CN104340802B - A kind of elevator anti-running driving control system and driving control method - Google Patents

Abstract

The present invention provides a kind of elevator anti-running driving control system, it is arranged in the circuit controlling elevator lifting, car judge module, rate control module, current control module and PWM output module is slipped including be sequentially connected with, also include and slip the speed and position detecting device that car judge module is connected, the current sensing means being connected with current control module, and signal monitoring device.The system that the present invention provides can be controlled from the driving controlling party of traction machine in the face of the car phenomenon of slipping of lift car.

Description

A kind of elevator anti-running driving control system and driving control method

Technical field

The present invention relates to elevator control technology field, be specifically related to a kind of elevator anti-running driving control system and drive control Method processed.

Background technology

Along with socioeconomic fast development, the quickening of Process of Urbanization Construction paces, many high buildings and large mansions are like the mushrooms after rain Emerging in large numbers so that the degree of dependence of elevator is grown with each passing day by people in daily life, elevator has become as must not in people's life The instrument that can lack.

For traction elevator, counterweight and car are suspended on the both sides of traction sheave respectively by the connection of hoist ropes, The effect of counterweight is to balance a part of car and the weight of load.Under normal circumstances, elevator drives traction sheave also by motor Relying on traction race to run up and down with the frictional force drives lift car of steel wire rope, elevator makes traction by mechanical brake after stopping Wheel stop, makes lift car and counterweight keep static by traction race and the static friction of steel wire rope.The once mechanical braking of elevator Device was lost efficacy by thunder boltes such as jams, and traction sheave is by the passive rotation due to counterweight-side and varying in weight of cage side, electricity Ladder car also will occur displacement out of control (be commonly called as slipping car), can cause the major accident of personal injury and device damage time serious.

Typically there are two kinds of methods to prevent the car that slips of lift car at present.One is protection device for installing, and once car is sent out Raw car phenomenon of slipping, protection device acts on immediately and forces car to stop.This method serves effect to a certain extent, but needs Additionally increase device on the basis of lift appliance, and protection device also needs periodic detection to keep in repair, and increases cost and wastes the time. The second is the method using compensating torque, prevents the moment of its rollback occurring slipping first calculating before car situation, once goes out Car situation of now slipping just carries out torque compensation.The change of the load that this method causes due to the change of passenger is indefinite so that it is The moment compensated may not completely be mated and be there is certain deviation, thus also the most reliable.

Summary of the invention

The technical problem to be solved in the present invention is, for the defect of existing elevator anti-running technology, from the driving of traction machine Control aspect provides a kind of elevator anti-running driving control system and drives control method.

A kind of elevator anti-running driving control system, is arranged in the circuit controlling elevator lifting, judges mould including slipping car Block, rate control module, current control module, PWM output module, monitoring device, current sensing means and speed are examined with position Survey device.Speed and position detecting device include position sensor and speed and position computation module, and position sensor is arranged on On elevator traction arbor, its outfan and speed are connected with position computation module input, and speed exports with position computation module Hold and slip car judge module input and be connected.Current sensing means includes current sensor and current calculation module, current sense Device test side is connected with three inverters fed in lift circuit, and the outfan of current sensor is defeated with current calculation module Entering end to connect, the outfan of current sensor is connected with the input of current control module.Rate control module includes that disturbance turns Square computing module, slip vehicle speed control module and normal speed control module；Wherein slip vehicle speed control module and normal speed The input of control module all with slip the outfan of car judge module and be connected, slip vehicle speed control module and normal speed control mould The outfan of block is all connected with current control module；Slip vehicle speed control module input also with perturbing torque computing module Outfan connects, and the input of perturbing torque computing module is connected with the outfan of current sensing means.Current control module is defeated Go out end to be connected with PWM output module input.Monitoring device, including CAN and host computer, position sensor and current detecting The data of device collection are transferred to host computer by CAN.

A kind of elevator anti-running drives control method, comprises the following steps:

Step 1, system initialization, including:

Set the given rotating speed ω of traction machine^*With to displacement values d^*, exciting current setting value i_d ^*=0, car exits and slips Time span t that car state leading zero speed is run^*, car normal load changes the shift value caused, the permissible value of car speed；

Step 2, current sensing means collection makees the real work electricity of the three-phase inverter in circuit as front wheel driving lift boy Stream, position sensor gathers position and the speed of current lift car, and calculating torque current value, exciting current value and traction machine turn Speed value and car position value；

Step 3, it is judged that whether lift car is in car state of slipping, the most then enter vehicle speed pattern of slipping, go to step 4；If No, then perform normal speed mode, go to step 6；

Step 4, performs to slip vehicle speed pattern, and exports the signal driving traction machine operating；

Step 5, repeats step 2 and step 3；

Step 6, performs normal speed mode, and exports the signal driving traction machine operating；

Step 7, goes to step 2.

The present invention compared with prior art, has a significant advantage that (1) present invention drives the angle controlled to provide from traction machine A kind of elevator anti-running driving control system, it is not necessary to install extra material resources protection device；(2) present invention proposes to utilize observation The perturbation load torque of device observation as input, is slipped truck position deviation according to traction machine actual speed and car and is carried out coupling control And adding that the compensation controlled quentity controlled variable of perturbing torque is to determine the setting value of torque current, it is possible to Torque-adjusting is to flat fast and effectively Weighing apparatus, it is therefore prevented that car slips car, protects the safety of passenger and elevator.

Accompanying drawing explanation

Fig. 1 is the elevator anti-running driving control system schematic diagram that the present invention proposes；

Fig. 2 is the elevator anti-running driving control system structure chart that the present invention proposes

Fig. 3 is the ANN Control structure chart slipped under vehicle speed pattern that the present invention proposes；

Fig. 4 is that the perturbation load of the perturbation load torque Front feedback control slipped under vehicle speed pattern that the present invention proposes turns Square observer；

Fig. 5 is that the rate control module of the elevator anti-running driving control system that the present invention proposes is slipping under vehicle speed pattern Control structure figure；

Fig. 6 is that the rate control module of the elevator anti-running driving control system that the present invention proposes is under normal speed mode Control structure figure；

Fig. 7 is the flow chart that the elevator anti-running that the present invention proposes drives control method.

Detailed description of the invention

Below in conjunction with Figure of description, specifically describe a kind of elevator anti-running driving control system provided by the present invention and Drive control method.

In conjunction with Fig. 1, a kind of elevator anti-running driving control system, it is arranged in the circuit controlling elevator lifting, including slipping Car judge module, rate control module, current control module speed, PWM output module, monitoring device, current sensing means and speed Degree and position detecting device.

In conjunction with Fig. 2, speed and position detecting device include position sensor and speed and position computation module, position sensing Device is arranged on elevator traction arbor, and its outfan and speed are connected with position computation module input, speed and position calculation Module outfan with slip car judge module input and be connected；Current sensing means includes current sensor and current calculation module, Current sensor test side is connected with three inverters fed in elevator point road, the outfan of current sensor and Current calculation The input of module connects, and the outfan of current sensor is connected with the input of current control module；Rate control module bag Include perturbing torque computing module, slip vehicle speed control module and normal speed control module, wherein slip vehicle speed control module and The input of normal speed control module all with slip the outfan of car judge module and be connected, slip vehicle speed control module and positive constant speed Degree control module outfan be all connected with current control module, slip vehicle speed control module input also with perturbing torque meter The outfan calculating module connects, and the input of perturbing torque computing module is connected with the outfan of current sensing means；Electric current control Molding block outfan is connected with PWM output module input；Monitoring device, including CAN and host computer, position sensor and The data of current sensing means collection are transferred to host computer by CAN.Host computer monitor in real time car physical location and Velocity information.

The controller that drives that the present invention relates to uses model to be the high-performance digital signal processor of TMS320F28335.This The traction machine that invention relates to uses permanent magnetism synchronization gear wheel free motor；The sensor that the present invention relates to has encoder and Hall element.

The signal trend of this system is:

Producing to touch after people is by call module and signals to signal acquisition module, elevator is started working operation, now position Put sensor to be transferred to slip after speed processes with position computation module by position and the speed parameter of the lift car of collection Car judge module；

The car judge module that slips will determine that after signal pass in rate control module just looked into rate control module and The control module that the car that slips is plain；When normal speed mode, normal speed control module is adjusted, and regulation result is transferred to electricity Flow control module；When slipping vehicle speed pattern, vehicle speed control module of slipping receives the real work electric current that current sensor gathers It is transferred to perturbing torque computing module and processes the signal of gained and the signal of car judge module output of slipping, and the two is adjusted The result obtained is transferred to current control module；

Current control module receives the real work electricity of the result after rate control module regulation and current sensor collection It is streamed to current calculation module and processes the signal of gained, and the result obtained after the two being adjusted is transferred to PWM output Module；

The output signal of PWM output module acts on the feeding network of elevator and drives elevator traction machine operating.

A kind of elevator anti-running drives control method, comprises the following steps:

Step 1, system initialization, including:

Set the given rotating speed ω of traction machine^*, exciting current setting value i_d ^*, to displacement values d^*, car exits and slips car shape Time span t that state leading zero speed is run^*, car normal load changes the shift value d caused_a, the permissible value v of car speed_a； Wherein, ω^*It is that the speed of service needed according to elevator is given, can be 0～150 rev/min, i_d ^*=0, t^*=take 3 seconds left sides The right side, d_aDisplacement is to be obtained by the umber of pulse in encoder each control cycle, takes each cycle 2～10 umber of pulses, v here_a =common passenger elevator speed is typically about 1.5 meter per seconds.

Step 2, current sensing means collection makees the real work electricity of the three-phase inverter in circuit as front wheel driving lift boy Stream, position sensor gathers position and the speed of current lift car, and calculating torque current value, exciting current value and traction machine turn Speed value and car actual displacement value, detailed process is:

Step 2.1, three inverter t that current sensor collects_nThe actual current in momentPass through CLARK conversion obtains t_nBiphase current under moment rest frameN refers to the index value of 3 numbers of circulation step；

Step 2.2, the biphase current under rest frameWith Capstan rotor angleCarry out PARK to convert To torque currentAnd exciting current

Step 2.3, according to car at t_nThe rotating speed of the speed calculation traction machine in momentIt is in control according to encoder The umber of pulse conversion of each cycle of operation of processing procedure sequence obtains.

Step 2.4, according to car at t_nThe position in moment obtains actual displacement valueIt is to turn according to Capstan rotor To position conversion obtain.

Step 3, it is judged that whether lift car is in car state of slipping, the most then enter vehicle speed pattern of slipping, go to step 4；If No, then perform normal speed mode, go to step 6；Judge whether lift car is in car state of slipping method particularly includes: position passes Sensor gathers position and the velocity information of current lift car, when the speed of lift car is more than the permissible value v set_aAnd sedan-chair Varying more than of railway carriage or compartment displacement sets the displacement d that normal load change causes_aTime, decide that car is in car state of slipping；Work as elevator The speed of car is not more than the change of the permissible value set and car displacement and changes, not less than setting normal load, the position caused Move, and zero-speed rate runs the retention time more than setting value t^*Time, car normally works.

Step 4, performs to slip vehicle speed pattern, and in conjunction with Fig. 5, detailed process is:

Step 4.1, calculates the given rotating speed ω of traction machine^*And t_nThe actual feedback rotating speed of moment traction machineClosed loop PI Regulated value

Step 4.2, calculate car position to displacement values d^*With t_nThe actual displacement value of moment car positionClosed loop PI regulated value

Step 4.3, calculates and slips the torque current setting value of output under vehicle speed patternDetailed process is:

Step 4.3.1, willWithCarrying out Feedback Neural Network control as input quantity, output obtains traction machine torque The setting value of electric currentA part of input quantity

Step 4.3.2, obtains t according to the real work Current calculation of three inverters_nThe electromagnetic torque in momentElectricity Magnetic torqueIt is calculated rotor velocityDuring perturbation load torque occursPerturbing torque observer is utilized to see Survey perturbation load torquePerturbation load torqueIt is compensated electric current after being multiplied by current compensation factor β

Step 4.3.3, slips the torque current setting value of output under vehicle speed patternForWithSum；

Step 4.4, by torque current setting valueWith torque currentCarry out the regulation of closed loop PI, export torque voltage

Step 4.5, by exciting current setting valueWith exciting currentCarry out the regulation of closed loop PI, export excitation voltage

Step 4.6, willWith Capstan rotor angleBiphase electricity under rest frame is obtained through IPARK conversion PressureWith

Step 4.7,WithCarrying out SVPWM conversion, update output PWM duty cycle and act on three-phase inverter, renewal is draged Draw driving electric current and then updating the rotating speed of traction machine of machine.

Step 5, repeats step 2 and step 3, and current sensing means gathers and drives three contraries in elevator operating circuit this moment Becoming the real work electric current of device, position sensor gathers position and speed, calculating torque current value, the excitation of current lift car Current value and traction machine tachometer value and car position value.When the speed of lift car is more than the permissible value v set_aAnd car position Varying more than of moving sets the displacement d that normal load change causes_aTime, decide that car is in car state of slipping；Then forward step to 4；Otherwise, car normally works, and forwards step 6 to.

Step 6, performs normal speed mode, in conjunction with Fig. 6, method particularly includes:

Step 6.1, the given rotating speed ω of traction machine^*And t_nMoment actual feedback rotating speedCarry out closed loop PI regulation obtain Torque current setting value under normal speed mode

Step 6.2, willWith torque currentCarry out the regulation of closed loop PI, export torque voltage

Step 6.3, by exciting current setting valueWith exciting currentCarry out the regulation of closed loop PI, export excitation voltage

Step 6.4, willWith Capstan rotor angleBiphase electricity under rest frame is obtained through IPARK conversion PressureWith

Step 6.5,WithCarry out SVPWM conversion, update output PWM ripple dutycycle.

Step 7, PWM acts on three inverters thus drives traction machine to operate, goes to step 2, and detailed process is: PWM ripple The dutycycle updated acts on three-phase inverter and then drives traction machine operating, and jump procedure 2, system continues the fortune of monitoring elevator Row state.

Feedback Neural Network described in step 4.3 has good modeling energy to non-linear Multiinputoutput dynamical system Power.Feedback Neural Network is considered as changing of a Feedforward BP Neural Network with local mnemon and local feedback link Enter form.Feedback Neural Network add associated layers as dynamic memory link, its input layer to hidden layer node, hidden layer Node all has adjustable weights between output layer node, associated layers node to hidden layer node.The present invention slips car In velocity mode, the speed of two controlled quentity controlled variable traction machines and car slip truck position deviation, have the strongest coupling, application The control method of Feedback Neural Network can reflect that system exports time dependent dynamic process, such that it is able to accurate more in time The car that really slips car is adjusted so that it is fast quick-recovery is normal.In conjunction with Fig. 3, traction machine speed and car position are carried out respectively Output after PI regulation isWithWithIt is two input quantities of Feedback Neural Network,WithCan use Vector u represents, therefore u is the input of Feedback Neural Network.(z, u) represents associated layers function to expression formula f, and wherein z is that state is vowed Amount.Expression formulaRepresent hidden layer function, be output as slipping the traction machine torque current setting value of output under vehicle speed pattern A partAbout the content of Feedback Neural Network see " Pan Changbo, Li Hongxing " Feedback Neural Network is used for multi input Output Modelling of Dynamic System ", be published in " computer utility ", in June, 2009, volume 29 ".

The elevator that the present invention relates to is the vertical lifting equipment for transport, when car situation occurs slipping in elevator, due to respectively Planting interference makes its load torque be continually changing, and therefore, now the perturbing torque of elevator traction machine control system is unknown. In the case of load torque the unknown or being interfered, traditional PI D can not regulate rapidly control input, but by the mistake of rotating speed Difference feedback is adjusted, and so causes controlling poor effect.But in system control process, only by output feedback the most not Can reach intended and control target, the most also will be by feedback of status.By the feedback information of state variable, can be the most right Control system is corrected, the impact of suppression external disturbance.But, the value of some state variable cannot be surveyed by sensor Amount, therefore can be estimated the value of state variable by state observer.In order to improve traction when car occurs slipping in car The systematic function that machine drags makes its fast quick-recovery normal, uses method based on perturbing torque observation, pass through in step 4.3.2 Perturbing torque feedforward compensation, can be with the disturbance suppression impact on system.

In elevator traction machine rate control module, perturbation load torque is difficult to directly be measured by sensor.Cause This, feed back to moment information controller by perturbation load torque observer, thus realize the suppression to torque disturbance.This In bright, it is contemplated that traction machine rotating speed and load torque exist necessary connection, also to rotating speed while realizing load torque observation Observed.Real work Current calculation according to three inverters obtains t_nThe electromagnetic torque in momentElectromagnetic torque It is calculated rotor velocityDuring perturbation load torque occursThe observation disturbance of perturbing torque observer is utilized to bear Set torquePerturbation load torqueIt is compensated electric current after being multiplied by current compensation factor β

Owing to having observed perturbation load torque and traction machine rotating speed simultaneously, therefore by traction machine rotating speedWith TL as state Variable, i.e. $\hat{x}\left(k\right)={\left[\begin{array}{cc}{\widehat{\mathrm{\ω}}}_{t_n}\left(k\right)& {\hat{T}}_L^{t_n}\end{array}\right]}^T.$ Input quantity and output are respectively electromagnetic torqueWith traction machine rotating speedI.e.Thus the expression formula that can obtain state observer is

$\left[\begin{array}{c}{\widehat{\mathrm{\ω}}}_{t_n}(k+1)\\ {\hat{T}}_L^{t_n}(k+1)\end{array}\right]=A\left[\begin{array}{c}{\widehat{\mathrm{\ω}}}_{t_n}\left(k\right)\\ {\hat{T}}_L^{t_n}\left(k\right)\end{array}\right]+{\mathrm{BT}}_e^{t_n}\left(k\right)-H({\mathrm{\ω}}_{t_n}\left(k\right)-C\left[\begin{array}{c}{\widehat{\mathrm{\ω}}}_{t_n}\left(k\right)\\ {\hat{T}}_L^{t_n}\left(k\right)\end{array}\right])$

In formula, 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 is anti- Feedforward gain matrix $H=\left[\begin{array}{c}{h}_1\\ h_2\end{array}\right].$ Wherein, J is the rotary inertia of traction machine system, and k is frictional damping coefficient, T_sFor the sampling interval, For discrete state observer, its sample frequency is consistent with speed ring frequency.Feedback of status gain matrix coefficient h₁And h₂By shape The characteristic equation configuration of state error obtains.The content of state observer sees " " lineary system theory " that Zheng great Zhong writes (1990) one books ".

The perturbation load torque T that observation is obtained_LElectric current i it is compensated after being multiplied by current compensation factor β_comp, as compensation Amount joins the input of current controller, it is achieved the compensated in advance of perturbing torque controls.Select suitable penalty coefficient β, just Can reach to reduce transient speed static difference with compensating disturbance load torque, shorten the purpose of the recovery time after disturbance.When compensating system When number selects just right, static difference will be made to disappear, at this moment be referred to as full compensation, the complete critical penalty coefficient compensated is β₀.As β ＜ β₀, referred to as undercompensation；As β ＞ β₀, referred to as overcompensation.Critical penalty coefficientβ value is as far as possible equal to β₀, more connect Near the best, wherein, p is traction machine number of pole-pairs, ψ_fFor permanent magnet flux linkage.

Claims (6)

1. an elevator anti-running driving control system, is arranged in the circuit controlling elevator lifting, it is characterised in that include slipping Car judge module, rate control module, current control module, PWM output module, monitoring device, current sensing means and speed With position detecting device；

Speed and position detecting device include position sensor and speed and position computation module, and position sensor is arranged on elevator In machine shaft, its outfan and speed are connected with position computation module input, speed and position computation module outfan with The car judge module input that slips connects；

Current sensing means includes current sensor and current calculation module, current sensor test side with feed in lift circuit Three-phase inverter be connected, the outfan of current sensor is connected with the input of current calculation module, current sensor defeated Go out end to be connected with the input of current control module；

Rate control module includes perturbing torque computing module, slips vehicle speed control module and normal speed control module；Wherein Slip vehicle speed control module and normal speed control module input all with slip the outfan of car judge module and be connected, slip speed The outfan of degree control module and normal speed control module is all connected with current control module；Slip the defeated of vehicle speed control module Enter the end outfan also with perturbing torque computing module to be connected, the input of perturbing torque computing module and current sensing means Outfan connects；

Current control module outfan is connected with PWM output module input；

Monitoring device, the data gathered including CAN and host computer, position sensor and current sensing means are total by CAN Line is transferred to host computer；Wherein

Position and the speed parameter of the lift car gathered are passed after speed processes with position computation module by position sensor It is defeated by and slips car judge module；

The car judge module that slips will determine that after the signal normal speed control module that passes in rate control module and speed of slipping Degree control module；When normal speed mode, normal speed control module is adjusted, and regulation result is transferred to electric current control Module；When slipping vehicle speed pattern, vehicle speed control module of slipping receives the real work electric current of current sensor collection and is transferred to Perturbing torque computing module processes the signal of gained and the signal of car judge module output of slipping, and be adjusted the two obtaining Result is transferred to current control module；

Current control module receives the real work electric current biography of the result after rate control module regulation and current sensor collection It is passed to current calculation module and processes the signal of gained, and the result obtained after the two being adjusted is transferred to PWM output module；

The output signal of PWM output module acts on the feeding network of elevator and drives elevator traction machine operating.

2. an elevator anti-running drives control method, it is characterised in that comprise the following steps:

Step 1, system initialization, including:

Set the given rotating speed ω of traction machine^*, exciting current setting value i_d ^*, to displacement values d^*, the time of car zero-speed rate operation Length t^*, car normal load changes the shift value caused, the permissible value of car speed；

Step 2, current sensing means collection makees the real work electric current of the three-phase inverter in circuit, position as front wheel driving lift boy Put position and the speed of the current lift car of sensor acquisition, calculating torque current value, exciting current value and traction machine tachometer value With car position value；

Step 3, it is judged that whether lift car is in car state of slipping, the most then enter vehicle speed pattern of slipping, go to step 4；If it is not, Then perform normal speed mode, go to step 6；

Step 4, performs to slip vehicle speed pattern, and exports the signal driving traction machine operating；

Step 5, repeats step 2 and step 3；

Step 6, performs normal speed mode, and exports the signal driving traction machine operating；

Step 7, goes to step 2.

Elevator anti-running the most according to claim 2 drives control method, it is characterised in that step 2 calculating torque electric current Value, exciting current value and traction machine tachometer value and car actual displacement valueDetailed process be:

Step 2.1, three inverter t that current sensor collects_nThe actual current in momentThrough CLARK Conversion obtains t_nBiphase current under moment rest frameWithN refers to cycle-index；

Step 2.2, the biphase current under rest frameWith Capstan rotor angleCarry out PARK conversion and obtain torque Electric currentAnd exciting current

Step 2.3, according to car at t_nThe rotating speed of the speed calculation traction machine in moment

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

Elevator anti-running the most according to claim 2 drives control method, it is characterised in that step 3 judges lift car Whether it is in car state of slipping method particularly includes: position sensor gathers position and the velocity information of current lift car, works as electricity The speed of ladder car sets, more than the permissible value set and varying more than of car displacement, the displacement that normal load change causes Time, decide that car is in car state of slipping；When the speed of lift car is not more than the permissible value and the change of car displacement set Change not less than setting the displacement that normal load change causes, and zero-speed rate runs the retention time more than setting value t^*Time, car is just Often work.

Elevator anti-running the most according to claim 2 drives control method, it is characterised in that step 4 performs to slip vehicle speed The detailed process of pattern is:

Step 4.1, calculates the given rotating speed ω of traction machine^*And t_nThe actual feedback rotating speed of moment traction machineClosed loop PI regulation Value

Step 4.2, calculate car position to displacement values d^*With t_nThe actual displacement value of moment car positionClosed loop PI adjust Joint value

Step 4.3, calculates and slips the torque current setting value of output under vehicle speed patternDetailed process is:

Step 4.3.1, willWithCarrying out Feedback Neural Network control as input quantity, output obtains traction machine torque current Setting valueA part of input quantity

Step 4.3.2, obtains t according to the real work Current calculation of three inverters_nThe electromagnetic torque in momentElectromagnetic torqueIt is calculated rotor velocityDuring perturbation load torque occursPerturbing torque observer is utilized to observe disturbance Load torquePerturbation load torqueIt is compensated electric current after being multiplied by current compensation factor β

Step 4.3.3, slips the torque current setting value of output under vehicle speed patternForWithSum；

Step 4.4, by torque current setting valueWith torque currentCarry out the regulation of closed loop PI, export torque voltage

Step 4.5, by exciting current setting valueWith exciting currentCarry out the regulation of closed loop PI, export excitation voltage

Step 4.6, will With Capstan rotor angleTwo phase voltage under rest frame is obtained through IPARK conversionWith

Step 4.7,WithCarry out SVPWM conversion, update output PWM duty cycle and act on three-phase inverter and then drive traction Machine operates.

Elevator anti-running the most according to claim 2 drives control method, it is characterised in that step 6 performs normal speed Pattern method particularly includes:

Step 6.1, the given rotating speed ω of traction machine^*And t_nMoment actual feedback rotating speedThe closed loop PI regulation that carries out obtain normal Torque current setting value under velocity mode

Step 6.2, willWith torque currentCarry out the regulation of closed loop PI, export torque voltage

Step 6.3, by exciting current setting valueWith exciting currentCarry out the regulation of closed loop PI, export excitation voltage

Step 6.4, willWith Capstan rotor angleTwo phase voltage under rest frame is obtained through IPARK conversionWith

Step 6.5,WithCarry out SVPWM conversion, update output PWM duty cycle and act on three-phase inverter and then drive traction Machine operates.