CN102372205B - Elevator energy-saving device based on cooperative control mode - Google Patents
Elevator energy-saving device based on cooperative control mode Download PDFInfo
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Abstract
The invention discloses an elevator energy-saving device based on a cooperative control mode, which comprises an energy storage device (20), an energy storage device state detector (21), a charging and discharging circuit (19), an energy storage device controller (22), an energy consumption circuit (5), an energy consumption controller (18) and a cooperative controller, wherein the cooperative controller is used for realizing the cooperation and matching of a charging process of the energy storage device and an energy consumption process of the energy consumption circuit; instruction values of the energy storage device controller and the energy consumption controller are generated by the cooperative controller according to a running condition of an elevator; and according to the instruction values, the charging process of the energy storage device (20) and the energy consumption process of the energy consumption circuit (5) are performed in the cooperative control mode. The elevator energy-saving device can be used for realizing the energy conservation of the elevator, efficiently relieving fierce fluctuation of a bus voltage and coping with a specific situation that a regenerated current or regenerated power of an elevator motor is beyond an allowed scope of the energy storage device (20) and the charging and discharging circuit (19).
Description
Technical field
The present invention relates to a kind of energy-saving device of elevator, particularly relate to a kind of energy-saving device of elevator with cooperative mode control closed-center system and regenerative circuit.
Background technology
In recent years, utilize and set up the regenerated energy producing in the processing of the closed-center system in elevator drive major loop running process of elevator and realize elevator energy-saving, become the study hotspot of elevator industry.As Chinese invention patent application Publication Specification CN 101381046A, CN 1845417A, CN1946625A, Chinese invention patent specification sheets CN 100593504C, CN 100450907C, CN1229275C and international specification referred WO2010/019122A1, WO2010/019123A1, WO2010/019126A1, WO2010/027346A1 etc.
While making closed-center system at elevator motor when operation regeneration store regenerated energy, at elevator motor electric operation by suitable control, discharge stored energy, thereby for the electric operation of elevator motor provides electric energy, not only can solve the processing problem of the regenerated energy of elevator motor generation in service, but also can realize elevator energy-saving simultaneously, this is the common ground of current such energy-saving device of elevator and control method thereof.But this processing mode only can be processed general occasion, but cannot tackle some special occasions: such as reached but still lasting generation regenerated energy of elevator motor of its maximum size when closed-center system, or the charge power of closed-center system is less than the regenerating power of elevator motor.
For this class special occasions, Chinese invention patent specification sheets CN 1208230C (Granted publication day: on June 29th, 2005), Chinese invention patent application prospectus CN 1930071A (application number: 200580008068, open day: on March 14th, 2007) and the proposition such as Chinese invention patent specification sheets CN 100593504C (Granted publication day: on March 10th, 2010): in the time that the DC bus-bar voltage detecting exceedes its setting value, start energy consumption circuit, utilize resistance to consume the electric energy matching with the increase part of DC bus-bar voltage.But because the method is only by judging simply whether bus voltage exceedes its setting value and carry out start and stop energy consumption circuit, and do not make full use of the information such as magnitude relationship and the charge condition of closed-center system between the charge power of regenerating power and closed-center system, the power of energy consumption circuit is not specifically controlled, therefore can cause the big ups and downs of DC bus-bar voltage under this class special occasions, thereby have influence on the controller performance of elevator motor.
Chinese invention patent specification sheets CN1229275C (Granted publication day: on November 30th, 2005) gives chapter and verse from the detected value of described charging and discharging state detection means, according to the dutycycle of setting, controls the make pulse width of regenerative current control gate to flow into the regeneration electric current of resistance or the multiple different master modes of power, by this control device, regeneration resistance is implemented to control, its essence is according to bus voltage, energy consumption circuital current to be controlled.Although this control method has proposed the control for regenerative current, but do not relate to the charging control of closed-center system and the Collaborative Control between the two, and in it is controlled, dutycycle is to adjust to increase and decrease a variable quantity DT mode on the basis of preset value, and discontinuous variation.Although therefore the method has had certain progress with respect to other method, due to its fail to consider the process of charging of closed-center system and energy consumption process with and regenerative current mode too simple and crude, finally cause its overall controller performance to have much room for improvement.
In addition, Chinese invention patent specification sheets CN1177745C (Granted publication day: on December 1st, 2004) proposes to utilize power regulator to " output power of electrical energy storage device and the output power of civil power are controlled ".This control method simultaneously output power of the output power to electrical energy storage device and civil power is controlled,, unfortunately there is equally the shortcoming such as " dutycycle is to adjust and discontinuous variation to increase and decrease a variable quantity DT mode " and " too simple and crude, the overall controller performance of current control mode has much room for improvement " existing in Chinese invention patent specification sheets CN1229275C in the dimly visible blank of Collaborative Control thought on the basis of preset value.In addition, this control method is only recessive embodiment, stops after getting a little knowledge of a subject or about sth. for the thought of Collaborative Control, Collaborative Control thought is not carried out to deep, clear and definite, detailed analysis and elaboration, and be only the control problem for the output power of electrical energy storage device and the output power of civil power, do not relate to the Collaborative Control problem of the process of charging of closed-center system and the energy consumption process of energy consumption circuit.
Therefore, develop and a kind ofly can utilize closed-center system to process the regenerated energy producing in running process of elevator and reduce the energy-saving device of elevator that elevator energy consumption, reply motor regenerative current or regenerating power exceed closed-center system and this special occasions of charge-discharge circuit allowed band thereof and can effectively slow down bus voltage big ups and downs, just become and utilize closed-center system to process of elevator regenerated energy to have problem to be solved.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of energy-saving device of elevator based on Collaborative Control mode, can effectively slow down the big ups and downs of bus voltage.
For solving the problems of the technologies described above, energy-saving device of elevator of the present invention comprises:
One closed-center system, is connected across DC bus two ends through a charge-discharge circuit, for storing the regenerated energy producing when elevator motor regeneration moves, and in the time of elevator motor electric operation, stored energy is released into DC bus;
One closed-center system state detector, for detection of the mode of operation of described closed-center system;
One closed-center system controller, for controlling the energy flow between DC bus and described closed-center system;
One charge-discharge circuit, is arranged between DC bus and described closed-center system, for realizing the energy in bidirectional flow between the two;
One energy consumption circuit, is arranged at DC bus two ends, realizes the consumption of regenerated energy for regenerated energy is converted into heat;
One energy consumption controller, realizes the energy consumption of energy consumption circuit is regulated by the on-off element in energy consumption circuit being opened with the control of turn-offing action; Wherein, also comprise:
One collaborative controller, for the coordination that realizes closed-center system process of charging and energy consumption circuit energy consumption process with coordinate, described collaborative controller generates the command value of closed-center system controller and energy consumption controller according to the operation conditions of elevator, and makes the process of charging of described closed-center system and the energy consumption process of described energy consumption circuit work in Collaborative Control mode by this command value.
The technique effect that the present invention can reach is:
In energy-saving device of elevator provided by the invention, closed-center system discharges stored energy can be at elevator motor when operation regeneration storing, regenerating energy, at elevator motor electric operation time and offers motor for its electric operation, therefore can realize elevator energy-saving.
In energy-saving device of elevator provided by the invention, collaborative controller is determined the command value of closed-center system controller and energy consumption controller according to the operation conditions of elevator, and make the process of charging of described closed-center system and the energy consumption process of described energy consumption circuit work in Collaborative Control mode by this command value, therefore can successfully manage motor regenerative current or regenerating power and exceed closed-center system and this special occasions of charge-discharge circuit allowed band thereof, and can effectively slow down the big ups and downs of bus voltage by suitable Collaborative Control.
In prior art, especially in existing published patent documentation, for the control of energy consumption circuit, generally to take when detecting that DC bus-bar voltage starts the control method of energy consumption circuit while exceeding its setting value, but the method can cause the big ups and downs of DC bus-bar voltage under this class special occasions, thereby have influence on the controller performance of elevator motor.The inherent physics that energy-saving device of elevator provided by the invention has considered the process of charging of closed-center system and the energy consumption process of energy consumption circuit contacts, the collaborative controller that utilization is set up realizes the Collaborative Control of the process of charging of closed-center system and the energy consumption process of energy consumption circuit, not only can successfully manage motor regenerative current or regenerating power and exceed closed-center system and this special occasions of charge-discharge circuit allowed band thereof, and can also effectively slow down by suitable Collaborative Control the big ups and downs of bus voltage, therefore overcome shortcoming of the prior art.
The essence difference of the present invention and prior art is: prior art or at all do not relate to the control problem of energy consumption circuit, or according to bus voltage, energy consumption circuit is imposed to simple start and stop control, electric current or power for energy consumption circuit do not have specific aim value, only using the start and stop of energy consumption circuit as means that affect bus voltage.And energy consumption circuit has a clear and definite power dissipation obj ectives in the present invention, it is command value (the energy consumption command value that can power consumption road that collaborative controller generates, comprise current instruction value or power command value), and by energy consumption controller, energy consumption circuit is applied to control action, make its command value of its electric current or power tracking, realize by this energy consumption circuit control target (being energy consumption command value) that collaborative controller generates.
Accompanying drawing explanation
Below in conjunction with accompanying drawing and the specific embodiment, the present invention is further detailed explanation:
Fig. 1 is an overall structure schematic diagram of energy-saving device of elevator of the present invention;
Fig. 2 is the structural representation of voltage control unit one embodiment that adopts in the present invention;
Fig. 3 is the structural representation of another embodiment of the voltage control unit that adopts in the present invention;
Fig. 4 is another overall structure schematic diagram of energy-saving device of elevator of the present invention.
Nomenclature in figure:
1, external power supply 2, rectifier 3, smooth direct current electric capacity
4, bus voltage detecting device 5, energy consumption circuit 6, DC bus
7, inverter 8, current sensing means 9, elevator motor
10, traction sheave 11, track adjusting wheel 12, counterweight
13, car 14, current controller 15, speed detector
16, speed controller 17, electric life controller 18, energy consumption controller
19, charge-discharge circuit 20, closed-center system 21, closed-center system state detector
22, closed-center system controller 23, elevator control gear 24, collaborative controller
The specific embodiment
In following explanation, regulation: it is positive and negative for negative that charging and discharging currents flows to closed-center system by DC bus, power when elevator motor regeneration operation produces regenerated energy and is released into DC bus is positive and negative for negative.
Embodiment mono-
Fig. 1 is the overall structure schematic diagram of the embodiment mono-of the energy-saving device of elevator based on Collaborative Control mode that proposes of the present invention.As shown in Figure 1, external power supply 1 is connected with the three-phase alternating current side of rectifier 2,2 phase DC side of rectifier 2 are connected with 2 phase DC side of inverter 7 through DC bus 6, smooth direct current electric capacity 3 and energy consumption circuit 5 are connected across respectively DC bus 6 two ends, bus voltage detecting device 4 is arranged on the two ends of smooth direct current electric capacity 3,3 cross streams sides of inverter 7 are connected with elevator motor 9 through current sensing means 8, elevator motor 9 is connected with traction sheave 10 through ad hoc structure, car 13 with counterweight 12 by rope hanging in the both sides of traction sheave 10 and track adjusting wheel 11.Electric life controller 17 generates the speed value of elevator operation according to the allotment order of instruction or group control system in floor call, sedan-chair, speed controller 16 generates the current instruction value of current controller 14 according to the actual speed of the definite speed value of electric life controller 17 and the detected elevator motor 9 of speed detector 15.The current detecting result of the current instruction value that current controller 14 generates according to speed controller 16 and current sensing means 8 generates the control signal to inverter 7.Electric life controller 17, speed controller 16 and current controller 14 are generically and collectively referred to as elevator control gear 23.
The mode of operation of the closed-center system 20 that the DC bus-bar voltage that collaborative controller 24 detects according to bus voltage detecting device 4 and closed-center system state detector 21 detect generates the current instruction value of closed-center system controller 22 and energy consumption controller 18 and delivers to respectively closed-center system controller 22 and energy consumption controller 18.Closed-center system controller 22 is controlled charge-discharge circuit 19 according to the current instruction value that comes from collaborative controller 24, and the electric current (being the electric current of closed-center system 20) of the charge-discharge circuit 19 that makes to flow through is followed the tracks of its command value.Energy consumption controller 18 is controlled energy consumption circuit 5 according to the current instruction value that comes from collaborative controller 24, enables its command value of energy consumption current tracking on power consumption road 5.
The control principle of elevator control gear 23 is identical with conventional elevator with working process, is not focus of the present invention, does not repeat herein.Below explanation is focused on collaborative controller 24 realizes the energy consumption process of process of charging to closed-center system 20 and energy consumption circuit 5 working process of Collaborative Control by closed-center system controller 22 and energy consumption controller 18.
In the present embodiment, collaborative controller 24 comprises following 2 subelements:
Bus voltage control unit: according to bus voltage and reference value generatrix voltage error current instruction value thereof;
Command value generation unit: the current instruction value that generates closed-center system controller 22 and energy consumption controller 18 according to the bus voltage error current command value of bus voltage control unit output.
The structure of bus voltage control unit as shown in Figure 2, its working process is: the bus voltage actual value that bus voltage detecting device 4 is exported is admitted to a subtracter as input together with its reference value, subtracter obtains bus voltage error after subtraction, this error is further used as input and is admitted to voltage controller, and the latter's output obtains bus voltage error current command value.
Specific works process is as follows:
When elevator motor 9 is during in motoring condition, elevator motor 9 can absorb electric energy from DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to reduce, and makes the actual value of bus voltage lower than its reference value.Bus voltage control unit generates bus voltage error current command value i according to the difference of the actual value of bus voltage and its reference value
dCer, now i
dCer< 0 (i
dCer< 0 represents that direction of current is to flow to DC bus 6 by closed-center system 20 through charge-discharge circuit 19).In this case, closed-center system 20 discharge electric energy to DC bus 6 for providing elevator motor 9 electric operation required electric energy, 5, energy consumption circuit is always in halted state, obviously do not have the Collaborative Control problem of closed-center system 20 and energy consumption circuit 5 during in motoring condition when elevator motor 9.Now, collaborative controller 24 can be simply by the command value zero setting of energy consumption controller 18, command value using the bus voltage error current command value of the output of bus voltage control unit now as closed-center system controller 22 is (if when this command value exceeds the maximum discharge current that closed-center system 20 and charge-discharge circuit 19 allow, the command value take this maximum discharge current as closed-center system controller 22, and this maximum discharge current can be adjusted according to the actual condition of described closed-center system 20 and charge-discharge circuit 19), make closed-center system 20 discharge electric energy to DC bus 6 under the control of closed-center system controller 22.
When elevator motor 9 is during in reproduced state, the regenerated energy that elevator motor 9 produces is accumulated on DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to raise, and makes the actual value of bus voltage higher than its reference value.First collaborative controller 24 generates bus voltage error current command value i according to the difference of the actual value of bus voltage and its reference value
dCer, now i
dCer> 0 (i
dCer> 0 represents that direction of current is to flow to closed-center system 20 by DC bus 6 through charge-discharge circuit 19), then divide following several situation to generate respectively the command value of closed-center system controller 22 and energy consumption controller 18:
Situation 1: as SOC < SOC
maxand i
dCer≤ i
maxtime, i
esi=i
dCer, i
edi=0;
Situation 2: as SOC < SOC
maxand i
dCer> i
maxtime, i
esi=i
max, i
edi=i
dCer-i
max;
Situation 3: as SOC>=SOC
maxtime, i
esi=0, i
edi=i
dCer; Or
Situation 4: as SOC < SOC
maxand i
dCer≤ i
maxtime, i
esi=i
dCer-(α SOC+ β Δ SOC), i
edi=α SOC+ β Δ SOC;
Situation 5: as SOC < SOC
maxand i
dCer> i
maxtime, i
esi=i
max-(α SOC+ β Δ SOC), i
edi=i
dCer-i
esi, i.e. i
edi=(i
dCer-i
max)+(α SOC+ β Δ SOC);
Situation 6: as SOC>=SOC
maxtime, i
esi=0, i
edi=i
dCer;
Wherein, i
dCerbus voltage error current command value, i
maxthe maximum charging current that closed-center system and charge-discharge circuit allow, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, i
esithe current instruction value of closed-center system controller, i
edibe the current instruction value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC.
Respectively the command value of closed-center system controller 22 and energy consumption controller 18 is exported to after closed-center system controller 22 and energy consumption controller 18 in collaborative controller 24, closed-center system controller 22 is controlled the on-off element in charge-discharge circuit 19 according to its command value, the tracking of the current instruction value of the actual current of realizing closed-center system 20 to closed-center system controller 22,18 of energy consumption controllers are controlled energy consumption circuit 5 according to its command value, the tracking of the current instruction value of the actual current of realizing energy consumption circuit 5 to energy consumption controller 18.
It is to be noted, in above-mentioned 6 kinds of situations, can be divided into two groups of situation 1-3 and situation 4-6 according to its condition, wherein in situation 1 closed-center system 20 in fact in process of charging, energy consumption circuit 5 is in halted state, and in situation 2,4,5, closed-center system 20 is in process of charging, energy consumption circuit 5 in energy consumption process, and the two is all in running order, and closed-center system 20 is in halted state in situation 3 and 6,5, energy consumption circuit is in energy consumption process.In running process of elevator, due to the difference of elevator operation, the situation that collaborative controller 24 experiences in the time generating the command value of closed-center system controller 22 and energy consumption controller 18 also can be different, and can in above-mentioned 6 kinds of situations, change, this causes the working process of closed-center system 20 and energy consumption circuit 5 to form tandem array and two kinds of time serieses of folded order, and collaborative controller 24 has following two kinds of Collaborative Control modes:
Tandem array mode: in the time that a control action finishes, another control action starts immediately, two control actions switch in free of discontinuities continuous in time;
Folded sequential mode: in the process that applies a kind of control action, apply another kind of control action, the two is partly or entirely overlapping in time simultaneously.
From said process, collaborative controller 24 utilizes its bus voltage control unit comprising and 2 subelements of command value generation unit to generate the command value of closed-center system controller 22 and energy consumption controller 18 via bus voltage error current command value, and by closed-center system controller 22 and energy consumption controller 18, finally realize the Collaborative Control of closed-center system 20 and energy consumption circuit 5.
In the present embodiment, the maximum charging current i that described closed-center system 20 and charge-discharge circuit 19 allow
maxadjustable according to the mode of operation of described closed-center system 20 and charge-discharge circuit 19, described energy consumption controller 18 can adopt open loop control structure to the control of energy consumption circuit 5, also can adopt closed loop controlling structure.
In the present embodiment, the charge condition SOC of described closed-center system 20 refers to and can be obtained or can be through calculating the combination of one or more parameters of parameter of the actual energy storage situation that indirectly obtains, can embody described closed-center system 20 or capacity service condition by described closed-center system state detector 21 direct-detections.These parameters can be charge rates, terminal voltage, charging and discharging currents, temperature of closed-center system 20 etc.For ease of follow-up statement, above-mentioned parameter or its combination are referred to as to charge condition, and suppose that charge condition can directly be detected and be obtained by closed-center system state detector 21.Described closed-center system can be one or more combinations of storage battery, super capacitor or nanometer electric capacity, or one or more combinations of storage battery, super capacitor or nanometer electric capacity and the combination of fuel cell.Described charge-discharge circuit is any single branch road or the bi-directional DC-DC power converter that contains n bar branch road, and wherein n can be random natural number.A kind of combination of or several characteristic of voltage, electric current and the temperature of described closed-center system state detector by detecting described closed-center system realizes the detection to described closed-center system charge condition.Described energy-saving device of elevator is connected in parallel in the eleva-tor bank being made up of the elevator of many general DC busbars.
Embodiment bis-
Shown in Fig. 1, the present embodiment is similar to embodiment mono-, does not only just exist together and is illustrated below.
The mode of operation of the closed-center system 20 that the DC bus-bar voltage that collaborative controller 24 detects according to bus voltage detecting device 4 and closed-center system state detector 21 detect generates the power command value of closed-center system controller 22 and energy consumption controller 18 and delivers to respectively closed-center system controller 22 and energy consumption controller 18.Closed-center system controller 22 is controlled charge-discharge circuit 19 according to the power command value that comes from collaborative controller 24, makes the charge power (by the power of charge-discharge circuit 19) of closed-center system 20 follow the tracks of its command value.Energy consumption controller 18 is controlled energy consumption circuit 5 according to the power command value that comes from collaborative controller 24, enables its command value of energy consumption power tracking on power consumption road 5.
In the present embodiment, collaborative controller 24 comprises following 2 subelements:
Bus voltage control unit: according to bus voltage and reference value generatrix voltage error power command value thereof;
Command value generation unit: the power command value that generates closed-center system controller 22 and energy consumption controller 18 according to the bus voltage error power command value of bus voltage control unit output.
The structure of bus voltage control unit as shown in Figure 3, its working process is: the bus voltage actual value that bus voltage detecting device 4 is exported is admitted to a subtracter as input together with its reference value, subtracter obtains bus voltage error after subtraction, this error is further used as input and is admitted to voltage controller, and the latter's output obtains bus voltage error power command value.
Specific works process is as follows:
When elevator motor 9 is during in motoring condition, elevator motor 9 can absorb electric energy from DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to reduce, and makes the actual value of bus voltage lower than its reference value.Bus voltage control unit generates bus voltage error power command value P according to the difference of the actual value of bus voltage and its reference value
dCer, now P
dCer< 0 (P
dCer< 0 represents elevator motor electric operation, power in the time that inverter 7 absorbs electric energy by DC bus 6).In this case, closed-center system 20 discharge electric energy to DC bus 6 for providing elevator motor electric operation required electric energy, 5, energy consumption circuit is always in halted state, obviously do not have the Collaborative Control problem of closed-center system 20 and energy consumption circuit 5 during in motoring condition when elevator motor 9.Now, collaborative controller 24 can be simply by the command value zero setting of energy consumption controller 18, command value using the bus voltage error power command value of the output of bus voltage control unit now as closed-center system controller 22 is (if when this command value exceeds the maximum discharge power that closed-center system 20 and charge-discharge circuit 19 allow, the command value take this maximum discharge power as closed-center system controller 22, and this maximum discharge power can be adjusted according to the actual condition of described closed-center system 20 and charge-discharge circuit 19), make closed-center system 20 discharge electric energy to DC bus under the control of closed-center system controller 22.
When elevator motor 9 is during in reproduced state, the regenerated energy that elevator motor 9 produces is accumulated on DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to raise, and makes the actual value of bus voltage higher than its reference value.First collaborative controller 24 generates bus voltage error power command value P according to the difference of the actual value of bus voltage and its reference value
dCer, now P
dCer> 0 (P
dCer> 0 represents that elevator motor, in regeneration running state, produces regenerated energy and is released into DC bus), then divide following several situation to generate respectively the command value of closed-center system controller 22 and energy consumption controller 18:
Situation 1: as SOC < SOC
maxand P
dCer≤ P
maxtime, P
esi=P
dCer, P
edi=0;
Situation 2: as SOC < SOC
maxand P
dCer> P
maxtime, P
esi=P
max, P
edi=P
dCer-P
max;
Situation 3: as SOC>=SOC
maxtime, P
esi=0, P
edi=P
dCer; Or
Situation 4: as SOC < SOC
maxand P
dCer≤ P
maxtime,
P
esi＝P
DCer-(α·SOC+β·ΔSOC)，P
edi＝α·SOC+β·ΔSOC；
Situation 5: as SOC < SOC
maxand P
dCer> P
maxtime,
P
esi＝P
max-(α·SOC+β·ΔSOC)，
P
edi=P
dCer-P
esi, i.e. P
edi=(P
dCer-P
max)+(α SOC+ β Δ SOC);
Situation 6: as SOC>=SOC
maxtime, P
esi=0, P
edi=P
dCer;
Wherein, P
dCerbus voltage error power command value, P
maxthe maximum charge power that closed-center system and charge-discharge circuit allow, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, P
esithe power command value of closed-center system controller, P
edibe the power command value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC.
Respectively the command value of closed-center system controller 22 and energy consumption controller 18 is exported to after closed-center system controller 22 and energy consumption controller 18 in collaborative controller 24, closed-center system controller 22 is controlled the on-off element in charge-discharge circuit 19 according to its command value, the tracking of the power command value of the effect horse power of realizing closed-center system 20 to closed-center system controller 22,18 of energy consumption controllers are controlled energy consumption circuit 5 according to its command value, the tracking of the power command value of the effect horse power of realizing energy consumption circuit 5 to energy consumption controller 18.
From said process, collaborative controller 24 utilizes its bus voltage control unit comprising and 2 subelements of command value generation unit to generate the command value of closed-center system controller 22 and energy consumption controller 18 via bus voltage error power command value, and by closed-center system controller 22 and energy consumption controller 18, finally realize the Collaborative Control of closed-center system 20 and energy consumption circuit 5.
In the present embodiment, the maximum charge power P that described closed-center system 20 and charge-discharge circuit 19 allow
maxadjustable according to the mode of operation of described closed-center system 20 and charge-discharge circuit 19, described energy consumption controller 18 can adopt open loop control structure to the control of energy consumption circuit 5, also can adopt closed loop controlling structure.
Embodiment tri-
Shown in Figure 4, the present embodiment is similar to embodiment bis-, does not only just exist together and is illustrated below.The mode of operation of the DC bus-bar voltage that collaborative controller 24 detects according to bus voltage detecting device 4, the closed-center system 20 that closed-center system state detector 21 detects and calculate elevator regenerated power P from the elevator operation of elevator control gear 23
regand generate the power command value of closed-center system controller 22 and energy consumption controller 18 and deliver to respectively closed-center system controller 22 and energy consumption controller 18 according to certain rule accordingly.Closed-center system controller 22 is controlled charge-discharge circuit 19 according to the power command value that comes from collaborative controller 24, makes the power (by the power of charge-discharge circuit 19) of closed-center system 20 follow the tracks of its command value.Energy consumption controller 18 is controlled energy consumption circuit 5 according to the power command value that comes from collaborative controller 24, enables its command value of energy consumption power tracking on power consumption road 5.
In the present embodiment, collaborative controller 24 comprises following 2 subelements:
Regenerating power calculating unit: the regenerating power producing according to associated information calculation elevator motors 9 such as elevator running states;
Command value generation unit: the power command value that generates closed-center system controller 22 and energy consumption controller 18 according to the regenerating power of regenerating power calculating unit output.
Regenerating power calculating unit has following several mode for the calculating of regenerating power:
Mode 1: can be long-pending by the moment of calculating elevator motor and cireular frequency, or the product of quadrature axis electric current and quadrature-axis voltage command value add that the product of direct-axis current and direct-axis voltage command value obtains and, or the product of quadrature axis current instruction value and quadrature-axis voltage command value add that the product of direct-axis current and direct-axis voltage command value obtains and, or the product of quadrature axis electric current and quadrature-axis voltage command value add that the product of direct-axis current command value and direct-axis voltage command value obtains and, or the product of quadrature axis current instruction value and quadrature-axis voltage command value add that the product of direct-axis current command value and direct-axis voltage command value obtains and.
Mode 2: go out elevator realtime power according to car load situation, elevator speed, acceleration/accel and the elevator device calculation of parameter of car load meausring apparatus output, then consider after system loss, efficiency are suitably adjusted the elevator realtime power calculating and obtain.
Mode 3: regenerating power is taken as the sum of method result of calculation described in bus voltage error power command value and mode 1 or 2.
Wherein, bus voltage error power command value can be taken from the output of bus voltage control unit in embodiment bis-, as shown in Figure 3.
According to described elevator regenerated power P
regby closed-center system controller and energy consumption controller power command value described in following law generation:
As SOC < SOC
maxand P
reg≤ P
maxtime, P
esi=P
reg, P
edi=0;
As SOC < SOC
maxand P
reg> P
maxtime, P
esi=P
max, P
edi=P
reg-P
max;
As SOC>=SOC
maxtime, P
esi=0, P
edi=P
reg; Or
As SOC < SOC
maxand P
reg≤ P
maxtime, P
esi=P
reg-(α SOC+ β Δ SOC), P
edi=α SOC+ β Δ SOC;
As SOC < SOC
maxand P
reg> P
maxtime, P
esi=P
max-(α SOC+ β Δ SOC), P
edi=P
reg-P
esi, i.e. P
edi=(P
reg-P
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, P
esi=0, P
edi=P
reg;
Wherein, P
regelevator regenerated power, P
maxthat closed-center system and charge-discharge circuit allow maximum charge power, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, P
esithe power command value of closed-center system controller, P
edibe the power command value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC.
Specific works process is as follows:
The working process of elevator motor 9 in the time of motoring condition is identical with embodiment mono-, only needs the bus voltage error power P in embodiment mono-
dCerreplace with elevator regenerated power P
reg, so locate not do to repeat.
When elevator motor 9 is during in reproduced state, the regenerated energy that elevator motor 9 produces is accumulated on DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to raise, and makes the actual value of bus voltage higher than its reference value.First collaborative controller 24 calculates elevator regenerated power P with the account form of above-mentioned arbitrary regenerating power
reg, all the other processes are identical with embodiment bis-, can be with reference to carrying out.
Embodiment tetra-
Shown in Figure 4, the present embodiment is similar to embodiment mono-, does not only just exist together and is illustrated below.
The mode of operation of the DC bus-bar voltage that collaborative controller 24 detects according to bus voltage detecting device 4, the closed-center system 20 that closed-center system state detector 21 detects and calculate elevator regenerated current i from the elevator operation of elevator control gear 23
regiand generate the current instruction value of closed-center system controller 22 and energy consumption controller 18 and deliver to respectively closed-center system controller 22 and energy consumption controller 18 according to certain rule accordingly.Closed-center system controller 22 is controlled charge-discharge circuit 19 according to the current instruction value that comes from collaborative controller 24, and the electric current (being the electric current of closed-center system 20) of the charge-discharge circuit 19 that makes to flow through is followed the tracks of its command value.Energy consumption controller 18 is controlled energy consumption circuit 5 according to the current instruction value that comes from collaborative controller 24, enables its command value of energy consumption current tracking on power consumption road 5.
In the present embodiment, collaborative controller 24 comprises following 2 subelements:
Regenerative current calculating unit: the regenerative current producing according to associated information calculation elevator motors 9 such as elevator running states;
Command value generation unit: the current instruction value that generates closed-center system controller 22 and energy consumption controller 18 according to the regenerative current of regenerative current calculating unit output.
Regenerative current calculating unit has following several mode for the calculating of regenerative current:
Mode 1: regenerative current is taken as the load current that elevator regenerated operation produces, and load current can directly obtain by detecting DC bus current, or by inverter 3 phase side electric currents, or quadrature axis electric current or its instruction current, or torque current or its instruction current obtain through calculation, or being aided with the elevator relevant informations such as elevator device parameter by the car load situation of elevator speed, acceleration/accel and the output of car load meausring apparatus obtains through calculation.
Mode 2: regenerative current is taken as bus voltage error current command value.
Mode 3: regenerative current is taken as the load current sum in bus voltage error current command value and mode one.
Mode 4: regenerative current is taken as the regenerating power of elevator and the business of bus voltage.
Mode 5: regenerative current is taken as the bus voltage error current command value sum in business and the mode 2 of elevator regenerated power and bus voltage.
Wherein, bus voltage error current command value can be taken from the output of bus voltage control unit in embodiment 1, as shown in Figure 2.
In the time that regenerative current calculating unit takes mode 2 to calculate regenerative current, because they no longer need to be from electric life controller 23 obtaining informations, therefore in this kind of situation, its overall construction drawing is as shown in Figure 1.
According to described elevator regenerated current i
regicurrent instruction value by closed-center system controller described in following law generation and energy consumption controller:
As SOC < SOC
maxand i
regi≤ i
maxtime, i
esi=i
regi, i
edi=0;
As SOC < SOC
maxand i
regi> i
maxtime, i
esi=i
max, i
edi=i
regi-i
max;
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
regi; Or
As SOC < SOC
maxand i
regi≤ i
maxtime, i
esi=i
regi-(α SOC+ β Δ SOC), i
edi=α SOC+ β Δ SOC;
As SOC < SOC
maxand i
regi> i
maxtime, i
esi=i
max-(α SOC+ β Δ SOC), i
edi=i
regi-i
esi, i.e. i
edi=(i
regi-i
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
regi;
Wherein, i
regielevator regenerated electric current, i
maxclosed-center system and maximum charging current that charge-discharge circuit allows, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, i
esithe current instruction value of closed-center system controller, i
edibe the current instruction value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC.
Specific works process is as follows:
The working process of elevator motor 9 in the time of motoring condition is identical with embodiment mono-, only needs the bus voltage error current command value i in embodiment mono-
dCerreplace with elevator regenerated current i
regi, so locate not do to repeat.
When elevator motor 9 is during in reproduced state, the regenerated energy that elevator motor 9 produces is accumulated on DC bus 6 via inverter 7, causes the bus voltage at DC bus 6 two ends to raise, and makes the actual value of bus voltage higher than its reference value.First collaborative controller 24 calculates elevator regenerated current i with the account form of above-mentioned arbitrary regenerative current
regi, all the other processes are identical with embodiment mono-, can be with reference to carrying out.
You need to add is that in addition, for the closed-center system of some type, along with the raising of its charge rate, its charging and discharging currents allowing can reduce thereupon, in the time that it is full of electricity, the charging and discharging currents allowing can reduce to zero thereupon, in this case, in the embodiment of the present invention, the command value of collaborative controller generation closed-center system controller 22 and energy consumption controller 18 can be done corresponding simplification processing according to rule, is about to the maxim SOC with the charge condition SOC of closed-center system and the charge condition of closed-center system
maxrelevant condition and content are removed.
Below through the specific embodiment and the embodiment the present invention is had been described in detail, but these are not construed as limiting the invention.Without departing from the principles of the present invention, those skilled in the art also can make many distortion and improvement, and these also should be considered as protection scope of the present invention.
Claims (13)
1. an energy-saving device of elevator, comprising:
One closed-center system, is connected across DC bus two ends through a charge-discharge circuit, for storing the regenerated energy producing when elevator motor regeneration moves, and in the time of elevator motor electric operation, stored energy is released into DC bus;
One closed-center system state detector, for detection of the mode of operation of described closed-center system;
One closed-center system controller, for controlling the energy flow between DC bus and described closed-center system;
One charge-discharge circuit, is arranged between DC bus and described closed-center system, for realizing the energy in bidirectional flow between the two;
One energy consumption circuit, is arranged at DC bus two ends, realizes the consumption of regenerated energy for regenerated energy is converted into heat;
One energy consumption controller, realizes the energy consumption of energy consumption circuit is regulated by the on-off element in energy consumption circuit being opened with the control of turn-offing action;
It is characterized in that, also comprise:
One collaborative controller, for the coordination that realizes closed-center system process of charging and energy consumption circuit energy consumption process with coordinate, described collaborative controller generates the command value of closed-center system controller and energy consumption controller according to the operation conditions of elevator, and makes the process of charging of described closed-center system and the energy consumption process of described energy consumption circuit work in Collaborative Control mode by this command value;
The control process that described collaborative controller generates the command value of closed-center system controller and energy consumption controller is:
Determine bus voltage error current command value i according to bus voltage and reference value thereof
dCer;
According to described bus voltage error current command value by the command value of closed-center system controller described in following law generation and energy consumption controller:
As SOC<SOCmax and i
dCer≤ i
maxtime, i
esi=i
dCer, i
edi=0;
Work as SOC<SOC
maxand i
dCer>i
maxtime, i
esi=i
max, i
edi=i
dCer-i
max;
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
dCer;
Or
Work as SOC<SOC
maxand i
dCer≤ i
maxtime, i
esi=i
dCer-(α SOC+ β Δ SOC), i
edi=α SOC+ β Δ SOC;
Work as SOC<SOC
maxand i
dCer>i
maxtime, i
esi=i
max-(α SOC+ β Δ SOC), i
edi=i
dCer-i
esi, i.e. i
edi=(i
dCer-i
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
dCer;
Wherein, i
dCerbus voltage error current command value, i
maxthe maximum charging current that closed-center system and charge-discharge circuit allow, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, i
esithe current instruction value of closed-center system controller, i
edibe the current instruction value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC;
Or the control process that described collaborative controller generates the command value of closed-center system controller and energy consumption controller is:
Determine bus voltage error power command value P according to bus voltage and reference value thereof
dCer;
According to described bus voltage error power command value by the command value of closed-center system controller described in following law generation and energy consumption controller:
Work as SOC<SOC
maxand P
dCer≤ P
maxtime, P
esi=P
dCer, P
edi=0;
Work as SOC<SOC
maxand P
dCer>P
maxtime, P
esi=P
max, P
edi=P
dCer-P
max;
As SOC>=SOC
maxtime, P
esi=0, P
edi=P
dCer;
Or
Work as SOC<SOC
maxand P
dCer≤ P
maxtime, P
esi=P
dCer-(α SOC+ β Δ SOC), P
edi=α SOC+ β Δ SOC;
Work as SOC<SOC
maxand P
dCer> P
maxtime, P
esi=P
max-(α SOC+ β Δ SOC), P
edi=P
dCer-P
esi, i.e. P
edi=(P
dCer-P
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, P
esi=0, P
edi=P
dCer;
Wherein, P
dCerbus voltage error power command value, P
maxthe maximum charge power that closed-center system and charge-discharge circuit allow, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, P
esithe power command value of closed-center system controller, P
edibe the power command value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC;
Or the control process that described collaborative controller generates the command value of closed-center system controller and energy consumption controller is:
Calculate elevator regenerated power P according to following either type
reg;
Mode 1: can be long-pending by the moment of calculating elevator motor and cireular frequency, or the product of quadrature axis electric current and quadrature-axis voltage command value add that the product of direct-axis current and direct-axis voltage command value obtains and, or the product of quadrature axis current instruction value and quadrature-axis voltage command value add that the product of direct-axis current and direct-axis voltage command value obtains and, or the product of quadrature axis electric current and quadrature-axis voltage command value add that the product of direct-axis current command value and direct-axis voltage command value obtains and, or the product of quadrature axis current instruction value and quadrature-axis voltage command value add that the product of direct-axis current command value and direct-axis voltage command value obtains and,
Mode 2: go out elevator realtime power according to car load situation, elevator speed, acceleration/accel and the elevator device calculation of parameter of car load meausring apparatus output, then consider after system loss, efficiency are suitably adjusted the elevator realtime power calculating and obtain;
Mode 3: regenerating power is taken as by method result of calculation sum described in bus voltage and the definite bus voltage error power command value of reference value and mode 1 or 2;
According to described elevator regenerated power P
regby closed-center system controller and energy consumption controller power command value described in following law generation:
Work as SOC<SOC
maxand P
reg≤ P
maxtime, P
esi=P
reg, P
edi=0;
Work as SOC<SOC
maxand P
reg>P
maxtime, P
esi=P
max, P
edi=P
reg-P
max;
As SOC>=SOC
maxtime, P
esi=O, P
edi=P
reg;
Or
Work as SOC<SOC
maxand P
reg≤ P
maxtime, P
esi=P
reg-(α SOC+ β Δ SOC), P
edi=α SOC+ β Δ SOC;
Work as SOC<SOC
maxand P
reg>P
maxtime, P
esi=P
max-(α SOC+ β Δ SOC), P
edi=P
reg-P
esi, i.e. P
edi=(P
reg-P
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, P
esi=0, P
edi=P
reg;
Wherein, P
regelevator regenerated power, P
maxthat closed-center system and charge-discharge circuit allow maximum charge power, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, P
esithe power command value of closed-center system controller, P
edibe the power command value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC;
Or the control process that described collaborative controller generates the command value of closed-center system controller and energy consumption controller is:
Calculate elevator regenerated current i according to following either type
regi:
Mode 1: regenerative current is taken as the load current that elevator regenerated operation produces, this load current can directly obtain by detecting DC bus current, or obtained through calculation by inverter 3 phase side electric currents or quadrature axis electric current or its instruction current or torque current or its instruction current, or being aided with elevator device parameter by the car load situation of elevator speed, acceleration/accel and the output of car load meausring apparatus obtains through calculation;
Mode 2: regenerative current is taken as by DC bus-bar voltage and the definite bus voltage error current command value of reference value thereof;
Mode 3: regenerative current is taken as the load current sum in bus voltage error current command value and mode 1;
Mode 4: regenerative current is taken as the regenerating power of elevator and the business of bus voltage;
Mode 5: regenerative current is taken as the bus voltage error current command value sum in business and the mode 2 of elevator regenerated power and bus voltage;
According to described elevator regenerated current i
regicurrent instruction value by closed-center system controller described in following law generation and energy consumption controller:
Work as SOC<SOC
maxand i
regi≤ i
maxtime, i
esi=i
regi, i
edi=0;
Work as SOC<SOC
maxand i
regi>i
maxtime, i
esi=i
max, i
edi=i
regi-i
max;
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
regi;
Or
Work as SOC<SOC
maxand i
regi≤ i
maxtime, i
esi=i
regi-(α SOC+ β Δ SOC), i
edi=α SOC+ β Δ SOC;
Work as SOC<SOC
maxand i
regi>i
maxtime, i
esi=i
max-(α SOC+ β Δ SOC), i
edi=i
regi-i
esi, i.e. i
edi=(i
regi-i
max)+(α SOC+ β Δ SOC);
As SOC>=SOC
maxtime, i
esi=0, i
edi=i
regi;
Wherein, i
regibe elevator regenerated electric current, imax is closed-center system and maximum charging current that charge-discharge circuit allows, the charge condition that SOC is described closed-center system, SOC
maxthe maxim of the charge condition of aforementioned closed-center system, i
esithe current instruction value of closed-center system controller, i
edibe the current instruction value of energy consumption controller, Δ SOC is the rate of change of SOC, and α and β are respectively the weight parameter of SOC and Δ SOC.
2. energy-saving device of elevator according to claim 1, is characterized in that, described Collaborative Control mode adopts following either type to control:
Tandem array mode: in the time that a control action finishes, another control action starts immediately, two control actions switch in free of discontinuities continuous in time;
Folded sequential mode: in the process that applies a kind of control action, apply another kind of control action, the two is partly or entirely overlapping in time simultaneously.
3. energy-saving device of elevator according to claim 1, is characterized in that: described elevator running state comprises the mode of operation of bus voltage and reference value, elevator regenerated power, elevator regenerated electric current and closed-center system and charge-discharge circuit.
4. energy-saving device of elevator according to claim 1, is characterized in that: the maximum charge power P that described closed-center system and charge-discharge circuit allow
maxadjustable according to the mode of operation of described closed-center system and charge-discharge circuit.
5. energy-saving device of elevator according to claim 1, is characterized in that: the maximum charging current i that described closed-center system and charge-discharge circuit allow
maxadjustable according to the mode of operation of described closed-center system and charge-discharge circuit.
6. energy-saving device of elevator according to claim 1, it is characterized in that: described closed-center system controller is controlled charge-discharge circuit according to its command value, realize actual current or the electric current of power to closed-center system controller or the tracking of power command value of closed-center system.
7. energy-saving device of elevator according to claim 1, is characterized in that: described energy consumption controller is controlled energy consumption circuit according to its command value, realizes actual current or the electric current of power to energy consumption controller or the tracking of power command value of energy consumption circuit.
8. according to the energy-saving device of elevator described in claim 1 or 7, it is characterized in that: described energy consumption controller adopts open loop control structure to the control of energy consumption circuit, or adopt closed loop controlling structure.
9. energy-saving device of elevator according to claim 1, is characterized in that: the charge condition SOC of described closed-center system refers to and can be obtained or can be through calculating the combination of one or more parameters of parameter of the actual energy storage situation that indirectly obtains, can embody described closed-center system or capacity service condition by described closed-center system state detector direct-detection.
10. energy-saving device of elevator according to claim 1, it is characterized in that: described closed-center system can be one or more combinations of storage battery, super capacitor or nanometer electric capacity, or one or more combinations of storage battery, super capacitor or nanometer electric capacity and the combination of fuel cell.
11. energy-saving device of elevator according to claim 1, is characterized in that: described charge-discharge circuit is any single branch road or the bi-directional DC-DC power converter that contains n bar branch road, and wherein, n is random natural number.
12. energy-saving device of elevator according to claim 1, is characterized in that: the combination of one or more characteristics of voltage, electric current and the temperature of described closed-center system state detector by detecting described closed-center system realizes the detection to described closed-center system charge condition.
13. energy-saving device of elevator according to claim 1, is characterized in that: described energy-saving device of elevator is connected in parallel in the eleva-tor bank being made up of the elevator of many general DC busbars.
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|---|---|---|---|
| CN201010265219.6A CN102372205B (en) | 2010-08-26 | 2010-08-26 | Elevator energy-saving device based on cooperative control mode |
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|---|---|---|---|
| CN201010265219.6A CN102372205B (en) | 2010-08-26 | 2010-08-26 | Elevator energy-saving device based on cooperative control mode |
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| CN1311150A (en) * | 2000-02-28 | 2001-09-05 | 三菱电机株式会社 | Elevator control device |
| CN101409526A (en) * | 2007-10-10 | 2009-04-15 | 株式会社日立制作所 | Elevator system and accumulator unit |
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| JP4679756B2 (en) * | 2001-05-25 | 2011-04-27 | 三菱電機株式会社 | Elevator control device |
| JP2003048672A (en) * | 2001-08-03 | 2003-02-21 | Mitsubishi Electric Corp | Elevator control device |
| JP2005053628A (en) * | 2003-08-01 | 2005-03-03 | Toshiba Elevator Co Ltd | Elevator controller |
| WO2007044000A1 (en) * | 2005-10-07 | 2007-04-19 | Otis Elevator Company | Elevator power system |
| CN201385975Y (en) * | 2008-12-26 | 2010-01-20 | 中国建筑科学研究院建筑机械化研究分院 | Renewable power utilization system for elevators |
| CN201447288U (en) * | 2009-06-05 | 2010-05-05 | 吴光跃 | Energy feedback, energy storage and power saving circuit for elevators |
| CN101697429B (en) * | 2009-09-22 | 2012-05-09 | 林肯电梯(中国)有限公司 | Micro power consumption elevator |
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| CN1311150A (en) * | 2000-02-28 | 2001-09-05 | 三菱电机株式会社 | Elevator control device |
| CN101409526A (en) * | 2007-10-10 | 2009-04-15 | 株式会社日立制作所 | Elevator system and accumulator unit |
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