CN1037055C - 直流电梯微机控制的调速装置 - Google Patents

直流电梯微机控制的调速装置 Download PDF

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CN1037055C
CN1037055C CN95101056A CN95101056A CN1037055C CN 1037055 C CN1037055 C CN 1037055C CN 95101056 A CN95101056 A CN 95101056A CN 95101056 A CN95101056 A CN 95101056A CN 1037055 C CN1037055 C CN 1037055C
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speed
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elevator
direct current
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CN1126904A (zh
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孙文林
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Priority to AU44295/96A priority patent/AU4429596A/en
Priority to PCT/CN1996/000003 priority patent/WO1996021967A1/zh
Priority to EP96900499A priority patent/EP0803969A4/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/281—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants
    • H02P7/2815—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices the DC motor being operated in four quadrants whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/29—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation
    • H02P7/2913—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using pulse modulation whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
    • 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
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current
    • H02P7/18—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power
    • H02P7/24—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices
    • H02P7/28—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices
    • H02P7/285—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only
    • H02P7/292—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC
    • H02P7/295—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current by master control with auxiliary power using discharge tubes or semiconductor devices using semiconductor devices controlling armature supply only using static converters, e.g. AC to DC of the kind having one thyristor or the like in series with the power supply and the motor

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Direct Current Motors (AREA)
  • Elevator Control (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

本发明系一种直流电梯微机控制的调速装置，包括整流滤波部件，由大功率开关管接成的T或H型开关电路的斩波调压部件，由逻辑接口、S形速度曲线发生器、速度调节器、电流调节器及脉宽调制器组成的微机***控制部件。由于本发明采用以微机控制脉宽调制方式对直流电梯调速，可使其电流连续且脉动小，调速过程平稳，提高了电梯平层精度和舒适感。

Description

直流电梯微机控制的调速装置
本发明涉及一种直流电梯的调速装置，特别是一种直流电梯微机控制的调速装置。
中国专利CN2038101U公开了一种可用于各种交流或直流电梯集选控制的“电梯微机控制装置”技术方案，该方案提及到利用微机***搜集电梯运行的位置及速度信息、产生加速或减速的速度给定信号曲线，再通过直流强电控制柜来控制电梯的运行速度。然而该方案中并未涉及具体如何控制电梯速度的技术内容。
目前，常规直流电梯采用的调速技术主要有两种，一种是用可控硅励磁的发电机——电动机组调速***，另一种是可控硅直接供电的可控硅——电动机调速***。其中采用可控硅励磁的发电机——电动机组调速***的电梯有能耗高、机房占地多、噪声大、反应速度慢、造价高的弱点；而采用可控硅直接供电的可控硅——电动机调速***的电梯，由于它将交流动力电用可控硅调压后直接供电，其电流脉动大，低速时电流易断续，转矩脉动大，难以解决电梯的舒适感要求，使其在电梯上应用受到限制，同时它还有功率因数低，需大体积的滤波电抗器和环流电抗器等弱点。
本发明是这样实现的：直流电梯微机控制的调速装置，具有微机***控制部件(4)，其特征是：
a、包括整流滤波部件(1)、斩波调压部件(3)、微机***控制部件(4)、驱动部件(6)，
b、斩波调压部件(3)由大功率开关管接成可驱动直流电机工作在电动与制动两个状态下的T型或H型开关电路实现，它的输入端与整流滤波部件(1)输出端相接、输出端与直流电机电枢端相接，
c、微机***控制部件(4)由软、硬件共同实现的逻辑接口(4a)、加减速S形曲线发生器(4b)、速度调节器(4c)、电流调节器(4d)及脉宽调制器(4e)组成，逻辑接口(4a)发出加或减速命令，S形曲线发生器(4b)若接收加速命令后即产生一个速度给定信号是按时间原则的加速曲线、S形曲线发生器(4b)接收减速命令并接收与直流电机转速对应的速度反馈信号W后产生一个速度给定信号是按距离原则的减速曲线，速度调节器(4c)接收S形曲线发生器(4b)输出的速度给定信号和与直流电机转速对应的速度反馈信号W、产生一个与二者差值相关的速度调节输出信号作为电流给定信号，电流调节器(4d)接收所述电流给定信号和直流电机电枢电流反馈信号I、产生一个与二者差值相关的电流调节输出信号，脉宽调制器(4e)接收所述电流调节输出信号后产生一个占空比与该信号幅值对应的脉宽调制(PWM)脉冲信号，所述脉冲信号通过驱动部件(6)输至斩波调压部件(3)控制端。作为调速装置的核心部分-微机***控制部件(4)，带有键盘显示部件(5)。
在实现本发明时，可在整流滤波部件(1)输出端之间跨接一个由能耗制动电阻与晶体管集电极串接的泵升电压抑制部件(2)。
本发明的效果：
由于在本发明中，微机***作为一个闭环控制***，不但产生用于速度控制的给定信号曲线、而且直接对调速电路发出控制信号，这保证了对电梯运行速度控制的精确性，而且随装置配置的微机键盘显示部件可以随时设置调速装置的各种参数、显示运行参数及故障状态，方便减化了调整过程；由于采用脉宽调制方式进行直流电机调速，其调制频率达几千赫到几十千赫，所以其电流连续且电流及转矩脉动小，调速过程平稳，提高了电梯的平层精度和舒适感；由于电源侧采用二极管整流器或晶体管整流器，所以功率因数高，对电网干扰小，所需供电容量小；由于不需平波电抗器和环流电抗器，所以体积小、重量轻。
图1为本发明实施例***原理框图。
图2为本发明实施例控制电路图。
图3为本发明的微机***控制部件的***结构原理框图。
下面结合实施例及附图，对本发明做进一步详述：
如图1所示，本发明包括：整流滤波部件1，将三相交流电源来的交流功率进行整流滤波后，转换为直流功率；泵升电压抑制部件2，连接在整流滤波部件1的直流输出端之间，用于防止作为电梯主调速的直流电机M制动过程中该直流输出端的过电压，所述的整流滤波部件1和泵升电压抑制部件2，可以是两个独立的单元，也可以是现有技术的VVVF电梯使用的能将交流功率转换成直流功率、也能将直流功率转换成交流功率的具有泵升电压抑制功能的晶体管整流器；斩波调压部件3，其输入端连接在整流滤波部件1的直流输出端之间，输出端与用于电梯主调速的直流电机M的电枢连接，这样它就可将整流滤波部件1的直流输出电压以脉宽调制的方式转换为可控的直流输出电压，施加到所述直流电机M的电枢上，来控制直流电机M的转速；微机***控制部件4，接收来自与直流电机M转子联接的光电编码器BM输出的与直流电机M转速成比例的脉冲信号W，根据直流电机M实际转速和给定转速的差值，产生一个与该差值相关的脉宽调制信号；键盘显示部件5，通过接口电路与微机***控制部件4相连，可用来设置、修改参数，显示装置的工作状态；驱动部件6，其接收微机***控制部件4输出的脉宽调制信号，产生一个控制信号来驱动斩波调压部件3；电流互感器E2，用来检测直流电机M的电枢电流，给微机***控制部件4提供电流反馈信号I。
图3展示了图1中微机控制部件4的***构造，它包括逻辑接口4a、加减速S形曲线发生器4b，速度调节器4c，电流调节器4d和脉宽调制器4e。
下面参照图1及3描述本发明中微机***的控制工作过程。
来自三相交流电源的交流功率经整流滤波部件1进行整流并滤波后转换为直流功率，施加于斩波调压部件3。在电梯起动时，逻辑接口4a发出起动命令，加减速S形曲线发生器4b在接收到起动命令后，产生一个表示随时间递增的速度给定信号的加速曲线(时间原则)，速度调节器4c接收所述速度给定信号和来自光电编码器BM的与直流电机M的转速对应的速度反馈信号W，产生一个与所述速度给定信号和速度反馈信号的差值相关的速度调节输出信号，电流调节器4d接收所述速度调节输出信号作为电流给定信号，并接收来自电流传感器E2的表示直流电机M电枢电流的电流反馈信号I，根据其差值输出一个电流调节输出信号，脉宽调制部件4e接收所述电流调节输出信号，产生一个其占空比与所述电流调节输出信号的幅值对应的PWM脉冲信号。驱动部件6将所述PWM脉冲信号放大后驱动斩波调压部件3。斩波调压部件3根据驱动保护部件6输出的PWM脉冲信号的占空比确定的调压系数与整流滤波部件1输出的直流电压的乘积，输出一个直流电压，施加到直流电机M的电枢上，来调节直流电机M的转速，以使直流电机M驱动的电梯按加速曲线给定的速度值运行。
在电梯运行过程中，逻辑接口4a接收到换速命令后发生一个减速命令，加减速S形曲线发生器4b接收减速命令，并接收光电编码器BM发出的与直流电机M的转速成比例的脉冲信号W，对其进行计数得到距离信号，根据该距离信号值产生一个表示随距离递减的速度给定信号的减速曲线(距离原则)，速度调节器4c接收所述速度给定信号和来自光电编码器BM的与直流电机M的转速对应的速度反馈信号W，产生一个与所述速度给定信号和速度反馈信号的差值相关的速度调节输出信号，电流调节器4d接收所述速度调节输出信号作为电流给定信号，并接收来自电流传感器E2的表示直流电机M电枢电流的电流反馈信号I，根据其差值输出一个电流调节输出信号，脉宽调制器4e接收所述电流调节输出信号，产生一个其占空比与所述电流调节输出信号的幅值对应PWM脉冲信号。驱动部件6将所述PWM脉冲信号放大后驱动斩波调压部件3。斩波调压部件3根据驱动部件6输出的PWM脉冲信号的占空比确定的调压系数与整流滤波部件1输出的直流电压的乘积，输出一个直流电压，施加到直流电机M的电枢上，来调节直流电机M的转速，以使直流电机M驱动的电梯按减速曲线给定的速度值运行。
图2中，整流滤波部件1包括三相整流桥、滤波电容C1、C2、均压电阻R3、R4和限流电阻R1、可控硅元件S1，其中电阻R1用于防止开始通电时C1、C2产生的电流冲击，可控硅元件S1用于正常工作时将电阻R1短接、减少无谓能量损耗。泵升电压抑制部件2包括晶体管N3和能耗制动电阻R2，当斩波调压部件3工作在制动状态(直流电机M上的反向电势给滤波电容C1、C2反向充电时)，滤波电容C1、C2上的电压之和超出三相整流桥的直流输出电压一定幅度时，晶体管N3导通，使多余的能量消耗在R2上，从而抑制滤波电容上的电压升高。斩波调压部件3包括晶体管N1和N2，N1、N2例如可以是自关断的绝缘栅双极晶体管(IGBT)等开关器件，可以连接成半桥(T型)或全桥(H型)，使所得到的斩波调压部件3能驱动电机M工作在电动与制动两个状态下。微机***控制部件4是本发明的主要控制部件，它具有逻辑接口4a、加减速S形曲线发生器4b、速度调节器4c、电流调节器4d、PWM调制器4e的功能。它由微机和其它附属电路组成，主要包括中央处理器、程序存储器、数据存储器、定时器、I/O接口、A/D转换器、D/A转换器和运算放大器等，用来以数字积分或查表的方式产生加速曲线，用计算或查表的方式产生减速曲线，检测并调节电梯速度，检测并调节直流电机M的电枢电流，产生PWM脉冲信号。驱动部件6由专用驱动模块A1、A2和快恢复二极管D1、D2组成，专用驱动模块可选用富士公司生产的EXB851，它通过D1、D2检测N1、N2在导通时的集电极电压、在N1或N2导通时如遇到负载短路，它的集电极电压会迅速升高，此时A1、A2会采取慢关断方式将N1、N2关断，同时将状态回送微机***控制部件4，这样限制了电流和电压的变化率，保护N1、N2工作在安全工作区。E1、E2表示霍尔电流传感器，其中E1主要用于N1、N2同时导通、负载短路、接地故障等引起的过流保护，E2主要用于电流调节和电流限制。B1-B9为具有光电隔离作用的放大器，用来放大信号并将控制部件4与斩波调压部件3等隔离，其中B5-B9是用来与电梯逻辑控制部分联络。接通电源时，经R1给C1、C2充电，几百毫秒后，微机***控制部件4产生一触发信号经B4隔离放大使S1导通。C1、C2两端电压由B1线性隔离放大后输给控制部件4作为判断欠压或过压依据，当电压达到能耗制动点时，控制部件4即发出信号经B2隔离放大去驱动N3导通，进行能耗制动。

Claims (3)

1、直流电梯微机控制的调速装置，具有微机***控制部件(4)，其特征是：
a、包括整流滤波部件(1)、斩波调压部件(3)、微机***控制部件(4)、驱动部件(6)，
b、斩波调压部件(3)由大功率开关管接成可驱动直流电机工作在电动与制动两个状态下的T型或H型开关电路实现，它的输入端与整流滤波部件(1)输出端相接、输出端与直流电机电枢端相接，
c、微机***控制部件(4)由软、硬件共同实现的逻辑接口(4a)、加减速S形曲线发生器(4b)、速度调节器(4c)、电流调节器(4d)及脉宽调制器(4e)组成，逻辑接口(4a)发出加或减速命令，S形曲线发生器(4b)若接收加速命令后即产生一个速度给定信号是按时间原则的加速曲线、S形曲线发生器(4b)接收减速命令并接收与直流电机转速对应的速度反馈信号W后产生一个速度给定信号是按距离原则的减速曲线，速度调节器(4c)接收S形曲线发生器(4b)输出的速度给定信号和与直流电机转速对应的速度反馈信号W、产生一个与二者差值相关的速度调节输出信号作为电流给定信号，电流调节器(4d)接收所述电流给定信号和直流电机电枢电流反馈信号I、产生一个与二者差值相关的电流调节输出信号，脉宽调制器(4e)接收所述电流调节输出信号后产生一个占空比与该信号幅值对应的脉宽调制脉冲信号，所述脉冲信号通过驱动部件(6)输至斩波调压部件(3)控制端。
2、根据权利要求1所述的调速装置，其特征是：在整流滤波部件(1)输出端之间跨接一个由能耗制动电阻与晶体管集电极串接的泵升电压抑制部件(2)。
3、根据权利要求1所述的调速装置，其特征是：微机***控制部件(4)带有键盘显示部件(5)。
CN95101056A 1995-01-12 1995-01-12 直流电梯微机控制的调速装置 Expired - Fee Related CN1037055C (zh)

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US08/860,201 US5932979A (en) 1995-01-12 1996-01-12 PWM speed-control apparatus for elevators
AU44295/96A AU4429596A (en) 1995-01-12 1996-01-12 Pwm speed regulating apparatus for a dc elevator
PCT/CN1996/000003 WO1996021967A1 (fr) 1995-01-12 1996-01-12 Appareil regulateur de vitesse a modulation de largeur d'impulsion pour ascenseur a courant continu
EP96900499A EP0803969A4 (en) 1995-01-12 1996-01-12 PULSE WIDTH MODULATED SPEED CONTROL DEVICE FOR A DC LIFT

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