WO2019227862A1

WO2019227862A1 - Method and system for elevator rescue, and controller

Info

Publication number: WO2019227862A1
Application number: PCT/CN2018/115063
Authority: WO
Inventors: 秦显慧; 郑磊; 谭亚; 关欣
Original assignee: 苏州汇川技术有限公司
Priority date: 2018-05-28
Filing date: 2018-11-12
Publication date: 2019-12-05
Also published as: CN108657893A; CN108657893B; RU2765200C1

Abstract

A method and system for elevator rescue, and a controller, the method comprising: if detected that an input power source is unavailable, switching a motor to a short-circuit state, and making an elevator car enter a car sliding state; after a preset time, removing the short-circuit state of the motor, and performing open-loop control on the motor, such that an inverter module outputs a voltage to the motor, and the motor utilizes energy generated by sliding to charge an energy storage component on a high-power direct current bus after receiving the voltage outputted by the inverter module; when the motor runs to a preset steady state, performing closed-loop control on the motor, such that the rotational speed of the motor reaches a preset rescue speed; if detected that the elevator car runs to a predetermined distance from a leveling position, reducing the rotational speed of the motor to zero on the basis of closed-loop control, then stopping the sliding such that the elevator car stops at the leveling position, and opening a door of the elevator car. The described method enables the elevator to achieve smooth start-up, back-leveling and car-stopping control when an input power source is unavailable and a direct current bus voltage drops to very low or even zero.

Description

Elevator rescue method, system and controller

Technical field

The invention relates to the field of elevator control, in particular to an elevator rescue method, system and controller.

Background technique

With the development of elevator control technology, users have increasingly demanded the safety and fault tolerance of elevator systems. When an elevator system is installed in a general building, the elevator system is required to have an emergency rescue function, which can quickly open the anti-leveling door to safely dissolve passengers when the power grid is out of power. In the prior art, when an emergency rescue of an elevator is implemented during a power outage, there are mainly the following solutions:

1) 、 Uninterruptible Power System / Uninterruptible Power Supply (UPS) or Automatic Emergency Rescue Device (Automatic Rescue Device (ARD). When the power grid is out of power, the energy stored in a certain capacity of the battery is transformed by electric energy to power the inverter in the form of single-phase AC (mostly analog 220V city power, partly rectangular wave), replacing the normal three-phase 380V AC power. . The controller controls the motor to run slowly to leveling under the condition of low voltage power supply. However, the cost of UPS and ARD is high, and the storage capacity of the battery is limited. After several rescue operations, the battery energy is basically consumed.

2) Fengxing trolley. The three-phase winding of the synchronous permanent magnet motor is short-circuited by the star-sealing contactor. The inverter does not perform any control. The short-circuit current of the motor itself can generate resistance torque and balance it with the load torque, so that the car will be adjacent to it at a lower speed Leveling operation. After receiving the leveling or door zone signal, quickly close the brake to stop the car at the leveling position. This method can avoid the cost problem of UPS and ARD power, but the speed of the star-blocking car is slow, it takes a long time to return to the leveling position, and it directly lowers the brake when the parking speed is not zero. Passengers Poor comfort.

3), electronically sealed star trolley. The principle and operation method are similar to that of the Fengxing trolley, but the three-phase short circuit of the motor is realized through the switch tube of the frequency converter, and no mechanical Fengxing contactor is needed. Similarly, the electronic star block has the same problems as the star block.

4), schemes relying on motors to regenerate energy. Patent document CN107128756A proposes a solution. When it is detected that the three-phase input power is not available during the elevator operation, the control strategy of the motor is changed to generate regenerative energy to maintain the voltage of the DC bus, and the elevator car is controlled to return smoothly. Flat layer. However, this plan was implemented before the DC bus dropped to too low a level. There was no mention of how to achieve a smooth return of the elevator to the leveling under the condition that the elevator has stopped running and the DC bus dropped to zero.

5), frequency converter wave-blocking trolley scheme. When the elevator controller detects that the elevator has stopped and has no input power, it will first block the PWM wave of the inverter and release the brake to let the motor slip. At this time, the inverter works in an uncontrolled rectification state, and the regenerative energy of the motor passes through the IGBT. The freewheeling diode charges the DC bus; when the DC bus voltage rises to the set threshold or the motor trolley reaches the set speed value, it starts to cut into the closed-loop control of the motor speed, and then controls the motor to return to the leveling smoothly. This solution has the problems of too fast rolling speed and poor comfort when starting.

In summary, the prior art solutions for implementing emergency rescue of an elevator during a power outage have problems such as high cost, poor comfort, or too low a DC bus voltage to work.

technical problem

The technical problem to be solved by the present invention is to provide an elevator rescue method, a system, and a controller for the defects in the prior art that are high in cost or poor in comfort or that the DC bus voltage is too low to work.

Technical solutions

The technical solution adopted by the present invention to solve its technical problems is to construct an elevator rescue method, including:

If it is detected that the input power source is unavailable, the power source is switched from the input power source to a backup power source, the motor is switched into a short-circuit state, and the car enters a rolling state;

After the car enters the rolling state for a preset time, the short circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs voltage to the motor according to a preset strategy; wherein the motor is in After receiving the voltage output by the inverter module, use the energy generated by the trolley to charge the energy storage components on the strong electric DC bus;

When it is detected that the motor operation reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed;

If it is detected that the car runs to a preset distance from the leveling position, the motor speed is reduced to zero based on closed-loop control and hovering is stopped, and then the car is stopped to stop the car at the leveling position and the car is opened door.

The invention also claims a controller, including:

The trolley control unit is configured to control the power source to switch from the input power source to the backup power source when the input power source is unavailable, switch the motor into the short circuit state, and make the car enter the trolley state;

An open-loop control unit is configured to remove the short-circuit state of the motor after the car enters the rolling state for a preset time, and perform open-loop control on the motor to enable the inverter module to output to the motor according to a preset strategy. Voltage; wherein after receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the strong electric DC bus;

A closed-loop control unit, configured to perform closed-loop control on the motor when it is detected that the motor reaches a preset steady state, so that the rotation speed of the motor reaches a preset rescue speed, and operates at the preset rescue speed;

A brake control unit is configured to, when detecting that the car has run to a preset distance from the leveling position, reduce the motor speed to zero based on closed-loop control and hover, and then stop the car to stop the car from leveling Floor position and open the car door.

The invention also claims a controller, which includes a memory and a processor. The memory stores a computer program operable on the processor, and the processor implements the method described above when the computer program is executed. step.

The invention also requires protection of an elevator rescue system, which includes a rectifier module, a high-power DC bus, an inverter module, a step-down converter, a switch, a backup power source, a DC source converter, and a controller as described above. The modules, the high-voltage DC bus and the inverter module are connected in sequence;

The step-down converters are respectively connected to the high-voltage DC bus, and are configured to step-down and convert the voltage in the high-voltage DC bus to output;

The backup power supply is connected to the step-down converter, and is configured to take power from the output of the step-down converter for charging when the power supply is normal;

The switch is connected to the step-down converter, the backup power supply, the controller, and the DC converter, respectively, and is used to select the step-down converter and the DC converter under the control of the controller. One DC source output in the backup power supply;

The DC source converter includes an input terminal and a plurality of output terminals, the input terminal is connected to the switch, and the multiple output terminals are respectively related to the inverter module, the controller, and other elevator operations. A device connection is used to perform voltage conversion on the DC source output by the switch to provide an operating voltage for the inverter module, the controller, and other elevator-related equipment.

Beneficial effect

Implementing the elevator rescue method, system and controller of the present invention has the following beneficial effects: the present invention cuts the motor into a short-circuited state before starting the trolley, so the trolley can be started at a lower speed to ensure that the car will not The rapid acceleration makes the start-up smoothness and safety during the rescue operation. After that, the open-loop control and then the closed-loop control are used to inject a negative voltage into the motor through the open-loop control, so that the motor can be charged to the high-current DC bus and the strong current can be increased. The DC bus voltage can ensure the smooth switching of the closed-loop control; the closed-loop control makes the motor run more smoothly during the return to the leveling layer, and the motor speed can be quickly reduced to zero based on the closed-loop control when the motor is stopped. There will be no frustration when directly holding the brakes, which improves the comfort and smoothness of the rescue process. In short, the invention does not need to configure UPS or ARD, and the hardware cost is low, so that the elevator can be used when the input power is not available and the DC bus voltage When it is very low or even zero, it realizes smooth starting, leveling and parking control.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are merely It is an embodiment of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without paying creative labor:

Figure 1 is a schematic diagram of the elevator operation;

2 is a flowchart of an elevator rescue method provided by Embodiment 1 of the present invention;

3 is a flowchart of an elevator rescue method provided by Embodiment 2 of the present invention;

4 is a schematic structural diagram of a controller according to a third embodiment of the present invention;

5 is a schematic structural diagram of a controller according to a fourth embodiment of the present invention;

6 is a schematic structural diagram of an elevator emergency rescue system according to a sixth embodiment of the present invention.

Embodiments of the invention

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Exemplary embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention.

Referring to FIG. 1, it is a schematic diagram of an elevator operation principle in an embodiment of the present invention. Wherein, the AC power output from the three-phase power is converted into DC power after being rectified by the rectifier module, and then output to the inverter module via the strong DC bus. The inverter module converts the DC power to an AC power source with adjustable voltage for control. The speed of the motor drives the lift of the elevator through the motor. The controller controls the inverter module to control the motor on the one hand, and controls other aspects of the elevator operation, such as controlling the brakes.

The general idea of the present invention is: first, if it is detected that the input power source is unavailable, the power source is switched from the input power source to the backup power source, the motor is switched into a short-circuit state, and the car enters a rolling state; After the car enters the rolling state for a preset time, the short-circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs voltage to the motor according to a preset strategy; wherein the motor is receiving After the voltage output by the inverter module, use the energy generated by the trolley to charge the energy storage parts on the high-current DC bus; then, when it is detected that the motor operation reaches a preset steady state, The motor performs closed-loop control so that the motor speed reaches a preset rescue speed and runs at the preset rescue speed; finally, if it is detected that the car has traveled to a preset distance from the leveling position, it is based on closed-loop control Hover after reducing the motor speed to zero, and then stop the car to stop the car at the leveling position, and open the car door.

In order to better understand the above technical solution, the above technical solution will be described in detail with reference to the accompanying drawings and specific implementations of the specification. It should be understood that the embodiments of the present invention and specific features in the embodiments are detailed descriptions of the technical solutions of the present application. The description is not a limitation on the technical solutions of the present application. In the case of no conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

Example one

Reference is made to FIG. 2, which is an elevator rescue method provided by Embodiment 1 of the present invention. The execution main body of the method is the controller in FIG. 1. The implementation process of the method is detailed as follows:

S101. If it is detected that the input power source is unavailable, the power source is switched from the input power source to the backup power source, the motor is switched into the short-circuited state, the motor is switched into the short-circuited state, and the car enters the rolling state.

Switch the motor into the short circuit state, that is, enter the star-sealed state. For example, electronic shutdown can be achieved by shutting down all upper tubes of the inverter module connected to the motor and turning on all lower tubes of the inverter module at the same time.

The method steps of this embodiment can be implemented by the controller in FIG. 1 in cooperation with other elevator operation related equipment (such as inverter modules, brakes, etc.), so when the input power is unavailable, the controller and other elevator operations need to be guaranteed. Power supply of related equipment. For this reason, in this embodiment, when the input power is available, the backup power supply and the equipment related to the operation of the elevator step down to take power from the strong DC bus to charge or work; when the input power is not available, the power source is sourced from the input power. Switch to backup power, so the equipment related to the operation of the elevator draws power from the backup power to work. For example, an elevator system is generally provided with a weak current DC bus, which is directly powered by a backup power source during emergency rescue, and the backup power source is charged by a strong current DC bus when the input power is available. As long as the elevator system resumes normal operation for a period of time, This will ensure that the backup power supply has sufficient power for the next rescue.

S102. After the car enters the rolling state for a preset time, the short-circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs a voltage to the motor according to a preset strategy. Wherein, after receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the high-current DC bus.

Specifically, the voltage output by the inverter module can be controlled so that the power of the motor is negative power (for example, the direction of the voltage output by the inverter module is opposite to the direction of the motor current, so that the power of the motor is negative power). The power of the motor Negative power means that the energy generated by the motor when it is rolling is transferred to the strong electric DC bus.

S103. When it is detected that the operation of the motor reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed.

Since the motor charges the energy storage components of the high-voltage DC bus in step S102, the output voltage of the high-voltage DC bus will be increased. Therefore, when switching to closed-loop control in this step, smooth switching can be guaranteed because if the high-voltage DC bus does not have sufficient output voltage Directly cut into the closed-loop control, it is very likely that the output of the controller is saturated because the bus voltage is too small, which leads to loss of control.

S104. If it is detected that the car runs to a preset distance from the leveling position, the motor is hovered after the motor speed is reduced to zero based on closed-loop control, and then the trolley is stopped to stop the car at the leveling position and open. Car door.

In this embodiment, the motor is switched into the short-circuited state before entering the trolley state, and the trolley is started at a small speed to ensure that the car does not accelerate quickly, so that the start-up stability and safety are improved during rescue operation; Open-loop control first and then closed-loop control. By injecting negative voltage into the motor through open-loop control, the motor can be charged to the high-current DC bus and the voltage of the high-current DC bus can be increased. Therefore, the closed-loop control can be smoothly switched; During the return to leveling, the motor runs more smoothly, and when stopped, the motor speed can be quickly reduced to zero based on closed-loop control. There will be no frustration caused by the direct brake, which will improve the rescue process. Comfort and smoothness. In short, the present invention does not need to be equipped with UPS or ARD, and the hardware cost is low, so that the elevator can achieve smooth start-up and return to leveling when the input power is unavailable and the DC bus voltage is reduced to very low or even zero. And parking control.

Example two

When the input power is available, the backup power supply (such as the battery) and elevator-related equipment (such as inverter modules, brakes, controllers, etc.) are stepped down from the strong DC bus to charge or work. Once the input power is unavailable, the elevator will report the fault and stop the elevator first, and the motor will stop at this time until it is automatically controlled by the maintenance personnel or the top-level control software to start the following rescue process shown in Figure 3 in this embodiment. The execution body of this method is the controller in Figure 1:

S201. The control power source is switched from the input power source to the backup power source, and equipment related to the operation of the elevator takes power from the backup power source to work. This can be achieved by the controller controlling the input of the weak current DC bus to switch to the backup power supply.

S202. Check whether the rescue conditions are met. If yes, go to step S203; otherwise, close the brake, block the output of the inverter module, and wait for manual rescue.

The rescue condition is that the power supply state of the backup power source is stable and the inverter module connected to the motor is faultless. Here, the so-called stable power supply status of the backup power supply means that the voltage output by the backup power supply is within its normal operating range.

S203. The motor is switched into a short-circuit state via the inverter module. For example, all the upper tubes in the inverter module are turned off, and all the lower tubes in the inverter module are turned on at the same time, wherein the upper tube and the lower tube are insulated gate bipolar transistor IGBTs.

S204. Release the holding brake to make the car enter a rolling state. This can be achieved by the controller controlling the holding of the brake contactor.

S205. After the car enters the rolling state for a preset time, remove the short circuit state of the motor, and perform open-loop control on the motor, so that the inverter module outputs voltage to the motor according to a preset strategy; After receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the strong DC bus.

Preferably, the inverter module is controlled to inject a voltage amount uq to the motor q-axis and a voltage amount ud to the d-axis of the motor; wherein the voltage amount ud is 0; the maximum voltage that can be output when the high-voltage DC bus is output When Umax is less than αRsIq, the voltage amount uq is -Umax; when Umax is greater than or equal to αRsIq, the voltage amount uq is -αRsIq; where Rs is the motor stator resistance and Iq is the q-axis component of the three-phase current of the motor detected in real time, α is a coefficient. It is preferably less than 0.5.

S206. When it is detected that the motor operation reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed.

When the motor rolls, the rotor permanent magnets rotate, generating a back-EMF in the stator windings of the motor, and the combined output of the voltage uq to the motor generates a current in the stator winding. The torque formed by this current can hinder the motor The speed of the trolley continues to increase. When the speed of the motor trolley is larger, the back-EMF is larger, and the stator current and torque generated are larger. The acceleration of the trolley can be reduced or even decelerated. In the end, the stator torque and gravity reach a balance, and the motor operation reaches the desired level. The preset steady state is described, which means that the speed and current of the motor remain stable. The so-called stable means that the fluctuation of the speed and current is within the error range. The larger the above-mentioned α, the larger the motor rotation speed when the steady state is reached. After the motor speed and current remain stable, you can choose to perform closed-loop control of the motor, including:

S2061: After the motor speed and current remain stable, switch the motor from open-loop control to closed-loop control, and switch to the closed-loop control station according to the current speed and current of the motor and the output of the inverter module during open-loop control when switching. Initialization is based on speed closed-loop, moment current closed-loop, and excitation current closed-loop, including the following three aspects:

One is to set the given value of the speed closed loop as the rotation speed value of the motor feedback at the moment of cut-in, and at the same time set the output value of the speed closed-loop to the q-axis torque current at the moment of cut-in.

The second is to set the given value of the torque current closed loop as the q-axis torque current at the moment of cut-in, and at the same time set the output value of the torque current closed loop to the last time the inverter module outputs to the motor q during open loop control. Voltage uq of the shaft.

The third is: setting the given value of the excitation current closed loop to the d-axis excitation current at the moment of cut-in, and at the same time setting the output value of the excitation current closed loop to the last output of the inverter module to the motor during open loop control. The amount of voltage on the shaft, ud.

In this way, when switching into the closed-loop control, the set value and output value of the closed-loop control can be accurately matched with the actual operating conditions, and a seamless switch from open-loop to closed-loop can be achieved.

S2062. The given value of the speed closed loop is increased to the preset rescue speed, the given value of the torque current closed loop is set to the output value of the speed closed loop, and the given value of the excitation current closed loop is set. Reduced to zero.

Here, the increase to the preset rescue speed and the decrease to zero may be increased or decreased according to a predetermined curve, or may be changed according to a certain slope. There is no limitation on this, as long as it is ensured that the entire trend is increased or decreased. Just lower it.

When the given value of the speed closed loop is increased to the rescue speed, then under closed loop control, the final motor speed and current will tend to stabilize.

S207. If it is detected that the car runs to a preset distance from the leveling position, the motor is hovered after the motor speed is reduced to zero based on closed-loop control, and then the trolley is stopped to stop the car at the leveling position and open. Car door.

Specifically: In the process of rolling, if a door zone or leveling signal is detected, the preset distance of the car from the leveling position is judged, the given value of the speed closed loop is modified to zero, and the rotational speed fed back by the motor When the value is zero, the brake is closed to stop the trolley to stop the car in the leveling position, and the car door is opened.

Preferably, during the above steps S201-S207, if the voltage of the strong electric DC bus is higher than the starting voltage of the braking circuit, the braking circuit is started, and the excessively high Voltage.

Further preferably, the controller may be generally decomposed into a frequency conversion controller and an elevator controller, and the frequency conversion controller and the inverter module and the rectifier module in FIG. 1 together constitute a frequency converter in a general sense. In the above steps S201-S207, the trolley In the process, if a failure of the operating environment of the inverter is detected, the holding brake is closed, the pulse width modulation signal PWM output to the inverter module is blocked, and related fault information is reported.

Furthermore, in the rolling process of the above steps S201-S207, if there is any fault affecting the operation of the motor, it is determined whether the number of times of entering the rolling state exceeds the preset rolling times, such as three times, and if so, the brake is closed. , Block all the upper and lower tubes in the inverter module connected to the motor and wait for rescue; otherwise, cut the motor into the short-circuited state and re-enter the car into the trolley state.

Example three

Referring to FIG. 4, based on the same inventive concept, this embodiment discloses a controller, including:

A closed-loop control unit configured to perform closed-loop control on the motor when it is detected that the motor reaches a preset steady state, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed;

The open-loop control unit specifically includes a high-current DC bus charging unit for controlling the inverter module to inject a voltage amount uq to the motor q-axis and a voltage amount ud to the motor d-axis; wherein the voltage The quantity ud is 0; when the maximum voltage that can be output by the strong DC bus is less than αRsIq, the voltage quantity uq is the maximum voltage that can be output by the strong DC bus; when the maximum voltage that the strong DC bus can output is greater than or equal to αRsIq When the voltage uq is –αRsIq; where Rs is the motor stator resistance, Iq is the q-axis component of the three-phase current of the motor detected in real time, and α is the coefficient.

The closed-loop control unit includes:

A switching unit is used to switch the motor from open-loop control to closed-loop control after the motor speed and current remain stable, and to switch the closed-loop according to the current speed, current, and output of the inverter module during the switch when switching Initialize the closed loop of speed, closed loop of moment current and closed loop of exciting current based on the control;

An adjusting unit is configured to increase the given value of the speed closed loop to the preset rescue speed, set the given value of the torque current closed loop to the output value of the speed closed loop, and set the excitation current closed loop to The setpoint is reduced to zero.

Further, the switching unit includes:

A speed closed-loop initialization unit, configured to set the given value of the speed closed-loop to the rotation speed value of the motor feedback at the moment of cut-in, and set the output value of the speed closed-loop to the q-axis torque current at the moment of cut-in;

The torque current closed-loop initialization unit is configured to set the given value of the closed-loop of the torque current to the q-axis torque current at the moment of cut-in, and set the output value of the closed-loop of the torque current to the last of the inverter module during open-loop control. The amount of voltage uq output to the q-axis of the motor at one time;

The exciting current closed-loop initialization unit is used to set the given value of the exciting current closed-loop as the d-axis exciting current at the moment of cut-in, and at the same time set the output value of the exciting current closed-loop to the last of the inverter module during open-loop control. The amount of voltage ud output to the d-axis of the motor at a time.

The brake control unit includes:

The speed reduction unit is configured to modify the given value of the speed closed loop to zero when a gate zone or leveling signal is detected;

A brake and a gate control unit are used to close the brake to stop the car from stopping when the speed value of the motor feedback is zero to stop the car at the level position, and open the car door.

For other details, refer to the first embodiment and the second embodiment, and details are not described herein again.

It needs to be said that the above description involves various modules (the same applies to units). These modules typically include hardware and / or a combination of hardware and software (eg, firmware). These modules may also include computer-readable media (eg, permanent media) containing instructions (eg, software instructions), and when the processor executes these instructions, various functional features of the invention may be performed. Accordingly, unless explicitly required, the scope of the invention is not limited by the specific hardware and / or software characteristics in the modules explicitly mentioned in the embodiments. As a non-limiting example, software instructions may be executed by one or more controllers (eg, stored in non-persistent memory and / or persistent memory).

Example 4

Referring to FIG. 5, based on the same inventive concept, this embodiment discloses a controller including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the processor. The computer program implements the steps of the method according to the first embodiment or the second embodiment.

Example 5

Referring to FIG. 6, Embodiment 5 discloses an elevator emergency rescue system, including a rectifier module, a 540-750V high-voltage DC bus, an inverter module, a step-down converter, a switch, a backup power source, a DC source converter, and an implementation The controller according to the third or fourth embodiment. The rectifier module, the strong electric DC bus, and the inverter module are connected in order. The rectifier module rectifies the three-phase power of the external power grid into direct current and inputs it into the 540 ~ 750V strong current DC bus. The inverter module controls the controller to output the DC in the strong current DC bus to the motor.

The step-down converters are respectively connected to the high-voltage DC bus, and are used to step-down and convert the voltage in the high-voltage DC bus to output.

The backup power source is connected to the step-down converter, and is configured to take power from the output of the step-down converter for charging when the power supply is normal.

The switch is connected to the step-down converter, the backup power supply, the controller, and the DC converter, respectively, and is used to select the step-down converter and the DC converter under the control of the controller. One DC source output in the backup power supply.

The DC source converter includes an input terminal and a plurality of output terminals, the input terminal is connected to the switch, and the multiple output terminals are respectively related to the inverter module, the controller, and other elevator operations. A device connection is used to perform voltage conversion on the DC source output by the switch to provide an operating voltage for the inverter module, the controller, and other elevator-related equipment. For example, the DC source converter can perform voltage conversion on the DC source output by the switch to obtain power outputs such as 5V, 24V, and ± 15V.

Specifically, in this embodiment, the backup power source is a battery. The switch can be a relay. The public terminal of the relay is connected to the DC source converter through a 24V weak current DC bus, the normally closed contact of the relay is connected to the step-down converter, the normally open contact of the relay is connected to the battery, and the coil of the relay is connected to the controller.

It can be seen that the 24V weak current DC bus is usually powered by the 540 ~ 750V strong DC bus after step-down changes, and is directly powered by the battery during emergency rescue. The battery is charged by the 540 ~ 750V strong DC bus during normal operation. The system resumes normal operation for a period of time, which can ensure that the battery has sufficient power at the next rescue.

For the specific rescue process in this embodiment, reference may be made to Embodiment 1 and Embodiment 5, and details are not described herein again.

In summary, implementing the elevator rescue method, system and controller of the present invention has the following beneficial effects: the present invention cuts the motor into a short-circuited state before starting the trolley, and starts the trolley at a lower speed to ensure that the car The car will not accelerate quickly, so that the start-up smoothness and safety are improved during rescue operation; after that, the open-loop control and then the closed-loop control are used to inject a negative voltage into the motor through the open-loop control, so that the motor can be charged to the strong DC bus. Increase the voltage of the strong DC bus, so it can ensure the smooth switching of the closed-loop control. The closed-loop control makes the motor run more smoothly during the return to the leveling layer, and the motor speed can be quickly reduced to the trend based on the closed-loop control when stopping. At zero, there is no frustration caused by directly holding the brake, which improves the comfort and smoothness of the rescue process. In short, the present invention does not need to configure a UPS or ARD, and the hardware cost is low, so that the elevator can be used when the input power is not available, And when the DC bus voltage drops to very low or even zero, smooth start, return to level and stop control are achieved.

The words "equal", "simultaneous", or other similar terms are not limited to the absolute equality or the same in mathematical terms. When implementing the rights described in this patent, they may be similar in the engineering sense or within an acceptable error range.

Industrial applicability

The above description refers to various units. These units typically include hardware and / or a combination of hardware and software (eg, firmware). It should be noted that in the description of the various units above, the division into these units is for the sake of clarity. However, in actual implementation, the boundaries of various units may be blurred. Accordingly, unless expressly required, the scope of the invention is not limited by the mandatory boundaries between the various hardware and / or software elements.

The embodiments of the present invention have been described above with reference to the accompanying drawings, but the present invention is not limited to the above specific implementations, and the above specific implementations are merely schematic, not restrictive. Those of ordinary skill in the art at Under the enlightenment of the present invention, many forms can be made without departing from the spirit of the present invention and the scope of protection of the claims, and these all fall into the protection of the present invention.

Claims

An elevator rescue method, comprising:

If it is detected that the input power source is unavailable, the power source is switched from the input power source to a backup power source, the motor is switched into a short-circuit state, and the car enters a rolling state;

After the car enters the rolling state for a preset time, the short circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs voltage to the motor according to a preset strategy; wherein the motor is in After receiving the voltage output by the inverter module, use the energy generated by the trolley to charge the energy storage components on the strong electric DC bus;

When it is detected that the motor operation reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed;

If it is detected that the car runs to a preset distance from the leveling position, the motor speed is reduced to zero based on closed-loop control and hovering is stopped, and then the car is stopped to stop the car at the leveling position and the car is opened door.
The elevator rescue method according to claim 1, wherein the performing open-loop control on the motor to cause the inverter module to output voltage to the motor according to a preset strategy comprises:

Controlling the inverter module to inject a voltage amount uq to the motor q-axis and a voltage amount ud to the d-axis of the motor; wherein the voltage amount ud is 0; when the maximum voltage Umax that can be output by the high-current DC bus is less than αRsIq When the voltage amount uq is -Umax; when Umax is greater than or equal to αRsIq, the voltage amount uq is –αRsIq; where Rs is the motor stator resistance, Iq is the q-axis component of the three-phase current of the motor detected in real time, and α is the coefficient .
The elevator rescue method according to claim 1, wherein when it is detected that the operation of the motor reaches a preset steady state, closed-loop control is performed on the motor so that the rotation speed of the motor reaches a preset rescue speed, and Running according to the preset rescue speed includes:

After the motor speed and current remain stable, the motor is switched from open-loop control to closed-loop control, and the speed of the closed-loop control based on the output of the inverter module during the switch is based on the current speed and current of the motor and the output of the inverter during open-loop control. Initialize in closed loop, closed loop of moment current, closed loop of excitation current;

Increasing the given value of the speed closed loop to the preset rescue speed, setting the given value of the torque current closed loop to the output value of the closed speed loop, and reducing the given value of the closed loop of the excitation current to zero.
The elevator rescue method according to claim 3, characterized in that, at the time of switching, according to the current speed and current of the motor and the output of the inverter module during closed-loop control, the speed closed-loop and moment current based on the closed-loop control Closed-loop, excitation current closed-loop initialization includes:

Setting the given value of the speed closed loop as the rotation speed value of the motor feedback at the moment of cut-in, and simultaneously setting the output value of the speed closed-loop as the q-axis moment current at the moment of cut-in;

The given value of the torque current closed loop is set to the q-axis torque current at the moment of cut-in, and the output value of the torque current closed loop is set to the voltage that the inverter module last outputs to the motor q-axis during open-loop control.量 uq; uq;

Set the given value of the closed-loop of the exciting current to the d-axis exciting current at the moment of cut-in, and set the output value of the closed-loop of the exciting current to the voltage that the inverter module last outputs to the motor d-axis during open-loop control量 ud.
The elevator rescue method according to claim 1, characterized in that, if it is detected that the car moves to a preset distance from the leveling position, the motor is hovered after being lowered to zero speed based on closed-loop control, and then hovered again, Stopping the carriage to stop the car in the leveling position and opening the car door includes:

If a door zone or leveling signal is detected, the given value of the speed closed loop is modified to zero, and when the value of the rotation speed fed back by the motor is zero, the brake is closed to stop the trolley and stop the car at In the leveling position, open the car door.
The elevator rescue method according to claim 1, wherein the step of cutting the motor into a short-circuit state and bringing the car into a trolley state comprises:

Turn off all the upper tubes in the inverter module, and open all the lower tubes in the inverter module at the same time, and then release the holding brake to put the car into a rolling state, where the upper tube and the lower tube are Insulated gate bipolar transistor IGBT.
The elevator rescue method according to claim 1, further comprising:

In the process of rolling, if the voltage of the strong electric DC bus is higher than the starting voltage of the braking circuit, the braking circuit is started and the excessive voltage is absorbed through the braking resistor in the braking circuit.
The elevator rescue method according to claim 1, further comprising:

During the rolling process, if a failure of the operating environment of the inverter is detected, the brake is closed, the pulse width modulation signal PWM output to the inverter module is blocked, and related fault information is reported.
The elevator rescue method according to claim 1, further comprising: determining whether the number of times of entering the state of the trolley exceeds the preset trolley when any fault affecting the operation of the motor occurs during the trolley. Number of times, if yes, close the brake, block all upper and lower tubes in the inverter module connected to the motor, and wait for rescue; Otherwise, switch the motor into the short-circuited state and re-enter the car into the rolling state.
The elevator rescue method according to claim 1, further comprising: when the input power source is available, controlling a backup power source and elevator-related equipment to step down from the strong DC bus To charge or work.
A controller, comprising:

The trolley control unit is configured to control the power source to switch from the input power source to the backup power source when the input power source is unavailable, switch the motor into the short circuit state, and make the car enter the trolley state;

An open-loop control unit is configured to remove the short-circuit state of the motor after the car enters the rolling state for a preset time, and perform open-loop control on the motor to enable the inverter module to output to the motor according to a preset strategy. Voltage; wherein after receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the strong electric DC bus;

A closed-loop control unit configured to perform closed-loop control on the motor when it is detected that the motor reaches a preset steady state, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed;

A brake control unit is configured to, when detecting that the car has run to a preset distance from the leveling position, reduce the motor speed to zero based on closed-loop control and hover, and then stop the car to stop the car from leveling Floor position and open the car door.
The controller according to claim 11, characterized in that the open-loop control unit specifically comprises a high-current DC bus charging unit for controlling the inverter module to inject a voltage amount uq into the motor q-axis to the motor The d-axis injection voltage amount ud; wherein, the voltage amount ud is 0; when the maximum voltage that can be output by the strong DC bus is less than αRsIq, the voltage amount uq is the maximum voltage that the strong DC bus can output; When the maximum voltage that the DC bus can output is greater than or equal to αRsIq, the voltage amount uq is –αRsIq; where Rs is the stator resistance of the motor, Iq is the q-axis component of the three-phase current of the motor detected in real time, and α is the coefficient.
The controller according to claim 11, wherein the closed-loop control unit comprises:

A switching unit is used to switch the motor from open-loop control to closed-loop control after the motor speed and current remain stable, and to switch the closed-loop according to the current speed, current, and output of the inverter module during the switch when switching Initialize the closed loop of speed, closed loop of moment current and closed loop of exciting current based on the control;

An adjusting unit is configured to increase the given value of the speed closed loop to the preset rescue speed, set the given value of the torque current closed loop to the output value of the speed closed loop, and set the excitation current closed loop to The setpoint is reduced to zero.
The controller according to claim 13, wherein the switching unit comprises:

A speed closed-loop initialization unit, configured to set the given value of the speed closed-loop to the rotation speed value of the motor feedback at the moment of cut-in, and set the output value of the speed closed-loop to the q-axis torque current at the moment of cut-in;

The torque current closed-loop initialization unit is configured to set the given value of the closed-loop of the torque current to the q-axis torque current at the moment of cut-in, and set the output value of the closed-loop of the torque current to the last of the inverter module during open-loop control. The amount of voltage uq output to the q-axis of the motor at one time;

The exciting current closed-loop initialization unit is used to set the given value of the exciting current closed-loop as the d-axis exciting current at the moment of cut-in, and at the same time set the output value of the exciting current closed-loop to the last of the inverter module during open-loop control. The amount of voltage ud output to the d-axis of the motor at a time.
The controller according to claim 11, wherein the brake control unit specifically comprises:

The speed reduction unit is configured to modify the given value of the speed closed loop to zero when a gate zone or leveling signal is detected;

A brake and a gate control unit are used to close the brake to stop the car from stopping when the speed value of the motor feedback is zero to stop the car at the level position, and open the car door.
A controller, comprising a memory and a processor, the memory stores a computer program operable on the processor, and the processor implements the computer program according to claims 1-10 when the processor executes the computer program. Steps of the method of any one.
An elevator rescue system, characterized in that it comprises a rectifier module, a high-voltage DC bus, an inverter module, a step-down converter, a switch, a backup power source, a DC source converter, and any one of claims 11-15. The controller, the rectifier module, the high-current DC bus, and the inverter module are connected in order;

The step-down converters are respectively connected to the high-voltage DC bus, and are configured to step-down and convert the voltage in the high-voltage DC bus to output;

The backup power supply is connected to the step-down converter, and is configured to take power from the output of the step-down converter for charging when the power supply is normal;

The switch is connected to the step-down converter, the backup power supply, the controller, and the DC converter, respectively, and is used to select the step-down converter and the DC converter under the control of the controller. One DC source output in the backup power supply;

The DC source converter includes an input terminal and a plurality of output terminals, the input terminal is connected to the switch, and the multiple output terminals are respectively related to the inverter module, the controller, and other elevator operations. A device connection is used to perform voltage conversion on the DC source output by the switch to provide an operating voltage for the inverter module, the controller, and other elevator-related equipment.