Method and apparatus for controlling energy storage-type emergency power supply and driving of electrically excited synchronous motor elevator

Abstract

The present invention provides a method and apparatus for controlling energy storage-type emergency power supply and driving of an electrically excited synchronous motor elevator. The method comprises: determining whether to enter an emergency power supply mode; entering the emergency power supply mode, and switching an elevator from mains power supply to emergency power supply; converting direct-current power stored in a battery into three-phase alternating-current control power; starting an elevator assistance unit and an electrical control unit, and determining whether the elevator satisfies an operation condition; receiving an elevator operation instruction, starting an excitation direct-current conversion link, and controlling operation of the elevator according to the operation instruction; and exiting the emergency working mode, switching the elevator from emergency power supply to mains power supply, and switching from a circuit of the excitation conversion link to an original circuit. The present invention replaces an original diesel engine power generation system with a combination of new energy storage and current conversion, solves the problems of energy storage-type emergency power supply and emergency driving of an electrically excited synchronous motor elevator, and allows for quick establishment of an emergency rescue lifting channel, thereby providing safety guarantee for mine personnel and production.

Description

An energy storage emergency power supply and drive control method and device for an electrically excited synchronous motor hoist Technical Field

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

[0002] Electromagnetic synchronous motor hoists are key equipment in mines, responsible for lifting and lowering personnel and materials, and are the core of the mine. The auxiliary shaft hoists, in particular, are essential for transporting personnel to the surface in the event of an underground anomaly. However, when the mine's power supply system is damaged, the electromagnetic synchronous motor hoists become inoperable, placing underground personnel in danger and making subsequent rescue efforts extremely difficult.

[0003] To address the emergency hoisting problem of electrically excited synchronous motor hoists in the event of a mine power supply system failure, a common approach is to use diesel engines as a third emergency power source. However, diesel engines as backup power sources have the following drawbacks: The power supply system and the hoist motor drive system are poorly coordinated, often leading to large voltage fluctuations in the power supply due to hoist acceleration and deceleration, which in turn degrades the hoist's speed regulation performance. Reverse power flow is a serious issue, with feedback braking energy dissipated through resistors during hoist lowering, causing motor braking failure. Large oil reserves pose safety risks, and there is significant noise, vibration, and exhaust pollution. Startup times are long, operating efficiency is low, and reliability cannot be guaranteed.

[0004] With the development of energy storage technology, the use of energy storage devices for emergency power supply solutions has gradually gained attention. However, mine hoist systems require complex process control and high safety requirements. Furthermore, electrically excited synchronous motors (ESMs), compared to asynchronous motors, have additional rotor field windings, leading to a complex drive control system. These factors have limited the application of energy storage devices in industrial hoist systems based on EMSs.

[0005] To address the above situation and improve the reliability of mine power supply and reduce the risk of mine-wide power outages, this patent combines new energy storage and power conversion technology to replace the original diesel engine emergency power generation system. By changing the control method of the excitation winding of the electrically excited synchronous motor, the energy storage emergency power supply method is applied to the hoist of the electrically excited synchronous motor. When an abnormality occurs in the power supply system of the electrically excited synchronous motor hoist, the system and control method invented by this patent can quickly establish an emergency rescue hoist channel, providing safety for mine personnel and production.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide an energy storage emergency power supply and drive control method and device for an electrically excited synchronous 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.

[0008] The present invention provides an emergency hoisting control method for an electrically excited synchronous motor hoist, the method comprising:

[0009] Real-time collection of the working status of mains circuit 1 and mains circuit 2;

[0010] 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;

[0011] 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;

[0012] Convert the DC power stored in the battery into three-phase AC control power;

[0013] Start the hoist auxiliary unit and electronic control unit, and determine whether the hoist is ready for operation;

[0014] Receive the hoist operation instruction, start the motor excitation DC conversion, and control the hoist operation according to the operation instruction; the starting excitation DC conversion link includes:

[0015] Plan the excitation current command according to the operating status of the emergency lifting motor;

[0016] Through the PID control algorithm, the excitation regulation voltage is obtained, which is compared with the carrier to generate a PWM signal to trigger the circuit of the excitation current conversion link.

[0017] Determine whether to exit the emergency power supply mode based on the normal working status of mains circuits 1 and 2;

[0018] Exit the emergency working mode, switch the hoist from emergency power supply to mains power supply, and switch the circuit of the excitation converter link to the original circuit.

[0019] In some embodiments, converting the DC power stored in the battery into three-phase AC control power includes:

[0020] Detect whether the battery working status is normal; the battery working status includes: battery voltage, power and temperature;

[0021] Utilize the electric energy stored in the battery to generate the starting power and enter the power conversion link;

[0022] 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;

[0023] Convert DC power into three-phase AC power according to the selected conversion method.

[0024] In some embodiments, converting DC power into three-phase AC power according to the selected conversion method includes:

[0025] 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;

[0026] 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.

[0027] 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;

[0028] The conversion of DC power into three-phase AC power includes three stages:

[0029] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0030] In the second stage, the AC voltage amplitude is increased in a ramp to the AC voltage amplitude setting value;

[0031] 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.

[0032] In some embodiments, before receiving the hoist operation instruction, starting the motor excitation DC conversion, and controlling the hoist operation according to the operation instruction, the process further includes:

[0033] Based on the battery state of charge and load mass, predict whether the lifting or lowering is allowed.

[0034] In some embodiments, the pre-determining whether to allow the current promotion or demotion includes:

[0035] 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;

[0036] Based on the energy consumed or fed back when lifting or lowering the payload and the battery state of charge, determine whether the remaining battery power can complete the lift;

[0037] If the battery can meet the needs of this lifting, 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.

[0038] If the battery cannot meet the needs of this lifting, 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.

[0039] In some embodiments, planning the excitation current instruction according to the motor operating state includes:

[0040] Setting the motor operating state, the motor operating state includes: initial start positioning state, waiting state after positioning, motor running state, parking state, and de-excitation state;

[0041] According to the motor operating status and the hoist operating instructions, different excitation current instructions are planned respectively:

[0042] Excitation current command in the initial startup positioning state: Initial positioning of the electrically excited synchronous motor is performed by inputting DC current into the excitation winding, using k1 times the no-load excitation current as the given excitation current, and using a step-given method to strongly excite the motor;

[0043] After positioning, wait for the excitation current instruction of the running state: after the initial positioning is completed, reduce the excitation current to k2 times the no-load excitation current and wait for receiving the motor running instruction;

[0044] Motor running state excitation current command: When the motor running command is received, the excitation current is stepped up to k3 times the rated no-load current in the first stage; in the second stage, the excitation current required for motor flux control is dynamically tracked;

[0045] Excitation current command in parking state: When receiving the motor parking command, the excitation current is reduced to k2 times the rated excitation current at a slope of k4 times;

[0046] Excitation current command in stop excitation state: When the motor stop command is received, the excitation current is reduced to 0 with a slope of k4 times.

[0047] In some embodiments, the method for energy storage emergency power supply and drive control of an electrically excited synchronous 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:

[0048] Check whether the hoist system is powered by mains electricity;

[0049] 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:

[0050] Ep=mgh

[0051] 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;

[0052] 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;

[0053] 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;

[0054] 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;

[0055] 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.

[0056] 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:

[0057] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal through voltage-frequency conversion;

[0058] 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;

[0059] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0060] 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;

[0061] 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.

[0062] In some embodiments, the real-time heat dissipation model of the power supply device is:

[0063] 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;

[0064] 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;

[0065] The expected operating temperature T is obtained by the expected operating temperature curve ref ,include:

[0066] 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;

[0067] 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 ;

[0068] 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 ;

[0069] 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;

[0070] 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;

[0071] The predicted temperature of the power electronic device at the next moment is:

[0072] 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;

[0073] 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;

[0074] The speed command is obtained by the following formula:

[0075] 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 n ref >0.

[0076] The present invention also provides an energy storage type emergency power supply and drive control device for an electrically excited synchronous motor hoist, the device comprising:

[0077] The acquisition module is used to collect the working status of mains circuit 1 and mains circuit 2 in real time;

[0078] 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; the emergency power supply is provided by the battery;

[0079] Power start-up module, used to convert the DC power stored in the battery into three-phase AC control power;

[0080] 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;

[0081] The hoist operation and excitation control module is used to receive the hoist operation instructions, start the excitation DC conversion module, and control the hoist operation according to the operation instructions; the excitation DC conversion module adopts a converter circuit with DC-DC conversion function;

[0082] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0083] 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.

[0084] Beneficial effects of the present invention:

[0085] 1. The present invention implements energy storage-based emergency power supply and emergency drive for mine electrically excited synchronous motor hoists. Using battery energy storage, it solves the hoist system power supply issue and can completely replace existing diesel engine-based emergency power supply solutions. This addresses the issues of poor coordination between the power supply system and the hoist motor drive system, large grid voltage fluctuations, poor speed regulation, severe reverse power flow, and the inability to feed back power when the hoist is lowered. It also avoids safety hazards caused by large oil reserves and achieves low noise, low vibration, and low pollution for the hoist emergency drive. By improving the power supply and control method for the electrically excited synchronous motor's excitation winding, the present invention ensures reliable operation of the electrically excited synchronous motor's excitation system under energy storage-based power supply mode, thereby enabling high-performance drive of the electrically excited synchronous motor under energy storage-based emergency power supply. Furthermore, compared to diesel engine-based power supply solutions, the present invention offers the advantages of shorter startup time, higher operating efficiency, and greater reliability. Furthermore, due to the extensive use of power electronic components, this system suffers from significant system losses. Therefore, a method based on a power electronic component heat dissipation model prediction method is employed to reduce system heat losses, improve system efficiency, and increase the hoist's operating time under energy storage-based emergency power supply.

[0086] 2. The present invention improves the control process of the energy storage emergency power supply for the hoist, solves the power supply problem of the low-voltage control part of the system, improves the rotor excitation method of the electrically excited synchronous motor, and realizes the safe and reliable operation of the electrically excited synchronous motor under the energy storage emergency power supply for the hoist.

[0087] 3. The present invention improves the power supply mode of the DC motor excitation winding and armature winding, and realizes the safe and reliable operation of the DC motor hoist under the energy storage type emergency power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0088] 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.

[0089] FIG1 is a flow chart of an energy storage emergency power supply and drive control method for an electrically excited synchronous motor hoist provided by one embodiment of the present invention;

[0090] FIG2 is a flow chart of a method for controlling excitation of an electrically excited synchronous motor in an emergency power supply mode according to an embodiment of the present invention;

[0091] FIG3 is a flow chart of controlling the operation of an elevator according to the battery state of charge and the load mass according to an embodiment of the present invention;

[0092] FIG4 is a flow chart of battery charging management in a non-emergency working state according to an embodiment of the present invention;

[0093] FIG5 is a flow chart of a method for controlling an armature winding of a DC motor in an emergency power supply mode according to an embodiment of the present invention;

[0094] FIG6 is a schematic structural diagram of an energy storage type emergency power supply and drive control device for an electrically excited synchronous motor hoist provided by one embodiment of the present invention;

[0095] FIG7 is a structural diagram of an excitation DC conversion module provided by an embodiment of the present invention;

[0096] FIG8 is a structural diagram of an armature DC conversion module provided by one embodiment of the present invention;

[0097] FIG9 is a structural diagram of a power supply device provided in one embodiment of the present invention;

[0098] FIG10 is a structural diagram of a charge and discharge device according to an embodiment of the present invention;

[0099] FIG11 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;

[0100] FIG12 is a circuit structure diagram of an inverter unit provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0101] 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.

[0102] The present invention will be further described below with reference to the accompanying drawings.

[0103] FIG1 provides an energy storage emergency power supply and drive control method for an electrically excited synchronous motor hoist, the method comprising the following steps:

[0104] Step S100: collecting the working status of the mains circuit 1 and the mains circuit 2 in real time.

[0105] 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.

[0106] 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.

[0107] 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.

[0108] Switch the control power and power power of the hoist power supply system from the mains circuit to the emergency power supply circuit.

[0109] Step S400: converting the DC power stored in the battery into three-phase AC control power;

[0110] In an embodiment of the present application, converting the DC power stored in the battery into three-phase AC control power includes:

[0111] Step S410: Detecting whether the battery operating status is normal; the battery operating status includes: battery voltage, battery charge, and temperature;

[0112] 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.

[0113] Step S420: Utilizing the electric energy stored in the battery to generate a startup power supply and enter the power conversion phase;

[0114] 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;

[0115] Step S430: converting the DC power into three-phase AC power according to the selected conversion method.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] Method 3: When a three-phase power supply is required, a conversion method is selected to convert DC power into AC control power first, and then boost the output voltage 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.

[0126] 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.

[0127] 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 a second DC voltage setting value (933V) by the charging and discharging device. The second DC voltage setting value is 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.

[0128] In the embodiment of the present application, converting DC power into three-phase AC power includes three stages:

[0129] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0130] In the second stage, the AC voltage amplitude is controlled to rise to the AC voltage amplitude setting value according to the ramp;

[0131] 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.

[0132] Step S500: Start the hoist auxiliary unit and the electric control device to determine whether the hoist has the operating conditions.

[0133] Specifically, the hoist auxiliary unit and electronic control device 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 electronic control unit also includes activating the hoist travel and protection control system. This embodiment uses a PLC as the hoist travel and protection control system.

[0134] Step S600: receiving the hoist operation instruction, starting the excitation DC conversion link, and controlling the hoist operation according to the operation instruction.

[0135] 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.

[0136] 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 the current 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 complete the lifting or lowering requirements 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.

[0137] The purpose of starting the excitation DC conversion link is to provide the excitation current required for the operation of the motor. In the prior art, the DC current required for the excitation winding of the electrically excited synchronous motor of the electrically excited synchronous motor hoist is obtained by thyristor rectification, and the excitation winding is excited by controlling the conduction angle of the thyristor. In order to solve the application of energy storage emergency power supply in the excitation winding, the present invention replaces the thyristor rectification with an H-bridge reversible chopper converter. Although it increases the cost, it realizes the application of the common DC bus of the energy storage emergency power supply. To solve this problem, as shown in Figure 2, Figure 2 shows an excitation control method for an electrically excited synchronous motor under emergency power supply mode. By improving the circuit of the excitation DC conversion link, it can work reliably under battery power conditions.

[0138] Start the excitation DC conversion link. The specific steps include:

[0139] Step S610: planning the excitation current instruction according to the motor operating state.

[0140] Set the motor operating state, including: initial start-up positioning state, waiting for operation after positioning state, motor running state, parking state, and de-excitation state. Different excitation current instructions are planned according to the hoist operation instructions.

[0141] Initial start-up positioning state excitation current command: Initial positioning of the electrically excited synchronous motor is performed by inputting DC current to the excitation winding. The excitation current is given by k1 times the no-load excitation current, and the motor is strongly excited using a step setting method.

[0142] In this embodiment, to increase the accuracy of initial positioning, k1 is set to 0.5-1.0. Since the H-bridge converter is used, the rapidity of DC current regulation is increased. Based on this advantage, accurate initial positioning of the motor under rapid excitation is achieved.

[0143] After positioning, wait for the excitation current command of the running state: After the initial positioning is completed, reduce the excitation current to k2 times the no-load excitation current. Wait for receiving the motor running command.

[0144] In order to reduce the no-load loss of the excitation winding under the energy storage type emergency power supply, k2 in this embodiment is set to 0.1-0.5.

[0145] Motor running state excitation current command: When the motor running command is received, the excitation current is stepped up to k3 times the rated no-load current in the first stage. In the second stage, the excitation current required for dynamic tracking of the motor flux control is achieved.

[0146] When the motor receives a run command, the excitation current must be adjusted based on the motor's flux requirements. Since the motor excitation is in a no-load, low-power mode, with an excitation current of k2 times the no-load excitation current, the first stage requires rapidly increasing the excitation current to k3 times the rated no-load current. In this embodiment, k3 is set between 0.7 and 1.0.

[0147] Excitation current command in parking state: When the motor parking command is received, the excitation current is reduced to k2 times the rated excitation current at a slope of k4 times.

[0148] In this embodiment, reducing the excitation current will cause the common bus voltage to rise, impacting the system. Therefore, the excitation current is reduced at a slope of k4 times. In this embodiment, k4 ranges from 20A / s to 50A / s. It should be noted that while the excitation current does not drop to k2 times the rated current in the parked state, this does not affect restarting the vehicle.

[0149] Excitation current command in stop excitation state: When the motor stop command is received, the excitation current is reduced to 0 with a slope of k4 times.

[0150] Step S611: Obtain the excitation regulation voltage through the PID control algorithm, compare it with the carrier to generate a PWM signal, and trigger the circuit of the excitation current conversion link.

[0151] The PWM signal controls the on-off of the fully controlled semiconductor power device. The circuit of the excitation current conversion link refers to a converter with a DC-DC conversion function. This embodiment adopts an H-bridge reversible chopper converter.

[0152] This embodiment replaces the traditional silicon-controlled rectifier (SCR) rectifier in the original system with an H-bridge reversible chopper converter to provide excitation current to the motor excitation winding, solving the problem of a common DC bus in energy storage emergency power supply. By programming the excitation current for different operating states, the system's no-load losses are reduced. This circuit increases the speed of excitation current regulation and improves the accuracy of initial positioning of the electrically excited synchronous motor.

[0153] 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.

[0154] As shown in Figure 3, 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:

[0155] Step S620: 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.

[0156] Specifically, the energy consumed or fed back when lifting or lowering the payload m is:

[0157] According to the characteristics of emergency lifting conditions, due to the low operating speed, the above formula is approximately equivalent to:

[0158] The 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.

[0159] Step S621: Determine whether the remaining available battery power can complete the current lift based on the energy consumed or fed back when lifting or lowering the payload and the battery charge state.

[0160] Specifically, based on the energy consumed or fed back when lifting or lowering the payload m and the battery charge state, firstly, when the hoist is in the lifting state, it is determined whether the remaining available battery power can complete the current lift, to prevent the hoist container from being unable to reach the designated location due to insufficient battery power. When 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, to prevent the battery from being overcharged, resulting in a failure to feed back energy during deceleration and braking of the hoist.

[0161] Step S622: If the battery can meet the requirements of this lifting, 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.

[0162] Specifically, the maximum allowable operating speed Vm of the hoist is calculated based on the DC bus voltage:

[0163] Vm=((DC bus voltage / 1.414) / U N )*V N . *K0

[0164] 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.

[0165] K0 is a voltage margin that takes into account battery voltage fluctuation and motor dynamic overshoot. In this embodiment, K0=90%.

[0166] 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.

[0167] Step S623: If the battery cannot meet the needs of this lifting, a stop or emergency stop command is issued; when a stop command is received, the hoist is controlled to slow down and stop; when an emergency stop command is received, the hoist is controlled to brake and stop immediately.

[0168] 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.

[0169] Step S700: Determine whether to exit the emergency power supply mode based on the normal working status of the mains circuits 1 and 2.

[0170] 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.

[0171] Step S800: Exit the emergency working mode, switch the hoist from emergency power supply to mains power supply, and switch the circuit of the excitation current conversion link to the original circuit.

[0172] Specifically, the control power and power power of the hoist power supply system are switched from the emergency power supply circuit to the mains power circuit, and the circuit of the excitation current conversion link is switched back to the original circuit.

[0173] 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.

[0174] In an optional embodiment, the energy storage emergency power supply and drive control method for an electrically excited synchronous motor hoist further includes:

[0175] Step S900: performing charging management on the battery in the non-emergency working state under the mains power supply state.

[0176] In the embodiment of the present application, charging management of the battery in the non-emergency working state is performed under the mains power supply state, as shown in FIG4 , and the specific steps include:

[0177] Step S910: Detect whether the hoist system is powered by mains electricity.

[0178] 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.

[0179] Step S920: Determine whether the battery needs to be charged.

[0180] 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.

[0181] 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.

[0182] 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.

[0183] 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.

[0184] 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.

[0185] 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.

[0186] 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.

[0187] 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.

[0188] 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.

[0189] 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.

[0190] 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.

[0191] 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.

[0192] This embodiment improves the circuitry of the excitation DC conversion link to generate an excitation current suitable for battery-powered environments, resolving the issue of establishing the rotor magnetic field in an electrically excited synchronous motor under emergency power supply mode. This approach also provides better control of the excitation current, further enabling high-performance control of the electrically excited synchronous motor under emergency power supply conditions.

[0193] The implementation of the method in the above embodiment is for an electrically excited synchronous motor hoist. When the electrically excited synchronous motor is a DC motor, in step S420, the starting power supply is a low-voltage DC power supply, typically 5-36 volts. In this embodiment, 24V DC power is used. This starting power supply is responsible for supplying power to the control circuit and drive circuit of the power conversion link, and waking up the power conversion link when it is out of power. Step S600 is to receive the hoist operation instruction. It is necessary to first start the excitation DC conversion link and the armature DC conversion link, and then control the operation of the hoist according to the operation instruction. The implementation of starting the excitation DC conversion link is the same as that of starting the excitation DC conversion link when the hoist is an electrically excited synchronous motor. The steps for starting the excitation DC conversion link can be referred to above.

[0194] Starting the armature DC conversion link includes controlling the armature current of the motor, thereby controlling the torque of the motor. In the prior art, since the armature current of the mine DC motor hoist motor can reach more than 3000A, the DC current required by the DC motor is usually obtained by thyristor rectification. Since the thyristor rectification is powered by an AC power supply, this method cannot be implemented in the emergency power supply method proposed by the present invention. To solve this problem, as shown in Figure 5, Figure 5 shows a method for controlling the armature winding of a DC motor under an emergency power supply mode. By improving the circuit topology of the armature DC conversion link, the armature current is output under battery-powered conditions, and the armature current is expanded by connecting switching devices in parallel. This embodiment can reach more than 3000A.

[0195] Step S630: collecting the output armature current and input DC voltage of the armature current conversion link.

[0196] The output armature current is the current output to the armature winding of the DC motor, and the input DC voltage is the circuit input voltage of the armature conversion link.

[0197] Step S631: receiving an armature current instruction issued by a motor control unit.

[0198] The motor control unit is the part that implements the DC motor control algorithm and calculates the real-time armature current command of the motor. This part belongs to common knowledge in the field, so the description is omitted.

[0199] Step S632: Obtain the armature regulating voltage through the PID control algorithm according to the armature current command and the output armature current feedback.

[0200] Step S634: Generate a PWM signal according to the armature regulation voltage and the input DC voltage.

[0201] Step S635: sending the PWM signals to the corresponding parallel switch devices respectively, triggering the armature current conversion link to output the armature current.

[0202] The PWM signal controls the on-off of the switching device, which is chopping control. The switching device refers to a fully controlled semiconductor power device, such as an IGBT, IGCT, etc. The circuit of the armature current conversion link refers to a converter with a DC-DC conversion function. This embodiment adopts a full-bridge reversible chopper converter. The switching devices are connected in parallel to increase the current. The armature current of this embodiment is more than 3000A, so this embodiment uses a device parallel connection method to expand the capacity. The parallel expansion method of the present invention is not limited to the parallel connection of devices, and can also be expanded by connecting bridge arms in parallel.

[0203] This embodiment improves the topology of the excitation and armature conversion stages and employs a parallel expansion approach to generate a DC motor current suitable for battery-powered environments. This solves the problem of controlling the DC motor's excitation and armature currents in emergency power supply mode. This approach also offers excellent current control accuracy, further enabling high-performance control of DC motors in emergency power supply environments.

[0204] In an optional embodiment, the energy storage emergency power supply and drive control method for a mine asynchronous 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:

[0205] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal through voltage-frequency conversion;

[0206] 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;

[0207] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0208] 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;

[0209] 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.

[0210] 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:

[0211] A regression equation of a 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:

[0212] T=Xθ

[0213] 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;

[0214] The real-time heat dissipation model of the power electronic device is calculated based on the regression equation; the calculation method is as follows:

[0215] P(N)=P(N-1)-G(N)X T (N)P(N-1)

[0216] 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,

[0217] 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.

[0218] In one embodiment, the real-time heat dissipation model of the power electronic device is:

[0219] in, is the estimated value of the regression coefficient.

[0220] Furthermore, the predicted temperature of the power electronic device at the next moment is:

[0221] 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;

[0222] 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.

[0223] Preferably, ΔT is set to 0.05 seconds and n is set to 10 steps.

[0224] 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 refObtaining 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;

[0225] Furthermore, the expected operating temperature T is obtained through the expected operating temperature curve. ref ,include:

[0226] 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;

[0227] 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 ;

[0228] 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 ;

[0229] 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;

[0230] 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;

[0231] 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.

[0232] Furthermore, the speed command is obtained by the following formula:

[0233] Among them, n ref is the expected operating speed of the heat dissipation device actuator, n set is the predicted speed of the heat dissipation device actuator; T is the predicted temperature of the power electronic equipment, 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.

[0234] 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.

[0235] 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.

[0236] The present invention provides a method for energy storage emergency power supply and drive control for a hoist, which realizes energy storage in the battery link when the mains power supply of the hoist is normal; and provides emergency power to the hoist from the battery energy storage link when the mains power supply of the hoist 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 emergency operation of the hoist, 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.

[0237] In order to improve the diesel engine emergency power supply in the prior art, the present invention proposes an energy storage emergency power supply and drive control device for an electrically excited synchronous motor hoist, as shown in FIG6 , the device includes:

[0238] The acquisition module is used to collect the working status of mains circuit 1 and mains circuit 2 in real time;

[0239] 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;

[0240] Power start-up module, used to convert the DC power stored in the battery into three-phase AC control power;

[0241] 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;

[0242] The hoist operation and excitation control module is used to receive the hoist operation instructions, start the excitation DC conversion module, and control the hoist operation according to the operation instructions; the excitation DC conversion module adopts a converter circuit with DC-DC conversion function;

[0243] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0244] 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.

[0245] In an embodiment of the present application, the power startup module includes:

[0246] Battery startup module: detects whether the battery is working normally; the battery working status includes: battery voltage monitoring, power calculation and temperature detection;

[0247] 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;

[0248] An electric energy conversion module, used to convert DC electric energy into three-phase AC electric energy according to a selected conversion method;

[0249] 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.

[0250] The excitation DC converter module uses a converter circuit with DC-DC conversion capabilities. In this implementation, a full-bridge reversible chopper circuit is used as the topology for the excitation DC converter module, as shown in Figure 7. In the figure, 1101 and 1102 are terminals for connecting to the DC input, 1103 is a fully controlled semiconductor power device, and 1104 and 1105 are connected to the excitation winding of the electrically excited synchronous motor.

[0251] When the hoist is a DC motor, the hoist operation and excitation control module in the energy storage emergency power supply and drive control device for an electrically excited synchronous motor hoist is configured to receive hoist operation instructions, activate the motor excitation DC conversion module, and activate the motor armature DC conversion module to control hoist operation according to the operation instructions. The excitation DC converter module utilizes a converter circuit with DC-DC conversion capabilities. In this embodiment, a full-bridge reversible chopper circuit is used as the topology for the excitation DC converter module. The armature DC converter module utilizes a converter circuit with DC-DC conversion capabilities. In this embodiment, a full-bridge reversible chopper circuit is used as the topology for the excitation DC converter module, as shown in Figure 8. In the figure, 1201 and 1202 are terminals for connecting the DC input, 1203 and 1204 are fully controlled semiconductor power devices, and 1205 and 1206 are connected to the DC motor's excitation winding. Devices 1203 and 1204 are connected in parallel to expand the armature winding current.

[0252] It should be noted that the energy storage type emergency power supply and drive control device for an electrically excited synchronous motor hoist provided in the above embodiment is only illustrated by the division of the above functional modules when executing an energy storage type emergency power supply and drive control method for an electrically excited synchronous 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 an electrically excited synchronous motor hoist provided in the above embodiment belongs to the same concept as the embodiment of the energy storage type emergency power supply and drive control method for an electrically excited synchronous motor hoist. The implementation process thereof is detailed in the energy storage type emergency power supply and drive control device for an electrically excited synchronous motor hoist, which will not be repeated here.

[0253] The power supply device in this embodiment of the present invention employs the circuit topology shown in Figure 9. It comprises a three-phase rectifier equipped with an LCL filter, and the main circuit utilizes fully controlled switching semiconductor devices. Input DC terminals 1301 and 1302 are connected to the DC bus. A three-phase inductor 1304, a three-phase capacitor 1305, and a three-phase inductor 1306 form the LCL filter. Terminal 1307 is the three-phase output terminal.

[0254] The charging and discharging device in an embodiment of the present invention, shown in Figure 10, comprises a reversible current chopper circuit. When operating in normal mode to charge the battery and in emergency mode to feed 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 operating in emergency mode to output 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 1401 is connected to the positive bus, terminal 1402 is connected to the negative bus, devices 1403 and 1404 are power semiconductor devices consisting of an IGBT and a diode in parallel, terminal 1406 is connected to the positive terminal of the battery module, and terminal 1407 is connected to the negative terminal of the battery module. Inductor 1405 is located between the midpoint between devices 1403 and 1404 and terminal 1406. 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.

[0255] The present invention proposes an elevator operation control device in the elevator operation control module, and its structural schematic diagram is shown in Figure 11. Zero-speed control and energy calculation module: used to control the zero-speed operation of the motor through the inverter device, calculate the elevator load and the energy consumed by lifting the load or the energy fed back by lowering the load. Judgment module: used to judge whether the current 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. 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. Stop control module: used to control the elevator to decelerate and stop when a stop command is received. When an emergency stop command is received, the elevator is controlled to immediately brake and stop.

[0256] The hoist operation control module utilizes an inverter device, as shown in Figure 12. The inverter is connected to the positive busbar via terminal 1501 and the negative busbar via terminal 1502. The main circuit comprises fully controlled switching semiconductor devices 1503. The three-phase output terminals 1504 are connected to the power switching device.

[0257] 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.

[0258] 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. An energy storage emergency power supply and drive control method for an electrically excited synchronous 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 hoist operation instruction, start the excitation DC conversion link, and control the hoist operation according to the operation instruction; The starting excitation DC conversion link includes: Plan the excitation current command according to the operating status of the emergency lifting motor; Through the PID control algorithm, the excitation regulation voltage is obtained, and compared with the carrier to generate a PWM signal to trigger the circuit of the excitation current conversion link; 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, switch the hoist from emergency power supply to mains power supply, and switch the circuit of the excitation converter link to the original circuit.

2. The method for energy storage emergency power supply and drive control of an electrically excited synchronous 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 method for energy storage emergency power supply and drive control of an electrically excited synchronous 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 method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist according to claim 1 is characterized in that: The receiving of the hoist operation instruction, starting the excitation DC conversion link, and controlling the hoist operation according to the operation instruction also includes: Based on the battery charge status and load mass, predict whether the lifting or lowering is allowed.

5. The method for energy storage emergency power supply and drive control of an electrically excited synchronous 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 complete the current lift; If the battery can meet the lifting 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 needs of this lifting, 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 brake and stop immediately.

6. The method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist according to claim 1 is characterized in that: The planning of the excitation current instruction according to the motor operation state includes: Setting the motor running state, the motor running state includes: first start positioning state, waiting running state after positioning, motor running state, parking state, and stop excitation state; According to the motor operating status and the hoist operating instructions, different excitation current instructions are planned respectively: Excitation current command in the first start-up positioning state: The electric excitation synchronous motor is initially positioned by inputting DC current into the excitation winding, k1 times the no-load excitation current is used as the excitation current setting, and the motor is strongly excited by a step setting method; After positioning, wait for the excitation current command of the running state: after the initial positioning is completed, reduce the excitation current to k2 times the no-load excitation current, and wait for receiving the motor running command; Excitation current command in motor running state: When receiving the motor running command, the excitation current is stepped up to k3 times the rated no-load current in the first stage; in the second stage, the excitation current required for motor flux control is dynamically tracked; Excitation current command in parking state: when receiving the motor parking command, the excitation current is reduced to k2 times the rated excitation current at a slope of k4 times; Excitation current command in stop excitation state: When the motor stop command is received, the excitation current is reduced to 0 with a slope of k4 times.

7. The method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist according to claim 1 is characterized in that: The energy storage emergency power supply and drive control method for the electrically excited synchronous motor hoist also includes: managing the charging of the battery in the non-emergency working state under the mains 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 method for energy storage emergency power supply and drive control of an electrically excited synchronous 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 method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist according to claim 8, characterized in that: The real-time heat dissipation model of the power supply device is: 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 regression coefficient; 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 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 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 moment of calculation using the digital signal processing chip, and ΔT is set is defined as the heat conduction time from the power electronic device to the temperature collection point, and n is the prediction step length; 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. An energy storage emergency power supply and drive control device for an electrically excited synchronous motor hoist, 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 switch from the mains power supply mode to the emergency power supply mode according to the abnormal working state of the mains power circuits 1 and 2; the electric energy of the emergency power supply is provided by a battery; 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 hoist operation and excitation control module is used to receive the hoist operation instruction, start the excitation DC conversion module, and control the hoist operation according to the operation instruction; the excitation DC conversion module adopts a conversion circuit with DC-DC conversion function; 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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