EP3238336A1 - Procédé de détermination d'un vecteur de courant statorique pour démarrer une machine synchrone d'un entraînement d'un dispositif de transport de personnes - Google Patents

Procédé de détermination d'un vecteur de courant statorique pour démarrer une machine synchrone d'un entraînement d'un dispositif de transport de personnes

Info

Publication number
EP3238336A1
EP3238336A1 EP15816160.4A EP15816160A EP3238336A1 EP 3238336 A1 EP3238336 A1 EP 3238336A1 EP 15816160 A EP15816160 A EP 15816160A EP 3238336 A1 EP3238336 A1 EP 3238336A1
Authority
EP
European Patent Office
Prior art keywords
stator current
current vector
stator
synchronous machine
minimum
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP15816160.4A
Other languages
German (de)
English (en)
Inventor
Jürgen FRANTZHELD
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ThyssenKrupp AG
TK Elevator GmbH
Original Assignee
ThyssenKrupp AG
ThyssenKrupp Elevator AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by ThyssenKrupp AG, ThyssenKrupp Elevator AG filed Critical ThyssenKrupp AG
Publication of EP3238336A1 publication Critical patent/EP3238336A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B66B1/304—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with starting torque control
    • 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
    • H02P21/34—Arrangements for starting
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/20—Arrangements for starting
    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/26—Arrangements for controlling single phase motors

Definitions

  • the present invention relates to a method for determining a stator current vector for starting a synchronous machine of a drive of a passenger conveyor with a rotor and with a stator having a stator winding.
  • the invention is particularly applicable to synchronous machines in the form of linear motors.
  • a synchronous machine has a stator (primary part) and a rotor (secondary part).
  • the stator or the primary part may have a stator winding of a plurality of phase windings.
  • the stator winding may be impressed with a stator current vector having a particular stator current vector direction.
  • Such a stator current vector characterizes an energization of the stator winding.
  • the rotor or the secondary part can be designed as a field winding or as a permanent magnet.
  • such a synchronous machine may be designed as a rotary motor or as a linear motor.
  • stator current vector In order to operate a synchronous machine with the best possible efficiency and to produce the greatest possible driving torque acting on the rotor, a stator current vector must be impressed in the stator winding in the correct phase.
  • the stator winding is doing a corresponding stator current vector with a impressed optimal stator current vector direction.
  • This optimal stator current vector direction depends on how the rotor is oriented relative to the stator. This is particularly important in passenger conveyors driven by linear motors. For example, in the case of an elevator installation, with the release of the brakes, at least that drive torque must be applied by the linear motor, which corresponds to the weight of the possibly fully occupied car, in order to prevent the car from slipping uncomfortably or even falling.
  • the orientation of the stator and rotor relative to each other is usually not known.
  • this orientation can be determined by means of sensors such as incremental encoders, however, this often requires a few electrical revolutions or a certain movement of the rotor, since the sensor usually only has to detect a specific reference signal.
  • an incremental encoder must first detect a first specific reference mark. Until this reference signal is detected and the orientation of stator and rotor can be determined by means of the sensor, the optimum stator current vector direction is usually determined by other methods, for example by means of so-called test excitations.
  • test stimuli are often unsuitable for the use of a synchronous machine in a passenger conveyor.
  • test stimuli can only work reliably if sufficient movement of the runner is possible. For example, this is usually not the case in elevator systems, in particular when starting or starting up the synchronous machine. For example When a brake (holding brake) of the elevator system is activated, a movement of the synchronous machine is hardly or not possible. Furthermore, in elevator systems it may be the case that only a slight mechanical play occurs between the rotor of the synchronous machine and a load (cab, counterweight). Thus, in test stimuli only a very limited movement of the rotor may be possible. By means of such test excitations, it is usually not possible in an elevator system to reliably determine an optimal stator current vector direction.
  • Passenger conveyor device proposed with the features of the independent claims. Advantageous embodiments are the subject of the dependent claims and the following description.
  • the passenger transport device is designed in particular as an elevator system, as an escalator or as a moving walkway.
  • the synchronous machine has a rotor or a secondary part and a stator or a primary part with a stator winding with a plurality of phase windings.
  • the synchronous machine is designed as a three-phase synchronous machine with three phase windings.
  • the synchronous machine is designed in particular as a rotary motor or in particular as a linear motor.
  • a rotary motor is used, for example, for a traction sheave drive in an elevator system.
  • the rotary motor can be connected, for example via a gear with a traction sheave and drive them.
  • Such a rotary motor can also be used for example for driving a movable conveyor belt in an escalator or in a moving walk.
  • a linear drive either the primary part or the secondary part is designed as a stationary element.
  • the other element of the linear drive is designed to be movable and can be moved along the stationary element.
  • the movable element of the linear drive can be arranged in an elevator system, for example on a car or on a counterweight of a car.
  • the stationary element of the linear drive can be arranged, for example, as a rail.
  • a starting stator current vector is determined with a starting stator current vector direction, which is impressed on the stator winding for starting the synchronous machine.
  • the starting stator current vector is not determined directly, but indirectly via a minimum Statorstromvektor with a minimum stator current vector direction, wherein upon impressing this minimum stator current vector, a minimum acting on the rotor drive torque is generated in the synchronous machine.
  • different stator current vectors with different stator current vector directions are impressed on the stator winding in the course of several energizations (in particular consecutively).
  • the minimum stator current vector is determined with the minimum stator current vector direction.
  • the starting stator current vector is determined with the starting stator current vector direction, and the stator winding is impressed with the starting stator current vector for starting the synchronous machine.
  • these multiple energizations are each carried out with the same amplitude of the different stator current vectors. In particular, a comparatively small amplitude is chosen for this purpose.
  • the different stator current vectors with the respective stator current vector direction each characterize a current with which the stator winding is energized.
  • the stator current vectors each characterize a multiphase DC current.
  • the different stator current vectors can be regarded in particular as a space vector or current space vector of a corresponding space vector diagram (in particular in the stator-fixed ⁇ coordinate system).
  • Stator current vectors or current space vectors are to be regarded in particular as vectors or pointers in a complex plane.
  • the minimum stator current vector runs in particular parallel to a reference axis.
  • the maximum stator current vector in particular runs perpendicular to a further (in particular to the same) reference axis.
  • stator current vector can be determined from all impressed stator current vectors of the current flows carried out.
  • two minimum stator current vector can be determined with two minimum stator current vector directions, in each case a minimum driving torque acting on the rotor is generated. These two minimum stator current vector directions are different in particular by 180 °.
  • the starting stator current vector in this case can be determined in particular from these two minimum stator current vectors.
  • the drive torque acting on the rotor or the force generated in the synchronous machine is not determined concretely and precisely in order to determine the starting stator current vector.
  • neither movement nor speed nor speed of the synchronous machine need to be determined concretely and precisely.
  • the minimum stator current vector is searched in the course of the multiple energizations.
  • the direction of the drive torque or the direction of a movement resulting from the drive torque is detected and evaluated, but not the magnitude of the drive torque or the amount of movement.
  • the sensor used is thus significantly cheaper and at the same time more reliable to carry out because the sensor does not need to determine the exact amount.
  • an acceleration sensor which is firmly connected to the rotor is suitable for detecting a drive torque.
  • This acceleration sensor can be mounted, for example, on the car of an elevator car. Even the smallest jerky movements can be detected by the acceleration sensor, from which it can be concluded that there is a drive torque. In addition, a conclusion can be drawn on the direction of the drive torque by the acceleration sensor. Even with very long linear motors in the field of passenger conveyors, a single acceleration sensor may be sufficient to detect the direction of an applied test drive torque at each possible rotor position. In the course of starting or starting the synchronous machine, the orientation of stator and rotor relative to each other is usually not known.
  • the starting stator current vector with which the synchronous machine can be started optimally, be determined quickly and effectively and the synchronous machine can be operated as best as possible. It is not necessary first some electrical revolutions or a certain movement of the synchronous machine. In particular, the corresponding sensor usually does not first have to detect a specific reference signal.
  • a commutation offset for the subsequent ongoing operation of the drive is determined from the starting stator current vector.
  • the commutation offset establishes a relationship between the actual rotor position or rotor position (for example, an angular position of the rotor) and a measurement signal of a rotor position sensor (for example an incremental encoder) and is required for the correct alternating current supply of the phase winding of the stator.
  • the commutation offset accordingly represents a phase deviation between the actual rotor position and the rotor position detected by the rotor position sensor. If this commutation offset is known, the measured rotor position corrected by the commutation offset can be used as the basis for controlling the synchronous machine. However, if the commutation offset is not known, as may be the case when the synchronous machine is started, for example, this relationship between the measurement signal output by the rotor position sensor and the actual rotor position must first be determined.
  • the actual starting stator current vector can be used to determine the actual rotor position.
  • the rotor When impressing the starting stator current vector, the rotor is in the rotor position in which the maximum movement is generated. Accordingly, the commutation offset can be determined from the start stator current vector.
  • a zero stator current vector with a zero stator current vector direction as the minimum stator current vector is preferably determined, in which essentially no or at least hardly any drive torque acting on the rotor is generated in the synchronous machine. More preferably, a maximum stator current vector with a maximum stator current vector direction as the starting stator current vector is determined from the minimum stator current vector, in which case a maximum drive torque acting on the rotor is generated in the synchronous machine.
  • the zero stator current vector runs in particular parallel to a reference axis and the maximum stator current vector in particular perpendicular to this reference axis.
  • Zero stator current vector and maximum stator current vector are therefore perpendicular to one another in particular.
  • the maximum stator current vector may be determined from the zero stator current vector by adding to the zero stator current vector direction an angle of + 90 ° or -90 ° to determine the maximum stator current vector direction.
  • two minimum stator current vectors are determined, two zero stator current vectors offset by 180 ° are determined, each parallel to the reference axis and pointing in opposite directions.
  • the maximum stator current vector is in particular perpendicular to these two zero stator current vectors.
  • the stator current vectors of the plurality of energizations are respectively determined or selected according to a predetermined criterion.
  • a next stator current vector with a next stator current vector direction for a next one of the plurality of current supplies in particular is in each case following determined or selected according to the specified criterion.
  • the next stator current vector direction is preferably determined in each case as a function of the current stator current vector direction.
  • the next stator current vector direction is determined in each case by adding in each case an angle value to the current stator current vector direction or subtracting it from this current stator current vector direction.
  • a constant angle value is selected for the plurality of energizations.
  • This constant angle value is in each case added to the current stator current vector direction or subtracted from this current stator current vector direction, preferably added in each case.
  • the stator current vector direction is respectively increased or decreased by the constant, fixed angle value.
  • This constant angular interval can be, for example, 1 °, 2 ° or 5 °.
  • a predetermined number of energizations can be performed.
  • the different stator current vector directions in a range from 0 ° to 360 ° can be determined in each case by adding the constant angle value of 5 °. In this case, in particular 72 different energizations are performed.
  • a different angle value is selected for each of the plurality of energizations.
  • the angle value for each of the next of the plurality of energizations is respectively reduced, preferably halved in each case.
  • the angle value is accordingly reduced or halved consecutively or iteratively.
  • an initial value of the angle value is 90 °.
  • a first stator current vector direction of a first one of the multiple energizations may be randomly selected.
  • the initial value of the 90 ° angle value is accordingly added to or subtracted from this first stator current vector direction to determine a second stator current vector direction of a second of the plurality of supplies.
  • An angle of 45 ° in this case is added to or subtracted from this second stator current vector direction to determine a third stator current vector direction.
  • An angle value of 22.5 ° is in turn added to or subtracted from this third stator current vector direction, etc.
  • This addition or subtraction of the angle value is carried out, in particular, until the angle value falls below a predefined threshold value, for example 1 °. In particular, this addition or subtraction of the angle value can be carried out until the minimum stator current vector is determined.
  • the orientation of the minimum stator current vector can be limited to an angle range of less than 6 ° already after five currents, after nine currents already to an angle range of less than 0.5 °.
  • Whether the respective angle value is added to or subtracted from the current stator current vector direction of the current one of the multiple energizations is preferably determined depending on a drive torque generated in the course of the current one of the plurality of energizations, more preferably dependent on one Movement direction of a movement of the rotor generated in the course of the current of the several energizations. If the direction of movement changes, the sign of the Angle value changed. Accordingly, the angle value is added or subtracted until the minimum drive torque is generated or until no more movement is generated in the synchronous machine. In this case, if the minimum drive torque or no movement is generated in the course of one of the several energizations, the minimum stator current vector is found.
  • the determination of whether the respective angle value is added or subtracted is particularly suitable for the variable angle value.
  • a corresponding rotational speed or a corresponding speed of the synchronous machine it is not necessary for the movement or the corresponding drive torque, a corresponding rotational speed or a corresponding speed of the synchronous machine to be determined concretely and precisely. Only the direction of this movement or drive torque are determined. Also for this purpose it is not necessary that a sufficient movement of the synchronous machine must be ensured. The direction of movement can also be determined with the smallest possible movement of the synchronous machine. Also for this embodiment of the invention, no requirements are placed on sensors, by means of which the drive torque or the movement of the synchronous machine can be determined. This refinement can also be carried out precisely and effectively in the smallest possible measuring or operating range of such sensors.
  • the angle value is added to the current stator current vector direction of the current one of the plurality of energizations if a movement in the negative direction of movement is generated in the course of the current one of the several energizations in the synchronous machine. If a movement in the positive direction of movement is generated in the course of the current one of the several energizations in the synchronous machine, the angle value is preferably subtracted from the current stator current vector direction of the current one of the several energizations. Preferably, after determining the minimum stator current vector, a check is made as to whether the minimum drive torque acting on the rotor is generated when impressing the minimum stator current vector in the synchronous machine.
  • stator winding is preferably impressed in the course of several further energizations different Statorstromvektoren with the determined minimum stator current vector direction and with different amplitudes. In each case, it is checked whether in each case the minimum drive torque acting on the rotor is generated in the course of these several further energizations in the synchronous machine.
  • the minimum stator current vector has been correctly determined. If in each case the minimum drive torque is generated in the course of these several further energizations, the starting stator current vector is determined from the determined minimum stator current vector. Otherwise, in particular, a preferred embodiment of the invention is carried out again and a new minimum stator current vector is determined.
  • an opposite stator current vector is impressed on the stator winding with a stator current vector direction opposite to the current stator current vector direction before a current one of the several energizations, in which the stator winding is impressed with a current stator current vector having a current stator current vector direction.
  • the current stator current vector direction and the opposite stator current vector direction are accordingly shifted in particular by 180 °.
  • the current and the opposite stator current vector thus run parallel to each other, but pointing in opposite directions. Amplitude and duration of this opposite energization and the current of the multiple energys are selected in particular identical.
  • This opposite energization can be carried out in particular before each of the several energizations or even before certain of the several energizations, for example only before every second of the several energizations.
  • the stator winding is impressed with an opposite stator current vector with a stator current vector direction opposite to the first stator current vector direction.
  • the stator winding in the course of the multiple energizations the different stator current vectors are impressed for a predetermined time interval.
  • this time interval can be selected to be the same size for each of the multiple energizations.
  • this time interval is 75 ms, 50 ms or 25 ms.
  • the respective opposite stator current vectors are also impressed in the course of the opposite current flows for a given time interval.
  • this time interval can be chosen to be the same in particular for each of the multiple energizations and is preferably 75 ms, 50 ms or 25 ms.
  • the invention further relates to a drive for a passenger conveyor and a passenger conveyor with such a drive.
  • An inventive drive for a passenger conveyor comprises a synchronous machine with a rotor and with a stator having a stator winding with a plurality of phase windings.
  • the drive further comprises a control unit which is adapted to a preferred embodiment of the invention Procedure to perform. Embodiments of this drive according to the invention and this passenger transport device according to the invention will become apparent from the above description of the method according to the invention in an analogous manner.
  • FIG. 1 schematically shows a preferred embodiment of a passenger transport device according to the invention with a preferred embodiment of a drive according to the invention.
  • FIG. 2 schematically shows stator current vector diagrams which can be determined in the course of a preferred embodiment of a method according to the invention.
  • FIG. 3 schematically shows an alternative preferred embodiment of a passenger transport device according to the invention with a preferred embodiment of a drive according to the invention.
  • FIG. 4 schematically shows a further alternative preferred embodiment of a passenger transport device according to the invention with a preferred embodiment of a drive according to the invention.
  • 1 shows a preferred embodiment of a passenger transport device according to the invention is shown schematically and designated 100.
  • the passenger conveyor is configured as an elevator system 100.
  • the elevator system 100 comprises a cab 102 which is movable in an elevator shaft 101.
  • the cab 102 is suspended on a carrier cable 103 and connected to a counterweight 106 via a traction sheave 104 and a deflection roller 105.
  • the elevator system 100 comprises a preferred embodiment of a drive 110 according to the invention, which in this example is designed as a traction sheave drive.
  • the traction sheave drive 110 comprises the traction sheave 104 and a synchronous machine 111 designed as a rotary motor.
  • the synchronous machine 111 is connected to the traction sheave 104 via a shaft 112 and can drive it.
  • the traction sheave drive 110 further comprises a control unit 113, which drives the synchronous machine 111, indicated by reference number 114.
  • the synchronous machine 111 is designed, for example, as a three-phase synchronous machine.
  • a stator 121 or primary part of the synchronous machine 111 comprises a stator winding with, for example, three phase windings.
  • a rotor 122 or secondary part of the synchronous machine 111 includes, for example, a field winding or a permanent magnet arrangement.
  • the phase windings of the stator 121 are connected to a power converter circuit 123.
  • This converter circuit 123 comprises appropriate switching elements such as, for example, MOSFETs (metal oxide). Semiconductor field effect transistors) (in Figure 1, a MOSFET is shown purely by way of example).
  • the individual switching elements of the rectifier circuit 123 are driven by the control unit 113.
  • the synchronous machine 111 is energized.
  • the stator winding of the synchronous machine 111 is impressed with a rotating stator current vector.
  • the stator winding of the stator current vector In order to operate the synchronous machine 111 with the best possible efficiency and to generate the largest possible drive torque acting on the rotor, the stator winding of the stator current vector must be impressed in the correct phase. In this case, a maximum stator current vector is impressed onto the stator winding, in which case a maximum drive torque acting on the rotor is generated in the synchronous machine 111.
  • the maximum stator current vector leads the rotor magnetic flux by 90 °. In particular, when starting or starting the synchronous machine 111, this maximum stator current vector is unknown.
  • a suitable starting stator current vector To start the synchronous machine 111, a suitable starting stator current vector must first be determined.
  • control unit 113 is configured to carry out a preferred embodiment of a method according to the invention.
  • stator windings with different stator current vector directions are impressed consecutively on the stator winding in the course of several energizations.
  • a minimum stator current vector is initially determined in which no drive torque acting on the rotor is generated.
  • the maximum stator current vector is determined as the starting stator current vector.
  • stator current vector diagrams or space vector diagrams in a stator-fixed ⁇ coordinate system are shown schematically. which can be determined in the course of the preferred embodiment.
  • Each of the eight stator current vector diagrams in FIGS. 2a to 2h respectively characterizes one of the several energizations which are carried out in the course of this preferred embodiment of the method according to the invention.
  • Stator current vectors or current phasors are represented as vectors in a stator current vector diagram.
  • Stator current vectors characterize the energization of the stator winding of the synchronous machine 111. All stator current vectors intersect at the origin of the ⁇ coordinate system and terminate on the circumference of a circle whose center point coincides with the origin.
  • a stator current vector direction of a stator current vector is described by an angle relative to a reference axis.
  • FIGS. 2a to 2h each of this circle is shown. The circles are divided by a first reference axis into two semicircles. In FIGS. 2a to 2h, this first reference axis is identified by the designation "Fmin”.
  • a first semicircle is indicated by the designation "+", a second semicircle by the designation
  • first reference axis is given by way of example a minimum direction for the start-rotor position.
  • Stator current vectors that run along this minimum direction or parallel to the first reference axis are referred to as minimum stator current vectors having a minimum stator current vector direction, at which no drive torque is generated in each case in the synchronous machine 111 for the output rotor position.
  • a second reference axis is given by way of example a maximum direction for the output rotor position.
  • this second reference axis is perpendicular to the first reference axis.
  • this second reference axis is identified by the designation "F ma x”.
  • Stator current vectors that run along this maximum direction or parallel to the second reference axis are referred to as the maximum stator current vector, which generate the maximum drive torque in the synchronous machine 111 for the output rotor position.
  • FIG. 2b describes a first of the several energizations with a first stator current vector Ui with a first stator current vector direction.
  • This first stator current vector Ui is directed, for example, in the direction of a corresponding Kommut istsoffsets, which had been present when stopping the synchronous machine 111.
  • an opposite current application is initially carried out according to FIG. 2a with a stator current vector direction opposite to the first stator current vector direction.
  • This opposite stator current vector direction is opposite to the first stator current vector direction by 180 °.
  • the stator winding is impressed with an opposite stator current vector, which is designated as Ui * in FIG. 2a.
  • FIG. 2b the first of the several energizations is carried out.
  • the first run Statorstromvektor Ui and the opposite stator current vector Ui * parallel, but pointing in opposite directions.
  • a second of the several energizations with a second stator current vector U 2 is then carried out with a second stator current vector direction.
  • an opposite energization can be performed again, in the course of which the stator winding an opposite stator current vector U 2 * is impressed with one of the second Statorstromvektorides by 180 ° opposite Statorstromvektorides.
  • a respective next stator current vector direction of a next one of the plurality of energizations is respectively determined by adding or subtracting a different angle value from a current stator current vector direction of the current one of the plurality of energizations. This different angle value is halved for each of the next of the several energizations.
  • the second stator current vector direction is accordingly determined by adding or subtracting a first angle value from the first stator current vector direction. This first angle value is 90 ° in this example.
  • Whether the respective angle value is added or subtracted depends on a direction of movement of a movement currently generated in the synchronous machine 111 for the home rotor position. As can be seen from the first stator current vector Ui in FIG. 2b, the first of the current flows in the synchronous machine 111 generates a movement in the positive direction of movement. With such a positive direction of movement, the respective angle value is subtracted.
  • the second stator current vector direction is accordingly determined by subtracting the first angle value of 90 ° from the first stator current vector direction.
  • a third stator current vector direction is accordingly determined by subtracting a second angle value of 45 ° from the second stator current vector direction.
  • a third of the several energizations is carried out with a third stator current vector U 3 with this third stator current vector direction.
  • an opposite energization with an opposite stator current vector U 3 * is performed.
  • the third of the multiple energizations generates movement in the negative direction of movement in the synchronous machine 111 for the output rotor position.
  • a fourth stator current vector direction is accordingly determined by adding a third angle value of 22.5 ° to the third stator current vector direction.
  • a fourth of the several energizations is carried out with a fourth stator current vector U 4 with this fourth stator current vector direction.
  • an (optional) opposite energization with an opposite stator current vector U 4 * is performed before this fourth energization.
  • the fourth of the several energizations again generates a movement in the positive direction of movement for the output rotor position. Therefore, a fourth angle value of 11.25 ° is subtracted from the fourth stator current vector direction to determine a fifth stator current vector direction.
  • a sixth of the several energizations is carried out according to FIG. 2 g with this sixth stator current vector direction and a corresponding sixth stator current vector U 6 .
  • an (optional) opposite energization is performed with an opposite stator current vector U 6 *.
  • This sixth stator current vector U 6 runs parallel to the first reference axis and, when impressed in the synchronous machine, produces no drive torque or no movement for the output rotor position.
  • This sixth stator current vector U 6 represents the sought-after minimum stator current vector.
  • the sixth stator current vector direction represents the sought minimum stator current vector direction.
  • an angle value of 90 ° is added or subtracted to the minimum stator current vector direction according to FIG. 2h. Whether this angle value of 90 ° is added or subtracted depends in particular on a desired direction of movement when starting the synchronous machine 111.
  • the stator winding of this maximum stator current vector U ma x is impressed as a starting stator current vector.
  • a commutation offset for the subsequent ongoing operation of the synchronous machine 111 is determined from this maximum stator current vector U ma x.
  • This Kommut istsoff set represents a relationship between the actual rotor position and a measurement signal of a Rotor position sensor forth and is needed for the correct alternating current to the phase winding of the stator 121.
  • Each of the energizing and the opposite energizing according to the figures 2a to 2g is carried out for a predetermined time interval of 50 ms and between each of the energis according to Figures 2a to 2g each a predetermined time interval of 50 ms is also paused. Furthermore, each of these energizations according to the figures 2a to 2g is performed with the same amplitude.
  • the energization is repeated with a higher amplitude until a movement is detected. If the amplitude is thereby increased up to a predefinable amplitude threshold value, without a movement being detected, the first direction is recognized as a minimum stator current vector direction.
  • FIG. 3 shows an elevator installation 100 having a drive linear motor driven according to the invention as a synchronous machine.
  • the synchronous machine includes Here, a stator 121 which is elongate and extends substantially over the entire height of the elevator shaft 101.
  • the stator 121 generates a magnetic field traveling along the elevator shaft.
  • a runner 122 is fixed to the car 102 and is driven by the traveling magnetic field. Via a fixedly connected to the rotor acceleration sensor 124 smallest movements of the car and / or the rotor 122 can be determined.
  • FIG. 4 shows a moving walkway 100 with a drive linear motor driven according to the invention as a synchronous machine.
  • the synchronous machine in this case comprises a stator 121, which is elongated and extends substantially over the entire length of the moving walk.
  • the stator 121 generates a magnetic field traveling along the travel path.
  • a runner 122 is fixedly attached to a pallet 125 and driven by the traveling magnetic field. Via a fixedly connected to the rotor acceleration sensor 124 smallest movements of the pallet 125 / or the rotor 122 can be determined. Alternatively, position sensors built into the moving walkway can be used to detect the movements of the pallet. Incidentally, the construction and the function largely correspond to the embodiments according to FIGS. 1 to 3.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Ac Motors In General (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Escalators And Moving Walkways (AREA)
  • Control Of Linear Motors (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Types And Forms Of Lifts (AREA)

Abstract

L'invention concerne un procédé pour déterminer un vecteur de courant stator (Umax) pour le démarrage d'une machine synchrone (111) d'un entraînement (110) d'un dispositif de transport de personnes (100), comprenant un rotor (122) et un stator (121) ayant un enroulement de stator. Ledit procédé consiste à appliquer, au cours de plusieurs cycles de mise sous tension de l'enroulement de stator, différents vecteurs de courant statorique U1, U2, U3, U4, U5, U6) ayant différentes directions de vecteur de courant statorique ; à déterminer, à partir des différents vecteurs de courant statorique (U1, U2, U3, U4, U5, U6), un vecteur de courant statorique minimal (U6) ayant une direction de vecteur de courant statorique minimal, avec lequel un couple d'entraînement minimal agissant sur le rotor est généré dans la machine synchrone (111) ; à déterminer, à partir du vecteur de courant statorique minimal (U6), un vecteur de courant statorique de démarrage (Umax) avec une direction de vecteur de courant statorique de démarrage ; et appliquer à l'enroulement de stator le vecteur de courant statorique de démarrage (Umax) pour le démarrage de la machine synchrone (111).
EP15816160.4A 2014-12-23 2015-12-18 Procédé de détermination d'un vecteur de courant statorique pour démarrer une machine synchrone d'un entraînement d'un dispositif de transport de personnes Withdrawn EP3238336A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102014226967.9A DE102014226967A1 (de) 2014-12-23 2014-12-23 Verfahren zum Bestimmen eines Statorstromvektors zum Starten einer Synchronmaschine eines Antriebs einer Personenbeförderungsvorrichtung
PCT/EP2015/080577 WO2016102385A1 (fr) 2014-12-23 2015-12-18 Procédé de détermination d'un vecteur de courant statorique pour démarrer une machine synchrone d'un entraînement d'un dispositif de transport de personnes

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EP3238336A1 true EP3238336A1 (fr) 2017-11-01

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US (1) US10486936B2 (fr)
EP (1) EP3238336A1 (fr)
JP (1) JP2018506250A (fr)
KR (1) KR20170099991A (fr)
CN (1) CN107534404A (fr)
DE (1) DE102014226967A1 (fr)
WO (1) WO2016102385A1 (fr)

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Publication number Publication date
US20170349396A1 (en) 2017-12-07
KR20170099991A (ko) 2017-09-01
US10486936B2 (en) 2019-11-26
JP2018506250A (ja) 2018-03-01
CN107534404A (zh) 2018-01-02
WO2016102385A1 (fr) 2016-06-30
DE102014226967A1 (de) 2016-06-23

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