CN1144752C - Drive control system for non-brush DC elevator - Google Patents

Abstract

The present invention relates to a system which is provided with an electromotor 4, a compound sensor 5, a layer selecting device 9, a speed setting controller 6, a power failure self-help device 7, a braking energy drain resistor unit 8, etc., wherein the electromotor is a brushless rare earth persistent magnet DC electromotor; the compound sensor is arranged at a rear shaft end of the electromotor and is composed of a rotor position sensor and a speed and distance measurement sensor; the speed setting controller is a four-quadrant full-closed-loop speed setting controller. The system not only has the advantages of a DC dragging control system and an AC dragging control system, but also has the functions of self regulation, and high intelligence feedback reliability, and the system can furthest satisfy requirements for elevator dragging and performance control.

Description

Drive control system for non-brush DC elevator

The invention belongs to electric power and promote the transportation facilities technical field, relate to a kind of elevator drive control system that the lift car lifting drives that is used for.

Elevator is a requisite transport facility in the skyscraper.The complicated electro-mechanical system that a complete elevator (this paper only refers to the elevator of vertical operation) is made up of a plurality of subsystems, drive control system wherein (comprising speed control and electrical control two parts) then is " core " that can directly determine the elevator performance quality, occupies very important position in elevator.The development of elevator technology at first requires its drive control system to have safe, reliable, comfortable, steady, essential characteristic accurately and efficiently, and next requires cheap, power and energy saving and can reduce maintaining and past-sale service amount to greatest extent.Make a general survey of the history of elevator technology development, its drive control system has experienced from simple to very long evolution complicated, from direct current to interchange.From 19th century DC motor drag control (dragging) and drag control (dragging) with alternating-current motor/AC motor and come out one after another hereinafter to be referred as exchanging hereinafter to be referred as direct current, since 20th century, the dragging system that is used for elevator mainly comprises: single speed and double speed alternating-current motor/AC motor dragging system, ac voltage speed control dragging system, dynamo generator---electrical motor thyristor excitation dragging system, alternating current variable voltage variable frequency is VVVF (VVVF is the abbreviation of English Variable VoltageVariable Frequency) dragging system.From the system works performance: characteristics such as dc trailing system have speed-regulating range width, overload capacity is strong, starting torque is big, the speed governing energy consumption is little and control is convenient, flexible, quick, but early stage dc trailing system is dynamo generator often---motor unit is formed speed governing system, its existing complex structure, cost an arm and a leg, drawbacks limit such as the poor reliability of mechanical commutation, energy consumption are big, difficult in maintenance advantage and the development of himself, cause those skilled in the art in recent decades all the attention of speed governing to be put in the research to AC drawing system.AC drawing system has simple in structure, easy to manufacture, reliable, advantages such as low price, the focus of present people's extensive concern and the direction of research and development have been become, especially from the alternating current variable voltage variable frequency that is used for various elevators (VWF) drive control system of late nineteen seventies appearance especially because driving efficiency and capacity usage ratio height that it had, dynamic quality, antijamming capability reaches the adjusting speed accuracy advantages of higher by force and extremely common people's favor, but, this alternating current variable voltage variable frequency dragging system is compared with the DC speed regulation dragging system and is still had the defective that some can't overcome, mainly show its power factor and speed regulation characteristics aspect, that is: compare with dc trailing system, AC induction motor must absorb the reactive volt-amperes that lags behind from electrical network when operation, so its power factor lower (power factor is 0.7～0.89), the corresponding speed adjustable range that also has of VVVF drive control system is less relatively, can not on elevator, really realize " 0 " fast band-type brake, motor can not be at " inspecting state " long-play and realization " power failure is saved oneself " UPS cost height, the limited deficiency that waits of langding accuracy.

The object of the present invention is to provide a kind of integrate AC drawing system and dc trailing system the two advantage and can overcome the drive control system for non-brush DC elevator of the two defective simultaneously, this system both had dc trailing system High Performance, high precision, control advantage easily, the characteristic such as simple in structure, sturdy and durable, non-maintaining that has motor in the AC drawing system again, the high reliability that has also possessed self-control, intelligence feedback, can satisfy to the full extent to elevator drag, the requirement of controller performance.

After entering the eighties, because the appearance of later-model NdFeB material, its serviceability temperature break through 175 ℃ with and the reduction of cost, the development that makes the high-performance rare-earth permanent-magnetic motor transfers civilian coming true to by military, the raising constantly perfect and performance of Power Electronic Technique and high power device commutates the high-frequency electronic commutation replacement machinery of DC machine and also becomes a reality, and the develop rapidly of Computer Control Technology has made Based Intelligent Control and management (electrical control microcomputerization) be applied to all trades and professions.Drive control system for non-brush DC elevator of the present invention be exactly based on these up-to-date technologys design-calculated a kind ofly have the elevator of novel concept to drag, control system.The project organization of this drive control system as shown in Figure 1, it is made up of seven following part working cells, comprising: I, for elevator operation provides the motor 4 of power, this motor 4 adopts rare earth permanent magnet brushless direct current motors; II, be used to detect the compound sensor 5 of motor 4 rotor speeds, rotor-position and Elevator landing range signal, it place motor 4 back axle heads and and motor coaxle, form by rotor-position sensor, test the speed distance measuring sensor and housing; III, can send choosing layer instruction so that car 2 stops and remaining on the microcomputer floor selector 9 of each floor according to passenger's layer selection signal; The speed setting controller 6 that IV, the various command signals that can provide according to rotor speed and position signal, current of electric feedback signal and the floor selector 9 of compound sensor 5 are controlled motor speed, torque, speed setting controller 6 adopts four-quadrant full cut-off ring speed setting controller in the native system; V, power failure self-help apparatus 7; VI, braking energy bleeder resistance unit 8; VII, accessory feed 10.Concerning the tooth elevator is arranged, said structure only matches with towing machine 3 can form a complete set of elevator(lift) machine room host computer system, realize the repertoire and the what's new of traditional representative type electric drive system and electric dragging system, and can satisfy simultaneously each fast elevator particularly in, the performance requriements of slower elevators, this also is the present invention and prior art particularly one of the important difference of VVVF technology and feature.Sequence number 1 is a lift car in the accompanying drawing 1; 2 is counterweight.

Make introduction respectively below with reference to other accompanying drawing behind the literary composition with regard to the technology contents of groundwork unit in the system of the present invention.

One, rare earth special permanent-magnet brushless DC electric machine:

This motor is for custom-designed for elevator provides the device of power to the requirement of towing machine 3 according to elevator, and its body major part is made up of stator, rotor, housing (support) and low noise ball bearing of main shaft etc.Stator core is the tiltedly folded formation of 54 grooves (asynchronous dynamo) punching, and three pairs of utmost points, the six state conduction modes that adopt three groups of concentric winding star connections of three-phase to constitute.The NS sextupole structure that rotor adopts tangential magnet-steel to constitute, its cross-sectional structure as shown in Figure 2, number in the figure 41 be a rotor punching, 42 is the NdFeB magnet steel, 43 is magnet isolation tank, 44 is magnetic shield, 45 are spool.In the enforcement, rotor magnetic steel adopts the NaFe δ magnetic material of magnetic energy product 27 (BH) max, operating temperature 〉=100 ℃ or magnetic energy product 30 (BH) max, operating temperature 〉=100 ℃ to process, magnet steel tangentially places in the rotor, its air gap can according to magnetic circuit calculate and electrical quantity result of calculation and operating mode needs at δ 0.5～1.2 adjustment.Housing is selected Y200-6 standard asynchronous electric machine stand for use.Bearing adopts universal serial low noise ball-bearing casing.Mainly the finite element method with two dimensional field serves as that magnetic field analysis and calculating are carried out to motor in the basis on Electromagnetic Design, the field---the road is in conjunction with calculating electrical quantity and other performance data then, optimization preferred plan, can bring into play the DC speed regulation characteristic to greatest extent to make every effort to product, adopt the advantage of AC induction motor and ac synchronous motor again, but make it become the High Performance brushless direct current motor of the four-quadrant speed governing operation that integrates AC and DC speed governing advantage.

Two, compound sensor:

The structure of the used compound sensor 5 of system is multichannel photomultiplier Function detection compound sensor as shown in Figure 3, is mainly used in signals such as detecting rotating speed of motor, position, distance and it is transferred to speed setting controller 6 to control.This sensor 5 place motor 4 back axle heads and and motor coaxle, form by rotor-position sensor, test the speed distance measuring sensor and housing etc.Wherein, rotor-position sensor is by being located at behind the motor shaft extension 55 and being installed in stator respectively and epitrochanterian opto-electronic pickup 53 and grating 54 constitute, be used to detect the position of motor p-m rotor (two rotor coaxials), for the commutation of motor stator winding provides position signal accurately; Test the speed distance measuring sensor by being located at behind the motor shaft extension 55 equally and being installed in stator respectively and epitrochanterian opto-electronic pickup 53 and grating 54 constitute, its one side is as the displacement signal of elevator, for speed setting controller realize elevator brake snub, stopping provides range signal accurately, export the d. c. voltage signal that is directly proportional with rotating speed through the E/v circuit on the other hand, offer speed setting controller as speed feedback signal, realize closed loop control.Label 52 is a circuit card among Fig. 3.

Three, four-quadrant full cut-off ring speed setting controller:

Referring to accompanying drawing 4; the used four-quadrant full cut-off ring speed setting controller of system is by the three phase rectifier 60 that is serially connected in successively between power system controller and the motor 4; current converter 61; the voltage detecting circuit 62a that connects with rectifier 60 mouths; the temperature sensing circuit 62b and the current detection circuit 62c that connect with current converter 61 mouths; with voltage detecting circuit 62a; the elevator protection control circuit 63 of temperature sensing circuit 62b and current detection circuit 62c mouth UNICOM; PWM (pulse duration modulation) circuit 65 with another output signal end UNICOM of current detection circuit 62c; system's regulating circuit 68 with outer control interface 91 UNICOMs of distance measuring sensor mouth and floor selector that test the speed in the compound sensor 5; location logic circuit 69 with compound sensor 5 rotor position transduser mouth UNICOMs; respectively with compound sensor 5 in the distance measuring sensor mouth that tests the speed; the micro controller system 67 of outer control interface 91 UNICOMs of protection control circuit 63 mouths and floor selector and a driving circuit 64 are formed; an output signal end of micro controller system 67 feeds system's regulating circuit 68; another output signal end feedback inputs to protection control circuit 63; location logic circuit 69 output signals feed system's regulating circuit 68; after feeding PWM regulating circuit 65, system's regulating circuit 68 exports driving circuit 64 to through PWM regulating circuit 65 more again; a mouth of driving circuit 64 is connected to the protection control circuit, and another output termination current converter 61 provides drive signal for motor 4.In the present invention, the 6RI1000-160 device that three phase rectifier 60 can adopt Japanese fuji company to produce; The IGBT module CM 200DY-24H device that current converter 61 adopts MIT to produce, its principle of work can be referring to Fig. 8; Voltage detecting circuit 62a can adopt structure as shown in Figure 5, the comparator IC in this structure ₁Adopt the LM339 device; Temperature sensing circuit 62b can adopt structure as shown in Figure 6, and the target device K of institute is 80 ℃ of temperature switches in this figure, and photocoupler G adopts the TLR521 device; The LA100-P type electric current receiver that current detection circuit 62c adopts Switzerland LEM company to produce; Protection control circuit 63 adopts the 74LS30 device; Driving circuit 64 adopts the special-purpose driving circuit M57962L of the IGBT of MIT device; The UC3846 type PWM generator that pwm circuit 65 adopts Unitrode company to produce; Micro controller system 67 adopts the 80C196KC micro controller system; Two closed control circuits that system's regulating circuit 68 adopts as shown in Figure 7, two transport and placing device IC among this figure ₂And IC ₃Equal employing-AD708JN devices, velocity setting signal, feedback speed signal and the current feedback signal of system is respectively by circuit input end u _I1, u _I2And u _I3Enter circuit 68, output signal is by u _oHold to pwm circuit 65; Location logic circuit 69 adopts the 74HC157 device.Sequence number 11 is the control power supply in the accompanying drawing 4; 12 is brake control circuit; 66 is display panel.

Speed setting controller 6 of the present invention adopts full cut-off ring four quadrant running mode, its outstanding characteristics are to adopt may command short circuit in winding brake mode when motor speed is higher, and this brake mode is made up of two working processs---braking current increases process and afterflow process---as shown in Figure 8.In braking current increase process, switch transistor T ₄Conducting, because the existence of motor powered gesture E, electric current passes through D ₂, T ₄Form and increase, be equivalent to B, C short circuit in winding, when braking current is increased to required electric current, T ₄End, electric current is by diode D ₂, D ₃Afterflow, electric current reduces until disappearance.By this may command short circuit in winding brake mode, speed setting controller has successfully solved when motor speed is higher because the too high problem that threatens IGBT module safety and can not adopt the reversing braking mode to brake of motor powered gesture.

Speed setting controller 6 is one of important component parts that constitute brush DC elevator dragging system of the present invention, its radical function comprises: 1, according to making the power switch conducting or end from the rotor-position signal of motor compound sensor 5 and according to certain logic, thereby change the magnetic state of motor stator, make the machine operation air gap produce the great-jump-forward rotating field, the p-m rotor standard is dragged synchronously; 2, various instructions that provide according to the floor selector 9 and control of four-quadrant full cut-off ring is carried out in rotating speed of motor, torque (electric current) from the speed feedback signal of motor compound sensor 5; Detected current value is realized " weighing " function of elevator when 3, starting according to elevator; 4, in the speed setting controller micro controller system 67 according to signals such as direction that floor selector 9 provided, operation, throw-over, parking, maintenance, in the various international technology indexs such as the acceleration/accel in satisfying elevator startup acceleration, ramp to stop process, the speed of accompanying each other, according to human body to taking advantage of the physiological sensation needs of live ladder, the optimized operation curve is provided, and adopts the stop mode of " slowing down " to satisfy the requirement of elevator langding accuracy by distance according to the displacement pulse signals of electromechanical transducer; 5, have the kinds of protect function with guarantee system normally, reliably the operation.

In each component part of speed setting controller 6, the R of rectifier 60, S, T termination 380V electrical network, system realizes exchanging the conversion of 380V to direct current 500V by rectifier 60; The three-phase bridge current converter of current converter 61 for constituting by three two unit IGBT power models; Control power supply 11 through voltage transformer then by rectifying circuit and Switching Power Supply obtain+5V ,+12V, ± 15V ,+25V ,+10V ,+DC regulated power supply such as 36V; Voltage detecting circuit 62a can monitor that by the detection to input voltage electrical network is crossed, under-voltage situation, simultaneously also by releasing to the detection control brake energy of DC bus-bar voltage; Temperature sensing circuit 62b adopts thermostat relay, is used to detect power controlling module heat dissipating actuator temperature; Current detection circuit 62c adopts Hall current sensor that outgoing current is detected, after regulating, electric current loop forms the PWM modulation signal, and can be by the detection of the electric current condition of loading to elevator is judged, thereby obtain comparatively suitable starting power, this circuit also can sound a warning and protected motor electric current present abnormal condition simultaneously; System's regulating circuit 68 employing speed, current double closed-loop control; The signal that location logic circuit 69 obtains from position transduser through the past disturb and shaping after, carry out the logical combination computing according to the needs of machine winding and according to current condition of service and PWM pulse-width signal, for driving circuit 64 provides control signal, driving the high-power IGBT module is current converter 61 work; PWM regulating circuit 65 obtains current-order through the control process of speed, electric current loop, forms pulse-width signal through the PWM conversion and gives driving circuit 64; Driving circuit 64 adopts the special-purpose driving circuit M57962L of the IGBT of MIT to provide drive signal for the high-power IGBT module; System protection control circuit 63 has complete fault self-diagnosis and defencive function, can in time receive comprise the line voltage overvoltage (＞380V+10%), under-voltage (＜380V-7%), (on line interruption between outgoing current＞85A), output short-circuit, heating panel temperature overheating, power down, motor steering switching, system and motor, throw-over inefficacy, braking failure, elevator slip various failure warning information such as car and elevator overload to excess current, send the protection action after treatment, for system provides safe and reliable running environment; Micro controller system 67 is used for the signal communication with floor selector 9 in dragging controller, the direction that is provided according to floor selector 9, operation, throw-over, stop, signals such as maintenance, satisfying elevator startup acceleration, acceleration/accel in the ramp to stop process, in the time of various international technology index such as variable-acceleration, according to human body to taking advantage of the physiological sensation needs of live ladder, the optimized operation curve is provided, displacement pulse signals according to electromechanical transducer adopts the stop mode of " slowing down by distance " to satisfy the requirement of elevator to langding accuracy, show elevator speed in real time, motor speed and governor outgoing current and governor running state and fault, micro controller system 67 is also carried out monitoring in real time to system running state in addition, so that maintainer's analyzing and processing; Display panel 66 is used to show states such as elevator speed, motor speed, governor outgoing current and operation, parking, direction, maintenance and overvoltage, under-voltage, overcurrent, fault such as overheated.

Compared with prior art, drive control system for non-brush DC elevator of the present invention has following advantage:

1, system success, absorbed the two advantage of AC drawing system and dc trailing system dexterously, make it both have the simple advantage of ac motor structure, have the outstanding speed adjusting performance of DC machine again, can farthest satisfy to elevator drag, the requirement of controller performance.

2, the rare-earth permanent magnet brushless motor is used for elevator and drags, during higher rotation speed, adopt the online may command short circuit in winding of high pressure brake mode, during low speed, adopt the reversing braking mode successfully to realize potential load four quadrant running, also having does not have self-closing, energy-efficient, the high performance such as comfortable that operates steadily of electricity, is a breakthrough highly significant on elevator drive system.

3, motor provides excitation by rare earth material, no exciting current composition, and the running power factor of motor surpasses 95% (reaching 97～99%), and actual use capacity and the reliability of IGBT are improved greatly, has prolonged service life; Utilize the permanent magnetic flux advantage of rare earth permanent-magnetic material, motor can be realized real constant force square output operation, and speed ratio reaches more than 1: 1500, exceeds 5～10 times of VVVF systems, makes elevator realize that really " 0 " speed starts " 0 " fast band-type brake; The high efficiency that motor possessed, low temperature rise characteristics make elevator can frequently open, long-play under braking and the inspecting state; In addition, because motor-field is permanent, the dynamic brake ability that motor has the ability to provide the grid power blackout situation that comprises of any situation promptly can realize the unconditional locking of system, can make things convenient for simultaneously, realize at an easy rate that full compensation is from weigh pre-loaded function and the power failure function of saving oneself.

4, to adopt the structure design of photoelectric sense technology that detection, feedback and the control of speed, distance, position signals have been realized integrated for compound sensor, and more traditional signal sampling mode is greatly improved on control accuracy.

5, system's middle controller adopts speed, current double closed-loop control and overall process velocity setting tracking control, make indexs such as its adjusting speed accuracy, system response, tracing deviation all be better than the VVVF system, moreover system also has more constant force square operation characteristic, so what are irrelevant substantially for dragging system and load size, stop, can strict press the setting curve operation, so just improve " traveling comfort " and the langding accuracy of elevator greatly.

6, under the cooresponding situation of system cost and VVVF system, energy-saving effect significantly improves.

Description of drawings:

Fig. 1 is the structured flowchart of drive control system for non-brush DC elevator;

Fig. 2 is the cross-sectional structure scheme drawing of rare earth permanent magnet brushless direct current motor rotor.

Fig. 3 is the structural representation of compound sensor.

Fig. 4 is the control system block diagram of four-quadrant full cut-off ring speed setting controller.

Fig. 5 is the structural representation of voltage detecting circuit 62a in the speed setting controller.

Fig. 6 is the structural representation of temperature sensing circuit 62b in the speed setting controller.

Fig. 7 is the structural representation of system's regulating circuit 68 in the speed setting controller.

Fig. 8 is the principle schematic of speed setting controller operation scheme.

Claims (5)

1, a kind of drive control system for non-brush DC elevator has

1.1, for elevator operation provides the motor (4) of power,

1.2, be used to detect the compound sensor (5) that motor (4) rotor speed, rotor-position and elevator stop layer range signal,

1.3, can send choosing layer instruction so that car (2) stops and remaining on the serial communication microcomputer floor selector (9) of each floor according to passenger's layer selection signal,

1.4, the various command signals that can provide speed setting controller (6) that motor speed, torque are controlled according to rotor speed and position signal, current of electric feedback signal and the floor selector (9) of compound sensor (5),

1.5, power failure self-help apparatus (7),

1.6, braking energy bleeder resistance unit (8),

1.7, accessory feed (10), it is characterized in that:

A, system motor (4) adopt rare earth permanent magnet brushless direct current motor;

B, compound sensor (5) place motor (4) back axle head and and motor coaxle, form by rotor-position sensor, test the speed distance measuring sensor and housing;

C, system's speed setting controller (6) adopt four-quadrant full cut-off ring speed setting controller.

2, drive control system for non-brush DC elevator as claimed in claim 1, it is characterized in that the used rare earth permanent magnet brushless direct current motor of system (4) body is made up of stator, rotor, housing, low noise ball bearing of main shaft, wherein stator core is the tiltedly folded formations of 54 groove punchings, the NS sextupole structure that rotor adopts tangential magnet-steel to constitute.

3, drive control system for non-brush DC elevator as claimed in claim 1 is characterized in that rotor-position sensor in the used compound sensor of system (5) is by being located at behind the motor shaft extension (55) and being installed in stator respectively and epitrochanterian opto-electronic pickup (53) and grating (54) constitute; Test the speed distance measuring sensor by being located at behind the motor shaft extension (55) equally and being installed in stator respectively and epitrochanterian opto-electronic pickup (51) and grating (54) constitute.

4; drive control system for non-brush DC elevator as claimed in claim 1; it is characterized in that the used four-quadrant full cut-off ring speed setting controller of system is by the rectifier (60) that is serially connected in successively between power system controller and the motor (4); current converter (61); the voltage detecting circuit (62a) that connects with rectifier (61) mouth; the temperature sensing circuit (62b) and the current detection circuit (62c) that connect with current converter (61) mouth; with voltage detecting circuit (62a); the elevator protection control circuit (63) of temperature sensing circuit (62b) and current detection circuit (62c) mouth UNICOM; pwm circuit (65) with another output signal end UNICOM of current detection circuit (62c); system's regulating circuit (68) with outer control interface (91) UNICOM of distance measuring sensor mouth and floor selector that tests the speed in the compound sensor (5); location logic circuit (69) with compound sensor (5) rotor position transduser mouth UNICOM; respectively with compound sensor (5) in the distance measuring sensor mouth that tests the speed; the micro controller system (67) and a driving circuit (64) of outer control interface (91) UNICOM of protection control circuit (63) mouth and floor selector are formed; an output signal end of micro controller system (67) feeds system's regulating circuit (68); another output signal end feedback inputs to protection control circuit (63); location logic circuit (69) output signal feeds system's regulating circuit (68); after feeding PWM regulating circuit (65), system's regulating circuit (68) exports driving circuit (64) to through PWM regulating circuit (65) more again; a mouth of driving circuit (64) is connected to the protection control circuit, and another output termination current converter (61) provides drive signal for motor (4).

5, drive control system for non-brush DC elevator as claimed in claim 1 or 2, it is characterized in that magnetic steel of motor adopts the NaFe δ magnetic material of magnetic energy product 27 (BH) max, operating temperature 〉=100 ℃ or magnetic energy product 30 (BH) max, operating temperature 〉=100 ℃ to process, and tangentially place in the rotor, the magnet steel air gap delta is 0.5～1.2 adjustment.

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