇山电子科技有限公司 | A kind of frequency-conversion traction equipment energy-saving system for elevator using bi-directional DC-DC |
| CN112886665B (en) * | 2021-02-07 | 2022-10-28 | 中车青岛四方机车车辆股份有限公司 | Battery charging control method, system, vehicle, readable storage medium and device |
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| CN1311151A (en) * | 2000-02-28 | 2001-09-05 | 三菱电机株式会社 | Elevator control device |
| CN1984831A (en) * | 2004-07-12 | 2007-06-20 | 通力股份公司 | Power source as an energy saver and emergency power source in an elevator system |
| CN101409526A (en) * | 2007-10-10 | 2009-04-15 | 株式会社日立制作所 | Elevator system and accumulator unit |
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| JP2001240335A (en) * | 2000-02-28 | 2001-09-04 | Mitsubishi Electric Corp | Operation device of elevator in service interruption |
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| CN1311151A (en) * | 2000-02-28 | 2001-09-05 | 三菱电机株式会社 | Elevator control device |
| CN1984831A (en) * | 2004-07-12 | 2007-06-20 | 通力股份公司 | Power source as an energy saver and emergency power source in an elevator system |
| CN101409526A (en) * | 2007-10-10 | 2009-04-15 | 株式会社日立制作所 | Elevator system and accumulator unit |
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