CN103964273B - The control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor - Google Patents
The control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor Download PDFInfo
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- CN103964273B CN103964273B CN201410178490.4A CN201410178490A CN103964273B CN 103964273 B CN103964273 B CN 103964273B CN 201410178490 A CN201410178490 A CN 201410178490A CN 103964273 B CN103964273 B CN 103964273B
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Abstract
The invention discloses a kind of control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor, in the time there is emergency, elevator first starts to slip car a period of time opening after band-type brake, obtains after the turning to of permagnetic synchronous motor, rotating speed and current effective value by detection; Be less than or equal to 1/20 o'clock of rated current at current effective value, the vehicle speed that slips is too fast, and super capacitor is powered to permagnetic synchronous motor, and by open loop, V/F controls, and car is dragged to flat bed; Be greater than 1/20 o'clock of rated current at current effective value, super capacitor is not powered, and controls by PWM, regulate Dead Time, accelerate car and slip vehicle speed, reaching after given range when permagnetic synchronous motor real-time rotate speed, the constant until car of maintenance Dead Time slips to flat bed; Finally put people in car to flat bed back pullout (BPO); Under this method, to slip vehicle speed very fast for car, slips and take time and significantly shorten to flat bed, and required consumption electric energy is also less, thereby reduces the demand to super capacitor capacity configuration.
Description
Technical field
The present invention relates to elevator in a kind of emergency management and rescue and slip the control method of vehicle speed, especially relate to a kind of control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor.
Background technology
In existing elevator, be all equipped with elevator emergency circuit arrangement and correlation method, for having ensured the emergency management and rescue of elevator under emergency case, the life security of elevator passenger be protected.
Wherein, using permagnetic synchronous motor as driving the slower elevators of main frame, generally adopt car to slip the method that car to level position puts people and complete emergency management and rescue. In above-mentioned elevator using battery as energy-storage travelling wave tube, adopt the mode of bridge short circuit under frequency converter three-phase to reach the effect of motor envelope core, allow car slip slowly car to flat bed, as the publication No. Chinese invention patent application " self-adaptive control method of elevator emergency operation " that is CN101780906A, under this control method, slip vehicle speed generally lower than 0.05 meter per second, and completing once rescue at least needs the time of 1 minute, that is to say and need to consume large volume and electricity. But in above-mentioned elevator using super capacitor as energy-storage travelling wave tube, due to Cost Problems, also cannot be equipped with and the electric capacity of the close capacity of battery, capacitance is limited, therefore must complete as early as possible rescue.
In addition, adopt the way of three-phase direct short-circuit envelope core, be subject to the impact of elevator loading comparatively obvious, while being even elevator balanced year under extreme case, cannot completing and slip car; Even and if in elevator no-load situation, elevator slips vehicle speed and also can not exceed 1/5 of normal speed.
Summary of the invention
Technical problem to be solved by this invention is to provide a kind of can be controlled or accelerate to slip vehicle speed, and car time and electric energy loss are slipped in minimizing, thus the control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor of reduction super capacitor capacity configuration demand.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor, at three phase full bridge circuit because IGBT pipe obtains after given pulse width modulating signal in short circuit, open band-type brake, open and slip car a period of time t after band-type brake1, at time t1In, elevator central control unit by detect three phase full bridge circuit wherein arbitrarily the electric current of two-phase obtain the turning to of permagnetic synchronous motor, rotating speed v1With current effective value I1；
As current effective value I1Be less than or equal to rated current Ie1/20 o'clock, super capacitor is powered to permagnetic synchronous motor, adopts open loop V/F to control, according to time t1Car is dragged to flat bed by interior rolling direction;
As current effective value I1Be greater than rated current Ie1/20 o'clock, super capacitor, not to permagnetic synchronous motor power supply, adopts PWM to control, by Dead Time tdAdjusting, accelerate permagnetic synchronous motor real-time rotate speed vt, as permagnetic synchronous motor real-time rotate speed vtReach given range v0~veAfter, keep Dead Time tdConstant until car slips to flat bed;
Car is opened elevator door after arriving flat bed, after passenger leaves elevator, closes elevator door;
Wherein, described PWM controls and refers to, the switch of three upper IGBT pipes of three phase full bridge circuit adopts an identical driving pulse control, and the switch of three lower IGBT pipes of three phase full bridge circuit adopts another identical driving pulse control, and it is Dead Time t that all IGBT of three phase full bridge circuit manage the time of all closingd, and the complementary work of corresponding lower IGBT pipe with it of the upper IGBT pipe of three phase full bridge circuit, at each Dead Time adjustment cycle tpIn, the real-time rotate speed v of permagnetic synchronous motortDo not reach given range v0~veTime, Dead Time tdIncrease a △ td; Time t1For 5s ~ 10s, Dead Time tdSpan be t0~ts/2，t0For Dead Time tdInitial value, t0=3.2us，tsFor the switch periods of three phase full bridge circuit, veFor the rated speed of permagnetic synchronous motor, v0=0.4ve，tpFor 1s ~ 3s, △ tdFor 0.5us ~ 1us.
Compared with prior art, the invention has the advantages that occurring when emergency, elevator first starts to slip car a period of time opening after band-type brake, obtains the turning to of permagnetic synchronous motor, rotating speed v by detection1With current effective value I1After; At current effective value I1Be less than or equal to rated current Ie1/20 o'clock, the vehicle speed that slips is too fast, super capacitor is powered to permagnetic synchronous motor, by open loop, V/F controls, and car is dragged to flat bed; At current effective value I1Be greater than rated current Ie1/20 o'clock, the vehicle speed that slips is slow, super capacitor, to permagnetic synchronous motor power supply, is not controlled by PWM, accelerates car and slips vehicle speed, is reaching given range v when permagnetic synchronous motor real-time rotate speed0~veAfter, keep the constant until car of Dead Time to slip to flat bed; Finally put people in car to flat bed back pullout (BPO); Under this method, to slip vehicle speed very fast for car, slips to slip car method required time to flat bed take time compared with the control of permagnetic synchronous motor envelope core and significantly shorten, and required consumption electric energy is also less, thereby reduces the demand to super capacitor capacity configuration.
As preferably, the frequency that described PWM controls is 2kHz ~ 10kHz.
Brief description of the drawings
Fig. 1 is three phase full bridge drive circuit figure of the present invention.
Fig. 2 is the oscillogram of the oscillogram of the IGBT pipes of the complementary work of two of the present invention given driving pulse in a switch periods and the driving pulse that regulates through Dead Time.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment is described in further detail the present invention.
This preferred embodiment is a kind of control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor, at the IGBT of three phase full bridge circuit pipe (InsulatedGateBipolarTransistor, insulated gate bipolar transistor) obtain given PWM(PulseWidthModulation, pulse width modulation) after signal when short circuit, open band-type brake, open and slip car a period of time t after band-type brake1, at time t1In, elevator central control unit by detect three phase full bridge circuit wherein arbitrarily the electric current of two-phase obtain the turning to of permagnetic synchronous motor, rotating speed v1With current effective value I1；
As current effective value I1Be less than or equal to permagnetic synchronous motor rated current Ie1/20 o'clock, super capacitor is powered to permagnetic synchronous motor, adopts open loop V/F to control, according to time t1Car is dragged to flat bed by interior rolling direction;
As current effective value I1Be greater than the rated current I of permagnetic synchronous motore1/20 o'clock, super capacitor, not to permagnetic synchronous motor power supply, adopts PWM to control, by Dead Time tdAdjusting, accelerate permagnetic synchronous motor real-time rotate speed vt, as permagnetic synchronous motor real-time rotate speed vtReach given range v0~veAfter, keep Dead Time tdConstant until car slips to flat bed;
Car is opened elevator door after arriving flat bed, after passenger leaves elevator, closes elevator door;
Wherein, PWM controls and adopts high frequency chopping control (highfrequencychopping), and calibration is 2k ~ 10kHz, specifically refers to three upper IGBT pipe (T of three phase full bridge circuit1、T3、T5) switch adopt an identical driving pulse control, the lower IGBT pipe of three of three phase full bridge circuit (T2、T4、T6) switch adopt another identical driving pulse control, it is also that gap between corresponding upper and lower IGBT pipe switch is Dead Time t that all IGBT of three phase full bridge circuit manage the time of all closingd, and the upper IGBT pipe (T of three phase full bridge circuit1、T3、T5) manage (T with corresponding lower IGBT2、T4、T6) complementary work, at each Dead Time adjustment cycle tpIn, permagnetic synchronous motor real-time rotate speed vtDo not reach given range v0~veTime, Dead Time tdIncrease a △ td。
In the present embodiment, time t1For 5s ~ 10s, Dead Time tdSpan be t0~ts/2，t0For Dead Time initial value, t0=3.2us，tsFor PWM control cycle is also the switch periods of three phase full bridge circuit, veFor the rated speed of permagnetic synchronous motor, v0=0.4ve，tpFor 1s ~ 3s, △ tdFor 0.5us ~ 1us. All upper IGBT pipes and lower IGBT pipe all available metal-oxide-semiconductor substitute. Above IGBT pipe T1With lower IGBT pipe T2For example, switch periods t of driving pulse that given PWM controlssOscillogram as shown in Figure 2 (a) shows, wherein, D is dutycycle, scope is 0.4 ~ 0.6, is preferably 0.5; Fig. 2 (b) is through Dead Time tdSwitch periods t of driving pulse that after adjusting, PWM controlssOscillogram.
Car slips car relative theory: because permagnetic synchronous motor back-emf is directly proportional to rotating speed, rotating speed is higher, and back-emf is larger; Adopting under PWM control mode, in the time that IGBT pipe is opened, no matter to go up bridge and still descend bridge, permagnetic synchronous motor three-phase is all equivalent to short circuit, and permagnetic synchronous motor model is equivalent to R-L load, thus permagnetic synchronous motor electric current increases under the effect of back-emf; In the time that all IGBT pipes are all closed, at Dead Time tdTime, now permagnetic synchronous motor electric current, by anti-and diode continuousing flow, due to the existence of DC bus-bar voltage, declines permagnetic synchronous motor generation current. And, because controlling, PWM adopts high frequency chopping control mode, make the decline that electric current can be level and smooth, effectively reduce the shake of permagnetic synchronous motor.
Claims (2)
1. a control method of slipping vehicle speed for the elevator based on permagnetic synchronous motor, is obtained after given pulse width modulating signal in short circuit by IGBT pipe at three phase full bridge circuit, opens band-type brake, opens to slip car a period of time t after band-type brake1, at time t1In, elevator central control unit by detect three phase full bridge circuit wherein arbitrarily the electric current of two-phase obtain the turning to of permagnetic synchronous motor, rotating speed v1With current effective value I1; It is characterized in that:
As current effective value I1Be less than or equal to rated current Ie1/20 o'clock, super capacitor is powered to permagnetic synchronous motor, adopts open loop V/F to control, according to time t1Car is dragged to flat bed by interior rolling direction;
As current effective value I1Be greater than rated current Ie1/20 o'clock, super capacitor, not to permagnetic synchronous motor power supply, adopts PWM to control, by Dead Time tdAdjusting, accelerate permagnetic synchronous motor real-time rotate speed vt, as permagnetic synchronous motor real-time rotate speed vtReach given range v0～veAfter, keep Dead Time tdConstant until car slips to flat bed;
Car is opened elevator door after arriving flat bed, after passenger leaves elevator, closes elevator door;
Wherein, described PWM controls and refers to, three upper IGBT pipe (T of three phase full bridge circuit1、T3、T5) switch adopt an identical driving pulse control, the lower IGBT pipe of three of three phase full bridge circuit (T2、T4、T6) switch adopt another identical driving pulse control, it is Dead Time t that all IGBT of three phase full bridge circuit manage the time of all closingd, and the upper IGBT pipe (T of three phase full bridge circuit1、T3、T5) corresponding lower IGBT pipe (T with it2、T4、T6) complementary work, at each Dead Time adjustment cycle tpIn, the real-time rotate speed v of permagnetic synchronous motortDo not reach given range v0～veTime, Dead Time tdIncrease a △ td; Time t1For 5s～10s, Dead Time tdSpan be t0～ts/2，t0For Dead Time tdInitial value, t0＝3.2us，tsFor the switch periods of three phase full bridge circuit, veFor the rated speed of permagnetic synchronous motor, v0＝0.4ve，tpFor 1s～3s, △ tdFor 0.5us～1us.
2. the control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor according to claim 1, is characterized in that: the frequency that described PWM controls is 2kHz～10kHz.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410178490.4A CN103964273B (en) | 2014-04-29 | 2014-04-29 | The control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor |
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| CN201410178490.4A CN103964273B (en) | 2014-04-29 | 2014-04-29 | The control method of slipping vehicle speed of the elevator based on permagnetic synchronous motor |
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| CN103964273B true CN103964273B (en) | 2016-05-11 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106911275B (en) * | 2015-12-22 | 2019-05-07 | 广州汽车集团股份有限公司 | Electric car method for controlling permanent magnet synchronous motor and control system |
| CN113960471A (en) * | 2021-09-30 | 2022-01-21 | 日立电梯（中国）有限公司 | Automatic debugging method for frequency converter |
| CN114920108B (en) * | 2022-06-06 | 2023-11-28 | 杭州市特种设备检测研究院(杭州市特种设备应急处置中心) | Permanent magnet synchronous motor car sliding speed control device special for elevator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1520829A1 (en) * | 2002-07-10 | 2005-04-06 | Mitsubishi Denki Kabushiki Kaisha | Controller of elevator |
| CN101682266A (en) * | 2007-06-20 | 2010-03-24 | 通力股份公司 | Power control of a transport system |
| CN101780906A (en) * | 2010-01-30 | 2010-07-21 | 宁波宏大电梯有限公司 | Self-adaptive control method of elevator emergency operation |
| CN203306867U (en) * | 2013-06-20 | 2013-11-27 | 鑫诺电梯有限公司 | Ultra-capacitor energy storage type elevator rescue device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001240335A (en) * | 2000-02-28 | 2001-09-04 | Mitsubishi Electric Corp | Operation device of elevator in service interruption |
| JP3521861B2 (en) * | 2000-10-06 | 2004-04-26 | 三菱電機株式会社 | Elevator control device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1520829A1 (en) * | 2002-07-10 | 2005-04-06 | Mitsubishi Denki Kabushiki Kaisha | Controller of elevator |
| CN101682266A (en) * | 2007-06-20 | 2010-03-24 | 通力股份公司 | Power control of a transport system |
| CN101780906A (en) * | 2010-01-30 | 2010-07-21 | 宁波宏大电梯有限公司 | Self-adaptive control method of elevator emergency operation |
| CN203306867U (en) * | 2013-06-20 | 2013-11-27 | 鑫诺电梯有限公司 | Ultra-capacitor energy storage type elevator rescue device |
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