CN106564786B - Elevator control method based on three level power converters and control device - Google Patents
Elevator control method based on three level power converters and control device Download PDFInfo
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- CN106564786B CN106564786B CN201510669812.XA CN201510669812A CN106564786B CN 106564786 B CN106564786 B CN 106564786B CN 201510669812 A CN201510669812 A CN 201510669812A CN 106564786 B CN106564786 B CN 106564786B
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Abstract
The invention discloses a kind of elevator control methods based on three level power converters, this method is by being modulated three-level converter using faults-tolerant control mode when constituting the power module of three-level converter of elevator drive system and open circuit fault occurring, elevator controlling mode is appropriately modified simultaneously, so as to avoid elevator emergency from stopping, so that elevator is realized that purpose floor is stopped, realizes out of service again after people is put in enabling.The present invention also provides a kind of control devices for realizing above-mentioned elevator control method.
Description
Technical field
The present invention relates to a kind of elevator control methods, and in particular to a kind of elevator controlling based on three level power converters
Method.The invention further relates to a kind of elevator control gears based on three level power converters.
Background technology
Compared with traditional two level converters, it is small, electric that there is three level power converters power device to bear voltage stress
Buckling rate dv/dt is small, output waveform harmonic characterisitic is good, switching frequency is low and it is efficient the advantages that, especially suitable for including electricity
Application scenario including terraced drive system.But the power switch in the process of running, constituting three level power converters may
Because open circuit fault occurs for the reasons such as thermal cycle, collector overcurrent or door driving malfunction, so as to cause whole device failure.Three electricity
The structure of ordinary telegram force transducer determines that it can be by suitably adjusting its control method when open circuit fault occurs for power switch
To realize the faults-tolerant control of three level power converters.
Currently, elevator is when power switch failure including open circuit fault occurs for its drive system, common practice
It is to make elevator emergency out of service.Although although this processing mode ensure that the safety of passenger, multiply it is apparent that can substantially reduce
The comfort and convenience of visitor.If elevator drive system uses three-level converter, open circuit event occurs in three-level converter
Three-level converter is modulated using faults-tolerant control when barrier, while elevator controlling mode is appropriately modified, you can
The power module for constituting the three-level converter of elevator drive system occurs to become using three level of faults-tolerant control pair when open circuit fault
Parallel operation is modulated, and to avoid elevator emergency from stopping, elevator is enable to realize that purpose floor is stopped, and is realized to open the door and be put after people again
It is out of service, thereby avoid passenger from being held in the embarrassment waited for rescue in elevator and inconvenience.
Therefore, when constituting the power module of three-level converter of elevator drive system and open circuit fault occurring how to electricity
Terraced control mode is modified, how to be modulated to three-level converter using faults-tolerant control
One in elevator controlling has important technological problems to be solved.
Invention content
Technical problem to be solved by the invention is to provide a kind of elevator control method based on three level power converters,
It can avoid elevator emergency from stopping when constituting the power module of three-level converter of elevator drive system and open circuit fault occurring
Only, it realizes the stop nearby of elevator or advances to next landing, realize to open the door and put out of service again after people, thereby avoid passenger
It is held in the embarrassment waited for rescue in elevator and inconvenience.
In order to solve the above technical problems, the present invention is based on the solutions of the technology of the elevator control method of three level power converters
Scheme is, including：
Step 1. generates the speed pattern during car is moved to purpose floor by current location in a conventional manner；
Step 2. carries out open circuit fault diagnosis to the power switch of three level power converters, if diagnostic result is normal,
It is transferred to step 3；Otherwise it is transferred to step 4；
Step 3. controls elevator according to conventional control mode, using traditional modulation strategy to three-level converter into
Row modulation；It is transferred to step 9；
Step 4. judges the three level electricity corresponding to the voltage instruction during car is marched to purpose floor by current location
Whether force transducer desired output voltage vector is positioned at six by being formed as vertex line centered on zero vector, using 6 small vectors
In the inscribed circle of side shape；If it is not, then making corresponding three level of voltage instruction by changing the speed pattern of elevator follow-up operation
Power converter desired output voltage vector is located in the inscribed circle, is transferred to step 5 later；Otherwise directly it is transferred to step 5；
During step 5. judges that elevator marches to purpose floor by current location, if there are such a period, three electricity
Lower part when level of input energy of the ordinary telegram force transducer within the period more than DC bus capacitor device midpoint O rises to Udc/2 by 0
Capacitor Cd2The output energy of the variable quantity of the energy stored or three level power converters within the period is more than direct current
Lower capacitor C when the level of side capacitors midpoint O is down to-Udc/2 by 0d2When stored energy variable quantity；If so, turning
Enter step 6；Otherwise it is transferred to step 7；
Step 6. reduces acceleration, and repeats the judgement of step 5, if it is no that judging result, which can be obtained, according to new acceleration
It regenerates lift car to be run to the speed pattern during purpose floor by current location, and corresponding with the speed pattern three
Level power converter desired output voltage vector is located in the inscribed circle, is transferred to step 7；If until acceleration reduces to 0, walk
Rapid 5 judging result is still yes, then is transferred to step 8；
Step 7. enables three level power converter fault tolerant control methods pair, three level power converter and is modulated；It is transferred to
Step 9；
Step 8. generates washout, keeps elevator emergency out of service；
Step 9. terminates.
Preferably, the period in step 5 refers to that elevator carries out being moved to what purpose floor was passed through by current location
Random time section or the desired output voltage vector are rotated into the following region left in the inscribed circle and are passed through
The random time section crossed：The position of phase includes where the switch of open circuit fault occurs in the corresponding output level combination of small vector
It is arbitrary in two level in addition to the level that cannot be exported to have the level that cannot be exported by open circuit fault, remaining position
The corresponding small vector direction of the output level combination of one level rotates clockwise 90 ° and is covered to being rotated by 90 ° counterclockwise
The region of lid and the intersection of inscribed circle.
Preferably, input energy of three level power converters within the period refers within the period by bearing in step 5
Carry the energy Q through three level power converter DC bus capacitor device midpoint O injections2；Output energy refers within the period by bearing
Carry the energy Q through three level power converter DC bus capacitor device midpoint O outflows1。
Preferably, when the level of three level power converter DC bus capacitor device midpoint O is down to-Udc/2 by 0 in step 5,
Lower capacitor Cd2The variation delta W of stored energy1Calculation formula be：ΔW1=C0×(Udc)2/8；Three level powers become
When the level of parallel operation DC bus capacitor device midpoint O rises to Udc/2 by 0, lower capacitor Cd2It may store the variation delta of energy
W2Calculation formula be：ΔW2=3 × C0×(Udc)2/ 8, wherein C0It is three level power converter DC sides capacitor up and down
Parameter, C0=Cd1=Cd2, UdcIt is the voltage value at three level power converter DC side total capacitance device both ends, i.e., DC bus is electric
Pressure value.
Preferably, the control method is changed by changing acceleration in elevator follow-up operation and/or normal speed
The speed pattern of elevator follow-up operation.
Preferably, in step 5, if the energy flow direction of three level power converters is by loading through three level powers
Converter flows to DC bus capacitor, then judging by loading through three level power converter DC bus capacitor device midpoint O injections
Energy Q2Lower capacitor C when whether the level more than DC bus capacitor device midpoint O rises to Udc/2 by 0d2It may store energy
Variation delta W2；If the energy flow direction of three level power converters is by three-level converter DC capacitor through three level
Power converter flow direction load, then judging by the energy Q of three level power converter DC bus capacitor device midpoint O outflows1It is
Lower capacitor C when the no level more than DC bus capacitor device midpoint O is down to-Udc/2 by 0d2The variation delta of stored energy
W1。
The present invention also provides a kind of elevator control gears based on three level power converters, its technical solution is that,
Including：
The diagnosis unit of open circuit fault diagnosis is carried out for the power switch to three level power converters, for generating
State the speed pattern generation unit of the speed pattern needed for elevator driving controller execution elevator drive control, for according to
Velocity command output the speed pattern controlled and output voltage instruction elevator driving controller, be used for
Judge that lift car is moved to the desired output voltage vector of next landing period three level power converter by current location
Whether range judging unit inscribed circle in, side for judge energy flow direction three-level converter and load between are located at
To judging unit, for calculate energy through three-level converter DC bus capacitor device midpoint O injection in specific time period or by
The input/output energy calculation unit of the energy of three-level converter DC bus capacitor device midpoint O outflow, for calculating DC side
When the level of capacitor midpoint O is down to-Udc/2 by 0, lower capacitor Cd2The releasable energy of institute or DC bus capacitor device
When the level of midpoint O rises to Udc/2 by 0, lower capacitor Cd2It may store the capacitor energy variation meter of the incrementss of energy
Calculate the calculating of unit, the result of calculation for comparing input/output energy calculation unit and capacitor energy variation computing unit
As a result the comparing unit of the magnitude relationship between, for being modulated to three-level converter, output to constituting three level for becoming
The modulator of the switching signal of control is opened and turned off to the power switch of parallel operation.
When the input/output energy calculation unit determines to calculate specific according to the judging result of the walking direction unit
By the energy Q of three level power converter DC bus capacitor device midpoint O outflows in section1, or calculate by loading through three level electricity
The energy Q of force transducer DC bus capacitor device midpoint O injections2。
The capacitor energy variation computing unit determines to calculate three electricity according to the judging result of the walking direction unit
When the level of ordinary telegram force transducer DC bus capacitor device midpoint O is down to-Udc/2 by 0, lower capacitor Cd2The change of stored energy
Change amount Δ W1Or three level of level power converter DC bus capacitor device midpoint O when rising to Udc/2 by 0, lower capacitor
Cd2It may store the variation delta W of energy.
The specific time period refers to that elevator carries out being moved to the random time section that purpose floor is passed through by current location,
Or the desired output voltage vector rotates into the random time passed through to the specified region left in the inscribed circle
Section：The position of phase includes because of open circuit fault where the switch of open circuit fault occurs in the corresponding output level combination of small vector
And the level that cannot export, remaining position are the defeated of any one level in two level in addition to the level that cannot be exported
Go out the small vector direction corresponding to level combinations rotate clockwise 90 ° to be rotated by 90 ° counterclockwise covered region with it is interior
The intersection of the circle of contact.
The walking direction unit is according to the torque and traffic direction of lift car actual loading or output, or according to electricity
The stator current command or current detection value of terraced drive control device output, realize the energy stream between three-level converter and load
The judgement in dynamic direction.
When the diagnostic result of the diagnosis unit is normal, i.e., when open circuit fault not occurring, modulator uses traditional modulation
Strategy is modulated three-level converter, output switching signal；When the diagnostic result of the diagnosis unit is that open circuit event occurs
When barrier, modulator is modulated three-level converter using faults-tolerant control strategy, output switching signal.
The speed pattern generation unit is according to purpose floor information, the present bit of lift car from electric life controller
It sets, the diagnostic result from the diagnosis unit, the judging result from the range judging unit, come from the comparing unit
Comparison result in one or more generations elevator driving controller execute the speed pattern needed for elevator drive control.
The speed pattern generation unit is according to following law generation speed pattern：S1. car is generated in a conventional manner
The speed pattern during purpose floor is moved to by current location；S2. when the judging result of range judging unit is desired output
It is described when voltage vector is located at outside by the inscribed circle of the hexagon formed centered on zero vector, using 6 small vectors as vertex line
Speed pattern generation unit is changed by changing speed in elevator follow-up operation and/or acceleration in elevator follow-up operation
Speed pattern so that desired output voltage vector returns in the inscribed circle；S3. judge that elevator marches to purpose by current location
During floor, if there are such a period, input energy of three level power converters within the period is more than DC side
Lower capacitor C when the level of capacitor midpoint O rises to Udc/2 by 0d2The energy variation amount stored or three level powers
Lower part capacitance when level of output energy of the converter within the period more than DC bus capacitor device midpoint O is down to-Udc/2 by 0
Device Cd2The variable quantity of stored energy；If so, and when acceleration ＞ 0, lift car is regenerated by current according to new acceleration
Position is run to the speed pattern during purpose floor；If S4. acceleration≤0, by the speed pattern in elevator follow-up operation
It is zero to be set as perseverance.
What the present invention can reach has the technical effect that：
It is fault-tolerant by being used when constituting the power module of three-level converter of elevator drive system and open circuit fault occurring
Control mode is modulated three-level converter, while being appropriately modified to elevator controlling mode, so as to avoid electricity
Terraced emergent stopping enables elevator to realize that purpose floor is stopped, and realizes to open the door and puts out of service again after people, thereby avoids passenger's quilt
The embarrassment and inconvenience that pipe waits for rescue in elevator.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments：
Fig. 1 is the elevator drive system structural schematic diagram for applying three-level converter
Fig. 2 is T-type three-level converter structural schematic diagram；
Fig. 3 is I type three-level converter structural schematic diagrams；
Fig. 4 is the internal structure schematic diagram of the elevator control gear of the present invention；
Fig. 5 is the three dimensional vector diagram of three level power converters；
Fig. 6 is the elevator control method of the present invention and understands the implementing procedure figure of device.
Reference sign in figure：
1 is external power supply, and 2 be rectifier,
3 be smooth direct current capacitance, and 4 be busbar voltage detection device,
5 be power circuitry, and 6 be DC bus,
7 be inverter, and 8 be current sensing means,
9 be elevator motor, and 10 be traction sheave,
11 be directive wheel, and 12 be counterweight,
13 be car, and 14 be speed detector,
15 be elevator control gear, and 16 be electric life controller,
17 be energy consumption controller.
Specific implementation mode
Referring to Fig. 1, in the present embodiment, external power supply 1 is connected with the three-phase alternating current side of rectifier 2, the direct current of rectifier 2
Side is connected through DC bus 6 with the DC side input terminal of inverter 7, and smooth direct current capacitance 3 and power circuitry 5 are connected across directly respectively
6 both ends of busbar are flowed, busbar voltage detection device 4 is arranged at the both ends of smooth direct current capacitance 3, and the three-phase alternating current side of inverter 7 passes through
Current sensing means 8 is connected with elevator motor 9, and elevator motor 9 is connected through specific structure with traction sheave 10, car 13 and counterweight 12
By rope hanging in the both sides of traction sheave 10 and directive wheel 11.Energy consumption controller 17 is detected according to busbar voltage detection device 4
To DC bus-bar voltage the switch element of power circuitry 5 is opened and is turned off control.Power circuitry 5 is used for Regenerated energy
Amount is converted into heat and realizes regeneration energy expenditure.Electric life controller 16 is according to instruction or group control system in floor call, sedan-chair
Allotment order etc. generates purpose floor information.Elevator control gear 15 according to from electric life controller 16 purpose floor information,
The reality of current detecting result from current sensing means 8 and the elevator motor 9 detected by the speed detector 14
Rotating speed generates the switching signal opened to the power switch for constituting inverter 7 with shutdown so that elevator motor 9 drags car 13 and exists
Operation up and down in hoistway.Inverter 7 is a three-level converter, can be T-type three-level converter as shown in Figure 2, also may be used
To be I type three-level converters as shown in Figure 3.
As shown in figure 4, elevator control gear 15 further comprises diagnosis unit, speed pattern generation unit, elevator driving
Controller, modulator, range judging unit, comparing unit, capacitor energy variation computing unit, input/output energy balane
The component parts such as unit and walking direction unit, wherein diagnosis unit be used for the power switch of three level power converters into
Row open circuit fault diagnoses；Speed pattern generation unit is executed for generating the elevator driving controller needed for elevator drive control
Speed pattern；The speed pattern of the elevator driving controller for being exported according to the speed pattern generation unit is (certainly,
In order to preferably control effect, when using including the two close cycles variable voltage variable frequency vector controlled of speed ring and electric current loop, in addition to speed
It spends outside figure, input should also include current detecting result from current sensing means 8 and come from 14 institute of speed detector
The actual speed of the elevator motor 9 detected) carry out suitable control and output voltage instruction；Range judging unit is for judging electricity
Terraced car by current location be moved to next landing period three level power converter desired output voltage vector whether position
In the inscribed circle of the hexagon formed centered on by zero vector, using 6 small vectors as vertex line；Walking direction unit is used for
Judge the energy flow direction between three-level converter and load (load is elevator motor in the present embodiment)；Input/output energy
Amount computing unit be used for calculate energy through three-level converter inject DC bus capacitor device O points energy or by DC bus capacitor
Device O points flow out to the energy of load through three-level converter；Capacitor energy variation computing unit is for calculating DC bus capacitor
When the level of device midpoint O is down to-Udc/2 by 0, lower capacitor Cd2The releasable energy of institute or DC bus capacitor device midpoint O
Level when rising to Udc/2 by 0, lower capacitor Cd2It may store the incrementss of energy；Comparing unit is used for input/output
Magnitude relationship between the result of calculation of result of calculation and capacitor energy the variation computing unit of energy calculation unit is compared；
The voltage instruction and the power switch diagnosis unit of the modulator for being exported according to the elevator driving controller are examined
Disconnected result is modulated three-level converter, exports for the power switch for constituting three-level converter to be opened and closed
The switching signal of disconnected control.
As shown in Figure 4, the correlation in elevator control gear 15 between each component part is as follows：
Speed pattern generation unit is according to the comparison knot of purpose floor information, comparing unit from electric life controller 16
Fruit, the judging result of range judging unit, car one or more of current location information formation speed figure；
The speed pattern and come from current sensing means 8 that elevator driving controller is exported according to speed pattern generation unit
Current detecting result and the actual speed of the elevator motor 9 detected by the speed detector 14 execute speed, electric current
Two close cycles VVVF vector controlleds, the stator voltage instruction of output elevator motor 9；
Diagnosis unit carries out open circuit fault diagnosis to the power switch of three-level converter, exports diagnostic result；
What the stator voltage instruction or elevator driving controller that modulator is exported according to elevator driving controller exported determines
The diagnostic result of sub- voltage instruction and diagnosis unit is modulated three-level converter, exports for constituting three level translations
The switching signal of control is opened and turned off to the power switch of device；
Range judging unit is when receiving the diagnostic result for carrying out self-diagnosis unit switches and being that open circuit fault occurs to being driven by elevator
Movement controller output stator voltage instruct the expectation voltage vector to be formed whether be located at by centered on zero vector, with 6 small arrows
Amount is judged in the inscribed circle for the hexagon of vertex line composition, and will determine that result is sent to speed pattern and generates list
Member；
When the judging result of range judging unit is no, speed pattern generation unit passes through the speed for changing lift car
And/or acceleration changes the speed pattern needed for elevator driving controller so that determine corresponding to the speed pattern after change
Whether the expectation voltage vector that sub- voltage instruction is formed is located at by being formed centered on zero vector, using 6 small vectors as vertex line
Hexagon inscribed circle in；
Modulator is when it is that open circuit fault does not occur to receive the diagnostic result for carrying out self-diagnosis unit switches, using conventional modulation
Tactful (modulation strategy when i.e. three-level converter is in normal operating conditions) is modulated three-level converter, is receiving
When is open circuit fault occurs for the diagnostic result of arrival self-diagnosis unit switches, then using for three-level converter power switch open circuit event
The tolerant fail algorithm of barrier is modulated, and specific three-level converter power switch open circuit fault tolerant fail algorithm sees related text
It offers, such as：Document 1：Diagnosis and tolerant strategy of an open-switch fault for T-
type three-level inverter system,IEEE Trans.industry applications,Vol.50,
No.1,Jan/Feb,2014；Document 2：An open-switch fault detection method and tolerant
controls based on SVPWM in a grid-connected T-type rectifier with unity power
factor,IEEE Trans.industrial electronics；
Walking direction unit becomes three level when it is that open circuit fault occurs to receive the diagnostic result for carrying out self-diagnosis unit switches
Energy flow direction between parallel operation and load judged, basis for estimation can be lift car actual loading or output torque and
Traffic direction or the stator current command or current detection value of elevator driving controller output；
Capacitor energy changes computing unit according to the judging result of walking direction unit to three-level converter DC side
The maximum variable quantity of capacitive energy is calculated, and computational methods are：
It is through three-level converter by elevator motor 9 from DC bus capacitor when the judging result of walking direction unit is energy
When device midpoint O injects capacitance, lower capacitor C when calculating rises to Udc/2 from the level of DC bus capacitor device midpoint O by 0d2Storage
The incrementss of energy, i.e. elevator motor 9 can be through three-level converter DC bus capacitor device midpoint O to capacitor Cd2The maximum of injection
Energy, calculation formula are：W2=3 × C0×(Udc)2/8；When the judging result of walking direction unit is energy become by three level
When the midpoint O outflows of parallel operation DC bus capacitor device are through three-level converter to elevator motor 9, calculating can be by DC bus capacitor device midpoint
The ceiling capacity of O outflows, i.e., lower capacitor C when the level of capacitor midpoint O is down to-Udc/2 by 0d2Through DC bus capacitor device
The ceiling capacity that midpoint O can release, calculation formula are：W1=C0×(Udc)2/8。
Input/output energy calculation unit also according to walking direction unit judging result in specific time period through three electricity
The energy of flat converter injection DC bus capacitor device O points or by the outflow of DC bus capacitor device O points through three-level converter to negative
The energy of load is calculated, and wherein specific time period can be arbitrary during lift car is moved to purpose floor by current location
One time interval, or refer in particular to the desired output voltage vector of three-level converter and leave when rotated by elevator from entering to
Drive control device output stator voltage instruct the expectation voltage vector to be formed whether be located at by centered on zero vector, it is small with 6
The random time interval Δ T that the following region of the inscribed circle for the hexagon that vector is made of vertex line is passed through：
The position of phase includes because of open circuit where the switch of open circuit fault occurs in the corresponding output level combination of small vector
Failure and the level that cannot export, remaining position are any one level in two level in addition to the level that cannot be exported
The corresponding small vector direction of output level combination rotate clockwise 90 ° to being rotated by 90 ° covered region counterclockwise
With the intersection of inscribed circle.
After specific time period is determined, in order to calculate energy, it is also necessary to determine three-level converter DC side in the period
Capacitor midpoint O outflows inject the energy of DC bus capacitor device through three-level converter to the energy between elevator motor 9 by midpoint O
Measure flowing velocity, i.e. power, referred to as midpoint O power.In this way, when integral of the midpoint O power in time interval Δ T is equal to
Between inject the energy of DC bus capacitor device O points through three-level converter or flowed out by DC bus capacitor device O points in interval Δ T and pass through
The energy of three-level converter extremely load.Due to the rotary speed of desired output voltage vector, i.e. the electrical angle speed of elevator motor
Degree will be far above the rotor velocity of elevator motor, therefore can be approximately considered in time interval Δ T midpoint O power invariabilities not
Become, it in this way can be using the product of any midpoint O power and time interval Δ T in time interval Δ T as in time interval Δ T
Three-level converter DC bus capacitor device midpoint O outflows or the energy that DC bus capacitor device is injected by midpoint O.
For structure it is found that when ignoring the efficiency of three-level converter, midpoint O power is equal to three level translations as shown in Figure 1
The power of device three-phase side, the i.e. stator power of elevator motor, the power can utilize the inspection of the stator current of elevator elevator motor
Measured value or command value are calculated with stator voltage command value；When further ignoring elevator motor electromechanical conversion efficiency, midpoint O
Power is equal to the mechanical output of elevator motor, the i.e. product of the output torque of elevator motor and rotor velocity.
Q '=(F × ωm) × Δ T=(F × ωe)×(π/ωe)/Pn=(F × π)/Pn (1)
In formula, Q ' is that the three-level converter DC bus capacitor device midpoint O before correcting flows out or injects DC side by midpoint O
The energy of capacitor, F are the torque that elevator motor 9 exports, ωmAnd ωeIt is mechanical angular speed and electrical angular speed, P respectivelynIt is
The number of pole-pairs of elevator motor 9.
Certainly, three-level converter DC bus capacitor device midpoint O outflows are actually being carried out or DC side electricity is injected by midpoint O
When the energy of container, the influence of efficiency, loss etc. is very big, and the close phase in flow direction of efficiency, loss etc. and energy
It closes, therefore, efficiency, loss and safe clearance coefficient etc. should be determined according to the judging result of walking direction unit when calculating
To being modified on the basis of ignoring the primary Calculation result that the factors such as efficiency obtain, to obtain final input/output energy
Measure computing unit result of calculation Q：
Q=к1×(F×π)/Pn=к × F (2)
In formula, Q is revised three-level converter DC bus capacitor device midpoint O outflows or injects DC side by midpoint O
The energy of capacitor, к1It is to include efficiency, loss, the flow direction of energy, safe clearance coefficient in interior correction factor, к=к1×
π/Pn。
For the ease of difference, the energy flowed out by three-level converter DC bus capacitor device midpoint O is expressed as Q1, will be by
The energy of midpoint O injection DC bus capacitor devices is expressed as Q2。
Comparing unit changes the result of calculation and input/output energy calculation unit of computing unit according to capacitor energy
The magnitude relationship that result of calculation carries out the two judges：
It is by three-level converter DC bus capacitor device midpoint O outflow warps when the judging result of walking direction unit is energy
When three-level converter to elevator motor 9, compare W1With Q1Magnitude relationship；When the judging result of walking direction unit is energy
It is when injecting capacitance from DC bus capacitor device midpoint O through three-level converter by elevator motor 9, to compare W2With Q2Magnitude relationship.
Speed pattern generation unit is W in the judging result of the walking direction unit received1＜ Q1Or W2＜ Q2When, by
Decrescence small acceleration, until the judging result of walking direction unit is W1≥Q1Or W2≥Q2, then given birth to again using new acceleration
At the speed pattern by car current location to purpose floor；If cannot still make sentencing for walking direction unit when acceleration reduces to zero
Disconnected result is W1≥Q1Or W2≥Q2, then it is zero by the speed pattern perseverance of elevator follow-up operation, while generating elevator emergency and stopping letter
Number so that elevator emergency is out of service.
Zero vector, small vector, inscribed circle in occurring below to above description illustrate.
T-type three-level converter and I type three-level converters, DC side input terminal as shown in Figure 2 and Figure 3 is respectively P
End, the ends O and N-terminal, corresponding level are respectively+0.5Udc, 0 and -0.5Udc, and in its topological structure, the same bridge arm packet
Half-bridge power switch (Q is includedX1And QX4) and midpoint power switch (QX2And QX3), X ∈ (R, S, T), Cd1=Cd2=C0.By Fig. 5
Shown in three-level converter three dimensional vector diagram it is found that three-level converter shares 19 vectors, including 1 zero vector (V0)、6
A small vector (V1~V6), 6 middle vector (V7~V12), vector (V 6 big13~V19), and the corresponding output level of zero vector
Be combined as 3, each small vector combined respectively with positive and negative 2 output levels it is corresponding, and it is each in vector sum each big vector is then
It is respectively combined with an output level corresponding.In addition, Fig. 5 gives with zero vector V simultaneously0Centered on, with 6 small vectors be
The inscribed circle of the hexagon of vertex line composition.The desired output voltage vector of three-level converter and corresponding output level group
The relationship of component is as shown in the table：
For time interval Δ T, from Fig. 2, Fig. 3 and Fig. 5：
As the R phases just switch of three-level converter, i.e. QR1When open circuit fault occurs, R phases cannot export P level, then R phases
The output level that position is P, remaining position is OO is combined as POO, and corresponding small vector is V1, the vector is clockwise, counterclockwise
It is rotated by 90 ° vector V during rear corresponding direction vector is respectively respectively11And V8Direction, then finally obtained intersection is inscribe
Circle is located at vector V in vector11And V8The right part of direction.When desired output voltage vector rotates counterclockwise, it from
Middle vector V11Direction enters intersection, therefrom vector V8Direction leaves intersection area, then desired output voltage vector exists
It is Δ T to enter and leave intersection area the time it takes.
When the rotation of power switch and/or desired output voltage vector and the asynchronous feelings of above-mentioned example that open circuit fault occurs
Shape can refer to execution, not repeat herein.
Flow diagram as shown in FIG. 6 includes such as the present invention is based on the elevator control method of three level power converters
Lower step：
Step 1. generates car by speed pattern generation unit and is moved to purpose floor by current location in a conventional manner
The conventional speeds figure of period；
Step 2. carries out open circuit fault diagnosis by the power switch of three level power converter of diagnosis unit pair, judges three electricity
Whether flat converter occurs open circuit fault, if diagnostic result is normal, is transferred to step 3；Otherwise it is transferred to step 4；
Step 3. controls elevator according to conventional control mode, using traditional modulation strategy to three-level converter into
Row modulation；It is transferred to step 9；
It refers to being driven to elevator according to normal speed, acceleration to carry out control to elevator according to conventional control mode herein
Dynamic control, makes it be run according to the purpose floor that electric life controller provides；Using three level translation of traditional modulation strategy pair
It refers to not considering three-level converter failure situations that device, which is modulated, using under three-level converter normal operating conditions
Modulation strategy is modulated it, and the output of its exchange side is made it is expected voltage.
Step 4. range judging unit judges that the institute of the voltage instruction during car is marched to purpose floor by current location is right
The three level power converter desired output voltage vectors answered whether be located at by centered on zero vector, using 6 small vectors as vertex
In the inscribed circle of the hexagon of line composition；If it is not, then making voltage instruction by changing the speed pattern of elevator follow-up operation
Corresponding three level power converters desired output voltage vector is located in the inscribed circle, is transferred to step 5 later；Otherwise directly
It is transferred to step 5；
After the phase results that diagnosis unit makes that power switch open circuit fault occurs for three-level converter, range judges single
Member elevator drive control during car marches to purpose floor by current location according to the conventional speeds figure generated in step 1
Whether three level power converter desired output voltage vectors corresponding to the voltage instruction of device output in being by zero vector
The heart, the hexagon formed using 6 small vectors as vertex line inscribed circle in.If it is judged that for beyond inscribed circle range,
When except inscribed circle, need change (typically reducing acceleration and/or speed as needed to change) lift car follow-up
Running speed pattern so that corresponding desired output voltage vector returns in inscribed circle；If it is judged that in inscribe
In circle, then it is not necessarily to processing, is directly transferred to next step 5.
During step 5. judges that elevator marches to purpose floor by current location, if there are such a period, three electricity
It is defeated within the period that input energy of the ordinary telegram force transducer within the period is more than three level power converter of DC bus capacitor
Enter lower capacitor C when level of the energy more than DC bus capacitor device midpoint O rises to Udc/2 by 0d2The variation of the energy stored
Level of the output energy more than DC bus capacitor device midpoint O of amount or three level power converters within the period is by 0 drop
To lower capacitor C when-Udc/2d2The variable quantity of stored energy；When judging result is W1≥Q1Or W2≥Q2When, it is transferred to step
7；Otherwise it is transferred to step 6；
In fact, step 5 further comprises several sub-steps：
Step 5.1. is judged by energy flow direction of the walking direction unit between three-level converter and load, is sentenced
Disconnected foundation can be lift car actual loading or output torque and traffic direction or the stator of elevator driving controller output
Current-order or current detection value；
Step 5.2. is that energy flows to three-level converter direct current by loading when the judging result of walking direction unit judges
When the O of lateral capacitance midpoint, when capacitive energy variation computing unit calculating rises to Vdc/2 from the level of DC bus capacitor device midpoint O by 0
Lower capacitor Cd2The incrementss of institute's storage energy, i.e. elevator motor 9 can through three-level converter DC bus capacitor device midpoint O to
The ceiling capacity of capacitor injection, calculation formula are：W2=3 × C0×(Udc)2/8；When the judging result of walking direction unit is
Energy is capacitive energy when being flowed out through three-level converter to elevator motor 9 by three-level converter DC bus capacitor device midpoint O
Changing computing unit calculable capacitor can be by the ceiling capacity of DC bus capacitor device midpoint O outflows, the i.e. level of capacitor midpoint O
Lower capacitor C when being down to-Udc/2 by 0d2The ceiling capacity that can release through DC bus capacitor device midpoint O, calculation formula are：
W1=C0×(Udc)2/8。
Step 5.3. input/output energy calculation units are determined to be flowed out by three-level converter DC bus capacitor device midpoint O
Energy or the period that DC bus capacitor device energy is injected by midpoint O.The period refers to that elevator progress is moved to by current location
The random time section or the desired output voltage vector that purpose floor is passed through are rotated into leaving the inscribed circle
The random time section that interior following region is passed through：
The position of phase includes because of open circuit where the switch of open circuit fault occurs in the corresponding output level combination of small vector
Failure and the level that cannot export, remaining position are any one level in two level in addition to the level that cannot be exported
The corresponding small vector direction of output level combination rotate clockwise 90 ° to being rotated by 90 ° covered region counterclockwise
With the intersection of inscribed circle.
Step 5.4. is that energy flows to three-level converter direct current by loading when the judging result of walking direction unit judges
When the O of lateral capacitance midpoint, input/output energy calculation unit calculates three-level converter DC bus capacitor device midpoint in the above-mentioned period
The energy Q of O outflows1；It is by three-level converter DC bus capacitor device midpoint O when the judging result of walking direction unit is energy
When outflow is through three-level converter to elevator motor 9, input/output energy calculation unit calculated in the above-mentioned period to be become by three level
The energy Q of parallel operation DC bus capacitor device midpoint O injections2。
Step 5.5. is that energy flows to three-level converter direct current by loading when the judging result of walking direction unit judges
When the O of lateral capacitance midpoint, comparing unit compares W2And Q2Size；It is by three electricity when the judging result of walking direction unit is energy
When flat converter DC bus capacitor device midpoint O outflows are through three-level converter to elevator motor 9, comparing unit compares W1And Q1's
Size.
When judging result is W1≥Q1Or W2≥Q2When, it is transferred to step 7；Otherwise it is transferred to step 6.
Step 6. speed pattern generation unit reduces acceleration, is to be transferred to step 8 according to the decision of the symbol of acceleration, still
Speed pattern is regenerated according to new acceleration, recalculates Q1Or Q2, until W1≥Q1Or W2≥Q2When, it is transferred to step 7.
In fact, step 6 further comprises several sub-steps：
Step 6.1. speed pattern generation units reduce acceleration；
Whether step 6.2. speed pattern generation units judge acceleration≤0.If so, being transferred to step 8；Otherwise, it is transferred to
Step 6.3；
Step 6.3. speed patterns generation unit according to new acceleration regenerate lift car by current location run to
Speed pattern during purpose floor, and make three level power converters desired output voltage vector corresponding with the speed pattern
In the inscribed circle；
Step 6.4. input/output energy calculation units recalculate Q1Or Q2；
Step 6.5. comparing units compare W2And Q2Size or W1And Q1Size.Work as W2≥Q2Or W1≥Q1When, it is transferred to step
Rapid 7；Otherwise it is transferred to step 6.1；
If until acceleration reduces to 0, the judging result of step 5 is still yes, then is transferred to step 8；
Step 7. modulator enables fault-tolerant three level power converter of modulation strategy pair of three level power converters and adjusts
System；It is transferred to step 9；
The difference of the position of the power switch of open circuit fault, modulation occur according to the three-level converter that diagnosis unit determines
Device selects the fault-tolerant modulation strategy of three-level converter appropriate to be modulated the three-level converter for constituting elevator drive system,
So that it is operated in fault-tolerant state, completes the transformation and transmission of energy.Specific fault-tolerant modulation strategy can be found in pertinent literature.
Step 8. generates washout, keeps elevator emergency out of service；
Step 9. terminates.
As shown in the above description, the speed pattern generation unit has followed following rule in formation speed figure：
S1. the speed pattern during car is moved to purpose floor by current location is generated in a conventional manner；
S2. when the judging result of range judging unit is centered on desired output voltage vector is located at by zero vector, with 6
When small vector is outside the inscribed circle of the hexagon of vertex line composition, the speed pattern generation unit is follow-up by changing elevator
Running speed and/or acceleration change the speed pattern in elevator follow-up operation so that desired output voltage vector returns
Into the inscribed circle；
S3. during judging that elevator marches to purpose floor by current location, if there are such a period, three level electricity
Lower part capacitance when level of input energy of the force transducer within the period more than DC bus capacitor device midpoint O rises to Udc/2 by 0
Device Cd2Output energy of the energy variation amount or three level power converters stored within the period is more than DC bus capacitor
Lower capacitor C when the level of device midpoint O is down to-Udc/2 by 0d2The variable quantity of stored energy；If so, and acceleration ＞ 0
When, it regenerates lift car according to new acceleration and is run to the speed pattern during purpose floor by current location；
If S4. acceleration≤0, it is zero to set the speed pattern in elevator follow-up operation to perseverance.
Claims (14)
1. a kind of elevator control method based on three level power converters, which is characterized in that include the following steps：
Step 1. generates the speed pattern during car is moved to purpose floor by current location；
Step 2. carries out open circuit fault diagnosis to the power switch of three level power converters and is transferred to if diagnostic result is normal
Step 3；Otherwise it is transferred to step 4；
Step 3. controls elevator according to conventional control mode, is adjusted to three-level converter using traditional modulation strategy
System；It is transferred to step 9；
Step 4. judges that three level powers corresponding to the voltage instruction during car is marched to purpose floor by current location become
Whether parallel operation desired output voltage vector is located at the hexagon by being formed as vertex line centered on zero vector, using 6 small vectors
Inscribed circle in；If it is not, then making corresponding three level power of voltage instruction by changing the speed pattern of elevator follow-up operation
Converter desired output voltage vector is located in the inscribed circle, is transferred to step 5 later；Otherwise directly it is transferred to step 5；
During step 5. judges that elevator marches to purpose floor by current location, if there are such a period, three level electricity
Lower part capacitance when level of input energy of the force transducer within the period more than DC bus capacitor device midpoint O rises to Udc/2 by 0
Device Cd2The output energy of the variable quantity of the energy stored or three level power converters within the period is more than DC side electricity
Lower capacitor C when the level of container midpoint O is down to-Udc/2 by 0d2When stored energy variable quantity；If so, being transferred to step
Rapid 6；Otherwise it is transferred to step 7；
Step 6. reduces acceleration, is to be transferred to step 8 according to the decision of the symbol of acceleration, is regenerated also according to new acceleration
Speed pattern simultaneously recalculates Q1Or Q2, until W1≥Q1Or W2≥Q2When, it is transferred to step 7；
Step 7. enables fault-tolerant three level power converter of modulation strategy pair of three level power converters and is modulated；It is transferred to step
9；
Step 8. generates washout, keeps elevator emergency out of service；
Step 9. terminates.
2. the elevator control method according to claim 1 based on three level power converters, it is characterised in that：Step 5
In the period refer to that elevator carries out being moved to random time section that purpose floor is passed through or described by current location
Desired output voltage vector rotates into the random time section passed through to the following region left in the inscribed circle：
The position of phase includes because of open circuit fault where the switch of open circuit fault occurs in the corresponding output level combination of small vector
And the level that cannot export, remaining position are the defeated of any one level in two level in addition to the level that cannot be exported
Go out the small vector direction corresponding to level combinations rotate clockwise 90 ° to be rotated by 90 ° counterclockwise covered region with it is interior
The intersection of the circle of contact.
3. the elevator control method according to claim 1 based on three level power converters, it is characterised in that：Step 5
In input energy of three level power converters within the period refer within the period by loading through three level power converters
The energy Q of DC bus capacitor device midpoint O injections2；Output energy of three level power converters within the period refers in step 5
By loading the energy Q through three level power converter DC bus capacitor device midpoint O outflows within the period1。
4. the elevator control method according to claim 1 based on three level power converters, it is characterised in that：Step 5
In the level of three level power converter DC bus capacitor device midpoint O when being down to-Udc/2 by 0, lower capacitor Cd2Stored energy
The variation delta W of amount1Calculation formula it is as follows：
ΔW1=C0×(Udc)2/8
When the level of three level power converter DC bus capacitor device midpoint O rises to Udc/2 by 0, lower capacitor Cd2It can deposit
The variation delta W of energy storage capacity2Calculation formula it is as follows：
ΔW2=3 × C0×(Udc)2/8
Wherein, C0It is the parameter of capacitor above and below three level power converter DC sides, Cd1It is three level power converter direct currents
Upper lateral part capacitance, Cd2It is three level power converter direct current side lower part capacitances, C0=Cd1=Cd2, UdcIt is the transformation of three level powers
The voltage value at device DC side total capacitance device both ends, i.e. d-c bus voltage value.
5. the elevator control method according to claim 1 based on three level power converters, it is characterised in that：The control
Method processed changes the hodograph of elevator follow-up operation by changing acceleration in elevator follow-up operation and/or normal speed
Shape.
6. the elevator control method according to claim 3 or 4 based on three level power converters, it is characterised in that：Step
In rapid 5, if the energy flow direction of three level power converters is to flow to DC side through three level power converters by loading
Capacitance, then judging by loading the energy Q through three level power converter DC bus capacitor device midpoint O injections2Whether it is more than straight
Stream lateral capacitance may store the variation delta W of energy when rising to Udc by terminal voltage Udc/22；If three level power converters
Energy flow direction is to be flowed to load through three level power converters by three-level converter DC capacitor, then judging by three electricity
The energy Q of ordinary telegram force transducer DC bus capacitor device midpoint O outflows1Whether more than DC bus capacitor 0 is down to by terminal voltage Udc/2
When stored energy variation delta W1。
7. a kind of elevator control gear based on three level power converters, which is characterized in that the control device includes：
Diagnosis unit：Open circuit fault diagnosis is carried out to the power switch of three level power converters；
Speed pattern generation unit：Generate the speed pattern needed for elevator driving controller execution elevator drive control；
Elevator driving controller：The speed pattern exported according to the speed pattern generation unit is controlled, output electricity
Pressure instruction；
Range judging unit：Judge that lift car is moved to next landing period three level power converter by current location
Whether desired output voltage vector is located in the hexagon by being formed as vertex line centered on zero vector, using 6 small vectors
In the circle of contact；
Walking direction unit：For judging the energy flow direction between three-level converter and load；
Input/output energy calculation unit：It is noted through three-level converter DC bus capacitor device midpoint O for calculating in specific time period
The energy entered or the energy by the midpoint O outflows of three-level converter DC bus capacitor device；The specific time period refer to elevator into
Row is moved to random time section that purpose floor is passed through by current location or the desired output voltage vector is rotated into
Enter the random time section passed through to the following region left in the inscribed circle：
Capacitor energy changes computing unit：When level for calculating DC bus capacitor device midpoint O is down to-Udc/2 by 0, under
Portion capacitor Cd2When the level of the releasable energy of institute or DC bus capacitor device midpoint O rise to Udc/2 by 0, lower capacitor
Cd2It may store the incrementss of energy；
Comparing unit：Compare the meter of the result of calculation and capacitor energy variation computing unit of input/output energy calculation unit
Calculate the magnitude relationship between result；
Modulator：Three-level converter is modulated, is exported for opening the power switch for constituting three-level converter
The logical switching signal with shutdown control.
8. the elevator control gear according to claim 7 based on three level power converters, which is characterized in that described defeated
Enter/export energy calculation unit to be determined to calculate in specific time period by three level electricity according to the judging result of the walking direction unit
The energy Q of force transducer DC bus capacitor device midpoint O outflows1, or calculate by loading through three level power converter DC sides
The energy Q of capacitor midpoint O injections2。
9. elevator control gear according to claim 7, which is characterized in that the capacitor energy changes computing unit root
According to the walking direction unit judging result determine calculate three level power converter DC bus capacitor device midpoint O level by
0 when being down to-Udc/2, lower capacitor Cd2The variation delta W of stored energy1Or three level power converter DC side electricity
When the level of container midpoint O rises to Udc/2 by 0, lower capacitor Cd2It may store the variation delta W of energy2。
10. the elevator control gear according to claim 7 or 8 based on three level power converters, which is characterized in that small
The position of phase includes because open circuit fault cannot where the switch of open circuit fault occurs in the corresponding output level combination of vector
The level of output, remaining position are the output level of any one level in two level in addition to the level that cannot be exported
The corresponding small vector direction of combination rotates clockwise 90 ° to being rotated by 90 ° covered region and inscribed circle counterclockwise
Intersection.
11. the elevator control gear according to claim 7 based on three level power converters, which is characterized in that described
Walking direction unit is according to the torque and traffic direction of lift car actual loading or output, or according to elevator driving controller
The stator current command or current detection value of output realize sentencing for the energy flow direction between three-level converter and load
It is disconnected.
12. the elevator control gear according to claim 7 based on three level power converters, it is characterised in that：
When the diagnostic result of the diagnosis unit is normal, i.e., when open circuit fault not occurring, modulator uses traditional modulation strategy
Three-level converter is modulated, output switching signal；When the diagnostic result of the diagnosis unit is that open circuit fault occurs,
Modulator is modulated three-level converter using faults-tolerant control strategy, output switching signal.
13. the elevator control gear according to claim 7 based on three level power converters, which is characterized in that described
Speed pattern generation unit according to the current location of purpose floor information, lift car from electric life controller, from described
The diagnostic result of diagnosis unit, the judging result from the range judging unit, the comparison result from the comparing unit
In one or more generations elevator driving controller execute the speed pattern needed for elevator drive control.
14. the elevator control gear according to claim 13 based on three level power converters, which is characterized in that described
Speed pattern generation unit is according to following law generation speed pattern：
S1. the speed pattern during car is moved to purpose floor by current location is generated in a conventional manner；
S2. when the judging result of range judging unit is centered on desired output voltage vector is located at by zero vector, with 6 small arrows
When amount is outside the inscribed circle of the hexagon of vertex line composition, the speed pattern generation unit is by changing elevator follow-up operation
In speed and/or acceleration change the speed pattern in elevator follow-up operation so that desired output voltage vector returns to institute
It states in inscribed circle；
S3. during judging that elevator marches to purpose floor by current location, if there are such a period, three level powers become
Lower capacitor C when level of input energy of the parallel operation within the period more than DC bus capacitor device midpoint O rises to Udc/2 by 0d2
Output energy of the energy variation amount or three level power converters stored within the period is more than in DC bus capacitor device
Lower capacitor C when the level of point O is down to-Udc/2 by 0d2The variable quantity of stored energy；If so, and when acceleration ＞ 0, pressing
Lift car is regenerated according to new acceleration to be run to the speed pattern during purpose floor by current location；
If S4. acceleration≤0, it is zero to set the speed pattern in elevator follow-up operation to perseverance.
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| CN107128765B (en) * | 2017-06-13 | 2020-11-03 | 重庆市特种设备检测研究院 | Fault-tolerant control method and system for elevator in trapped state |
| CN111483907B (en) * | 2020-05-22 | 2023-08-15 | 江苏埃尔法电梯有限公司 | Elevator control method and control device based on three-level power converter |
| CN112994493B (en) * | 2021-03-01 | 2022-03-15 | 山东大学 | Finite set double-vector model prediction control method and system for three-level inverter |
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| CN102336356A (en) * | 2010-07-22 | 2012-02-01 | 上海三菱电梯有限公司 | Energy saving device for elevator |
| CN102452588A (en) * | 2010-10-21 | 2012-05-16 | 上海三菱电梯有限公司 | Energy-saving device for elevator |
| CN103303773A (en) * | 2012-03-07 | 2013-09-18 | 上海三菱电梯有限公司 | Elevator auxiliary torque device, elevator and control method for elevator |
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| JP2013132179A (en) * | 2011-12-22 | 2013-07-04 | Hitachi Building Systems Co Ltd | Safety apparatus for inverter control elevator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102336356A (en) * | 2010-07-22 | 2012-02-01 | 上海三菱电梯有限公司 | Energy saving device for elevator |
| CN102452588A (en) * | 2010-10-21 | 2012-05-16 | 上海三菱电梯有限公司 | Energy-saving device for elevator |
| CN103303773A (en) * | 2012-03-07 | 2013-09-18 | 上海三菱电梯有限公司 | Elevator auxiliary torque device, elevator and control method for elevator |
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