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

Abstract

The present invention provides a method and device for energy storage emergency power supply and drive control of a mine induction motor hoist, the method comprising: real-time acquisition of the working status of the mains circuit 1 and the mains circuit 2; judging whether to cut off the mains power supply mode and enter the emergency power supply mode according to the abnormal working status of the mains circuits 1 and 2; entering the emergency power supply mode, switching the hoist from the mains power supply to the emergency power supply; starting the hoist auxiliary unit and the hoist electronic control unit, and judging whether the hoist has the operating conditions; receiving the hoist operation instruction, and controlling the hoist operation according to the operation instruction; exiting the emergency working mode, and switching the hoist from the emergency power supply to the mains power supply. The present invention adopts a combination of new energy storage and current conversion to replace the original diesel engine power generation system, solves the emergency power supply problem of the mine induction motor hoist control system, can quickly establish an emergency rescue hoisting channel, and provide safety protection for mine personnel and production.

Description

Technical Field

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

[0002] Mine hoists are one of the key equipment in mines. They are responsible for lifting and lowering personnel and materials, and are the throat of mines. In particular, the auxiliary shaft hoists for transporting personnel will transport personnel from underground to the ground as soon as an abnormality occurs underground. However, when the mine power supply system is damaged, the mine hoist cannot work, and the underground personnel are in danger because they cannot go up the well, and subsequent rescue work is also very difficult. Therefore, the mine power supply system plays an extremely critical and important role in the safe production of coal mines. According to the requirements of the coal mine power supply system design specifications, large-capacity Class I loads should be powered by dual power supplies, but it still cannot meet the strict requirements of mine safety production on power supply reliability. When special circumstances occur, such as natural disasters such as earthquakes and floods, causing both dual power supply circuits to fail, the reliability of mine power supply safety cannot be guaranteed.

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

[0004] The purpose of the present invention is to provide a mine induction motor hoist energy storage type emergency power supply and drive control method and device, 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.

[0005] The present invention provides an emergency lifting control method for a mine hoist, the method comprising:

[0006] Real-time collection of the working status of mains circuit 1 and mains circuit 2;

[0007] 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;

[0008] 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;

[0009] Convert the DC power stored in the battery into three-phase AC control power;

[0010] Start the hoist auxiliary unit and the electronic control unit, and determine whether the hoist is ready for operation;

[0011] Receive the elevator operation instructions and control the elevator operation according to the operation instructions;

[0012] Determine whether to exit the emergency power supply mode based on the normal working status of mains circuits 1 and 2;

[0013] Exit the emergency working mode and switch the hoist from emergency power supply to mains power supply.

[0014] In some embodiments, converting the DC power stored in the battery into three-phase AC control power includes:

[0015] Detect whether the battery working state is normal; the battery working state includes: battery voltage, power and temperature;

[0016] Utilize the electric energy stored in the battery to generate the starting power and enter the power conversion link;

[0017] 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;

[0018] Convert DC power into three-phase AC power according to the selected conversion method.

[0019] In some embodiments, converting direct current power into three-phase alternating current power according to the selected conversion method includes:

[0020] 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;

[0021] 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;

[0022] 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;

[0023] The conversion of DC power into three-phase AC power includes three stages:

[0024] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0025] In the second stage, the AC voltage amplitude is increased in a ramp to the AC voltage amplitude setting value;

[0026] 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.

[0027] In some embodiments, the step of receiving the elevator operation instruction and controlling the elevator operation according to the operation instruction further includes:

[0028] Based on the battery charge status and load mass, predict whether the lifting or lowering is allowed.

[0029] In some embodiments, the pre-determining whether to allow the promotion or demotion includes:

[0030] 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;

[0031] Based on the energy consumed or fed back when lifting or lowering the payload and the battery charge status, determine whether the remaining available battery power can meet the current lifting or lowering;

[0032] If the battery can meet the lifting or lowering requirements, the maximum allowable operating speed of the elevator is calculated, and the actual operating speed of the elevator is controlled to be less than or equal to the maximum operating speed, and the lifting or lowering process continues;

[0033] If the battery cannot meet the lifting or lowering requirements, a stop or emergency stop command will be issued; when a stop command is received, the elevator will be controlled to slow down and stop; when an emergency stop command is received, the elevator will be controlled to brake and stop immediately.

[0034] In some embodiments, when the mine induction motor adopts a doubly-fed motor, when the hoist is switched from mains power supply to emergency power supply, the stator side needs to be short-circuited; and when receiving the hoist operation instruction, the doubly-fed motor vector control mode is first changed, and then the hoist operation is controlled according to the operation instruction;

[0035] The changing of the doubly-fed motor vector control mode comprises:

[0036] When the hoist is working in non-emergency mode, the stator of the doubly-fed motor is powered by the mains, and the rotor is powered by the inverter. At this time, the motor control strategy adopts vector control based on stator flux orientation;

[0037] When the hoist operates in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation.

[0038] In some embodiments, the energy storage emergency power supply and drive control method for the mine induction motor hoist further 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:

[0039] Check whether the hoist system is powered by mains electricity;

[0040] 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:

[0041] Ep=mgh

[0042] 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;

[0043] 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;

[0044] 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;

[0045] 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;

[0046] 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.

[0047] In some embodiments, 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:

[0048] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal by voltage-frequency conversion;

[0049] 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;

[0050] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0051] 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;

[0052] 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.

[0053] In some embodiments, the real-time heat dissipation model of the power supply device is:

[0054]

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

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

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

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

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

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

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

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

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

[0064] 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;

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

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

[0067]

[0068] 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, nN is the rated speed of the actuator of the power supply device; limit n ref >0.

[0069] The present invention also provides an energy storage type emergency power supply and drive control device for a mine induction motor hoist, the device comprising:

[0070] The acquisition module is used to collect the working status of the mains circuit 1 and the mains circuit 2 in real time;

[0071] The first judgment module is used to judge whether to cut off the mains power supply mode and enter the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2;

[0072] A power start-up module is used to convert the DC power stored in the battery into three-phase AC control power;

[0073] 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;

[0074] The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions;

[0075] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0076] The switching modules are connected to the first judgment module and the second judgment module, and are used to switch the power supply mode of the hoist according to the judgment results of the first judgment module and the second judgment module.

[0077] Beneficial effects of the present invention:

[0078] 1. The present invention realizes the emergency power supply and emergency drive of the mine induction motor hoist, and solves the problem of hoist system power supply by adopting battery energy storage. It can completely replace the existing scheme of using diesel engine as emergency power supply, and solves the problem that the power supply system and the hoist motor drive system in the diesel engine power supply scheme are poorly coordinated, and the network voltage fluctuates greatly. An improved motor drive scheme is adopted, and the speed regulation scheme and hoist emergency control method are improved under the energy storage power supply scheme, so as to solve the problems of poor motor speed regulation performance, serious reverse power flow influence, and inability to feedback electric energy when the hoist is lowered under the existing diesel engine power supply system. At the same time, the hoist adopts the energy storage power supply as an emergency power supply, which avoids the safety hazard caused by a large amount of oil reserves, and realizes low noise, low vibration, and low pollution of the hoist emergency drive. In addition, compared with the diesel engine power supply scheme, the present invention has the advantages of short start-up time, high operating efficiency, and high reliability.

[0079] 2. The present invention solves the stator power supply problem of the doubly-fed motor under emergency power supply mode by changing the stator connection mode and vector control mode of the doubly-fed motor, and realizes high-performance vector control of the doubly-fed motor under emergency power supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0081] Figure 1 A flow chart of an energy storage emergency power supply and drive control method for a mine induction motor hoist provided by an embodiment of the present invention;

[0082] Figure 2 A flowchart of controlling the operation of a hoist according to the battery state of charge and the load mass provided by one embodiment of the present invention;

[0083] Figure 3 A flowchart of battery charging management in a non-emergency working state provided by an embodiment of the present invention;

[0084] Figure 4 A block diagram of a doubly-fed motor vector control change according to an embodiment of the present invention;

[0085] Figure 5 A schematic structural diagram of an energy storage emergency power supply and drive control device for a mine induction motor hoist provided by an embodiment of the present invention;

[0086] Figure 6 A structural diagram of a stator commutation device provided in one embodiment of the present invention;

[0087] Figure 7 A structural diagram of a power supply device provided in one embodiment of the present invention;

[0088] Figure 8 A structural diagram of a charging and discharging device provided in one embodiment of the present invention;

[0089] Fig. 9 A schematic diagram of a structure for controlling the operation of a hoist according to a battery state of charge and a load mass provided by an embodiment of the present invention;

[0090] Fig.10 This is a circuit structure diagram of an inverter unit provided in one embodiment of the present invention. DETAILED DESCRIPTION

[0091] In order to deepen the recognition and understanding of the present invention, the technical solution of the present invention is further introduced below in conjunction with the accompanying drawings and specific implementation methods.

[0092] The present invention will be further described below in conjunction with the accompanying drawings.

[0093] Figure 1 A method for energy storage emergency power supply and drive control of a mine induction motor hoist is provided, the method comprising the following steps:

[0094] Step S100: collecting the working status of the mains power circuit 1 and the mains power circuit 2 in real time.

[0095] 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.

[0096] Furthermore, the working 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 more than 75% of the rated voltage, the mains circuit is judged to be abnormal. When the working status of both mains circuits is abnormal, the mains power supply mode is cut off and the emergency power supply mode is put into operation.

[0097] Step S300: put into emergency power supply mode, switch the hoist from city power supply to emergency power supply. The power of emergency power supply is provided by batteries.

[0098] Switch the control power and power power of the induction motor hoist power supply system from the mains circuit to the emergency power supply circuit.

[0099] Step S400: converting the DC power stored in the battery into three-phase AC control power;

[0100] In an embodiment of the present application, converting the DC power stored in the battery into three-phase AC control power includes:

[0101] Step S410: Detect whether the battery working state is normal; the battery working state includes: battery voltage, power and temperature;

[0102] Specifically, the working state detection of the battery can be achieved by enabling the battery device, which includes enabling the battery to output direct current power, protection control, battery balancing and information transmission.

[0103] Step S420: using the electric energy stored in the battery to generate a startup power source to enter the power conversion phase;

[0104] 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;

[0105] Step S430: converting the DC power into three-phase AC power according to the selected conversion method.

[0106] Further, the direct current power is converted into three-phase alternating current power according to the selected conversion method, including:

[0107] Method 1: When the DC side voltage is greater than the effective value of the emergency power line voltage When the power is higher than 200W, select the conversion method that directly converts DC power into three-phase AC control power.

[0108] Specifically, the DC voltage and AC voltage and current are collected, and the DC power is converted into AC power through the power supply device. The DC voltage is the voltage transmitted by the battery device to the power supply 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.

[0109] In this embodiment, the 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 on the battery pack voltage.

[0110] 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.

[0111] Method 2: When the DC voltage is less than the voltage amplitude of the control power line 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.

[0112] In this embodiment, the charging and discharging device can be operated in the boost mode to control the charging and discharging device 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.

[0113] In this embodiment, the hoist control power supply is a 380V three-phase AC power supply, and the DC input voltage of the power supply device needs to be higher than 540V, while the DC voltage range of the battery pack is only 200-300V. Therefore, the battery pack voltage is increased to 540V through the charging and discharging device, and the power supply can output a three-phase 380V AC power supply. In addition, in the process of boosting, this example takes into account the charge state of the energy storage link to ensure the safety of the energy storage link.

[0114] The difference between the second method and the first method is that the DC voltage is the voltage delivered to the power supply device after the battery device is boosted, and 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.

[0115] Method 2 can realize the conversion of the DC power with lower voltage stored in the battery into three-phase AC control power. However, the emergency power supply of the hoist energy storage type requires not only a three-phase control power supply but also a three-phase power supply, and the output voltage effective value of the power supply is generally more than twice the effective value of the AC voltage of the three-phase control power supply. However, although the high-voltage battery pack provides power supply, the high-voltage battery pack increases the difficulty of designing the power supply device. Therefore, in order to meet the demand of power power for high DC voltage and take into account the demand of control power for lower DC voltage, the following method 3 conversion method is proposed.

[0116] Method 3: When a three-phase power supply is required, a conversion method is selected to first convert DC power into AC control power, 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.

[0117] 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.

[0118] 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, and the battery device voltage is slightly higher than 540V. Since the output power line voltage is 660V, the battery pack voltage can be increased to the second DC voltage setting value (933V) by the charging and discharging device, and the second DC voltage setting value is The calculation results show that the demand of the power electricity for the DC voltage can be met. This embodiment not only meets the demand of the power electricity for high DC voltage, but also takes into account the demand of the control electricity for lower DC voltage, thus reducing the design difficulty of the power supply device.

[0119] In the embodiment of the present application, converting DC power into three-phase AC power includes three stages:

[0120] In the first stage, the output AC voltage frequency is controlled to be the set frequency;

[0121] In the second stage, the AC voltage amplitude is controlled to increase in a ramp to a set AC voltage amplitude value;

[0122] 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.

[0123] Step 500: Start the hoist auxiliary unit and the electric control unit to determine whether the hoist has the operating conditions.

[0124] Specifically, the hoist auxiliary unit and the electronic control unit are started in sequence. The working state of the hoist safety circuit is monitored. When the feedback of the hoist safety circuit is normal, the hoist is ready for operation. The state feedback required for the operation of the hoist is connected in series in the hoist safety circuit. Starting the hoist auxiliary unit includes starting the shaft switch, starting the signal system, starting the lubrication station, starting the hydraulic station and controlling the working valve so that the hydraulic station is in a standby state, and starting the motor fan. Starting the hoist electronic control unit includes starting the hoist travel and protection control system. This embodiment uses PLC as the hoist travel and protection control system.

[0125] Step S600: receiving the elevator operation instruction, and controlling the elevator operation according to the operation instruction.

[0126] Specifically, the operation instructions include but are not limited to lifting, lowering, starting, stopping and speed instructions. According to the operation instructions, the elevator operation package controls the hydraulic station and the disc brake booster and open gate; controls the acceleration and deceleration of the elevator; receives the elevator stop command, controls the elevator to slow down and stop; receives the elevator fault stop command, controls the elevator to immediately brake and stop.

[0127] Controlling the operation of the elevator according to the operation instruction includes controlling the motor to operate according to the speed instruction according to the speed instruction. However, this method does not take into account the remaining battery power. After the elevator has run for many 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 meet the needs of this lifting or lowering according to 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 work efficiency of the elevator in an emergency state.

[0128] In an optional embodiment, before controlling the operation of the elevator according to the operation instruction, the process further includes:

[0129] Step S600: Predict whether to allow the current lifting or lowering according to the battery charge state and the load mass.

[0130] Reference Figure 2 As shown, based on the battery charge state and load mass, it is predicted whether the lifting or lowering is allowed. The specific steps include:

[0131] Step S610: Control the motor to run at zero speed, calculate the load of the elevator and the energy consumed by lifting the load or the energy fed back by lowering the load.

[0132] Specifically, the energy consumed or fed back to lift or lower the payload m is:

[0133]

[0134] According to the characteristics of emergency lifting conditions, due to the low operating speed, the above formula is approximately equivalent to:

[0135]

[0136] 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.

[0137] Step S611: Based on the energy consumed or fed back when lifting or lowering the effective load and the battery charge state, determine whether the remaining available battery power can meet the current lifting or lowering.

[0138] Specifically, according to the energy consumed or fed back when lifting or lowering the effective load m and the battery charge state, firstly, when the hoist is in the lifting condition, it is determined whether the remaining available power of the battery can meet the current lifting or lowering, so as to prevent the lifting container from stopping and failing to reach the designated position smoothly due to insufficient battery power. When in the lowering condition, it is determined whether the remaining storage space of the battery can recover the energy fed back to the battery during this lowering, so as to prevent the battery from being overcharged, resulting in the inability to feed back energy when the hoist is decelerated and braked.

[0139] Step S612: If the battery can meet the requirements of this lifting or lowering, the maximum allowable operating speed of the elevator is calculated, and the actual operating speed of the elevator is controlled to be less than or equal to the maximum operating speed, and the lifting or lowering process continues.

[0140] Specifically, the maximum allowable operating speed Vm of the hoist is calculated based on the DC bus voltage:

[0141] Vm=((DC bus voltage / 1.414) / U N )*V N *K0

[0142] U N is the rated line voltage of the motor, V NIt is the rated operating speed of the elevator when the motor is at rated speed.

[0143] K0 is a voltage margin considering battery voltage floating and motor dynamic overshoot. In this embodiment, K0=90%.

[0144] Controlling the actual running speed of the hoist to be less than or equal to the maximum running speed includes forcing the speed command to be the maximum running speed Vm of the hoist when the received hoist speed command is greater than the maximum running speed Vm of the hoist. It also includes sending a reminder window to the upper computer when the received speed command is less than the maximum running speed Vm of the hoist to remind the operator to further increase the running speed of the hoist.

[0145] Step S613: If the battery cannot meet the needs of this lifting or lowering, 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.

[0146] The process of controlling the operation of the hoist based on the battery state of charge and the load quality proposed in this embodiment predicts the emergency lifting capacity by comparing the battery state of charge and the load work capacity, and prevents the hoist from stopping midway due to the decrease in the battery power. This control process enhances the safety of emergency lifting transportation. By calculating the maximum operating speed, the operating efficiency of the hoist under the emergency power supply condition is improved. Furthermore, limiting the hoist to operate within the maximum allowable speed can improve the safety of the hoist operation.

[0147] Step S700: Determine whether to exit the emergency power supply mode according to the normal working status of the mains circuits 1 and 2.

[0148] Specifically, when the mains power circuit is in normal working condition, the process proceeds to step S800; otherwise, the process proceeds to step S600 to continue the emergency lifting operation.

[0149] Step S800: exit the emergency working mode and switch the elevator from emergency power supply to mains power supply.

[0150] Specifically, the control power and power power of the induction motor hoist power supply system are switched from the emergency power supply circuit to the mains power circuit.

[0151] In the above embodiments, the charging 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 charging management process of the battery in a non-emergency working state.

[0152] In an optional embodiment, the energy storage emergency power supply and drive control method for a mine induction motor hoist further includes:

[0153] Step S900: Under the mains power supply state, the battery is charged and managed in the non-emergency working state.

[0154] In the embodiment of the present application, the battery charging management is performed in the non-emergency working state under the mains power supply state, referring to Figure 3 As shown, the specific steps include:

[0155] Step S910: Detect whether the hoist system is powered by the mains.

[0156] Detecting whether the hoist system is powered by the mains includes determining whether the mains circuit is normal based on the mains working status; it also includes whether the hoist is not in the emergency working mode.

[0157] Step S920: Determine whether the battery needs to be charged.

[0158] When the state of charge of the battery indicates that the charge amount is lower than the first charge charge, charging of the battery is initiated.

[0159] In this embodiment, in order to realize the deceleration feedback braking of the motor when the heavy load is lowered, the battery device must reserve enough capacity space to absorb the electric energy of the feedback braking.

[0160] Further, 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 gravitational acceleration of the earth's surface, and h is the well depth.

[0161] Step S930: Select a charging method according to whether there is a charging and discharging device between the power supply device and the battery device.

[0162] 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.

[0163] 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.

[0164] 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.

[0165] 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.

[0166] The working process of collecting the charging and discharging battery voltage and charging current and controlling the charging and discharging device to work 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.

[0167] 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.

[0168] 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.

[0169] The control process of battery charging under non-emergency working conditions 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.

[0170] The implementation of the method in the above embodiment is aimed at the hoist being an induction motor. When the mine synchronous motor adopts a doubly-fed motor, step S300 is to switch the hoist from the mains power supply to the emergency power supply, and the stator side needs to be short-circuited; step S600 is to change the doubly-fed motor vector control mode when receiving the hoist operation instruction, and then control the hoist operation according to the operation instruction; step S800 is to exit the emergency working mode, switch the hoist from the emergency power supply to the mains power supply, release the stator short-circuit connection, and change the doubly-fed motor vector control mode. The doubly-fed motor is powered by the stator and the rotor, and the stator side is usually powered by high voltage, generally 6 kV or 10 kV.

[0171] Furthermore, the doubly-fed motor vector control mode is changed, including:

[0172] When the hoist is working in non-emergency mode, the stator of the doubly-fed motor is powered by the mains, and the rotor is powered by the inverter. At this time, the motor control strategy adopts vector control based on stator flux orientation;

[0173] When the hoist operates in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation.

[0174] For ease of explanation, refer to Figure 4 As shown, Figure 4 The vector control block diagram of the doubly-fed generator in the mains working mode and the emergency working mode is provided. It adopts a speed and flux double closed-loop control method, and the core part of the control strategy is the flux observer. The calculation methods of the two flux observers in this embodiment are introduced below.

[0175] The stator flux calculation process of this embodiment is as follows:

[0176] 1. Observation of stator flux through voltage model

[0177]

[0178] 2. Obtain the stator flux orientation angle through the stator flux

[0179]

[0180] The rotor flux calculation process of this embodiment is as follows:

[0181] 1. Observation of stator flux through current model in low speed zone

[0182]

[0183] 2. Observation of stator flux through voltage model in high speed area

[0184]

[0185] 3. The current model and voltage model are converted into a hybrid model output through the compensator

[0186]

[0187] The compensator is as follows:

[0188]

[0189] 4. Calculate the rotor flux through the stator flux

[0190]

[0191] 5. Obtain the rotor flux orientation angle through the rotor flux

[0192]

[0193] This embodiment changes the doubly-fed motor vector control mode, and solves the problem that the stator high voltage power supply cannot be provided to the doubly-fed motor in the emergency power supply mode by short-circuiting the stator of the doubly-fed motor and changing the stator of the doubly-fed motor from high voltage power supply to induction potential power supply. In order to achieve high-performance control after the stator is short-circuited, the doubly-fed motor is changed from the stator flux oriented vector control in the normal working mode to the rotor flux oriented vector control in the emergency working mode, and the high-performance driving characteristics of the vector control are maintained by changing the flux observation mode.

[0194] In an optional embodiment, the energy storage emergency power supply and drive control method for a mine induction motor hoist further includes: performing heat dissipation adjustment on power electronic equipment based on model prediction, the power electronic equipment including the electric energy conversion part of the excitation circuit and the armature circuit of the motor, and the power electronic devices used in the emergency power supply device, and the heat dissipation adjustment process includes:

[0195] Collect the temperature of power electronic equipment and convert the temperature value into a frequency signal by voltage-frequency conversion;

[0196] 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;

[0197] Perform data fitting on the digital temperature values ​​to obtain a real-time heat dissipation model for power electronic equipment;

[0198] 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;

[0199] 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.

[0200] 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:

[0201] The regression equation of the real-time heat dissipation model of the power electronic equipment is established; the regression equation of the real-time heat dissipation model of the power electronic equipment is:

[0202] T=Xθ

[0203] 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;

[0204] The real-time heat dissipation model of the power electronic device is calculated based on the regression equation; the calculation method is as follows:

[0205]

[0206]

[0207] P(N)=P(N-1)-G(N)X T (N)P(N-1)]

[0208] in, and is the estimated value of the last regression coefficient and the estimated value of this regression coefficient, 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.

[0209] In one implementation, the real-time heat dissipation model of the power electronic device is:

[0210]

[0211] in, is the estimated value of the regression coefficient.

[0212] Furthermore, the predicted temperature of the power electronic device at the next moment is:

[0213] 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;

[0214] Among them, 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.

[0215] Preferably, ΔT is set to 0.05 seconds and n is set to 10 steps.

[0216] Furthermore, the heat dissipation mode includes: high-performance heat dissipation mode and low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, and the predicted temperature is compared with the set temperature in real time to obtain the operating speed instruction of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate according to the instruction speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T linearly related to the curve is obtained through the expected operating temperature curve ref , according to the expected operating temperature T ref Obtaining an operating speed instruction of a heat dissipation device actuator, and then controlling the heat dissipation device actuator to operate according to the instruction speed;

[0217] Further, the expected operating temperature T linearly related to the expected operating temperature curve is obtained. ref ,include:

[0218] 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;

[0219] 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 ;

[0220] 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 ;

[0221] 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;

[0222] 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;

[0223] 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℃; Expected operating speed of the actuator when using heat sink n ref A ramp function is added once for transition.

[0224] Furthermore, the speed command is obtained by the following formula:

[0225]

[0226] Among them, n ref is the expected operating speed of the heat dissipation device actuator, n set is the preset speed of the heat dissipation device actuator; T is the predicted power electronic device temperature, T ref is the expected operating temperature of the power electronic equipment, T max is the maximum permissible 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.

[0227] Based on the above heat dissipation adjustment method, the following takes the emergency power supply device as an example to briefly describe the reasons and process of heat dissipation adjustment. 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 bring the heat to the outside of the device. Usually, the heat dissipation 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 light load operation, 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 by 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 performing communication encoding on the temperature value; 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 according to the real-time heat dissipation model of the power supply device; and controlling the change of the speed of the actuator of the power supply device according to the predicted temperature of the power supply device.

[0228] 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 is different, which leads to different prediction steps. According to the thermal resistance and the heat dissipation speed, the prediction step 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. According to the predicted power supply device temperature, the expected operating speed n of the power supply device actuator can be calculated. ref . By predicting the temperature of the power electronic device in the emergency power conversion system, that is, predicting the future temperature of the power electronic device based on the temperature and current, and then adjusting the operating speed of the heat dissipation device as needed according to 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 hoist energy storage emergency power supply is extended, and the working capacity of the hoist energy storage emergency power supply system is improved.

[0229] The present invention provides an induction motor hoist energy storage type emergency power supply and drive control method, which realizes energy storage in the battery link when the hoist mains power supply is normal; when the hoist mains power supply is abnormal, the battery energy storage link provides emergency power to the hoist. It replaces the system of the prior art that uses diesel engines as emergency power supplies, and improves the control process of the hoist emergency work, effectively solves the power supply problem of the low-voltage control part of the system, realizes energy recovery and high-performance speed regulation under emergency power supply, and improves the safety of the hoist system. The control process for charging the battery under non-emergency working conditions provided in 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.

[0230] In order to improve the diesel engine emergency power supply in the prior art, the present invention proposes a mine induction motor hoist energy storage type emergency power supply and drive control device, referring to Figure 5 As shown, the device comprises:

[0231] The acquisition module is used to collect the working status of the mains circuit 1 and the mains circuit 2 in real time;

[0232] The first judgment module is used to judge whether to cut off the mains power supply mode and enter the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2;

[0233] A power start-up module is used to convert the DC power stored in the battery into three-phase AC control power;

[0234] 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;

[0235] The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions;

[0236] The second judgment module is used to judge whether to exit the emergency power supply mode;

[0237] 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.

[0238] In an embodiment of the present application, the power startup module includes:

[0239] Battery startup module: detects whether the battery working status is normal; the battery working status includes: battery voltage, power and temperature;

[0240] The starting power generation module is used to use the electric energy stored in the battery to generate the 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;

[0241] An electric energy conversion module, used for converting direct current electric energy into three-phase alternating current electric energy according to a selected conversion method;

[0242] 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.

[0243] When the hoist is a doubly-fed motor, the switching device in the energy storage emergency power supply and drive control device of the mine induction motor hoist, in which the hoist is an induction motor, needs to be set to a switching and improved commutation module. The switching and improved commutation module is used to switch the control power and power power of the induction motor hoist power supply system from the mains circuit to the emergency power supply circuit, and short-circuit the stator side of the doubly-fed motor; and is used to switch the hoist from emergency power supply to mains power supply and release the short circuit on the stator side of the doubly-fed motor after the hoist exits the emergency working mode. Figure 6 An improved stator commutation module provided in one embodiment of the present invention. In the figure, 1001 is a three-phase high-voltage AC power supply, generally 6KV or 10KV. K1 controls the phase sequence of the stator power supply to supply power in positive sequence, and K2 controls the stator power supply to supply power in reverse sequence. When the motor is in the AC power supply mode, K1 is energized and K2 is disconnected when the motor rotates forward, and K2 is energized and K1 is disconnected when the motor reverses. K3 is a newly added stator short-circuit contactor, which is used to short-circuit the three phases of the stator in the emergency power supply mode. The hoist operation and vector control module in the energy storage emergency power supply and drive control device for a mine induction motor hoist in which the hoist is an induction motor is set to receive hoist operation instructions, change the vector control mode of the doubly fed motor, and control the hoist operation according to the operation instructions.

[0244] It should be noted that the energy storage type emergency power supply and drive control device for a mine induction motor hoist provided in the above embodiment only uses the division of the above functional modules as an example when executing a method for energy storage type emergency power supply and drive control for a mine induction motor hoist. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the equipment is divided into different functional modules to complete all or part of the functions described above. In addition, the energy storage type emergency power supply and drive control device for a mine induction motor hoist provided in the above embodiment and the energy storage type emergency power supply and drive control method for a mine induction motor hoist belong to the same concept. The implementation process thereof is detailed in the energy storage type emergency power supply and drive control device for a mine induction motor hoist, which will not be repeated here.

[0245] The power supply device in the embodiment of the present invention is used as follows Figure 7 The circuit topology shown is composed of a three-phase rectifier configured with an LCL filter, and the main circuit selects a fully controlled switching semiconductor device. The input DC terminals 1201 and 1202 are connected to the DC bus, the three-phase inductor 1204, the three-phase capacitor 1205, and the three-phase inductor 1206 form an LCL filter, and 1207 is a three-phase output terminal.

[0246] The charging and discharging device in the embodiment of the present invention is as follows Figure 8 As shown, it is composed of a current reversible chopper circuit. When in normal working mode to charge the battery and in emergency working mode to feed back energy to the battery, the reversible chopper circuit works in step-down mode to reduce the DC bus voltage and control the charging current to charge the battery. When in emergency working mode to output power to the control power switching device, the reversible chopper circuit works in step-up mode to increase the battery voltage and control the discharge current to stabilize the DC bus voltage. In this circuit, terminal 1301 is connected to the positive bus, terminal 1302 is connected to the negative bus, device 1303 and device 1304 are power semiconductor devices in which IGBT and diode are connected in parallel, terminal 1306 is connected to the positive electrode of the battery module, terminal 1307 is connected to the negative electrode of the battery module, and inductor 1305 is between the middle point of device 1303 and device 1304 and terminal 1306. In addition, the charging and discharging module can be composed of an isolated or non-isolated DC-DC converter. The battery device is composed of an energy storage element and a battery management unit. Energy storage elements such as lithium-ion batteries, supercapacitors, lead-acid batteries, nickel-based secondary alkaline batteries, etc. This embodiment uses lithium-ion batteries, which are connected in series to form a series module, and then multiple series modules are connected in parallel to form a battery pack. The battery management unit can collect battery status information, control, transmit information, monitor parameters, protect and control, balance batteries, and measure electricity.

[0247] The elevator operation and vector control module includes a device for controlling the elevator operation based on the battery charge state and load quality. Its structural diagram is shown in the figure below. Fig. 9 The device comprises:

[0248] Zero-speed control and energy calculation module: used to control the zero-speed operation of the motor through the inverter device, calculate the load of the elevator and the energy consumed by lifting the load or the energy fed back by lowering the load.

[0249] Judgment module: used to determine whether the lifting or lowering is allowed according to the energy consumed or fed back by lifting or lowering the effective load m and the battery charge state.

[0250] 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.

[0251] Parking control module: used to control the elevator to slow down and stop when receiving a parking command. When receiving an emergency stop command, the elevator is controlled to brake and stop immediately.

[0252] Inverter devices are used in the hoist operation control module, such as Fig.10 As shown, the inverter device, the inverter is connected to the positive bus by terminal 1501, and the negative bus by terminal 1502. The main circuit is composed of a fully controlled switching semiconductor device 1503. The output three-phase terminal 1504 is connected to the power switching device.

[0253] It should be noted that the various functional modules in the embodiments of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules may be implemented in the form of hardware or in the form of software functional modules.

[0254] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

Claims

1. A method for energy storage emergency power supply and drive control of a mine induction motor hoist, characterized in that: The method includes: Real-time collection of the working status of mains circuit 1 and mains circuit 2; Determine whether to switch from the mains power supply mode to the emergency power supply mode based on the abnormal working status of the mains power circuits 1 and 2; Put into emergency power supply mode and switch the hoist from mains power supply to emergency power supply; When the hoist is working in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation; Start the elevator auxiliary unit and the electronic control unit, and determine whether the elevator is ready for operation; receive the elevator operation instructions, and control the elevator operation according to the operation instructions; Before controlling the operation of the hoist according to the operation instruction, it also includes: predicting whether to allow the current lifting or lowering according to the battery charge state and the load quality; When receiving the stop command, the elevator is controlled to slow down and stop; When receiving an emergency stop command, the elevator is controlled to stop immediately with brakes; Exit the emergency working mode and switch the hoist from emergency power supply to mains power supply: When the mine induction motor adopts a doubly-fed motor, when the hoist is switched from mains power supply to emergency power supply, the stator side needs to be short-circuited; and when receiving the hoist operation command, the doubly-fed motor vector control mode is changed first, and then the hoist operation is controlled according to the operation command; When the hoist operates in non-emergency mode, the stator of the doubly-fed motor is powered by the mains and the rotor is powered by the inverter. At this time, the motor control strategy adopts vector control based on stator flux orientation.

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

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

4. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 1 is characterized in that: The energy storage emergency power supply and drive control method for a mine induction motor hoist also includes: managing the charging of batteries in a non-emergency working state under a city power supply state; The charging management of the battery in the non-emergency working state under the mains power supply state includes: Check whether the hoist system is powered by mains electricity; Determine whether the battery needs to be charged; the determination method is to start charging the battery when the charge level indicated by the battery charge state is lower than a first charging level; there is a margin between the first charging level and the full charge of the battery; the first charging level is set to be 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.

5. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 4 is characterized in that: The 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.

6. The energy storage emergency power supply and drive control method for a mine induction motor hoist according to claim 5 is characterized in that: The real-time heat dissipation model is: Where T represents the temperature matrix of the power supply device; X represents the two-dimensional variable matrix, X = [It] T , where I represents the effective value of the three-phase current, and t represents the system operation time; is the estimated value of regression coefficient; The predicted temperature of the power electronic device at the next moment is: Set the two-dimensional variable matrix X = [I(k)t+n△T] T , calculate the predicted temperature value of the power supply device in the case of a two-dimensional variable matrix; Among them, I(k) is the effective value of the three-phase given current at the current calculation moment of the digital signal processing chip, △T is set as the heat conduction time from the power electronic device to the temperature collection point, and n is the prediction step size; The heat dissipation modes include: high-performance heat dissipation mode and low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, and the predicted temperature is compared with the set temperature in real time to obtain the operating speed instruction of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate according to the instruction speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T linearly related to the curve is obtained through the expected operating temperature curve. ref , according to the expected operating temperature T ref Obtaining an operating speed instruction of a heat dissipation device actuator, and then controlling the heat dissipation device actuator to operate according to the instruction speed; The expected operating temperature T linearly correlated with the expected operating temperature curve is obtained by using the expected operating temperature curve. ref ,include: When the temperature of the power electronic equipment is lower than the ambient temperature T0, the first desired operating temperature T ref1 is the ambient temperature; When the temperature of the power electronic device is between the first operating temperature T1 and the second operating temperature T2, the expected temperature of the power electronic device is set to the second expected operating temperature T ref2 ; When the temperature of the power electronic device is between the second operating temperature T2 and the third operating temperature T3, the expected temperature of the power electronic device is set to the third expected operating temperature T ref3 ; When the temperature of the power electronic equipment is greater than the third operating temperature T3, the actuator of the forced heat dissipation equipment operates at the maximum speed and sends out an alarm signal; When the expected operating temperature T ref When crossing between the desired operating temperatures, the desired operating temperature T ref A ramp function is used for transition; The speed command is obtained by the following formula: Among them, n ref is the expected operating speed of the power device actuator, T is the predicted power device 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.

7. A mine induction motor hoist energy storage type emergency power supply and drive control device, characterized in that: The device includes: The acquisition module is used to collect the working status of the mains circuit 1 and the mains circuit 2 in real time; The first judgment module is used to judge whether to cut off the mains power supply mode and enter the emergency power supply mode according to the abnormal working status of the mains power circuits 1 and 2; When the hoist is working in emergency mode, the stator is short-circuited and the rotor side is powered by the inverter. At this time, the motor control strategy adopts vector control based on rotor flux orientation; A power start-up module is used to convert the DC power stored in the battery into three-phase AC control power; Auxiliary and electronic control starting module, used to start the elevator auxiliary unit and electronic control unit, and determine whether the elevator has the operating conditions; The elevator operation and vector control module is used to receive the elevator operation instructions and control the elevator operation according to the operation instructions; Before controlling the operation of the hoist according to the operation instruction, it also includes: predicting whether to allow the current lifting or lowering according to the battery charge state and the load quality; When receiving the stop command, the elevator is controlled to slow down and stop; When receiving an emergency stop command, the elevator is controlled to stop immediately with brakes; 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; When the mine induction motor adopts a doubly-fed motor, when the hoist is switched from mains power supply to emergency power supply, the stator side needs to be short-circuited; and when receiving the hoist operation command, the doubly-fed motor vector control mode is changed first, and then the hoist operation is controlled according to the operation command; When the hoist operates in non-emergency mode, the stator of the doubly-fed motor is powered by the mains and the rotor is powered by the inverter. At this time, the motor control strategy adopts vector control based on stator flux orientation.

Images