WO2022141272A1

WO2022141272A1 - Bus voltage control method and apparatus, and elevator controller and storage medium

Info

Publication number: WO2022141272A1
Application number: PCT/CN2020/141717
Authority: WO
Inventors: 郭威; 王文俊; 郭志海
Original assignee: 日立电梯（中国）有限公司
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2022-07-07
Also published as: CN112789801B; CN112789801A

Abstract

The present application relates to a bus voltage control method and apparatus, and an elevator controller and a storage medium. The method comprises: an elevator controller determining, from among a plurality of bus voltage control signals for controlling a bus voltage of an elevator, a target bus voltage control signal matching the current operating state; and inputting the target bus voltage control signal into a frequency converter of the elevator. By using the method, bus voltage control signals cannot be repeatedly switched in the same operating state, such that excessive adjustment of a bus voltage can be avoided, thereby avoiding the occurrence of the problems of distortion of a power supply voltage and the output torque oscillation of an electric motor.

Description

母线电压控制方法、装置、电梯控制器和存储介质Bus voltage control method, device, elevator controller and storage medium

技术领域technical field

本申请涉及电梯控制技术领域，特别是涉及一种母线电压控制方法、装置、电梯控制器和存储介质。The present application relates to the technical field of elevator control, and in particular, to a bus voltage control method, device, elevator controller and storage medium.

背景技术Background technique

随着电梯控制技术的发展，为了实现能量的双向流动以及电源的功因校正，往往需要对母线的电压通过固定的电压控制信号进行相关控制，使得母线电压始终高于电源电压和电机电压。With the development of elevator control technology, in order to realize the bidirectional flow of energy and the power factor correction of the power supply, it is often necessary to control the voltage of the busbar through a fixed voltage control signal, so that the busbar voltage is always higher than the power supply voltage and motor voltage.

目前，通过固定的电压信号实现母线的电压控制，往往会造成变频器的绝缘栅双极型晶体管开关损耗过高。因此目前对母线电压的控制技术通常采用电源电压检测电路实现电源电压的检测，通过检测电源电压的变化调整母线电压。然而，该方法需要引入电源电压调节电路，同时，随着电源电压的波动调节可能会造成母线电压的过度调节，从而产生电源电压畸变以及电机的输出转矩震荡问题。At present, the voltage control of the busbar is realized by a fixed voltage signal, which often causes the switching loss of the insulated gate bipolar transistor of the inverter to be too high. Therefore, the current control technology for the busbar voltage usually uses a power supply voltage detection circuit to detect the power supply voltage, and adjust the busbar voltage by detecting the change of the power supply voltage. However, this method needs to introduce a power supply voltage regulation circuit, and at the same time, with the fluctuation of the power supply voltage, the bus voltage may be over-regulated, resulting in power supply voltage distortion and motor output torque oscillation problems.

发明内容SUMMARY OF THE INVENTION

基于此，有必要针对上述技术问题，提供一种母线电压控制方法、装置、电梯控制器和存储介质。Based on this, it is necessary to provide a bus voltage control method, device, elevator controller and storage medium for the above technical problems.

一种母线电压控制方法，所述方法包括：A busbar voltage control method, the method comprising:

获取电梯的当前运行状态；Get the current running status of the elevator;

从多个用于控制所述电梯的母线电压的母线电压控制信号中，确定与所述当前运行状态匹配的目标母线电压控制信号；from a plurality of bus voltage control signals for controlling the bus voltage of the elevator, determining a target bus voltage control signal matching the current operating state;

将所述目标母线电压控制信号输入所述电梯的变频器。The target bus voltage control signal is input to the inverter of the elevator.

在其中一个实施例中，所述当前运行状态包括：起动前状态、匀加速运行状态、匀速运行状态以及匀减速运行状态；所述母线电压控制信号，包括第一母线电压控制信号、第二母线电压控制信号，以及第三母线电压控制信号的至少一种；所述确定与所述当前运行状态匹配的目标母线电压控制信号，包括：若所述当前运行状态为所述起动前状态，则确定所述目标母线电压控制信号为所述第一母线电压控制信号；若所述当前运行状态为所述匀加速运行状态，则获取所述第一母线电压控制信号对应的第一目标母线电压，以及所述第二母线电压控制信号对应的第二目标母线电压；根据所述第一目标母线电压与所述第二目标母线电压确定所述目标母线电压控制信号；若所述当前运行状态为所述匀速运行状态，则获取所述第三母线电压控制信号对应的第三目标母线电压；根据所述第一目标母线电压与所述第三目标母线电压确定所述目标母线电压控制信号；若所述当前运行状态为所述匀减速运行状态，则确定所述目标母线电压控制信号为所述第一母线电压控制信号。In one embodiment, the current operating state includes: a state before starting, a uniform acceleration operating state, a uniform speed operating state, and a uniform deceleration operating state; the bus voltage control signal includes a first bus voltage control signal, a second bus voltage control signal, and a second bus voltage control signal. at least one of a voltage control signal and a third bus voltage control signal; the determining a target bus voltage control signal matching the current operating state includes: if the current operating state is the pre-start state, determining the target bus voltage control signal is the first bus voltage control signal; if the current operating state is the uniform acceleration operating state, acquiring a first target bus voltage corresponding to the first bus voltage control signal, and the second target busbar voltage corresponding to the second busbar voltage control signal; the target busbar voltage control signal is determined according to the first target busbar voltage and the second target busbar voltage; if the current operating state is the In a constant speed operation state, the third target bus voltage corresponding to the third bus voltage control signal is obtained; the target bus voltage control signal is determined according to the first target bus voltage and the third target bus voltage; if the If the current operating state is the uniform deceleration operating state, it is determined that the target bus voltage control signal is the first bus voltage control signal.

在其中一个实施例中，所述根据所述第一目标母线电压与所述第二目标母线电压确定所述目标母线电压控制信号，包括：若所述第一目标母线电压大于所述第二目标母线电压，则将所述第一母线电压控制信号作为所述目标母线电压控制信号；若所述第二目标母线电压大于所述第一目标母线电压，则将所述第二母线电压控制信号作为所述目标母线电压控制信号。In one embodiment, the determining the target bus voltage control signal according to the first target bus voltage and the second target bus voltage includes: if the first target bus voltage is greater than the second target bus voltage, the first bus voltage control signal is used as the target bus voltage control signal; if the second target bus voltage is greater than the first target bus voltage, the second bus voltage control signal is used as the target bus voltage control signal.

在其中一个实施例中，所述根据所述第一目标母线电压与所述第三目标母线电压确定所述目标母线电压控制信号，包括：若所述第一目标母线电压大于所述第三目标母线电压，则将所述第一母线电压控制信号作为所述目标母线电压控制信号；若所述第三目标母线电压大于所述第一目标母线电压，则将所述第三母线电压控制信号作为所述目标母线电压控制信号。In one embodiment, the determining the target bus voltage control signal according to the first target bus voltage and the third target bus voltage includes: if the first target bus voltage is greater than the third target bus voltage, the first bus voltage control signal is used as the target bus voltage control signal; if the third target bus voltage is greater than the first target bus voltage, the third bus voltage control signal is used as the target bus voltage control signal.

在其中一个实施例中，所述确定与所述当前运行状态匹配的目标母线电压控制信号，包括：获取与所述当前运行状态对应的初始母线电压，以及预设的与所述当前运行状态对应的回路电压降；根据所述初始母线电压以及所述回路电压降，确定所述目标母线电压控制信号。In one embodiment, the determining of the target bus voltage control signal matching the current operating state includes: acquiring an initial bus voltage corresponding to the current operating state, and a preset corresponding to the current operating state The loop voltage drop of ; determine the target bus voltage control signal according to the initial bus voltage and the loop voltage drop.

在其中一个实施例中，所述获取与所述当前运行状态对应的初始母线电压，包括：若所述当前运行状态为所述匀加速运行状态，则获取所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，作为与所述匀加速运行状态对应的初始母线电压；若所述当前运行状态为所述匀速运行状态，则获取所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压，作为与所述匀速运行状态对应的初始母线电压。In one embodiment, the acquiring the initial bus voltage corresponding to the current operating state includes: if the current operating state is the uniform acceleration operating state, acquiring the motor whose current operating round matches the elevator The bus voltage corresponding to the maximum output power is used as the initial bus voltage corresponding to the uniform acceleration running state; if the current running state is the uniform speed running state, obtain the elevator uniform speed matching the current running round of the elevator The bus voltage corresponding to the operation is taken as the initial bus voltage corresponding to the uniform running state.

在其中一个实施例中，所述获取所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，包括：获取所述电梯当前运行轮次匹配的最高速度，以及所述电梯的当前载重；从预设的第一母线电压对应表中，确定所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压；所述第一母线电压对应表中存储有不同的所述电梯的电机最大输出功率对应的母线电压与所述电梯的最高速度与载重的对应关系；和/或所述获取所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压，包括：从预设的第二母线电压对应表中，确定所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压；所述第二母线电压对应表中存储有不同的所述电梯的匀速运行对应的母线电压与所述电梯的最高速度与载重的对应关系。In one embodiment, acquiring the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator includes: acquiring the highest speed matched by the current running round of the elevator, and the current load of the elevator ; From the preset first bus voltage correspondence table, determine the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator; the first bus voltage correspondence table stores different motors of the elevator The corresponding relationship between the bus voltage corresponding to the maximum output power and the maximum speed and load of the elevator; and/or the bus voltage corresponding to the uniform operation of the elevator matched by the current running round of the elevator, including: from a preset In the second busbar voltage correspondence table, determine the busbar voltage corresponding to the uniform running of the elevator that matches the current running round of the elevator; The corresponding relationship between the bus voltage and the maximum speed and load of the elevator.

在其中一个实施例中，所述获取与所述当前运行状态对应的初始母线电压，包括：若所述当前运行状态为所述起动前状态，则将所述变频器的交轴电流置零，并将所述变频器的直轴电流设置为预设的电流值，以使所述电梯的母线电压降低，直至所述母线电压与所述电梯的当前电源电压存在预设关系；将与所述电梯的电源电压存在预设关系的母线电压作为所述起动前状态对应的初始母线电压；或若所述当前运行状态为所述起动前状态，则将所述变频器的交轴电流置零，并将所述变频器的直轴电流设置为预设的电流值，以使所述电梯的母线电压降低，直至所述母线电压的电压变化率小于预设的电压变化率阈值；将所述电压变化率小于预设的电压变化率阈值的母线电压作为所述起动前状态对应的初始母线电压。In one embodiment, the acquiring the initial bus voltage corresponding to the current operating state includes: if the current operating state is the pre-start state, setting the quadrature axis current of the frequency converter to zero, and set the direct-axis current of the frequency converter to a preset current value, so that the bus voltage of the elevator is reduced until the bus voltage has a preset relationship with the current power supply voltage of the elevator; The power supply voltage of the elevator has a bus voltage with a preset relationship as the initial bus voltage corresponding to the pre-start state; or if the current running state is the pre-start state, the cross-axis current of the inverter is set to zero, and setting the direct-axis current of the frequency converter to a preset current value to reduce the bus voltage of the elevator until the voltage change rate of the bus voltage is less than a preset voltage change rate threshold; set the voltage The bus voltage whose change rate is smaller than the preset voltage change rate threshold is used as the initial bus voltage corresponding to the pre-start state.

一种母线电压控制装置，所述装置包括：A busbar voltage control device, the device includes:

运行状态获取模块，用于获取电梯的当前运行状态；The running state acquisition module is used to acquire the current running state of the elevator;

控制信号确定模块，用于从多个用于控制所述电梯的母线电压的母线电压控制信号中，确定与所述当前运行状态匹配的目标母线电压控制信号；a control signal determination module, configured to determine a target bus voltage control signal matching the current operating state from a plurality of bus voltage control signals used to control the bus voltage of the elevator;

母线电压控制模块，用于将所述目标母线电压控制信号输入所述电梯的变频器。The busbar voltage control module is used for inputting the target busbar voltage control signal into the inverter of the elevator.

一种电梯控制器，包括存储器和处理器，所述存储器存储有计算机程序，所述处理器执行所述计算机程序时实现上述方法的步骤。An elevator controller includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when the processor executes the computer program.

一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行时实现上述的方法的步骤。A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the above-mentioned method.

上述母线电压控制方法、装置、电梯控制器和存储介质，电梯控制器通过获取电梯的当前运行状态；从多个用于控制电梯的母线电压的母线电压控制信号中，确定与当前运行状态匹配的目标母线电压控制信号；将目标母线电压控制信号输入电梯的变频器。本申请通过电梯控制器对电梯的当前运行状态进行判断，从而选择对应的目标母线电压控制信号输入至变频器，以实现母线电压的控制，由于本申请母线电压控制信号只与电梯的当前运行状态有关，因此在同一运行状态下母线电压控制信号不会多次切换，可以避免母线电压的过度调节，进而避免产生电源电压畸变以及电机的输出转矩震荡问题。The above-mentioned bus voltage control method, device, elevator controller and storage medium, the elevator controller obtains the current running state of the elevator; Target bus voltage control signal; input the target bus voltage control signal to the inverter of the elevator. The present application judges the current running state of the elevator through the elevator controller, so as to select the corresponding target bus voltage control signal and input it to the inverter, so as to realize the control of the bus voltage, because the bus voltage control signal of the present application is only related to the current running state of the elevator Therefore, in the same operating state, the bus voltage control signal will not be switched multiple times, which can avoid over-regulation of the bus voltage, thereby avoiding the problems of power supply voltage distortion and motor output torque oscillation.

附图说明Description of drawings

图1为一个实施例中母线电压控制方法的应用环境图；FIG. 1 is an application environment diagram of a bus voltage control method in one embodiment;

图2为一个实施例中母线电压控制方法的流程示意图；2 is a schematic flowchart of a method for controlling bus voltage in one embodiment;

图3为一个实施例中确定目标母线电压控制信号的流程示意图；3 is a schematic flowchart of determining a target bus voltage control signal in one embodiment;

图4为另一个实施例中确定目标母线电压控制信号的流程示意图；4 is a schematic flowchart of determining a target bus voltage control signal in another embodiment;

图5为另一个实施例中母线电压控制方法的流程示意图；5 is a schematic flowchart of a method for controlling bus voltage in another embodiment;

图6为一个应用实例中能量回馈变频器的结构示意图；Fig. 6 is the structural representation of the energy feedback frequency converter in an application example;

图7为一个应用实例中能量回馈变频器的母线电压控制方法的流程示意图；7 is a schematic flowchart of a method for controlling the bus voltage of an energy feedback frequency converter in an application example;

图8为一个应用实例中母线电压变化示意图；Fig. 8 is a schematic diagram of bus voltage variation in an application example;

图9为一个实施例中母线电压控制装置的结构框图；9 is a structural block diagram of a bus voltage control device in one embodiment;

图10为一个实施例中电梯控制器的内部结构图。Fig. 10 is an internal structure diagram of an elevator controller in one embodiment.

具体实施方式Detailed ways

为了使本申请的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本申请进行进一步详细说明。应当理解，此处描述的具体实施例仅仅用以解释本申请，并不用于限定本申请。In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

本申请提供的母线电压控制方法，可以应用于如图1所示的应用环境中。其中，电梯控制器101和变频器102之间进行通信。具体来说，电压控制器101可以根据电梯的运行状态，得到对应的用于控制电梯的母线电压的母线电压控制信号，并将对应的母线电压控制信号发送至变频器102中，变频器102可以根据得到的母线电压控制信号对电梯的母线电压进行控制。其中，电梯控制器101可以是通过连接变频器102的控制电路实现。The bus voltage control method provided by the present application can be applied to the application environment shown in FIG. 1 . The communication between the elevator controller 101 and the inverter 102 is performed. Specifically, the voltage controller 101 can obtain the corresponding bus voltage control signal for controlling the bus voltage of the elevator according to the running state of the elevator, and send the corresponding bus voltage control signal to the inverter 102, and the inverter 102 can The bus voltage of the elevator is controlled according to the obtained bus voltage control signal. Wherein, the elevator controller 101 may be realized by a control circuit connected to the frequency converter 102 .

在一个实施例中，如图2所示，提供了一种母线电压控制方法，以该方法应用于图1中的电梯控制器101为例进行说明，包括以下步骤：In one embodiment, as shown in FIG. 2 , a method for controlling bus voltage is provided, which is described by taking the method applied to the elevator controller 101 in FIG. 1 as an example, including the following steps:

步骤S201，电梯控制器101获取电梯的当前运行状态。In step S201, the elevator controller 101 obtains the current running state of the elevator.

电梯的当前运行状态指的是电梯在当前时间点的运行状态，由于电梯在一次的运行过程中，可以包括有多种运行状态，例如：电梯的一次运行是先从静止状态开始起动，逐渐加速，直到电梯速度的稳定运行，之后再逐渐减速，再次回到静止状态的过程。因此，电梯控制器101可以确定当前时间点电梯的运行状态，作为当前运行状态。The current running status of the elevator refers to the running status of the elevator at the current time point. Since the elevator can include various running statuses during one running process, for example, the first running of the elevator starts from a static state and gradually accelerates. , until the elevator speed runs steadily, then gradually decelerates and returns to the static state again. Therefore, the elevator controller 101 can determine the running state of the elevator at the current time point as the current running state.

步骤S202，电梯控制器101从多个用于控制电梯的母线电压的母线电压控制信号中，确定与当前运行状态匹配的目标母线电压控制信号。Step S202, the elevator controller 101 determines a target bus voltage control signal matching the current operating state from a plurality of bus voltage control signals used to control the bus voltage of the elevator.

其中，母线电压控制信号可以包括多个，分别用于在不同的电梯运行状态下，用于对电梯的母线电压进行控制，该母线电压控制信号可以是预先进行设定于电梯控制器101中，也可以是电梯控制器101根据电梯的实时运行信息生成。具体来说，当电梯控制器101确定当前运行状态后，可以找到与当前运行状态匹配的目标母线电压控制信号，例如，电梯控制器101可以预先设置有不同的运行状态与不同的母线电压控制信号的对应关系，即可根据上述对应关系，从多个母线电压控制信号中得到与当前运行状态匹配的母线电压控制信号，作为目标母线电压控制信号。Wherein, the busbar voltage control signal may include a plurality of signals, which are respectively used to control the busbar voltage of the elevator under different elevator operation states, and the busbar voltage control signal may be preset in the elevator controller 101, It can also be generated by the elevator controller 101 according to the real-time running information of the elevator. Specifically, after the elevator controller 101 determines the current running state, it can find a target bus voltage control signal matching the current running state. For example, the elevator controller 101 can preset different running states and different bus voltage control signals. According to the corresponding relationship, the bus voltage control signal matching the current operating state can be obtained from the plurality of bus voltage control signals as the target bus voltage control signal.

步骤S203，电梯控制器101将目标母线电压控制信号输入电梯的变频器102。In step S203, the elevator controller 101 inputs the target bus voltage control signal into the inverter 102 of the elevator.

最后，电梯控制器101可以将步骤S202中得到的目标母线电压控制信号输入至变频器102中，以使得变频器102根据目标母线电压控制信号对电梯的母线电压进行控制，该控制电压的方法可以是线性控制的方式，也可以是指数方式进行控制，其中，通过线性控制的方式进行母线电压的控制可以避免电流突变以及电机输出转矩的震荡。Finally, the elevator controller 101 can input the target bus voltage control signal obtained in step S202 into the inverter 102, so that the inverter 102 controls the bus voltage of the elevator according to the target bus voltage control signal. The method for controlling the voltage can be It is a linear control method, or it can be controlled by an exponential method, wherein, the bus voltage is controlled by the linear control method to avoid the sudden change of the current and the oscillation of the output torque of the motor.

上述母线电压控制方法中，电梯控制器101通过获取电梯的当前运行状态；从多个用于控制电梯的母线电压的母线电压控制信号中，确定与当前运行状态匹配的目标母线电压控制信号；将目标母线电压控制信号输入电梯的变频器102。本申请通过电梯控制器101对电梯的当前运行状态进行判断，从而选择对应的目标母线电压控制信号输入至变频器102，以实现母线电压的控制，由于本申请母线电压控制信号只与电梯的当前运行状态有关，因此在同一运行状态下母线电压控制信号不会多次切换，可以避免母线电压的过度调节，进而避免产生电源电压畸变以及电机的输出转矩震荡问题。In the above-mentioned bus voltage control method, the elevator controller 101 obtains the current operating state of the elevator; from a plurality of bus voltage control signals for controlling the bus voltage of the elevator, determines the target bus voltage control signal that matches the current operating state; The target bus voltage control signal is input to the inverter 102 of the elevator. In the present application, the elevator controller 101 is used to judge the current running state of the elevator, so as to select the corresponding target bus voltage control signal and input it to the inverter 102, so as to realize the control of the bus voltage. It is related to the operating state, so the bus voltage control signal will not switch multiple times in the same operating state, which can avoid over-regulation of the bus voltage, thereby avoiding the problems of power supply voltage distortion and motor output torque oscillation.

在一个实施例中，当前运行状态可以包括：起动前状态、匀加速运行状态、匀速运行状态以及匀减速运行状态；母线电压控制信号，包括第一母线电压控制信号、第二母线电压控制信号，以及第三母线电压控制信号的至少一种；如图3所示，步骤S202可以进一步包括：In one embodiment, the current operating state may include: a state before starting, a uniform acceleration operating state, a uniform speed operating state, and a uniform deceleration operating state; the bus voltage control signal includes a first bus voltage control signal and a second bus voltage control signal, and at least one of the third bus voltage control signals; as shown in FIG. 3 , step S202 may further include:

步骤S301，若当前运行状态为起动前状态，电梯控制器101则确定目标母线电压控制信号为第一母线电压控制信号。Step S301, if the current running state is the state before starting, the elevator controller 101 determines that the target bus voltage control signal is the first bus voltage control signal.

其中，第一母线电压控制信号指的是用于将母线电压调整为第一目标母线电压，该第一目标母线电压可以是用户向电梯控制器101预先设置，也可以是由电梯根据当前的运行状况进行获取。具体来说，当电梯控制器101确定当前运行状态为起动前状态时，可以从多个母线电压控制信号中，选取第一母线电压控制信号作为目标母线电压控制信号输入至变频器102，变频器102则可以根据得到的第一母线电压控制信号将电梯的母线电压调整为第一目标母线电压。The first bus voltage control signal is used to adjust the bus voltage to the first target bus voltage. The first target bus voltage can be preset by the user to the elevator controller 101, or can be set by the elevator according to the current operation status to obtain. Specifically, when the elevator controller 101 determines that the current running state is the state before starting, the first bus voltage control signal can be selected from a plurality of bus voltage control signals as the target bus voltage control signal and input to the inverter 102, and the inverter 102 can adjust the bus voltage of the elevator to the first target bus voltage according to the obtained first bus voltage control signal.

步骤S302，若当前运行状态为匀加速运行状态，电梯控制器101则获取第一母线电压控制信号对应的第一目标母线电压，以及第二母线电压控制信号对应的第二目标母线电压；根据第一目标母线电压与第二目标母线电压确定目标母线电压控制信号。Step S302, if the current running state is the uniform acceleration running state, the elevator controller 101 obtains the first target bus voltage corresponding to the first bus voltage control signal, and the second target bus voltage corresponding to the second bus voltage control signal; A target bus voltage and a second target bus voltage determine the target bus voltage control signal.

而如果电梯当前处于匀加速运行状态，那么电梯控制器101则需要从母线电压控制信号中同时得到第一母线电压控制信号以及第二母线电压控制信号，其中，第二母线电压控制信号主要是用于将母线电压调整为第二目标母线电压。具体地，在处于匀加速运行状态时，电梯控制器101可以分别得到第一母线电压控制信号以及第二母线电压控制信号分别对应的第一目标母线电压与第二目标母线电压，并根据第一目标母线电压与第二目标母线电压，确定最终得到的目标母线电压控制信号。例如可以是从第一母线电压控制信号或者第二母线电压控制信号之中选择一个作为最终的目标母线电压控制信号，也可以是电梯控制器101可以根据第一目标母线电压与第二目标母线电压，按照某种组合方式，可以是某种线性倍数的组合方式，即将第一目标母线电压与第二目标母线电压按照某个倍数进行转化后再进行结合，得到最终的目标母线电压后，再基于目标母线电压确定对应的目标母线电压控制信号。If the elevator is currently in a state of uniform acceleration, the elevator controller 101 needs to obtain the first bus voltage control signal and the second bus voltage control signal from the bus voltage control signal at the same time, wherein the second bus voltage control signal is mainly used for for adjusting the bus voltage to the second target bus voltage. Specifically, in the uniform acceleration operation state, the elevator controller 101 can obtain the first target bus voltage and the second target bus voltage corresponding to the first bus voltage control signal and the second bus voltage control signal respectively, and according to the first The target bus voltage and the second target bus voltage determine the final target bus voltage control signal. For example, one of the first bus voltage control signal or the second bus voltage control signal may be selected as the final target bus voltage control signal, or the elevator controller 101 may select one of the first target bus voltage and the second target bus voltage according to the first target bus voltage and the second target bus voltage. , according to a certain combination, it can be a combination of linear multiples, that is, the first target bus voltage and the second target bus voltage are converted according to a certain multiple and then combined to obtain the final target bus voltage, and then based on The target bus voltage determines the corresponding target bus voltage control signal.

步骤S303，若当前运行状态为匀速运行状态，电梯控制器101则获取第三母线电压控制信号对应的第三目标母线电压；根据第一目标母线电压与第三目标母线电压确定目标母线电压控制信号。Step S303, if the current running state is the uniform speed running state, the elevator controller 101 obtains the third target bus voltage corresponding to the third bus voltage control signal; determines the target bus voltage control signal according to the first target bus voltage and the third target bus voltage .

而如果电梯当前处于匀速运行状态，那么电梯控制器101可以从母线电压控制信号中得到第一母线电压控制信号以及用于将母线电压调整为第三目标母线电压的第三母线电压控制信号，并通过和步骤S302类似的方式，根据第一目标母线电压和第三目标母线电压得到最终的目标母线电压控制信号。And if the elevator is currently running at a constant speed, the elevator controller 101 can obtain the first bus voltage control signal and the third bus voltage control signal for adjusting the bus voltage to the third target bus voltage from the bus voltage control signal, and In a manner similar to step S302, the final target bus voltage control signal is obtained according to the first target bus voltage and the third target bus voltage.

步骤S304，若当前运行状态为匀减速运行状态，电梯控制器101则确定目标母线电压控制信号为第一母线电压控制信号。Step S304, if the current running state is the uniform deceleration running state, the elevator controller 101 determines that the target bus voltage control signal is the first bus voltage control signal.

而如果电梯当前处于匀减速运行状态，那么电梯控制器101则需要将第一母线电压控制信号作为目标母线电压控制信号，以使变频器102通过一母线电压控制信号将母线电压调整为第一目标母线电压。If the elevator is currently in a state of uniform deceleration, the elevator controller 101 needs to use the first bus voltage control signal as the target bus voltage control signal, so that the inverter 102 can adjust the bus voltage to the first target through a bus voltage control signal. bus voltage.

进一步地，步骤S302可以进一步包括：若第一目标母线电压大于第二目标母线电压，电梯控制器101则将第一母线电压控制信号作为目标母线电压控制信号；若第二目标母线电压大于第一目标母线电压，电梯控制器101则将第二母线电压控制信号作为目标母线电压控制信号。Further, step S302 may further include: if the first target bus voltage is greater than the second target bus voltage, the elevator controller 101 uses the first bus voltage control signal as the target bus voltage control signal; if the second target bus voltage is greater than the first bus voltage control signal; target bus voltage, the elevator controller 101 takes the second bus voltage control signal as the target bus voltage control signal.

本实施例中，电梯控制器101可以将第一目标母线电压与第二目标母线电压进行对比，选取其中较大的目标母线电压对应的母线电压控制信号作为电梯匀加速运行状态下的目标母线电压控制信号。具体来说，如果第一目标母线电压要比第二目标母线电压大，那么电梯控制器101则将第一母线电压控制信号作为匀加速运行状态下的目标母线电压控制信号，而如果第二目标母线电压要比第一目标母线电压大，那么电梯控制器101则可以将第二母线电压控制信号作为匀加速运行状态下的目标母线电压控制信号。In this embodiment, the elevator controller 101 can compare the first target bus voltage with the second target bus voltage, and select the bus voltage control signal corresponding to the larger target bus voltage as the target bus voltage under the uniform acceleration running state of the elevator control signal. Specifically, if the first target bus voltage is greater than the second target bus voltage, the elevator controller 101 uses the first bus voltage control signal as the target bus voltage control signal in the uniform acceleration running state, and if the second target bus voltage If the busbar voltage is greater than the first target busbar voltage, the elevator controller 101 can use the second busbar voltage control signal as the target busbar voltage control signal in the uniform acceleration running state.

同理，步骤S303可以进一步包括：若第一目标母线电压大于第三目标母线电压，电梯控制器101则将第一母线电压控制信号作为目标母线电压控制信号；若第三目标母线电压大于第一目标母线电压，电梯控制器101则将第三母线电压控制信号作为目标母线电压控制信号。Similarly, step S303 may further include: if the first target bus voltage is greater than the third target bus voltage, the elevator controller 101 uses the first bus voltage control signal as the target bus voltage control signal; if the third target bus voltage is greater than the first bus voltage control signal; target bus voltage, the elevator controller 101 takes the third bus voltage control signal as the target bus voltage control signal.

与步骤S302类似，电梯控制器101也可以比对第一目标母线电压与第三目标母线电压，并将较大的目标母线电压对应的母线电压控制信号作为电梯匀速运行状态下的目标母线电压控制信号。具体来说，如果第一目标母线电压要比第三目标母线电压大，那么电梯控制器101则将第一母线电压控制信号作为匀速运行状态下的目标母线电压控制信号，而如果第三目标母线电压要比第一目标母线电压大，那么电梯控制器101则可以将第三母线电压控制信号作为匀速运行状态下的目标母线电压控制信号。Similar to step S302, the elevator controller 101 can also compare the first target bus voltage and the third target bus voltage, and use the bus voltage control signal corresponding to the larger target bus voltage as the target bus voltage control under the elevator constant speed operation state. Signal. Specifically, if the first target bus voltage is greater than the third target bus voltage, the elevator controller 101 uses the first bus voltage control signal as the target bus voltage control signal in the uniform running state, and if the third target bus voltage If the voltage is greater than the first target bus voltage, the elevator controller 101 can use the third bus voltage control signal as the target bus voltage control signal in the constant speed running state.

上述实施例中，电梯控制器101可根据不同的当前运行状态选取不同的母线电压控制信号，并且在匀加速运行状态下，电梯控制器101可选择第一目标母线电压与第二目标母线电压之中电压较大者对应的母线电压控制信号作为目标母线电压控制信号，而在匀速运行状态下，电梯控制器101则可选择第一目标母线电压与第三目标母线电压之中电压较大者对应的母线电压控制信号作为目标母线电压控制信号，可以保证电梯的变频器102对母线电压的准确控制。In the above-mentioned embodiment, the elevator controller 101 can select different bus voltage control signals according to different current operating states, and under the uniform acceleration operating state, the elevator controller 101 can select the first target bus voltage and the second target bus voltage. The bus voltage control signal corresponding to the one with the larger middle voltage is used as the target bus voltage control signal, and in the constant speed running state, the elevator controller 101 can select the first target bus voltage and the third target bus voltage to correspond to the larger one As the target bus voltage control signal, the bus voltage control signal of the elevator can ensure the accurate control of the bus voltage by the inverter 102 of the elevator.

在一个实施例中，步骤S202可以进一步包括：In one embodiment, step S202 may further include:

步骤S401，电梯控制器101获取与当前运行状态对应的初始母线电压，以及预设的与当前运行状态对应的回路电压降。In step S401, the elevator controller 101 obtains the initial bus voltage corresponding to the current operating state and the preset loop voltage drop corresponding to the current operating state.

其中，初始母线电压指的是当前运行状态对应的需要维持的母线电压，例如对于匀加速运行状态而言，其对应的初始母线电压则可以是用于维持电梯匀加速运行所需的母线电压，而对于起动前状态而言，其对应的初始母线电压则可以是用于电梯起动的母线电压。电梯中不同的运行状态分别对应不同的初始母线电压，电梯控制器101可以获取与当前运行状态对应的初始母线电压，该初始母线电压可以是用户预先通过电梯控制器101进行设置，也可以是电梯控制器101根据不同的运行状况进行实时采集获取。而回路电压降则是变频器102的回路电压降，在不同的电梯运行状态下其可以更别对应不同的回路电压降，该回路电压降可以是电梯控制器101预先设定，与不同电梯运行状态对应。Among them, the initial bus voltage refers to the bus voltage that needs to be maintained corresponding to the current operating state. For example, for the uniform acceleration operating state, the corresponding initial bus voltage can be used to maintain the uniform acceleration of the elevator. The required bus voltage, For the state before starting, the corresponding initial bus voltage may be the bus voltage used for elevator starting. Different operating states in the elevator correspond to different initial bus voltages. The elevator controller 101 can obtain the initial bus voltage corresponding to the current operating state. The initial bus voltage can be set by the user through the elevator controller 101 in advance, or it can be an elevator The controller 101 performs real-time acquisition according to different operating conditions. The loop voltage drop is the loop voltage drop of the inverter 102, which can correspond to different loop voltage drops under different elevator running states. corresponding status.

具体来说，电梯控制器101可以根据电梯的当前运行状态，分别确定对应的初始母线电压以及回路电压降。Specifically, the elevator controller 101 can respectively determine the corresponding initial bus voltage and loop voltage drop according to the current running state of the elevator.

步骤S402，电梯控制器101根据初始母线电压以及回路电压降，确定目标母线电压控制信号。Step S402, the elevator controller 101 determines the target bus voltage control signal according to the initial bus voltage and the loop voltage drop.

之后，电梯控制器101可以利用得到的初始母线电压以及回路电压降，确定对应的目标母线电压，例如可以通过将初始母线电压以及回路电压降进行相加的方式，得到目标母线电压，也可以通过某个线性函数的方式，对初始母线电压以及回路电压降进行预设倍数的放大，再进行组合等，得到上述目标母线电压，再基于目标母线电压确定其对应的目标母线电压控制信号。After that, the elevator controller 101 can use the obtained initial bus voltage and loop voltage drop to determine the corresponding target bus voltage. For example, the target bus voltage can be obtained by adding the initial bus voltage and the loop voltage drop. A certain linear function method is used to amplify the initial bus voltage and the loop voltage drop by a preset multiple, and then combine them to obtain the above target bus voltage, and then determine the corresponding target bus voltage control signal based on the target bus voltage.

进一步地，步骤S401可以进一步包括：若当前运行状态为匀加速运行状态，电梯控制器101则获取电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，作为与匀加速运行状态对应的初始母线电压；若当前运行状态为匀速运行状态，则获取电梯当前运行轮次匹配的电梯匀速运行对应的母线电压，作为与匀速运行状态对应的初始母线电压。Further, step S401 can further comprise: if the current running state is the uniform acceleration running state, the elevator controller 101 then obtains the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator, as the initial corresponding to the uniform acceleration running state. Bus voltage; if the current running state is the constant speed running state, the bus voltage corresponding to the constant speed running of the elevator matching the current running round of the elevator is obtained as the initial bus voltage corresponding to the constant speed running state.

而如果当前运行状态为匀加速运行状态，电梯控制器101则需要确定电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，作为匀加速运行状态对应的初始母线电压，由于每一次运行时对应的电梯的电机最大输出功率有所不同，例如不同的轿厢装载的人数，就会影响电机的最大输出功率，因此电梯控制器101需要根据电梯的当前运行轮次确定其匹配的电机最大输出功率，作为匀加速运行状态下的初始母线电压。If the current running state is the uniform acceleration running state, the elevator controller 101 needs to determine the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator as the initial bus voltage corresponding to the uniform acceleration running state. The maximum output power of the motor of the corresponding elevator is different. For example, the number of people loaded in different cars will affect the maximum output power of the motor. Therefore, the elevator controller 101 needs to determine the maximum output of the matching motor according to the current running round of the elevator. power, as the initial bus voltage under uniform acceleration operation.

而如果当前运行状态为匀速运行状态，与匀加速运行状态类似，电梯控制器101则可以获取电梯当前运行轮次匹配的电梯匀速运行时对应的母线电压，作为匀速运行状态下的初始母线电压。However, if the current running state is the constant speed running state, which is similar to the uniform acceleration running state, the elevator controller 101 can obtain the bus voltage corresponding to the constant speed running of the elevator that matches the current running round of the elevator, as the initial bus voltage in the constant speed running state.

进一步地，步骤S401中电梯控制器101获取电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，包括：电梯控制器101获取电梯当前运行轮次匹配的最高速度，以及电梯的当前载重；从预设的第一母线电压对应表中，确定电梯当前运行轮次匹配的电机最大输出功率对应的母线电压；第一母线电压对应表中存储有不同的电梯的电机最大输出功率对应的母线电压与电梯的最高速度与载重的对应关系；以及步骤S401中电梯控制器101获取电梯当前运行轮次匹配的电梯匀速运行对应的母线电压，包括：电梯控制器101从预设的第二母线电压对应表中，确定电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压；第二母线电压对应表中存储有不同的电梯的匀速运行对应的母线电压与电梯的最高速度与载重的对应关系。Further, in step S401, the elevator controller 101 obtains the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator, including: the elevator controller 101 obtains the highest speed matched by the current running round of the elevator, and the current load of the elevator; From the preset first busbar voltage correspondence table, determine the busbar voltage corresponding to the maximum output power of the motor matching the current running round of the elevator; the first busbar voltage correspondence table stores the busbar voltage corresponding to the maximum output power of the motors of different elevators With the corresponding relationship of the maximum speed of the elevator and the load; And in step S401, the elevator controller 101 obtains the bus voltage corresponding to the constant speed operation of the elevator that the current running round of the elevator matches, including: the elevator controller 101 corresponds to the second bus voltage from the preset In the table, determine the bus voltage corresponding to the elevator's constant-speed running that matches the elevator's current running round; the second bus-voltage correspondence table stores the bus voltage corresponding to the constant-speed running of different elevators and the elevator's maximum speed and the corresponding relationship of the load .

其中，电梯当前运行轮次匹配的最高速度指的是当次运行中电梯可达到的最大运行速度，由于电梯控制器101每一次的运行过程中其可以达到的最大速度都是可变的，对于短距离的电梯运行，电梯可能无法达到最大的电梯运行速度，而对于长距离的电梯运行，电梯则可能可以达到最大的电梯运行速度。因此电梯控制器101可以确定当前运行轮次电梯可达到的最大速度，例如可以根据电梯的运行距离确定，同时，电梯还可以确定当前的载重，可以通过压力传感器或者计算电机的起动补偿电流实现。而第一母线电压对应表和第二母线电压对应表则分别存储有多组电梯的最高速度和载重与该电梯的电机最大输出功率对应的母线电压，以及该电梯匀速运行时的母线电压的对应关系。Among them, the maximum speed matched by the current running round of the elevator refers to the maximum running speed that the elevator can reach in the current running. For short-distance elevator operation, the elevator may not reach the maximum elevator operation speed, while for long-distance elevator operation, the elevator may reach the maximum elevator operation speed. Therefore, the elevator controller 101 can determine the maximum speed that the elevator can reach in the current running round, for example, can be determined according to the running distance of the elevator, and at the same time, the elevator can also determine the current load, which can be realized by a pressure sensor or by calculating the starting compensation current of the motor. The first bus voltage correspondence table and the second bus voltage correspondence table respectively store the bus voltage corresponding to the maximum speed and load of multiple groups of elevators and the maximum output power of the elevator motor, and the bus voltage when the elevator runs at a constant speed. relation.

具体来说，电梯控制器101可以得到电梯当前运行轮次中对应的最高速度，以及电梯的当前载重，从第一母线电压对应表中，找到与最高速度，以及电梯的当前载重匹配的电机最大输出功率对应的母线电压，作为电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，并且从第二母线电压对应表中，找到与最高速度，以及电梯的当前载重匹配的电梯匀速运行对应的母线电压，作为电梯当前运行轮次匹配的电梯匀速运行对应的母线电压。Specifically, the elevator controller 101 can obtain the highest speed corresponding to the current running round of the elevator and the current load of the elevator, and from the first bus voltage correspondence table, find the motor that matches the highest speed and the current load of the elevator. The bus voltage corresponding to the output power is used as the bus voltage corresponding to the maximum output power of the motor that matches the current running round of the elevator, and from the second bus voltage correspondence table, find the elevator that matches the highest speed and the current load of the elevator. The bus voltage of , as the bus voltage corresponding to the elevator running at a constant speed that matches the current running round of the elevator.

本实施例中，在电梯处于匀加速运行状态时，电梯控制器101可以根据当前运行轮次匹配的电机最大输出功率对应的母线电压为基础，得到对应的初始母线电压，而在电梯处于匀速运行状态时，电梯控制器101则可以根据当前运行轮次匹配的电梯匀速运行对应的母线电压为基础，得到对应的初始母线电压，并且初始母线电压的获取可以通过电梯当前运行轮次匹配的最高速度以及当前载重确定，从而实现了母线电压控制信号的实时获取，提高了对母线电压控制的准确性。In this embodiment, when the elevator is running at a uniform acceleration, the elevator controller 101 can obtain the corresponding initial bus voltage based on the bus voltage corresponding to the maximum output power of the motor matched by the current running round, and when the elevator is running at a constant speed In the state, the elevator controller 101 can obtain the corresponding initial bus voltage based on the bus voltage corresponding to the uniform running of the elevator matched by the current running round, and the acquisition of the initial bus voltage can be obtained by the highest speed matched by the current running round of the elevator. And the current load is determined, so that the real-time acquisition of the bus voltage control signal is realized, and the accuracy of the bus voltage control is improved.

另外，步骤S401中电梯控制器101获取电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，可以进一步包括：若当前运行状态为起动前状态，电梯控制器101则将变频器102的交轴电流置零，并将变频器102的直轴电流设置为预设的电流值，以使电梯的母线电压降低，直至母线电压与电梯的当前电源电压存在预设关系；将与电梯的电源电压存在预设关系的母线电压作为起动前状态对应的初始母线电压。In addition, in step S401, the elevator controller 101 obtains the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator. The shaft current is set to zero, and the direct shaft current of the inverter 102 is set to the preset current value, so that the bus voltage of the elevator is reduced until the bus voltage has a preset relationship with the current power supply voltage of the elevator; The bus voltage with a preset relationship is used as the initial bus voltage corresponding to the pre-start state.

其中，变频器102可以包括有两种轴电流，分别为交轴电流，即垂直于转子磁场方向的q轴电流，以及直轴电流，即转子磁场方向的d轴电流，本实施例中，为了使电动机可以释放母线的能量，并且防止产生力矩，电梯控制器101可以将变频器102的交轴电流置零的同时，将直轴电流设置为预先设定的电流值。通过这种方式，电梯控制器101可以将电梯的母线电压进行降低，直到使电梯的当前的母线电压可以反映当前的电源电压，并将当前的母线电压作为起动前状态对应的初始母线电压。The frequency converter 102 may include two types of axial currents, namely quadrature-axis current, that is, the q-axis current perpendicular to the direction of the rotor magnetic field, and direct-axis current, that is, the d-axis current in the direction of the rotor magnetic field. In this embodiment, in order to So that the motor can release the energy of the bus bar and prevent the generation of torque, the elevator controller 101 can set the direct axis current to a preset current value while setting the quadrature axis current of the inverter 102 to zero. In this way, the elevator controller 101 can reduce the bus voltage of the elevator until the current bus voltage of the elevator can reflect the current power supply voltage, and use the current bus voltage as the initial bus voltage corresponding to the pre-start state.

具体来说，电梯控制器101可以通过将变频器102的交轴电流置零，以及将直轴电流设置为预设的电流值的方式，使得电梯的母线电压降低，直到母线电压与当前电源电压存在某种预设关系，可以是当前电源电压的某个倍数，例如√2倍，作为起动前状态对应的初始母线电压。Specifically, the elevator controller 101 can reduce the bus voltage of the elevator by setting the quadrature axis current of the inverter 102 to zero and setting the direct axis current to a preset current value until the busbar voltage is equal to the current power supply voltage. There is a certain preset relationship, which can be a certain multiple of the current power supply voltage, such as √2 times, as the initial bus voltage corresponding to the state before starting.

同时，步骤S401中电梯控制器101获取电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，还可以包括：若当前运行状态为起动前状态，电梯控制器101则将变频器102的交轴电流置零，并将变频器的直轴电流设置为预设的电流值，以使电梯的母线电压降低，直至母线电压的电压变化率小于预设的电压变化率阈值；将电压变化率小于预设的电压变化率阈值的母线电压作为起动前状态对应的初始母线电压。At the same time, in step S401, the elevator controller 101 obtains the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator, and may also include: if the current running state is the state before starting, the elevator controller 101 will transfer the inverter 102 Set the shaft current to zero, and set the direct shaft current of the inverter to the preset current value to reduce the bus voltage of the elevator until the voltage change rate of the bus voltage is less than the preset voltage change rate threshold; set the voltage change rate to less than The bus voltage of the preset voltage change rate threshold is used as the initial bus voltage corresponding to the state before starting.

同时，对于难以检测的电梯当前电压的变频器102的电路而言，也可以通过测定母线电压的电压变化率的方式，以使得母线电压可以用于反映当前电源电压。一般而言，当母线电压降低至稳定值时，即母线电压的电压变化率小于某个设定的电压变化率阈值的时候，即可确定此时母线电压可以用于反映当前电源电压，在这种情况下，母线电压可以是当前电源电压的√2倍。因此，电梯控制器101也可以通过将变频器102的交轴电流置零，以及将直轴电流设置为预设的电流值的方式，使母线电压降低至一个稳定的电压值，并将这个稳定的电压值作为起动前状态对应的初始母线电压。At the same time, for the circuit of the inverter 102 of the elevator current voltage, which is difficult to detect, the voltage change rate of the bus voltage can also be measured, so that the bus voltage can be used to reflect the current power supply voltage. Generally speaking, when the bus voltage decreases to a stable value, that is, when the voltage change rate of the bus voltage is less than a certain set voltage change rate threshold, it can be determined that the bus voltage can be used to reflect the current power supply voltage at this time. In this case, the bus voltage can be √2 times the current supply voltage. Therefore, the elevator controller 101 can also reduce the busbar voltage to a stable voltage value by setting the quadrature axis current of the inverter 102 to zero, and setting the direct axis current to a preset current value, and stabilize this voltage. The voltage value of is used as the initial bus voltage corresponding to the state before starting.

本实施例中，电梯控制器101可以通过令变频器102的交轴电流置零，并将变频器102的直轴电流设置为预设的电流值的方式降低母线电压的电压值，以使得母线电压可以用于反映当前电源电压，并将其作为起动前状态的初始母线电压，这种降低母线电压的方式，可以在快速释放母线电容多余能量的过程中，避免电机产生力矩，从而避免了因制动器的制动力不足导致的轿厢意外移动，提高电梯母线电压控制的安全性。In this embodiment, the elevator controller 101 can reduce the voltage value of the busbar voltage by setting the quadrature axis current of the inverter 102 to zero and setting the direct axis current of the inverter 102 to a preset current value, so that the busbar The voltage can be used to reflect the current power supply voltage and use it as the initial bus voltage in the state before starting. This method of reducing the bus voltage can prevent the motor from generating torque in the process of quickly releasing the excess energy of the bus capacitor, thereby avoiding the The unexpected movement of the car caused by insufficient braking force of the brake improves the safety of the elevator bus voltage control.

在一个实施例中，如图5所示，还提供了一种母线电压控制方法，以该方法应用于图1中的电梯控制器101为例进行说明，包括以下步骤：In one embodiment, as shown in FIG. 5 , a bus voltage control method is also provided, which is described by taking the method applied to the elevator controller 101 in FIG. 1 as an example, including the following steps:

步骤S501，若电梯的当前运行状态为起动前状态，电梯控制器101则将变频器102的交轴电流置零，并将变频器102的直轴电流设置为预设的电流值，以使电梯的母线电压降低，直至母线电压的电压变化率小于预设的电压变化率阈值；Step S501, if the current running state of the elevator is the state before starting, the elevator controller 101 sets the quadrature axis current of the frequency converter 102 to zero, and sets the direct axis current of the frequency converter 102 to a preset current value, so that the elevator The bus voltage is reduced until the voltage change rate of the bus voltage is less than the preset voltage change rate threshold;

步骤S502，电梯控制器101将电压变化率小于预设的电压变化率阈值的母线电压作为起动前状态对应的初始母线电压，并获取与起动前状态应的回路电压降，确定第一母线电压控制信号；将第一目标母线电压控制信号输入变频器102；Step S502, the elevator controller 101 uses the bus voltage whose voltage change rate is less than the preset voltage change rate threshold as the initial bus voltage corresponding to the state before starting, and obtains the circuit voltage drop corresponding to the state before starting, and determines the first bus voltage control. signal; input the first target bus voltage control signal into the frequency converter 102;

步骤S503，电梯控制器101获取电梯当前运行轮次匹配的最高速度，以及电梯的当前载重；从预设的第一母线电压对应表中，确定电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，以及从预设的第二母线电压对应表中，确定电梯当前运行轮次匹配的电梯匀速运行对应的母线电压；Step S503, the elevator controller 101 obtains the highest speed matched by the current running round of the elevator, and the current load of the elevator; from the preset first busbar voltage correspondence table, determine the current running round of the elevator matching the motor maximum output power corresponding to. The busbar voltage, and from the preset second busbar voltage correspondence table, determine the busbar voltage corresponding to the uniform running of the elevator whose current running round matches;

步骤S504，电梯控制器101根据电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，以及匀加速运行状态对应的回路电压降，确定第二母线电压控制信号，以及根据电梯当前运行轮次匹配的电梯匀速运行对应的母线电压，以及匀速运行状态对应的回路电压降，确定第三母线电压控制信号；Step S504, the elevator controller 101 determines the second bus voltage control signal according to the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator, and the circuit voltage drop corresponding to the uniform acceleration running state, and according to the current running round of the elevator. The bus voltage corresponding to the matched elevator running at a constant speed and the loop voltage drop corresponding to the constant running state determine the third bus voltage control signal;

步骤S505，若电梯的当前运行状态为匀加速运行状态，电梯控制器101则获取第一母线电压控制信号对应的第一目标母线电压，以及第二母线电压控制信号对应的第二目标母线电压；Step S505, if the current running state of the elevator is the uniform acceleration running state, the elevator controller 101 then obtains the first target bus voltage corresponding to the first bus voltage control signal, and the second target bus voltage corresponding to the second bus voltage control signal;

步骤S506，若第一目标母线电压大于第二目标母线电压，电梯控制器101则将第一母线电压控制信号输入电梯的变频器102；否则将第二母线电压控制信号入电梯的变频器102；Step S506, if the first target busbar voltage is greater than the second target busbar voltage, the elevator controller 101 inputs the first busbar voltage control signal into the inverter 102 of the elevator; otherwise, the second busbar voltage control signal enters the elevator inverter 102;

步骤S507，若电梯的当前运行状态为匀速运行状态，电梯控制器101则获取第三母线电压控制信号对应的第三目标母线电压；Step S507, if the current running state of the elevator is a constant speed running state, the elevator controller 101 obtains the third target bus voltage corresponding to the third bus voltage control signal;

步骤S508，若第一目标母线电压大于第三目标母线电压，电梯控制器101则将第一母线电压控制信号输入电梯的变频器102；否则将第三母线电压控制信号入电梯的变频器102；Step S508, if the first target bus voltage is greater than the third target bus voltage, the elevator controller 101 inputs the first bus voltage control signal into the inverter 102 of the elevator; otherwise, inputs the third bus voltage control signal into the elevator inverter 102;

步骤S509，若电梯的当前运行状态为匀减速运行状态，电梯控制器101则将第一母线电压控制信号输入电梯的变频器102。In step S509, if the current running state of the elevator is the uniform deceleration running state, the elevator controller 101 inputs the first bus voltage control signal into the inverter 102 of the elevator.

上述实施例中，在同一运行状态下母线电压控制信号不会多次切换，可以避免母线电压的过度调节，进而避免产生电源电压畸变以及电机的输出转矩震荡问题，并且可以根据电梯的实际运行状况调整母线电压控制信号，从而提高母线电压控制的准确性。另外，电梯起动前，电梯控制器101可以通过令变频器102的交轴电流置零，并将变频器102的直轴电流设置为预设的电流值的方式降低母线电压的电压值，降低母线电压，可避免电机产生力矩，从而避免了因制动器的制动力不足导致的轿厢意外移动，提高电梯母线电压控制的安全性。In the above embodiment, the bus voltage control signal will not be switched multiple times in the same operating state, which can avoid over-regulation of the bus voltage, thereby avoiding the problems of power supply voltage distortion and output torque oscillation of the motor, and can be based on the actual operation of the elevator. The bus voltage control signal is adjusted according to the condition, thereby improving the accuracy of the bus voltage control. In addition, before the elevator starts, the elevator controller 101 can reduce the voltage value of the bus voltage by setting the quadrature axis current of the inverter 102 to zero and setting the direct axis current of the inverter 102 to a preset current value, thereby reducing the busbar voltage. The voltage can prevent the motor from generating torque, thereby avoiding the accidental movement of the car caused by the insufficient braking force of the brake, and improving the safety of the elevator bus voltage control.

在一个应用实例中，还提供了一种能量回馈电梯变频器的母线电压控制方法，该方法可以应用于如图6中所示的能量回馈变频器中，图6示出了一种用于控制电梯的母线电压的能量回馈电梯变频器，该变频器可以包括：①升压滤波装置、②三相可控整流器、③直流母线电容、④三相可控逆变器。具体地，如图7所示，该方法可以包括如下步骤，图8则提供了通过这种方法对母线电压控制时母线电压的变化示意图。In an application example, a bus voltage control method of an energy feedback elevator inverter is also provided, and the method can be applied to the energy feedback inverter as shown in FIG. 6 . FIG. 6 shows a method for controlling The energy of the bus voltage of the elevator is fed back to the elevator inverter, and the inverter may include: ① a boost filter device, ② a three-phase controllable rectifier, ③ a DC bus capacitor, and ④ a three-phase controllable inverter. Specifically, as shown in FIG. 7 , the method may include the following steps, and FIG. 8 provides a schematic diagram of the change of the bus voltage when the bus voltage is controlled by this method.

1、电梯接收到运行信号准备起动前先确认当前的电源电压。为了使此时的变频器母线电压能够反映出当前的电源电压，设定变频器的交轴指令电流Iq等于0，直轴指令电流Id等于某一预设值，使之通过电动机较快地释放母线电容多余的能量。待母线电压平稳后即可推算出当前的电源电压。母线电压与电源电压的关系为：母线电压＝√2×电源线电压。在快速释放母线电容多余能量的过程中电机不产生力矩，避免了因制动器的制动力不足导致的轿厢意外移动。1. Before the elevator receives the running signal and prepares to start, confirm the current power supply voltage. In order to make the bus voltage of the inverter at this time reflect the current power supply voltage, set the quadrature axis command current Iq of the inverter to be equal to 0, and the direct axis command current Id to be equal to a preset value, so that it can be released quickly by the motor. excess energy from the bus capacitors. After the bus voltage is stable, the current power supply voltage can be calculated. The relationship between the busbar voltage and the power supply voltage is: busbar voltage = √2×power line voltage. In the process of quickly releasing the excess energy of the bus capacitor, the motor does not generate torque, which avoids the accidental movement of the car caused by insufficient braking force of the brake.

2、控制器根据当前的电源电压生成第一母线电压指令信号，并传送至变频器，控制电梯起动时的变频器母线电压。第一母线电压指令信号等于√2倍的电源线电压加上预设的回路电压降1。2. The controller generates the first bus voltage command signal according to the current power supply voltage, and transmits it to the inverter to control the bus voltage of the inverter when the elevator starts. The first bus voltage command signal is equal to √2 times the power line voltage plus a preset loop voltage drop of 1.

3、变频器根据设定的充电电流控制母线电压从当前值上升至第一母线电压指令信号的电压值。3. The inverter controls the bus voltage to rise from the current value to the voltage value of the first bus voltage command signal according to the set charging current.

4、在电梯起动补偿阶段，根据电机的起动补偿电流计算轿厢的当前载重，并通过查表的方式得到当次运行电机的最大输出功率所对应的所需母线电压1以及当次电梯运行匀速时所需的母线电压2。控制器根据所需母线电压1生成第二母线电压指令信号，根据所需母线电压2生成第三母线电压指令信号。第二母线电压指令信号等于所需母线电压1加上预设的回路电压降2。第三母线电压指令信号等于所需母线电压2加上预设的回路电压降3。4. In the elevator starting compensation stage, the current load of the car is calculated according to the starting compensation current of the motor, and the required bus voltage 1 corresponding to the maximum output power of the current running motor and the current elevator running uniform speed are obtained by looking up the table. required bus voltage 2. The controller generates a second bus voltage command signal according to the required bus voltage 1 , and generates a third bus voltage command signal according to the required bus voltage 2 . The second bus voltage command signal is equal to the desired bus voltage 1 plus the preset loop voltage drop 2 . The third bus voltage command signal is equal to the desired bus voltage 2 plus the preset loop voltage drop 3 .

5、在电梯进入匀加速运行阶段后，比较第二母线电压指令信号和第一母线电压指令信号的电压值，并将第二母线电压指令信号和第一母线电压指令信号的较大者传送至变频器。若第二母线电压指令信号的电压值大于第一母线电压指令信号，则变频器以线性方式从第一母线电压指令信号的电压值过渡到第二母线电压指令信号的电压值。5. After the elevator enters the uniform acceleration running stage, compare the voltage value of the second bus voltage command signal and the first bus voltage command signal, and transmit the greater of the second bus voltage command signal and the first bus voltage command signal to the frequency converter. If the voltage value of the second bus voltage command signal is greater than the first bus voltage command signal, the inverter transitions from the voltage value of the first bus voltage command signal to the voltage value of the second bus voltage command signal in a linear manner.

6、在电梯进入匀速运行阶段后，比较第三母线电压指令信号和第一母线电压指令信号的电压值，并将第三母线电压指令信号和第一母线电压指令信号的较大者传送至变频器。若第三母线电压指令信号的电压值大于第一母线电压指令信号，则变频器以线性方式从当前的电压指令信号的电压值过渡到第三母线电压指令信号的电压值。6. After the elevator enters the constant speed running stage, compare the voltage value of the third bus voltage command signal and the first bus voltage command signal, and transmit the greater of the third bus voltage command signal and the first bus voltage command signal to the frequency conversion. device. If the voltage value of the third bus voltage command signal is greater than the first bus voltage command signal, the inverter transitions from the current voltage command signal voltage value to the voltage value of the third bus voltage command signal in a linear manner.

7、在电机进入匀减速运行阶段后，将第一母线电压指令信号的传送至变频器，使母线电压以线性方式从当前的电压指令信号的电压值过渡到第一母线电压指令信号的电压值，降低变频器的IGBT开关损耗。7. After the motor enters the uniform deceleration operation stage, the first bus voltage command signal is transmitted to the inverter, so that the bus voltage transitions from the current voltage command signal voltage value to the first bus bar voltage command signal voltage value in a linear manner , reduce the IGBT switching loss of the inverter.

上述应用实例中，可以降低变频器的IGBT开关损耗，提高变频器的输出功率，也无需增加***电路检测电源电压，同时避免了母线电压过度调节而产生的电源电压畸变以及电机输出转矩震荡的问题。In the above application example, the IGBT switching loss of the inverter can be reduced, the output power of the inverter can be increased, and there is no need to increase the peripheral circuit to detect the power supply voltage. question.

应该理解的是，虽然本申请的流程图中的各个步骤按照箭头的指示依次显示，但是这些步骤并不是必然按照箭头指示的顺序依次执行。除非本文中有明确的说明，这些步骤的执行并没有严格的顺序限制，这些步骤可以以其它的顺序执行。而且，图中的至少一部分步骤可以包括多个步骤或者多个阶段，这些步骤或者阶段并不必然是在同一时刻执行完成，而是可以在不同的时刻执行，这些步骤或者阶段的执行顺序也不必然是依次进行，而是可以与其它步骤或者其它步骤中的步骤或者阶段的至少一部分轮流或者交替地执行。It should be understood that although the various steps in the flowchart of the present application are displayed in sequence according to the arrows, these steps are not necessarily executed in the sequence indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the figure may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but may be executed at different times, and the execution order of these steps or stages is also different. It is necessarily performed sequentially, but may be performed alternately or alternately with other steps or at least a portion of the steps or stages within the other steps.

在一个实施例中，如图9所示，提供了一种母线电压控制装置，包括：运行状态获取模块901、控制信号确定模块902和母线电压控制模块903，其中：In one embodiment, as shown in FIG. 9, a bus voltage control device is provided, including: an operation state acquisition module 901, a control signal determination module 902, and a bus voltage control module 903, wherein:

运行状态获取模块901，用于获取电梯的当前运行状态；an operation state acquisition module 901, used to acquire the current operation state of the elevator;

控制信号确定模块902，用于从多个用于控制电梯的母线电压的母线电压控制信号中，确定与当前运行状态匹配的目标母线电压控制信号；a control signal determination module 902, configured to determine a target bus voltage control signal matching the current operating state from a plurality of bus voltage control signals used to control the bus voltage of the elevator;

母线电压控制模块903，用于将目标母线电压控制信号输入电梯的变频器。The busbar voltage control module 903 is used for inputting the target busbar voltage control signal into the inverter of the elevator.

在一个实施例中，当前运行状态包括：起动前状态、匀加速运行状态、匀速运行状态以及匀减速运行状态；母线电压控制信号，包括第一母线电压控制信号、第二母线电压控制信号，以及第三母线电压控制信号的至少一种；控制信号确定模块902，进一步用于若当前运行状态为起动前状态，则确定目标母线电压控制信号为第一母线电压控制信号；若当前运行状态为匀加速运行状态，则获取第一母线电压控制信号对应的第一目标母线电压，以及第二母线电压控制信号对应的第二目标母线电压；根据第一目标母线电压与第二目标母线电压确定目标母线电压控制信号；若当前运行状态为所述匀速运行状态，则获取第三母线电压控制信号对应的第三目标母线电压；根据第一目标母线电压与第三目标母线电压确定目标母线电压控制信号；若当前运行状态为匀减速运行状态，则确定目标母线电压控制信号为第一母线电压控制信号。In one embodiment, the current operating state includes: a pre-start state, a uniform acceleration operating state, a uniform speed operating state, and a uniform deceleration operating state; the bus voltage control signal includes a first bus voltage control signal, a second bus voltage control signal, and At least one of the third bus voltage control signals; the control signal determination module 902 is further configured to determine the target bus voltage control signal as the first bus voltage control signal if the current operating state is the pre-start state; In the acceleration running state, the first target bus voltage corresponding to the first bus voltage control signal and the second target bus voltage corresponding to the second bus voltage control signal are obtained; the target bus is determined according to the first target bus voltage and the second target bus voltage voltage control signal; if the current operating state is the uniform speed operating state, obtain a third target busbar voltage corresponding to the third busbar voltage control signal; determine the target busbar voltage control signal according to the first target busbar voltage and the third target busbar voltage; If the current operating state is the uniform deceleration operating state, it is determined that the target bus voltage control signal is the first bus voltage control signal.

在一个实施例中，控制信号确定模块902，进一步用于若第一目标母线电压大于第二目标母线电压，则将第一母线电压控制信号作为目标母线电压控制信号；若第二目标母线电压大于第一目标母线电压，则将第二母线电压控制信号作为目标母线电压控制信号。In one embodiment, the control signal determination module 902 is further configured to use the first bus voltage control signal as the target bus voltage control signal if the first target bus voltage is greater than the second target bus voltage; if the second target bus voltage is greater than the first target bus voltage, the second bus voltage control signal is used as the target bus voltage control signal.

在一个实施例中，控制信号确定模块902，进一步用于若第一目标母线电压大于第三目标母线电压，则将第一母线电压控制信号作为目标母线电压控制信号；若第三目标母线电压大于第一目标母线电压，则将第三母线电压控制信号作为目标母线电压控制信号。In one embodiment, the control signal determination module 902 is further configured to use the first bus voltage control signal as the target bus voltage control signal if the first target bus voltage is greater than the third target bus voltage; if the third target bus voltage is greater than the first target bus voltage, the third bus voltage control signal is used as the target bus voltage control signal.

在一个实施例中，控制信号确定模块902，进一步用于获取与当前运行状态对应的初始母线电压，以及预设的与当前运行状态对应的回路电压降；根据初始母线电压以及回路电压降，确定目标母线电压控制信号。In one embodiment, the control signal determination module 902 is further configured to acquire an initial bus voltage corresponding to the current operating state and a preset loop voltage drop corresponding to the current operating state; according to the initial bus voltage and the loop voltage drop, determine Target bus voltage control signal.

在一个实施例中，控制信号确定模块902，进一步用于若当前运行状态为匀加速运行状态，则获取电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，作为与匀加速运行状态对应的初始母线电压；若当前运行状态为匀速运行状态，则获取电梯当前运行轮次匹配的电梯匀速运行对应的母线电压，作为与匀速运行状态对应的初始母线电压。In one embodiment, the control signal determination module 902 is further configured to obtain the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator if the current running state is the uniform acceleration running state, as the voltage corresponding to the uniform acceleration running state If the current running state is the constant speed running state, the bus voltage corresponding to the constant speed running of the elevator matching the current running round of the elevator is obtained as the initial bus voltage corresponding to the constant speed running state.

在一个实施例中，控制信号确定模块902，进一步用于获取电梯当前运行轮次匹配的最高速度，以及电梯的当前载重；从预设的第一母线电压对应表中，确定电梯当前运行轮次匹配的电机最大输出功率对应的母线电压；第一母线电压对应表中存储有不同的电梯的电机最大输出功率对应的母线电压与电梯的最高速度与载重的对应关系；以及用于从预设的第二母线电压对应表中，确定电梯当前运行轮次匹配的电梯匀速运行对应的母线电压；第二母线电压对应表中存储有不同的电梯的匀速运行对应的母线电压与电梯的最高速度与载重的对应关系。In one embodiment, the control signal determination module 902 is further configured to obtain the highest speed matched by the current running round of the elevator and the current load of the elevator; from the preset first bus voltage correspondence table, determine the current running round of the elevator The bus voltage corresponding to the maximum output power of the matched motor; the first bus voltage correspondence table stores the corresponding relationship between the bus voltage corresponding to the maximum output power of the motor of different elevators and the maximum speed and load of the elevator; In the second busbar voltage correspondence table, determine the busbar voltage corresponding to the elevator running at a constant speed that matches the current running round of the elevator; the second busbar voltage correspondence table stores the busbar voltage corresponding to the constant speed operation of different elevators and the maximum speed and load of the elevator. corresponding relationship.

在一个实施例中，控制信号确定模块902，进一步用于若当前运行状态为起动前状态，则将变频器的交轴电流置零，并将所变频器的直轴电流设置为预设的电流值，以使电梯的母线电压降低，直至母线电压与电梯的当前电源电压存在预设关系；将与电梯的电源电压存在预设关系的母线电压作为起动前状态对应的初始母线电压；以及用于若当前运行状态为起动前状态，则将变频器的交轴电流置零，并将变频器的直轴电流设置为预设的电流值，以使电梯的母线电压降低，直至母线电压的电压变化率小于预设的电压变化率阈值；将电压变化率小于预设的电压变化率阈值的母线电压作为起动前状态对应的初始母线电压。In one embodiment, the control signal determination module 902 is further configured to set the quadrature axis current of the inverter to zero and set the direct axis current of the inverter to a preset current if the current operating state is the pre-start state value, so that the bus voltage of the elevator is lowered until the bus voltage has a preset relationship with the current power supply voltage of the elevator; the bus voltage that has a preset relationship with the power supply voltage of the elevator is used as the initial bus voltage corresponding to the state before starting; and for If the current running state is the state before starting, set the quadrature axis current of the inverter to zero, and set the direct axis current of the inverter to the preset current value, so as to reduce the bus voltage of the elevator until the voltage of the bus voltage changes. The bus voltage with the voltage change rate less than the preset voltage change rate threshold is used as the initial bus voltage corresponding to the state before starting.

关于母线电压控制装置的具体限定可以参见上文中对于母线电压控制方法的限定，在此不再赘述。上述母线电压控制装置中的各个模块可全部或部分通过软件、硬件及其组合来实现。上述各模块可以硬件形式内嵌于或独立于电梯控制器中的处理器中，也可以以软件形式存储于电梯控制器中的存储器中，以便于处理器调用执行以上各个模块对应的操作。For the specific limitation of the bus voltage control device, reference may be made to the limitation on the bus voltage control method above, which will not be repeated here. All or part of the modules in the above-mentioned bus voltage control device can be implemented by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the elevator controller in the form of hardware, and can also be stored in the memory in the elevator controller in the form of software, so that the processor can call and execute the corresponding operations of the above modules.

在一个实施例中，提供了一种电梯控制器，该电梯控制器可以是终端，其内部结构图可以如图10所示。该电梯控制器包括通过***总线连接的处理器、存储器、通信接口、显示屏和输入装置。其中，该电梯控制器的处理器用于提供计算和控制能力。该电梯控制器的存储器包括非易失性存储介质、内存储器。该非易失性存储介质存储有操作***和计算机程序。该内存储器为非易失性存储介质中的操作***和计算机程序的运行提供环境。该电梯控制器的通信接口用于与外部的终端进行有线或无线方式的通信，无线方式可通过WIFI、运营商网络、NFC(近场通信)或其他技术实现。该计算机程序被处理器执行时以实现一种母线电压控制方法。该电梯控制器的显示屏可以是液晶显示屏或者电子墨水显示屏，该电梯控制器的输入装置可以是显示屏上覆盖的触摸层，也可以是电梯控制器外壳上设置的按键、轨迹球或触控板，还可以是外接的键盘、触控板或鼠标等。In one embodiment, an elevator controller is provided, the elevator controller may be a terminal, and its internal structure diagram may be as shown in FIG. 10 . The elevator controller includes a processor, a memory, a communication interface, a display screen and an input device connected by a system bus. Among other things, the processor of the elevator controller is used to provide computing and control capabilities. The memory of the elevator controller includes a non-volatile storage medium and an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The communication interface of the elevator controller is used for wired or wireless communication with external terminals, and the wireless communication can be realized by WIFI, operator network, NFC (Near Field Communication) or other technologies. The computer program, when executed by a processor, implements a bus voltage control method. The display screen of the elevator controller can be a liquid crystal display screen or an electronic ink display screen, and the input device of the elevator controller can be a touch layer covered on the display screen, or a button, trackball or The touchpad can also be an external keyboard, touchpad or mouse.

本领域技术人员可以理解，图10中示出的结构，仅仅是与本申请方案相关的部分结构的框图，并不构成对本申请方案所应用于其上的电梯控制器的限定，具体的电梯控制器可以包括比图中所示更多或更少的部件，或者组合某些部件，或者具有不同的部件布置。Those skilled in the art can understand that the structure shown in FIG. 10 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the elevator controller to which the solution of the present application is applied. The specific elevator control The device may include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

在一个实施例中，还提供了一种电梯控制器，包括存储器和处理器，存储器中存储有计算机程序，该处理器执行计算机程序时实现上述各方法实施例中的步骤。In one embodiment, an elevator controller is also provided, which includes a memory and a processor, where a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when the processor executes the computer program.

在一个实施例中，提供了一种计算机可读存储介质，其上存储有计算机程序，该计算机程序被处理器执行时实现上述各方法实施例中的步骤。In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, implements the steps in the foregoing method embodiments.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一非易失性计算机可读取存储介质中，该计算机程序在执行时，可包括如上述各方法的实施例的流程。其中，本申请所提供的各实施例中所使用的对存储器、存储、数据库或其它介质的任何引用，均可包括非易失性和易失性存储器中的至少一种。非易失性存储器可包括只读存储器(Read-Only Memory，ROM)、磁带、软盘、闪存或光存储器等。易失性存储器可包括随机存取存储器(Random Access Memory，RAM)或外部高速缓冲存储器。作为说明而非局限，RAM可以是多种形式，比如静态随机存取存储器(Static Random Access Memory，SRAM)或动态随机存取存储器(Dynamic Random Access Memory，DRAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the various embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

以上实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

一种母线电压控制方法，其特征在于，所述方法包括：A bus voltage control method, characterized in that the method comprises:

获取电梯的当前运行状态；Get the current running status of the elevator;

从多个用于控制所述电梯的母线电压的母线电压控制信号中，确定与所述当前运行状态匹配的目标母线电压控制信号；from a plurality of bus voltage control signals for controlling the bus voltage of the elevator, determining a target bus voltage control signal matching the current operating state;

将所述目标母线电压控制信号输入所述电梯的变频器。The target bus voltage control signal is input to the inverter of the elevator.
根据权利要求1所述的方法，其特征在于，所述当前运行状态包括：起动前状态、匀加速运行状态、匀速运行状态以及匀减速运行状态；所述母线电压控制信号，包括第一母线电压控制信号、第二母线电压控制信号，以及第三母线电压控制信号的至少一种；The method according to claim 1, wherein the current operating state comprises: a pre-start state, a uniform acceleration operating state, a uniform speed operating state, and a uniform deceleration operating state; the bus voltage control signal includes a first bus voltage at least one of a control signal, a second bus voltage control signal, and a third bus voltage control signal;

所述确定与所述当前运行状态匹配的目标母线电压控制信号，包括：The determining of the target bus voltage control signal matching the current operating state includes:

若所述当前运行状态为所述起动前状态，则确定所述目标母线电压控制信号为所述第一母线电压控制信号；If the current operating state is the pre-start state, determining that the target bus voltage control signal is the first bus voltage control signal;

若所述当前运行状态为所述匀加速运行状态，则获取所述第一母线电压控制信号对应的第一目标母线电压，以及所述第二母线电压控制信号对应的第二目标母线电压；根据所述第一目标母线电压与所述第二目标母线电压确定所述目标母线电压控制信号；If the current operating state is the uniform acceleration operating state, obtain a first target bus voltage corresponding to the first bus voltage control signal, and a second target bus voltage corresponding to the second bus voltage control signal; according to the first target bus voltage and the second target bus voltage determine the target bus voltage control signal;

若所述当前运行状态为所述匀速运行状态，则获取所述第三母线电压控制信号对应的第三目标母线电压；根据所述第一目标母线电压与所述第三目标母线电压确定所述目标母线电压控制信号；If the current operating state is the constant speed operating state, obtain a third target bus voltage corresponding to the third bus voltage control signal; determine the target bus voltage control signal;

若所述当前运行状态为所述匀减速运行状态，则确定所述目标母线电压控制信号为所述第一母线电压控制信号。If the current operating state is the uniform deceleration operating state, it is determined that the target bus voltage control signal is the first bus voltage control signal.
根据权利要求2所述的方法，其特征在于，所述根据所述第一目标母线电压与所述第二目标母线电压确定所述目标母线电压控制信号，包括：The method according to claim 2, wherein the determining the target bus voltage control signal according to the first target bus voltage and the second target bus voltage comprises:

若所述第一目标母线电压大于所述第二目标母线电压，则将所述第一母线电压控制信号作为所述目标母线电压控制信号；If the first target bus voltage is greater than the second target bus voltage, use the first bus voltage control signal as the target bus voltage control signal;

若所述第二目标母线电压大于所述第一目标母线电压，则将所述第二母线电压控制信号作为所述目标母线电压控制信号。If the second target bus voltage is greater than the first target bus voltage, the second bus voltage control signal is used as the target bus voltage control signal.
根据权利要求2所述的方法，其特征在于，所述根据所述第一目标母线电压与所述第三目标母线电压确定所述目标母线电压控制信号，包括：The method according to claim 2, wherein the determining the target bus voltage control signal according to the first target bus voltage and the third target bus voltage comprises:

若所述第一目标母线电压大于所述第三目标母线电压，则将所述第一母线电压控制信号作为所述目标母线电压控制信号；If the first target bus voltage is greater than the third target bus voltage, use the first bus voltage control signal as the target bus voltage control signal;

若所述第三目标母线电压大于所述第一目标母线电压，则将所述第三母线电压控制信号作为所述目标母线电压控制信号。If the third target bus voltage is greater than the first target bus voltage, the third bus voltage control signal is used as the target bus voltage control signal.
根据权利要求2至4任意一项所述的方法，其特征在于，所述确定与所述当前运行状态匹配的目标母线电压控制信号，包括：The method according to any one of claims 2 to 4, wherein the determining a target bus voltage control signal matching the current operating state comprises:

获取与所述当前运行状态对应的初始母线电压，以及预设的与所述当前运行状态对应的回路电压降；acquiring an initial bus voltage corresponding to the current operating state, and a preset loop voltage drop corresponding to the current operating state;

根据所述初始母线电压以及所述回路电压降，确定所述目标母线电压控制信号。The target bus voltage control signal is determined based on the initial bus voltage and the loop voltage drop.
根据权利要求5所述的方法，其特征在于，所述获取与所述当前运行状态对应的初始母线电压，包括：The method according to claim 5, wherein the obtaining the initial bus voltage corresponding to the current operating state comprises:

若所述当前运行状态为所述匀加速运行状态，则获取所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，作为与所述匀加速运行状态对应的初始母线电压；If the current running state is the uniform acceleration running state, the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator is obtained as the initial bus voltage corresponding to the uniform acceleration running state;

若所述当前运行状态为所述匀速运行状态，则获取所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压，作为与所述匀速运行状态对应的初始母线电压。If the current running state is the constant speed running state, the bus voltage corresponding to the constant speed running of the elevator matching the current running round of the elevator is obtained as the initial bus voltage corresponding to the constant speed running state.
根据权利要求6所述的方法，其特征在于，The method of claim 6, wherein:

所述获取所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压，包括：The obtaining of the bus voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator includes:

获取所述电梯当前运行轮次匹配的最高速度，以及所述电梯的当前载重；Obtain the highest speed matched by the current running round of the elevator, and the current load of the elevator;

从预设的第一母线电压对应表中，确定所述电梯当前运行轮次匹配的电机最大输出功率对应的母线电压；所述第一母线电压对应表中存储有不同的所述电梯的电机最大输出功率对应的母线电压与所述电梯的最高速度与载重的对应关系；From the preset first busbar voltage correspondence table, determine the busbar voltage corresponding to the maximum output power of the motor matched by the current running round of the elevator; the first busbar voltage correspondence table stores different maximum motor maximum values of the elevator The corresponding relationship between the bus voltage corresponding to the output power and the maximum speed and load of the elevator;

和/或and / or

所述获取所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压，包括：The obtaining of the bus voltage corresponding to the constant speed operation of the elevator matched by the current running round of the elevator includes:

从预设的第二母线电压对应表中，确定所述电梯当前运行轮次匹配的所述电梯匀速运行对应的母线电压；所述第二母线电压对应表中存储有不同的所述电梯的匀速运行对应的母线电压与所述电梯的最高速度与载重的对应关系。From the preset second busbar voltage correspondence table, determine the busbar voltage corresponding to the constant speed operation of the elevator that matches the current running round of the elevator; the second busbar voltage correspondence table stores different constant speeds of the elevator The corresponding relationship between the bus voltage corresponding to the operation and the maximum speed and load of the elevator.
根据权利要求5所述的方法，其特征在于，所述获取与所述当前运行状态对应的初始母线电压，包括：The method according to claim 5, wherein the obtaining the initial bus voltage corresponding to the current operating state comprises:

若所述当前运行状态为所述起动前状态，则将所述变频器的交轴电流置零，并将所述变频器的直轴电流设置为预设的电流值，以使所述电梯的母线电压降低，直至所述母线电压与所述电梯的当前电源电压存在预设关系；If the current running state is the state before starting, the quadrature axis current of the inverter is set to zero, and the direct axis current of the inverter is set to a preset current value, so that the elevator The busbar voltage is reduced until the busbar voltage has a preset relationship with the current power supply voltage of the elevator;

将与所述电梯的电源电压存在预设关系的母线电压作为所述起动前状态对应的初始母线电压；Taking the bus voltage that has a preset relationship with the power supply voltage of the elevator as the initial bus voltage corresponding to the pre-start state;

或or

若所述当前运行状态为所述起动前状态，则将所述变频器的交轴电流置零，并将所述变频器的直轴电流设置为预设的电流值，以使所述电梯的母线电压降低，直至所述母线电压的电压变化率小于预设的电压变化率阈值；If the current running state is the state before starting, the quadrature axis current of the inverter is set to zero, and the direct axis current of the inverter is set to a preset current value, so that the elevator reducing the busbar voltage until the voltage change rate of the busbar voltage is less than a preset voltage change rate threshold;

将所述电压变化率小于预设的电压变化率阈值的母线电压作为所述起动前状态对应的初始母线电压。The bus voltage whose voltage change rate is less than a preset voltage change rate threshold is used as the initial bus voltage corresponding to the pre-start state.
一种母线电压控制装置，其特征在于，所述装置包括：A busbar voltage control device, characterized in that the device comprises:

运行状态获取模块，用于获取电梯的当前运行状态；The running state obtaining module is used to obtain the current running state of the elevator;

控制信号确定模块，用于从多个用于控制所述电梯的母线电压的母线电压控制信号中，确定与所述当前运行状态匹配的目标母线电压控制信号；a control signal determination module for determining a target bus voltage control signal matching the current operating state from a plurality of bus voltage control signals for controlling the bus voltage of the elevator;

母线电压控制模块，用于将所述目标母线电压控制信号输入所述电梯的变频器。The busbar voltage control module is used for inputting the target busbar voltage control signal into the inverter of the elevator.
一种电梯控制器，包括存储器和处理器，所述存储器存储有计算机程序，其特征在于，所述处理器执行所述计算机程序时实现权利要求1至8中任一项所述方法的步骤。An elevator controller, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the steps of the method according to any one of claims 1 to 8 when the processor executes the computer program.
一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器执行时实现权利要求1至8中任一项所述的方法的步骤。A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.