CN106006250A - Control method for elevator energy-saving device - Google Patents
Control method for elevator energy-saving device Download PDFInfo
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- CN106006250A CN106006250A CN201510130335.XA CN201510130335A CN106006250A CN 106006250 A CN106006250 A CN 106006250A CN 201510130335 A CN201510130335 A CN 201510130335A CN 106006250 A CN106006250 A CN 106006250A
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Abstract
The invention discloses a control method for an elevator energy-saving device. A charging and discharging controller with the serial number being k controls a charging and discharging circuit with the serial number being k according to the charging state instruction value (SOC ref_j) and the detection value (SOC_j) of an energy storage unit with the serial number being j and the charging and discharging current detection value of the charging and discharging circuit with the serial number being k, so that energy flowing between an energy storage unit with the serial number being k and the energy storage unit with the serial number being j is adjusted; and n is larger than or equal to 2, k is larger than or equal to 2 and smaller than or equal to n, j is equal to k-1, and j or k-1 is larger than or equal to 1 and smaller than or equal to n-1. According to the control method for the elevator energy-saving device, targeted control is conducted on the basis of the different characteristics of the energy storage units so that the actual utilizing rate of the capacity of the energy storage units of the elevator energy-saving device can be increased, and the elevator energy-saving effect can be improved.
Description
Technical field
The present invention relates to the control method of a kind of energy-saving device of elevator, be specifically related to a kind of utilize energy-storage units to realize energy-conservation elevator
The control method of energy saver.
Background technology
Drive motor to be in reproduced state when running under the operating modes such as elevator row underloading under heavy loads is up, regenerated energy can be produced.Closely
Nian Lai, utilizes the energy-storage units set up in elevator drives major loop to store regenerated energy when elevator motor regeneration runs, at electricity
Release stored energy when ladder motor powered is run, thus the electric operation for motor provides electric energy, not only can solve elevator motor
The process problem of the regenerated energy produced in operation, but also elevator energy consumption can be significantly reduced, it is achieved elevator energy-saving, such as China
Patent of invention document CN101381046A, CN1845417A, Chinese invention patent document CN1197753C, CN100450907C
Deng.These documents are all single energy-storage units for store regenerated energy.
At present, super capacitor because of can greatly electric current, high efficiency, rapidly discharge and recharge and there is good power characteristic, become
For energy-storage units most commonly seen in energy-saving device of elevator.But compared with chargeable storage, its energy density is relatively low, data shows
Show that the energy density of current double electric layers supercapacitor is about the 20% of analysing valve control type lead-acid accumulator battery.Additionally, technology, production work
The price that the factor such as skill and market scale causes super capacitor current remains high.These cause energy-conserving elevator based on super capacitor
Cost remains high, and market acceptance is low.Different from super capacitor, chargeable storage power density is less, energy density relatively
Greatly.Obviously, super capacitor has obvious complementarity with the characteristic of accumulator.If configure in elevator simultaneously super capacitor and
Accumulator, as energy-storage units, the most both can meet the demand of the most high-power discharge and recharge of elevator, can effectively control cost again
On the premise of by increase memory capacity realize more preferable elevator energy-saving effect.Different qualities according to energy-storage units carries out specific aim
Control, be not only advantageous to improve the practical efficiency of capacity of energy-storage units, but also be conducive to improving the energy-saving effect of elevator.
But for energy-saving device of elevator based on many energy-storage units, the document such as CN1208230C, CN1845417B despite involved, pin
To be the most all multiple energy-storage units with elevator drive frame mode that major loop combines, the elevator for multiple energy-storage units saves
The control problem of energy device, not yet has document to relate to.Therefore, how to control targetedly according to the different qualities of energy-storage units
Make the practical efficiency of the capacity to improve energy-storage units, improve elevator energy-saving effect and just become one and need to be solved the technical problem that.
Summary of the invention
It is an object of the invention to provide the control method of a kind of energy-saving device of elevator based on many energy-storage units, the method can be led to
Cross the different qualities according to energy-storage units to control to improve the practical efficiency of the capacity of energy-storage units targetedly, improve electricity
Ladder energy-saving effect.
For solving above-mentioned technical problem, the technical solution of the energy-saving device of elevator control method of the present invention is:
Described energy-saving device of elevator includes the most corresponding n energy-storage units, n charge-discharge circuit and n charging-discharging controller,
And the energy-storage units of serial number 1 is connected across on dc bus through the charge-discharge circuit of serial number 1, the energy-storage units of serial number k
It is connected on the connecting line between the energy-storage units of serial number j and the charge-discharge circuit of serial number j through the charge-discharge circuit of serial number k；
The charging-discharging controller of serial number k is according to the charged state command value (SOC of the energy-storage units of serial number jref_j) and detected value
(SOC_j) and the charging and discharging currents detected value of charge-discharge circuit of serial number k the charge-discharge circuit of serial number k is controlled, real
The regulation of the energy Flow between the existing energy-storage units of serial number k and the energy-storage units of serial number j, wherein n >=2,2≤k≤n,
1≤j=k-1≤n-1.
The charging-discharging controller of described serial number k farther includes: the charged state controller of serial number k: according to serial number j
The charged state command value (SOC of energy-storage unitsref_j) and detected value (SOC_j) be controlled, produce and export serial number k
Current instruction value (the i of current controllerref_k)；The current controller of serial number k: according to the described charging shape of described serial number k
Described current instruction value (the i of state controller outputref_k) and the current detection value (i_ of described charge-discharge circuit of serial number kk) carry out
Control, produce and export the control signal (U_ for the described charge-discharge circuit of serial number k is controlledk), thereby realize sequence
It number it is the regulation of energy Flow between the energy-storage units of k and the energy-storage units of serial number j；Wherein n >=2,2≤k≤n,
1≤j=k-1≤n-1.
As described current instruction value (iref_k) it is to charge and the described energy-storage units of serial number k to the described energy-storage units of serial number k
Charged state when reaching its upper limit, or as described current instruction value (iref_k) for make the described energy-storage units of serial number k discharge
And the charged state of the described energy-storage units of serial number k is when reaching its lower limit, turn off the charge-discharge circuit of serial number k.
The charging-discharging controller of serial number 1 farther includes: voltage controller: according to busbar voltage command value and detected value pair thereof
Busbar voltage is controlled, and produces and export the current instruction value (i of the current controller of described serial number 1ref_1)；Serial number 1
Current controller: according to the current instruction value (i from described voltage controllerref_1) and the electricity of charge-discharge circuit of serial number 1
Stream detected value is controlled, and produces and export the control signal (U_ for being controlled the charge-discharge circuit of described serial number 11),
The energy Flow between the energy-storage units of dc bus and serial number 1 is regulated with this.
The charging/discharging current instruction value of the energy-storage units of serial number j or the charging and discharging currents detected value of the charge-discharge circuit of serial number j
The charging-discharging controller of serial number k, described current instruction value (i is introduced as feed-forward signalref_k) and the energy-storage units of serial number j
Charging/discharging current instruction value or the charging and discharging currents detected value sum of charge-discharge circuit of serial number j as the electric current of serial number k
The ultimate current command value of controller, wherein 2≤k≤n, n >=2,1≤j=k-1≤n-1.
Charged state (SOC_ when the energy-storage units of serial number 11) reach its upper limit and drive motor when being in reproduced state, or
Meet the charged state (SOC_ of the energy-storage units of described serial number 11) reach its lower limit and drive motor when being in motoring condition, close
The charge-discharge circuit of disconnected serial number 1.
Charged state (SOC_ when the energy-storage units of serial number 11) reach the electricity of the current controller of its upper limit and described serial number 1
Stream command value (iref_1) it is to charge to the energy-storage units of described serial number 1, or the charging shape of the energy-storage units of described serial number 1
State (SOC_1) reach the current instruction value (i of the current controller of its lower limit and described serial number 1ref_1) make described serial number 1
During energy-storage units electric discharge, turn off the charge-discharge circuit of serial number 1.
Described charged state command value (SOCref_j) it is a steady state value, or according to elevator drive motor in past, present and follow-up
The change of the duty at least one period in three periods and change, or according to elevator drive motor in past, existing
Changing in the duty with a certain moment in follow-up three periods, the duty of wherein said driving motor refers to drive
Motor is operated in motoring condition or reproduced state.
The duty of described driving motor is the testing result according to lift car load or its estimated result judges, or root
Judge according to the symbol of the command value or detected value that drive current of electric, or according to voltage controller in the 1st charging-discharging controller
The symbol of the current instruction value exported or the current detection value flowing through the 1st charge-discharge circuit judges, or in serial number 2
Charging-discharging controller not actuated time according to the charged state detected value (SOC_ of the energy-storage units of serial number 11) become over time
Gesture judges.
When judging that described driving motor is in reproduced state, the described charged state command value of the energy-storage units of described serial number 1
(SOCref_1) should be without departing from by its detected value (SOC_1) and allow maximum determined by scope；Otherwise, drive described in judging
When galvanic electricity machine is in motoring condition, the described charged state command value (SOC of the energy-storage units of serial number 1ref_1) should without departing from by
Its detected value (SOC_1) and allow minima determined by scope.
The described charged state command value (SOC of the energy-storage units of serial number 1ref_1) and its detected value (SOC_1) difference be to drive with described
The power of galvanic electricity machine is the monotonic increasing function of independent variable.
The described charged state command value (SOC of the energy-storage units of described serial number jref_j) and its detected value (SOC_j) difference be with sequence
Number it is the charging and discharging currents detected value (i_ of the charge-discharge circuit of jj) or its command value (iref_j) it is the monotonic increasing function of independent variable, its
In 1≤j≤n-1, n >=2.
The charging-discharging controller of serial number k follow in following principle when the charge-discharge circuit of serial number k is controlled one
Or multinomial:
Principle 1: as the charged state detected value SOC_ of the described energy-storage units of serial number jjMeet SOCmin≤μ_j_low≤SOC_j
≤μ_j_up≤SOCmaxTime, the described charging-discharging controller of serial number k quits work；
Principle 2: as the charged state detected value SOC_ of the described energy-storage units of serial number jjMeet SOCmin≤SOC_j≤μ_j_low
And when driving motor to be in reproduced state, the described charging-discharging controller of serial number k quits work；
Principle 3: as the charged state detected value SOC_ of the described energy-storage units of serial number jjMeet μ _j_up≤SOC_j≤SOCmax
And when driving motor to be in motoring condition, the described charging-discharging controller of serial number k quits work；
Wherein n >=2,2≤k≤n, j=k-1, SOCminAnd SOCmaxIt is the charged state of the described energy-storage units of serial number j respectively
Lower limit and the upper limit, μ _j_lowWith μ _j_upIt is control desired parameters.
The charge-discharge circuit of serial number k is controlled by the charging-discharging controller of described serial number k in accordance with the following steps:
S1, obtain the charged state detected value (SOC_ of energy-storage units of serial number jj)；
S2, according to SOC_jJudge the change of the charged state of the energy-storage units of serial number j；When result of determination is that charged state declines
Time, proceed to S3；When result of determination is charged state rising, proceed to S6；Otherwise proceed to S8；
S3, judge SOC_jWith μ _j_lowBetween magnitude relationship；Work as SOC_j＜ μ _1_lowTime, proceed to S4；Otherwise proceed to S8；
S4, generation charged state command value (SOCref_j)；
S5, the charging-discharging controller of serial number k perform control；Proceed to S9 afterwards；
S6, judge SOC_jWith μ _j_upBetween magnitude relationship；Work as SOC_j＞ μ _j_upTime, perform S7；Otherwise proceed to S8；
S7, generation charged state command value (SOCref_j)；Proceed to S5 afterwards；
S8, the charging-discharging controller of serial number k stop the control of the charge-discharge circuit to serial number k；
S9, end.
What the present invention can reach has the technical effect that
By proposing the control method of a kind of energy-saving device of elevator based on many energy-storage units, it is possible to by according to energy-storage units not
Control targetedly with characteristic to improve the practical efficiency of the capacity of energy-storage units in energy-saving device of elevator, improve elevator joint
Can effect.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is the system structure schematic diagram of energy-conserving elevator based on many energy-storage units；
Fig. 2 is the control principle schematic diagram of the 2nd charging-discharging controller；
Fig. 3 is the control principle schematic diagram of the 1st charging-discharging controller；
Fig. 4 is the control flow chart of the 2nd charging-discharging controller.
In Fig. 1,1 is three phase network, and 2 is rectifier bridge, and 3 is intermediate dc electric capacity, and 4 is power circuitry, and 5 is dc bus,
6 is inverter, and 7 is three-phase current detection device, and 8 is to drive motor, and 9 is traction sheave, and 10 is directive wheel.Electric life controller root
According to information formation speed figures such as floor call, team control, car positions and give speed control；The latter according to speed pattern and
Speed detector carries out speed controlling, and generates current-order；Current controller is according to current-order and three-phase current detection device
The current value detected carries out electric current control, and generates the control signal for being controlled inverter, finally realizes elevator
The control run.Additionally, also include an energy-saving device of elevator in figure, energy-saving device of elevator is by the 1st energy-storage units, the 1st charge and discharge
The compositions such as electricity circuit, the 1st charging-discharging controller and the 2nd energy-storage units, the 2nd charge-discharge circuit, the 2nd charging-discharging controller.
Figure only gives and comprises 2 energy-storage units, 2 charge-discharge circuits, the situations of 2 charging-discharging controllers, and the 1st energy storage
Unit is connected across on dc bus through the 1st charge-discharge circuit, and the 2nd energy-storage units is connected to the 1st energy storage through the 2nd charge-discharge circuit
On connecting line between unit and the 1st charge-discharge circuit.Obviously, the 1st energy-storage units corresponding 1st charge-discharge circuit, the 1st charge and discharge
Corresponding 1st charging-discharging controller of electricity circuit, corresponding 2nd charge-discharge circuit of the 2nd energy-storage units, the 2nd charge-discharge circuit correspondence the
2 charging-discharging controllers.It is true that energy saver can comprise n (n >=2) individual energy-storage units, except the 1st energy-storage units fills through the 1st
Outside discharge circuit is connected across on dc bus, remaining serial number k (2≤k≤n) energy-storage units is all the discharge and recharge electricity through serial number k
Road is connected on the connecting line of the energy-storage units of serial number j (j=k-1) and the charge-discharge circuit of serial number j, and each energy storage list
First all identical with its sequence number charge-discharge circuit is corresponding, the charging-discharging controller phase that each charge-discharge circuit is identical with its sequence number
Corresponding.
Simple in order to describe, follow-up being described is expansion as a example by n=2, during for energy-storage units quantity more than 2, and can
With with reference to carrying out.Obviously, as n=2, k=2, then j=k-1=1.
Detailed description of the invention
The energy-saving device of elevator control method of the present invention, is directed to the 2nd charging-discharging controller and controls the 2nd charge-discharge circuit
System is to realize the regulation to the energy Flow between the 2nd energy-storage units and the 1st energy-storage units.
The charging-discharging controller of serial number k, the i.e. the 2nd charging-discharging controller is with the energy-storage units of serial number j, the i.e. the 1st energy storage list
The charged state (Sate Of Charge, SOC) of unit is for controlling target, according to charged state command value SOC of the 1st energy-storage unitsref _1Charged state actual value SOC_ with the 1st energy-storage units that charged state detection device (not shown) detects1It is controlled,
Utilizing the control signal the produced charge-discharge circuit to serial number k, the i.e. the 2nd charge-discharge circuit is controlled, thus realizes kth
Energy-storage units and jth energy-storage units, the regulation of the energy Flow between the i.e. the 2nd energy-storage units and the 1st energy-storage units.
2nd charging-discharging controller farther includes a 2nd charged state controller and the 2nd current controller, and is total to
With one double-closed-loop control structure as shown in Figure 2 of composition, specific works process is as follows:
First, SOC command value SOC of the 1st energy-storage unitsref_1Deduct the 1st energy-storage units that charged state monitoring device detects
Charged state actual value SOC_1Obtain charging and discharging state and control error delta SOC1, then charging and discharging state controls error delta SOC1Make
Being admitted to the 2nd charged state controller for input signal, the latter obtains the 2nd charge and discharge of the 2nd current controller after suitable computing
Electricity current instruction value iref_2, secondly, the 2nd charging/discharging current instruction value iref_2Deduct and the 2nd filled by what current sensing means detected
The charging and discharging currents detected value i_ of discharge circuit2Obtain the 2nd current control errors Δ i2, the 2nd current control errors Δ i2As defeated
Entering signal and be admitted to the 2nd current controller, the latter obtains the control for being controlled the 2nd charge-discharge circuit after suitable computing
Signal U_ processed2, last U_2It is converted into through necessity conversion the power switch in the 2nd charge-discharge circuit can be opened and turned off again
Can be by the power switch in the 2nd charge-discharge circuit be opened and is turned off control after the switching signal (not shown) controlled
System realizes flowing through the regulation of the electric current of the 2nd charge-discharge circuit, thereby realizes the energy between the 1st energy-storage units and the 2nd energy-storage units
The regulation of amount flowing.
Current instruction value i when the 2nd current controllerref_2When being the 2nd energy-storage units charging having reached the upper limit to charged state,
The performance caused because of overcharge in order to avoid the 2nd energy-storage units reduces, it should turn off the 2nd charge-discharge circuit；In like manner, when
The current instruction value i of 2 current controllersref_2Be make charged state reached lower limit the 2nd energy-storage units electric discharge time, in order to avoid
The performance that 2nd energy-storage units causes because of overdischarge reduces, it should turn off the 2nd charge-discharge circuit.
1st charging-discharging controller farther includes a voltage controller and the 1st current controller, and collectively constitutes one
Individual double-closed-loop control structure as shown in Figure 3, specific works process is as follows:
First, the voltage instruction value V of dc busref_DCDeduct and detect for the voltage check device detecting DC bus-bar voltage
DC bus-bar voltage detected value VDCObtain busbar voltage and control error delta VDC, then busbar voltage controls error delta VDCAs input letter
Number being admitted to voltage controller, the latter obtains the 1st charging/discharging current instruction value i of the 1st current controller after suitable computingref_1,
Secondly, the 1st charging/discharging current instruction value iref_1Deduct the discharge and recharge electricity of the 1st charge-discharge circuit detected by current sensing means
Stream detected value i_1Obtain the 1st current control errors Δ i1, the 1st current control errors Δ i1It is admitted to the 1st electricity as input signal
Stream controller, the latter obtains control signal U_1 for being controlled the 1st charge-discharge circuit, last U_ after suitable computing1
Again through necessity conversion be converted into the power switch in the 1st charge-discharge circuit can be opened and turned off control switching signal (figure
Not shown in) after can flow through the 1st charge and discharge by control realization is opened and turned off to the power switch in the 1st charge-discharge circuit
The regulation of the electric current of electricity circuit, thereby realizes the regulation to the energy Flow between dc bus and the 1st energy-storage units.
For the 1st energy-storage units, its charging and discharging currents includes two parts: one is by under the 1st charging-discharging controller control
The electric current flowing through the 1st charge-discharge circuit；Another part be the 2nd charging-discharging controller control under flow through the 2nd charge-discharge circuit
Electric current.The electric current flowing through the 1st charge-discharge circuit is decided by voltage controller, and this electric current is for the electricity of the 2nd charging-discharging controller
It it is a kind of external disturbance for flow control.Obviously, if the current instruction value or detected value that flow through the 1st charge-discharge circuit are made
Introduce for feedforward in the electric current control of the 2nd charging-discharging controller, it will help improve the electric current control of the 2nd charging-discharging controller
Performance.Therefore, it can after suitably definition flows through the electric current positive direction of the 1st charge-discharge circuit and the 2nd charge-discharge circuit, will stream
Through the current instruction value of the 1st charge-discharge circuit or detected value with flow through the electric current sum of the 1st charge-discharge circuit as the 2nd charge and discharge
The final current instruction value of the 2nd current controller in electric controller, the 2nd current controller is then according to this final current-order
Value and flow through current detection value in the 2nd charge-discharge circuit and be controlled.
Current instruction value i for voltage controller outputref_1, should not exceed by the 1st energy-storage units and/or the 2nd discharge and recharge electricity
The maximum current that road is determined, with the infringement avoiding big electric current to be likely to result in the 1st energy-storage units and/or the 2nd charge-discharge circuit.
Therefore, as the current instruction value i of voltage controller outputref_1Exceed and determined by the 1st energy-storage units and/or the 2nd charge-discharge circuit
Maximum current time, it should to current instruction value iref_1Carry out amplitude limiting processing, and using the current instruction value after amplitude limit as the 1st electricity
The current instruction value of stream controller；In like manner, for the current instruction value i of the 2nd charged state controller outputref_2, or aforementioned
In for the described final current instruction value that obtains, fill by the 1st energy-storage units, the 2nd energy-storage units and the 2nd when it exceedes
During the maximum current that at least one in discharge circuit is determined, it should current instruction value is carried out amplitude limiting processing, and by after amplitude limit
Current instruction value as the current instruction value of the 2nd current controller.
Charged state (SOC_ when the 1st energy-storage units1) reach its upper limit and time elevator drive motor is in reproduced state, or work as
Charged state (the SOC_ of the 1st energy-storage units1) reach its upper limit and the current instruction value (i of the 1st current controllerref_1) it is to the 1st
During energy-storage units charging, because the 1st energy-storage units cannot store more regenerated energy, for just ensureing the 1st energy-storage units
Often work, should turn off the 1st charge-discharge circuit；In like manner, as the charged state (SOC_ of the 1st energy-storage units1) reach its lower limit and electricity
When ladder drives motor to be in motoring condition, or the charged state (SOC_ of the 1st energy-storage units1) reach its lower limit and the 1st electric current control
Current instruction value (the i of device processedref_1) be make the 1st energy-storage units electric discharge time, because of the 1st energy-storage units be not the most available for discharge to directly
The regenerated energy of stream bus, for ensureing the normal work of the 1st energy-storage units, should turn off the 1st charge-discharge circuit equally.
Above-mentioned shutoff the 1st charge-discharge circuit or the 2nd charge-discharge circuit, can be by software and hardware mode direct lockout switch signal side
Formula realizes, or by the instruction of the command value of current controller is realized, or the charge and discharge control corresponding by stopping execution
Device realizes.
In the 2nd charging-discharging controller, SOC command value SOC of the 1st energy-storage unitsref_1Can be a steady state value set in advance,
It can also be a variable value.When this command value is a variable value, can be according to elevator drive motor in past, present and follow-up
The change of the duty at least one period in three periods and change, or can according to elevator drive motor the past,
The duty in a certain moment now and in follow-up three periods and change, the duty of wherein said driving motor refers to drive
Galvanic electricity machine is operated in motoring condition or reproduced state.
For the judgement of elevator drive motor duty, can be according to the testing result of lift car load or for elevator car
The indirect Estimation result of railway carriage or compartment load realizes, it is also possible to realize according to the symbol of the command value or detected value that drive current of electric,
Or according in the 1st charging-discharging controller voltage controller output current instruction value or flow through the 1st charge-discharge circuit electricity
The symbol of stream detected value realizes, or not actuated according to the 1st energy-storage units charged state detection at the 2nd charging-discharging controller
Value (SOC_1) over time trend realize.
When judging that described driving motor is in reproduced state, the charged state command value (SOC of the 1st energy-storage unitsref_1) should not
Beyond by the charged state detected value (SOC_ of the 1st energy-storage units1) and its scope of determining of maximum allowed；Otherwise, work as judgement
When described driving motor is in motoring condition, the charged state command value (SOC of the 1st energy-storage unitsref_1) should be without departing from by the 1st
Charged state detected value (the SOC_ of energy-storage units1) and its scope of determining of minima allowed.So, the 2nd charged state controls
Device could be according to the charged state command value (SOC of the 1st energy-storage unitsref_1) and the charged state detected value of the 1st energy-storage units
(SOC_1) export current instruction value suitable, carry out electric current control for the 2nd current controller, i.e. driving motor to be in again
During raw state, output makes the current instruction value that the 1st energy-storage units discharges to the 2nd energy-storage units, is in electronic shape driving motor
During state, output makes the current instruction value that the 2nd energy-storage units charges to the 1st energy-storage units.Certainly, in order to make full use of the 1st storage
The capacity of energy unit, the current instruction value of above-mentioned 2nd charged state controller output also should meet other condition further, refer to
Hereinafter.
Determining charged state command value (SOC in the manner previously describedref_1) scope after, it is also possible to further determine that charged state
Command value (SOCref_1) computational methods, such as, in order to enable the energy Flow between the 1st energy-storage units and the 2nd energy-storage units
Follow the energy Flow between dc bus and the 1st energy-storage units, charged state command value (SOC can be made by settingref_1) with
Its detected value (SOC_1) difference be the monotonic increasing function with the power of described driving motor as independent variable, or further, Ke Yitong
Cross setting and make charged state command value (SOCref_1) and its detected value (SOC_1) difference and drive motor power between be direct proportion
Relation.
In like manner, the 1st charge-discharge circuit is flowed through in order to enable the energy Flow between the 1st energy-storage units and the 2nd energy-storage units to follow
Charging and discharging currents, charged state command value (SOC can be made by settingref_1) and its detected value (SOC_1) difference be to flow through
The detected value of the charging and discharging currents of the 1st charge-discharge circuit or its command value (iref_j) it is the monotonic increasing function of independent variable, or more enter one
Step, can make charged state command value (SOC by settingref_1) and its detected value (SOC_1) difference with flow through the 1st discharge and recharge electricity
The detected value of the charging and discharging currents on road or its command value (iref_jIt it is proportional relationship between).
Next explanation is the capacity making full use of the 1st energy-storage units, and the current instruction value of the 2nd charged state controller output is also
The condition that should meet.
In order to make full use of the capacity of the 1st energy-storage units, reduce as far as possible energy the 1st energy-storage units and the 2nd energy-storage units it
Between the energy loss that caused of flowing, when the 2nd charge-discharge circuit being controlled by the 2nd charging-discharging controller, can follow
One or more in following principle:
Principle 1: when the charged state detected value of the described energy-storage units of serial number j meets SOCmin≤μ_j_low≤SOCref_j≤
μ_j_up≤SOCmaxTime, the described charging-discharging controller of serial number k quits work；
Principle 2: as the charged state detected value SOC_ of the described energy-storage units of serial number jjMeet SOCmin≤SOC_j≤μ_j_low
And when driving motor to be in reproduced state, the described charging-discharging controller of serial number k quits work；
Principle 3: as the charged state detected value SOC_ of the described energy-storage units of serial number jjMeet μ _j_up≤SOC_j≤SOCmax
And when driving motor to be in motoring condition, the described charging-discharging controller of serial number k quits work；
Wherein n >=2,2≤k≤n, j=k-1, SOCminAnd SOCmaxIt is the charged state of the described energy-storage units of serial number j respectively
Lower limit and the upper limit, μ _j_lowWith μ _j_upIt is control desired parameters.
For n=2 in the present embodiment, the situation of k=2, j=1, mentioned above principle is:
Principle 1: as the charged state detected value SOC_ of the 1st energy-storage units1Meet SOCmin≤μ_1_low≤SOC_1≤μ_1_up≤
SOCmaxTime, the 2nd charging-discharging controller quits work；
Principle 2: when the 1st energy-storage units charged state detected value SOC_1Meet SOCmin≤SOC_1≤μ_1_lowAnd drive electricity
When machine is in reproduced state, the 2nd charging-discharging controller quits work；
Principle 3: as the charged state detected value SOC_ of the 1st energy-storage units1Meet μ _1_up≤SOC_1≤SOCmaxAnd driving motor
When being in motoring condition, the 2nd charging-discharging controller quits work；
Wherein SOCminAnd SOCmaxIt is lower limit and the upper limit of the charged state of the 1st energy-storage units respectively, μ _1_lowWith μ _1_upIt is
Control desired parameters.
Obviously, under mentioned above principle, SOC is worked asmin≤SOC_1≤μ_1_lowAnd driving motor to be in motoring condition, the 2nd charge and discharge is automatically controlled
2nd charge-discharge circuit is controlled by device processed, by by the charged state command value (SOC of the 1st energy-storage unitsref_1) be set to little
In its detected value SOC_1, thus the energy in the 2nd energy-storage units is filled with in the 1st energy-storage units through the 2nd charge-discharge circuit, or
Be when μ _1_up≤SOC_1≤SOCmaxAnd when driving motor to be in reproduced state, the 2nd charging-discharging controller is to the 2nd charge-discharge circuit
It is controlled, by by the charged state command value (SOC of the 1st energy-storage unitsref_1) it is set greater than its detected value SOC_1, thus
Energy in 1st energy-storage units is filled with in the 2nd energy-storage units through the 2nd charge-discharge circuit.
On the basis of the above description, can obtain the 2nd charging-discharging controller as shown in Figure 4 most preferably implements step:
S1, the charged state detected value (SOC_ of acquisition the 1st energy-storage units1)
Utilize charged state detection device that the 1st energy-storage units is carried out the detection no less than twice, obtain the 1st energy-storage units not
Two charged state testing results in the same time.
S2, according to charged state detected value (SOC_1) judge whether elevator drive motor is in motoring condition
The difference and the sequencing in corresponding detection moment thereof that utilize two the charged state testing results obtained judge that elevator drives electricity
Whether machine is in motoring condition.When the charged state testing result detected after when is less than the charged state testing result first detected,
Illustrating that variation tendency is to decline, the stored energy of the i.e. the 1st energy-storage units is reducing, then illustrate at the 1st charging-discharging controller
The energy controlled in lower 1st energy-storage units through the 1st charge-discharge circuit release to dc bus thus for driving motor to provide electric energy,
Again due to the 1st charging-discharging controller be with maintain DC bus-bar voltage as target, therefore, it can judge elevator drive motor be place
In motoring condition；When the charged state testing result detected after when is more than the charged state testing result first detected, illustrate to become
Change trend is to rise, and the stored energy of the i.e. the 1st energy-storage units is increasing, then the control at the 1st charging-discharging controller is described
Lower regenerated energy has flowed into the 1st energy-storage units through the 1st charge-discharge circuit, is to maintain direct current due to the 1st charging-discharging controller again
Busbar voltage is target, therefore, it can judge that elevator drive motor is in reproduced state；If the charged state base detected
This holding is constant, illustrates that the stored energy of the 1st energy-storage units keeps being basically unchanged, then dc bus and the 1st energy-storage units
Between there is no energy Flow.
When result of determination is for declining, proceed to S3；When result of determination is for rising, proceed to S6；Otherwise proceed to S8.
S3, judge SOC_1With μ _1_lowBetween magnitude relationship
Charged state detected value (SOC_ when the 1st energy-storage units1) less than corresponding to the 1st energy-storage units parameter μ _1_lowTime, turn
Enter S4；Otherwise proceed to S8；
S4, generation charged state command value (SOCref_1)
Charged state command value (the SOC of the 1st energy-storage units is generated according to the method introduced aboveref_1).Such as, order
SOCref_1=SOC_1+K*i_1, wherein K is proportionality coefficient.Certainly the charged state command value (SOC producedref_1) it suffices that above
Described relevant charged state command value (SOCref_1) range of condition.
S5, the 2nd charging-discharging controller perform control
The 2nd charged state controller in 2nd charging-discharging controller is according to the charged state detected value (SOC_ of the 1st energy-storage units1)
And command value (SOCref_1) charged state of the 1st energy-storage units is controlled, and the electric current exporting the 2nd current controller refers to
Make value iref_2；The 2nd current controller in 2nd charging-discharging controller is according to current instruction value iref_2With its detected value i_2To
2 charge-discharge circuits are controlled.
Proceed to S9；
S6, judge SOC_1With μ _1_upBetween magnitude relationship
Charged state detected value (SOC_ when the 1st energy-storage units1) more than corresponding to the 1st energy-storage units parameter μ _1_upTime, turn
Enter S7；Otherwise proceed to S8；
S7, generation charged state command value (SOCref_1)
Charged state command value (the SOC of the 1st energy-storage units is generated according to the method introduced aboveref_1).Such as, order
SOCref_1=SOC_1+K*i_1, wherein K is proportionality coefficient；Equally, the charged state command value (SOC of generationref_1) it suffices that front
The described relevant charged state command value (SOC of literary compositionref_1) range of condition；Proceed to S5；
S8, the 2nd charging-discharging controller stop the control to the 2nd charge-discharge circuit；
S9, end.
Claims (14)
1. an energy-saving device of elevator control method, described energy-saving device of elevator includes that mutual n corresponding energy-storage units, n are individual
Charge-discharge circuit and n charging-discharging controller, and the energy-storage units of serial number 1 is connected across through the charge-discharge circuit of serial number 1
On dc bus, the energy-storage units of serial number k is connected to energy-storage units and the sequence of serial number j through the charge-discharge circuit of serial number k
Number it is on the connecting line between the charge-discharge circuit of j；It is characterized in that: the charging-discharging controller of serial number k is according to serial number j
Charged state command value (the SOC of energy-storage unitsref_j) and detected value (SOC_j) and serial number k charge-discharge circuit discharge and recharge electricity
The charge-discharge circuit of serial number k is controlled by stream detected value, it is achieved the energy-storage units of serial number k and the energy storage list of serial number j
The regulation of the energy Flow between unit, wherein n >=2,2≤k≤n, 1≤j=k-1≤n-1.
Energy-saving device of elevator control method the most according to claim 1, it is characterised in that: the discharge and recharge of described serial number k
Controller farther includes:
The charged state controller of serial number k: according to the charged state command value (SOC of the energy-storage units of serial number jref_j) and
Detected value (SOC_j) be controlled, produce and export the current instruction value (i of the current controller of serial number kref_k)；
The current controller of serial number k: the described current-order exported according to the described charged state controller of described serial number k
Value (iref_k) and the current detection value (i of described charge-discharge circuit of serial number k_k) be controlled, produce and export for sequence number
Control signal (the U being controlled for the described charge-discharge circuit of k_k), thereby realize energy-storage units and serial number j of serial number k
Energy-storage units between the regulation of energy Flow；
Wherein n >=2,2≤k≤n, 1≤j=k-1≤n-1.
Energy-saving device of elevator control method the most according to claim 2, it is characterised in that: as described current instruction value (iref_k)
For when the charged state of described energy-storage units of the charging of the described energy-storage units of serial number k and serial number k reaches its upper limit, or
It is as described current instruction value (iref_k) it is the electric discharge of described energy-storage units and the described energy-storage units of serial number k making serial number k
When charged state reaches its lower limit, turn off the charge-discharge circuit of serial number k.
Energy-saving device of elevator control method the most according to claim 1, it is characterised in that: the charge and discharge control of serial number 1
Device farther includes:
Voltage controller: be controlled busbar voltage according to busbar voltage command value and detected value thereof, produces and exports described sequence
Number it is the current instruction value (i of the current controller of 1ref_1)；
The current controller of serial number 1: according to the current instruction value (i from described voltage controllerref_1) and the filling of serial number 1
The current detection value of discharge circuit is controlled, and produces and exports for being controlled the charge-discharge circuit of described serial number 1
Control signal (U_1), the energy Flow between the energy-storage units of dc bus and serial number 1 is regulated with this.
5. according to the energy-saving device of elevator control method described in claim 2 or 4, it is characterised in that: the energy storage list of serial number j
The charging and discharging currents detected value of the charging/discharging current instruction value of unit or the charge-discharge circuit of serial number j introduces sequence number as feed-forward signal
For the charging-discharging controller of k, described current instruction value (iref_k) with the charging/discharging current instruction value of the energy-storage units of serial number j or
The charging and discharging currents detected value sum of the charge-discharge circuit of serial number j instructs as the ultimate current of the current controller of serial number k
Value, wherein 2≤k≤n, n >=2,1≤j=k-1≤n-1.
Energy-saving device of elevator control method the most according to claim 4, it is characterised in that: when the energy-storage units of serial number 1
Charged state (SOC_1) reach its upper limit and drive motor when being in reproduced state, or meet the energy storage list of described serial number 1
Charged state (the SOC of unit_1) reach its lower limit and drive motor when being in motoring condition, turn off the charge-discharge circuit of serial number 1.
Energy-saving device of elevator control method the most according to claim 4, it is characterised in that: when the energy-storage units of serial number 1
Charged state (SOC_1) reach the current instruction value (i of the current controller of its upper limit and described serial number 1ref_1) it is to described sequence
Number it is the energy-storage units charging of 1, or the charged state (SOC of the energy-storage units of described serial number 1_1) reach its lower limit and described
Current instruction value (the i of the current controller of serial number 1ref_1) be make described serial number 1 energy-storage units electric discharge time, turn off sequence number
It it is the charge-discharge circuit of 1.
8. according to the energy-saving device of elevator control method according to any one of claim 1,2,6,7, it is characterised in that: institute
State charged state command value (SOCref_j) it is a steady state value, or according to elevator drive motor in past, present and when follow-up three
The change of the duty at least one period in Duan and change, or according to elevator drive motor the past, now and after
Continuing the duty in a certain moment in three periods and change, the duty of wherein said driving motor refers to drive motor work
Make in motoring condition or reproduced state.
Energy-saving device of elevator control method the most according to claim 8, it is characterised in that: the work shape of described driving motor
State is the testing result according to lift car load or its estimated result judges, or according to drive current of electric command value or
The symbol of detected value judges, or according in the 1st charging-discharging controller voltage controller output current instruction value or stream
Judge through the symbol of the current detection value of the 1st charge-discharge circuit, or the root when the charging-discharging controller of serial number 2 is not actuated
Charged state detected value (SOC according to the energy-storage units of serial number 1_1) over time trend judge.
10. according to the energy-saving device of elevator control method described in claim 1 or 8, it is characterised in that: when judging described driving
When motor is in reproduced state, the described charged state command value (SOC of the energy-storage units of described serial number 1ref_1) should be without departing from
By its detected value (SOC_1) and allow maximum determined by scope；Otherwise, when judging that described driving motor is in motoring condition
Time, the described charged state command value (SOC of the energy-storage units of serial number 1ref_1) should be without departing from by its detected value (SOC_1) and permit
Scope determined by the minima permitted.
11. energy-saving device of elevator control methods according to claim 1, it is characterised in that: the energy-storage units of serial number 1
Described charged state command value (SOCref_1) and its detected value (SOC_1) difference be with the power of described driving motor as independent variable
Monotonic increasing function.
12. according to the energy-saving device of elevator control method described in claim 1 or 4, it is characterised in that: described serial number j
The described charged state command value (SOC of energy-storage unitsref_j) and its detected value (SOC_j) difference be the charge-discharge circuit with serial number j
Charging and discharging currents detected value (i_j) or its command value (iref_j) it is the monotonic increasing function of independent variable, wherein 1≤j≤n-1, n >=2.
13. energy-saving device of elevator control methods according to claim 1, it is characterised in that: the charge and discharge of serial number k is automatically controlled
It is one or more that device processed is followed in following principle when being controlled the charge-discharge circuit of serial number k:
Principle 1: as the charged state detected value SOC of the described energy-storage units of serial number j_jMeet SOCmin≤μ_j_low≤SOC_j
≤μ_j_up≤SOCmaxTime, the described charging-discharging controller of serial number k quits work；
Principle 2: as the charged state detected value SOC of the described energy-storage units of serial number j_jMeet SOCmin≤SOC_j≤μ_j_low
And when driving motor to be in reproduced state, the described charging-discharging controller of serial number k quits work；
Principle 3: as the charged state detected value SOC of the described energy-storage units of serial number j_jMeet μ_j_up≤SOC_j≤SOCmax
And when driving motor to be in motoring condition, the described charging-discharging controller of serial number k quits work；
Wherein n >=2,2≤k≤n, j=k-1, SOCminAnd SOCmaxIt is the charged state of the described energy-storage units of serial number j respectively
Lower limit and the upper limit, μ_j_lowAnd μ_j_upIt is control desired parameters.
14. energy-saving device of elevator control methods according to claim 13, it is characterised in that: the charge and discharge of described serial number k
The charge-discharge circuit of serial number k is controlled by electric controller in accordance with the following steps:
S1, obtain the charged state detected value (SOC of energy-storage units of serial number j_j)；
S2, according to SOC_jJudge the change of the charged state of the energy-storage units of serial number j；When result of determination is that charged state declines
Time, proceed to S3；When result of determination is charged state rising, proceed to S6；Otherwise proceed to S8；
S3, judge SOC_jWith μ_j_lowBetween magnitude relationship；Work as SOC_j＜ μ_1_lowTime, proceed to S4；Otherwise proceed to S8；
S4, generation charged state command value (SOCref_j)；
S5, the charging-discharging controller of serial number k perform control；Proceed to S9 afterwards；
S6, judge SOC_jWith μ_j_upBetween magnitude relationship；Work as SOC_j＞ μ_j_upTime, perform S7；Otherwise proceed to S8；
S7, generation charged state command value (SOCref_j)；Proceed to S5 afterwards；
S8, the charging-discharging controller of serial number k stop the control of the charge-discharge circuit to serial number k；
S9, end.
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