CN104340802A - Drive control system and drive control method for preventing car rolling of elevator - Google Patents

Abstract

The invention provides an elevator anti-rolling car drive control system, which is arranged in the circuit for controlling the lifting of the elevator, including a car rolling judging module, a speed control module, a current control module and a PWM output module connected in sequence, and also includes a car rolling judging module The connected speed and position detection device, the current detection device connected with the current control module, and the signal monitoring device. The system provided by the invention can control the sliding phenomenon of the elevator car from the driving control aspect of the traction machine.

Description

An elevator anti-rolling car drive control system and drive control method

technical field

The invention relates to the technical field of elevator control, in particular to an elevator anti-rolling drive control system and a drive control method.

Background technique

With the rapid development of social economy and the acceleration of urbanization, many high-rise buildings have sprung up like mushrooms, which makes people rely more and more on elevators in daily life. Elevators have become an indispensable tool in people's lives.

For the traction elevator, the counterweight device and the car are suspended on both sides of the traction sheave through the connection of the traction rope, and the function of the counterweight is to balance the weight of a part of the car and the load. Under normal circumstances, the elevator drives the traction sheave through the motor and relies on the friction between the traction sheave groove and the wire rope to drive the elevator car to run up and down. After the elevator stops, the mechanical brake stops the traction sheave. Static friction keeps the elevator car and counterweight stationary. Once the mechanical brake of the elevator fails due to unexpected events such as jamming, the traction sheave will passively rotate due to the weight difference between the counterweight side and the car side, and the elevator car will also undergo uncontrolled displacement (commonly known as slipping). Major accidents resulting in personal injury and equipment damage.

Generally have two kinds of methods to prevent the slipping car of elevator car at present. One is to install a protection device. Once the car slips, the protection device acts immediately to force the car to stop. This method has played a role to a certain extent, but additional devices need to be added on the basis of the elevator device, and the protection device needs to be checked and maintained regularly, which increases the cost and wastes time. The second is to use the method of compensating torque. Before the car slips, the torque to prevent it from rolling back is calculated, and once the car slips, torque compensation is performed. In this method, the change of the load caused by the change of the passenger is uncertain, so the torque compensated may not be fully matched and there is a certain deviation, so it is not completely reliable.

Contents of the invention

The technical problem to be solved by the present invention is to provide an elevator anti-rolling drive control system and a drive control method from the drive control aspect of the traction machine in view of the defects of the existing elevator anti-rolling technology.

An elevator anti-rolling drive control system, which is set in a circuit for controlling the lifting of an elevator, includes a rolling judgment module, a speed control module, a current control module, a PWM output module, a monitoring device, a current detection device, and a speed and position detection device. The speed and position detection device includes a position sensor and a speed and position calculation module. The position sensor is arranged on the shaft of the elevator traction machine, and its output terminal is connected to the input terminal of the speed and position calculation module. Module input connection. The current detection device includes a current sensor and a current calculation module. The detection end of the current sensor is connected to the three-phase inverter feeding the elevator circuit, the output end of the current sensor is connected to the input end of the current calculation module, and the output end of the current sensor is connected to the current Input connection of the control module. The speed control module includes a disturbance torque calculation module, a rolling speed control module and a normal speed control module; wherein the input terminals of the rolling speed control module and the normal speed control module are connected with the output terminals of the rolling judging module, and the rolling speed control module The output terminals of the module and the normal speed control module are connected with the current control module; the input terminal of the sliding speed control module is also connected with the output terminal of the disturbance torque calculation module, and the input terminal of the disturbance torque calculation module is connected with the output of the current detection device end connection. The output terminal of the current control module is connected with the input terminal of the PWM output module. The monitoring device includes a CAN bus and a host computer, and the data collected by the position sensor and the current detection device is transmitted to the host computer through the CAN bus.

An elevator anti-rolling car drive control method, comprising the following steps:

Step 1, system initialization, including:

Set the given speed ω ^* and given displacement value d ^* of the traction machine, the setting value of the excitation current i _d ^* = 0, the time length t ^* of the car running at zero speed before it exits the slipping state, and the normal load of the car The displacement value caused by the change, the allowable value of the car speed;

Step 2, the current detection device collects the actual working current of the three-phase inverter in the current driving elevator working circuit, the position sensor collects the current position and speed of the elevator car, and calculates the torque current value, excitation current value and traction machine speed value and car position value;

Step 3, judge whether the elevator car is in the rolling state, if so, enter the rolling speed mode, go to step 4; if not, execute the normal speed mode, go to step 6;

Step 4, execute the slipping speed mode, and output a signal to drive the traction machine to run;

Step 5, repeat steps 2 and 3;

Step 6, execute the normal speed mode, and output a signal to drive the traction machine to run;

Step 7, go to step 2.

Compared with the prior art, the present invention has significant advantages: (1) The present invention provides an elevator anti-rolling car drive control system from the perspective of traction machine drive control, without installing additional material protection devices; (2) the present invention The invention proposes to use the disturbance load torque observed by the observer as an input, to carry out coupling control according to the actual speed of the traction machine and the position deviation of the car slipping, and to add the compensation control amount of the disturbance torque to determine the set value of the torque current. It can quickly and effectively adjust the torque to balance, prevent the car from slipping, and protect the safety of passengers and elevators.

Description of drawings

Fig. 1 is the schematic diagram of the elevator anti-rolling car driving control system proposed by the present invention;

Fig. 2 is the structural diagram of the elevator anti-rolling car drive control system proposed by the present invention

Fig. 3 is the neural network control structure diagram under the rolling speed mode that the present invention proposes;

Fig. 4 is the disturbance load torque observer of the disturbance load torque feed-forward compensation control under the rolling speed mode proposed by the present invention;

Fig. 5 is the control structure diagram of the speed control module of the elevator anti-rolling drive control system proposed by the present invention under the rolling speed mode;

Fig. 6 is the control structure diagram of the speed control module of the elevator anti-rolling drive control system proposed by the present invention under the normal speed mode;

Fig. 7 is a flow chart of the elevator anti-rolling driving control method proposed by the present invention.

Detailed ways

In the following, an elevator anti-rolling car drive control system and drive control method provided by the present invention will be described in detail in conjunction with the accompanying drawings.

In conjunction with Figure 1, an elevator anti-rolling car drive control system is set in the circuit for controlling the lift, including a car rolling judgment module, a speed control module, a current control module speed, a PWM output module, a monitoring device, a current detection device and a speed control module. with position detection device.

Referring to Figure 2, the speed and position detection device includes a position sensor and a speed and position calculation module. The position sensor is arranged on the shaft of the elevator traction machine, and its output terminal is connected to the input terminal of the speed and position calculation module, and the output terminal of the speed and position calculation module It is connected with the input end of the car slip judgment module; the current detection device includes a current sensor and a current calculation module. The output terminal of the current sensor is connected to the input terminal of the current control module; the speed control module includes a disturbance torque calculation module, a rolling speed control module and a normal speed control module, wherein the rolling speed control module and the normal speed control module The input terminals are all connected to the output terminals of the rolling car judgment module, the output terminals of the rolling car speed control module and the normal speed control module are connected to the current control module, and the input terminals of the rolling car speed control module are also connected to the output of the disturbance torque calculation module The input end of the disturbance torque calculation module is connected to the output end of the current detection device; the output end of the current control module is connected to the input end of the PWM output module; the monitoring device includes CAN bus and host computer, position sensor and current detection device to collect The data is transmitted to the host computer through the CAN bus. The upper computer monitors the actual position and speed information of the car in real time.

The drive controller involved in the present invention uses a high-performance digital signal processor whose model is TMS320F28335. The traction machine involved in the invention uses a permanent magnet synchronous gearless motor; the sensor involved in the invention includes an encoder and a Hall element.

The signal direction of the system is:

When a person presses the elevator call module, a trigger signal is generated to the signal acquisition module, and the elevator starts to work. At this time, the position sensor transmits the collected elevator car position and speed parameters to the speed and position calculation module and then transmits them to the car slip judgment module. ;

The vehicle slipping judging module transmits the judged signal to the speed control module and the control module of the speed control module; in the normal speed mode, the normal speed control module adjusts and transmits the adjustment result to the current control module. module; in the rolling speed mode, the rolling speed control module receives the actual working current collected by the current sensor and transmits it to the signal processed by the disturbance torque calculation module and the signal output by the rolling judging module, and adjusts the two. The result is transmitted to the current control module;

The current control module receives the adjusted result of the speed control module and the actual working current collected by the current sensor, transmits the processed signal to the current calculation module, and transmits the adjusted result of the two to the PWM output module;

The output signal of the PWM output module acts on the feed network of the elevator to drive the elevator traction machine to run.

An elevator anti-rolling car drive control method, comprising the following steps:

Step 1, system initialization, including:

Set the given speed ω ^* of the traction machine, the set value of the excitation current i _d ^* , the given displacement value d ^* , the time length t ^* of the car running at zero speed before it exits the slipping state, and the normal load change of the car. The displacement value d _a of the car, the allowable value v _a of the car speed; among them, ω ^* is given according to the running speed required by the elevator, which can be 0 to 150 rpm, _id ^* = 0, t ^* = 3 Seconds, d _a displacement is obtained by the number of pulses in each control cycle of the encoder, here we take 2-10 pulses in each cycle, v _a = the speed of ordinary passenger elevators is generally about 1.5 m/s.

Step 2, the current detection device collects the actual working current of the three-phase inverter in the current driving elevator working circuit, the position sensor collects the current position and speed of the elevator car, and calculates the torque current value, excitation current value and traction machine speed value and the actual displacement value of the car, the specific process is:

Step 2.1, the current sensor collects the actual current of the three inverters at time t _n After CLARK transformation, the two-phase current in the stationary coordinate system at time t _n is obtained n refers to the index value of the cycle step 3 times;

Step 2.2, two-phase current in the stationary coordinate system and traction machine rotor angle Perform PARK transformation to obtain torque current and excitation current

Step 2.3, calculate the speed of the traction machine according to the speed of the car at time t _n It is converted according to the number of pulses of the encoder in each operating cycle of the control program.

Step 2.4, get the actual displacement value according to the position of the car at time t _n It is obtained by converting the position of the rotor of the traction machine.

Step 3, judge whether the elevator car is in the state of rolling, if so, enter the speed mode of rolling, go to step 4; if not, execute the normal speed mode, go to step 6; determine whether the car is in the state of rolling The method is: the position sensor collects the current position and speed information of the elevator car. When the speed of the elevator car is greater than the set allowable value v _a and the change of the car displacement exceeds the displacement d _a caused by the set normal load change, the Determine that the car is in a slipping state; when the speed of the elevator car is not greater than the set allowable value and the change of the car displacement does not exceed the displacement caused by the set normal load change, and the zero-speed running time is greater than the set value t ^* , the car works normally.

Step 4, execute the rolling speed mode, combined with Figure 5, the specific process is:

Step 4.1, calculate the given speed ω ^* of the traction machine and the actual feedback speed of the traction machine at time t _n The closed-loop PI regulation value of

Step 4.2, calculate the given displacement value d ^* of the car position and the actual displacement value of the car position at time t _n The closed-loop PI regulation value of

Step 4.3, calculate the output torque current setting value in the slipping speed mode The specific process is:

Step 4.3.1, will and Feedback neural network control is performed as an input, and the output is the set value of the torque current of the traction machine part of the input

Step 4.3.2, calculate the electromagnetic torque at time t _n according to the actual working current of the three inverters Electromagnetic torque Calculate the angular velocity of the rotor A disturbance load torque occurs during the Observing Disturbance Load Torque Using Disturbance Torque Observer Disturbance load torque The compensation current is obtained after multiplying by the current compensation coefficient β

Step 4.3.3, output torque current setting value in slipping speed mode for and Sum;

Step 4.4, set the torque current setting value with torque current Perform closed-loop PI regulation, output torque voltage

Step 4.5, set the field current setting value and excitation current Perform closed-loop PI regulation, output excitation voltage

Step 4.6, will and traction machine rotor angle The two-phase voltage in the static coordinate system is obtained by IPARK transformation and

Step 4.7, and Perform SVPWM conversion, update the output PWM duty cycle to act on the three-phase inverter, update the driving current of the traction machine and then update the speed of the traction machine.

Step 5, repeat steps 2 and 3, the current detection device collects the actual working current of the three-phase inverter driving the elevator working circuit at the moment, the position sensor collects the current position and speed of the elevator car, calculates the torque current value, excitation Current value, motor speed value and car position value. When the speed of the elevator car is greater than the set allowable value v _a and the change of the car displacement exceeds the displacement d _a caused by the set normal load change, it is determined that the car is in a slipping state; then go to step 4; otherwise, The car works normally, go to step 6.

Step 6, execute the normal speed mode, combined with Figure 6, the specific method is:

Step 6.1, the given speed ω ^* of the traction machine and the actual feedback speed at time t _n The closed-loop PI adjustment is performed to obtain the torque current setting value in normal speed mode

Step 6.2, will with torque current Perform closed-loop PI regulation, output torque voltage

Step 6.3, set the field current setting value and excitation current Perform closed-loop PI regulation, output excitation voltage

Step 6.4, will and traction machine rotor angle The two-phase voltage in the static coordinate system is obtained by IPARK transformation and

Step 6.5, and Carry out SVPWM conversion and update the duty cycle of the output PWM wave.

Step 7, PWM acts on the three-phase inverter to drive the traction machine to run, go to step 2, the specific process is: the duty ratio of the PWM wave update acts on the three-phase inverter to drive the traction machine to run, skip to the step 2. The system continues to monitor the running status of the elevator.

The feedback neural network described in step 4.3 has a good modeling ability for nonlinear multiple-input-output dynamic systems. Feedback neural network can be regarded as an improved form of feedforward BP neural network with local memory units and local feedback connections. The feedback neural network adds the association layer as a dynamic memory link, and its input layer nodes to hidden layer nodes, hidden layer nodes to output layer nodes, and association layer nodes to hidden layer nodes all have adjustable weights. The two control quantities in the rolling speed mode of the present invention——the speed of the traction machine and the position deviation of the car rolling, have strong coupling, and the control method using the feedback neural network can reflect the change of the system output with time. Dynamic process, so that the car slip can be adjusted more timely and accurately, so that it can quickly return to normal. Combined with Figure 3, the output after PI adjustment of the traction machine speed and car position is and and are the two input quantities of the feedback neural network, and It can be represented by vector u, so u is the input of the feedback neural network. The expression f(z,u) represents the association layer function, where z is the state vector. expression Represents the hidden layer function, and the output is the torque current setting value of the traction machine output in the slipping speed mode a part of For the content of feedback neural network, please refer to "Pan Changbo and Li Hongxing's "Feedback Neural Network for Multiple Input and Output Dynamic System Modeling", published in "Computer Applications", June 2009, Volume 29".

The elevator involved in the present invention is a vertical lifting device used for transportation. When the elevator slips, the load torque is constantly changing due to various disturbances. Therefore, at this time, the disturbance torque of the elevator traction machine control system is unknown. When the load torque is unknown or disturbed, the traditional PID cannot adjust the control input quickly, but adjusts it through the error feedback of the speed, which leads to poor control effect. However, in the process of system control, only using output feedback usually cannot achieve the expected control goal, so state feedback is also used. Through the feedback information of the state variables, the control system can be better calibrated and the influence of external disturbances can be suppressed. However, the values of some state variables cannot be measured by sensors, so the values of state variables can be estimated by state observers. In order to improve the system performance of the traction machine and make it return to normal quickly when the car slips, the method based on disturbance torque observation is adopted in step 4.3.2, and the disturbance to system impact.

In the elevator traction machine speed control module, the disturbance load torque is difficult to be directly measured by sensors. Therefore, the torque information is fed back to the controller through the disturbance load torque observer, so as to suppress the torque disturbance. In the present invention, considering that there is an inevitable connection between the rotational speed of the traction machine and the load torque, the rotational speed is also observed while realizing the observation of the load torque. Calculate the electromagnetic torque at time t _n according to the actual working current of the three-phase inverter Electromagnetic torque Calculate the angular velocity of the rotor A disturbance load torque occurs during the Observing Disturbance Load Torque Using Disturbance Torque Observer Disturbance load torque The compensation current is obtained after multiplying by the current compensation coefficient β

Since the disturbance load torque and the speed of the traction machine are observed at the same time, the speed of the traction machine and TL as state variables, i.e. $\hat{x}\left(k\right)={\left[\begin{array}{cc}{\widehat{\mathrm{\ω}}}_{t_{\mathrm{no}}}\left(k\right)& {\hat{T}}_L^{t_{\mathrm{no}}}\end{array}\right]}^T.$ The input and output are the electromagnetic torque and tractor speed Right now Thus, the expression of the state observer can be obtained as

$\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}^{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>\end{array}\right]<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; A</span>}\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}^{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>\end{array}\right]<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; BT</span>}}_{\mathrm{<span\; class="notranslate">\; e</span>}}^{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; h</span>}<span\; class="notranslate">\; (</span>{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}_{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; C</span>}\left[\begin{array}{c}{\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; \&omega;</span>}}}_{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>\\ {\stackrel{<span\; class="notranslate">\; ^</span>}{\mathrm{<span\; class="notranslate">\; T</span>}}}_{\mathrm{<span\; class="notranslate">\; L</span>}}^{{\mathrm{<span\; class="notranslate">\; t</span>}}_{\mathrm{<span\; class="notranslate">\; no</span>}}}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; k</span>}<span\; class="notranslate">\; )</span>\end{array}\right]<span\; class="notranslate">\; )</span>$

In the formula, the state matrix $A=\left[\begin{array}{cc}1-\frac{{\mathrm{kT}}_S}{J}& -\frac{T_S}{J}\\ 0& 1\end{array}\right],$ input matrix $B=\left[\begin{array}{c}\frac{J_S}{J}\\ 0\end{array}\right],$ Output matrix C=[1 0], state feedback gain matrix $h=\left[\begin{array}{c}{h}_1\\ h_2\end{array}\right].$ Among them, J is the moment of inertia of the traction machine system, k is the frictional damping coefficient, and T _s is the sampling interval. For the discrete state observer, its sampling frequency is consistent with the speed loop frequency. The state feedback gain matrix coefficients h ₁ and h ₂ are obtained by configuring the characteristic equation of the state error. The content of the state observer can be found in "Linear System Theory (1990)" written by Zheng Dazhong.

The observed disturbance load torque T _L is multiplied by the current compensation coefficient β to obtain the compensation current i _comp , which is added to the input terminal of the current controller as a compensation amount to realize the advance compensation control of the disturbance torque. By selecting an appropriate compensation coefficient β, the disturbance load torque can be compensated, and the purpose of reducing the instantaneous static speed difference and shortening the recovery time after the disturbance can be achieved. When the compensation coefficient is selected just right, the static error will disappear, which is called full compensation, and the critical compensation coefficient of full compensation is β ₀ . When β<β ₀ , it is called undercompensation; when β>β ₀ , it is called overcompensation. critical compensation coefficient The value of β should be as equal to β ₀ as possible, the closer the better, where p is the number of pole pairs of the traction machine, and ψ _f is the flux linkage of the permanent magnet.

Claims (7)

1. an elevator anti-running driving control system, be arranged in the circuit controlling elevator lifting, it is characterized in that, comprise and slip car judge module, rate control module, current control module speed, PWM output module, monitoring device, current sensing means and speed and position detecting device;

Speed and position detecting device comprise position transduser and speed and position computation module, position transduser is arranged on elevator traction arbor, its mouth is connected with position computation module input end with speed, speed and position computation module mouth with slip car judge module input end and be connected;

Current sensing means comprises current sensor and current calculation module, current sensor test side is connected with the three-phase inverter of feed in lift circuit, the mouth of current sensor is connected with the input end of current calculation module, and the mouth of current sensor is connected with the input end of current control module;

Rate control module comprises perturbing torque computing module, slip vehicle speed control module and normal speed control module; Wherein slip vehicle speed control module and normal speed control module input end all with slip the mouth of car judge module and be connected, vehicle speed control module of slipping all is connected with current control module with the mouth of normal speed control module; The input end of vehicle speed control module of slipping also is connected with the mouth of perturbing torque computing module, and the input end of perturbing torque computing module is connected with the mouth of current sensing means;

Current control module mouth is connected with PWM output module input end;

Monitoring device, comprises CAN and upper computer, and the data of position transduser and current sensing means collection are transferred to upper computer by CAN.

2. elevator anti-running driving control system according to claim 1, is characterized in that,

The position of the lift car of collection and speed parameter are transferred to and slip car judge module by position transduser after speed and position computation module process;

Slip car judge module by the signal transmission after judgement to the normal speed control module in rate control module and vehicle speed control module of slipping; When normal speed mode, normal speed control module regulates, and adjustment result is transferred to current control module; When slipping vehicle speed pattern, the signal that the real work current delivery of slipping the collection of vehicle speed control module received current sensor exports to signal and the car judge module that slips of perturbing torque computing module process gained, and is undertaken the two regulating the result obtained to be transferred to current control module;

The real work current delivery that result after current control module inbound pacing control module regulates and current sensor gather is to the signal of current calculation module process gained, and the result obtained after the two being regulated is transferred to PWM output module;

The output signal of PWM output module acts on the feeding network driving elevator traction machine running of elevator.

3. an elevator anti-running drived control method, is characterized in that, comprise the following steps:

Step 1, system initialization, comprising:

The given rotating speed ω of setting towing machine ^*, exciting current setting value i _d ^*, to displacement values d ^*, the time span t that car zero-speed rate is run ^*, car normal load changes the shift value caused, the permissible value of car speed;

Step 2, the real work electric current that before driving lift boy makes the three-phase inverter in circuit is worked as in current sensing means collection, position transduser gathers position and the speed of current lift car, calculating torque current value, exciting current value and towing machine tachometer value and car position value;

Step 3, judges whether lift car is in car state of slipping, if so, then enters vehicle speed pattern of slipping, go to step 4; If not, then perform normal speed mode, go to step 6;

Step 4, performs vehicle speed pattern of slipping, and exports the signal driving towing machine running;

Step 5, repeats step 2 and step 3;

Step 6, performs normal speed mode, and exports the signal driving towing machine running;

Step 7, goes to step 2.

4. elevator anti-running drived control method according to claim 3, is characterized in that, step 2 calculating torque current value, exciting current value and towing machine tachometer value and car actual displacement value detailed process be:

Step 2.1, three inverter t that current sensor collects _nthe actual current in moment t is obtained through CLARK conversion _nbiphase current under moment rest frame with n refers to cycle number;

Step 2.2, the biphase current under rest frame with Capstan rotor angle carry out PARK conversion and obtain torque current and exciting current

Step 2.3, according to car at t _nthe speed in moment calculates the rotating speed of towing machine

Step 2.4, according to car at t _nthe position in moment obtains actual displacement value

5. elevator anti-running drived control method according to claim 3, it is characterized in that, step 3 judges whether lift car is in and slips the concrete grammar of car state and be: position transduser gathers position and the velocity information of current lift car, when the speed of lift car be greater than the permissible value of setting and the change of car displacement exceed setting normal load change the displacement caused time, just judgement car is in car state of slipping; When the speed of lift car is not more than the permissible value of setting and the change of car displacement does not exceed setting normal load change the displacement caused, and the zero-speed rate operation holding time is greater than setting value t ^*time, car normally works.

6. elevator anti-running drived control method according to claim 3, is characterized in that, step 4 performs slips the detailed process of vehicle speed pattern and be:

Step 4.1, calculates the given rotating speed ω of towing machine ^*and t _nthe actual feedback rotating speed of moment towing machine closed loop PI regulated value

Step 4.2, calculate car position give displacement values d ^*with t _nthe actual displacement value of moment car position closed loop PI regulated value

Step 4.3, calculates the torque current setting value of slipping and exporting under vehicle speed pattern detailed process is:

Step 4.3.1, will with carry out Feedback Neural Network control as input, export the setting value obtaining towing machine torque current a part of input

Step 4.3.2, the real work Current calculation according to three inverters obtains t _nthe electromagnetic torque in moment electromagnetic torque calculate rotor velocity process in there is perturbation load torque perturbing torque observer is utilized to observe perturbation load torque perturbation load torque electric current is compensated after being multiplied by current compensation factor β

Step 4.3.3, slips the torque current setting value exported under vehicle speed pattern for with sum;

Step 4.4, by torque current setting value with torque current carry out closed loop PI adjustment, Driving Torque voltage

Step 4.5, by exciting current setting value i _d ^*with exciting current carry out closed loop PI adjustment, export field voltage

Step 4.6, will with Capstan rotor angle two phase voltages under IPARK conversion obtains rest frame with

Step 4.7, with carry out SVPWM conversion, upgrade output PWM dutycycle and act on three-phase inverter and then drive towing machine running.

7. elevator anti-running drived control method according to claim 3, it is characterized in that, the concrete grammar that step 6 performs normal speed mode is:

Step 6.1, the given rotating speed ω of towing machine ^*and t _nmoment actual feedback rotating speed the closed loop PI that carries out regulate the torque current setting value obtained under normal speed mode

Step 6.2, will with torque current carry out closed loop PI adjustment, Driving Torque voltage

Step 6.3, by exciting current setting value i _d ^*with exciting current carry out closed loop PI adjustment, export field voltage

Step 6.4, will with Capstan rotor angle two phase voltages under IPARK conversion obtains rest frame with

Step 6.5, with carry out SVPWM conversion, upgrade output PWM dutycycle and act on three-phase inverter and then drive towing machine running.