CN106564786A - Elevator control method based on three-level electric power converter and control device - Google Patents
Elevator control method based on three-level electric power converter and control device Download PDFInfo
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Abstract
The invention discloses an elevator control method based on a three-level electric power converter. According to the elevator control method based on the three-level electric power converter, a fault-tolerant control mode is adopted for modulating the three-level electric power converter when an open circuit fault happens to a power module of the three-level electric power converter constituting an elevator driving system, and an elevator control mode is properly modified at the same time so that emergency stop of an elevator can be avoided, and the elevator can stop on a target storey and stops operating when a door is opened and passengers come out of the elevator. The invention further provides a control device for achieving the elevator control method.
Description
Technical field
The present invention relates to a kind of elevator control method, and in particular to a kind of elevator control method for being based on three level power converters.
The invention further relates to a kind of elevator control gear for being based on three level power converters.
Background technology
Compared with traditional two level converter, three level power converters there is power device to bear voltage stress is little, change in voltage
Rate dv/dt is little, output waveform harmonic characterisitic is good, low switching frequency and the advantages of efficiency high, is particularly well-suited to include that elevator drives
System is in interior application scenario.But in running, constitute three level power converters power switch may because thermal cycle,
There is open circuit fault in the reasons such as colelctor electrode overcurrent OR gate driving malfunction, so as to cause whole device failure.Three level powers are converted
The structures shape of device its three level electricity can be realized by suitably adjusting its control method when power switch occurs open circuit fault
The faults-tolerant control of force transducer.
At present, elevator is when its drive system occurs including power switch failure including open circuit fault, it is common practice to allow electricity
Terraced emergent stopping operation.Although although this processing mode ensure that the safety of passenger, it is apparent that the comfortable of passenger can be substantially reduced
Property and convenience.If elevator drive system adopts three-level converter, when there is open circuit fault in three-level converter using appearance
Mistake control is modulated to three-level converter, while being appropriately modified to elevator controlling mode, you can drive elevator is constituted
The power model of the three-level converter of system occurs to be modulated three-level converter using faults-tolerant control during open circuit fault, from
And avoid elevator emergency from stopping, and enable elevator to realize that purpose floor is stopped, and realizes that enabling puts out of service again after people, thereby keep away
Exempt from passenger and be held in the awkward and inconvenience waited for rescue in elevator.
Therefore, how constituting when the power model of three-level converter of elevator drive system occurs open circuit fault to elevator controlling
Mode modifies, how three-level converter is modulated using faults-tolerant control to avoid elevator emergency from stopping be elevator controlling
In one have important technological problems to be solved.
The content of the invention
The technical problem to be solved is to provide a kind of elevator control method for being based on three level power converters, and it can be with
Avoid elevator emergency from stopping constituting when the power model of three-level converter of elevator drive system occurs open circuit fault, realize electricity
The stop nearby of ladder advances to next landing, realizes that enabling puts out of service again after people, thereby avoids passenger from being held in elevator
The awkward and inconvenience for inside waiting for rescue.
To solve above-mentioned technical problem, the present invention is based on the technical solution of the elevator control method of three level power converters and is,
Including：
Step 1. generates in a conventional manner the speed pattern during car is moved to purpose floor by current location；
The power switch of the level power converter of step 2. pair three carries out open circuit fault diagnosis, if diagnostic result is normal, proceeds to
Step 3；Otherwise proceed to step 4；
Step 3. is controlled according to conventional control mode to elevator, and three-level converter is adjusted using traditional modulation strategy
System；Proceed to step 9；
Step 4. judges the three level powers conversion corresponding to voltage instruction of the car during current location marches to purpose floor
Centered on whether device desired output voltage vector is located at by zero vector, in the hexagon that constituted as summit line with 6 small vectors
In the circle of contact；If it is not, then causing corresponding three level power converter of voltage instruction by changing the speed pattern of elevator follow-up operation
Desired output voltage vector is located in the inscribed circle, and step 5 is proceeded to afterwards；Otherwise directly proceed to step 5；
During step 5. judges that elevator marches to purpose floor by current location, if there is such a period, three level electricity
Input energy of the force transducer within period bottom electric capacity when 0 rises to Udc/2 of the level more than DC bus capacitor device midpoint O
Device Cd2The variable quantity of the energy for being stored, or output energy of three level power converters within the period is more than DC bus capacitor
The level of device midpoint O lower capacitor C when 0 is down to-Udc/2d2When stored energy variable quantity；If so, step is then proceeded to
6；Otherwise proceed to step 7；
Step 6. reduces acceleration, and the judgement of repeat step 5, if it is no that judged result is obtained, according to new acceleration weight
Newly-generated lift car run to purpose floor by current location during speed pattern, and three level corresponding with the speed pattern
Power converter desired output voltage vector is located in the inscribed circle, proceeds to step 7；If reducing to 0 up to acceleration, step 5
Judged result be still yes, then proceed to step 8；
Step 7. enables three level power converter fault tolerant control methods and three level power converters is modulated；Proceed to step 9；
Step 8. produces washout, makes elevator emergency out of service；
Step 9. terminates.
Preferably, the period in step 5 refer to elevator carry out by current location be moved to that purpose floor passed through it is any when
Between it is interval, or the desired output voltage vector rotate into the following region left in the inscribed circle passed through it is any
Time interval：The position that the switch place phase of open circuit fault occurs in the combination of small vector corresponding output level include because of open circuit therefore
Barrier and the level that can not export, remaining position are the defeated of any one level in addition to the level that can not be exported two level
Go out the small vector place direction corresponding to level combinations turn clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise with it is interior
The common factor of the circle of contact.
Preferably, input energy of three level power converters within the period is referred within the period by load Jing tri- in step 5
The energy Q of level power converter DC bus capacitor device midpoint O injections2；Output energy refers to electric by load Jing tri- within the period
The energy Q that ordinary telegram force transducer DC bus capacitor device midpoint O flows out1。
Preferably, in step 5 level of three level power converter DC bus capacitor device midpoint O when 0 is down to-Udc/2, under
Portion capacitor Cd2Variation delta W of stored energy1Computing formula be：ΔW1=C0×(Udc)2/8；Three level power converters
The level of DC bus capacitor device midpoint O when 0 rises to Udc/2, lower capacitor Cd2May store variation delta W of energy2
Computing formula be：ΔW2=3 × C0×(Udc)2/ 8, wherein C0It is the parameter of the upper and lower capacitor of three level power converter DC sides,
C0=Cd1=Cd2, UdcIt is the magnitude of voltage at three level power converter DC side total capacitance device two ends, i.e. d-c bus voltage value.
Preferably, the acceleration and/or normal speed during the control method is by changing elevator follow-up operation is follow-up to change elevator
The speed pattern of operation.
Preferably, in step 5, if the energy Flow direction of three level power converters is by load Jing tri- level power conversion
Device flows to DC bus capacitor, then judge by the energy Q of load Jing tri- level power converter DC bus capacitor device midpoint O injections2
Whether lower capacitor C when 0 rises to Udc/2 of the level more than DC bus capacitor device midpoint Od2May store the variable quantity of energy
ΔW2；If the energy Flow direction of three level power converters is to be converted by the level powers of three-level converter DC capacitor Jing tri-
Device flow direction load, then judge the energy Q flowed out by three level power converter DC bus capacitor device midpoint O1Whether direct current is more than
The level of side capacitors midpoint O lower capacitor C when 0 is down to-Udc/2d2Variation delta W of stored energy1。
The present invention also provides a kind of elevator control gear for being based on three level power converters, and its technical solution is, including：
For carrying out the diagnosis unit of open circuit fault diagnosis to the power switch of three level power converters, for generating the elevator
Drive control device perform elevator drive control needed for speed pattern speed pattern signal generating unit, for according to the speed command
Signal generating unit output the speed pattern be controlled and output voltage instruction elevator driving controller, for judging elevator car
Whether railway carriage or compartment is located at inscribed circle by the desired output voltage vector that current location is moved to next landing period three level power converter
Interior range judging unit, the walking direction unit for judging the energy Flow direction between three-level converter and load, it is used for
Calculate specific time period in Jing three-level converter DC bus capacitor devices midpoint O injection energy or by three-level converter DC side
The input/output energy calculation unit of the energy that capacitor midpoint O flows out, for calculate the level of DC bus capacitor device midpoint O by
0 when being down to-Udc/2, lower capacitor Cd2The releasable energy of institute, or the level of DC bus capacitor device midpoint O rises to by 0
During Udc/2, lower capacitor Cd2May store the incrementss of energy capacitor energy change calculations unit, for compare input/
The comparison list of the magnitude relationship between the result of calculation of output energy calculation unit and the result of calculation of capacitor energy change calculations unit
Unit, for being modulated to three-level converter, export for being opened and pass to the power switch for constituting three-level converter
The manipulator of the switching signal of disconnected control.
The input/output energy calculation unit according to the judged result of the walking direction unit determine calculate specific time period in by
The energy Q that three level power converter DC bus capacitor device midpoint O flow out1, or calculate by the load level power converters of Jing tri-
The energy Q of DC bus capacitor device midpoint O injections2。
The capacitor energy change calculations unit determines that calculating three level powers becomes according to the judged result of the walking direction unit
The level of parallel operation DC bus capacitor device midpoint O when 0 is down to-Udc/2, lower capacitor Cd2Variation delta W of stored energy1,
Or three level power converter DC bus capacitor device midpoint O level when 0 rises to Udc/2, lower capacitor Cd2To be deposited
Variation delta W of energy storage capacity.
The specific time period refers to that elevator carries out being moved to the random time interval that purpose floor is passed through, or institute by current location
State desired output voltage vector and rotate into the random time interval passed through to the designated area left in the inscribed circle：Little arrow
The position for measuring the switch place phase that open circuit fault occurs in corresponding output level combination includes what is can not exported because of open circuit fault
The output level combination institute that level, remaining position are any one level in addition to the level that can not be exported two level is right
The small vector place direction answered turns clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise and the common factor of inscribed circle.
The walking direction unit is according to the torque and traffic direction of lift car actual loading or output, or is driven according to elevator
The stator current command or current detection value of controller output, realizes to the energy Flow direction between three-level converter and load
Judge.
When the diagnostic result of the diagnosis unit is normal, that is, when there is no open circuit fault, manipulator adopts traditional modulation strategy pair
Three-level converter is modulated, output switching signal；When the diagnostic result of the diagnosis unit is to occur open circuit fault, adjust
Device processed is modulated using faults-tolerant control strategy to three-level converter, output switching signal.
The speed pattern signal generating unit according to the purpose floor information from electric life controller, the current location of lift car, come
Diagnostic result from the diagnosis unit, the judged result from the range judging unit, from the comparison of the comparing unit
As a result one or more in generates the speed pattern needed for the elevator driving controller execution elevator drive control.
The speed pattern signal generating unit is according to following law generation speed pattern：S1. car is generated in a conventional manner by current
Position be moved to purpose floor during speed pattern；S2. when the judged result of range judging unit is expectation output voltage vector
When outside the inscribed circle of the hexagon constituted as summit line centered on by zero vector, with 6 small vectors, the speed pattern
Signal generating unit by change elevator follow-up operation in speed and/or acceleration to change elevator follow-up operation in speed pattern, make
Obtain desired output voltage vector to return in the inscribed circle；S3. during judging that elevator marches to purpose floor by current location, it is
No to there is such a period, input energy of three level power converters within the period is more than DC bus capacitor device midpoint O's
Level lower capacitor C when 0 rises to Udc/2d2The energy variation amount for being stored, or three level power converters are in the period
Interior output energy lower capacitor C when 0 is down to-Udc/2 of the level more than DC bus capacitor device midpoint Od2Stored energy
Variable quantity；If so, and during acceleration ＞ 0, regenerate lift car according to new acceleration and run to purpose building by current location
Speed pattern during layer；If S4. acceleration≤0, it is zero that the speed pattern in elevator follow-up operation is set to into perseverance.
What the present invention can reach has the technical effect that：
By constituting when the power model of three-level converter of elevator drive system occurs open circuit fault using faults-tolerant control mode
Three-level converter is modulated, while elevator controlling mode is appropriately modified, such that it is able to avoid elevator emergency from stopping,
Enable elevator to realize that purpose floor is stopped, realize that enabling puts out of service again after people, thereby avoid passenger by pipe in elevator etc.
Awkward and inconvenience to be rescued.
Description of the drawings
With reference to the accompanying drawings and detailed description the present invention is further detailed explanation：
Fig. 1 is the elevator drive system structural representation for applying three-level converter
Fig. 2 is T-shaped three-level converter structural representation；
Fig. 3 is I type three-level converter structural representations；
Fig. 4 is the internal structure schematic diagram of the elevator control gear of the present invention；
Fig. 5 is the three dimensional vector diagram of three level power converters；
Fig. 6 is the elevator control method and the implementing procedure figure for understanding device of the present invention.
Description of reference numerals in figure：
1 is external power source, and 2 is commutator,
3 is smooth direct current electric capacity, and 4 is busbar voltage detection device,
5 is power circuitry, and 6 is dc bus,
7 is inverter, and 8 is current sensing means,
9 is elevator motor, and 10 is traction sheave,
11 is directive wheel, and 12 is counterweight,
13 is car, and 14 is speed detector,
15 is elevator control gear, and 16 is electric life controller,
17 is energy consumption controller.
Specific embodiment
Referring to Fig. 1, in the present embodiment, external power source 1 is connected with the three-phase alternating current side of commutator 2, the direct current of commutator 2
Side Jing dc bus 6 is connected with the DC side input of inverter 7, and smooth direct current electric capacity 3 and power circuitry 5 are connected across respectively
The two ends of dc bus 6, busbar voltage detection device 4 is arranged on the two ends of smooth direct current electric capacity 3, the three-phase alternating current of inverter 7
Side Jing current sensing means 8 is connected with elevator motor 9, and the Jing ad hoc structures of elevator motor 9 are connected with traction sheave 10, car 13
With counterweight 12 by rope hanging in traction sheave 10 and the both sides of directive wheel 11.Energy consumption controller 17 is according to busbar voltage detection
The DC bus-bar voltage that device 4 is detected is opened to the switch element of power circuitry 5 and is turned off control.Power circuitry 5 is used
In will regeneration energy be converted into heat and realize regenerate energy expenditure.Electric life controller 16 is according to instruction or group in floor call, sedan-chair
Allotment order of control system etc. produces purpose floor information.Elevator control gear 15 is according to from the purpose building of electric life controller 16
Layer information, the current detecting result from current sensing means 8 and from the elevator motor 9 detected by speed detector 14
Actual speed produce to constitute inverter 7 power switch open and turn off switching signal so that elevator motor 9 drag sedan-chair
Run up and down in hoistway in railway carriage or compartment 13.Inverter 7 is a three-level converter, can be T-shaped three level translation as shown in Figure 2
Device, or I type three-level converters as shown in Figure 3.
As shown in figure 4, elevator control gear 15 further includes diagnosis unit, speed pattern signal generating unit, elevator drive control
Device, manipulator, range judging unit, comparing unit, capacitor energy change calculations unit, input/output energy calculation unit
With the ingredient such as walking direction unit, wherein, diagnosis unit is used to carry out open circuit to the power switch of three level power converters
Fault diagnosis；Speed pattern signal generating unit is used to generate the hodograph needed for the elevator driving controller execution elevator drive control
Shape；Elevator driving controller is used for according to the speed pattern of speed pattern signal generating unit output (certainly, in order to more preferable
Control effect, using include speed ring and electric current loop two close cycles variable voltage variable frequency vector controlled when, in addition to speed pattern,
Its input should also be included from the current detecting result of current sensing means 8 and from the elevator detected by speed detector 14
The actual speed of motor 9) carry out suitable control and output voltage instruction；Range judging unit is used to judge lift car by current
Position be moved to the desired output voltage vector of next landing period three level power converter whether be located at by zero vector centered on,
In the inscribed circle of the hexagon constituted as summit line with 6 small vectors；Walking direction unit be used for judge three-level converter with
Energy Flow direction between load (load in the present embodiment is elevator motor)；Input/output energy calculation unit is used to calculate energy
Amount Jing three-level converters inject the energy of DC bus capacitor device O points or by DC bus capacitor device O point Jing three-level converter streams
Go out to the energy of load；Capacitor energy change calculations unit is used to calculate the level of DC bus capacitor device midpoint O and is down to by 0
During-Udc/2, lower capacitor Cd2The releasable energy of institute, or the level of DC bus capacitor device midpoint O rises to Udc/2 by 0
When, lower capacitor Cd2May store the incrementss of energy；Comparing unit is used for the calculating to input/output energy calculation unit
As a result the magnitude relationship and between the result of calculation of capacitor energy change calculations unit is compared；Manipulator is used for according to the electricity
The terraced voltage instruction of drive control device output and the diagnostic result of the power switch diagnosis unit are carried out to three-level converter
Modulation, exports for being opened and the switching signal for being turned off control to the power switch for constituting three-level converter.
As shown in Figure 4, the mutual relation in elevator control gear 15 between each ingredient is as follows：
Speed pattern signal generating unit is according to the purpose floor information from electric life controller 16, the comparative result of comparing unit, scope
One or more formation speed figures in the judged result of judging unit, the current location information of car；
Speed pattern and the electric current from current sensing means 8 that elevator driving controller is exported according to speed pattern signal generating unit
Testing result and the actual speed from the elevator motor 9 detected by speed detector 14 perform speed, current double closed-loop
VVVF vector controlleds, export the stator voltage instruction of elevator motor 9；
Diagnosis unit carries out open circuit fault diagnosis to the power switch of three-level converter, exports diagnostic result；
Manipulator is instructed according to the stator voltage that elevator driving controller is exported, or the stator voltage of elevator driving controller output
The diagnostic result of instruction and diagnosis unit is modulated to three-level converter, exports for the power to constituting three-level converter
The switching signal opened and turned off control；
Range judging unit is when the diagnostic result for carrying out self-diagnosis unit switches is received to there is open circuit fault to by elevator driving controller
Connect centered on whether the stator voltage of output instructs the expectation voltage vector to be formed to be located at by zero vector, by summit of 6 small vectors
Judged in the inscribed circle of the hexagon of line composition, and will determine that result is sent to speed pattern signal generating unit；
When the judged result of range judging unit is no, speed pattern signal generating unit is by changing the speed of lift car and/or adding
Speed pattern of the speed needed for change elevator driving controller so that the stator voltage instruction corresponding to the speed pattern after change
Formation expect voltage vector whether be located at by zero vector centered on, in the hexagon that constituted as summit line with 6 small vectors
In the circle of contact；
Manipulator when the diagnostic result that carrys out self-diagnosis unit switches is received to there is no open circuit fault, using conventional modulation strategy (i.e.
Three-level converter is in modulation strategy during normal operating conditions) three-level converter is modulated, carry out self diagnosis receiving
The diagnostic result of unit adopts the tolerant fail algorithm for three-level converter power switch open circuit fault to occur during open circuit fault, then
It is modulated, specific three-level converter power switch open circuit fault tolerant fail algorithm see pertinent literature, such as：Document 1：
Diagnosis and tolerant strategy of an open-switch fault for T-type three-level
inverter system,IEEE Trans.industry applications,Vol.50,No.1,Jan/Feb,2014；Text
Offer 2：An open-switch fault detection method and tolerant controls based on SVPWM in
a grid-connected T-type rectifier with unity power factor,IEEE Trans.industrial
electronics；
Walking direction unit when the diagnostic result that carrys out self-diagnosis unit switches is received to there is open circuit fault, to three-level converter with
Energy Flow direction between load judged, basis for estimation can be lift car actual loading or output torque and traffic direction,
Or the stator current command or current detection value of elevator driving controller output；
Capacitor energy change calculations unit is according to the judged result of walking direction unit to three-level converter DC bus capacitor energy
Maximum variable quantity calculated, computational methods are：
When the judged result of walking direction unit is from DC bus capacitor device midpoint by the Jing three-level converters of elevator motor 9 for energy
During O injection electric capacity, lower capacitor C when 0 rises to Udc/2 is calculated from the level of DC bus capacitor device midpoint Od2Storage energy
Incrementss, i.e., elevator motor 9 can Jing three-level converter DC bus capacitor device midpoint O to capacitor Cd2The ceiling capacity of injection,
Computing formula is：W2=3 × C0×(Udc)2/8；When the judged result of walking direction unit is by three-level converter direct current for energy
When side capacitors midpoint O flows out Jing three-level converters to elevator motor 9, calculate what is can flowed out by DC bus capacitor device midpoint O
Ceiling capacity, the i.e. level of capacitor midpoint O lower capacitor C when 0 is down to-Udc/2d2Jing DC bus capacitor device midpoint O
The ceiling capacity that can release, computing formula is：W1=C0×(Udc)2/8。
Input/output energy calculation unit also according to walking direction unit judged result to the level translations of Jing in specific time period tri-
The energy or the energy by DC bus capacitor device O points outflow Jing three-level converters to load of device injection DC bus capacitor device O points
Calculated, wherein specific time period can be any one time zone during lift car is moved to purpose floor by current location
Between, or refer in particular to the desired output voltage vector of three-level converter when rotated from enter to leave it is defeated by elevator driving controller
Centered on whether the stator voltage for going out instructs the expectation voltage vector to be formed to be located at by zero vector, with 6 small vectors as summit line
The random time interval Δ T that the following region of the inscribed circle of the hexagon of composition is passed through：
The position of the switch place phase that open circuit fault occurs in the corresponding output level combination of small vector includes because of open circuit fault not
The level of energy output, remaining position are the output level of any one level in addition to the level that can not be exported two level
The corresponding small vector place direction of combination turns clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise and inscribed circle
Occur simultaneously.
After specific time period is determined, in order to calculate energy, in addition it is also necessary to determine three-level converter DC bus capacitor device in the period
Midpoint O flows out or injects the energy Jing three-level converters of DC bus capacitor device to the energy Flow between elevator motor 9 by midpoint O
Speed, i.e. power, referred to as midpoint O power.So, integration of the O power in midpoint in time interval Δ T is equal to the time
Jing three-level converters inject the energy of DC bus capacitor device O points or flow out Jing tri- by DC bus capacitor device O points in interval Δ T
Level converter is to the energy for loading.Because the electric angular velocity of the rotary speed of desired output voltage vector, i.e. elevator motor will
Far above the rotor velocity of elevator motor, therefore it is constant to be approximately considered the midpoint O power invariabilities in time interval Δ T, this
Sample can be using the product of the arbitrary midpoint O power in time interval Δ T and time interval Δ T as three level in time interval Δ T
Changer DC bus capacitor device midpoint O flows out or injects the energy of DC bus capacitor device by midpoint O.
As shown in Figure 1 structure understands that, when the efficiency of three-level converter is ignored, midpoint O power is equal to three-level converter three
The stator power of the power of phase side, i.e. elevator motor, the power can utilize elevator elevator motor stator current detected value or
Command value is calculated with stator voltage command value；When elevator motor electromechanical conversion efficiency is further ignored, midpoint O power etc.
In the output torque and the product of rotor velocity of the mechanical output of elevator motor, i.e. elevator motor.
Q '=(F × ωm) × Δ T=(F × ωe)×(π/ωe)/Pn=(F × π)/Pn (1)
In formula, Q ' is that the three-level converter DC bus capacitor device midpoint O before amendment flows out or injects DC bus capacitor device by midpoint O
Energy, F be elevator motor 9 output torque, ωmAnd ωeIt is respectively mechanical angular velocity and electric angular velocity, PnIt is elevator motor
9 number of pole-pairs.
Certainly, actually carry out three-level converter DC bus capacitor device midpoint O flow out or by midpoint O inject DC bus capacitor device
Energy when, the impact of efficiency, loss etc. is very big, and efficiency, loss etc. are closely related with the flow direction of energy,
Therefore, should be determined according to the judged result of walking direction unit when calculating efficiency, loss and safe clearance coefficient etc. to
Ignore and be modified on the basis of the primary Calculation result that the factors such as efficiency are obtained, so as to obtain final input/output energy balane list
First result of calculation Q：
Q=к1×(F×π)/Pn=к × F (2)
In formula, Q is that revised three-level converter DC bus capacitor device midpoint O flows out or injects DC bus capacitor device by midpoint O
Energy, к1It is including correction factor, к=к including efficiency, loss, the flow direction of energy, safe clearance coefficient1×π/Pn。
For the ease of difference, the energy flowed out by three-level converter DC bus capacitor device midpoint O is expressed as into Q1, will be by midpoint
The energy of O injection DC bus capacitor devices is expressed as Q2。
Comparing unit is according to the result of calculation of capacitor energy change calculations unit and the calculating knot of input/output energy calculation unit
Fruit carries out the magnitude relationship of the two and judges：
When the judged result of walking direction unit is to flow out the level of Jing tri- by three-level converter DC bus capacitor device midpoint O for energy
When changer is to elevator motor 9, compare W1With Q1Magnitude relationship；When the judged result of walking direction unit is by electricity for energy
The Jing three-level converters of terraced motor 9 from DC bus capacitor device midpoint O inject electric capacity when, compare W2With Q2Magnitude relationship.
Speed pattern signal generating unit is W in the judged result of the walking direction unit for receiving1＜ Q1Or W2＜ Q2When, it is gradually reduced
Acceleration, until the judged result of walking direction unit is W1≥Q1Or W2≥Q2, then regenerated by car using new acceleration
The speed pattern of current location to purpose floor；If the judged result that walking direction unit can not be still made when acceleration reduces to zero is W1
≥Q1Or W2≥Q2, then it is zero by the speed pattern perseverance of elevator follow-up operation, while generating elevator emergency stop signal so that elevator
Emergent stopping runs.
The zero vector in described above appearance, small vector, inscribed circle are illustrated below.
T-shaped three-level converter as shown in Figure 2 and Figure 3 and I type three-level converters, its DC side input is respectively P
End, O ends and N-terminal, corresponding level is respectively+0.5Udc, 0 and -0.5Udc, and in its topological structure, same bridge arm
Include half-bridge power switch (QX1And QX4) and midpoint power switch (QX2And QX3), X ∈ (R, S, T), Cd1=Cd2=C0.By Fig. 5
Shown three-level converter three dimensional vector diagram understands that three-level converter has 19 vectors, including 1 zero vector (V0)、
6 small vector (V1～V6), 6 middle vector (V7～V12), 6 big vector (V13～V19), and the corresponding output level of zero vector
Be combined as 3, each small vector it is corresponding with positive and negative 2 output levels combination respectively, and each big vector of vector in each
It is then each corresponding with an output level combination.Additionally, Fig. 5 is given with zero vector V simultaneously0Centered on, with 6 little arrows
Measure the inscribed circle of the hexagon for summit line composition.The desired output voltage vector of three-level converter and corresponding output level
The relation of molectron is as shown in the table：
For time interval Δ T, from Fig. 2, Fig. 3 and Fig. 5：
When the R phases of three-level converter are just switched, i.e. QR1During generation open circuit fault, R phases can not export P level, then R phases
The output level that position is P, remaining position is OO is combined as POO, and corresponding small vector is V1, the vector is clockwise, the inverse time
Corresponding direction vector is respectively middle vector V after pin is rotated by 90 ° respectively11And V8Place direction, the then common factor for finally giving is interior
The circle of contact is located at vector V in vector11And V8The right part in place direction.When expect output voltage vector rotate counterclockwise when, it from
Middle vector V11Place direction enters occurs simultaneously, therefrom vector V8Intersection area is left in place direction, then desired output voltage vector is entering
Enter to leaving the time that intersection area spent and be Δ T.
When the power switch and/or desired output voltage vector rotation that open circuit fault occurs can be joined with the asynchronous situation of above-mentioned example
According to execution, do not repeat herein.
Flow diagram as shown in Figure 6, the present invention is comprised the steps based on the elevator control method of three level power converters：
Step 1. is generated in a conventional manner during car is moved to purpose floor by current location by speed pattern signal generating unit
Conventional speeds figure；
Step 2. carries out open circuit fault diagnosis by diagnosis unit to the power switch of three level power converters, judges that three level become
Whether parallel operation there is open circuit fault, if diagnostic result is normal, proceed to step 3；Otherwise proceed to step 4；
Step 3. is controlled according to conventional control mode to elevator, and three-level converter is adjusted using traditional modulation strategy
System；Proceed to step 9；
Herein elevator is controlled according to conventional control mode and refers to control is driven to elevator according to normal speed, acceleration,
It is set to be run according to the purpose floor that electric life controller is given；Three-level converter is modulated using traditional modulation strategy
Refer to and do not consider three-level converter failure situations, using the modulation strategy being directed under three-level converter normal operating conditions to it
It is modulated so as to which voltage is expected in AC output.
Step 4. range judging unit judges three corresponding to voltage instruction of the car during current location marches to purpose floor
Constitute as summit line centered on whether level power converter desired output voltage vector is located at by zero vector, with 6 small vectors
Hexagon inscribed circle in；If it is not, then causing voltage instruction corresponding three electric by changing the speed pattern of elevator follow-up operation
Ordinary telegram force transducer desired output voltage vector is located in the inscribed circle, and step 5 is proceeded to afterwards；Otherwise directly proceed to step 5；
Diagnosis unit make three-level converter occur power switch open circuit fault phase results after, range judging unit according to
The conventional speeds figure generated in step 1 elevator driving controller output during car marches to purpose floor by current location
Centered on whether three level power converter desired output voltage vectors corresponding to voltage instruction are located at by zero vector, it is little with 6
Vector is in the inscribed circle of the hexagon of summit line composition.If it is judged that being beyond inscribed circle scope, outside inscribed circle
When, need to change (typically reduce acceleration and/or speed as needed to change) speed pattern in lift car follow-up operation,
So that corresponding desired output voltage vector is returned in inscribed circle；If it is judged that being in inscribed circle, then without the need for processing, directly
Switch through into next step 5.
During step 5. judges that elevator marches to purpose floor by current location, if there is such a period, three level electricity
Input energy of the force transducer within the period is big more than input energy of the level power converter of DC bus capacitor three within the period
In DC bus capacitor device midpoint O level when 0 rises to Udc/2 lower capacitor Cd2The variable quantity of the energy for being stored, or
Level of output energy of three level power converters within the period more than DC bus capacitor device midpoint O is when 0 is down to-Udc/2
Lower capacitor Cd2The variable quantity of stored energy；When judged result is W1≥Q1Or W2≥Q2When, proceed to step 7；Otherwise turn
Enter step 6；
In fact, step 5 further includes several sub-steps：
Step 5.1. judged the energy Flow direction between three-level converter and load by walking direction unit, judge according to
According to can be lift car actual loading or output torque and traffic direction, or the stator current of elevator driving controller output refers to
Order or current detection value；
Step 5.2. is that energy flows to three-level converter DC bus capacitor by load when the judged result of walking direction unit judges
During the O of midpoint, capacitive energy change calculations unit calculates from the level of DC bus capacitor device midpoint O bottom when 0 rises to Vdc/2
Capacitor Cd2The incrementss of institute's storage energy, i.e. elevator motor 9 can Jing three-level converter DC bus capacitor device midpoint O to electric capacity
The ceiling capacity of device injection, computing formula is：W2=3 × C0×(Udc)2/8；When the judged result of walking direction unit is for energy
When flowing out Jing three-level converters to elevator motor 9 by three-level converter DC bus capacitor device midpoint O, capacitive energy change meter
The ceiling capacity that unit calculable capacitor can be flowed out by DC bus capacitor device midpoint O is calculated, i.e., the level of capacitor midpoint O is by 0 drop
To lower capacitor C during-Udc/2d2The ceiling capacity that Jing DC bus capacitor device midpoint O can release, computing formula is：
W1=C0×(Udc)2/8。
Step 5.3. input/output energy calculation unit determine by three-level converter DC bus capacitor device midpoint O spouting energies or
It is the period that DC bus capacitor device energy is injected by midpoint O.The period refers to that elevator carries out being moved to purpose floor by current location
The random time passed through is interval, or the desired output voltage vector is rotated into the following area left in the inscribed circle
The random time that domain is passed through is interval：
The position of the switch place phase that open circuit fault occurs in the corresponding output level combination of small vector includes because of open circuit fault not
The level of energy output, remaining position are the output level of any one level in addition to the level that can not be exported two level
The corresponding small vector place direction of combination turns clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise and inscribed circle
Occur simultaneously.
Step 5.4. is that energy flows to three-level converter DC bus capacitor by load when the judged result of walking direction unit judges
During the O of midpoint, input/output energy calculation unit calculates what three-level converter DC bus capacitor device midpoint O in the above-mentioned period flowed out
Energy Q1；When the judged result of walking direction unit is to flow out Jing tri- by three-level converter DC bus capacitor device midpoint O for energy
When level converter is to elevator motor 9, input/output energy calculation unit is calculated in the above-mentioned period by three-level converter DC side
The energy Q of capacitor midpoint O injections2。
Step 5.5. is that energy flows to three-level converter DC bus capacitor by load when the judged result of walking direction unit judges
During the O of midpoint, comparing unit compares W2And Q2Size；When the judged result of walking direction unit is by three level translations for energy
When device DC bus capacitor device midpoint O flows out Jing three-level converters to elevator motor 9, comparing unit compares W1And Q1Size.
When judged result is W1≥Q1Or W2≥Q2When, proceed to step 7；Otherwise proceed to step 6.
Step 6. speed pattern signal generating unit reduces acceleration, determines it is to proceed to step 8 according to the symbol of acceleration, also according to
New acceleration regenerates speed pattern, recalculates Q1Or Q2, until W1≥Q1Or W2≥Q2When, proceed to step 7.
In fact, step 6 further includes several sub-steps：
Step 6.1. speed pattern signal generating unit reduces acceleration；
Whether step 6.2. speed pattern signal generating unit judge acceleration≤0.If so, step 8 is then proceeded to；Otherwise, step is proceeded to
Rapid 6.3；
Step 6.3. speed pattern signal generating unit regenerates lift car and is run to purpose building by current location according to new acceleration
Speed pattern during layer, and it is described to be located at three level power converter desired outputs voltage vector corresponding with the speed pattern
In inscribed circle；
Step 6.4. input/output energy calculation unit recalculates Q1Or Q2；
Step 6.5. comparing unit compares W2And Q2Size or W1And Q1Size.Work as W2≥Q2Or W1≥Q1When, proceed to step
Rapid 7；Otherwise proceed to step 6.1；
If until acceleration reduces to 0, the judged result of step 5 is still yes, then proceed to step 8；
Step 7. manipulator enables the fault-tolerant modulation strategy of three level power converters and three level power converters is modulated；Turn
Enter step 9；
There is the difference of the position of the power switch of open circuit fault according to the three-level converter that diagnosis unit determines, manipulator is selected
The fault-tolerant modulation strategy of appropriate three-level converter is modulated to the three-level converter for constituting elevator drive system so as to work
In fault-tolerant state, the conversion and transmission of energy is completed.Specific fault-tolerant modulation strategy can be found in pertinent literature.
Step 8. produces washout, makes elevator emergency out of service；
Step 9. terminates.
As shown in the above description, the speed pattern signal generating unit have followed following rule in formation speed figure：
S1. the speed pattern during car is moved to purpose floor by current location is generated in a conventional manner；
S2. when the judged result of range judging unit is to expect output voltage vector centered on by zero vector, with 6 little arrows
When measuring outside the inscribed circle for the hexagon of summit line composition, during the speed pattern signal generating unit is by changing elevator follow-up operation
Speed and/or acceleration to change elevator follow-up operation in speed pattern so that desired output voltage vector returns to the inscribe
In circle；
S3. during judging that elevator marches to purpose floor by current location, if there is such a period, three level powers become
Input energy of the parallel operation within period lower capacitor C when 0 rises to Udc/2 of the level more than DC bus capacitor device midpoint Od2
The energy variation amount for being stored, or output energy of three level power converters within the period is more than DC bus capacitor device midpoint
The level of O lower capacitor C when 0 is down to-Udc/2d2The variable quantity of stored energy；If so, and during acceleration ＞ 0, press
The speed pattern during lift car is run to purpose floor by current location is regenerated according to new acceleration；
If S4. acceleration≤0, it is zero that the speed pattern in elevator follow-up operation is set to into perseverance.
Claims (14)
1. a kind of elevator control method for being based on three level power converters, it is characterised in that comprise the steps：
Step 1. generates the speed pattern during car is moved to purpose floor by current location；
The power switch of the level power converter of step 2. pair three carries out open circuit fault diagnosis, if diagnostic result is normal, proceeds to
Step 3；Otherwise proceed to step 4；
Step 3. is controlled according to conventional control mode to elevator, and three-level converter is adjusted using traditional modulation strategy
System；Proceed to step 9；
Step 4. judges the three level powers conversion corresponding to voltage instruction of the car during current location marches to purpose floor
Centered on whether device desired output voltage vector is located at by zero vector, in the hexagon that constituted as summit line with 6 small vectors
In the circle of contact；If it is not, then causing corresponding three level power converter of voltage instruction by changing the speed pattern of elevator follow-up operation
Desired output voltage vector is located in the inscribed circle, and step 5 is proceeded to afterwards；Otherwise directly proceed to step 5；
During step 5. judges that elevator marches to purpose floor by current location, if there is such a period, three level electricity
Input energy of the force transducer within period bottom electric capacity when 0 rises to Udc/2 of the level more than DC bus capacitor device midpoint O
Device Cd2The variable quantity of the energy for being stored, or output energy of three level power converters within the period is more than DC bus capacitor
The level of device midpoint O lower capacitor C when 0 is down to-Udc/2d2When stored energy variable quantity；If so, step is then proceeded to
6；Otherwise proceed to step 7；
Step 6. reduces acceleration, determines it is to proceed to step 8 according to the symbol of acceleration, regenerates also according to new acceleration
Speed pattern simultaneously recalculates Q1Or Q2, until W1≥Q1Or W2≥Q2When, proceed to step 7；
Step 7. enables the fault-tolerant modulation strategy of three level power converters and three level power converters is modulated；Proceed to step 9；
Step 8. produces washout, makes elevator emergency out of service；
Step 9. terminates.
2. the elevator control method for being based on three level power converters according to claim 1, it is characterised in that：Step 5
In the period refer to that elevator carries out being moved to the random time that purpose floor passed through by current location interval, or phase
Hope that output voltage vector rotates into the random time interval passed through to the following region left in the inscribed circle：
The position of the switch place phase that open circuit fault occurs in the corresponding output level combination of small vector includes because of open circuit fault not
The level of energy output, remaining position are the output level of any one level in addition to the level that can not be exported two level
The corresponding small vector place direction of combination turns clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise and inscribed circle
Occur simultaneously.
3. the elevator control method for being based on three level power converters according to claim 1, it is characterised in that：Step 5
In input energy of three level power converters within the period refer within the period by load the level power converter direct currents of Jing tri-
The energy Q of side capacitors midpoint O injections2；Output energy of three level power converters within the period is referred at this in step 5
The energy Q flowed out by load Jing tri- level power converter DC bus capacitor device midpoint O in period1。
4. the elevator control method for being based on three level power converters according to claim 1, it is characterised in that：Step 5
In three level power converter DC bus capacitor device midpoint O level when 0 is down to-Udc/2, lower capacitor Cd2Stored energy
Variation delta W of amount1Computing formula it is as follows：
ΔW1=C0×(Udc)2/8
The level of three level power converter DC bus capacitor device midpoint O when 0 rises to Udc/2, lower capacitor Cd2To be deposited
Variation delta W of energy storage capacity2Computing formula it is as follows：
ΔW2=3 × C0×(Udc)2/8
Wherein, C0It is the parameter of the upper and lower capacitor of three level power converter DC sides, Cd1It is three level power converter DC sides
Top electric capacity, Cd2It is three level power converter direct current side lower part electric capacity, C0=Cd1=Cd2, UdcIt is three level power converter direct currents
The magnitude of voltage at side total capacitance device two ends, i.e. d-c bus voltage value.
5. the elevator control method for being based on three level power converters according to claim 1, it is characterised in that：The control
Method processed changes the speed pattern of elevator follow-up operation by the acceleration and/or normal speed in change elevator follow-up operation.
6. the elevator control method based on three level power converters according to claim 3 or 4, it is characterised in that：Step
In rapid 5, if the energy Flow direction of three level power converters is to flow to DC side electricity by the load level power converters of Jing tri-
Hold, then judge by the energy Q of load Jing tri- level power converter DC bus capacitor device midpoint O injections2Whether DC side is more than
Electric capacity may store variation delta W of energy when rising to Udc by terminal voltage Udc/22；If the energy of three level power converters
Flow direction is to be loaded by the level power converters of three-level converter DC capacitor Jing tri- flow direction, then judged by three level powers
The energy Q that changer DC bus capacitor device midpoint O flows out1Stored up when whether being down to 0 by terminal voltage Udc/2 more than DC bus capacitor
Deposit variation delta W of energy1。
7. a kind of elevator control gear for being based on three level power converters, it is characterised in that the control device includes：
Diagnosis unit：Open circuit fault diagnosis is carried out to the power switch of three level power converters；
Speed pattern signal generating unit：Generate the speed pattern needed for elevator driving controller execution elevator drive control；
Elevator driving controller：It is controlled according to the speed pattern of speed pattern signal generating unit output, output voltage
Instruction；
Range judging unit：Judge that lift car is moved to the phase of next landing period three level power converter by current location
Centered on hoping output voltage vector whether be located at by zero vector, the inscribed circle of hexagon that constituted as summit line with 6 small vectors
It is interior；
Walking direction unit：For judging the energy Flow direction between three-level converter and load；
Input/output energy calculation unit：For calculating Jing three-level converters DC bus capacitor device midpoint O injections in specific time period
Energy or by three-level converter DC bus capacitor device midpoint O flow out energy；
Capacitor energy change calculations unit：For calculating the level of DC bus capacitor device midpoint O when 0 is down to-Udc/2, under
Portion capacitor Cd2The releasable energy of institute, or the level of DC bus capacitor device midpoint O is when 0 rises to Udc/2, bottom electric capacity
Device Cd2May store the incrementss of energy；
Comparing unit：The relatively calculating of the result of calculation of input/output energy calculation unit and capacitor energy change calculations unit is tied
Magnitude relationship between fruit；
Manipulator：Three-level converter is modulated, exports open-minded for carrying out to the power switch for constituting three-level converter
With the switching signal of shut-off control.
8. the elevator control gear for being based on three level power converters according to claim 7, it is characterised in that described defeated
Enter/export energy calculation unit to determine to calculate in specific time period by three level powers according to the judged result of the walking direction unit
The energy Q that changer DC bus capacitor device midpoint O flows out1, or calculate by the load level power converter DC bus capacitors of Jing tri-
The energy Q of device midpoint O injections2。
9. elevator control gear according to claim 7, it is characterised in that the capacitor energy change calculations unit root
Determine the level for calculating three level power converter DC bus capacitor device midpoint O by 0 according to the judged result of the walking direction unit
When being down to-Udc/2, lower capacitor Cd2Variation delta W of stored energy1, or three level power converter DC bus capacitors
The level of device midpoint O when 0 rises to Udc/2, lower capacitor Cd2May store variation delta W of energy2。
10. the elevator control gear based on three level power converters according to claim 7 or 8, it is characterised in that
The specific time period refers to that elevator carries out being moved to the random time interval that purpose floor is passed through, or the phase by current location
Hope that output voltage vector rotates into the random time interval passed through to the following region left in the inscribed circle：
The position of the switch place phase that open circuit fault occurs in the corresponding output level combination of small vector includes because of open circuit fault not
The level of energy output, remaining position are the output level of any one level in addition to the level that can not be exported two level
The corresponding small vector place direction of combination turns clockwise 90 ° to 90 ° of regions for being covered of rotate counterclockwise and inscribed circle
Occur simultaneously.
11. elevator control gears for being based on three level power converters according to claim 7, it is characterised in that described
Walking direction unit is according to the torque and traffic direction of lift car actual loading or output or defeated according to elevator driving controller
The stator current command for going out or current detection value, realize the judgement to the energy Flow direction between three-level converter and load.
12. elevator control gears for being based on three level power converters according to claim 7, it is characterised in that：
When the diagnostic result of the diagnosis unit is normal, that is, when there is no open circuit fault, manipulator adopts traditional modulation strategy pair
Three-level converter is modulated, output switching signal；When the diagnostic result of the diagnosis unit is to occur open circuit fault, adjust
Device processed is modulated using faults-tolerant control strategy to three-level converter, output switching signal.
13. elevator control gears for being based on three level power converters according to claim 7, it is characterised in that described
Speed pattern signal generating unit is examined according to the purpose floor information from electric life controller, the current location of lift car, from described
The diagnostic result of disconnected unit, the judged result from the range judging unit, in the comparative result of the comparing unit
Generate the speed pattern needed for the elevator driving controller execution elevator drive control for one or more.
14. elevator control gears for being based on three level power converters according to claim 13, it is characterised in that described
Speed pattern signal generating unit is according to following law generation speed pattern：
S1. the speed pattern during car is moved to purpose floor by current location is generated in a conventional manner；
S2. when the judged result of range judging unit is to expect output voltage vector centered on by zero vector, with 6 little arrows
When measuring outside the inscribed circle for the hexagon of summit line composition, during the speed pattern signal generating unit is by changing elevator follow-up operation
Speed and/or acceleration to change elevator follow-up operation in speed pattern so that desired output voltage vector returns to the inscribe
In circle；
S3. during judging that elevator marches to purpose floor by current location, if there is such a period, three level powers become
Input energy of the parallel operation within period lower capacitor C when 0 rises to Udc/2 of the level more than DC bus capacitor device midpoint Od2
The energy variation amount for being stored, or output energy of three level power converters within the period is more than DC bus capacitor device midpoint
The level of O lower capacitor C when 0 is down to-Udc/2d2The variable quantity of stored energy；If so, and during acceleration ＞ 0, press
The speed pattern during lift car is run to purpose floor by current location is regenerated according to new acceleration；
If S4. acceleration≤0, it is zero that the speed pattern in elevator follow-up operation is set to into perseverance.
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| CN107128765A (en) * | 2017-06-13 | 2017-09-05 | 重庆市特种设备检测研究院 | One kind elevator faults fault tolerant control method and system under oppressive state |
| CN111483907A (en) * | 2020-05-22 | 2020-08-04 | 江苏埃尔法电梯有限公司 | Elevator control method and control device based on three-level power converter |
| CN112994493A (en) * | 2021-03-01 | 2021-06-18 | 山东大学 | Finite set double-vector model prediction control method and system for three-level inverter |
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| CN107128765A (en) * | 2017-06-13 | 2017-09-05 | 重庆市特种设备检测研究院 | One kind elevator faults fault tolerant control method and system under oppressive state |
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| CN112994493A (en) * | 2021-03-01 | 2021-06-18 | 山东大学 | Finite set double-vector model prediction control method and system for three-level inverter |
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