CN102234045B - Elevator control system provided with controllable rectifier and control method thereof - Google Patents

Abstract

The invention discloses an elevator control system provided with a controllable rectifier, and the system provided by the invention comprises a precharging module, the controllable rectifier connected with the precharging module, an inverter connected with the controllable rectifier and a controller which is connected with the precharging module, the controllable rectifier and the inverter. The invention also provided a control method of the elevator control system provided with the controllable rectifier, and the method the following steps of: controlling the on and off of an IGBT (insulated gate bipolar transistor) module in a rectification IGBT module by virtue of the controller according to an acquired signal, converting the three-phase current of the controllable rectifier into a direct current, and outputting the direct current; and controlling the on and off of an upper bridge arm and lower bridge arm IGBT module of each series circuit in an inversion IGBT module by virtue of the controller, and converting the direct current input by the inverter into a variable alternating current used for controlling a subsequent motor to operate. The system provided by the invention has the beneficial effects that the rectification process is controllable, no feedback equipment independent from the rectifier is required, and the total harmonic component is less than 3%.

Description

Apparatus for controlling elevator and control method thereof with controlled rectifier

Technical field

The present invention relates to a kind of apparatus for controlling elevator and control method thereof, particularly a kind of apparatus for controlling elevator and control method thereof with controlled rectifier.

Background technology

In today of rapid economic development, green energy conservation becomes the important embodiment of social sustainable development, and " green " concept also becomes the Developing mainstream in elevator market.The energy-saving and environment friendly elevator very likely becomes the dominance product in elevator market from now on, has its core technology, just can grasp the initiative of next step competition.The research of energy-saving and environment friendly elevator mainly concentrates on the aspects such as energy-conservation and environmental contamination reduction in elevator manufacturing, configuration and installation, use procedure.In apparatus for controlling elevator, elevator frequency converter becomes the key factor that realizes the energy-saving and environment friendly elevator as critical component.

Rectifying part in the prior art frequency converter mostly is uncontrollable rectifier, as shown in Figure 1, and the rectifier of prior art, mainly be made of diode D1-D6, wherein, D1 connects with D2, and D3 connects with D4, D5 connects with D6, and the D1 after series connection is in parallel mutually with D6 with D4, D5 with D2, D3, three-phase electricity U _a, U _b, U _cThe point of connection that connects respectively D1 and D2, D3 and D4, D5 and D6, charging capacitor C is in parallel with D6 with D4, D5 with D2, D3 with the D1 that consists of respectively the circuit of connecting.

The three-phase electricity mode chart sees also Fig. 2, because electric current has to the characteristic of the path flow of minimum drag, makes in six diode D1-D6, only has all the time 2 to be in conducting state, and not conducting simultaneously of two diodes in same circuit series.Within the time of 0-T/3, the Voltage-output maximum be U _aPhase, and within the time of front T/6, the Voltage-output minimum is U _bPhase, rear T/6 is in the time, the Voltage-output minimum be U _cPhase.Within the time of 0-T/3, diode D1 remains conducting, and within the time of front T/6, the D4 conducting, rear T/6 switches to the D6 conducting in the time.That is to say, the diode sequence of conducting is [D1, D4], [D1, D6].According to same principle, can obtain follow-up diode current flow sequentially for [D3, D6], [D3, D2], [D5, D2], [D5, D4], so complete one-period.

The output wave shape of rectifier sees also Fig. 3, can see, rectifier has intercepted the crest waveform, and this crest waveform can be similar to such an extent that be considered to direct current (DC), and rectifier has been completed the switching process from AC-to DC.

Can see, as the rectifier of important component part in frequency converter, have following defective in prior art:

1, switching process is uncontrollable, and due to the loss in switching process, the output voltage of follow-up inverter has limited the optional scope of motor usually less than 0.98Uin (Uin is the frequency converter input voltage).

2, need to be independent of the feedback equipment of rectifier, come to the electrical network feedback energy, as the patent No. be: 200620014092, patent name is the patent of two frequency conversion energy-saving type elevator actuators, just put down in writing following content: a kind of pair of frequency conversion energy-saving type elevator actuator, comprise the elevator motion control cabinet, be arranged on the first frequency converter and control and processing unit in control housing, it is characterized in that, also comprise the feedback type brake unit that is arranged in described rack, the positive and negative terminal of feedback type brake unit is connected with the positive and negative terminal of the dc bus of described the first frequency converter, it exchanges holds the ac input end that is attempted by with the first frequency converter.Can see, in order to improve the energy source feedback rate, need extra equipment.

3, the power supply due to elevator device is directly connected in the electric power network in building usually, and the rectifier of prior art is uncontrollable, and the level of feedback easily produces the problems such as asynchronous and harmonic wave, makes elevator device become one of larger source of pollution.

In addition, control system of the prior art exists safety method not enough more, easily produces the problems such as wrong under emergency situations.

Therefore; how a kind of apparatus for controlling elevator and corresponding control method are provided; can effectively control rectifier; improve power supply feedback rate and outgoing level; the electric energy that ensures feedback possesses synchronously, low harmonic wave, noiseless; and sufficient safety method is provided, become the problem that those skilled in the art need to solve.

Summary of the invention

Technical scheme to be solved of the present invention is to provide a kind of apparatus for controlling elevator and control method thereof with controlled rectifier, to solve the deficiencies in the prior art.

For solving technique scheme, the invention provides a kind of apparatus for controlling elevator with controlled rectifier, comprising: the pre-charge module that connects filtered three-phase electricity; Connect described pre-charge module, the three-phase electricity of input is converted to voltage higher than the output of the direct current (DC) of three times of described three-phase electricity phase voltages, and will be higher than the wire back controlled rectifier of net of the energy back of the output voltage of setting value; Connect described controlled rectifier, the direct current (DC) of described controlled rectifier output is converted to the inverter of the variable alternating current of controlling follow-up motor rotation; Connect described pre-charge module, controlled rectifier, reach described inverter, gather received current, input voltage and the output voltage of described controlled rectifier, controlling described pre-charge module connects or short circuit, control described controlled rectifier and carry out simultaneously three-phase electricity to galvanic conversion and energy back, and control described inverter and carry out direct current (DC) to the controller of variable alternating current conversion; Wherein, described controlled rectifier comprises the rectification IGBT module by six IGBT module compositions, described six IGBT modules series connection in twos respectively consist of three groups of circuit seriess, described three groups of circuit seriess are connected in parallel, and each IGBT module is by an IGBT pipe and be connected in parallel on the source electrode of described IGBT pipe and the diode formation at the two ends that drain, each all conducting or shutoff under the control of described controller of IGBT pipe.

As one of preferred version of the present invention, described pre-charge module comprises three precharge unit, connects respectively three input ends of three-phase electricity, and each precharge unit comprises a resistance and in parallel with described resistance and be controlled by the switch of described controller.

As one of preferred version of the present invention, described controlled rectifier also comprises three reactance that are made of inductance and the resistance of series connection, one end of described three reactance connects respectively described three precharge unit, and the other end connects and composes respectively the interconnected end of two IGBT modules of same circuit series; Described controller is crossed electric current in described reactance, and the voltage of described reactance one end by acquisition stream, obtains received current and the input voltage of described controlled rectifier.

As one of preferred version of the present invention, described inverter comprises the inversion IGBT module identical with the rectification IGBT modular structure of described controlled rectifier.

As one of preferred version of the present invention, be connected with charge circuit between described controlled rectifier and described inverter, described charge circuit comprises the charging capacitor of several series connection, reaches several resistance in parallel with described several charging capacitors respectively.

As one of preferred version of the present invention, described apparatus for controlling elevator with controlled rectifier comprises that also input end connects described three-phase electricity, and mouth connects described controller, so that the first phase place phase sequence measurement module of default phase signal to be provided to described controller; Input end connects described three-phase electricity, and mouth connects described controller, so that the second phase place phase sequence measurement module of synchronous voltage signal to be provided to described controller; Input end is connected between described pre-charge module and described controlled rectifier, and mouth connects described controller, so that the third phase position phase sequence measurement module of input current signal to be provided to described controller; Input end is connected to described inverter output end, and mouth connects described controller, so that the 4th phase place phase sequence measurement module of motor current signal to be provided to described controller.

The present invention also provides a kind of control method with apparatus for controlling elevator of controlled rectifier, adopt apparatus for controlling elevator as described in any one in claim 1-8, comprise the following steps: whether steps A, controller steadily judge whether to carry out the operation of the described pre-charge module of short circuit according to the received current of the controlled rectifier that gathers; Step B, described controller are according to the received current of the described controlled rectifier that gathers, input voltage, and output voltage, obtain the three way switch signal, with the upper brachium pontis of controlling every group of circuit series in described rectification IGBT module and the break-make of lower brachium pontis IGBT module, the three-phase electricity of the described controlled rectifier of input is converted to voltage higher than the direct current (DC) output of three times of described three-phase electricity phase voltages; Step C, described controller are controlled the upper brachium pontis of every group of circuit series in described inversion IGBT module and the break-make of lower brachium pontis IGBT module by control, the direct current (DC) of the described inverter of input are converted to the variable alternating current of the follow-up motor rotation of control; Wherein, described step B is specially: step B1, described controller carry out the CLARKE conversion with received current and the input voltage of described controlled rectifier, the current i of the α axle that represents under acquisition two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _Lβ, then to the current i of the α axle under described two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _LβCarry out the PARK conversion, the current i of the d axle that represents under acquisition two-phase rotating coordinate system _Ld, the q axle current i _Lq, the d axle voltage U _Ld, and the voltage U of q axle _LqThe output voltage U of the described controlled rectifier that step B2, described controller will gather _dcWith a given VREF (Voltage Reference) U _{Dc_ref}Subtract each other, and the voltage difference after subtracting each other carries out proportional integral (PI) and regulates to obtain meritorious reference current i _{D_ref}, with the current i of described d axle _LdWith described meritorious reference current i _{D_ref}Subtract each other, and the electric current difference after subtracting each other is carried out the voltage U that proportional integral (PI) is regulated rear acquisition _sdVoltage U with described d axle _LdSubtract each other, obtain space vector V ^*Voltage instruction value U on the α axle _sαDescribed controller is with the current i of described q axle _LqWith a given idle reference current i _{Q_ref}Subtract each other, and the electric current difference after subtracting each other is carried out the voltage U that proportional integral (PI) is regulated rear acquisition _sqVoltage U with described q axle _LqSubtract each other, obtain space vector V ^*Voltage instruction value U on the β axle _sβStep B3, described controller are to described space vector V ^*Voltage instruction value U on the α axle _sαAnd V ^*Voltage instruction value U on the β axle _sβCarry out SVPWM modulation, obtain six road drive pulses of controlled rectifier, input respectively in six IGBT modules of described rectification IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

As one of preferred version of the present invention, SVPWM in described step B3 modulation specifically comprises the following steps: step B31, controller arrange switching function sk=(a, b, c), a wherein, and b, c is parameter, and a, b, c=0 or 1; Step B32, mark off the first sector, the second sector, the 3rd sector, the 4th sector, the 5th sector, and the 6th sector according to six effective vectors of switching function sk; Step B33, according to formula V _a=U _sβ,

And

Judgement intermediate quantity V _a, V _bAnd V _cWhether greater than zero; If V _a＞0, make parameter a=1, otherwise a=0, if V _b＞0, make parameter b=1, otherwise b=0, if V _c＞0, make parameter c=1, otherwise c=0; Step B33, computer memory vector interval sector=a+2b+4c obtain space vector V ^*The sector number at place; Step B34, calculating intermediate quantity X, Y, Z:

$X=\sqrt{3}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Y=\frac{3}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Z=-\frac{3}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}};$

Wherein, T is switch periods; Step B35, according to intermediate quantity X, Y, Z, the allocation space of tabling look-up vector V ^*The in-service time of two effective vectors that the sector at place is adjacent, and definite switching over time, thus determine six road drive pulses.

As one of preferred version of the present invention, described step C is specially: step C1, controller obtain the voltage instruction value of the required reference vector of inverter on α axle and β axle according to the operation requirements of motor; Step C2, adopt the SVPWM modulation, obtain six road drive pulses of inverter, input respectively in six IGBT modules of described inversion IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

As one of preferred version of the present invention, described control method with apparatus for controlling elevator of controlled rectifier comprises that also described controller gathers default phase signal and synchronous voltage signal at the three-phase electricity input end, gather motor current signal at inverter output end, and during any one or more abnormal in above-mentioned three signals, stop the step of the normal operation of apparatus for controlling elevator.

Beneficial effect of the present invention is: 1, switching process is controlled, makes the output voltage of inverter greatly to have increased the optional scope of motor higher than input voltage, and due to the voltage increase of motor, its electric current can correspondingly reduce, and has reduced energy consumption; 2, need not to be independent of the feedback equipment of rectifier, come to the electrical network feedback energy, system and method provided by the invention, can realize energy source feedback in the process of rectification, the process of rectification and energy source feedback is indivisible, rectification or feedback can be to flow or flow to three-phase electricity to controlled rectifier to be reflected by the electric current on inductance, and embody in vector calculates, thereby need not extra energy source feedback; 3, effectively avoid the generation of electromagnetism harmonic wave, make total harmonic component lower than 3%; 4, provide multiple safety guard-safeguard.

Description of drawings

Fig. 1 is the rectifier structure schematic diagram of prior art.

Fig. 2 is the three plase alternating current mode chart.

Fig. 3 is the rectifier output waveform figure of prior art.

Fig. 4 is the structural representation with apparatus for controlling elevator of controlled rectifier provided by the invention.

Fig. 5 is the structural representation of controlled rectifier.

Fig. 6 is controlled rectifier and controller and follow-up capacitance-resistance connection diagram.

Fig. 7 is the structural representation of inverter.

Fig. 8 is the connection diagram of inverter and controller, front end capacitance resistance and follow-up motor.

Fig. 9 is controller switching process schematic diagram.

Schematic diagram is divided in Figure 10 space vector and sector.

The specific embodiment

Describe the preferred embodiments of the present invention in detail below in conjunction with accompanying drawing.

See also Fig. 4, the apparatus for controlling elevator with controlled rectifier provided by the invention comprise the controller 7 of controller 1, Switching Power Supply 2, controlled rectifier 3, inverter 4, the first phase place phase sequence measurement module 51, the second phase place phase sequence measurement module 52, third phase position phase sequence measurement module 53, the 4th phase place phase sequence measurement module 54, filter 6, three pole signle throw switch KBAT, KBAT, respectively with KBAT in three switch in parallel resistance R 4, R5, R6, and IGBT drive and protective circuit 81,82.

Three pole signle throw switch KBAT and resistance R 4, R5, R6 consist of pre-charge module, input pre-charge module after three-phase electricity U, V, 6 filtering of W process filter.Pre-charge module can be divided into three precharge unit, and each unit comprises the resistance of a switch and one and described switch in parallel.Controller 1 is controlled its break-make by the controller 7 of KBAT.The effect of pre-charge module is to rigidly connect fashionablely when three-phase electricity, reduces the electric current of input suddenly to the impact of subsequent conditioning circuit.Therefore, when rigidly connecting into three-phase electricity, controller 1 is unstable by the input current signal judgement electric current of third phase position phase sequence measurement module 53 collections, the KBAT open circuit, resistance R 4-R6 brings into play buffer action, when judging current stabilization through certain hour controller 1 by input current signal, control three pole signle throw switch KBAT by the controller 7 of KBAT and turn-off, pre-charge module short circuit.

Controlled rectifier 3 connects described pre-charge modules, effect be will input three-phase electricity be converted to voltage higher than the direct current (DC) output of three times of described three-phase electricity phase voltages, and will be higher than the energy back telegram in reply net of the output voltage of setting value.Wherein, the three-phase electricity phase voltage refers to the effective value of the three-phase electricity inputted, and for the three-phase electricity of 3Ph 380Vac, its effective value is 220V, and controlled rectifier 3 is under stable case, and output is higher than the voltage of 660V.

Inverter 4 connects controlled rectifier 3, the direct current (DC) of described controlled rectifier output is converted to the variable alternating current of the follow-up motor rotation of control.

Be connected with 3 charging capacitor C1, C2, C3 between controlled rectifier 2 and inverter 4, charging capacitor C1, C2, C3 also are parallel with respectively resistance R 1, R2, R3.Charging capacitor C1, C2, C3 and resistance R 1, R2, R3 in parallel play the effect of buffering at the power supply access initial stage.The number of the resistance of charging capacitor and parallel connection can be adjusted as required.

Controller 1 is controlled the normal operation of whole apparatus for controlling elevator, it gathers the default phase signal of three-phase electricity input end by the first phase place phase sequence measurement module 51, gather the synchronous voltage signal of three-phase electricity input end by the second phase place phase sequence measurement module 52, gather the motor current signal of inverter 4 outputs by the 4th phase place phase sequence measurement module 54, in the situation that the one or more appearance in above-mentioned three signals are abnormal, stop the normal operation of apparatus for controlling elevator.Guarantee in normal operation, the three-phase electricity of input does not have phase shortage, synchronizing voltage abnormal, the generation of the situation that current of electric is abnormal.

Controller 1 drives by IGBT and protective circuit 81,82 connects respectively controlled rectifier 3 and inverter 4.In normal operation, controller 1 drives by IGBT and protective circuit 81,82 drives respectively and control controlled rectifier 3 and inverter 4.Make controlled rectifier 3 and inverter 4 complete normal running.

Switching Power Supply 2 provides power supply to all parts in apparatus for controlling elevator, and IGBT driving and protective circuit 81,82 also have protects respectively controlled rectifier 3 and inverter 4, prevents the function of overcurrent-overvoltage.

See also Fig. 5 and Fig. 6, controlled rectifier 3 comprises:

Respectively by resistance R _aAnd inductance L _a, resistance R _bAnd inductance L _b, resistance R _cAnd inductance L _cThree reactors that series connection consists of,

Wherein, an end of described three reactors connects respectively the input end of three-phase electricity;

manage IGBT1 by IGBT respectively and be connected in parallel on the source electrode of IGBT1 and the diode D1 at the two ends that drain, IGBT manages IGBT2 and is connected in parallel on the source electrode of IGBT2 and the diode D2 at the two ends that drain, IGBT manages IGBT3 and is connected in parallel on the source electrode of IGBT3 and the diode D3 at the two ends that drain, IGBT manages IGBT4 and is connected in parallel on the source electrode of IGBT4 and the diode D4 at the two ends that drain, IGBT manages IGBT5 and is connected in parallel on the source electrode of IGBT5 and the diode D5 at the two ends that drain, IGBT manages IGBT6 and is connected in parallel on the source electrode of IGBT6 and six IGBT modules of the diode D6 formation at the two ends that drain, described six IGBT module composition rectification IGBT modules,

Wherein, the IGBT module that is made of IGBT1 and D1 is connected with the IGBT module that is made of IGBT2 and D2 and is consisted of one group of circuit series, the IGBT module that is made of IGBT3 and D3 is connected with the IGBT module that is made of IGBT4 and D4 and is consisted of one group of circuit series, the IGBT module that is made of IGBT5 and D5 is connected with the IGBT module that is made of IGBT6 and D6 and is consisted of one group of circuit series, described three groups of circuit seriess are in parallel mutually, and the other end of described three reactors is connected between two IGBT modules in described three groups of circuit seriess.

The negative pole of diode D1 connects the source electrode of IGBT pipe IGBT1, and the positive pole of diode D1 connects the drain electrode of IGBT pipe IGBT1, and the grid of IGBT pipe IGBT1 connects controller 1; The negative pole of diode D2 connects the source electrode of IGBT pipe IGBT2, and the positive pole of diode D2 connects the drain electrode of IGBT pipe IGBT2, and the grid of IGBT pipe IGBT2 connects controller 1; The negative pole of diode D3 connects the source electrode of IGBT pipe IGBT3, and the positive pole of diode D3 connects the drain electrode of IGBT pipe IGBT3, and the grid of IGBT pipe IGBT3 connects controller 1; The negative pole of diode D4 connects the source electrode of IGBT pipe IGBT4, and the positive pole of diode D4 connects the drain electrode of IGBT pipe IGBT4, and the grid of IGBT pipe IGBT4 connects controller 1; The negative pole of diode D5 connects the source electrode of IGBT pipe IGBT5, and the positive pole of diode D5 connects the drain electrode of IGBT pipe IGBT5, and the grid of IGBT pipe IGBT5 connects controller 1; The negative pole of diode D6 connects the source electrode of IGBT pipe IGBT6, and the positive pole of diode D6 connects the drain electrode of IGBT pipe IGBT6, and the grid of IGBT pipe IGBT6 connects controller 1.

The drain electrode of IGBT pipe IGBT1 connects the source electrode of IGBT pipe IGBT2; The drain electrode of IGBT pipe IGBT3 connects the source electrode of IGBT pipe IGBT4; The drain electrode of IGBT pipe IGBT5 connects the source electrode of IGBT pipe IGBT6.

Inductance L _aConnect the drain electrode of IGBT pipe IGBT1 and the source electrode of IGBT pipe IGBT2; Inductance L _bConnect the drain electrode of IGBT pipe IGBT3 and the source electrode of IGBT pipe IGBT4; Inductance L _cConnect the drain electrode of IGBT pipe IGBT5 and the source electrode of IGBT pipe IGBT6.

Controller 1 gathers the input voltage U of controlled rectifier 3 _a, U _b, U _cAnd output voltage U _dc, and controller 1 gathers the received current i of controlled rectifier 3 _a, i _bAnd i _c

See also Fig. 7 and Fig. 8, can see that inverter 4 is made of the inversion IGBT module of six IGBT module compositions, because inversion IGBT module has the structure identical with controlled IGBT module, therefore be not repeated.Motor 9 is driven by the AC signal of three road circuit series outputs.

See also Fig. 9 and Figure 10, the present invention also provides the control method of above-mentioned apparatus for controlling elevator, comprises the following steps:

Whether steps A, controller 1 steadily judge whether to carry out the operation of the described pre-charge module of short circuit according to the received current of the controlled rectifier 3 that gathers;

Specifically, when received current was not steady, controller 1 was controlled the KBAT open circuit by the controller 7 of KBAT, and in the pre-charge module connecting system, when received current was steady, controller 1 was controlled the KBAT conducting, and the pre-charge module short circuit does not play a role.

Step B, described controller are according to the received current of the described controlled rectifier that gathers, input voltage, and output voltage, obtain the three way switch signal, with the upper brachium pontis of controlling every group of circuit series in described rectification IGBT module and the break-make of lower brachium pontis IGBT module, the three-phase electricity of the described controlled rectifier of input is converted to voltage higher than the direct current (DC) output of three times of described three-phase electricity phase voltages;

Specifically, step B is divided into following steps:

Step B1, controller 1 are with the received current i of controlled rectifier 3 _a, i _b, i _cAnd input voltage U _a, U _b, U _cCarry out the CLARKE conversion, the current i of the α axle that represents under acquisition two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _Lβ, then to the current i of the α axle under described two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _LβCarry out the PARK conversion, the current i of the d axle that represents under acquisition two-phase rotating coordinate system _Ld, the q axle current i _Lq, the d axle voltage U _Ld, and the voltage U of q axle _Lq

Step B2, controller 1 are with the output voltage U of the controlled rectifier 3 that gathers _dcWith a given VREF (Voltage Reference) U _{Dc_ref}Subtract each other and (higher than 660V, usually choose U for the output voltage that guarantees controlled rectifier 3 _{Dc_ref}=740V), and the voltage difference Δ U after subtracting each other _dcCarry out proportional integral (PI) and regulate to obtain meritorious reference current i _{D_ref}, with the current i of described d axle _LdWith described meritorious reference current i _{D_ref}Subtract each other, and the electric current difference DELTA i after subtracting each other _dCarry out proportional integral (PI) and regulate the rear voltage U that obtains _sdVoltage U with described d axle _LdSubtract each other, obtain space vector V ^*Voltage instruction value U on the α axle _sαController 1 is with the current i of described q axle _LqWith a given idle reference current i _{Q_ref}Subtract each other, and the electric current difference DELTA i after subtracting each other _qCarry out proportional integral (PI) and regulate the rear voltage U that obtains _sqVoltage U with described q axle _LqSubtract each other, obtain space vector V ^*Voltage instruction value U on the β axle _sβWherein, because rectifier need to reach unity power factor, so idle reference current i _{Q_ref}=0;

Step B3,1 couple of described space vector V of controller ^*Voltage instruction value U on the α axle _sαAnd V ^*Voltage instruction value U on the β axle _sβCarry out SVPWM modulation, obtain six road drive pulses of controlled rectifier, input respectively in six IGBT modules of described rectification IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

Wherein, the SVPWM modulation comprises the following steps:

Step B31, controller arrange switching function sk=(a, b, c), a wherein, and b, c is parameter, and a, b, c=0 or 1; Wherein, the actual physics meaning of switching function sk is, a, b, c represent respectively the break-make situation of two IGBT modules of three road circuit seriess in controlled IGBT module, because the IGBT pipe is controlled by controller 1 conducting or shutoff, therefore, can be a switch with each IGBT module equivalence, a, b, c=1, the IGBT module conducting of the upper brachium pontis of corresponding circuit series, the IGBT pipe cut-off of lower brachium pontis; A, b, c=0, the IGBT module of the upper brachium pontis of corresponding circuit series cut-off, the IGBT module conducting of lower brachium pontis; So, according to a, b, the state of c, can be divided into 8 vector V 0 (000), V1 (001), V2 (010), V3 (011), V4 (100), V5 (101), V6 (110), V7 (111), wherein, V1 (001), V2 (010), V3 (011), V4 (100), V5 (101), and V6 (110) be effective vector, V0 (000) and V7 (111) are zero vector;

Step B32, mark off the first sector I, the second sector II, the 3rd sector III, the 4th sector IV, the 5th sector V, and the 6th sector VI according to six effective vectors of switching function sk; Dividing mode is divided into the sector between two adjacent non-zero vectors successively the first sector I, the second sector II, the 3rd sector III, the 4th sector IV, the 5th sector V, reaches the 6th sector VI for to begin left-hand revolution from the α axle;

Step B33, according to formula V _a=U _sβ,

And

Judgement intermediate quantity V _a, V _bAnd V _cWhether greater than zero; If V _a＞0, make parameter a=1, otherwise a=0, if V _b＞0, make parameter b=1, otherwise b=0, if V _c＞0, make parameter c=1, otherwise c=0;

Step B33, computer memory vector interval sector=a+2b+4c obtain space vector V ^*The sector number at place;

Step B34, calculating intermediate quantity X, Y, Z:

$X=\sqrt{3}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Y=\frac{3}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Z=-\frac{3}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{2U_{\mathrm{dc}}}\×U_{\mathrm{s\β}};$

Wherein, T is switch periods;

Step B35, look-up table 1, table 1 are adjacent two voltage vector effect total time allocation sheets, after calculating intermediate quantity X, Y, Z according to step 34, by the allocation space vector V ^*The in-service time of two effective vectors that the sector at place is adjacent just can the blended space vector V ^*For the assurance system in all cases, the each switching all only relates to a switch, space vector V ^*Adopt seven sections Space vector modulation modes: each vector is all with (000) beginning with finish, and middle zero vector be (111), and a switch is only switched in non-zero vector assurance at every turn, sees Table 2 listed.

The sector

I

II

III

IV

V

VI

T1

-Z

Z

X

-X

-Y

Y

T2

X

Y

-Y

Z

-Z

-X

Table 1

The sector	Zero vector	Adjacent vector 1	Adjacent vector 2	Zero vector	Adjacent vector 2	Adjacent vector 1	Zero vector
								I	000	100	110	111	110	100	000
II	000	010	110	111	110	010	000
								III	000	010	011	111	011	010	000
IV	000	001	011	111	011	001	000
								V	000	001	101	111	101	001	000
VI	000	100	101	111	101	100	000

Table 2

The vector scheme shown in table 2 that it is pointed out that is only a preferred version, it is made slightly adjust, and does not exceed scope disclosed by the invention.

According to vector numbering, can corresponding acquisition six road drive pulses, control the break-make of six IGBT modules of controlled rectifier;

Step C, described controller are controlled the upper brachium pontis of every group of circuit series in described inversion IGBT module and the break-make of lower brachium pontis IGBT module by control, the direct current (DC) of the described inverter of input are converted to the variable alternating current of the follow-up motor rotation of control;

Specifically, controller obtains the voltage instruction value of the required reference vector of inverter on α axle and β axle according to the operation requirements of motor; Adopt above-mentioned SVPWM modulation, obtain six road drive pulses of inverter, input respectively in six IGBT modules of described inversion IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

Apparatus for controlling elevator and control method with controlled rectifier provided by the invention has the following advantages:

1, switching process is controlled, makes the output voltage of inverter greatly to have increased the optional scope of motor higher than input voltage, and due to the voltage increase of motor, its electric current can correspondingly reduce, and has reduced energy consumption.

2, need not to be independent of the feedback equipment of rectifier, come to the electrical network feedback energy, system and method provided by the invention, can realize energy source feedback in the process of rectification, the process of rectification and energy source feedback is indivisible, rectification or feedback can be to flow or flow to three-phase electricity to controlled rectifier to be reflected by the electric current on inductance, and embody in vector calculates, thereby need not extra energy source feedback.

3, effectively avoid the generation of electromagnetism harmonic wave, make total harmonic component lower than 3%.

4, provide multiple safety guard-safeguard.

Above embodiment is the unrestricted technical scheme of the present invention in order to explanation only.Any modification or partial replacement that does not break away from spirit and scope of the invention all should be encompassed in the middle of claim scope of the present invention.

Claims (9)

1. the apparatus for controlling elevator with controlled rectifier, is characterized in that, comprising:

The pre-charge module that connects filtered three-phase electricity;

Connect described pre-charge module, the three-phase electricity of input is converted to voltage higher than the output of the direct current (DC) of three times of described three-phase electricity phase voltages, and will be higher than the wire back controlled rectifier of net of the energy back of the output voltage of setting value;

Connect described controlled rectifier, the direct current (DC) of described controlled rectifier output is converted to the inverter of the variable alternating current of controlling follow-up motor rotation;

Connect described pre-charge module, controlled rectifier, reach described inverter, gather received current, input voltage and the output voltage of described controlled rectifier, controlling described pre-charge module connects or short circuit, control described controlled rectifier and carry out simultaneously three-phase electricity to galvanic conversion and energy back, and control described inverter and carry out direct current (DC) to the controller of variable alternating current conversion;

Wherein, described controlled rectifier comprises the rectification IGBT module by six IGBT module compositions, described six IGBT modules series connection in twos respectively consist of three groups of circuit seriess, described three groups of circuit seriess are connected in parallel, and each IGBT module is by an IGBT pipe and be connected in parallel on the source electrode of described IGBT pipe and the diode formation at the two ends that drain, each all conducting or shutoff under the control of described controller of IGBT pipe; Described inverter comprises the inversion IGBT module identical with the rectification IGBT modular structure of described controlled rectifier.

2. the apparatus for controlling elevator with controlled rectifier as claimed in claim 1, it is characterized in that: described pre-charge module comprises three precharge unit, three input ends that connect respectively three-phase electricity, each precharge unit comprise a resistance and in parallel with described resistance and be controlled by the switch of described controller.

3. the apparatus for controlling elevator with controlled rectifier as claimed in claim 2, it is characterized in that: described controlled rectifier also comprises three reactance that are made of inductance and the resistance of series connection, one end of described three reactance connects respectively described three precharge unit, and the other end connects and composes respectively the interconnected end of two IGBT modules of same circuit series; Described controller is crossed electric current in described reactance, and the voltage of described reactance one end by acquisition stream, obtains received current and the input voltage of described controlled rectifier.

4. the apparatus for controlling elevator with controlled rectifier as claimed in claim 1, it is characterized in that: be connected with charge circuit between described controlled rectifier and described inverter, described charge circuit comprises the charging capacitor of several series connection, reaches several resistance in parallel with described several charging capacitors respectively.

5. the apparatus for controlling elevator with controlled rectifier as claimed in claim 1 is characterized in that: comprise that also input end connects described three-phase electricity, mouth connects described controller, so that the first phase place phase sequence measurement module of default phase signal to be provided to described controller; Input end connects described three-phase electricity, and mouth connects described controller, so that the second phase place phase sequence measurement module of synchronous voltage signal to be provided to described controller; Input end is connected between described pre-charge module and described controlled rectifier, and mouth connects described controller, so that the third phase position phase sequence measurement module of input current signal to be provided to described controller; Input end is connected to described inverter output end, and mouth connects described controller, so that the 4th phase place phase sequence measurement module of motor current signal to be provided to described controller.

6. the control method with apparatus for controlling elevator of controlled rectifier, adopt apparatus for controlling elevator as described in any one in claim 1-5, it is characterized in that, comprises the following steps:

Whether steps A, controller steadily judge whether to carry out the operation of the described pre-charge module of short circuit according to the received current of the controlled rectifier that gathers;

Step B, described controller are according to the received current of the described controlled rectifier that gathers, input voltage, and output voltage, obtain the three way switch signal, with the upper brachium pontis of controlling every group of circuit series in described rectification IGBT module and the break-make of lower brachium pontis IGBT module, the three-phase electricity of the described controlled rectifier of input is converted to voltage higher than the direct current (DC) output of three times of described three-phase electricity phase voltages;

Step C, described controller are controlled the upper brachium pontis of every group of circuit series in described inversion IGBT module and the break-make of lower brachium pontis IGBT module by control, the direct current (DC) of the described inverter of input are converted to the variable alternating current of the follow-up motor rotation of control;

Wherein, described step B is specially:

Step B1, described controller carry out the CLARKE conversion with received current and the input voltage of described controlled rectifier, the current i of the α axle that represents under acquisition two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _Lβ, then to the current i of the α axle under described two-phase rest frame _Lα, the β axle current i _Lβ, the α axle voltage U _Lα, and the voltage U of β axle _LβCarry out the PARK conversion, the current i of the d axle that represents under acquisition two-phase rotating coordinate system _Ld, the q axle current i _Lq, the d axle voltage U _Ld, and the voltage U of q axle _Lq

The output voltage U of the described controlled rectifier that step B2, described controller will gather _dcWith a given VREF (Voltage Reference) U _{Dc_ref}Subtract each other, and the voltage difference after subtracting each other carries out proportional integral (PI) and regulates to obtain meritorious reference current i _{D_ref}, with the current i of described d axle _LdWith described meritorious reference current i _{D_ref}Subtract each other, and the electric current difference after subtracting each other is carried out the voltage U that proportional integral (PI) is regulated rear acquisition _sdVoltage U with described d axle _LdSubtract each other, obtain space vector V ^*Voltage instruction value U on the α axle _sαDescribed controller is with the current i of described q axle _LqWith a given idle reference current i _{Q_ref}Subtract each other, and the electric current difference after subtracting each other is carried out the voltage U that proportional integral (PI) is regulated rear acquisition _sqVoltage U with described q axle _LqSubtract each other, obtain space vector V ^*Voltage instruction value U on the β axle _sβ

Step B3, described controller are to described space vector V ^*Voltage instruction value U on the α axle _sαAnd V ^*Voltage instruction value U on the β axle _sβCarry out SVPWM modulation, obtain six road drive pulses of controlled rectifier, input respectively in six IGBT modules of described rectification IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

7. the control method with apparatus for controlling elevator of controlled rectifier as claimed in claim 6, is characterized in that, the SVPWM modulation in described step B3 specifically comprises the following steps:

Step B31, controller arrange switching function sk=(a, b, c), a wherein, b, c is parameter, and a, b, c=0 or 1;

Step B32, mark off the first sector, the second sector, the 3rd sector, the 4th sector, the 5th sector, and the 6th sector according to six effective vectors of switching function sk;

Step B33, according to formula V _a=U _sβ, $V_b=(\sqrt{3}{U}_{\mathrm{s\α}}-U_{\mathrm{s\β}})/2,$ And $V_c=(-\sqrt{3}{U}_{\mathrm{s\α}}-U_{\mathrm{s\β}})/2,$ Judgement intermediate quantity V _a, V _bAnd V _cWhether greater than zero; If V _a0, make parameter a=1, otherwise a=0, if V _b0, make parameter b=1, otherwise b=0, if V _c0, make parameter c=1, otherwise c=0;

Step B33, computer memory vector interval sector=a+2b+4c obtain space vector V ^*The sector number at place;

Step B34, calculating intermediate quantity X, Y, Z:

$X=\sqrt{3}\×\frac{T}{{2U}_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Y=\frac{3}{2}\×\frac{T}{{2U}_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{{2U}_{\mathrm{dc}}}\×U_{\mathrm{s\β}},$

$Z=-\frac{3}{2}\×\frac{T}{{2U}_{\mathrm{dc}}}\×U_{\mathrm{s\α}}+\frac{\sqrt{3}}{2}\×\frac{T}{{2U}_{\mathrm{dc}}}\×U_{\mathrm{s\β}};$

Wherein, T is switch periods;

Step B35, according to intermediate quantity X, Y, Z, the allocation space of tabling look-up vector V ^*The in-service time of two effective vectors that the sector at place is adjacent, thus determine six road drive pulses.

8. the control method with apparatus for controlling elevator of controlled rectifier as claimed in claim 7, is characterized in that, described step C is specially:

Step C1, controller obtain the voltage instruction value of the required reference vector of inverter on α axle and β axle according to the operation requirements of motor;

Step C2, adopt the SVPWM modulation, obtain six road drive pulses of inverter, input respectively in six IGBT modules of described inversion IGBT module, with the break-make of the IGBT module of controlling upper brachium pontis in each road circuit series or lower brachium pontis.

9. the control method with apparatus for controlling elevator of controlled rectifier as claimed in claim 6, it is characterized in that: comprise that also described controller gathers default phase signal and synchronous voltage signal at the three-phase electricity input end, gather motor current signal at inverter output end, and during any one or more abnormal in above-mentioned three signals, stop the step of the normal operation of apparatus for controlling elevator.

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