CN113258829A - Method for controlling operation stability of construction elevator - Google Patents
Method for controlling operation stability of construction elevator Download PDFInfo
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- CN113258829A CN113258829A CN202110466856.8A CN202110466856A CN113258829A CN 113258829 A CN113258829 A CN 113258829A CN 202110466856 A CN202110466856 A CN 202110466856A CN 113258829 A CN113258829 A CN 113258829A
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- speed
- construction elevator
- control method
- brake
- control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
- H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/01—Asynchronous machines
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention relates to the technical field of construction elevator drive control, in particular to a construction elevator running stability control method, which designs planning speed setting and contracting brake logic curves for distinguishing low speed and medium and high speed in a matching way, improves and optimizes a drive motor control method with one driver for a plurality of traditional drivers, is different from a traditional VF control method, aims at controlling the running stability of a drive construction elevator in a full speed range, adopts a speed sensor-free self-adaptive vector control mode based on a full-order observer to control, is beneficial to improving the error application range of motor parameters because one driver is applied to drive a plurality of motors to control in the construction elevator field, thereby greatly improving the control robustness, and finally is beneficial to improving the loading capacity of the drive of the construction elevator in a low-speed area by adopting a mode of identifying stator resistance in an online self-adaptive manner, therefore, the stability in the starting and stopping process is greatly optimized.
Description
Technical Field
The invention relates to the technical field of driving control of construction elevators, in particular to a method for controlling the running stability of a construction elevator.
Background
At present, asynchronous motors are mostly adopted to drive in the field of construction elevators, as shown in fig. 1, a form that one driver is provided with two motors or three motors is generally adopted, the initial traditional construction elevator adopts the power frequency drive and directly drives through the on-off of a relay, the current main drive control mode is to utilize a V/F open loop control method to drive one for more, the construction elevator is a device for transporting construction workers to carry out production operation, the requirement on riding comfort is higher, the control end of the driver is embodied in the fact that the operation stability of the driver in a full-speed section is required to be high, and particularly, the start-stop process is soft, safe and reliable, the original construction elevator which is driven by a power frequency mode has obvious shaking and pause feeling in the start-stop process and even falling feeling, and extremely bad riding experience is brought to the construction workers and related passengers, the V/F control scheme is partially optimized, but the stability of a full speed region is not excellent enough, and especially the stability of low-speed heavy-load operation and start-stop process is poor.
The invention relates to a stability control method for a construction elevator, which comprises the steps of firstly, cooperatively designing and distinguishing low-speed, medium-speed and high-speed planning speed setting and a contracting brake logic curve, secondly, improving and optimizing a control method of a driving motor with a plurality of traditional drivers, being different from a traditional VF control method, aiming at controlling the running stability of the construction elevator within a full speed range, adopting a speed-sensor-free self-adaptive vector control mode based on a full-order observer to control, because the field of the construction elevator is applied to the control of a plurality of motors by one driver, being beneficial to improving the error application range of motor parameters, thereby greatly improving the control robustness, and finally adopting a mode of identifying stator resistance in an online self-adaptive manner, being beneficial to improving the carrying capacity of the construction elevator in a low-speed area, therefore, the stability in the starting and stopping process is greatly optimized.
Disclosure of Invention
The invention aims to provide a control method for the running stability of a construction elevator, and aims to solve the problem of the running stability of the construction elevator in the running process and improve the riding comfort of the construction elevator.
In order to achieve the purpose, the invention provides the following technical scheme: the smooth operation speed of the construction hoist is planned as follows:
s1, before the brake is opened, the driving motor is required to be operated to be set to f before the brake is opened, namely, before the brake is controlled to be opened simultaneously by a plurality of motors1Low speed frequency, maintaining set time t1The internal operation is carried out, the output current is monitored and judged at the stage, and the controller outputs the contracting brake opening action after the condition is met;
s2, after opening the brake, the low speed is still operated with the set low speed frequency and maintained for the set time t2Internal operation;
s3, in the acceleration stage, the working condition of the construction elevator is that the dynamic change is expected to be rapidly and softly carried out, and a unique S curve is designed for acceleration;
s4, constant speed phase, i.e. at set speed f2The construction elevator is operated, the driving application of the construction elevator is mostly to set multi-section speed, and the constant-speed operation speed is given according to different requirements;
s5, in the deceleration stage, the construction hoist is required to be quickly stopped in place in the application occasion, and the design S curve is continuously adopted;
s6, before closing the brake, the speed is reduced to the set low speed frequency f3Running, maintaining for a set time t3Internally operating, and outputting a gate closing signal after the conditions are met;
s7, after closing the brake, the low speed is still set to the low speed frequency f3Running, maintaining for a set time t4And keeping running.
Preferably, the construction hoist adopts a driving mode of driving a plurality of asynchronous motors, and adopts a one-driving-more control mode based on a full-order observer and without velocity vectors.
Preferably, the control method of the driving motor comprises a vector control mode, a full-order observer, adaptive speed estimation, online stator resistance estimation and judgment updating algorithm thereof.
Preferably, the full-order observer design method includes a current observer, a flux linkage observer, and a feedback gain matrix design.
Preferably, the speed estimation of the construction hoist is calculated by a PI controller in an adaptive manner by using an error feedback form.
Preferably, the construction elevator controls the driving motor by using the motor parameter stator resistance in the starting and stopping process, and adopts an online stator resistance estimation and judgment updating algorithm and a real-time feedback current and PI controller to carry out parameter estimation.
Compared with the prior art, the invention has the beneficial effects that:
1. the optimized speed planning curve design provides method guidance for effectively, reliably and clearly designing the running process of each state, thereby improving the stability of the dynamic running process in the full speed range of the construction elevator.
2. The accuracy of speed estimation is improved, the traditional VF control and power frequency control scheme adopts an open-loop control scheme without speed closed-loop feedback, the control method can improve the accuracy of speed control in a full speed range, and an encoder speed measurement mode is not adopted, so that the cost is saved, and the engineering realization is facilitated.
3. The control robustness is enhanced, the traditional non-speed vector control has large dependence on motor parameters, and a mode of combining a full-order observer and self-adaptive estimation is adopted, so that the adaptive range of motor parameter errors is greatly improved, and the robustness of the controller is effectively improved.
4. The low-speed load capacity is improved, the speed precision of speed estimation of a low-speed control area can be effectively improved by adopting a full-order observer mode, particularly the load condition of a power generation working condition, in addition, a stator resistance algorithm is identified on line, and the load capacity of the low-speed control process is estimated and improved in real time when the actual stator resistance changes.
Drawings
FIG. 1 is a schematic illustration of a construction hoist drive application;
FIG. 2 is a plot of a construction hoist speed plan and band-type brake logic;
fig. 3 is a construction elevator drive control block diagram;
FIG. 4 is a schematic diagram of a full-order observer;
FIG. 5 is a schematic of an in-line stator resistance estimation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, a speed planning curve for improving the stability of the full speed range of the construction elevator during dynamic operation and a method for designing the contracting brake logic thereof, which are designed according to global considerations, are specifically divided into 7 state intervals, and specifically include the following steps:
s1, before the brake is opened, the driving motor is required to be operated to be set to f before the brake is opened, namely, before the brake is controlled to be opened simultaneously by a plurality of motors1Low speed frequency, maintaining set time t1Internal operation, which facilitates smooth and jerk-free start-up, at which stage the output current needs to be monitored for a determination. The situation that the construction lifter slides down due to insufficient motor output at the moment of opening the band-type brake is prevented, and the controller outputs the band-type brake opening action after the conditions are met.
S2, after opening the brake, the low speed is still operated with the set low speed frequency and maintained for the set time t2The internal operation, the purpose at this stage is to prevent the time delay of motor mechanical brake, lead to the motor brake not in time to open, avoid sudden impact's pause to frustrate and feel.
And S3, in the acceleration stage, the working condition of the construction elevator is that the construction elevator is expected to rapidly and softly change dynamically, and a unique S curve is designed for acceleration, so that the inertia is better overcome than that of the traditional linear acceleration mode.
S4, constant speed phase, i.e. at set speed f2In operation, the driving application of the construction elevator is mostly set to a multi-section speed, and a constant-speed operation speed is given according to different requirements.
And S5, in the deceleration stage, the construction hoist is required to be quickly stopped in place in the application occasion, the S curve is continuously designed, and the soft and quick in-place effect is obtained in multiple deceleration time periods.
S6, before closing the brake, the speed is reduced to the set low speed frequency f3Running, maintaining for a set time t3The internal operation aims to buffer the low-speed operation to reduce the impact of the shutdown process, and the brake closing signal is output after the conditions are met.
S7, after closing the brake, the low speed is still set to the low speed frequency f3Running, maintaining for a set time t4And keeping running, wherein the purpose is to consider the time delay of mechanical braking of the motor of the construction elevator, so that the frequency is kept in the brake closing process.
It should be noted that, to implement the speed planning and the contracting brake logic curve shown in fig. 2, the application of the method to the construction elevator has a good effect on the overall operation stability, and the key points are the accuracy of the driving speed control, the rapidity of the speed tracking and the stability. Thus, the present invention employs a control method based on a full-order observer adaptive non-velocity sensor as shown in fig. 3 to drive a plurality of motors.
As illustrated by the parameters in figure 3 of the drawings,
for a given control speed, ωrIn order to feed back the speed of the vehicle,
for a given torque current the torque is given,
for a given excitation current, iTFor feedback of torque current, iMFor feedback of exciting current, omegaeFor synchronous speed, ωsIs slip speed, θMFor synchronizing angles, iαAnd iβIs the current after the change of the clark,
for the rotor flux linkage observation angle,
in order to observe the flux linkage of the rotor,
in order to observe the flux linkage of the rotor,
in order to observe the current flow, it is,
for observing stator resistance, RsIs stator resistance, RrIs rotor resistance, LrIs the rotor inductance uα，uβTo output a voltage udcIs the dc bus voltage.
The overall control framework in fig. 3 is a vector control mode without a speed sensor, and includes a speed control loop, a current control loop, SVPWM vector modulation wave-sending, feedback speed and motor parameter estimation, wherein the key technology of the present invention is to accurately estimate speed and flux linkage angle for control without encoder speed measurement.
Further, as shown in fig. 4, the full-order observer is described in detail, fig. 4 is a control block diagram simplified by an asynchronous motor, in fig. 4, parameters are described as follows,
is to observe the current of the electric current,
is to observe the magnetic linkage, g1,g2,g3,g4And feeding back a gain factor.
a, b, c, d, e and f are motor parameter simplification equivalent parameters, and the details are as follows:
wherein L issFor stator inductance, τrIs the rotor time constant, LmIs mutual inductance.
Through relevant motor control models and derivation simplification by utilizing a full-order observation principle, formula 1 is a current observation formula:
flux linkage observation and current observation are coupled, and formula 2 is a current observation formula:
the feedback gain matrix needs to be selected according to the lyapunov stability equation, where k is an adjustable coefficient, and may be selected as:
according to the method, after observing the flux linkage in the full order, a Lyapunov stability analysis method is needed to be utilized, and an adaptive law formula 3 of the estimated speed is designed, so that the observed flux linkage and the current are converted to obtain a corresponding estimated rotating speed, wherein k is shown in the formulaωpAnd k isωiAdapting to PI controller parameters.
It can be known from theoretical simulation and experimental test analysis that in order to improve the load carrying capacity, particularly the load carrying capacity under the power generation working condition of a construction elevator, under the condition of low speed, a scheme for identifying the stator resistance on line is introduced as shown in figure 5, and an adaptive law is designed by adopting the Bov hyperstability law, as shown in formula 4, e in figure 5diTo observe the current differential versus actual current differential error,
to observe the stator current, isActual output of stator current, RsTuneThe motor stator resistance parameter is identified off line. Real-time online estimation of stator resistance can be obtained through the adaptive equation
In order to improve the use efficiency of a chip in practical engineering application, the online identification of the stator resistance in a low-speed area is judged according to a speed threshold, and the estimated value is judged to be in an offline value comparison range, so that the robustness of control is ensured.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (6)
1. A construction elevator operation stability control method is characterized in that: the smooth operation speed of the construction hoist is planned as follows:
s1, before the brake is opened, the driving motor is required to be operated to be set to f before the brake is opened, namely, before the brake is controlled to be opened simultaneously by a plurality of motors1Low speed frequency, maintaining set time t1The internal operation is carried out, the output current is monitored and judged at the stage, and the controller outputs the contracting brake opening action after the condition is met;
s2, after opening the brake, the low speed is still operated with the set low speed frequency and maintained for the set time t2Internal operation;
s3, in the acceleration stage, the working condition of the construction elevator is that the dynamic change is expected to be rapidly and softly carried out, and a unique S curve is designed for acceleration;
s4, constant speed phase, i.e. at set speed f2The operation is carried out by the following steps,the driving application of the construction elevator is mostly to set multi-section speed, and the constant-speed running speed is given according to different requirements;
s5, in the deceleration stage, the construction hoist is required to be quickly stopped in place in the application occasion, and the design S curve is continuously adopted;
s6, before closing the brake, the speed is reduced to the set low speed frequency f3Running, maintaining for a set time t3Internally operating, and outputting a gate closing signal after the conditions are met;
s7, after closing the brake, the low speed is still set to the low speed frequency f3Running, maintaining for a set time t4And keeping running.
2. The construction elevator operation stability control method according to claim 1, characterized in that: the construction elevator adopts a driving mode of driving a plurality of asynchronous motors and a one-driving-more control mode based on a full-order observer and without speed vectors.
3. The construction elevator operation stability control method according to claim 1, characterized in that: the control method of the driving motor comprises a vector control mode, a full-order observer, self-adaptive speed estimation, online stator resistance estimation and judgment updating algorithm thereof.
4. The construction elevator operation stability control method according to claim 2, characterized in that: the full-order observer design method comprises a current observer, a flux linkage observer and a feedback gain matrix design.
5. The construction elevator operation stability control method according to claim 2, characterized in that: the speed estimation of the construction elevator adopts a self-adaptive mode, and an error feedback mode is utilized to calculate through a PI controller.
6. The construction elevator operation stability control method according to claim 2, characterized in that: the construction elevator controls a driving motor by using a motor parameter stator resistor in the starting and stopping process, and adopts a real-time feedback current and a PI controller to carry out parameter estimation by using an online stator resistor estimation and judgment updating algorithm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110466856.8A CN113258829A (en) | 2021-04-28 | 2021-04-28 | Method for controlling operation stability of construction elevator |
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| CN202110466856.8A CN113258829A (en) | 2021-04-28 | 2021-04-28 | Method for controlling operation stability of construction elevator |
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| CN113258829A true CN113258829A (en) | 2021-08-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114050752A (en) * | 2021-10-12 | 2022-02-15 | 广州极飞科技股份有限公司 | Method and device for magnetic field orientation control and motor parameter determination of motor |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102887403A (en) * | 2012-10-19 | 2013-01-23 | 南宁科拓自动化设备有限公司 | Construction hoist integrated controller |
| CN111342719A (en) * | 2020-01-17 | 2020-06-26 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
-
2021
- 2021-04-28 CN CN202110466856.8A patent/CN113258829A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102887403A (en) * | 2012-10-19 | 2013-01-23 | 南宁科拓自动化设备有限公司 | Construction hoist integrated controller |
| CN111342719A (en) * | 2020-01-17 | 2020-06-26 | 华中科技大学 | Control method of asynchronous motor driven by non-speed sensor |
Non-Patent Citations (4)
| Title |
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| 夏梅: "基于全阶观测器的异步电动机矢量控制系统", 《变频器世界》 * |
| 尹忠刚等: "基于双辨识参数全阶自适应观测器的感应电机低速性能", 《电工技术学报》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114050752A (en) * | 2021-10-12 | 2022-02-15 | 广州极飞科技股份有限公司 | Method and device for magnetic field orientation control and motor parameter determination of motor |
| CN114050752B (en) * | 2021-10-12 | 2024-02-09 | 广州极飞科技股份有限公司 | Method and device for controlling magnetic field orientation of motor and determining motor parameters |
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