CN201351071Y - Elevator door drive device - Google Patents
Elevator door drive device Download PDFInfo
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- CN201351071Y CN201351071Y CNU2009201122509U CN200920112250U CN201351071Y CN 201351071 Y CN201351071 Y CN 201351071Y CN U2009201122509 U CNU2009201122509 U CN U2009201122509U CN 200920112250 U CN200920112250 U CN 200920112250U CN 201351071 Y CN201351071 Y CN 201351071Y
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Abstract
The utility model discloses an elevator door drive device which comprises a motor and a door motor controller; the motor and the door motor controller are electrically connected; the elevator door drive device also comprises a rotary transformer and a decoding module; the rotary transformer and the motor are coaxially mounted; the decoding module and the door motor controller are electrically connected; and the rotary transformer and the decoding module are electrically connected. The rotary transformer is arranged in the elevator door drive device, the rotary transformer and the motor are coaxially mounted, meanwhile, the decoding module is combined, thus leading the entire elevator door drive device to be firm and durable, have high resolution factor, not only achieve beautiful door opening-closing curve, but also be able of accurately controlling the rotational speed of the motor.
Description
Technical field:
The utility model relates to a kind of elevator door-motor actuating device.
Background technology:
The elevator door-motor actuating device is to be used for running velocity in the switching process of control gate, forms certain switch door curve, this just need be in operational process the position of detecting gate.General by two kinds of methods, one, by place a plurality of photoelectric switchs in whole stroke, this method is to belong to segmentation speed control, can not form good switch door curve; They are two years old, be by grating being installed or based on the rotary encoder of Hall effect, it can detect the position of going out continuously in real time, thereby can implement the speed control of continuous gradation, finally reach graceful switch door curve, but the grating rotating coder damages easily in bad working environment such as impact endurance test shock and temperature traverses, and lower based on the general resolution of rotary encoder of Hall effect, general hundreds of pulse/commentaries on classics seems not enough for High Accuracy Control.
The utility model content:
The technical problems to be solved in the utility model is, provide a kind of sturdy and durable, resolution is high, can reach graceful switch door curve, elevator door-motor actuating device that again can the accuracy control motor speed.
Technical solution of the present utility model is, a kind of elevator door-motor actuating device with following structure is provided: it comprises motor and the dynamo-electric machine controller of door, described motor and the dynamo-electric machine controller of described door are electrically connected, and it also comprises magslip and decoder module; Described magslip and described motor coaxle are installed; Described decoder module is electrically connected with the dynamo-electric machine controller of door; Described magslip is electrically connected with described decoder module.
After adopting above structure, compared with prior art, there is following advantage in the utility model:
The utility model is owing to install magslip, and magslip and motor coaxle are installed, simultaneously again in conjunction with decoder module, can gather the gate run location in real time, magslip is sturdy and durable, reliability is high and its resolution generally can reach 1024 pulses/more than the commentaries on classics, solved grating well or based on the problem of the rotary encoder of Hall effect, resolution height and can accurately control the operation of elevator door-motor actuating device again.
As a kind of improvement of the present utility model, described motor is the low-speed and large-torque permagnetic synchronous motor.Utilize the low-speed and large-torque permagnetic synchronous motor can save heavy pulley decelerates mechanism, directly drive gate, make that the elevator door-motor driving device structure is simple by synchronous belt.
As another kind of improvement the of the present utility model, the dynamo-electric machine controller of described door comprises inversion module, vector control module, velocity curve generation module, control signal processing module and current sensor; Described inversion module three mouths are electrically connected with permagnetic synchronous motor three input ends; Described current sensor senses and gather the wherein current signal of two mouths of inversion module, and current signal is transferred to vector control module; Three mouths of described decoder module are connected with described vector control module signal; Wherein two mouths of this decoder module also are connected with velocity curve generation module two input end signals; Described velocity curve generation module one mouth is connected with vector control module one input end signal; Vector control module six mouths are connected with described inversion module six input end signals; Described control signal processing module is connected with described vector control module signal.
Described vector control module comprises current sample and coordinate transformation module, rotating speed and rotor magnetic pole position angle computing module, speed ring PI module, torque current ring PI module, exciting current ring PI module, polar coordinate transform module and SVPWM module; Described current sensor is transferred to current sample and coordinate transformation module with the current signal that samples; Described magslip and decoder module three mouths thereof are connected with rotor magnetic pole position angle computing module three input end signals with rotating speed; Described velocity curve generation module one mouth is connected with speed adder one input end signal in the vector control module; Six mouths of described SVPWM module are connected with six input end signals of described inversion module; One mouth of described rotating speed and rotor magnetic pole position angle computing module is connected with described another input end signal of speed adder, and another mouth of described rotating speed and rotor magnetic pole position angle computing module is connected with an input end of described current sample and coordinate transformation module and an input end signal of SVPWM module; One mouth of described speed adder is connected with an input end signal of speed ring PI module; One input end signal of the torque current adder in one mouth of described speed ring PI module and the vector control module is connected, and a mouth of described current sample and coordinate transformation module is connected with another input end signal of torque current adder; The mouth of described torque current adder is connected with an input end signal of torque current ring PI module; One input end signal of the exciting current adder in another mouth of described current sample and coordinate transformation module and the vector control module is connected; One mouth of described exciting current adder is connected with described exciting current ring PI module by signal; One mouth of described torque current ring PI module is connected with an input end signal of described polar coordinate transform module; One mouth of described exciting current ring PI module is connected with another input end signal of polar coordinate transform module; Two mouths of described polar coordinate transform module are connected with two input end signals of described SVPWM module.
According to above structural development, by in the dynamo-electric machine controller of door, vector control module being set, this vector control module is from moment and rotating speed two aspect design circuits, can accurately control the moment and the rotating speed of permagnetic synchronous motor, thus make elevator cage door in the process of switch not only fast, but also steady.
Description of drawings:
Fig. 1 is the circuit block diagram of the utility model elevator door-motor actuating device.
Fig. 2 is the concrete circuit block diagram of the utility model elevator door-motor actuating device.
Fig. 3 is permagnetic synchronous motor and the coaxial mounted scheme drawing of magslip in the utility model elevator door-motor actuating device.
Fig. 4 is permanent-magnetic synchronous motor rotor magnetic pole angle position in this practical new elevator door-motor actuating device, and the zero degree position of magslip and the angle of three phase static system of axes concern scheme drawing.
As shown in the figure, 1, the low-speed and large-torque permagnetic synchronous motor, 1.1, S. A., 2, magslip, 2.1, the A impulse singla, 2.2, the B impulse singla, 2.3, the Z impulse singla, 2.4, permanent-magnetic synchronous motor rotor magnetic pole angle position, 2.5, the zero degree position of magslip, 2.6, mounting hole, 3, decoder module, 4, the dynamo-electric machine controller of door, 4.1, inversion module, 4.2, the velocity curve generation module, 4.3, the control signal processing module, 4.4, vector control module, 4.4.1 current sample and coordinate transformation module, 4.4.2, rotating speed and rotor magnetic pole position angle computing module, 4.4.3, the speed adder, 4.4.4, speed ring PI module, 4.4.5, the torque current adder, 4.4.6, torque current ring PI module, 4.4.7, the exciting current adder, 4.4.8, exciting current ring PI module, 4.4.9, the polar coordinate transform module, 4.4.10, the SVPWM module, 4.5, current sensor, 5, three phase static system of axes A axle.
The specific embodiment:
The utility model is described in further detail below in conjunction with the drawings and specific embodiments:
As shown in Figures 1 and 2, in this specific embodiment, the utility model elevator door-motor actuating device comprises: low-speed and large-torque permagnetic synchronous motor 1, magslip 2, decoder module 3 and the dynamo-electric machine controller 4 of door.Described magslip 2 centers are provided with mounting hole 2.6, described permagnetic synchronous motor 1 end face center outwards protrudes out and forms a S. A. 1.1, the S. A. 1.1 of described permagnetic synchronous motor 1 is fixed in magslip 2 on the S. A. 1.1 by magslip 2 mounting holes 2.6, makes magslip 2 and permagnetic synchronous motor 1 same axle mounting.The dynamo-electric machine controller 4 of described door is electrically connected with described permagnetic synchronous motor 1, and described decoder module 3 is electrically connected with the dynamo-electric machine controller 4 of door, and described magslip 2 is electrically connected with described decoder module 3.
Described low-speed and large-torque permagnetic synchronous motor 1, it reaches driving in 1: 1 by being with direct drive door machine synchronously, can save heavy pulley decelerates mechanism.
Described magslip 2 is simple in structure, sturdy and durable and reliability is high and low-speed and large-torque permagnetic synchronous motor 1 same axle mounting, rotate synchronously, be used for monitoring the rotating speed and the rotor magnetic pole position of low-speed and large-torque permagnetic synchronous motor 1, also come the stroke of detector switch door simultaneously with it; Decoder module 3 in the present embodiment is made up of ADS1205 chip and peripheral circuit thereof that ADI company produces, it provides the required high frequency sinusoidal carrier excitation signal source of magslip 2 and receives the two-way carrier signal through sine modulation and cosine amplitude modulation of magslip 2 outputs, high frequency sinusoidal carrier excitation signal need be exported to magslip 2 through after amplifying, and decoder module 3 resolves into Z pulse 2.3 signals of A, B orthogonal pulses signal and the Mondays that differ 90 degree with the rotate a circle cosine and sine signal of the one-period that produces of magslip 2; Decoder module 3 also provides a SPI interface (Serial Peripheral Interface (SPI)) simultaneously, can obtain the absolute angle of magslip 2 rotor positions from the SPI interface.
The dynamo-electric machine controller 4 of described door comprises inversion module 4.1, velocity curve production module 4.2, control signal processing module 4.3, vector control module 4.4 and current sensor 4.5; The direct current (DC) of described inversion module 4.1 after with the external AC rectification converts the alternating current of three phase variable frequency and voltage to, removes to drive low-speed and large-torque permagnetic synchronous motor 1; Described velocity curve production module 4.2 is by the continuous counter to A pulse 2.1 and B pulse 2.2, can draw the accurate position of switch door process, compare according to current position and the switch door velocity curve that has cured, calculate the revolution ω * that provide motor in real time, and ω * is transferred to vector control module 4.4 as given rotating speed; Described control signal processing module 4.3 is mainly finished the processing of external switch order and internal output enable signal, when switch command, vector control module 4.4 based on moment and the two closed loops of rotating speed will be enabled, begin to export six road PWM (pulse width modulation) signal control inversion module 4.1, remove to drive permagnetic synchronous motor 1 and do positive and negative rotation; When the order of switch door, control signal processing module 4.3 just enables in vector control module 4.4, begin to export six road PWM (pulse width modulation) signal control inversion module 4.1, remove to drive permagnetic synchronous motor 1 and do positive and negative rotation, and make the rotating speed of permagnetic synchronous motor 1 reach the given rotating speed that velocity curve production module 4.2 calculates, form graceful switch door curve, vector control module 4.4 comprises with lower module:
(1) current sample and coordinate transformation module 4.4.1, conversion obtains current i α, i β under the static rectangular coordinate system of two-phase to motor current signal iu, the iv that it collects current sensor 4.5 through clark (the three phase static coordinate is tied to the two-phase rest frame), passes through park (the two-phase static coordinate is tied to the two-phase rotating coordinate system) conversion again and obtains torque current it and feedback excitation current i m under the rotating coordinate system;
(2) rotating speed and rotor magnetic pole position angle computing module 4.4.2, it comprises QEP (quadrature coding pulse) circuit, this QEP circuit can to A impulse singla 2.1 and B impulse singla 2.2 carries out quadruple and direction identification is handled, forward backward counter is to the quadruple signal, carry out positive reverse count, count value has reflected rotor magnetic pole position angle θ, and rotational speed omega=d θ/dt;
(3) speed adder 4.4.3, it subtracts each other the given rotating speed ω * of velocity curve production module 4.2 outputs and the feedback rotational speed omega of rotating speed and rotor magnetic pole position angle computing module 4.4.2 output, and the signal after the computing is transferred to speed ring PI module 4.4.4;
(4) signal that speed ring PI module 4.4.4, its inbound pacing adder 4.4.3 spread out of is through drawing given moment electric current I T after the computing;
(5) torque current adder 4.4.5, it subtracts each other the given moment electric current I T of speed ring PI module 4.4.4 output and the torque current it of current sample and coordinate transformation module 4.4.1 output, and the signal after the computing is transferred to torque current ring PI module 4.4.6;
(6) torque current ring PI module 4.4.6, it receives the signal that moment current adder 4.4.5 spreads out of, through obtaining Ut after the computing;
(7) exciting current adder 4.4.7, it subtracts each other the exciting current IM of vector control module 4.4 inner settings and the feedback excitation current i m of current sample and coordinate transformation module 4.4.1 output, the exciting current IM of permagnetic synchronous motor 1 is set at 0, and the signal after the computing is transferred to exciting current ring PI module;
(8) exciting current ring PI module 4.4.8, it receives the signal that exciting current adder 4.4.7 spreads out of, through obtaining Um after the computing;
(9) polar coordinate transform module 4.4.9, it calculates voltage vector amplitude and voltage vector angle with the Ut of torque current ring PI module 4.4.6 output and the Um of exciting current ring PI module 4.4.8 output through behind the polar coordinate transform;
(10) SVPWM module 4.4.10, it is according to voltage vector amplitude and voltage vector angle, and rotor magnetic pole position angle θ, calculates the pulse width of three-phase PWM (pulse duration modulation) ripple.
See also Fig. 3 and shown in Figure 4, the concrete grammar that utilizes magslip 2 and decoder module 3 to calculate magnetic pole position of permanent magnet synchronous motor rotor angle θ is: owing to will implement the Current Vector Control algorithm to permagnetic synchronous motor 1, must judge the angle, absolute location of permagnetic synchronous motor 1 rotor magnetic pole in advance, when the elevator door-motor actuating device gets when electric, SPI interface (Serial Peripheral Interface (SPI)) by the dynamo-electric machine controller of door obtains the absolute angle of magslip 2 rotor positions from decoder module 3, be the angle a of the zero degree position 2.5 of permagnetic synchronous motor 1 rotor magnetic pole angle position 2.4 and magslip among Fig. 4, angle b is the angle of magslip zero degree position and three phase static system of axes A axle among Fig. 4, i.e. permagnetic synchronous motor 1 rotor magnetic pole zero degree position.
When device work, any permagnetic synchronous motor 1 rotor magnetic pole angular position=a-b.When permagnetic synchronous motor 1 running, forward backward counter among described rotating speed and the rotor magnetic pole position angle computing module 4.4.2 carries out positive reverse count to A, B, the Z impulse singla of decoder module 3 outputs, be converted to permagnetic synchronous motor 1 rotor magnetic pole position angle θ again, calculate rotational speed omega=d θ/dt simultaneously.
When circuit connects, three mouths of described inversion module 4.1 are electrically connected with three input ends of described low-speed and large-torque permagnetic synchronous motor 1, the electric current of wherein two mouths of described permagnetic synchronous motor 1 is connected to two input ends of described current sample and coordinate transformation module 4.4.1 through over-current sensor 4.5, described permagnetic synchronous motor 1 and described magslip 2 same axle mountings, described magslip 2 is electrically connected with decoder module 3 again, three mouths of described decoder module 3 are electrically connected with three input ends of described rotating speed and rotor magnetic pole position angle computing module 4.4.2, wherein two mouths of described decoder module 3 also are electrically connected with two input ends of velocity curve production module 4.2, one mouth of described velocity curve production module 4.2 is electrically connected with the input end of speed adder 4.4.3, the mouth of described rotating speed and rotor magnetic pole position angle computing module 4.4.2 is electrically connected with another input end of speed adder 4.4.3, the mouth of described speed adder 4.4.3 is electrically connected with the input end of described speed ring PI module 4.4.4, the mouth of described speed ring PI module 4.4.4 is electrically connected with the input end of torque current adder 4.4.5, another mouth of described rotating speed and rotor magnetic pole position angle computing module 4.4.2 is electrically connected with the input end of current sample and coordinate transformation module 4.4.1 one input end and SVPWM module 4.4.10, the mouth of described current sample and coordinate transformation module 4.4.1 is electrically connected with another input end of torque current adder 4.4.5, the mouth of described torque current adder 4.4.5 is electrically connected with the input end of described torque current ring PI module 4.4.6, another mouth of described current sample and coordinate transformation module 4.4.1 is electrically connected with the input end of exciting current adder 4.4.7, another input end of described exciting current adder 4.4.7 is set to 0, the mouth of described exciting current adder 4.4.7 is electrically connected with the input end of described exciting current ring PI module 4.4.8, the mouth of described torque current ring PI module 4.4.6 is electrically connected with the input end of described polar coordinate transform module 4.4.9, the mouth of described exciting current ring PI module 4.4.8 is electrically connected with another input end of described polar coordinate transform module 4.4.9, two mouths of described polar coordinate transform module 4.4.9 are electrically connected with other two input ends of SVPWM module 4.4.10, six mouths of described SVPWM module 4.4.10 are electrically connected with six input ends of described inversion module 4.1, constitute the loop.
During the work of the utility model elevator door-motor actuating device, at the direct current (DC) of inversion module 4.1 power inputs input after rectification, at decoder module 3 power inputs input external source, when control signal processing module 4.3 spreads out of the order of switch door, vector control module 4.4 will be enabled, begin to export six road PWM (pulse width modulation) signal control inversion module 4.1, remove to drive permagnetic synchronous motor 1 and do positive and negative rotation.The switch door motion of the positive and negative rotating drive elevator door of permagnetic synchronous motor 1, because magslip 2 and permagnetic synchronous motor 1 same axle mounting, so driven rotary voltage transformer 2 rotations synchronously.The signal of magslip 2 is through obtaining differing individual Z pulse 2.3 signals of A, B orthogonal pulses signal and a Monday of 90 degree after the decomposition of decoder module 3.Rotating speed and rotor magnetic pole position angle computing module 4.4.2 calculate rotor magnetic pole position angle θ and feedback speed ω by detecting A, B orthogonal pulses signal and Z impulse singla 2.3.The module 4.2 of velocity curve production simultaneously can also obtain the accurate position of switch door process by the continuous counter to A impulse singla 2.1 and B impulse singla 2.2, can provide the given speed ω * of this position in the switch door process in real time according to the position of switch door process.Speed adder 4.4.3 passes through speed ring PI module 4.4.4 computing again and draws given moment electric current I T after the feedback speed ω of the given speed ω * of velocity curve production module 4.2 output and rotating speed and rotor magnetic pole position angle computing module 4.4.2 output is subtracted each other.Rotating speed and rotor magnetic pole position angle computing module 4.4.2 are transferred to current sample and coordinate transformation module 4.4.1 and SVPWM module 2.4.10 with the rotor magnetic pole position angle θ that calculates.Current sample and coordinate transformation module 4.4.1 transform to current i α and i β under the two-phase rest frame to the motor current signal iu that collects by current sensor 4.5 and iv through clark, and conversion obtains feedback current it and im under the rotating coordinate system through park again.After the feedback moment current i t of the given moment electric current I T of speed ring PI module 4.4.4 output and current sample and coordinate transformation module 4.4.1 output subtracts each other by torque current adder 4.4.5, through obtaining Ut after the torque current ring PI module 3.4. computing; Given exciting current equals zero, after the feedback excitation current i m of it and current sample and coordinate transformation module 4.4.1 output subtracts each other by exciting current adder 4.4.7, again through drawing Um after the exciting current ring PI module 4.4.8 computing, Ut and Um are obtained voltage vector amplitude and voltage vector angle through polar coordinate transform, send three-phase six road PWM ripples control three phase full bridge inversion module 4.1 by SVPWM module 4.4.10 at last.Three phase full bridge inversion module 4.1 converts the direct current (DC) behind overcommutation the alternating current of three phase variable frequency and voltage to, removes to drive permagnetic synchronous motor 1.
Claims (4)
1, a kind of elevator door-motor actuating device comprises motor and the dynamo-electric machine controller of door, and described motor and the dynamo-electric machine controller of described door are electrically connected, and it is characterized in that: it also comprises magslip and decoder module; Described magslip and described motor coaxle are installed; Described decoder module is electrically connected with the dynamo-electric machine controller of door; Described magslip is electrically connected with described decoder module.
2, elevator door-motor actuating device according to claim 1 is characterized in that: described motor is the low-speed and large-torque permagnetic synchronous motor.
3, elevator door-motor actuating device according to claim 1 is characterized in that: the dynamo-electric machine controller of described door comprises inversion module, vector control module, velocity curve generation module, control signal processing module and current sensor; Described inversion module three mouths are electrically connected with permagnetic synchronous motor three input ends; Described current sensor senses and gather the wherein current signal of two mouths of inversion module, and current signal is transferred to vector control module; Three mouths of described decoder module are connected with described vector control module signal; Wherein two mouths of this decoder module also are connected with velocity curve generation module two input end signals; Described velocity curve generation module one mouth is connected with vector control module one input end signal; Vector control module six mouths are connected with described inversion module six input end signals; Described control signal processing module is connected with described vector control module signal.
4, elevator door-motor actuating device according to claim 3, it is characterized in that: described vector control module comprises current sample and coordinate transformation module, rotating speed and rotor magnetic pole position angle computing module, speed ring PI module, torque current ring PI module, exciting current ring PI module, polar coordinate transform module and SVPWM module; Described current sensor is transferred to current sample and coordinate transformation module with the current signal that samples; Described magslip and decoder module three mouths thereof are connected with rotor magnetic pole position angle computing module three input end signals with rotating speed; Described velocity curve generation module one mouth is connected with speed adder one input end signal in the vector control module; Six mouths of described SVPWM module are connected with six input end signals of described inversion module; One mouth of described rotating speed and rotor magnetic pole position angle computing module is connected with described another input end signal of speed adder, and another mouth of described rotating speed and rotor magnetic pole position angle computing module is connected with an input end of described current sample and coordinate transformation module and an input end signal of SVPWM module; One mouth of described speed adder is connected with an input end signal of speed ring PI module; One input end signal of the torque current adder in one mouth of described speed ring PI module and the vector control module is connected, and a mouth of described current sample and coordinate transformation module is connected with another input end signal of torque current adder; The mouth of described torque current adder is connected with an input end signal of torque current ring PI module; One input end signal of the exciting current adder in another mouth of described current sample and coordinate transformation module and the vector control module is connected; One mouth of described exciting current adder is connected with described exciting current ring PI module by signal; One mouth of described torque current ring PI module is connected with an input end signal of described polar coordinate transform module; One mouth of described exciting current ring PI module is connected with another input end signal of polar coordinate transform module; Two mouths of described polar coordinate transform module are connected with two input end signals of described SVPWM module.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2009201122509U CN201351071Y (en) | 2009-01-04 | 2009-01-04 | Elevator door drive device |
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2009201122509U CN201351071Y (en) | 2009-01-04 | 2009-01-04 | Elevator door drive device |
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| CN201351071Y true CN201351071Y (en) | 2009-11-25 |
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| CNU2009201122509U Expired - Lifetime CN201351071Y (en) | 2009-01-04 | 2009-01-04 | Elevator door drive device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324890A (en) * | 2011-09-07 | 2012-01-18 | 深圳市海浦蒙特科技有限公司 | Elevator door motor switch-in-place torque control method and elevator door motor device |
| CN107352342A (en) * | 2017-07-17 | 2017-11-17 | 宁波欣达电梯配件厂 | A kind of elevator door-motor is closed the door detecting system and the detection method of being hampered |
| CN109921705A (en) * | 2019-01-16 | 2019-06-21 | 苏州英威腾电力电子有限公司 | A kind of multi-phase motor control method and device |
-
2009
- 2009-01-04 CN CNU2009201122509U patent/CN201351071Y/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102324890A (en) * | 2011-09-07 | 2012-01-18 | 深圳市海浦蒙特科技有限公司 | Elevator door motor switch-in-place torque control method and elevator door motor device |
| CN107352342A (en) * | 2017-07-17 | 2017-11-17 | 宁波欣达电梯配件厂 | A kind of elevator door-motor is closed the door detecting system and the detection method of being hampered |
| CN109921705A (en) * | 2019-01-16 | 2019-06-21 | 苏州英威腾电力电子有限公司 | A kind of multi-phase motor control method and device |
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