CN1126904A - 直流电梯微机控制调速装置 - Google Patents

直流电梯微机控制调速装置 Download PDF

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CN1126904A
CN1126904A CN95101056A CN95101056A CN1126904A CN 1126904 A CN1126904 A CN 1126904A CN 95101056 A CN95101056 A CN 95101056A CN 95101056 A CN95101056 A CN 95101056A CN 1126904 A CN1126904 A CN 1126904A
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elevator
circuit
pwm
speed
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CN1037055C (zh
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孙文林
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Priority to EP96900499A priority patent/EP0803969A4/en
Priority to US08/860,201 priority patent/US5932979A/en
Priority to PCT/CN1996/000003 priority patent/WO1996021967A1/zh
Priority to AU44295/96A priority patent/AU4429596A/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

一种直流电梯微机控制调速装置，它由自关断电力电子器件进行PWM斩波调压，单片微机进行***控制，键盘显示器设置运行参数，显示运行状态。具有体积小、节能、调试方便、舒适感好、运行效率高、功率因数高等特点，是老式发电机-电动机组控制***的理想换代产品。

Description

直流电梯微机控制的调速装置
本发明涉及一种用于直流电梯调速的微机控制PWM调速装置。
现有技术的直流电梯调速***，主要有二种：
一是用可控硅励磁的发电机-电动机组调速***。
二是可控硅直接供电的可控硅-电动机调速***。
第一种有能耗高、机房占地多、噪声大、反应速度慢、造价高的弱点。由于未用微机控制，减速段只好采用时间原则，爬行停靠，造成平层效率低，调整困难。
第二种在工业领域早已大量应用，但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。
针对现有技术的不足，本发明提出一种由微机控制的PWM斩波调压调速装置。它采用单片微机产生加速曲线、减速曲线、调节运行过程、控制运行状态。由光电码盘产生测速及测距脉冲，用键盘设置调节参数。用现代自关断电力电子器件完成脉冲调宽调制斩波调压的直流电梯微机控制PWM调速装置。
由于采用电力功率模块和单片微计算机并做在一个壳体，所以体积小重量轻，斩波频率达几千赫到几十千赫，所以调速过程平稳，电流及转矩脉动小；由于电源侧采用二极管整流滤波，所以功率因数高，对电网干扰小，供电容量小；由于它是一种静止型调速***，所以噪声小，其转换效率在95％以上，比同功率的发电机-电动机组节能40％以上；由于采用微型计算机进行控制，其加速过程采用时间原则，减速过程采用距离原则，实现了电梯减速过程的直接平层，比传统的直流电梯提高了运行效率；加减速过程采取参数自适应，提高了平层精度和舒适感；用本装置自带的键盘显示器就可以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；对斩波调压开关器件采用检测集电极电压和霍尔电流传感器检测直流母线电流的双重作用，并在短路时驱动电路采取一种相对慢的关断方式，以免产生过大的电流和电压变化率，使开关器件工作于安全工作区，以免损坏器件；本装置具有故障记性功能，防止在故障情况下工作，并将故障状态由显示器显示出来，在负载过载及短路时不损坏开关器件、无励磁、散热器过热、电网欠压、制动过电压时也停止工作，防止事故发生。
本发明的原理及具体实施例通过如下附图进行说明：
图1：本发明的***原理框图
图2：本发明的实施例电原理图
参考图1：本发明主要由整流滤波部件(1)、泵升电压抑制部件(2)、斩波调压部件(3)、微机***控制部件(4)、键盘显示部件(5)、驱动保护部件(6)组成。
其中(1)将交流电源整流成直流、并具有抑制滤波电容浪涌充电电路；(2)用于防止制动过程中滤波电容二端电压过高；(3)由自关断的IGBT或GTR等组成可工作在电动与制动状态的T型或H型斩波调压电路，由于其工作频率是交流电源频率的几十到几百倍，所以具有反应速度快，转矩波动小，电流连续易控制的特点；微机***控制部件(4)是本装置的控制中心，它由微机和其他附属电路组成它主要由中央处理器、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、运算放大器等组成。用来产生加速曲线、减速曲线、PWM脉冲调宽信号、测量并调节电梯速度、检测控制本装置的状态，与电梯逻辑控制部分联络等；(5)是键盘显示器，它由数码管、发光二极管、8279接口电路和按键组成。用来修改设置参数、显示工作状态、设置的参数放在微机***控制部件(4)中的EEPROM中；(6)是驱动保护电路，它采用专用的驱动保护模块，用来驱动斩波调压开关，在故障时保护开关不损坏。
参考图2：D1是三相整流桥，R1是防止开机电流冲击的限流电阻，S1是工作时的短接可控硅，C1、C2是滤波电容，它们组成整流滤波部件；R2是无感的能耗制动电阻，N3是能耗制动开关管，可采用GTR或IGBT，它们组成泵升电压抑制部件；N1、N2是IGBT开关管，这里采用能工作在电动与制动状态的T型开关电路，它与吸收电路组成斩波调压部件；电梯的方向由外部接触器切换。U1是将中央处理器、程序存储器、数据存储器、定时器、I/O接口、A/D转换器、D/A转换器等集于一体的1 6位单片机Inte18798，U2是保存设置参数的I2C总线EEPROM，-B1—B9是具有光电隔离作用的放大器，用来放大信号并将主电路与控制部分电隔离，它们组成微机***控制部件；K是键盘显示器，它由接口芯片Inte18279、数码管和按键组成。A1、A2是专用驱动模块，如富士电机公司生产的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U1，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，A1、A2、D1、D2组成了驱动保护电路；E1、E2是霍尔电流传感器，其中E1主要用于N1、N2直通，负载短路、接地等保护。E2主要用于电流调节和电流限制，它们都送入8798进行A/D转换。M是直流电动机。BM是于电动机同轴的光电编码器，产生转速信号和测距脉冲。DC是本装置的控制电源。
控制过程如下：接通电源时，由R1给C1、C2充电，几百毫秒后U1产生触发信号经B4隔离放大使S1导通。C1、C2两端的电压由B1线性隔离放大经U1作A/D转换，作为判定欠压、过压的依据，在电压达到能耗制动点时，U1产生能耗脉冲经B2隔离放大驱动N3进行能耗制动。E2测得的电流经A/D转换作为电流环的反馈信号，BM产生的测速脉冲以中断方式计数，并用M/T法测电机转速。
速度给定由U1用软件生成，加速过程采取时间原则，即每一时间增量产生一个相应的速度给定值。减速过程采取距离原则，即电梯每运动一段距离产生一个相应的速度给定值。加速、减速过程是一个抛物—直线—抛物的S形曲线，能做到运动过程加速度、加速度变化量、速度、运行效率的优化。转速调节器、电流调节器是由U1用软件实现的自适应PI或PID调节器。B5—B9是光电隔离放大器，用来与电梯逻辑控制部分联络。本发明的工作过程如下：当本装置接收到逻辑控制部分发来的启动信号后，给出应答信号同时单片微机按时间原则产生加速曲线，微机***控制部件(4)接收光码盘发来的电脉冲，由此计算出此时的电梯的速度值，并按其与加速曲线的速度差进行调节，使电梯按照加速曲线变化，速度调节器是由单片机由软件实现的，它具有参数自适应功能，速度调节器的输出作为电流调节器的给定；由霍尔电流传感器测得的电枢电流作为电流反馈信号送入电流调节器进行调节，以提高调速***的快速性，同时减小电网等对速度的影响，电流调节器的限流作用可防止过流。电流调节器可由软件或运算放大器组成。电流调节器的输出决定了PWM信号的占宽比，即决定了斩波调压电路输出到直流电动机电枢上的电压。当接收到减速信号时，微机***控制部件(4)将开始累计减速距离，并求出此时的速度值送入速度调节器进行速度调节，其过程与加速时同，当电梯严格按照减速曲线运行到平层位置时，其速度正好是零，将发出零速信号给电梯逻辑控制部分。由于本装置的调速比大，它还具有微再平层功能。如果运行过程中出现电网电压过高，欠压，缺相，无励磁或本装置自身过热，过流，自检错误及负载过流，短路时将发出故障信号给电梯逻辑控制部分，同时停止运行并将故障原因由显示器显示出来。

Claims (6)

1、一种直流电梯微机控制PWM调速装置，其特征在于用PWM斩波调压部件(3)调节拖动直流电动机的电枢电压，微型计算机控制部件(4)进行***的调节与控制，驱动保护部件(7)驱动斩波调压开关，并在负载过流及短路时保护其不损坏。
2、按权利要求1所述的装置，其特征在于所说的PWM斩波调压部件(3)由自关断的电力电子器件如IGBT、GTR等接成能在电动与制动状态工作的T型或H型开关电路。
3、按权利要求1所述的装置，其特征在于所说的微型计算机控制部件(4)由中央处理器、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、接口电路及相关的其他电子器件组成。
4、按权利要求1所述的装置，其特征在于所说的微型计算机控制部件(4)接有键盘显示器(5)。
5、按权利要求1所述的装置，其特征在于所说的驱动保护电路(7)是通过检测斩波开关器件的集电极电压和霍尔电流传感器检测直流母线电流的双重作用来实现的，并采用慢关断方式使开关器件工作在安全区。
6、按权利要求3所述的装置，其特征在于所说的程序存储器中存有按时间原则的加速曲线和按距离原则直接平层的减速曲线。
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)

Priority Applications (5)

Application Number Priority Date Filing Date Title
CN95101056A CN1037055C (zh) 1995-01-12 1995-01-12 直流电梯微机控制的调速装置
EP96900499A EP0803969A4 (en) 1995-01-12 1996-01-12 PULSE WIDTH MODULATED SPEED CONTROL DEVICE FOR A DC LIFT
US08/860,201 US5932979A (en) 1995-01-12 1996-01-12 PWM speed-control apparatus for elevators
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
AU44295/96A AU4429596A (en) 1995-01-12 1996-01-12 Pwm speed regulating apparatus for a dc elevator

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CN95101056A CN1037055C (zh) 1995-01-12 1995-01-12 直流电梯微机控制的调速装置

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CN1126904A true CN1126904A (zh) 1996-07-17
CN1037055C CN1037055C (zh) 1998-01-14

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US (1) US5932979A (zh)
EP (1) EP0803969A4 (zh)
CN (1) CN1037055C (zh)
AU (1) AU4429596A (zh)
WO (1) WO1996021967A1 (zh)

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CN102590607A (zh) * 2012-03-13 2012-07-18 中国矿业大学 一种电机端过电压估测方法
CN109205431A (zh) * 2017-07-03 2019-01-15 蒂森克虏伯电梯（上海）有限公司 电梯安全驱动***
CN110739901A (zh) * 2019-10-08 2020-01-31 郑州大学 一种高可靠性无刷直流电机驱动及无位置控制***

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AU4429596A (en) 1996-07-31
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