Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B1/00—Control systems of elevators in general
  • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
  • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B1/00—Control systems of elevators in general
  • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B1/00—Control systems of elevators in general
  • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
  • B66B1/3492—Position or motion detectors or driving means for the detector
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
  • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
  • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
• • 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
  • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
  • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
  • H02P3/18—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor
  • H02P3/22—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an ac motor by short-circuit or resistive braking

Definitions

• the invention relates to the field of elevator control, in particular to an elevator rescue method, system and controller.
• UPS Uninterruptible Power System / Uninterruptible Power Supply
• ARD Automatic Emergency Rescue Device
• Patent document CN107128756A proposes a solution.
• 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 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.
• 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.
• the technical solution adopted by the present invention to solve its technical problems is to construct an elevator rescue method, including:
• 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;
• 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;
• 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.
• 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.
• 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.
• 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.
• 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.
• Figure 1 is a schematic diagram of the elevator operation
• Embodiment 3 is a flowchart of an elevator rescue method provided by Embodiment 2 of the present invention.
• FIG. 4 is a schematic structural diagram of a controller according to a third embodiment of the present invention.
• FIG. 5 is a schematic structural diagram of a controller according to a fourth embodiment of the present invention.
• FIG. 6 is a schematic structural diagram of an elevator emergency rescue system according to a sixth embodiment of the present invention.
• FIG. 1 it is a schematic diagram of an elevator operation principle in an embodiment of the present invention.
• 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
• FIG. 2 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:
• Switch the motor into the short circuit state that is, enter the star-sealed state.
• 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.
• other elevator operation related equipment such as inverter modules, brakes, etc.
• 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.
• the motor 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.
• 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.
• step S102 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.
• 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.
• 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;
• 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.
• 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.
• the backup power supply such as the battery
• elevator-related equipment such as inverter modules, brakes, controllers, etc.
• 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:
• 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.
• step 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.
• 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.
• 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.
• 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
• Umax is less than ⁇ RsIq
• the voltage amount uq is -Umax
• Umax is greater than or equal to ⁇ RsIq
• the voltage amount uq is - ⁇ RsIq
• Rs is the motor stator resistance
• Iq is the q-axis component of the three-phase current of the motor detected in real time
• ⁇ is a coefficient. It is preferably less than 0.5.
• 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 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.
• 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.
• 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.
• the braking circuit is started, and the excessively high Voltage.
• 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.
• the trolley 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.
• this embodiment discloses 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 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 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 ⁇ RsIq, 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 ⁇ RsIq When the voltage uq is – ⁇ RsIq; 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 ⁇ 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.
• 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 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 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.
• 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).
• controllers eg, stored in non-persistent memory and / or persistent memory.
• 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.
• 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 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.
• 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.
• 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.
• 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.
• 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.
• 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.
• 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.

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• Engineering & Computer Science (AREA)
• Automation & Control Theory (AREA)
• Computer Networks & Wireless Communication (AREA)
• Power Engineering (AREA)
• Elevator Control (AREA)
• Maintenance And Inspection Apparatuses For Elevators (AREA)

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• 2018
  • 2018-05-28 CN CN201810522717.0A patent/CN108657893B/zh active Active
  • 2018-11-12 WO PCT/CN2018/115063 patent/WO2019227862A1/zh active Application Filing
  • 2018-11-12 RU RU2020141971A patent/RU2765200C1/ru active

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