Energy-storage emergency power supply and driving control method and apparatus for mine induction motor hoist

Abstract

The present invention provides an energy-storage emergency power supply and driving control method and apparatus for a mine induction motor hoist. The method comprises: acquiring working states of a mains power loop 1 and a mains power loop 2 in real time; on the basis of abnormal working states of the mains power loop 1 and the mains power loop 2, determining whether to disable a mains power supply mode and enable an emergency power supply mode; enabling the emergency power supply mode, and switching the hoist from mains power supply to emergency power supply; starting hoist auxiliary units and a hoist electric control unit, and determining whether the hoist meets an operation condition; receiving a hoist operation instruction, and on the basis of the operation instruction, controlling the hoist to operate; and exiting an emergency working mode, and switching the hoist from the emergency power supply to the mains power supply. The present invention uses a combination of new energy storage and conversion to replace the original diesel engine power generation system, solving the problem of emergency power supply of a control system for a mine induction motor elevator, allowing for rapid establishment of an emergency rescue hoisting channel, and providing a safety guarantee for mine workers and production.

Description

A method and device for energy storage emergency power supply and drive control of a mine induction motor hoist Technical Field

[0001] The present invention relates to the field of electromechanical equipment transmission control, and in particular to a method and device for energy storage emergency power supply and drive control of a mine induction motor hoist. Background Art

[0002] Mine hoists are key equipment in mines, responsible for lifting and lowering personnel and materials, and are the core of a mine's operation. The auxiliary shaft hoists, in particular, are crucial for transporting personnel to the surface in the event of an underground anomaly. However, when a mine's power supply system is damaged, the mine hoists become inoperable, placing underground personnel in danger and making subsequent rescue efforts extremely difficult. Therefore, mine power supply systems play a crucial and important role in coal mine safety. Coal mine power supply system design specifications require that large-capacity Class I loads utilize dual power supplies, but this still fails to meet the stringent power supply reliability requirements for mine safety. In exceptional circumstances, such as natural disasters like earthquakes and floods, failure of both power supply circuits can still hinder the reliability of mine power supply safety.

[0003] In order to solve the power supply safety of mines, the current common method is to use diesel engines as the third emergency power supply of mines. However, the diesel engine as a backup power supply has the following disadvantages: the power supply system and the hoist motor drive system have poor mutual coordination, and the acceleration and deceleration of the hoist often cause large fluctuations in the power supply network voltage, thereby worsening the hoist speed regulation performance; the reverse power flow has a serious impact, and the feedback braking energy when the hoist is lowered is consumed by the resistor, often causing problems such as motor braking failure; a large amount of oil reserves poses a safety hazard, and the noise, vibration and smoke exhaust pollution are relatively large. The start-up time is long, the operating efficiency is low, and the reliability cannot be guaranteed. The emergency hoist control method and device proposed in the prior art, although using batteries or supercapacitors to recover the feedback energy, cannot solve the power supply problem of the low-voltage control part of the induction motor hoist control system, and therefore cannot cancel the diesel engine power supply device.

[0004] Summary of the Invention

[0005] The purpose of the present invention is to provide a method and device for energy storage emergency power supply and drive control of a mine induction motor hoist, which solves the power supply problem of the low-voltage control part of the system, realizes energy recovery and high-performance speed regulation under emergency power supply, and improves the safety of the hoist system.

[0006] The present invention provides an emergency hoisting control method for a mine hoist, the method comprising:

[0007] Real-time collection of the working status of mains circuit 1 and mains circuit 2;

[0008] Determine whether to switch from the mains power supply mode to the emergency power supply mode based on the abnormal working status of mains circuits 1 and 2;

[0009] Put the hoist into emergency power supply mode, switching the hoist from mains power supply to emergency power supply; the emergency power supply is provided by batteries;

[0010] Convert the DC power stored in the battery into three-phase AC control power;

[0011] Start the hoist auxiliary unit and electronic control unit, and determine whether the hoist is ready for operation;

[0012] Receive the elevator operation instructions and control the elevator operation according to the operation instructions;

[0013] Determine whether to exit the emergency power supply mode based on the normal working status of mains circuits 1 and 2;

[0014] Exit the emergency working mode and switch the hoist from emergency power supply to mains power supply.

[0015] In some embodiments, converting the DC power stored in the battery into three-phase AC control power includes:

[0016] Detect whether the battery working status is normal; the battery working status includes: battery voltage, power and temperature;

[0017] Utilize the electric energy stored in the battery to generate the starting power and enter the power conversion link;

[0018] The power conversion link selects a conversion method for converting the DC power stored in the battery into three-phase AC power according to whether the DC side voltage is greater than the effective value of the emergency power line voltage or whether a three-phase power supply is required;

[0019] Convert DC power into three-phase AC power according to the selected conversion method.

[0020] In some embodiments, converting DC power into three-phase AC power according to the selected conversion method includes:

[0021] When the DC side voltage is greater than the effective value of the emergency power line voltage times, choose the conversion method that directly converts DC power into three-phase AC control power;

[0022] When the DC side voltage is less than the effective value of the emergency power line voltage When the voltage is increased by 100%, the output DC voltage is first boosted to the first DC voltage setting value, and then the DC power is converted into AC control power.

[0023] When a three-phase power supply is required, a conversion method is selected in which the DC power is first converted into AC control power and then the output voltage is boosted to a second DC voltage setting value; the second DC voltage setting value is the effective value of the line voltage of the booster power supply. times; the second DC voltage setting value is greater than or equal to the first DC voltage setting value;

[0024] The conversion of DC power into three-phase AC power includes three stages:

[0025] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0026] In the second stage, the AC voltage amplitude is increased in a ramp to the AC voltage amplitude setting value;

[0027] In the third stage, the outer loop closed-loop control of the power supply voltage amplitude and frequency is performed, and the outer loop closed-loop control outputs the given values ​​of the active current and reactive current; the active current and reactive current feedback values ​​are sampled and then the active current and reactive current are controlled by the inner loop, and finally the emergency power supply with stable amplitude and frequency is output.

[0028] In some embodiments, the step of receiving the elevator operation instruction and controlling the elevator operation according to the operation instruction further includes:

[0029] Based on the battery state of charge and load mass, predict whether the lifting or lowering is allowed.

[0030] In some embodiments, the pre-determining whether to allow the current promotion or demotion includes:

[0031] Control the motor to run at zero speed, calculate the hoist load and the energy consumed by lifting the load or the energy fed back by lowering the load;

[0032] Based on the energy consumed or fed back when lifting or lowering the payload and the battery state of charge, determine whether the remaining available battery power can meet the current lifting or lowering requirements;

[0033] If the battery can meet the requirements for this lifting or lowering, the maximum allowable operating speed of the hoist is calculated, and the actual operating speed of the hoist is controlled to be less than or equal to the maximum operating speed, and the lifting or lowering process continues;

[0034] If the battery cannot meet the needs of this lifting or lowering, a stop or emergency stop command will be issued; when a stop command is received, the hoist will be controlled to slow down and stop; when an emergency stop command is received, the hoist will be controlled to stop immediately with the brake.

[0035] In some embodiments, when the mine induction motor uses a doubly-fed motor, when the hoist is switched from mains power supply to emergency power supply, the stator side needs to be short-circuited; and when receiving the hoist operation instruction, the doubly-fed motor vector control mode is first changed, and then the hoist operation is controlled according to the operation instruction;

[0036] The changing of the doubly-fed motor vector control mode includes:

[0037] When the hoist is operating in non-emergency mode, the stator of the doubly-fed motor is powered by the mains and the rotor is powered by the inverter. In this case, the motor control strategy adopts vector control based on stator flux orientation.

[0038] When the hoist operates in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation.

[0039] In some embodiments, the energy storage emergency power supply and drive control method for a mine induction motor hoist further includes: managing the charging of a battery in a non-emergency working state under a mains power supply state; managing the charging of a battery in a non-emergency working state under a mains power supply state includes:

[0040] Check whether the hoist system is powered by mains electricity;

[0041] Determine whether the battery needs to be charged; the determination method is to start battery charging when the charge level indicated by the battery state of charge is lower than a first charging level; a margin is left between the first charging level and the full charge of the battery; the first charging level is set to the full charge of the battery pack minus the potential energy of a single lowering of the lifting container; the potential energy of a single lowering of the lifting container is:

[0042] Ep=mgh

[0043] Where Ep is the gravitational potential energy, m is the mass of the lifting container, g is the acceleration of gravity on the earth's surface, and h is the well depth;

[0044] selecting a charging mode based on whether a charging and discharging device is between the power supply device and the battery device; if no charging and discharging device is between the power supply device and the battery device, controlling the power supply device to operate in a rectifier mode to charge the battery device until a charge level indicated by a state of charge of the battery is greater than or equal to a first charge level, then stopping charging the battery;

[0045] If there is a charging and discharging device between the power supply device and the battery device, the power supply device is controlled to operate in a rectifier mode, and the charging and discharging device is controlled to operate in a step-down mode to charge the battery;

[0046] When the charge state of the battery indicates that the charge amount is greater than or equal to the first charge amount, charging the battery is stopped;

[0047] The working process of controlling the charging and discharging device to work in the step-down mode to charge the battery includes: the first stage, controlling the charging current to charge in a constant current manner; the second stage, controlling the charging voltage to charge the battery in a constant voltage manner.

[0048] In some embodiments, the method further includes performing model-prediction-based heat dissipation regulation on power electronic equipment, wherein the power electronic equipment includes an electric energy conversion portion of an excitation circuit and an armature circuit of a motor, and power electronic devices used in an emergency power supply device. The heat dissipation regulation process includes:

[0049] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal through voltage-frequency conversion;

[0050] receiving a frequency signal of the temperature of the power electronic device, obtaining a temperature value of the power electronic device by decoding the frequency signal, and performing communication encoding on the temperature value;

[0051] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0052] Predict the temperature of the power electronic device at the next moment based on the real-time heat dissipation model of the power electronic device;

[0053] According to the predicted temperature and heat dissipation mode of the power electronic equipment, the speed change of the heat dissipation device actuator is controlled.

[0054] In some embodiments, the real-time heat dissipation model of the power supply device is:

[0055] Where T represents the temperature matrix of the power supply device; X represents the two-dimensional variable matrix, X = [I t] T , where I represents the effective value of the three-phase current and t represents the system operation time; is the estimated value of the regression coefficient;

[0056] The predicted temperature of the power electronic device at the next moment is:

[0057] Set the two-dimensional variable matrix X = [I(k)t + nΔT] T , calculate the predicted temperature value of the power supply device in the case of a two-dimensional variable matrix;

[0058] Where I(k) is the effective value of the three-phase given current at the current calculation moment of the digital signal processing chip, ΔT is set as the heat conduction time from the power electronic device to the temperature collection point, and n is the prediction step size;

[0059] The heat dissipation modes include: high-performance heat dissipation mode and low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, and the predicted temperature is compared with the set temperature in real time to obtain the operating speed instruction of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate according to the instruction speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T linearly related to the curve is obtained through the expected operating temperature curve. ref , according to the expected operating temperature T ref Obtaining an operating speed instruction of a heat dissipation device actuator, and then controlling the heat dissipation device actuator to operate according to the instruction speed;

[0060] The expected operating temperature T that is linearly related to the expected operating temperature curve is obtained by using the expected operating temperature curve. ref ,include:

[0061] When the temperature of the power electronic equipment is lower than the ambient temperature T0, the first desired operating temperature T ref1 is the ambient temperature;

[0062] When the temperature of the power electronic device is between the first operating temperature T1 and the second operating temperature T2, the desired temperature of the power electronic device is set to the second desired operating temperature T ref2 ;

[0063] When the temperature of the power electronic device is between the second operating temperature T2 and the third operating temperature T3, the desired temperature of the power electronic device is set to the third desired operating temperature T ref3 ;

[0064] When the temperature of the power electronic equipment is higher than the third operating temperature T3, the actuator of the forced heat dissipation device operates at the maximum speed and issues an alarm signal;

[0065] When the expected operating temperature T ref When crossing between the desired operating temperatures, the desired operating temperature T ref A ramp function is used for transition;

[0066] The speed command is obtained by the following formula:

[0067] Among them, n ref is the expected operating speed of the power supply actuator, n set is the preset speed of the power supply actuator; T is the predicted power supply temperature, T ref is the expected operating temperature of the power supply unit, T max is the maximum permissible operating temperature of the power supply unit, T min is the minimum permissible operating temperature of the power supply unit, n N is the rated speed of the power supply actuator; limit nref >0.

[0068] The present invention also provides an energy storage type emergency power supply and drive control device for a mine induction motor hoist, the device comprising:

[0069] The acquisition module is used to collect the working status of mains circuit 1 and mains circuit 2 in real time;

[0070] The first judgment module is used to judge whether to switch from the mains power supply mode to the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2;

[0071] Power start-up module, used to convert the DC power stored in the battery into three-phase AC control power;

[0072] Auxiliary and electronic control starting module, used to start the elevator auxiliary unit and electronic control unit, and determine whether the elevator has the operating conditions;

[0073] The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions

[0074] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0075] The switching modules are connected to the first judgment module and the second judgment module, and are used to switch the power supply mode of the elevator according to the judgment results of the first judgment module and the second judgment module.

[0076] Beneficial effects of the present invention:

[0077] 1. The present invention realizes the emergency power supply and emergency drive of the mine induction motor hoist, and adopts battery energy storage to solve the problem of hoist system power supply. It can completely replace the existing scheme of using diesel engines as emergency power supply, and solves the problems of poor coordination between the power supply system and the hoist motor drive system in the diesel engine power supply scheme, and large fluctuations in the network voltage. By adopting an improved motor drive scheme, under the energy storage power supply scheme, the speed regulation scheme and the hoist emergency control method are improved, and the problems of poor motor speed regulation performance, serious reverse power flow influence, and inability to feedback electric energy when the hoist is lowered under the existing diesel engine power supply system are solved. At the same time, the hoist adopts an energy storage power supply as an emergency power supply, which avoids the safety hazards caused by a large amount of oil reserves, and realizes low noise, low vibration, and low pollution of the hoist emergency drive. In addition, the present invention has the advantages of short start-up time, high operating efficiency, and high reliability compared with the diesel engine power supply scheme.

[0078] 2. The present invention solves the stator power supply problem of the doubly fed motor under emergency power supply mode by changing the stator connection mode and vector control mode of the doubly fed motor, and realizes high-performance vector control of the doubly fed motor under emergency power supply mode. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for describing the embodiments or the prior art.

[0080] FIG1 is a flow chart of an energy storage type emergency power supply and drive control method for a mine induction motor hoist provided by one embodiment of the present invention;

[0081] FIG2 is a flow chart of controlling the operation of an elevator based on the battery state of charge and the load mass according to an embodiment of the present invention;

[0082] FIG3 is a flow chart of battery charging management in a non-emergency working state according to an embodiment of the present invention;

[0083] FIG4 is a block diagram of a doubly-fed motor vector change control according to an embodiment of the present invention;

[0084] FIG5 is a schematic structural diagram of an energy storage type emergency power supply and drive control device for a mine induction motor hoist provided by one embodiment of the present invention;

[0085] FIG6 is a structural diagram of a stator commutation device provided in one embodiment of the present invention;

[0086] FIG7 is a structural diagram of a power supply device provided in one embodiment of the present invention;

[0087] FIG8 is a structural diagram of a charging and discharging device provided in one embodiment of the present invention;

[0088] FIG9 is a schematic diagram of a structure for controlling the operation of an elevator based on the battery state of charge and the load mass according to an embodiment of the present invention;

[0089] FIG10 is a circuit structure diagram of an inverter unit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0090] In order to deepen the knowledge and understanding of the present invention, the technical solution of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

[0091] The present invention will be further described below with reference to the accompanying drawings.

[0092] FIG1 provides a method for energy storage emergency power supply and drive control of a mine induction motor hoist, the method comprising the following steps:

[0093] Step S100: collecting the working status of the mains circuit 1 and the mains circuit 2 in real time.

[0094] Step S200: judging whether to switch from the mains power supply mode to the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2.

[0095] Furthermore, the operating status of the mains circuit 1 and the mains circuit 2 includes the voltage of the mains circuit 1 and the mains circuit 2. When the voltage drops slightly above 75% of the rated voltage, the mains circuit is judged to be abnormal. If the operating status of both mains circuits is abnormal, the mains power supply mode is disconnected and the emergency power supply mode is activated.

[0096] Step S300: The emergency power supply mode is activated, and the hoist is switched from mains power supply to emergency power supply, where the power for the emergency power supply is provided by a battery.

[0097] Switch the control power and power power of the induction motor hoist power supply system from the mains circuit to the emergency power supply circuit.

[0098] Step S400: converting the DC power stored in the battery into three-phase AC control power;

[0099] In an embodiment of the present application, converting the DC power stored in the battery into three-phase AC control power includes:

[0100] Step S410: Check whether the battery working status is normal; the battery working status includes: battery voltage, battery power and temperature;

[0101] Specifically, the working status detection of the battery can be achieved by enabling the battery device, which includes enabling the battery to output DC power, perform protection control, perform battery balancing, and transmit information.

[0102] Step S420: Utilizing the electric energy stored in the battery to generate a startup power supply and enter the power conversion phase;

[0103] The power conversion link selects the conversion method of converting the DC power stored in the battery into three-phase AC power according to whether the DC side voltage is greater than the effective value of the emergency power line voltage or whether a three-phase power supply is required;

[0104] Step S430: converting the DC power into three-phase AC power according to the selected conversion method.

[0105] Furthermore, the DC power is converted into three-phase AC power according to the selected conversion method, including:

[0106] Method 1: When the DC side voltage is greater than the effective value of the emergency power line voltage When the power is increased by 100%, the conversion method of directly converting DC power into three-phase AC control power is selected.

[0107] Specifically, the DC voltage, AC voltage, and current are collected and converted into AC energy via the power supply. The DC voltage is the voltage delivered by the battery to the power supply. The AC voltage and current are the voltage and current of the three-phase AC control power supply that the power supply is expected to output.

[0108] In this embodiment, this method can directly convert the DC power stored in the battery into three-phase AC control power. This conversion method is suitable for places where the control power supply is a 380V three-phase AC power supply and the power supply device voltage is higher than 540V. This embodiment has relatively high requirements for the battery pack voltage.

[0109] In some cases, in order to reduce the output voltage of the battery pack, a charging and discharging circuit is added at the output end of the battery pack to achieve flexible configuration of the battery pack voltage, as shown in the following method 2.

[0110] Method 2: When the DC side voltage is less than the control power line voltage amplitude When the output DC voltage is increased to the first DC voltage setting value, the conversion method is selected to firstly increase the output DC voltage to the first DC voltage setting value, and then convert the DC power into AC control power.

[0111] In this embodiment, the charging and discharging device can be used to work in the boost mode, and the charging and discharging device can be controlled to output a DC voltage to a first DC voltage setting value. The charging and discharging device can adopt a current reversible chopper circuit topology. The first DC voltage setting value is the effective value of the line voltage of the hoist control power supply. times.

[0112] In this embodiment, the hoist control power supply is a 380V three-phase AC power supply. The DC input voltage of the power supply device must be higher than 540V, while the DC voltage range of the battery pack is only 200-300V. Therefore, the battery pack voltage is boosted to 540V by the charging and discharging device, and the power supply can output a three-phase 380V AC power supply. In addition, this example takes the state of charge of the energy storage link into consideration during the voltage boost process to ensure its safety.

[0113] The difference between Method 2 and Method 1 is that the DC voltage is the voltage delivered to the power supply by the battery device after being boosted. The AC voltage and current are the voltage and current of the three-phase AC control power supply that the power supply device expects to output.

[0114] Method 2 converts the lower-voltage DC power stored in the battery into three-phase AC control power. However, the hoist's energy storage emergency power supply requires not only a three-phase control power supply but also a three-phase power supply. Furthermore, the output voltage of the power supply is typically more than twice the effective value of the AC voltage of the three-phase control power supply. While high-voltage batteries provide power, they also increase the design complexity of the power supply unit. Therefore, to meet both the power supply's high DC voltage requirements and the control power's lower DC voltage requirements, the following method, Method 3, is proposed.

[0115] Method 3: When a three-phase power supply is required, select the conversion method of first converting DC power into AC control power, and then boosting the output voltage to the second DC voltage setting value; the second DC voltage setting value is the effective value of the line voltage of the booster power supply. times.

[0116] The difference between the second method and the third method is that the DC voltage is the voltage transmitted from the battery device to the power supply device, that is, the DC side of the power supply device is directly connected to the battery device without passing through the charging and discharging device. The AC voltage and current are the voltage and current of the three-phase AC control power supply that the power supply device expects to output. The second DC voltage setting value is the effective value of the line voltage of the hoist power supply. Generally, the second DC voltage setting value is greater than the first DC voltage setting value.

[0117] In this embodiment, the hoist control power supply is a 380V three-phase AC power supply. The power supply device is connected to the DC side of the battery device. The battery device voltage is slightly higher than 540V. Since the output power line voltage is 660V, the battery pack voltage can be increased to the second DC voltage setting value (933V) by the charging and discharging device. The second DC voltage setting value is 660* The calculated value can satisfy the DC voltage requirement of the power supply. This embodiment satisfies both the power supply's requirement for a high DC voltage and the control supply's requirement for a lower DC voltage, thereby reducing the design difficulty of the power supply device.

[0118] In the embodiment of the present application, converting DC power into three-phase AC power includes three stages:

[0119] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0120] In the second stage, the AC voltage amplitude is controlled to rise to the AC voltage amplitude setting value according to the ramp;

[0121] In the third stage, the outer loop closed-loop control of the power supply voltage amplitude and frequency is performed, and the outer loop closed-loop control outputs the given values ​​of the active current and reactive current; the active current and reactive current feedback values ​​are sampled and then the active current and reactive current are controlled by the inner loop, and finally the emergency power supply with stable amplitude and frequency is output.

[0122] Step S500: Start the hoist auxiliary unit and the electronic control unit to determine whether the hoist has the operating conditions.

[0123] Specifically, the hoist auxiliary unit and the electronic control unit are activated sequentially. The operating status of the hoist safety circuit is monitored. When the hoist safety circuit feedback is normal, the hoist is ready for operation. The hoist safety circuit is connected in series with the status feedback required for hoist operation. Activating the hoist auxiliary unit includes activating the shaft switch, activating the signal system, activating the lubrication station, activating the hydraulic station and controlling the working valve to put the hydraulic station in standby mode, and activating the motor blower. Activating the hoist electronic control unit includes activating the hoist travel and protection control system. This embodiment uses a PLC as the hoist travel and protection control system.

[0124] Step S600: receiving an elevator operation instruction, and controlling the elevator operation according to the operation instruction.

[0125] Specifically, operating instructions include but are not limited to lifting, lowering, starting, stopping, and speed instructions. The elevator operation package controls the hydraulic station and disc brake booster and opening gate according to operating instructions; controls the acceleration and deceleration of the elevator; receives an elevator stop command and controls the elevator to slow down and stop; receives an elevator fault stop command and controls the elevator to immediately brake and stop.

[0126] Controlling the operation of the elevator according to the operating instructions includes controlling the motor to operate according to the speed instructions according to the speed instructions. However, this method does not take into account the remaining battery power. After the elevator has run multiple times, the battery power decreases, and the remaining power may make it impossible to complete this lifting. In another case, if the remaining battery power is too much, the lowering of the heavy object cannot be completed. In order to solve this problem and improve the safety of the elevator in an emergency state, it is necessary to predict and control the lifting process. Another embodiment of the present invention predicts whether the emergency power supply and drive device can meet the needs of this lifting or lowering based on the battery charge state and the load mass. At the same time, the maximum operating speed of the elevator is planned according to the battery charge state and the load mass, which shortens the operating time of lifting or lowering the lifting container and improves the working efficiency of the elevator in an emergency state.

[0127] In an optional embodiment, before controlling the operation of the elevator according to the operating instructions, it also includes: pre-determining whether the current lifting or lowering is allowed based on the battery charge state and the load mass.

[0128] As shown in Figure 2, based on the battery state of charge and the load mass, it is predicted whether the current lifting or lowering is allowed. The specific steps include:

[0129] Step S610: Control the motor to run at zero speed, calculate the load of the elevator and the energy consumed by lifting the load or the energy fed back by lowering the load.

[0130] Specifically, the energy consumed or fed back when lifting or lowering the payload m is:

[0131] According to the characteristics of emergency lifting conditions, due to the low operating speed, the above formula is approximately equivalent to:

[0132] η j is the reducer efficiency, η d is the motor efficiency, H is the lifting height, T is the lifting or lowering operation time, m is the load mass, and V is the motor operating speed.

[0133] Step S611: Based on the energy consumed or fed back when lifting or lowering the payload and the battery charge state, determine whether the remaining available battery power can meet the current lifting or lowering.

[0134] Specifically, based on the energy consumed or fed back by lifting or lowering the payload m and the battery charge state, when the hoist is in the lifting state, it is determined whether the remaining available battery power can meet the current lifting or lowering, so as to prevent the hoist container from being unable to reach the designated location due to insufficient battery power. When the hoist is in the lowering state, it is determined whether the remaining battery storage space can recover the energy fed back to the battery during the lowering, so as to prevent the battery from being overcharged, resulting in the inability to feed back energy during deceleration and braking of the hoist.

[0135] Step S612: If the battery can meet the requirements for this lifting or lowering, the maximum allowable operating speed of the elevator is calculated, and the actual operating speed of the elevator is controlled to be less than or equal to the maximum operating speed, and the lifting or lowering process continues.

[0136] Specifically, the maximum allowable operating speed Vm of the hoist is calculated based on the DC bus voltage:

[0137] Vm=((DC bus voltage / 1.414) / U N )*V N . *K0

[0138] U N is the rated line voltage of the motor, V N It is the rated operating speed of the elevator when the motor is at rated speed.

[0139] K0 is a voltage margin that takes into account battery voltage fluctuation and motor dynamic overshoot. In this embodiment, K0=90%.

[0140] Controlling the actual operating speed of the hoist to be less than or equal to the maximum operating speed includes forcing the speed command to be the maximum operating speed Vm when the received hoist speed command is greater than the maximum operating speed Vm. It also includes sending a reminder window to the host computer when the received speed command is less than the maximum operating speed Vm, reminding the operator to further increase the hoist speed.

[0141] Step S613: If the battery cannot meet the requirements of this lifting or lowering, a stop or emergency stop command is issued; when a stop command is received, the hoist is controlled to decelerate and stop; when an emergency stop command is received, the hoist is controlled to brake and stop immediately.

[0142] This embodiment proposes a process for controlling hoist operation based on the battery state of charge and load mass. By comparing the battery state of charge and the load's work capacity, emergency hoist capacity can be predicted, preventing hoist stoppages caused by battery power depletion. This control process enhances the safety of emergency hoisting. By calculating the maximum operating speed, the hoist's operating efficiency is improved under emergency power supply conditions. Furthermore, limiting the hoist's operation to the maximum allowable speed can enhance operational safety.

[0143] Step S700: Determine whether to exit the emergency power supply mode based on the normal working status of the mains circuits 1 and 2.

[0144] When the mains power circuit is in normal working condition, the process goes to step S800; otherwise, the process goes to step S600 to continue the emergency lifting operation.

[0145] Step S800: Exit the emergency working mode and switch the elevator from emergency power supply to mains power supply.

[0146] Specifically, the control power and power power of the induction motor hoist power supply system are switched from the emergency power supply circuit to the mains power circuit.

[0147] In the above embodiments, the charge management of the battery device is not involved. In order to ensure that the battery device has sufficient energy in an emergency state, another embodiment of the present invention provides a battery charge management process in a non-emergency working state.

[0148] In an optional embodiment, the energy storage emergency power supply and drive control method for a mine induction motor hoist further includes:

[0149] Step S900: performing charging management on the battery in the non-emergency working state under the mains power supply state.

[0150] In an embodiment of the present application, charging management of a battery in a non-emergency working state is performed under a mains power supply state, as shown in FIG3 , and the specific steps include:

[0151] Step S910: Detect whether the hoist system is powered by mains electricity.

[0152] Detecting whether the hoist system is powered by mains electricity includes determining whether the mains circuit is normal based on the mains working status; it also includes whether the hoist is not in emergency working mode.

[0153] Step S920: Determine whether the battery needs to be charged.

[0154] When the state of charge of the battery indicates that the charge amount is lower than the first charge level, charging of the battery is initiated.

[0155] In this embodiment, in order to achieve deceleration feedback braking of the motor when a heavy load is lowered, the battery device must retain sufficient capacity to absorb the electrical energy of the feedback braking.

[0156] Furthermore, the first charging charge is set to the full charge of the battery pack minus the potential energy of a single lowering of the lifting container. The potential energy of a single lowering of the lifting container is Ep=mgh, where Ep is the gravitational potential energy, m is the mass of the lifting container, g is the acceleration of gravity at the earth's surface, and h is the well depth.

[0157] Step S930: Select a charging method based on whether there is a charging and discharging device between the power supply device and the battery device.

[0158] If there is no charging and discharging device between the power supply device and the battery device, the power supply device is controlled to operate in a rectification mode to charge the battery device. When the charge state of the battery indicates that the charge amount is greater than or equal to the first charging charge, charging the battery is stopped.

[0159] Controlling the power supply device to work in the rectification mode includes: collecting the three-phase AC voltage, current and DC output voltage of the power supply device, and controlling the power supply device to convert the AC voltage into a set DC bus voltage.

[0160] Charging the battery device includes: obtaining the voltage, current and charge state of the battery device, and charging the battery device by controlling the charging current and charging voltage.

[0161] If there is a charging and discharging device between the power supply device and the battery device, the power supply device is controlled to operate in a rectification mode, and the charging and discharging device is controlled to operate in a step-down mode to charge the battery.

[0162] The working process of collecting the charging and discharging battery voltage and charging current and controlling the charging and discharging device to operate in the step-down mode to charge the battery includes: in the first stage, controlling the charging current to charge in a constant current manner; in the second stage, controlling the charging voltage to charge the battery in a constant voltage manner.

[0163] During the voltage reduction process, the charge state of the energy storage link is considered in real time to ensure the safety of the energy storage link.

[0164] Step S940: When the state of charge of the battery indicates that the charge amount is greater than or equal to the first charge amount, stop charging the battery.

[0165] The control process of battery charging in non-emergency working state solves the charging problem of the energy storage link in the emergency power supply device, reduces the maintenance workload of the battery link, and improves the reliability of emergency power supply.

[0166] The method described in the above embodiment is implemented for a hoist using an induction motor. When the mine synchronous motor uses a doubly-fed motor, step S300 involves short-circuiting the stator side when switching the hoist from mains power to emergency power. Step S600 involves changing the doubly-fed motor's vector control mode upon receiving a hoist operation command, and then controlling the hoist operation according to the operation command. Step S800 exits the emergency operating mode, switching the hoist from emergency power to mains power, removing the stator short-circuit connection, and changing the doubly-fed motor's vector control mode. Doubly-fed motors are powered by both a stator and a rotor, with the stator side typically powered by a high-voltage power supply, typically 6 kV or 10 kV.

[0167] Furthermore, the doubly-fed generator vector control mode is changed, including:

[0168] When the hoist is operating in non-emergency mode, the stator of the doubly-fed motor is powered by the mains and the rotor is powered by the inverter. In this case, the motor control strategy adopts vector control based on stator flux orientation.

[0169] When the hoist operates in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation.

[0170] For ease of explanation, Figure 4 provides a block diagram of vector control for a doubly-fed generator in both mains and emergency modes. This control strategy employs a dual closed-loop control scheme for speed and flux linkage, with the flux observer being the core component. The following describes the calculation methods for the two flux observers used in this embodiment.

[0171] The stator flux calculation process of this embodiment is as follows:

[0172] 1. Observation of stator flux through voltage model

[0173] 2. Obtain the stator flux orientation angle through the stator flux

[0174] The rotor flux calculation process of this embodiment is as follows:

[0175] 1. Observation of stator flux by current model in low speed zone

[0176] 2. Observation of stator flux through voltage model in high speed area

[0177] 3. The current model and voltage model are converted into a hybrid model output through the compensator

[0178] The compensator is as follows:

[0179] 4. Calculate the rotor flux through the stator flux

[0180] 5. Obtain the rotor flux orientation angle through the rotor flux

[0181] This embodiment changes the doubly-fed motor's vector control mode. By short-circuiting the doubly-fed motor's stator, the motor's stator is powered by an induction potential instead of a high-voltage power supply. This solves the problem of a stator high-voltage power supply being unable to be provided to the doubly-fed motor in the emergency power supply mode. To achieve high-performance control after a stator short-circuit, the doubly-fed motor is switched from stator flux-oriented vector control in normal operation mode to rotor flux-oriented vector control in emergency operation mode. By switching to a flux observation mode, the high-performance driving characteristics of vector control are maintained.

[0182] In an optional embodiment, the energy storage emergency power supply and drive control method for a mine induction motor hoist further includes: performing heat dissipation adjustment on power electronic equipment based on model prediction, the power electronic equipment including the electric energy conversion portion of the motor's excitation circuit and armature circuit, and power electronic devices used in the emergency power supply device. The heat dissipation adjustment process includes:

[0183] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal through voltage-frequency conversion;

[0184] receiving a frequency signal of the temperature of the power electronic device, obtaining a temperature value of the power electronic device by decoding the frequency signal, and performing communication encoding on the temperature value;

[0185] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0186] Predict the temperature of the power electronic device at the next moment based on the real-time heat dissipation model of the power electronic device;

[0187] According to the predicted temperature and heat dissipation mode of the power electronic equipment, the speed change of the heat dissipation device actuator is controlled.

[0188] In the embodiment of the present application, the digital temperature value is subjected to data fitting to obtain a real-time heat dissipation model of the power electronic device, including:

[0189] A regression equation of the real-time heat dissipation model of power electronic equipment is established; the regression equation of the real-time heat dissipation model of power electronic equipment is:

[0190] T=Xθ

[0191] Where T represents the temperature matrix of the power electronic equipment; X represents the two-dimensional variable matrix, X = [I t] T , where I represents the effective value of the three-phase current, t represents the system operation time; θ represents the regression coefficient matrix;

[0192] The real-time heat dissipation model of the power electronic device is calculated based on the regression equation; the calculation method is as follows:

[0193] P(N)=P(N-1)-G(N)X T (N)P(N-1)

[0194] in, and is the estimated value of the regression coefficient of the last time and the estimated value of the regression coefficient of this time,

[0195] is the prediction of the observed value, T(N) is the actual temperature value, G(N) is the prediction gain term, and P(N) is the intermediate term.

[0196] In one embodiment, the real-time heat dissipation model of the power electronic device is:

[0197] in, is the estimated value of the regression coefficient.

[0198] Furthermore, the predicted temperature of the power electronic device at the next moment is:

[0199] Set the two-dimensional variable matrix X = [I(k)t + nΔT] T , calculate the predicted temperature value of the power electronic equipment in the case of a two-dimensional variable matrix;

[0200] Where I(k) is the effective value of the three-phase given current at the current calculation moment using the digital signal processing chip, ΔT is set as the heat conduction time from the power electronic device to the temperature collection point, and n is the prediction step size.

[0201] Preferably, ΔT is set to 0.05 seconds and n is set to 10 steps.

[0202] Furthermore, the heat dissipation mode includes: high-performance heat dissipation mode and low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, and the predicted temperature is compared with the set temperature in real time to obtain the operating speed instruction of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate according to the instruction speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T linearly related to the curve is obtained through the expected operating temperature curve. ref , according to the expected operating temperature T ref Obtaining an operating speed instruction of a heat dissipation device actuator, and then controlling the heat dissipation device actuator to operate according to the instruction speed;

[0203] Furthermore, the expected operating temperature T that is linearly related to the expected operating temperature curve is obtained. ref ,include:

[0204] When the temperature of the power electronic equipment is lower than the ambient temperature T0, the first desired operating temperature T ref1 is the ambient temperature;

[0205] When the temperature of the power electronic device is between the first operating temperature T1 and the second operating temperature T2, the desired temperature of the power electronic device is set to the second desired operating temperature T ref2 ;

[0206] When the temperature of the power electronic device is between the second operating temperature T2 and the third operating temperature T3, the desired temperature of the power electronic device is set to the third desired operating temperature T ref3 ;

[0207] When the temperature of the power electronic equipment is higher than the third operating temperature T3, the actuator of the forced heat dissipation device operates at the maximum speed and issues an alarm signal;

[0208] When the expected operating temperature T ref When crossing between the desired operating temperatures, the desired operating temperature T ref A ramp function is used for transition;

[0209] Preferably, the preset speed n of the heat dissipation device actuator is set Set to 50%n N , the expected operating temperature T of the power electronic equipment ref Set to 45℃; the expected operating speed of the actuator when using heat dissipation equipment n ref A ramp function is added once for transition.

[0210] Furthermore, the speed command is obtained by the following formula:

[0211] Among them, n ref is the expected operating speed of the heat dissipation device actuator, n set is the preset speed of the heat dissipation device actuator; T is the predicted power electronic device temperature, T ref is the expected operating temperature of the power electronic equipment, T max is the maximum allowable operating temperature of the power electronic equipment, T min is the minimum permissible operating temperature of the power electronic equipment, n N is the rated speed of the actuator of the heat dissipation device; limit n ref >0.

[0212] Based on the above heat dissipation adjustment method, the following briefly describes the reasons and process for heat dissipation adjustment using the emergency power supply device as an example. Since a large number of power electronic devices are used in the emergency power supply device, and since a large amount of heat is generated when the power electronic devices are working, when the device is on standby or running, a heat dissipation device is installed to remove the heat from the device. Usually, the heat dissipation capacity of the heat dissipation device of each part of the emergency power supply device is designed to be more than 2% of the total capacity of the emergency power supply device, that is, the system efficiency is about 98%. The heat dissipation device will generate a large amount of unnecessary energy waste when the system is on standby or running under light load, and this part of the energy comes from the battery power stored in the emergency power supply device. Therefore, the heat dissipation efficiency of the heat dissipation device reduces the operating efficiency of the emergency device and shortens the effective time of the battery emergency work. In order to improve the emergency power supply efficiency of the hoist control power supply, the emergency power supply device is subjected to heat dissipation adjustment based on model prediction. The adjustment process includes: collecting the temperature of the power supply device and converting the temperature value into a frequency signal through voltage-frequency conversion; receiving the frequency signal of the power supply device temperature, obtaining the temperature value of the power supply device by decoding the frequency signal, and encoding the temperature value for communication; performing data fitting on the digital temperature value to obtain the real-time heat dissipation model of the power supply device; predicting the temperature of the power supply device at the next moment based on the real-time heat dissipation model of the power supply device; and controlling the change in the speed of the power supply device actuator based on the predicted power supply device temperature.

[0213] In this embodiment, the temperature of the power electronic device is collected and predicted based on the current and temperature. Since the thermal resistance of the power electronic device and the heat sink is different, the heat dissipation speed thereof is different, which in turn leads to different prediction step sizes. According to the thermal resistance and heat dissipation speed, the prediction step size is selected to be 1 second. The expected operating temperature of the power supply device is set to 60 degrees, the maximum allowable operating temperature of the power supply device is set to 100 degrees, the minimum allowable operating temperature of the power supply device is set to 20 degrees, and the rated speed of the power supply device actuator is 6000r / min. The expected operating speed n of the power supply device actuator can be calculated based on the predicted power supply device temperature. ref By predicting the temperature of the power electronic devices in the emergency power conversion system, that is, predicting the future temperature of the power electronic devices based on temperature and current, and then adjusting the operating speed of the heat dissipation device as needed based on the predicted temperature, the loss of the power conversion system is reduced, the efficiency of the power conversion system is improved, the consumption of battery stored energy is reduced, the time of the elevator energy storage emergency power supply is extended, and the working capacity of the elevator energy storage emergency power supply system is improved.

[0214] The present invention provides an energy storage emergency power supply and drive control method for an induction motor hoist, which realizes energy storage in the battery link when the hoist mains power supply is normal; and provides emergency power to the hoist from the battery energy storage link when the hoist mains power supply is abnormal. It replaces the system of the prior art that uses a diesel engine as an emergency power supply, and improves the control process of the hoist emergency work, effectively solves the power supply problem of the low-voltage control part of the system, realizes energy recovery and high-performance speed regulation under emergency power supply, and improves the safety of the hoist system. The control process for charging the battery in a non-emergency working state provided by this embodiment solves the charging problem of the energy storage link in the emergency power supply device, reduces the maintenance workload of the battery link, and improves the reliability of the emergency power supply.

[0215] In order to improve the diesel engine emergency power supply in the prior art, the present invention proposes an energy storage type emergency power supply and drive control device for a mine induction motor hoist, as shown in FIG5 , the device comprises:

[0216] The acquisition module is used to collect the working status of mains circuit 1 and mains circuit 2 in real time;

[0217] The first judgment module is used to judge whether to switch from the mains power supply mode to the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2;

[0218] Power start-up module, used to convert the DC power stored in the battery into three-phase AC control power;

[0219] Auxiliary and electronic control starting module, used to start the elevator auxiliary unit and electronic control unit, and determine whether the elevator has the operating conditions;

[0220] The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions

[0221] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0222] The switching module is connected to the first judgment module and the second judgment module, and is used to switch the power supply mode of the elevator according to the judgment results of the first judgment module and the second judgment module.

[0223] In an embodiment of the present application, the power startup module includes:

[0224] Battery startup module: detects whether the battery working status is normal; the battery working status includes: battery voltage, power and temperature;

[0225] The starting power generation module is used to use the electric energy stored in the battery to generate starting power to enter the power conversion link. The power conversion link selects the conversion method of converting the DC power stored in the battery into three-phase AC power according to whether the DC side voltage is greater than the effective value of the emergency power line voltage or whether a three-phase power supply is required.

[0226] An electric energy conversion module, used to convert DC electric energy into three-phase AC electric energy according to a selected conversion method;

[0227] When the DC side voltage is less than the effective value of the emergency power line voltage times, a first DC boost module is added between the starting power generation module and the power conversion module; when a three-phase power supply is required, the starting power generation module is directly connected to the AC power conversion module, and a second DC boost module is added.

[0228] When the hoist is a doubly-fed motor, the switching device in the energy storage emergency power supply and drive control device for a mine induction motor hoist, where the hoist is an induction motor, needs to be configured as a switching and improved commutation module. This switching and improved commutation module is used to switch the control power and power supply of the induction motor hoist power supply system from the mains circuit to the emergency power supply circuit, short-circuiting the stator side of the doubly-fed motor. It is also used to switch the hoist from emergency power supply to mains power supply and remove the stator side short-circuit of the doubly-fed motor after the hoist exits emergency operating mode. Figure 6 shows an improved stator commutation module according to one embodiment of the present invention. In the figure, 1001 is a three-phase high-voltage AC power supply, typically 6kV or 10kV. K1 controls the stator power supply phase sequence to supply power in the positive sequence, and K2 controls the stator power supply in the reverse sequence. When the motor is in mains power supply mode, K1 is energized and K2 is disconnected during forward rotation. K2 is energized and K1 is disconnected during reverse rotation. K3 is a newly added stator short-circuit contactor used to short-circuit the three phases of the stator in emergency power supply mode. The hoist operation and vector control module in the energy storage emergency power supply and drive control device of a mine induction motor hoist whose hoist is an induction motor is set to receive hoist operation instructions, change the doubly fed motor vector control mode, and control the hoist operation according to the operation instructions.

[0229] It should be noted that the energy storage type emergency power supply and drive control device for a mine induction motor hoist provided in the above embodiment is only illustrated by the division of the above functional modules when executing a method for energy storage type emergency power supply and drive control for a mine induction motor hoist. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the equipment is divided into different functional modules to complete all or part of the functions described above. In addition, the energy storage type emergency power supply and drive control device for a mine induction motor hoist provided in the above embodiment and the energy storage type emergency power supply and drive control method embodiment for a mine induction motor hoist belong to the same concept. The implementation process thereof is detailed in the energy storage type emergency power supply and drive control device for a mine induction motor hoist, which will not be repeated here.

[0230] The power supply device in this embodiment of the present invention employs the circuit topology shown in Figure 7. It comprises a three-phase rectifier equipped with an LCL filter, and the main circuit utilizes fully controlled switching semiconductor devices. Input DC terminals 1201 and 1202 are connected to the DC bus. A three-phase inductor 1204, a three-phase capacitor 1205, and a three-phase inductor 1206 form the LCL filter. Terminal 1207 is the three-phase output terminal.

[0231] The charging and discharging device in an embodiment of the present invention is shown in Figure 8 and comprises a reversible current chopper circuit. When in normal operating mode, charging the battery, and in emergency operating mode, feeding energy back to the battery, the reversible chopper circuit operates in step-down mode, reducing the DC bus voltage and controlling the charging current to charge the battery. When in emergency operating mode, outputting power to the control switching device, the reversible chopper circuit operates in step-up mode, boosting the battery voltage and controlling the discharge current to stabilize the DC bus voltage. In this circuit, terminal 1301 is connected to the positive bus, terminal 1302 is connected to the negative bus, devices 1303 and 1304 are power semiconductor devices consisting of an IGBT and a diode in parallel, terminal 1306 is connected to the positive terminal of the battery module, and terminal 1307 is connected to the negative terminal of the battery module. Inductor 1305 is located between the midpoint between devices 1303 and 1304 and terminal 1306. Note that the charging and discharging module can be composed of either an isolated or non-isolated DC-DC converter. The battery device comprises an energy storage element and a battery management unit. Energy storage components include lithium-ion batteries, supercapacitors, lead-acid batteries, and nickel-based secondary alkaline batteries. This embodiment utilizes lithium-ion batteries, connecting the batteries in series to form a series module, and then connecting multiple series modules in parallel to form a battery pack. The battery management unit (BMU) can collect battery status information, control it, transmit information, monitor parameters, perform protection control, perform cell balancing, and measure power consumption.

[0232] The hoist operation and vector control module includes a device for controlling the hoist operation based on the battery charge state and load mass, the schematic diagram of which is shown in Figure 9. The device includes:

[0233] Zero-speed control and energy calculation module: used to control the zero-speed operation of the motor through the inverter device, calculate the load of the hoist and the energy consumed by lifting the load or the energy fed back by lowering the load.

[0234] Judgment module: used to determine whether the lifting or lowering is allowed based on the energy consumed or fed back by lifting or lowering the payload m and the battery charge state.

[0235] Maximum allowable speed calculation module: used to calculate the maximum allowable operating speed of the elevator and control the actual operating speed of the elevator to be less than or equal to the maximum operating speed.

[0236] Parking control module: It is used to control the elevator to slow down and stop when receiving a stop command. When receiving an emergency stop command, it controls the elevator to stop immediately with brakes.

[0237] The hoist operation control module uses an inverter device, as shown in Figure 10. The inverter is connected to the positive busbar via terminal 1501 and the negative busbar via terminal 1502. The main circuit consists of fully controlled switching semiconductor devices 1503. The three-phase output terminals 1504 are connected to the power switching device.

[0238] It should be noted that the various functional modules in the embodiments of the present invention may be integrated into a single processing module, or may be physically separate units, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or software functional modules.

[0239] In the description provided herein, numerous specific details are described. However, it is understood that embodiments of the present invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques are not shown in detail so as not to obscure the understanding of this description.

Claims

1. A method for energy storage emergency power supply and drive control of a mine induction motor hoist, characterized in that: The method includes: Real-time collection of the working status of mains circuit 1 and mains circuit 2; Determine whether to switch from the mains power supply mode to the emergency power supply mode based on the abnormal working status of the mains power circuits 1 and 2; Put into emergency power supply mode, switch the hoist from mains power supply to emergency power supply; the power of the emergency power supply is provided by a battery; Convert the DC power stored in the battery into three-phase AC control power; Start the hoist auxiliary unit and the electronic control unit, and determine whether the hoist is ready for operation; Receive the elevator operation instructions and control the elevator operation according to the operation instructions; Determine whether to exit the emergency power supply mode based on the normal working status of mains circuits 1 and 2; Exit the emergency working mode and switch the hoist from emergency power supply to mains power supply.

2. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 1 is characterized in that: The method of converting the direct current stored in the battery into three-phase alternating current control power comprises: Detect whether the battery working state is normal; the battery working state includes: battery voltage, power and temperature; Utilize the electric energy stored in the battery to generate the starting power and enter the power conversion link; The power conversion link selects a conversion method for converting the DC power stored in the battery into three-phase AC power according to whether the DC side voltage is greater than the effective value of the emergency power line voltage or whether a three-phase power supply is required; Convert DC power into three-phase AC power according to the selected conversion method.

3. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 2 is characterized in that: The method of converting direct current power into three-phase alternating current power according to the selected conversion method includes: When the DC side voltage is greater than the effective value of the emergency power line voltage times, choose the conversion method that directly converts DC power into three-phase AC control power; When the DC side voltage is less than the effective value of the emergency power line voltage times, a conversion method is selected to first boost the output DC voltage to the first DC voltage setting value, and then convert the DC power into AC control power; When a three-phase power supply is required, a conversion method is selected in which the DC power is first converted into AC control power and then the output voltage is boosted to a second DC voltage setting value; the second DC voltage setting value is the effective value of the line voltage of the booster power supply. times; the second DC voltage setting value is greater than or equal to the first DC voltage setting value; The conversion of DC power into three-phase AC power includes three stages: In the first stage, the output AC voltage frequency is controlled to be the set frequency; In the second stage, the AC voltage amplitude is increased in a ramp to the AC voltage amplitude setting value; In the third stage, an outer loop closed-loop control of the power supply voltage amplitude and frequency is performed, and the outer loop closed-loop control outputs the given values ​​of the active current and reactive current; the active current and reactive current feedback values ​​are sampled, and then the active current and reactive current are controlled by an inner loop, and finally an emergency power supply with stable amplitude and frequency is output.

4. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 1 is characterized in that: The receiving of the hoist operation instruction and controlling the hoist operation according to the operation instruction also includes: predicting whether the current lifting or lowering is allowed according to the battery charge state and the load mass.

5. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 4 is characterized in that: The prediction of whether to allow the promotion or demotion includes: Control the motor to run at zero speed, calculate the load of the hoist and the energy consumed by lifting the load or the energy fed back by lowering the load; Based on the energy consumed or fed back when lifting or lowering the payload and the battery charge status, determine whether the remaining available battery power can meet the current lifting or lowering; If the battery can meet the lifting or lowering requirements, the maximum allowable operating speed of the elevator is calculated, and the actual operating speed of the elevator is controlled to be less than or equal to the maximum operating speed, and the lifting or lowering process continues; If the battery cannot meet the lifting or lowering requirements, a stop or emergency stop command will be issued; When receiving a stop command, the elevator is controlled to slow down and stop; when receiving an emergency stop command, the elevator is controlled to brake and stop immediately.

6. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 1 is characterized in that: When the mine induction motor adopts a doubly-fed motor, when the hoist is switched from mains power supply to emergency power supply, the stator side needs to be short-circuited; and when receiving the hoist operation command, the doubly-fed motor vector control mode is changed first, and then the hoist operation is controlled according to the operation command; The changing of the doubly-fed motor vector control mode comprises: When the hoist is working in non-emergency mode, the stator of the doubly-fed motor is powered by the mains, and the rotor is powered by the inverter. At this time, the motor control strategy adopts vector control based on stator flux orientation; When the hoist operates in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation.

7. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 1 is characterized in that: The energy storage emergency power supply and drive control method for a mine induction motor hoist also includes: managing the charging of batteries in a non-emergency working state under a city power supply state; The charging management of the battery in the non-emergency working state under the mains power supply state includes: Check whether the hoist system is powered by mains electricity; Determine whether the battery needs to be charged; the determination method is to start charging the battery when the charge state of the battery indicates that the charge is lower than a first charging charge; there is a margin between the first charging charge and the full charge of the battery; the first charging charge is set to the full charge of the battery pack minus the potential energy of a single lowering and lifting container; the potential energy of a single lowering and lifting container is: Ep=mgh Among them, Ep is the gravitational potential energy, m is the mass of the lifting container, g is the gravitational acceleration on the earth's surface, and h is the well depth; Selecting a charging mode according to whether there is a charging and discharging device between the power supply device and the battery device; if there is no charging and discharging device between the power supply device and the battery device, controlling the power supply device to operate in a rectification mode to charge the battery device until the charge amount indicated by the state of charge of the battery is greater than or equal to the first charging charge, then stopping charging the battery; If there is a charging and discharging device between the power supply device and the battery device, the power supply device is controlled to work in a rectification mode, and the charging and discharging device is controlled to work in a step-down mode to charge the battery; When the charge state of the battery indicates that the charge amount is greater than or equal to the first charge amount, charging the battery is stopped; The working process of controlling the charging and discharging device to work in the step-down mode to charge the battery includes: the first stage, controlling the charging current to charge in a constant current manner; the second stage, controlling the charging voltage to charge the battery in a constant voltage manner.

8. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 7, characterized in that: The method further includes: performing heat dissipation adjustment on power electronic equipment based on model prediction, wherein the power electronic equipment includes an electric energy conversion part of an excitation circuit and an armature circuit of a motor, and power electronic devices used in an emergency power supply device, and the heat dissipation adjustment process includes: Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal by voltage-frequency conversion; Receiving a frequency signal of the temperature of the power electronic device, obtaining a temperature value of the power electronic device by decoding the frequency signal, and performing communication encoding on the temperature value; Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment; According to the real-time heat dissipation model of power electronic equipment, the temperature of the power electronic device at the next moment is predicted; According to the predicted temperature and heat dissipation mode of the power electronic equipment, the speed change of the actuator of the heat dissipation device is controlled.

9. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 8, characterized in that: The real-time heat dissipation model is: Where T represents the temperature matrix of the power supply device; X represents the two-dimensional variable matrix, X = [It] T , where I represents the effective value of the three-phase current, and t represents the system operation time; is the estimated value of regression coefficient; The predicted temperature of the power electronic device at the next moment is: Set the two-dimensional variable matrix X = [I(k)t+nΔT] T , calculate the predicted temperature value of the power supply device in the case of a two-dimensional variable matrix; Among them, I(k) is the effective value of the three-phase given current at the current calculation moment of the digital signal processing chip, ΔT is set as the heat conduction time from the power electronic device to the temperature collection point, and n is the prediction step size; The heat dissipation modes include: high-performance heat dissipation mode and low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, and the predicted temperature is compared with the set temperature in real time to obtain the operating speed instruction of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate according to the instruction speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T linearly related to the curve is obtained through the expected operating temperature curve. ref , according to the expected operating temperature T ref Obtaining an operating speed instruction of a heat dissipation device actuator, and then controlling the heat dissipation device actuator to operate according to the instruction speed; The expected operating temperature T linearly correlated with the expected operating temperature curve is obtained by using the expected operating temperature curve. ref ,include: When the temperature of the power electronic equipment is lower than the ambient temperature T0, the first desired operating temperature T ref1 is the ambient temperature; When the temperature of the power electronic device is between the first operating temperature T1 and the second operating temperature T2, the expected temperature of the power electronic device is set to the second expected operating temperature T ref2 ; When the temperature of the power electronic device is between the second operating temperature T2 and the third operating temperature T3, the expected temperature of the power electronic device is set to the third expected operating temperature T ref3 ; When the temperature of the power electronic equipment is greater than the third operating temperature T3, the actuator of the forced heat dissipation equipment operates at the maximum speed and sends out an alarm signal; When the expected operating temperature T ref When crossing between the desired operating temperatures, the desired operating temperature T ref A ramp function is used for transition; The speed command is obtained by the following formula: Among them, n ref is the expected operating speed of the power supply actuator, n set is the preset speed of the power supply actuator; T is the predicted power supply temperature, T ref is the expected operating temperature of the power supply unit, T max is the maximum permissible operating temperature of the power supply unit, T min is the minimum permissible operating temperature of the power supply unit, n N is the rated speed of the actuator of the power supply device; limit n ref >0.

10. A mine induction motor hoist energy storage type emergency power supply and drive control device, characterized in that: The device includes: The acquisition module is used to collect the working status of the mains circuit 1 and the mains circuit 2 in real time; The first judgment module is used to judge whether to cut off the mains power supply mode and enter the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2; A power start-up module is used to convert the DC power stored in the battery into three-phase AC control power; Auxiliary and electronic control starting module, used to start the elevator auxiliary unit and electronic control unit, and determine whether the elevator has the operating conditions; The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions; The second judgment module is used to judge whether to exit the emergency power supply mode; The switching module is connected to the first judgment module and the second judgment module, and is used to switch the power supply mode of the hoist according to the judgment results of the first judgment module and the second judgment module.

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