Elevator permanent magnet synchronous door motor frequency converter power-off anti-pinch control system and method

Abstract

The invention provides an elevator permanent magnet synchronous door motor frequency converter power-off anti-pinch control system and method, the system comprises an elevator permanent magnet synchronous door motor and a permanent magnet synchronous door motor frequency converter, the permanent magnet synchronous door motor frequency converter further comprises a microcontroller chip MCU, the system comprises a rectifier bridge, a first filter capacitor, a first resistor, a second resistor, a U-phase upper bridge IGBT module, a U-phase lower bridge IGBT module, a V-phase upper bridge IGBT module, a V-phase lower bridge IGBT module, a W-phase upper bridge IGBT module, a W-phase lower bridge IGBT module, a third resistor, a door closing in-place switch and a system DC power supply. The alternating current signal input end of the rectifier bridge is used for being connected with a mains 220V alternating current power supply AC, the direct current signal output end positive electrode of the rectifier bridge is connected with the positive electrode of the first filter capacitor, and the direct current signal output end negative electrode of the rectifier bridge is connected with the negative electrode of the first filter capacitor.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and in particular to a power-off anti-pinch control system and method for an elevator permanent magnet synchronous door motor inverter. Background Art

[0002] When the elevator has power, its permanent magnet synchronous door motor inverter opens and closes the door according to the command of the elevator control system. When the power is off, if the door is open at the same level, the permanent magnet synchronous door motor inverter loses control of the permanent magnet synchronous door motor due to power failure, and the door will hit the door at a very high speed under the action of the self-closing force. If someone is entering or exiting the car at this time, it may endanger their personal safety. Therefore, some elevator permanent magnet synchronous door motor inverters are equipped with a power-off anti-pinch function, which is a mainstream technology. The first principle is: when the power is off, the door machine inverter power supply loses power, and its internal DC bus filter capacitor discharges. When the door machine inverter main control system detects that its voltage is lower than the low-voltage setting value and the door is in the switch state, it controls the door to close slowly to prevent people from being pinched. The filter capacitor continues to discharge until the system loses power and the door machine loses control; the second principle is: equipped with a normally closed relay (the contacts are closed when the power is off, and the contacts are open when there is power). The relay contacts are connected to the three-phase line of the door machine. When the power is off, the relay contacts are closed, and the three phases of the door machine are connected to form a star-sealing circuit. This circuit uses the generator effect to generate reverse resistance, thereby hindering the rotation of the motor. If the door is in the open state at this time, it will slowly close to prevent people from being pinched.

[0003] The disadvantage of the first solution is that it increases the cost, because this solution requires a large filter capacitor capacity, far exceeding the capacitor capacity used only for filtering, to ensure that when the power is off, the energy carried by the filter capacitor can make the door in the fully opened position close normally under the control of the door machine inverter. Otherwise, it is very likely that the power will be consumed at a position far away from the fully closed position when the door is controlled to close. At this time, the door loses control and will still hit the door at a high speed under the action of the self-closing force, which may still cause personal injury to users entering and exiting the car. The second solution also increases the cost because it is necessary to add a normally closed relay. Increasing the cost of a product will reduce its market competitiveness. How to solve the problem of people being pinched when the door is powered off without increasing the cost is a topic that needs to be studied at present. Summary of the invention

[0004] In order to solve the problems in the prior art, the present invention provides a control system and method for preventing people from being pinched when a permanent magnet synchronous door motor inverter is powered off.

[0005] A permanent magnet synchronous door motor inverter power-off anti-pinch control system for an elevator, the system comprising an elevator permanent magnet synchronous door motor and a permanent magnet synchronous door motor inverter, wherein the permanent magnet synchronous door motor inverter also comprises: a microcontroller chip, a rectifier bridge, a first filter capacitor, a first resistor, a second resistor, a U-phase upper bridge IGBT module, a U-phase lower bridge IGBT module, a V-phase upper bridge IGBT module, a V-phase lower bridge IGBT module, a W-phase upper bridge IGBT module, a W-phase lower bridge IGBT module, a third resistor, a door closing position switch, and a system DC power supply; an AC signal input end of the rectifier bridge is used to connect to a 220V AC power supply AC of a city power supply, a positive pole of a DC signal output end of the rectifier bridge is connected to the positive pole of the first filter capacitor, and a negative pole of a DC signal output end of the rectifier bridge is connected to the positive pole of the first filter capacitor. The negative electrode of the first filter capacitor is connected, and the rectifier bridge and the first filter capacitor form a rectifier filter circuit; direct current is formed between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor, and the voltage value between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor is set to the DC bus voltage value; a series circuit composed of a first resistor and a second resistor is connected in parallel to both ends of the first filter capacitor, the first end of the first resistor is also connected to the positive electrode of the first filter capacitor, and the free end of the second resistor is connected to the negative electrode of the first filter capacitor. The first resistor and the second resistor constitute a voltage divider circuit for the DC bus voltage, and the middle connection point of the first resistor and the second resistor is connected to the analog voltage acquisition signal input end of the microcontroller chip, and the middle connection point of the first resistor and the second resistor is used to output the analog voltage acquisition signal to the microcontroller chip; The collectors of the U-phase upper bridge IGBT module, the V-phase upper bridge IGBT module, and the W-phase upper bridge IGBT module are all connected to the positive electrode of the first filter capacitor; The emitter of the U-phase upper bridge IGBT module is connected in series with the collector of the U-phase lower bridge IGBT module, the emitter of the U-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the U-phase upper bridge IGBT module is connected to the U-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the U-phase lower bridge IGBT module is connected to the U-phase lower bridge on-off control signal output terminal of the microcontroller chip; The emitter of the V-phase upper bridge IGBT module is connected in series with the collector of the V-phase lower bridge IGBT module, the emitter of the V-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the V-phase upper bridge IGBT module is connected to the V-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the V-phase lower bridge IGBT module is connected to the V-phase lower bridge on-off control signal output terminal of the microcontroller chip; The emitter of the W-phase upper bridge IGBT module is connected in series with the collector of the W-phase lower bridge IGBT module, the emitter of the W-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the W-phase upper bridge IGBT module is connected to the W-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the W-phase lower bridge IGBT module is connected to the W-phase lower bridge on-off control signal output terminal of the microcontroller chip; The middle point between the emitter of the U-phase upper bridge IGBT module and the collector of the U-phase lower bridge IGBT module is connected to the U-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; the middle point between the emitter of the V-phase upper bridge IGBT module and the collector of the V-phase lower bridge IGBT module is connected to the V-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; the middle point between the emitter of the W-phase upper bridge IGBT module and the collector of the W-phase lower bridge IGBT module is connected to the W-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; The third resistor is connected in series with the door-closed switch, the free end of the third resistor is connected to the system DC power supply, the free end of the door-closed switch is connected to the negative electrode of the first filter capacitor, and the middle point between the third resistor and the door-closed switch is connected to the door-closed signal input end of the microcontroller chip; when the door-closed switch detects that the elevator door is fully closed, it is closed, and the door-closed signal input end of the microcontroller chip inputs a low-level signal; otherwise, a high-level signal is input; When the U-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the U-phase upper bridge IGBT module is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the U upper bridge is turned on; when the U-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the U-phase upper bridge IGBT module is disconnected, that is, the U-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the U upper bridge is disconnected; when the U-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a high level, the U-phase lower bridge IGBT module is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the U lower bridge is turned on, when the U-phase lower bridge on-off control signal output terminal of the microcontroller chip MCU is at a low level, the U-phase lower bridge IGBT module is disconnected, and the U-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the U lower bridge is disconnected; When the V-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the V-phase upper bridge IGBT module is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the V-upper bridge is turned on; when the V-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the V-phase upper bridge IGBT module is disconnected, that is, the V-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the V-upper bridge is disconnected; when the V-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a high level, the V-phase lower bridge IGBT module is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the V-lower bridge is turned on, and when the V-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a low level, the V-phase lower bridge IGBT module is disconnected, and the V-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the V-lower bridge is disconnected; When the W-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the W-phase upper bridge IGBT module is turned on, and the W-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the W-upper bridge is turned on; when the W-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the W-phase upper bridge IGBT module is disconnected, that is, the W-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the W-upper bridge is disconnected; when the W-phase lower bridge on-off control signal output terminal of the microcontroller chip MCU is at a high level, the W-phase lower bridge IGBT module is turned on, the W-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the W-lower bridge is turned on, when the W-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a low level, the W-phase lower bridge IGBT module is disconnected, the W-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the W-lower bridge is disconnected; The microcontroller chip controls the U-phase upper bridge on-off control signal output end, the U-phase lower bridge on-off control signal output end, the V-phase upper bridge on-off control signal output end, the V-phase lower bridge on-off control signal output end, the W-phase upper bridge on-off control signal output end, and the W-phase lower bridge on-off control signal output end, and drives the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge to be turned on or off to control the operation of the elevator permanent magnet synchronous door motor.

[0006] The present invention also provides an elevator permanent magnet synchronous door motor inverter power-off anti-pinch control method based on the elevator permanent magnet synchronous door motor inverter power-off anti-pinch control system, which includes the following steps: Step 1): The microcontroller chip of the elevator permanent magnet synchronous door motor inverter reads the analog voltage acquisition signal VB output by the middle connection point of the first resistor and the second resistor in real time through its analog voltage acquisition signal input terminal, and then calculates the DC bus voltage value Vbus between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor: Vbus=VB×(R1+R2) / R2; If the DC bus voltage value is lower than the first set value, the conclusion is that the AC power supply AC is off, and other current processes are interrupted at this time, and the process goes to step 2); otherwise, the motor control program under the condition of normal AC power supply AC is executed, and then the process returns to step 1); Step 2): Step 2-1): The microcontroller chip controls the U-phase upper bridge on-off control signal output terminal to disconnect the U upper bridge. At the same time, the microcontroller chip controls the U-phase lower bridge on-off control signal output terminal to disconnect the U lower bridge. The microcontroller chip controls the V-phase upper bridge on-off control signal output terminal to disconnect the V upper bridge. The microcontroller chip controls the V-phase lower bridge on-off control signal output terminal to disconnect the V lower bridge. The microcontroller chip controls the W-phase upper bridge on-off control signal output terminal to disconnect the W upper bridge. The microcontroller chip controls the W-phase lower bridge on-off control signal output terminal to disconnect the W lower bridge, that is, the control of the elevator permanent magnet synchronous door motor is stopped. At this time, the elevator permanent magnet synchronous door motor accelerates to close the door under the action of the self-closing force. The microcontroller chip resets the timer and starts the timer to start timing, and then enters step 2-2); Step 2-2): The microcontroller chip reads the count value of the timer. When the read count value reaches the set first count threshold, the microcontroller chip controls the U upper bridge, V upper bridge, and W upper bridge to be disconnected and the U lower bridge, V lower bridge, and W lower bridge to be turned on through its U-phase upper bridge on-off control signal output terminal, U-phase lower bridge on-off control signal output terminal, V-phase upper bridge on-off control signal output terminal, V-phase lower bridge on-off control signal output terminal, and W-phase lower bridge on-off control signal output terminal, so that the U-phase input pin, V-phase input pin, and W-phase input pin of the elevator permanent magnet synchronous door motor are connected together to form a star-sealing circuit, thereby preventing the elevator permanent magnet synchronous door motor from rotating and preventing the elevator permanent magnet synchronous door motor from closing. The microcontroller chip MCU resets the timer T0 and starts the timer T0 to start timing, and then enters step 2-3); Step 2-3): The microcontroller chip reads the count value of the timer. When the read count value reaches the set second count threshold, the microcontroller chip determines whether the current position of the elevator door is the door-closed position by reading the level of the door-closed position signal input terminal. If it is determined that the current position of the elevator door is the door-closed position, then through its U-phase upper bridge on-off control signal output terminal, U-phase lower bridge on-off control signal output terminal, V-phase upper bridge on-off control signal output terminal, V-phase lower bridge on-off control signal output terminal, W-phase upper bridge on-off control signal output terminal, W-phase lower bridge on-off control signal output terminal, control the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge to be all disconnected, that is, stop controlling the elevator permanent magnet synchronous door motor, and then return to step 1); otherwise, it is determined that the current position of the elevator door is not the door-closed position, and return to step 2-1).

[0007] The present invention provides a power-off anti-pinch control system and method for a permanent magnet synchronous door motor inverter of an elevator, which reduces power consumption and enables the elevator permanent magnet synchronous door motor inverter to prevent the elevator door from hitting the door in a power-off situation when equipped with a smaller capacitor, i.e., a normal door switch capacitor, thereby ensuring the personal safety of users. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 This is a circuit connection diagram of the elevator permanent magnet synchronous door motor inverter power-off anti-pinch control system of the present invention; Figure 2 The present invention is a circuit diagram of the star-off of the permanent magnet synchronous door motor of the elevator in the power-off anti-pinch control system of the permanent magnet synchronous door motor inverter of the elevator. DETAILED DESCRIPTION

[0009] The present invention provides an elevator permanent magnet synchronous door motor inverter power failure anti-pinch control system, such as Figure 1 As shown in the circuit diagram, the system includes an elevator permanent magnet synchronous door motor M and a permanent magnet synchronous door motor inverter, wherein the permanent magnet synchronous door motor inverter also includes: a microcontroller chip MCU, a rectifier bridge D1, a first filter capacitor C1, a first resistor R1, a second resistor R2, a U-phase upper bridge IGBT module Q1, a U-phase lower bridge IGBT module Q2, a V-phase upper bridge IGBT module Q3, a V-phase lower bridge IGBT module Q4, a W-phase upper bridge IGBT module Q5, a W-phase lower bridge IGBT module Q6, a third resistor R3, a door closing position switch SW1, and a system DC power supply V+; the AC signal input end of the rectifier bridge D1 is used to connect to a 220V AC power supply AC; the positive pole of the DC signal output end of the rectifier bridge D1 is connected to the positive pole of the first filter capacitor C1, and the negative pole of the DC signal output end of the rectifier bridge D1 is connected to the negative pole of the first filter capacitor C1, and the rectifier bridge D1 and the first filter capacitor C1 form an rectifier. A flow filtering circuit, a direct current is formed between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor, and the voltage value between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor is set to the direct current bus voltage value Vbus; a series circuit composed of a first resistor R1 and a second resistor R2 is connected in parallel to both ends of the first filter capacitor C1, a first end of the first resistor R1 is also connected to the positive electrode DC+ of the first filter capacitor C1, a free end of the second resistor R2 is connected to the negative electrode DC- of the first filter capacitor C1, the first resistor R1 and the second resistor R2 constitute a voltage divider circuit for the direct current bus voltage Vbus, a middle node of the first resistor R1 and the second resistor R2 is connected to the analog voltage acquisition signal input terminal P0 of the microcontroller chip MCU, a voltage on the middle node of the first resistor R1 and the second resistor R2 is VB, and the middle node of the first resistor R1 and the second resistor R2 is used to output the analog voltage acquisition signal VB to the microcontroller chip MCU; The collectors of the U-phase upper bridge IGBT module Q1, the V-phase upper bridge IGBT module Q3, and the W-phase upper bridge IGBT module Q5 are all connected to the positive electrode DC+ of the first filter capacitor C1; The emitter of the U-phase upper bridge IGBT module Q1 is connected in series with the collector of the U-phase lower bridge IGBT module Q2, the emitter of the U-phase lower bridge IGBT module Q2 is connected to the negative electrode DC- of the first filter capacitor C1, the gate of the U-phase upper bridge IGBT module Q1 is connected to the U-phase upper bridge on-off control signal output terminal P1 of the microcontroller chip MCU, and the gate of the U-phase lower bridge IGBT module Q2 is connected to the U-phase lower bridge on-off control signal output terminal P2 of the microcontroller chip MCU; The emitter of the V-phase upper bridge IGBT module Q3 is connected in series with the collector of the V-phase lower bridge IGBT module Q4, the emitter of the V-phase lower bridge IGBT module Q4 is connected to the negative electrode DC- of the first filter capacitor C1, the gate of the V-phase upper bridge IGBT module Q3 is connected to the V-phase upper bridge on-off control signal output terminal P3 of the microcontroller chip MCU, and the gate of the V-phase lower bridge IGBT module Q4 is connected to the V-phase lower bridge on-off control signal output terminal P4 of the microcontroller chip MCU; The emitter of the W-phase upper bridge IGBT module Q5 is connected in series with the collector of the W-phase lower bridge IGBT module Q6, the emitter of the W-phase lower bridge IGBT module Q6 is connected to the negative electrode DC- of the first filter capacitor C1, the gate of the W-phase upper bridge IGBT module Q5 is connected to the W-phase upper bridge on-off control signal output terminal P5 of the microcontroller chip MCU, and the gate of the W-phase lower bridge IGBT module Q6 is connected to the W-phase lower bridge on-off control signal output terminal P6 of the microcontroller chip MCU; The middle point between the emitter of the U-phase upper bridge IGBT module Q1 and the collector of the U-phase lower bridge IGBT module Q2 is connected to the U-phase input pin of the power input end of the elevator permanent magnet synchronous door motor M; the middle point between the emitter of the V-phase upper bridge IGBT module Q3 and the collector of the V-phase lower bridge IGBT module Q4 is connected to the V-phase input pin of the power input end of the elevator permanent magnet synchronous door motor M; the middle point between the emitter of the W-phase upper bridge IGBT module Q5 and the collector of the W-phase lower bridge IGBT module Q6 is connected to the W-phase input pin of the power input end of the elevator permanent magnet synchronous door motor M; The third resistor R3 is connected in series with the door-closed switch SW1, the free end of the third resistor R3 is connected to the system DC power supply V+, the free end of the door-closed switch SW1 is connected to the negative electrode DC- of the first filter capacitor C1, and the middle point between the third resistor R3 and the door-closed switch SW1 is connected to the door-closed signal input terminal P7 of the microcontroller chip MCU; the door-closed switch SW1 is closed when it detects that the elevator door is fully closed, and the door-closed signal input terminal P7 of the microcontroller chip MCU inputs a low-level signal; otherwise, a high-level signal is input; When the U-phase upper bridge on-off control signal output terminal P1 of the microcontroller chip MCU is at a high level, the U-phase upper bridge IGBT module Q1 is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the positive pole DC+ of the first filter capacitor C1, that is, the U upper bridge is turned on; when the U-phase upper bridge on-off control signal output terminal P1 of the microcontroller chip MCU is at a low level, the U-phase upper bridge IGBT module Q1 is disconnected, that is, the U-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the positive pole DC+ of the first filter capacitor C1, that is, the U upper bridge is disconnected. ; When the U-phase lower bridge on-off control signal output terminal P2 of the microcontroller chip MCU is at a high level, the U-phase lower bridge IGBT module Q2 is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the negative electrode DC- of the first filter capacitor C1, that is, the U lower bridge is turned on; when the U-phase lower bridge on-off control signal output terminal P2 of the microcontroller chip MCU is at a low level, the U-phase lower bridge IGBT module Q2 is disconnected, and the U-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the negative electrode DC- of the first filter capacitor C1, that is, the U lower bridge is disconnected; When the V-phase upper bridge on-off control signal output terminal P3 of the microcontroller chip MCU is at a high level, the V-phase upper bridge IGBT module Q3 is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the positive pole DC+ of the first filter capacitor C1, that is, the V upper bridge is turned on; when the V-phase upper bridge on-off control signal output terminal P3 of the microcontroller chip MCU is at a low level, the V-phase upper bridge IGBT module Q3 is disconnected, that is, the V-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the positive pole DC+ of the first filter capacitor C1, that is, the V upper bridge is disconnected. ; When the V-phase lower bridge on-off control signal output terminal P4 of the microcontroller chip MCU is at a high level, the V-phase lower bridge IGBT module Q4 is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the negative electrode DC- of the first filter capacitor C1, that is, the V lower bridge is turned on; when the V-phase lower bridge on-off control signal output terminal P4 of the microcontroller chip MCU is at a low level, the V-phase lower bridge IGBT module Q4 is disconnected, and the V-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the negative electrode DC- of the first filter capacitor C1, that is, the V lower bridge is disconnected; When the W-phase upper bridge on-off control signal output terminal P5 of the microcontroller chip MCU is at a high level, the W-phase upper bridge IGBT module Q5 is turned on, and the W-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the positive pole DC+ of the first filter capacitor C1, that is, the W-phase upper bridge is turned on; when the W-phase upper bridge on-off control signal output terminal P5 of the microcontroller chip MCU is at a low level, the W-phase upper bridge IGBT module Q5 is disconnected, that is, the W-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the positive pole DC+ of the first filter capacitor C1, that is, the W-phase upper bridge is disconnected. ; When the W-phase lower bridge on-off control signal output terminal P6 of the microcontroller chip MCU is at a high level, the W-phase lower bridge IGBT module Q6 is turned on, and the W-phase input pin of the elevator permanent magnet synchronous door motor M is connected to the negative electrode DC- of the first filter capacitor C1, that is, the W lower bridge is turned on; when the W-phase lower bridge on-off control signal output terminal P6 of the microcontroller chip MCU is at a low level, the W-phase lower bridge IGBT module Q6 is disconnected, and the W-phase input pin of the elevator permanent magnet synchronous door motor M is disconnected from the negative electrode DC- of the first filter capacitor C1, that is, the W lower bridge is disconnected; The microcontroller chip MCU controls the U-phase upper bridge on-off control signal output terminal P1, the U-phase lower bridge on-off control signal output terminal P2, the V-phase upper bridge on-off control signal output terminal P3, the V-phase lower bridge on-off control signal output terminal P4, the W-phase upper bridge on-off control signal output terminal P5, and the W-phase lower bridge on-off control signal output terminal P6, and drives the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge to be turned on or off, thereby controlling the operation of the elevator permanent magnet synchronous door motor M.

[0010] like Figure 1 As shown, the rectifier bridge D1 and the filter capacitor C1 form a rectifier filter circuit. After the external AC power source AC (AC 220V mains) passes through the rectifier filter circuit, a DC power is formed between DC+ and DC-. The voltage value between DC+ and DC- is set to Vbus (called the DC bus voltage). The voltage value of the middle connection point B between the first resistor R1 and the second resistor R2 is set to VB. The resistor R1 and the resistor R2 form a voltage divider circuit for Vbus, that is, Vbus=VB*(R1+R2) / R2. Therefore, the microcontroller chip MCU can read the analog voltage value of VB through the P0 port and calculate the value of Vbus. When the mains AC is AC 220V, the DC bus voltage is DC310V after full-bridge rectification and filtering.

[0011] like Figure 1 As shown, the P1, P2, P3, P4, P5, and P6 ports of the microcontroller chip MCU are connected to the gates of the U-phase upper bridge IGBT module Q1, the U-phase lower bridge IGBT module Q2, the V-phase upper bridge IGBT module Q3, the V-phase lower bridge IGBT module Q4, the W-phase upper bridge IGBT module Q5, and the W-phase lower bridge IGBT module Q6 through their respective drive circuits, that is, Figure 1When the P1 port of the microcontroller chip MCU is at a high level, the UH point is at a high level, and the U-phase upper bridge IGBT module Q1 is turned on, that is, the U-phase pin of the power input terminal of the elevator permanent magnet synchronous door motor M is connected to DC+ (called U upper bridge conduction). When the UH point is at a low level, the U-phase upper bridge IGBT module Q1 is disconnected, that is, the U-phase pin of the power input terminal of the elevator permanent magnet synchronous door motor M is disconnected from DC+ (called U upper bridge disconnection); similarly, when the P2 port of the microcontroller chip MCU is at a high level, that is, the UL point is at a high level, , the U-phase lower bridge IGBT module Q2 is turned on, that is, the U-phase pin of the power input terminal of the elevator permanent magnet synchronous door motor M is turned on to DC- (called U lower bridge turn-on), and when the UL point is at a low level, the U-phase lower bridge IGBT module Q2 is disconnected, that is, the U point is disconnected from DC- (called U lower bridge disconnection); similarly, the high / low level of the VH point turns on / off the V upper bridge, the high / low level of the VL point turns on / off the V lower bridge, the high / low level of the WH point turns on / off the W upper bridge, and the high / low level of the WL point turns on / off the W lower bridge.

[0012] The microcontroller chip MCU controls the high and low levels of the UH, UL, VH, VL, WH, and WL points through the P1~P6 ports, thereby controlling the upper and lower bridges of the U, V, and W points to be turned on or off. According to the FOC algorithm and principle (vector control of elevator permanent magnet synchronous door motor), the microcontroller chip MCU programs the P1~P6 ports to drive the upper and lower bridges of the U, V, and W points to be turned on or off, thereby controlling the corresponding operation of the elevator permanent magnet synchronous door motor M.

[0013] like Figure 1 As shown, when the elevator door is in the door closing position, the door closing switch SW1 is closed, so that the P7 port of the microcontroller chip MCU is at a low level. When the elevator door is not in the door closing position, the door closing switch SW1 is disconnected, so that the P7 port of the microcontroller chip MCU is at a high level. The microcontroller chip MCU determines whether the elevator door has reached the door closing position by reading the level of the P7 port.

[0014] like Figure 1 As shown, the microcontroller chip MCU has a T0 timer inside for timing.

[0015] The elevator permanent magnet synchronous door motor inverter power-off anti-pinch control method based on the elevator permanent magnet synchronous door motor inverter power-off anti-pinch control system of the present invention has the following specific steps: Step 1): The microcontroller chip MCU of the elevator permanent magnet synchronous door motor inverter reads the analog voltage value VB of point B in real time through the P0 port, and then calculates the DC bus voltage value Vbus between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor: Vbus=VB×(R1+R2) / R2; If the DC bus voltage Vbus is lower than the first set value DC200V, the result of the determination is that the AC power supply AC is powered off, and then the process goes to step 2); otherwise, the motor control program under the condition of normal AC power supply AC is executed, and then the process goes back to step 1); Step 2): Step 2-1): The elevator permanent magnet synchronous door motor inverter controls its U-phase upper bridge on-off control signal output terminal P1 to disconnect the U upper bridge, the U-phase lower bridge on-off control signal output terminal P2 to disconnect the U lower bridge, the V-phase upper bridge on-off control signal output terminal P3 to disconnect the V upper bridge, the V-phase lower bridge on-off control signal output terminal P4 to disconnect the V lower bridge, the W-phase upper bridge on-off control signal output terminal P5 to disconnect the W upper bridge, and the W-phase lower bridge on-off control signal output terminal P6 to disconnect the W lower bridge, that is, stop controlling the elevator permanent magnet synchronous door motor M. At this time, the elevator permanent magnet synchronous door motor M accelerates to close the door under the action of the self-closing force, and the microcontroller chip MCU resets the timer T0, and starts the timer T0 to start timing, and then enters step 2-2); Step 2-2): The microcontroller chip MCU reads the count value of the timer T0. When the read count value exceeds the first count threshold, in this embodiment, the first count threshold is 1ms, the microcontroller chip MCU controls the U upper bridge, V upper bridge, and W upper bridge to be disconnected through the P1~P6 ports, and the U lower bridge, V lower bridge, and W lower bridge to be turned on, so that the U phase, V phase, and W phase of the elevator permanent magnet synchronous door motor are connected together to form a star-sealing circuit, such as Figure 2 The schematic diagram shown in the figure prevents the elevator permanent magnet synchronous door motor from rotating and the elevator permanent magnet synchronous door motor M from closing. The microcontroller chip MCU resets the timer T0 and starts the timer T0 to start timing. At this time, step 2-3 is entered); Step 2-3): The microcontroller chip MCU reads the count value of the timer T0. When the read count value exceeds the second count threshold, in this embodiment, the second count threshold is 1ms. The microcontroller chip MCU determines whether the current position of the elevator door is the door-closed position by reading the electrical level of the P7 port. If the current position of the elevator door is determined to be the door-closed position, the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge are all disconnected through the P1~P6 ports, that is, the control of the elevator permanent magnet synchronous door motor M is stopped, and then, the process returns to step 1); otherwise, it is determined that the current position of the elevator door is not the door-closed position, and the process returns to step 2-1).

[0016] Star-sealing principle: The three-phase winding lead wires of the permanent magnet synchronous motor are connected in a star shape with wires or series resistors, which is called "star-sealing". At this time, the permanent magnet synchronous motor acts as a three-phase AC permanent magnet generator. If the unbalanced torque of the mechanical system drives the traction wheel to rotate, the permanent magnet synchronous motor absorbs mechanical energy and converts it into electrical energy, and consumes the electrical energy through the closed loop formed by the "star-sealing" wire or resistor to achieve motor speed reduction and low-speed operation. The so-called star-sealing circuit in this article is to short-circuit the three-phase winding of the elevator permanent magnet synchronous door motor, and use the generator effect of the elevator permanent magnet synchronous door motor to generate reverse resistance, thereby hindering the rotation of the elevator permanent magnet synchronous door motor.

[0017] The above-mentioned first setting value DC200 is just an example. The DC voltage of AC220V after AC filtering is DC310V. Taking into account the fluctuation of mains power and the voltage reduction caused by power consumption during operation, 240V, 230V, 220V, 210V, etc. can be selected and set according to actual conditions.

[0018] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A permanent magnet synchronous door motor inverter power-off anti-pinch control system for an elevator, the system comprising an elevator permanent magnet synchronous door motor and a permanent magnet synchronous door motor inverter, characterized in that: The permanent magnet synchronous door motor inverter also includes: a microcontroller chip, a rectifier bridge, a first filter capacitor, a first resistor, a second resistor, a U-phase upper bridge IGBT module, a U-phase lower bridge IGBT module, a V-phase upper bridge IGBT module, a V-phase lower bridge IGBT module, a W-phase upper bridge IGBT module, a W-phase lower bridge IGBT module, a third resistor, a door closing switch, and a system DC power supply; the AC signal input end of the rectifier bridge is used to connect to the 220V AC power supply AC of the mains, the positive pole of the DC signal output end of the rectifier bridge is connected to the positive pole of the first filter capacitor, the negative pole of the DC signal output end of the rectifier bridge is connected to the negative pole of the first filter capacitor, and the rectifier bridge and the first filter capacitor form a rectifier filter. Circuit; direct current is formed between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor, and the voltage value between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor is set to the direct current bus voltage value; a series circuit consisting of a first resistor and a second resistor is connected in parallel to both ends of the first filter capacitor, the first end of the first resistor is also connected to the positive electrode of the first filter capacitor, the free end of the second resistor is connected to the negative electrode of the first filter capacitor, the first resistor and the second resistor constitute a voltage divider circuit for the direct current bus voltage, the middle connection point of the first resistor and the second resistor is connected to the analog voltage acquisition signal input end of the microcontroller chip, and the middle connection point of the first resistor and the second resistor is used to output the analog voltage acquisition signal to the microcontroller chip; The collectors of the U-phase upper bridge IGBT module, the V-phase upper bridge IGBT module, and the W-phase upper bridge IGBT module are all connected to the positive electrode of the first filter capacitor; The emitter of the U-phase upper bridge IGBT module is connected in series with the collector of the U-phase lower bridge IGBT module, the emitter of the U-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the U-phase upper bridge IGBT module is connected to the U-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the U-phase lower bridge IGBT module is connected to the U-phase lower bridge on-off control signal output terminal of the microcontroller chip; The emitter of the V-phase upper bridge IGBT module is connected in series with the collector of the V-phase lower bridge IGBT module, the emitter of the V-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the V-phase upper bridge IGBT module is connected to the V-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the V-phase lower bridge IGBT module is connected to the V-phase lower bridge on-off control signal output terminal of the microcontroller chip; The emitter of the W-phase upper bridge IGBT module is connected in series with the collector of the W-phase lower bridge IGBT module, the emitter of the W-phase lower bridge IGBT module is connected to the negative electrode of the first filter capacitor, the gate of the W-phase upper bridge IGBT module is connected to the W-phase upper bridge on-off control signal output terminal of the microcontroller chip, and the gate of the W-phase lower bridge IGBT module is connected to the W-phase lower bridge on-off control signal output terminal of the microcontroller chip; The middle point between the emitter of the U-phase upper bridge IGBT module and the collector of the U-phase lower bridge IGBT module is connected to the U-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; the middle point between the emitter of the V-phase upper bridge IGBT module and the collector of the V-phase lower bridge IGBT module is connected to the V-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; the middle point between the emitter of the W-phase upper bridge IGBT module and the collector of the W-phase lower bridge IGBT module is connected to the W-phase input pin of the power input end of the elevator permanent magnet synchronous door motor; The third resistor is connected in series with the door-closed switch, the free end of the third resistor is connected to the system DC power supply, the free end of the door-closed switch is connected to the negative electrode of the first filter capacitor, and the middle point between the third resistor and the door-closed switch is connected to the door-closed signal input end of the microcontroller chip; when the door-closed switch detects that the elevator door is fully closed, it is closed, and the door-closed signal input end of the microcontroller chip inputs a low-level signal; otherwise, a high-level signal is input; When the U-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the U-phase upper bridge IGBT module is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the U upper bridge is turned on; when the U-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the U-phase upper bridge IGBT module is disconnected, that is, the U-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the U upper bridge is disconnected; when the U-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a high level, the U-phase lower bridge IGBT module is turned on, and the U-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the U lower bridge is turned on, when the U-phase lower bridge on-off control signal output terminal of the microcontroller chip MCU is at a low level, the U-phase lower bridge IGBT module is disconnected, and the U-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the U lower bridge is disconnected; When the V-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the V-phase upper bridge IGBT module is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the V-upper bridge is turned on; when the V-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the V-phase upper bridge IGBT module is disconnected, that is, the V-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the V-upper bridge is disconnected; when the V-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a high level, the V-phase lower bridge IGBT module is turned on, and the V-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the V-lower bridge is turned on, and when the V-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a low level, the V-phase lower bridge IGBT module is disconnected, and the V-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the V-lower bridge is disconnected; When the W-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a high level, the W-phase upper bridge IGBT module is turned on, and the W-phase input pin of the elevator permanent magnet synchronous door motor is connected to the positive pole of the first filter capacitor, that is, the W-upper bridge is turned on; when the W-phase upper bridge on-off control signal output terminal of the microcontroller chip is at a low level, the W-phase upper bridge IGBT module is disconnected, that is, the W-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the positive pole of the first filter capacitor, that is, the W-upper bridge is disconnected; when the W-phase lower bridge on-off control signal output terminal of the microcontroller chip MCU is at a high level, the W-phase lower bridge IGBT module is turned on, the W-phase input pin of the elevator permanent magnet synchronous door motor is connected to the negative pole of the first filter capacitor, that is, the W-lower bridge is turned on, when the W-phase lower bridge on-off control signal output terminal of the microcontroller chip is at a low level, the W-phase lower bridge IGBT module is disconnected, the W-phase input pin of the elevator permanent magnet synchronous door motor is disconnected from the negative pole of the first filter capacitor, that is, the W-lower bridge is disconnected; The microcontroller chip controls the U-phase upper bridge on-off control signal output end, the U-phase lower bridge on-off control signal output end, the V-phase upper bridge on-off control signal output end, the V-phase lower bridge on-off control signal output end, the W-phase upper bridge on-off control signal output end, and the W-phase lower bridge on-off control signal output end, and drives the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge to be turned on or off to control the operation of the elevator permanent magnet synchronous door motor.

2. An elevator permanent magnet synchronous door motor inverter power-off anti-pinch control method based on the elevator permanent magnet synchronous door motor inverter power-off anti-pinch control system according to claim 1, characterized in that: The steps include: Step 1): The microcontroller chip of the elevator permanent magnet synchronous door motor inverter reads the analog voltage acquisition signal VB output by the middle connection point of the first resistor and the second resistor in real time through its analog voltage acquisition signal input terminal, and then calculates the DC bus voltage value Vbus between the positive electrode of the first filter capacitor and the negative electrode of the first filter capacitor: Vbus=VB×(R1+R2) / R2; If the DC bus voltage value is lower than the first set value, the conclusion is that the AC power supply AC is off, and other current processes are interrupted at this time, and the process goes to step 2); otherwise, the motor control program under the condition of normal AC power supply AC is executed, and then the process returns to step 1); Step 2): Step 2-1): The microcontroller chip controls the U-phase upper bridge on-off control signal output terminal to disconnect the U upper bridge. At the same time, the microcontroller chip controls the U-phase lower bridge on-off control signal output terminal to disconnect the U lower bridge. The microcontroller chip controls the V-phase upper bridge on-off control signal output terminal to disconnect the V upper bridge. The microcontroller chip controls the V-phase lower bridge on-off control signal output terminal to disconnect the V lower bridge. The microcontroller chip controls the W-phase upper bridge on-off control signal output terminal to disconnect the W upper bridge. The microcontroller chip controls the W-phase lower bridge on-off control signal output terminal to disconnect the W lower bridge, that is, the control of the elevator permanent magnet synchronous door motor is stopped. At this time, the elevator permanent magnet synchronous door motor accelerates to close the door under the action of the self-closing force. The microcontroller chip resets the timer and starts the timer to start timing, and then enters step 2-2); Step 2-2): The microcontroller chip reads the count value of the timer. When the read count value reaches the set first count threshold, the microcontroller chip controls the U upper bridge, V upper bridge, and W upper bridge to be disconnected and the U lower bridge, V lower bridge, and W lower bridge to be turned on through its U-phase upper bridge on-off control signal output terminal, U-phase lower bridge on-off control signal output terminal, V-phase upper bridge on-off control signal output terminal, V-phase lower bridge on-off control signal output terminal, and W-phase lower bridge on-off control signal output terminal, so that the U-phase input pin, V-phase input pin, and W-phase input pin of the elevator permanent magnet synchronous door motor are connected together to form a star-sealing circuit, thereby preventing the elevator permanent magnet synchronous door motor from rotating and preventing the elevator permanent magnet synchronous door motor from closing. The microcontroller chip MCU resets the timer T0 and starts the timer T0 to start timing, and then enters step 2-3); Step 2-3): The microcontroller chip reads the count value of the timer. When the read count value reaches the set second count threshold, the microcontroller chip determines whether the current position of the elevator door is the door-closed position by reading the level of the door-closed position signal input terminal. If it is determined that the current position of the elevator door is the door-closed position, then through its U-phase upper bridge on-off control signal output terminal, U-phase lower bridge on-off control signal output terminal, V-phase upper bridge on-off control signal output terminal, V-phase lower bridge on-off control signal output terminal, W-phase upper bridge on-off control signal output terminal, W-phase lower bridge on-off control signal output terminal, control the U upper bridge, U lower bridge, V upper bridge, V lower bridge, W upper bridge, and W lower bridge to be all disconnected, that is, stop controlling the elevator permanent magnet synchronous door motor, and then return to step 1); otherwise, it is determined that the current position of the elevator door is not the door-closed position, and return to step 2-1).

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