本发明的实施方式Embodiments of the invention
为了便于理解本发明,下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的典型实施例。但是,本发明可以以许多不同的形式来实现,并不限于本文所描述的实施例。相反地,提供这些实施例的目的是使对本发明的公开内容更加透彻全面。In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Exemplary embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
除非另有定义,本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的,不是旨在于限制本发明。Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the present invention is only for the purpose of describing specific embodiments, and is not intended to limit the present invention.
参见图1,是本发明实施例中电梯运行原理的示意图。其中,三相电源输出的交流电源经过整流模块整流后转换为直流电源经由强电直流母线输出至逆变模块,由所述逆变模块将所述直流转换为电压可调的交流电源,以控制电机转速,通过所述电机带动电梯的升降。所述控制器一方面控制逆变模块以控制电机工作,另一方面控制电梯运行的其他方面,例如控制抱闸等。Referring to FIG. 1, it is a schematic diagram of an elevator operation principle in an embodiment of the present invention. Wherein, the AC power output from the three-phase power is converted into DC power after being rectified by the rectifier module, and then output to the inverter module via the strong DC bus. The inverter module converts the DC power to an AC power source with adjustable voltage for control. The speed of the motor drives the lift of the elevator through the motor. The controller controls the inverter module to control the motor on the one hand, and controls other aspects of the elevator operation, such as controlling the brakes.
本发明总的思路是:首先,若检测到输入电源不可用,供电来源从所述输入电源切换为备份电源,将电机切入短接状态,并使轿厢进入溜车状态;然后,在所述轿厢进入溜车状态预设时间后,撤除所述电机的短接状态,对电机进行开环控制,使逆变模块按照预设策略向所述电机输出电压;其中,所述电机在接收到所述逆变模块输出的电压后,利用溜车产生的能量对所述强电直流母线上的储能件进行充电 ;再然后,在检测到所述电机运行达到预设稳态时,对所述电机进行闭环控制,使所述电机转速达到预设救援速度,并按照所述预设救援速度运行;最后,若检测到所述轿厢运行到距离平层位置预设距离,则基于闭环控制将电机转速降至零后悬停,再停止溜车使所述轿厢停止在平层位置,并打开轿厢门。The general idea of the present invention is: first, if it is detected that the input power source is unavailable, the power source is switched from the input power source to the backup power source, the motor is switched into a short-circuit state, and the car enters a rolling state; After the car enters the rolling state for a preset time, the short-circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs voltage to the motor according to a preset strategy; wherein the motor is receiving After the voltage output by the inverter module, use the energy generated by the trolley to charge the energy storage parts on the high-current DC bus; then, when it is detected that the motor operation reaches a preset steady state, The motor performs closed-loop control so that the motor speed reaches a preset rescue speed and runs at the preset rescue speed; finally, if it is detected that the car has traveled to a preset distance from the leveling position, it is based on closed-loop control Hover after reducing the motor speed to zero, and then stop the car to stop the car at the leveling position, and open the car door.
为了更好的理解上述技术方案,下面将结合说明书附图以及具体的实施方式对上述技术方案进行详细的说明,应当理解本发明实施例以及实施例中的具体特征是对本申请技术方案的详细的说明,而不是对本申请技术方案的限定,在不冲突的情况下,本发明实施例以及实施例中的技术特征可以相互组合。In order to better understand the above technical solution, the above technical solution will be described in detail with reference to the accompanying drawings and specific implementations of the specification. It should be understood that the embodiments of the present invention and specific features in the embodiments are detailed descriptions of the technical solutions of the present application. The description is not a limitation on the technical solutions of the present application. In the case of no conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.
实施例一Example one
参考图2,是本发明实施例一提供的电梯救援方法,该方法的执行主体为图1中的控制器,该方法的实现流程详述如下:Reference is made to FIG. 2, which is an elevator rescue method provided by Embodiment 1 of the present invention. The execution main body of the method is the controller in FIG. 1. The implementation process of the method is detailed as follows:
S101、若检测到输入电源不可用,则供电来源从所述输入电源切换为备份电源,将电机切入短接状态,将电机切入短接状态,并使轿厢进入溜车状态。S101. If it is detected that the input power source is unavailable, the power source is switched from the input power source to the backup power source, the motor is switched into the short-circuited state, the motor is switched into the short-circuited state, and the car enters the rolling state.
将电机切入短接状态,即进入封星状态。例如,可以通过关断与电机连接的逆变模块的所有上管,同时开通逆变模块中的所有下管,实现电子封星。Switch the motor into the short circuit state, that is, enter the star-sealed state. For example, electronic shutdown can be achieved by shutting down all upper tubes of the inverter module connected to the motor and turning on all lower tubes of the inverter module at the same time.
本实施例的方法步骤可以由图1中的控制器配合其他的电梯运行相关的设备(比如逆变模块、抱闸等)实现,所以输入电源不可用时,需要保证给控制器以及其他的电梯运行相关的设备的供电。为此,本实施例中,在输入电源可用时,备份电源以及电梯运行相关的设备从强电直流母线进行降压取电以充电或工作;在输入电源不可用时,供电来源从所述输入电源切换为备份电源,因此电梯运行相关的设备分别从备份电源取电以工作。例如,电梯***中一般设置有弱电直流母线,弱电直流母线在紧急救援时由备份电源直接供电,备份电源在输入电源可用时由强电直流母线充电,如此,只要电梯***恢复正常运行一段时间,就可以确保下次救援时备份电源具备充足的电量。The method steps of this embodiment can be implemented by the controller in FIG. 1 in cooperation with other elevator operation related equipment (such as inverter modules, brakes, etc.), so when the input power is unavailable, the controller and other elevator operations need to be guaranteed. Power supply of related equipment. For this reason, in this embodiment, when the input power is available, the backup power supply and the equipment related to the operation of the elevator step down to take power from the strong DC bus to charge or work; when the input power is not available, the power source is sourced from the input power. Switch to backup power, so the equipment related to the operation of the elevator draws power from the backup power to work. For example, an elevator system is generally provided with a weak current DC bus, which is directly powered by a backup power source during emergency rescue, and the backup power source is charged by a strong current DC bus when the input power is available. As long as the elevator system resumes normal operation for a period of time, This will ensure that the backup power supply has sufficient power for the next rescue.
S102、在所述轿厢进入溜车状态预设时间后,撤除所述电机的短接状态,对电机进行开环控制,使逆变模块按照预设策略向所述电机输出电压。其中,所述电机在接收到所述逆变模块输出的电压后,利用溜车产生的能量对所述强电直流母线上的储能件进行充电。S102. After the car enters the rolling state for a preset time, the short-circuit state of the motor is removed, and the motor is subjected to open-loop control, so that the inverter module outputs a voltage to the motor according to a preset strategy. Wherein, after receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the high-current DC bus.
具体的,可以控制逆变模块输出的电压使得电机的功率为负功率(比如控制逆变模块输出的电压的方向与电机电流的方向相反,即可使得电机的功率为负功率),电机的功率为负功率即意味着电机在溜车时产生的能量传递至强电直流母线。Specifically, the voltage output by the inverter module can be controlled so that the power of the motor is negative power (for example, the direction of the voltage output by the inverter module is opposite to the direction of the motor current, so that the power of the motor is negative power). The power of the motor Negative power means that the energy generated by the motor when it is rolling is transferred to the strong electric DC bus.
S103、在检测到所述电机运行达到预设稳态时,对所述电机进行闭环控制,使所述电机转速达到预设救援速度,并按照所述预设救援速度运行。S103. When it is detected that the operation of the motor reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed.
由于步骤S102中电机向强电直流母线的储能件充电会提升强电直流母线的输出电压,所以在该步骤切换到闭环控制时可以保证平稳切换,因为如果强电直流母线没有足够的输出电压,直接切入闭环控制,很可能因为母线电压太小而导致控制器输出量饱和,而导致失控。Since the motor charges the energy storage components of the high-voltage DC bus in step S102, the output voltage of the high-voltage DC bus will be increased. Therefore, when switching to closed-loop control in this step, smooth switching can be guaranteed because if the high-voltage DC bus does not have sufficient output voltage Directly cut into the closed-loop control, it is very likely that the output of the controller is saturated because the bus voltage is too small, which leads to loss of control.
S104、若检测到所述轿厢运行到距离平层位置预设距离,则基于闭环控制将电机转速降至零后悬停,再停止溜车使所述轿厢停止在平层位置,并打开轿厢门。S104. If it is detected that the car runs to a preset distance from the leveling position, the motor is hovered after the motor speed is reduced to zero based on closed-loop control, and then the trolley is stopped to stop the car at the leveling position and open. Car door.
本实施例在进入溜车状态前先将电机切入短接状态,以一个较小的速度启动溜车,保证轿厢不会迅速加速,使救援运行时提高了启动的平稳性和安全性;之后先开环控制再闭环控制,通过开环控制向电机注入负电压,从而可以使电机向强电直流母线充电,提升强电直流母线电压,因此可以保证闭环控制的平稳切换;通过闭环控制,使得电机在返平层的过程中,运行更为平稳,而且停车时,可以基于闭环控制将电机转速快速降至趋于零,不会有直接抱闸时所产生的的顿挫感,提升救援过程的舒适性和平稳度,总之,本发明无需配置UPS或ARD,硬件成本低,使电梯能够在输入电源不可用、且直流母线电压降至很低甚至为零时,实现平稳的启动、返平层和停车控制。In this embodiment, the motor is switched into the short-circuited state before entering the trolley state, and the trolley is started at a small speed to ensure that the car does not accelerate quickly, so that the start-up stability and safety are improved during rescue operation; Open-loop control first and then closed-loop control. By injecting negative voltage into the motor through open-loop control, the motor can be charged to the high-current DC bus and the voltage of the high-current DC bus can be increased. Therefore, the closed-loop control can be smoothly switched; During the return to leveling, the motor runs more smoothly, and when stopped, the motor speed can be quickly reduced to zero based on closed-loop control. There will be no frustration caused by the direct brake, which will improve the rescue process. Comfort and smoothness. In short, the present invention does not need to be equipped with UPS or ARD, and the hardware cost is low, so that the elevator can achieve smooth start-up and return to leveling when the input power is unavailable and the DC bus voltage is reduced to very low or even zero. And parking control.
实施例二Example two
在输入电源可用时,备份电源(例如蓄电池)以及电梯运行相关的设备(例如逆变模块、抱闸、控制器等)从强电直流母线进行降压取电以充电或工作。一旦到输入电源不可用,电梯首先会报故障停梯,电机此时就静止下来,直到有维护人员,或顶层控制软件自动控制,启动本实施例的如图3所示的以下救援过程,同理该方法的执行主体为图1 中的控制器:When the input power is available, the backup power supply (such as the battery) and elevator-related equipment (such as inverter modules, brakes, controllers, etc.) are stepped down from the strong DC bus to charge or work. Once the input power is unavailable, the elevator will report the fault and stop the elevator first, and the motor will stop at this time until it is automatically controlled by the maintenance personnel or the top-level control software to start the following rescue process shown in Figure 3 in this embodiment. The execution body of this method is the controller in Figure 1:
S201、控制供电来源从所述输入电源切换为备份电源,电梯运行相关的设备分别从备份电源取电以工作。此可以通过控制器控制弱电直流母线的输入切换到备份电源实现。S201. The control power source is switched from the input power source to the backup power source, and equipment related to the operation of the elevator takes power from the backup power source to work. This can be achieved by the controller controlling the input of the weak current DC bus to switch to the backup power supply.
S202、检查是否满足救援条件,若是,进入步骤S203,否则,关闭抱闸,封锁逆变模块的输出,等待人工救援。S202. Check whether the rescue conditions are met. If yes, go to step S203; otherwise, close the brake, block the output of the inverter module, and wait for manual rescue.
所述救援条件为备份电源的供电状态稳定且与电机连接的逆变模块无故障。此处,所谓备份电源的供电状态稳定,是指备份电源输出的电压在其正常的工作范围之内。The rescue condition is that the power supply state of the backup power source is stable and the inverter module connected to the motor is faultless. Here, the so-called stable power supply status of the backup power supply means that the voltage output by the backup power supply is within its normal operating range.
S203、经由逆变模块将电机切入短接状态。例如,关断所述逆变模块中的所有上管,同时开通所述逆变模块中的所有下管,其中,所述上管和下管为绝缘栅双极型晶体管IGBT。S203. The motor is switched into a short-circuit state via the inverter module. For example, all the upper tubes in the inverter module are turned off, and all the lower tubes in the inverter module are turned on at the same time, wherein the upper tube and the lower tube are insulated gate bipolar transistor IGBTs.
S204、松开抱闸,使轿厢进入溜车状态。此可以由控制器控制抱闸接触器吸合实现。S204. Release the holding brake to make the car enter a rolling state. This can be achieved by the controller controlling the holding of the brake contactor.
S205、在所述轿厢进入溜车状态预设时间后,撤除所述电机的短接状态,对电机进行开环控制,使逆变模块按照预设策略向所述电机输出电压;其中,所述电机在接收到所述逆变模块输出的电压后,利用溜车产生的能量对所述强电直流母线上的储能件进行充电 。S205. After the car enters the rolling state for a preset time, remove the short circuit state of the motor, and perform open-loop control on the motor, so that the inverter module outputs voltage to the motor according to a preset strategy; After receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the strong DC bus.
优选的,控制所述逆变模块向所述电机q轴注入电压量uq,向电机d轴注入电压量ud;其中,所述电压量ud为0;当强电直流母线所能输出的最大电压Umax小于αRsIq时,电压量uq为-Umax;当Umax大于或等于αRsIq时,电压量uq 为 –αRsIq;其中, Rs为电机定子电阻,Iq为实时检测到的电机三相电流的q轴分量,α为系数。优选为小于0.5。Preferably, the inverter module is controlled to inject a voltage amount uq to the motor q-axis and a voltage amount ud to the d-axis of the motor; wherein the voltage amount ud is 0; the maximum voltage that can be output when the high-voltage DC bus is output When Umax is less than αRsIq, the voltage amount uq is -Umax; when Umax is greater than or equal to αRsIq, the voltage amount uq is -αRsIq; where Rs is the motor stator resistance and Iq is the q-axis component of the three-phase current of the motor detected in real time, α is a coefficient. It is preferably less than 0.5.
S206、在检测到所述电机运行达到预设稳态时,对所述电机进行闭环控制,使所述电机转速达到预设救援速度,并按照所述预设救援速度运行。S206. When it is detected that the motor operation reaches a preset steady state, perform closed-loop control on the motor, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed.
由于电机溜车时,转子永磁体旋转,在电机定子绕组中产生反电势,输出至电机的电压量uq的共同作用下,在定子绕组中产生电流,此电流所形成的的转矩能阻碍电机溜车的速度继续增大。当电机溜车速度越大,则反电势越大,产生的定子电流和转矩也越大,就能让溜车的加速度减小甚至减速,最终定子转矩与重力达到平衡,电机运行达到所述预设稳态,所述预设稳态是指电机转速和电流维持稳定,所谓稳定,是指转速和电流的波动在误差范围内。上述的α越大,则达到稳态时的电机转速越大。当电机转速和电流维持稳定后,可以选择对电机进行闭环控制,具体包括:When the motor rolls, the rotor permanent magnets rotate, generating a back-EMF in the stator windings of the motor, and the combined output of the voltage uq to the motor generates a current in the stator winding. The torque formed by this current can hinder the motor The speed of the trolley continues to increase. When the speed of the motor trolley is larger, the back-EMF is larger, and the stator current and torque generated are larger. The acceleration of the trolley can be reduced or even decelerated. In the end, the stator torque and gravity reach a balance, and the motor operation reaches the desired level. The preset steady state is described, which means that the speed and current of the motor remain stable. The so-called stable means that the fluctuation of the speed and current is within the error range. The larger the above-mentioned α, the larger the motor rotation speed when the steady state is reached. After the motor speed and current remain stable, you can choose to perform closed-loop control of the motor, including:
S2061、当电机转速和电流维持稳定后,,将电机从开环控制切换到闭环控制,并在切换时按照电机当前的速度、电流以及开环控制时所述逆变模块的输出对闭环控制所基于的速度闭环、矩电流闭环、励磁电流闭环进行初始化,具体包括以下三方面:S2061: After the motor speed and current remain stable, switch the motor from open-loop control to closed-loop control, and switch to the closed-loop control station according to the current speed and current of the motor and the output of the inverter module during open-loop control when switching. Initialization is based on speed closed-loop, moment current closed-loop, and excitation current closed-loop, including the following three aspects:
一是:将所述速度闭环的给定值设定为切入瞬间的电机反馈的转速值,同时将所述速度闭环的输出值设定为切入瞬间的q轴力矩电流。One is to set the given value of the speed closed loop as the rotation speed value of the motor feedback at the moment of cut-in, and at the same time set the output value of the speed closed-loop to the q-axis torque current at the moment of cut-in.
二是:将所述力矩电流闭环的给定值设定为切入瞬间的q轴力矩电流,同时将所述力矩电流闭环的输出值设定为开环控制时逆变模块最后一次输出至电机q轴的电压量uq。The second is to set the given value of the torque current closed loop as the q-axis torque current at the moment of cut-in, and at the same time set the output value of the torque current closed loop to the last time the inverter module outputs to the motor q during open loop control. Voltage uq of the shaft.
三是:将所述励磁电流闭环的给定值设定为切入瞬间的d轴励磁电流,同时将所述励磁电流闭环的输出值设定为开环控制时逆变模块最后一次输出至电机d轴的电压量ud。The third is: setting the given value of the excitation current closed loop to the d-axis excitation current at the moment of cut-in, and at the same time setting the output value of the excitation current closed loop to the last output of the inverter module to the motor during open loop control. The amount of voltage on the shaft, ud.
如此,切入闭环控制时,可以让闭环控制的设定值和输出值与实际运行状况的准确匹配,实现开环到闭环的无缝切换。In this way, when switching into the closed-loop control, the set value and output value of the closed-loop control can be accurately matched with the actual operating conditions, and a seamless switch from open-loop to closed-loop can be achieved.
S2062、将所述速度闭环的给定值提升至所述预设救援速度,所述力矩电流闭环的给定值设定为所述速度闭环的输出值,将所述励磁电流闭环的给定值降低至零。S2062. The given value of the speed closed loop is increased to the preset rescue speed, the given value of the torque current closed loop is set to the output value of the speed closed loop, and the given value of the excitation current closed loop is set. Reduced to zero.
此处,提升至所述预设救援速度以及降低至零,可以是按照一个既定曲线提升或降低,也可以是按照某个斜率变化,对此并不做限制,只要保证在整个趋势是提升或降低的即可。Here, the increase to the preset rescue speed and the decrease to zero may be increased or decreased according to a predetermined curve, or may be changed according to a certain slope. There is no limitation on this, as long as it is ensured that the entire trend is increased or decreased. Just lower it.
当速度闭环的给定值提升至所述救援速度时,则在闭环控制下,最终电机转速和电流将趋于稳定。When the given value of the speed closed loop is increased to the rescue speed, then under closed loop control, the final motor speed and current will tend to stabilize.
S207、若检测到所述轿厢运行到距离平层位置预设距离,则基于闭环控制将电机转速降至零后悬停,再停止溜车使所述轿厢停止在平层位置,并打开轿厢门。S207. If it is detected that the car runs to a preset distance from the leveling position, the motor is hovered after the motor speed is reduced to zero based on closed-loop control, and then the trolley is stopped to stop the car at the leveling position and open. Car door.
具体的:在溜车的过程中,如果检测到门区或平层信号,则判断轿厢距离平层位置预设距离,将速度闭环的给定值修改为零,在所述电机反馈的转速值为零时,关闭抱闸以停止溜车使所述轿厢停止在平层位置,打开所述轿厢门。Specifically: In the process of rolling, if a door zone or leveling signal is detected, the preset distance of the car from the leveling position is judged, the given value of the speed closed loop is modified to zero, and the rotational speed fed back by the motor When the value is zero, the brake is closed to stop the trolley to stop the car in the leveling position, and the car door is opened.
优选的,在上述步骤S201-S207溜车的过程中,如果出现强电直流母线的电压高于制动电路启动电压,则启动制动回路,通过制动回路中的制动电阻吸收过高的电压。Preferably, during the above steps S201-S207, if the voltage of the strong electric DC bus is higher than the starting voltage of the braking circuit, the braking circuit is started, and the excessively high Voltage.
进一步优选的,控制器一般可以分解为变频控制器和电梯控制器,变频控制器与图1中的逆变模块、整流模块共同组成通常意义上的变频器,在上述步骤S201-S207的溜车过程中,如果检测到变频器的运行环境出现故障,则关闭抱闸,封锁输出给所述逆变模块的脉冲宽度调制信号PWM,并上报相关故障信息。Further preferably, the controller may be generally decomposed into a frequency conversion controller and an elevator controller, and the frequency conversion controller and the inverter module and the rectifier module in FIG. 1 together constitute a frequency converter in a general sense. In the above steps S201-S207, the trolley In the process, if a failure of the operating environment of the inverter is detected, the holding brake is closed, the pulse width modulation signal PWM output to the inverter module is blocked, and related fault information is reported.
更进一步的,在上述步骤S201-S207的溜车过程中,出现任何影响电机运行的故障时,判断进入溜车状态的次数是否超过预设溜车次数,比如三次,如果是,则关闭抱闸,封锁与电机连接的逆变模块中所有上管和下管,等待救援; 否则,将电机切入短接状态,重新使轿厢进入溜车状态。Furthermore, in the rolling process of the above steps S201-S207, if there is any fault affecting the operation of the motor, it is determined whether the number of times of entering the rolling state exceeds the preset rolling times, such as three times, and if so, the brake is closed. , Block all the upper and lower tubes in the inverter module connected to the motor and wait for rescue; otherwise, cut the motor into the short-circuited state and re-enter the car into the trolley state.
实施例三Example three
参考图4,基于同一发明构思,本实施例公开了一种控制器,包括:Referring to FIG. 4, based on the same inventive concept, this embodiment discloses a controller, including:
溜车控制单元,用于在检测到输入电源不可用时,控制供电来源从所述输入电源切换为备份电源,将电机切入短接状态,并使轿厢进入溜车状态;The trolley control unit is configured to control the power source to switch from the input power source to the backup power source when the input power source is unavailable, switch the motor into the short circuit state, and make the car enter the trolley state;
开环控制单元,用于在所述轿厢进入溜车状态预设时间后,撤除所述电机的短接状态,对电机进行开环控制,使逆变模块按照预设策略向所述电机输出电压;其中,所述电机在接收到所述逆变模块输出的电压后,利用溜车产生的能量对强电直流母线上的储能件进行充电;An open-loop control unit is configured to remove the short-circuit state of the motor after the car enters the rolling state for a preset time, and perform open-loop control on the motor to enable the inverter module to output to the motor according to a preset strategy. Voltage; wherein after receiving the voltage output by the inverter module, the motor uses the energy generated by the trolley to charge the energy storage components on the strong electric DC bus;
闭环控制单元,用于在检测到所述电机运行达到预设稳态时,对所述电机进行闭环控制,使所述电机转速达到预设救援速度,并按照所述预设救援速度运行;A closed-loop control unit configured to perform closed-loop control on the motor when it is detected that the motor reaches a preset steady state, so that the rotation speed of the motor reaches a preset rescue speed, and operate at the preset rescue speed;
制动控制单元,用于在检测到所述轿厢运行到距离平层位置预设距离时,基于闭环控制将电机转速降至零后悬停,再停止溜车使所述轿厢停止在平层位置,并打开轿厢门。A brake control unit is configured to, when detecting that the car has run to a preset distance from the leveling position, reduce the motor speed to zero based on closed-loop control and hover, and then stop the car to stop the car from leveling Floor position and open the car door.
其中,所述开环控制单元具体包括强电直流母线充电单元,用于控制所述逆变模块向所述电机q轴注入电压量uq,向电机d轴注入电压量ud;其中,所述电压量ud为0;当强电直流母线所能输出的最大电压小于αRsIq时,电压量uq为强电直流母线所能输出的最大电压;当强电直流母线所能输出的最大电压大于或等于αRsIq时,电压量uq 为 –αRsIq;其中, Rs为电机定子电阻,Iq为实时检测到的电机三相电流的q轴分量,α为系数。The open-loop control unit specifically includes a high-current DC bus charging unit for controlling the inverter module to inject a voltage amount uq to the motor q-axis and a voltage amount ud to the motor d-axis; wherein the voltage The quantity ud is 0; when the maximum voltage that can be output by the strong DC bus is less than αRsIq, the voltage quantity uq is the maximum voltage that can be output by the strong DC bus; when the maximum voltage that the strong DC bus can output is greater than or equal to αRsIq When the voltage uq is –αRsIq; where Rs is the motor stator resistance, Iq is the q-axis component of the three-phase current of the motor detected in real time, and α is the coefficient.
其中,所述闭环控制单元包括:The closed-loop control unit includes:
切换单元,用于当电机转速和电流维持稳定后,将电机从开环控制切换到闭环控制,并在切换时按照电机当前的速度、电流以及开环控制时所述逆变模块的输出对闭环控制所基于的速度闭环、矩电流闭环、励磁电流闭环进行初始化;A switching unit is used to switch the motor from open-loop control to closed-loop control after the motor speed and current remain stable, and to switch the closed-loop according to the current speed, current, and output of the inverter module during the switch when switching Initialize the closed loop of speed, closed loop of moment current and closed loop of exciting current based on the control;
调整单元,用于将所述速度闭环的给定值提升至所述预设救援速度,所述力矩电流闭环的给定值设定为所述速度闭环的输出值,将所述励磁电流闭环的给定值降低至零。An adjusting unit is configured to increase the given value of the speed closed loop to the preset rescue speed, set the given value of the torque current closed loop to the output value of the speed closed loop, and set the excitation current closed loop to The setpoint is reduced to zero.
更进一步地,所述切换单元包括:Further, the switching unit includes:
速度闭环初始化单元,用于将所述速度闭环的给定值设定为切入瞬间的电机反馈的转速值,同时将所述速度闭环的输出值设定为切入瞬间的q轴力矩电流;A speed closed-loop initialization unit, configured to set the given value of the speed closed-loop to the rotation speed value of the motor feedback at the moment of cut-in, and set the output value of the speed closed-loop to the q-axis torque current at the moment of cut-in;
力矩电流闭环初始化单元,用于将所述力矩电流闭环的给定值设定为切入瞬间的q轴力矩电流,同时将所述力矩电流闭环的输出值设定为开环控制时逆变模块最后一次输出至电机q轴的电压量uq;The torque current closed-loop initialization unit is configured to set the given value of the closed-loop of the torque current to the q-axis torque current at the moment of cut-in, and set the output value of the closed-loop of the torque current to the last of the inverter module during open-loop control. The amount of voltage uq output to the q-axis of the motor at one time;
励磁电流闭环初始化单元,用于将所述励磁电流闭环的给定值设定为切入瞬间的d轴励磁电流,同时将所述励磁电流闭环的输出值设定为开环控制时逆变模块最后一次输出至电机d轴的电压量ud。 The exciting current closed-loop initialization unit is used to set the given value of the exciting current closed-loop as the d-axis exciting current at the moment of cut-in, and at the same time set the output value of the exciting current closed-loop to the last of the inverter module during open-loop control. The amount of voltage ud output to the d-axis of the motor at a time.
其中,所述制动控制单元具体包括:The brake control unit includes:
降速单元,用于中检测到门区或平层信号时,则将所述速度闭环的给定值修改为零;The speed reduction unit is configured to modify the given value of the speed closed loop to zero when a gate zone or leveling signal is detected;
抱闸及门控单元,用于在所述电机反馈的转速值为零时,关闭抱闸以停止溜车使所述轿厢停止在平层位置,打开所述轿厢门。A brake and a gate control unit are used to close the brake to stop the car from stopping when the speed value of the motor feedback is zero to stop the car at the level position, and open the car door.
其他详细内容可参考实施例一和实施例二,此处不再赘述。For other details, refer to the first embodiment and the second embodiment, and details are not described herein again.
需要说的是,上述描述涉及各种模块(同理还有单元)。这些模块通常包括硬件和/或硬件与软件的组合(例如固化软件)。这些模块还可以包括包含指令(例如,软件指令)的计算机可读介质(例如,永久性介质),当处理器执行这些指令时,就可以执行本发明的各种功能性特点。相应地,除非明确要求,本发明的范围不受实施例中明确提到的模块中的特定硬件和/或软件特性的限制。作为非限制性例子,可以由一种或多种控制器执行软件指令(例如存储在非永久性存储器和/或永久性存储器)。It needs to be said that the above description involves various modules (the same applies to units). These modules typically include hardware and / or a combination of hardware and software (eg, firmware). These modules may also include computer-readable media (eg, permanent media) containing instructions (eg, software instructions), and when the processor executes these instructions, various functional features of the invention may be performed. Accordingly, unless explicitly required, the scope of the invention is not limited by the specific hardware and / or software characteristics in the modules explicitly mentioned in the embodiments. As a non-limiting example, software instructions may be executed by one or more controllers (eg, stored in non-persistent memory and / or persistent memory).
实施例四Example 4
参考图5,基于同一发明构思,本实施例公开了一种控制器,包括存储器和处理器,所述存储器中存储有可在所述处理器上运行的计算机程序,所述处理器执行所述计算机程序时实现如实施例一或实施例二所述方法的步骤。Referring to FIG. 5, based on the same inventive concept, this embodiment discloses a controller including a memory and a processor. The memory stores a computer program that can run on the processor, and the processor executes the processor. The computer program implements the steps of the method according to the first embodiment or the second embodiment.
实施例五Example 5
参考图6,实施例五公开了一种电梯紧急救援***,包整流模块、540~750V强电直流母线、逆变模块、降压变换器、切换开关、备份电源、直流源变换器以及如实施例三或实施例四所述的控制器。所述整流模块、强电直流母线以及所述逆变模块依次连接。整流模块将外部电网的三相电源整流为直流电并输入540~750V强电直流母线中,逆变模块在控制器的控制下将强电直流母线中的直流逆变后输出至电机。Referring to FIG. 6, Embodiment 5 discloses an elevator emergency rescue system, including a rectifier module, a 540-750V high-voltage DC bus, an inverter module, a step-down converter, a switch, a backup power source, a DC source converter, and an implementation The controller according to the third or fourth embodiment. The rectifier module, the strong electric DC bus, and the inverter module are connected in order. The rectifier module rectifies the three-phase power of the external power grid into direct current and inputs it into the 540 ~ 750V strong current DC bus. The inverter module controls the controller to output the DC in the strong current DC bus to the motor.
所述降压变换器分别与所述强电直流母线连接,用于将所述强电直流母线中的电压降压变换后输出。The step-down converters are respectively connected to the high-voltage DC bus, and are used to step-down and convert the voltage in the high-voltage DC bus to output.
所述备份电源与所述降压变换器连接,用于在供电正常时从降压变换器的输出取电以充电。The backup power source is connected to the step-down converter, and is configured to take power from the output of the step-down converter for charging when the power supply is normal.
所述切换开关分别与所述降压变换器、所述备份电源、所述控制器及所述直流变换器连接,用于在所述控制器的控制下选择所述降压变换器和所述备份电源中的一个直流源输出。The switch is connected to the step-down converter, the backup power supply, the controller, and the DC converter, respectively, and is used to select the step-down converter and the DC converter under the control of the controller. One DC source output in the backup power supply.
所述直流源变换器包括输入端和多个输出端,所述输入端与所述切换开关连接,所述多个输出端分别与所述逆变模块、所述控制器以及其他电梯运行相关的设备连接,用于对所述切换开关输出的直流源进行电压转换,以为所述逆变模块、所述控制器以及其他电梯运行相关的设备提供工作电压。比如直流源变换器可以对所述切换开关输出的直流源进行电压转换得到5V、24V、±15V等电源输出。The DC source converter includes an input terminal and a plurality of output terminals, the input terminal is connected to the switch, and the multiple output terminals are respectively related to the inverter module, the controller, and other elevator operations. A device connection is used to perform voltage conversion on the DC source output by the switch to provide an operating voltage for the inverter module, the controller, and other elevator-related equipment. For example, the DC source converter can perform voltage conversion on the DC source output by the switch to obtain power outputs such as 5V, 24V, and ± 15V.
具体的,本实施例中,备份电源为蓄电池。切换开关可以为继电器。继电器的公共端接通过24V弱电直流母线连接直流源变换器,继电器的常闭触点连接降压变换器,继电器的常开触点连接蓄电池,继电器的线圈连接控制器。Specifically, in this embodiment, the backup power source is a battery. The switch can be a relay. The public terminal of the relay is connected to the DC source converter through a 24V weak current DC bus, the normally closed contact of the relay is connected to the step-down converter, the normally open contact of the relay is connected to the battery, and the coil of the relay is connected to the controller.
可见,24V弱电直流母线平时由540~750V强电直流母线经过降压变化后供电,在紧急救援时由蓄电池直接供电,蓄电池在正常运行时由540~750V强电直流母线充电,如此,只要电梯***恢复正常运行一段时间,就可以确保下次救援时蓄电池具备充足的电量。It can be seen that the 24V weak current DC bus is usually powered by the 540 ~ 750V strong DC bus after step-down changes, and is directly powered by the battery during emergency rescue. The battery is charged by the 540 ~ 750V strong DC bus during normal operation. The system resumes normal operation for a period of time, which can ensure that the battery has sufficient power at the next rescue.
本实施例的具体救援过程可参考实施例一和实施例五,此处不再赘述。For the specific rescue process in this embodiment, reference may be made to Embodiment 1 and Embodiment 5, and details are not described herein again.
综上所述,实施本发明的电梯救援方法、***以及控制器,具有以下有益效果:本发明在启动溜车前先将电机切入短接状态,以一个较小的速度启动溜车,保证轿厢不会迅速加速,使救援运行时提高了启动的平稳性和安全性;之后先开环控制再闭环控制,通过开环控制向电机注入负电压,从而可以使电机向强电直流母线充电,提升强电直流母线电压,因此可以保证闭环控制的平稳切换;通过闭环控制,使得电机在返平层的过程中,运行更为平稳,而且停车时,可以基于闭环控制将电机转速快速降至趋于零,不会有直接抱闸时所产生的的顿挫感,提升救援过程的舒适性和平稳度,总之,本发明无需配置UPS或ARD,硬件成本低,使电梯能够在输入电源不可用、且直流母线电压降至很低甚至为零时,实现平稳的启动、返平层和停车控制。In summary, implementing the elevator rescue method, system and controller of the present invention has the following beneficial effects: the present invention cuts the motor into a short-circuited state before starting the trolley, and starts the trolley at a lower speed to ensure that the car The car will not accelerate quickly, so that the start-up smoothness and safety are improved during rescue operation; after that, the open-loop control and then the closed-loop control are used to inject a negative voltage into the motor through the open-loop control, so that the motor can be charged to the strong DC bus. Increase the voltage of the strong DC bus, so it can ensure the smooth switching of the closed-loop control. The closed-loop control makes the motor run more smoothly during the return to the leveling layer, and the motor speed can be quickly reduced to the trend based on the closed-loop control when stopping. At zero, there is no frustration caused by directly holding the brake, which improves the comfort and smoothness of the rescue process. In short, the present invention does not need to configure a UPS or ARD, and the hardware cost is low, so that the elevator can be used when the input power is not available, And when the DC bus voltage drops to very low or even zero, smooth start, return to level and stop control are achieved.
词语“等于”、“同时”或者其他类似的用语,不限于数学术语中的绝对相等或相同,在实施本专利所述权利时,可以是工程意义上的相近或者在可接受的误差范围内。The words "equal", "simultaneous", or other similar terms are not limited to the absolute equality or the same in mathematical terms. When implementing the rights described in this patent, they may be similar in the engineering sense or within an acceptable error range.