A method and device for energy storage emergency power supply and drive control of an electric excitation synchronous motor hoist

Abstract

The present invention provides a method and device for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist. The method includes: determining whether to enter the emergency power supply mode. When entering the emergency power supply mode, switching the hoist from mains power supply to emergency power supply; converting the direct current stored in the battery into three-phase alternating current control electricity; starting the hoist auxiliary unit and the hoist electric control unit, and determining whether the hoist has the operating conditions; receiving the hoist operation instruction, starting the excitation DC conversion link, and controlling the operation of the hoist according to the operation instruction; exiting the emergency operation mode, switching the hoist from emergency power supply to mains power supply, and switching the circuit of the excitation current conversion link to the original circuit. The present invention uses a combination of new energy energy storage and current conversion to replace the original diesel engine power generation system, solves the problems of energy storage emergency power supply and emergency drive of the electrically excited synchronous motor hoist, can quickly establish an emergency rescue hoisting channel, and provides safety guarantees for mine personnel and production.

Description

Technical Field

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

[0002] The electrically excited synchronous motor hoist is one of the key equipment in mines, undertaking the tasks of lifting and lowering personnel and materials, and is the throat part of mines. Especially for the auxiliary shaft hoist for transporting personnel, once an abnormality occurs underground, personnel should be transported from underground to the ground in the shortest time. However, when the mine power supply system is damaged, the electrically excited synchronous motor hoist cannot work, and underground personnel are in danger because they cannot go up the well, and subsequent rescue work is also very difficult.

[0003] To solve the emergency lifting problem of the electrically excited synchronous motor hoist in the case of damaged mine power supply system, the currently common method is to use a diesel engine as the third emergency power supply for mines. However, using a diesel engine as a backup power supply has the following disadvantages: the cooperation between the power supply system and the hoist motor drive system is poor, and large fluctuations in the grid voltage of the power supply part often occur due to the acceleration and deceleration of the hoist, which further deteriorates the speed regulation performance of the hoist; the reverse power flow has a serious impact, and the braking energy fed back when the hoist is lowered is consumed through a resistor, resulting in problems such as motor braking failure; a large amount of fuel reserve poses a safety hazard, and there are relatively large pollutions such as noise, vibration and smoke exhaust. The start-up time is long, the operation efficiency is low, and the reliability cannot be guaranteed at the same time.

[0004] With the development of energy storage technology, the use of energy storage devices to achieve emergency power supply solutions has gradually attracted attention. However, the process control of the mine hoist system is complex and has high safety requirements. And the electrically excited synchronous motor has an additional rotor excitation winding compared with the asynchronous motor, resulting in a complex drive control system. For the above reasons, the application of energy storage devices in the industrial site of hoists based on electrically excited synchronous motors is restricted.

[0005] In view of the above situation, to solve the reliability of mine power supply and reduce the risk of the whole mine being involved in power outage, this patent adopts a method combining 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 the power supply system of the electrically excited synchronous motor hoist is abnormal, through the system and control method invented in this patent, an emergency rescue lifting channel can be quickly established to provide safety guarantee for mine personnel and production. Summary of the Invention

[0006] The object of the present invention is to provide a method and device for energy storage emergency power supply and drive control of an electro-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.

[0007] The present invention provides an emergency hoisting control method for an electro-excited synchronous motor hoist, and the method includes:

[0008] Collect the working states of the mains circuit 1 and the mains circuit 2 in real time;

[0009] Judge whether to cut off the mains power supply mode and switch to the emergency power supply mode according to the abnormal working states of the mains circuit 1 and 2;

[0010] Switch to the emergency power supply mode, and switch the hoist from mains power supply to emergency power supply; the electric energy of the emergency power supply is provided by the battery;

[0011] Convert the direct current stored in the battery into three-phase alternating current control electricity;

[0012] Start the hoist auxiliary unit and the electric control unit, and judge whether the hoist has the operating conditions;

[0013] Receive the hoist operation instruction, start the motor excitation DC conversion, and control the operation of the hoist according to the operation instruction; the starting excitation DC conversion link includes:

[0014] Plan the excitation current instruction according to the operating state of the emergency hoist motor;

[0015] Obtain the excitation regulation voltage through the PID control algorithm, compare it with the carrier wave to generate a PWM signal, and trigger the circuit of the excitation current conversion link.

[0016] Judge whether to exit the emergency power supply mode according to the normal working states of the mains circuit 1 and 2;

[0017] 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.

[0018] In some embodiments, the conversion of the direct current stored in the battery into three-phase alternating current control electricity includes:

[0019] Detect whether the working state of the battery is normal; the working state of the battery includes: battery voltage, power and temperature;

[0020] Utilize the electric energy stored in the battery to generate a starting power supply and enter the power conversion link;

[0021] The power conversion link selects a conversion method for converting the direct current stored in the battery into three-phase alternating current according to whether the direct current side voltage is greater than the effective value of the emergency power supply line voltage or whether three-phase power supply is required;

[0022] Convert the DC electrical energy into three-phase AC electrical energy according to the selected conversion method.

[0023] In some embodiments, the converting the DC electrical energy into three-phase AC electrical energy according to the selected conversion method includes:

[0024] When the DC side voltage is greater than the effective value of the emergency power supply line voltage times, select a conversion method of directly converting DC electrical energy into three-phase AC control electricity;

[0025] When the DC side voltage is less than the effective value of the emergency power supply line voltage times, select a conversion method of first boosting the output DC voltage to the first DC voltage set value and then converting the DC electrical energy into AC control electricity;

[0026] When three-phase power supply is required, select a conversion method of first converting DC electrical energy into AC control electricity and then boosting the output voltage to the second DC voltage set value; the second DC voltage set value is times the effective value of the line voltage of the hoist power supply; the second DC voltage set value is greater than or equal to the first DC voltage set value;

[0027] The converting the DC electrical energy into three-phase AC electrical energy includes three stages:

[0028] The first stage is to control the output AC voltage frequency to the set frequency;

[0029] The second stage is that the AC voltage amplitude rises linearly to the AC voltage amplitude set value;

[0030] The third stage is to perform outer-loop closed-loop control of the power supply voltage amplitude and frequency, and the outer-loop closed-loop control outputs the given values of active current and reactive current; sample the feedback values of active current and reactive current, and then perform inner-loop closed-loop control on the active current and reactive current, and finally output an emergency power supply with stable amplitude and frequency.

[0031] In some embodiments, before receiving the hoist operation instruction, starting the motor excitation DC conversion, and controlling the hoist to operate according to the operation instruction, it further includes:

[0032] Judge whether this hoisting or lowering is allowed according to the state of charge of the battery and the load mass.

[0033] In some embodiments, the judging whether this hoisting or lowering is allowed includes:

[0034] Control the motor to run at zero speed, calculate the load of the hoist and the energy consumed to lift the load or the energy regenerated when lowering the load;

[0035] Based on the energy consumed or regenerated when lifting or lowering the payload and the state of charge of the battery, determine whether the remaining available battery power can complete this lift;

[0036] If the battery can meet this lift, calculate the maximum allowable operating speed of the hoist, control the actual operating speed of the hoist to be less than or equal to the maximum operating speed, and continue the lifting or lowering process.

[0037] If the battery cannot meet this lift, issue a stop or emergency stop command; when receiving the stop command, control the hoist to decelerate and stop; when receiving the emergency stop command, control the hoist to immediately brake and stop.

[0038] In some embodiments, the planning of the field current command according to the motor operating state includes:

[0039] Set the motor operating state, where the motor operating state includes: initial start-up positioning state, waiting-for-operation state after positioning, motor running state, stop state, and field-off state;

[0040] According to the motor operating state and the hoist operation command, plan different field current commands respectively:

[0041] Field current command in the initial start-up positioning state: Perform initial positioning of the electrically excited synchronous motor by inputting a DC current to the field winding, use k1 times the no-load field current as the given value of the field current, and apply a step given method to strongly excite the motor;

[0042] Field current command in the waiting-for-operation state after positioning: After the initial positioning is completed, reduce the field current to k2 times the no-load field current and wait for the motor operation command;

[0043] Field current command in the motor running state: When receiving the motor running command, in the first stage, step up the field current to k3 times the rated no-load current; in the second stage, dynamically track the field current required for motor flux linkage control;

[0044] Field current command in the stop state: When receiving the motor stop command, reduce the field current to k2 times the rated field current at a slope of k4 times;

[0045] Field current command in the field-off state: When receiving the motor stop command, reduce the field current to 0 at a slope of k4 times.

[0046] In some embodiments, the energy storage emergency power supply and drive control method for the electro-excited synchronous motor hoist further includes: performing charge management on the battery in the non-emergency working state under the mains power supply state; the performing charge management on the battery in the non-emergency working state under the mains power supply state includes:

[0047] Detecting whether the hoist system is powered by the mains;

[0048] Judging whether the battery needs to be charged; the judging method is to start charging the battery when the charge quantity indicated by the state of charge of the battery is lower than the 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 of the lifting container; the potential energy of a single lowering of the lifting container is:

[0049] Ep = mgh

[0050] where, 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;

[0051] Selecting a charging method according to whether there is a charge-discharge device between the power supply device and the battery device; if there is no charge-discharge device between the power supply device and the battery device, controlling the power supply device to work in the rectification mode to charge the battery device, and stopping charging the battery when the charge quantity indicated by the state of charge of the battery is greater than or equal to the first charging charge;

[0052] If there is a charge-discharge device between the power supply device and the battery device, controlling the power supply device to work in the rectification mode and controlling the charge-discharge device to work in the buck mode to charge the battery;

[0053] Stopping charging the battery when the charge quantity indicated by the state of charge of the battery is greater than or equal to the first charging charge;

[0054] The working process of controlling the charge-discharge device to work in the buck 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 charging manner.

[0055] In some embodiments, the method further includes performing model predictive heat dissipation regulation on the power electronic equipment, the power electronic equipment includes the power conversion parts 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 regulation process includes:

[0056] Collecting the temperature of the power electronic equipment and performing voltage-frequency conversion on the temperature value into a frequency signal;

[0057] Receiving the frequency signal of the temperature of the power electronic equipment, obtaining the temperature value of the power electronic equipment by decoding the frequency signal, and performing communication coding on the temperature value;

[0058] Perform data fitting on the digital temperature value to obtain the real-time heat dissipation model of the power electronic device;

[0059] Predict the temperature of the power electronic device at the next moment according to the real-time heat dissipation model of the power electronic device;

[0060] Control the change of the rotation speed of the heat dissipation device actuator according to the predicted temperature of the power electronic device and the heat dissipation mode.

[0061] In some embodiments, the real-time heat dissipation model of the power supply device is:

[0062]

[0063] where T represents the temperature matrix of the power supply device; X represents a two-dimensional variable matrix, X = [I t] T , where I represents the effective value of the three-phase current, and t represents the running time of the system; is the regression coefficient estimated value;

[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, the predicted temperature is compared with the set temperature in real time to obtain the operating speed command of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate at the command speed; the low-power heat dissipation mode means that the expected operating temperature is not fixed, and the expected operating temperature T ref is obtained through the expected operating temperature curve, and according to the expected operating temperature T ref the operating speed command of the heat dissipation device actuator is obtained, and then the heat dissipation device actuator is controlled to operate at the command speed;

[0065] The obtaining of the expected operating temperature T ref through the expected operating temperature curve includes:

[0066] When the temperature of the power electronic device is lower than the ambient temperature T 0 , the first expected operating temperature T ref1 is the ambient temperature;

[0067] When the temperature of the power electronic device is between the first operating temperature T 1 and the second operating temperature T 2 , the expected temperature of the power electronic device is set to the second expected operating temperature T ref2 ;

[0068] When the temperature of the power electronic device is between the second operating temperature T 2 and the third operating temperature T 3 , the expected temperature of the power electronic device is set to the third expected operating temperature Tref3 ;

[0069] When the temperature of the power electronic device is greater than the third operating temperature T 3 , force the actuator of the cooling device to operate at the maximum speed and issue an alarm signal;

[0070] When crossing between the desired operating temperatures T ref Use a first-order ramp function for transition; ref

[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 , and calculate the predicted temperature value of the power supply device in the case of the two-dimensional variable matrix;

[0073] 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 acquisition point, and n is the prediction step;

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

[0075] ifn ref < 0, n ref = 0

[0076] where n ref is the desired operating speed of the actuator of the power supply device, n set is the preset speed of the actuator of the power supply device; T is the predicted temperature of the power supply device, T ref is the desired operating temperature of the power supply device set, T max is the maximum allowable operating temperature of the power supply device, T min is the minimum allowable operating temperature of the power supply device, n N is the rated rotational speed of the actuator of the power supply device; it is limited that n ref > 0.

[0077] The present invention also provides an electro-excited synchronous motor hoist energy storage emergency power supply and drive control device, which includes:

[0078] An acquisition module for real-time acquisition of the working states of the commercial power circuit 1 and the commercial power circuit 2;

[0079] A first judgment module for judging whether to cut off the commercial power supply mode and switch to the emergency power supply mode according to the abnormal working states of the commercial power circuits 1 and 2; the electric energy for the emergency power supply is provided by the battery;

[0080] ​A power startup module, which is used to convert the direct current stored in the battery into three-phase alternating current control electricity;

[0081] An auxiliary and electric control startup module, which is used to start the auxiliary unit and the electric control unit of the hoist, and determine whether the hoist has the operating conditions;

[0082] A hoist operation and excitation control module, which is used to receive the hoist operation instruction, start the excitation DC conversion module, and control the operation of the hoist according to the operation instruction; the excitation DC conversion module adopts a conversion circuit with DC-DC conversion function;

[0083] A second judgment module, which is used to judge whether to exit the emergency power supply mode;

[0084] A switching module, which 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.

[0085] Advantages of the present invention:

[0086] 1. The present invention realizes the energy storage type emergency power supply and emergency drive for the mine electric excitation synchronous motor hoist. By using the battery energy storage method, the problem of the power supply of the hoist system is solved, and the existing scheme using diesel engines as the emergency power supply can be completely replaced. It solves the problems in the diesel engine power supply scheme, such as poor cooperation between the power supply system and the hoist motor drive system, large grid voltage fluctuation, poor speed regulation performance, serious influence of reverse power flow, and inability to feedback electric energy when the hoist is lowered. It avoids the potential safety hazards caused by a large amount of oil reserve, and realizes the low noise, low vibration and low pollution of the hoist emergency drive. By improving the power supply method and control method of the excitation winding of the electric excitation synchronous motor, the reliable operation of the excitation system of the electric excitation synchronous motor under the energy storage type power supply mode is realized, and further the high-performance drive under the energy storage type emergency power supply of the electric excitation synchronous motor is realized. In addition, the present invention has the advantages of short startup time, high operation efficiency and high reliability compared with the diesel engine power supply scheme. In addition, due to the large use of power electronic devices in this system, the loss of the system is large. Therefore, a method based on the prediction of the heat dissipation model of power electrical devices is adopted to reduce the heat loss of the system, improve the efficiency of the system, and increase the operation time of the hoist under the energy storage type emergency power supply.

[0087] 2. The present invention improves the control process of the energy storage type emergency power supply of the hoist, solves the power supply problem of the low-voltage control part of the system, improves the rotor excitation mode of the electric excitation synchronous motor, and realizes the safe and reliable operation of the electric excitation synchronous motor hoist under the energy storage type emergency power supply.

[0088] 3. The present invention improves the power supply methods of the excitation winding and the armature winding of the DC motor, and realizes the safe and reliable operation of the DC motor hoist under the energy storage type emergency power supply. Description of the drawings

[0089] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art.

[0090] Figure 1 Flowchart of a method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist provided by an embodiment of the present invention;

[0091] Figure 2 Flowchart of an excitation control method for an electrically excited synchronous motor under an emergency power supply mode provided by an embodiment of the present invention;

[0092] Figure 3 Flowchart of controlling the operation of a hoist according to the state of charge of a battery and the mass of a load provided by an embodiment of the present invention;

[0093] Figure 4 Flowchart of charging management of a battery in a non-emergency working state provided by an embodiment of the present invention;

[0094] Figure 5 Flowchart of an armature winding control method for a DC motor under an emergency power supply mode provided by an embodiment of the present invention;

[0095] Figure 6 Structural schematic diagram of an energy storage emergency power supply and drive control device for an electrically excited synchronous motor hoist provided by an embodiment of the present invention;

[0096] Figure 7 Structural diagram of an excitation DC conversion module provided by an embodiment of the present invention;

[0097] Figure 8 Structural diagram of an armature DC conversion module provided by an embodiment of the present invention;

[0098] Figure 9 Structural diagram of a power supply device provided by an embodiment of the present invention;

[0099] Figure 10 Structural diagram of a charge and discharge device provided by an embodiment of the present invention;

[0100] Figure 11 Structural schematic diagram of controlling the operation of a hoist according to the state of charge of a battery and the mass of a load provided by an embodiment of the present invention;

[0101] Figure 12 Structural diagram of an inverter unit circuit provided by an embodiment of the present invention. Detailed implementation manners

[0102] To deepen the understanding and recognition of the present invention, the following further introduces the technical solutions of the present invention in combination with the accompanying drawings and specific implementation manners.

[0103] The present invention will be further described below in conjunction with the accompanying drawings.

[0104] Figure 1 A method for energy storage emergency power supply and drive control of an electrically excited synchronous motor hoist is provided, and the method includes the following steps:

[0105] Step S100: Real-time collect the working states of the mains power supply loop 1 and the mains power supply loop 2.

[0106] Step S200: Determine whether to cut off the mains power supply mode and switch to the emergency power supply mode according to the abnormal working states of the mains power supply loops 1 and 2.

[0107] Furthermore, the working states of the mains power supply loop 1 and the mains power supply loop 2 include the voltages of the mains power supply loop 1 and the mains power supply loop 2. When the voltage drops by more than 75% of the rated voltage, it is determined that the mains power supply loop is abnormal. When the working states of both mains power supply loops are abnormal, the mains power supply mode is cut off and the emergency power supply mode is switched to.

[0108] Step S300: Switch to the emergency power supply mode, and switch the hoist from the mains power supply to the emergency power supply. The electric energy for the emergency power supply is provided by the battery.

[0109] Switch the control power and the motive power of the hoist power supply system from the mains power supply loop to the emergency power supply loop.

[0110] Step S400: Convert the direct current stored in the battery into three-phase alternating current control power;

[0111] In the embodiment of the present application, converting the direct current stored in the battery into three-phase alternating current control power includes:

[0112] Step S410: Detect whether the working state of the battery is normal; the working state of the battery includes: battery voltage, power and temperature;

[0113] Specifically, the detection of the working state of the battery can be realized by enabling the battery device, and the enabling battery device includes enabling the battery to output direct current electric energy, protection control, battery equalization and information sending.

[0114] Step S420: Utilize the electric energy stored in the battery to generate a starting power supply and enter the power conversion link;

[0115] The power conversion link selects a conversion method for converting the direct current stored in the battery into three-phase alternating current according to whether the direct current side voltage is greater than the effective value of the emergency power line voltage or whether three-phase motive power is required;

[0116] Step S430: Convert the direct current electric energy into three-phase alternating current electric energy according to the selected conversion method.

[0117] Method 1: When the DC side voltage is greater than the effective value of the emergency power supply line voltage times, select the conversion method of directly converting DC electrical energy into three-phase AC control electricity.

[0118] Specifically, collect the DC voltage, AC voltage and current, and convert the DC electrical energy into AC electrical energy through the power supply device. The DC voltage is the voltage transmitted from 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 expected to be output by the power supply device.

[0119] In this embodiment, this method can realize directly converting the DC electrical energy stored in the battery into three-phase AC control electricity. This conversion method is applicable to places where the control power supply is a 380V three-phase AC power supply and the voltage of the power supply device is higher than 540V. This embodiment has relatively high requirements for the battery pack voltage.

[0120] In some occasions, in order to reduce the output voltage of the battery pack, a charge-discharge circuit is added at the output end of the battery pack to realize flexible configuration of the battery pack voltage, as in Method 2 below.

[0121] Method 2: When the DC side voltage is less than times the amplitude of the control power supply line voltage, select the conversion method of first boosting the output DC voltage to the first DC voltage setting value and then converting the DC electrical energy into AC control electricity.

[0122] In this embodiment, the charge-discharge device can be used to work in the boost mode to control the charge-discharge device to output a DC voltage to the first DC voltage setting value. The charge-discharge device can adopt a current reversible chopper circuit topology. The first DC voltage setting value is times the effective value of the line voltage of the hoist control power supply.

[0123] In this embodiment, the hoist control power supply is a 380V three-phase AC power supply, the DC side 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, by raising the voltage of the battery pack to 540V through the charge-discharge device, the power supply can output a three-phase 380V AC power supply. In addition, in the process of boosting in this example, the state of charge of the energy storage link is considered to ensure the safety of the energy storage link.

[0124] The difference between Method 2 and Method 1 is that the DC voltage is the voltage transmitted from the battery device to the power supply device after boosting. The AC voltage and current are the voltage and current of the three-phase AC control power supply expected to be output by the power supply device.

[0125] Method 2 can convert the relatively low-voltage DC electrical energy stored in the battery into three-phase AC control power. However, for the energy storage emergency power supply of the hoist, not only three-phase control power but also three-phase power supply is required. Generally, the effective value of the output voltage of the power supply is more than twice that of the AC voltage of the three-phase control power supply. Although the high-voltage battery pack provides the power supply, the high-voltage battery pack increases the design difficulty of the power supply device. Therefore, in order to meet the requirements of the power supply for high DC voltage and also take into account the requirements of the control power for relatively low DC voltage, the following conversion method of Method 3 is proposed.

[0126] Method 3: When three-phase power supply is required, select the conversion method of first converting DC electrical energy into AC control power and then boosting the output voltage to the second DC voltage set value; the second DC voltage set value is the times of the effective value of the line voltage of the hoist power supply.

[0127] The difference between Method 2 and Method 3 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 charge and discharge device. The AC voltage and current are the voltage and current of the three-phase AC control power supply expected to be output by the power supply device. The second DC voltage set value is the times of the effective value of the line voltage of the hoist power supply. Generally, the second DC voltage set value is greater than the first DC voltage set value.

[0128] 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 voltage of the battery device is slightly higher than 540V. Since the output power line voltage is 660V, the voltage of the battery pack can be increased to the second DC voltage set value (933V) through the charge and discharge device. The second DC voltage set value is obtained through calculation, so as to meet the requirements of the power supply for DC voltage. This embodiment not only meets the requirements of the power supply for high DC voltage but also takes into account the requirements of the control power for relatively low DC voltage. It reduces the design difficulty of the power supply device.

[0129] In the embodiment of the present application, converting DC electrical energy into three-phase AC electrical energy includes three stages:

[0130] The first stage is to control the output AC voltage frequency to be the set frequency;

[0131] The second stage is to control the AC voltage amplitude to rise linearly to the AC voltage amplitude set value;

[0132] In the third stage, an outer-loop closed-loop control of the power supply voltage amplitude and frequency is performed. The outer-loop closed-loop control outputs the given values of the active current and the reactive current. The feedback values of the active current and the reactive current are sampled, and then an inner-loop closed-loop control is performed on the active current and the reactive current, and finally an emergency power supply with stable amplitude and frequency is output.

[0133] Step 500: Start the hoist auxiliary unit and the electric control unit, and determine whether the hoist has the operating conditions.

[0134] Specifically, start the hoist auxiliary unit and the electric control unit in sequence. Monitor the working state of the hoist safety circuit. When the feedback of the hoist safety circuit is normal, the hoist has the operating conditions. 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 to make the hydraulic station in a standby state, and starting the motor fan. Starting the electric control unit includes starting the hoist travel and protection control system. In this embodiment, a PLC is used as the hoist travel and protection control system.

[0135] Step S600: Receive the hoist operation instruction, start the excitation DC conversion link, and control the hoist to operate according to the operation instruction.

[0136] Specifically, the operation instruction includes but is not limited to hoisting, lowering, starting, stopping and speed instruction. Controlling the hoist to operate according to the operation instruction includes controlling the hydraulic station and the disc brake to increase pressure and release the brake; controlling the hoist to accelerate and decelerate; receiving the hoist stop command and controlling the hoist to decelerate and stop; receiving the hoist fault stop command and controlling the hoist to immediately brake and stop.

[0137] Controlling the hoist to operate 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 consider the remaining battery power. After the hoist runs multiple times, the battery power drops, and the remaining power may cause the current hoist to be unable to be completed. In another case, if the remaining battery power is too much, the current heavy object cannot be lowered. To solve this problem and improve the safety of the hoist in an emergency state, it is necessary to predict and control the hoisting process. Another embodiment of the present invention predicts the requirements for the emergency power supply and the drive device to complete the current hoisting or lowering according to the state of charge of the battery and the load mass. At the same time, according to the state of charge of the battery and the load mass, the maximum operating speed of the hoist is planned, the running time of the hoisting container for hoisting or lowering is shortened, and the working efficiency of the hoist in an emergency state is improved.

[0138] The starting 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 electro-excited synchronous motor of the electro-excited synchronous motor hoist is obtained by means of thyristor rectification, and the excitation of the excitation winding is realized 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 the cost is increased, the common DC bus application of the energy storage emergency power supply is realized. To solve this problem, referring to Figure 2 as shown, Figure 2 a method for controlling the excitation of an electro-excited synchronous motor under an emergency power supply mode is given. By improving the circuit of the excitation DC conversion link, it can work reliably under the condition of battery power supply.

[0139] The starting excitation DC conversion link, the specific steps include:

[0140] Step S610: Plan the excitation current command according to the motor operating state.

[0141] Set the motor operating state, including: the first start positioning state, the waiting state after positioning, the motor running state, the parking state, and the stop excitation state. According to the hoist operation command, different excitation current commands are respectively planned.

[0142] The excitation current command in the first start positioning state: The electro-excited synchronous motor is initially positioned by inputting DC current to the excitation winding. Use k1 times the no-load excitation current as the given value of the excitation current, and use the step given method to strongly excite the motor.

[0143] In this embodiment, in order to increase the accuracy of the initial positioning, k1 is taken as 0.5 - 1.0. Due to the use of the H-bridge converter, the rapidity of DC current regulation is increased. Based on this advantage, the accurate initial positioning of the motor under rapid excitation is realized.

[0144] The excitation current command in the waiting state after positioning: After the initial positioning is completed, the excitation current is reduced to k2 times the no-load excitation current. Wait to receive the motor operation command.

[0145] In order to reduce the no-load loss of the excitation winding under the energy storage emergency power supply, k2 is taken as 0.1 - 0.5 in this embodiment.

[0146] The excitation current command in the motor running state: When the motor running command is received, in the first stage, the excitation current is stepped up to k3 times the rated no-load current. In the second stage, dynamically track the excitation current required for motor flux linkage control.

[0147] After the motor receives the operation command, the exciting current needs to be adjusted according to the motor flux linkage requirement. Since the motor excitation is in the no-load low-power consumption mode, that is, the exciting current is k2 times the no-load exciting current, therefore, in the first stage, the exciting current needs to be quickly established to k3 times the rated no-load current. In this embodiment, k3 takes a value of 0.7 - 1.0.

[0148] Exciting current command in the parking state: When the motor stop command is received, the exciting current is reduced to k2 times the rated exciting current at a slope of k4.

[0149] In this embodiment, reducing the exciting current will cause the common bus voltage to rise, which will impact the system. Therefore, it is designed to reduce the exciting current at a slope of k4. In this embodiment, k4 takes a value of 20 A / S - 50 A / S. It should be noted that although the exciting current in the parking state is not reduced to k2 times the rated current, it does not affect starting the motor again.

[0150] Exciting current command in the de-excitation state: When the motor stop command is received, the exciting current is reduced to 0 at a slope of k4.

[0151] Step S611: Through the PID control algorithm, obtain the excitation regulation voltage, compare it with the carrier wave to generate a PWM signal, and trigger the circuit of the exciting current conversion link.

[0152] The PWM signal controls the on-off of the fully controlled semiconductor power device. The circuit of the exciting current conversion link refers to a converter with a DC-DC conversion function. In this embodiment, an H-bridge reversible chopper converter is adopted.

[0153] In this embodiment, by adopting an H-bridge reversible chopper converter to replace the thyristor rectifier in the original system to provide exciting current for the motor exciting winding, the problem of the common DC bus in the energy storage emergency power supply is solved; by planning the exciting current in different operating states, the no-load loss of the system is reduced. Using this circuit increases the rapidity of exciting current regulation and improves the accuracy of the initial positioning of the electrically excited synchronous motor.

[0154] In an optional embodiment, before controlling the hoist to operate according to the operation command, it further includes: judging whether this hoisting or lowering is allowed according to the state of charge of the battery and the load mass.

[0155] Refer to Figure 3 As shown, judging whether this hoisting or lowering is allowed according to the state of charge of the battery and the load mass, the specific steps include:

[0156] Step S620: Control the motor to run at zero speed, and calculate the load of the hoist and the energy consumed by lifting the load or the energy regenerated by lowering the load.

[0157] Specifically, the energy consumed or regenerated by lifting or lowering the effective load m:

[0158]

[0159] According to the characteristics of the emergency lifting condition, since the operating speed is relatively low, the above formula is approximately equivalent to:

[0160]

[0161] The η j is the efficiency of the speed reducer, and η d is the efficiency of the motor, H is the lifting height, T is the running time of lifting or lowering, m is the load mass, and V is the running speed of the motor.

[0162] Step S621: According to the energy consumed or regenerated by lifting or lowering the payload and the state of charge of the battery, determine whether the remaining available battery power can complete this lifting.

[0163] Specifically, according to the energy consumed or regenerated by lifting or lowering the payload m and the state of charge of the battery, on the one hand, when the hoist is in the lifting condition, determine whether the remaining available battery power can complete this lifting to prevent the lifting container from failing to reach the specified position smoothly due to insufficient battery power. When in the lowering condition, determine whether the remaining available storage space of the battery can recover the energy regenerated to the battery during this lowering to prevent the battery from being overcharged and causing the energy to not be regenerated when the hoist decelerates and brakes.

[0164] Step S622: If the battery can meet this lifting, calculate the maximum allowable running speed of the hoist, control the actual running speed of the hoist to be less than or equal to the maximum running speed, and continue the lifting or lowering process.

[0165] Specifically, calculate the maximum allowable running speed Vm of the hoist according to the DC bus voltage:

[0166] Vm = ((DC bus voltage / 1.414) / U N ) * V N . * K 0

[0167] U N is the rated line voltage of the motor, and V N is the rated running speed of the hoist when the motor is at the rated speed.

[0168] K 0 is the voltage margin considering the battery voltage fluctuation and the motor dynamic overshoot. In this embodiment, K 0 = 90%.

[0169] Controlling the actual operating speed of the hoist to be less than or equal to the maximum operating speed includes that when the received hoist speed command is greater than the maximum operating speed Vm of the hoist, the speed command is forced to be the maximum operating speed Vm of the hoist. It also includes that when the received speed command is less than the maximum operating speed Vm of the hoist, a reminder window is sent to the host computer to remind the operator that the operating speed of the hoist can be further increased.

[0170] Step S623: If the battery cannot meet this hoisting, issue a stop or emergency stop command; when receiving the stop command, control the hoist to decelerate and stop; when receiving the emergency stop command, control the hoist to brake immediately and stop.

[0171] In this embodiment, the process of controlling the operation of the hoist based on the state of charge of the battery and the load mass is proposed. By comparing the state of charge of the battery and the energy required for the load work, the emergency hoisting ability is predicted, and the hoist is prevented from stopping midway due to the decrease in the battery device's power. This control process enhances the safety of emergency hoisting transportation. By calculating the maximum operating speed, the operating efficiency of the hoist under the condition of emergency power supply is improved. Further, restricting the hoist to operate within the maximum allowable speed can improve the operating safety of the hoist.

[0172] Step S700: Determine whether to exit the emergency power supply mode according to the normal working states of the mains circuits 1 and 2.

[0173] Specifically, when the working state of the mains circuit is normal, go to step S800; otherwise, go to step S600 and continue to perform the emergency hoisting operation.

[0174] Step S800: Exit the emergency working mode, switch the power supply of the hoist from emergency power supply to mains power supply, and switch the circuit of the excitation current conversion link to the original circuit.

[0175] Specifically, switch the control power and motive power of the hoist power supply system from the emergency power supply circuit to the mains circuit. Switch the circuit of the excitation current conversion link to the original circuit.

[0176] In the above embodiment, the charging management of the battery device is not involved. To ensure that the battery device has sufficient energy in the emergency state, another embodiment of the present invention provides a charging management process for the battery in the non-emergency working state.

[0177] In an alternative embodiment, the energy storage type emergency power supply and drive control method for an electro-excited synchronous motor hoist further includes:

[0178] Step S900: Perform charging management on the battery in the non-emergency working state under the mains power supply state.

[0179] In the embodiment of the present application, when performing charging management on the battery in the non-emergency working state under the mains power supply state, refer to Figure 4As shown, the specific steps include:

[0180] Step S910: Detect whether the hoist system is powered by the mains.

[0181] Detecting whether the hoist system is powered by the mains includes judging whether the mains circuit is normal according to the working state of the mains; it also includes that the hoist is not in the emergency working mode.

[0182] Step S920: Judge whether the battery needs to be charged.

[0183] When the indicated charge amount of the state of charge of the battery is lower than the first charging charge, start charging the battery.

[0184] In this embodiment, to meet the requirement of realizing the deceleration feedback braking of the motor during heavy-load lowering, the battery device must reserve enough capacity space to absorb the electric energy of the feedback braking.

[0185] 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 hoisting container. The potential energy of a single lowering of the hoisting container is Ep = mgh, where Ep is the gravitational potential energy, m is the mass of the hoisting container, g is the gravitational acceleration on the earth's surface, and h is the well depth.

[0186] Step S930: Select the charging method according to whether there is a charging and discharging device between the power supply device and the battery device.

[0187] If there is no charging and discharging device between the power supply device and the battery device, control the power supply device to work in the rectification mode and charge the battery device. When the indicated charge amount of the state of charge of the battery is greater than or equal to the first charging charge, stop charging the battery.

[0188] 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.

[0189] Charging the battery device includes: obtaining the voltage, current and state of charge of the battery device, and charging the battery device by controlling the charging current and charging voltage.

[0190] If there is a charging and discharging device between the power supply device and the battery device, control the power supply device to work in the rectification mode and control the charging and discharging device to work in the buck mode to charge the battery.

[0191] Collecting the charge and discharge battery voltage and charging current, and controlling the charging and discharging device to work in the buck mode to charge the battery includes: in the first stage, controlling the charging current to charge in a constant current manner, and in the second stage, controlling the charging voltage to charge the battery in a constant voltage charging manner.

[0192] During the process of voltage reduction, the state of charge of the energy storage link is considered in real time to ensure the safety of the energy storage link.

[0193] Step S940: When the indicated charge amount of the state of charge of the battery reaches or exceeds the first charging charge, stop charging the battery.

[0194] The control process for charging the battery in the 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 the emergency power supply.

[0195] This embodiment improves the circuit of the excitation DC conversion link, thereby generating an excitation current suitable for the battery power supply environment, and solves the problem of establishing the rotor magnetic field of the electric excitation synchronous motor in the emergency power supply mode. And this method can better control the excitation current, further realizing the high-performance control of the electric excitation synchronous motor in the emergency power supply environment.

[0196] The implementation of the method in the above embodiment is for a hoist that is an electric excitation synchronous motor. When the electric excitation synchronous motor uses a DC motor, in step S420, the starting power supply is low-voltage direct current, usually 5-36 volts, and 24V direct current is used in this embodiment. 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 in the power-off state. 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 hoist to operate 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 electric excitation synchronous motor, and can be implemented with reference to the steps of starting the excitation DC conversion link above.

[0197] 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 for this DC motor is usually obtained by thyristor rectification. Since thyristor rectification uses an AC power supply, this method cannot be implemented in the emergency power supply method proposed in the present invention. To solve this problem, refer to Figure 5 as shown Figure 5 A control method for the armature winding of a DC motor under an emergency power supply mode is given. By improving the circuit topology of the armature DC conversion link, the output armature current is realized under the condition of battery power supply, and the parallel connection of switching devices is used to realize the expansion of the armature current, which can reach more than 3000A in this embodiment.

[0198] Step S630: Collect the output armature current and input DC voltage of the armature current conversion link.

[0199] 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 section.

[0200] Step S631: Receive the armature current command sent by the motor control unit.

[0201] The motor control unit is the part that implements the DC motor control algorithm, and this part calculates the real-time armature current command of the motor. This part belongs to the common knowledge in the art, so the description is omitted.

[0202] Step S632: Obtain the armature regulation voltage through the PID control algorithm based on the armature current command and the output armature current feedback.

[0203] Step S634: Generate a PWM signal based on the armature regulation voltage and the input DC voltage.

[0204] Step S635: Send the PWM signal to the corresponding parallel switch devices respectively to trigger the armature current output of the armature conversion section.

[0205] The PWM signal performs on-off control on the switch device, that is, chopper control. The switch device refers to a fully controlled semiconductor power device, such as IGBT, IGCT, etc. The circuit of the armature conversion section refers to a converter with a DC-DC conversion function. In this embodiment, a full-bridge reversible chopper converter is adopted. The switch devices are connected in parallel to increase the current. In this embodiment, the armature current reaches more than 3000A, so the device parallel connection method is adopted for capacity expansion in this embodiment. The parallel capacity expansion method of the present invention is not limited to device parallel connection, and bridge arm parallel connection and other methods can also be used for capacity expansion.

[0206] In this embodiment, by improving the topological circuits of the excitation conversion section and the armature conversion section, and adopting the parallel capacity expansion method, the DC motor current suitable for the battery-powered environment is generated, and the control problems of the DC motor excitation current and armature current in the emergency power supply mode are solved. And this method has better current control accuracy, and further realizes the high-performance control of the DC motor in the emergency power supply environment.

[0207] In an alternative embodiment, the energy storage type emergency power supply and drive control method for the mine asynchronous motor hoist further includes: performing heat dissipation regulation based on model prediction on the power electronic equipment, where the power electronic equipment includes the power conversion parts of the excitation circuit and the armature circuit of the motor, and the power electronic devices used in the emergency power supply device. The heat dissipation regulation process includes:

[0208] Collect the temperature of the power electronic equipment and perform voltage-frequency conversion on the temperature value into a frequency signal;

[0209] Receive the frequency signal of the temperature of the power electronic device, obtain the temperature value of the power electronic device by decoding the frequency signal, and perform communication encoding on the temperature value;

[0210] Perform data fitting on the digital temperature value to obtain the real-time heat dissipation model of the power electronic device;

[0211] Predict the temperature of the power electronic device at the next moment according to the real-time heat dissipation model of the power electronic device;

[0212] Control the change of the rotation speed of the heat dissipation device actuator according to the predicted temperature of the power electronic device and the heat dissipation mode.

[0213] In the embodiment of the present application, performing data fitting on the digital temperature value to obtain the real-time heat dissipation model of the power electronic device includes:

[0214] Establish a regression equation for the real-time heat dissipation model of the power electronic device; the regression equation of the real-time heat dissipation model of the power electronic device is:

[0215] T = Xθ

[0216] Wherein, T represents the temperature matrix of the power electronic device; X represents a two-dimensional variable matrix, X = [I t] T , where I represents the effective value of the three-phase current, t represents the running time of the system; θ represents the regression coefficient matrix;

[0217] Calculate the real-time heat dissipation model of the power electronic device according to the regression equation; the calculation method is as follows:

[0218]

[0219]

[0220] P(N) = P(N - 1) - G(N)X T (N)P(N - 1)]

[0221] Wherein, and are the previous regression coefficient estimate value and the current regression coefficient estimate value,

[0222] is the prediction of the current observed value, T(N) is the actual temperature value, G(N) is the prediction gain term, and P(N) is the intermediate term.

[0223] In one implementation manner, the real-time heat dissipation model of the power electronic device is:

[0224]

[0225] Wherein, is the regression coefficient estimate value.

[0226] Further, the predicted temperature of the power electronic device at the next moment is:

[0227] Set the two-dimensional variable matrix X = [I(k), t + nΔT] T , and calculate the predicted temperature value of the power electronic device in the case of the two-dimensional variable matrix;

[0228] 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 acquisition point, and n is the prediction step.

[0229] Preferably, ΔT is set to 0.05 seconds and n is set to 10 steps.

[0230] Further, 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, the predicted temperature is compared with the set temperature in real time to obtain the operating speed command of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate at the command 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 , and according to the expected operating temperature T ref obtain the operating speed command of the heat dissipation device actuator, and then control the heat dissipation device actuator to operate at the command speed;

[0231] Further, the expected operating temperature T is obtained through the expected operating temperature curve ref , including:

[0232] When the temperature of the power electronic device is lower than the ambient temperature T 0 , the first expected operating temperature T ref1 is the ambient temperature;

[0233] When the temperature of the power electronic device is between the first operating temperature T 1 and the second operating temperature T 2 , set the expected temperature of the power electronic device as the second expected operating temperature T ref2 ;

[0234] When the temperature of the power electronic device is between the second operating temperature T 2 and the third operating temperature T 3 , set the expected temperature of the power electronic device as the third expected operating temperature T ref3 ;

[0235] When the temperature of the power electronic device is greater than the third operating temperature T 3 , force the heat dissipation device actuator to operate at the maximum speed and issue an alarm signal;

[0236] When the desired operating temperature T ref crosses between the desired operating temperatures, the desired operating temperature T ref is transitioned using a single ramp function;

[0237] Preferably, the preset speed n of the heat dissipation device actuator set is set to 50%n N , and the desired operating temperature T of the power electronic device ref is set to 45°C; when using the desired operating speed n of the heat dissipation device actuator ref a single ramp function is added for transition.

[0238] Furthermore, the rotational speed command is obtained by the following formula:

[0239] ifn ref < 0, n ref = 0

[0240] where, n ref is the desired operating speed of the heat dissipation device actuator, n set is the preset speed of the heat dissipation device actuator; T is the predicted temperature of the power electronic device, T ref is the desired operating temperature of the set power electronic device, T max is the maximum allowable operating temperature of the power electronic device, T min is the minimum allowable operating temperature of the power electronic device, n N is the rated rotational speed of the heat dissipation device actuator; it is limited that n ref > 0.

[0241] Based on the above heat dissipation regulation method, taking the emergency power supply device as an example, the reasons and process of its heat dissipation regulation will be briefly described below. Since a large number of power electronic devices are used in this emergency power supply device, and since a large amount of heat is generated when the power electronic devices work, when the device is on standby or running, the heat is taken to the outside of the device by adding a heat dissipation device. Usually, the heat dissipation capacity of the heat dissipation device for 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%. Then, when the heat dissipation device is on standby or running lightly in the system, a large amount of unnecessary energy waste will occur, 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 also shortens the effective time of the battery's emergency operation. In order to improve the emergency power supply efficiency of the hoist control power supply, a model prediction-based heat dissipation regulation is carried out on the emergency power supply device. The regulation process includes: collecting the temperature of the power supply device and performing voltage-frequency conversion on the temperature value into a frequency signal; 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 coding on the temperature value; fitting 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 rotational speed of the actuator of the power supply device according to the predicted temperature of the power supply device.

[0242] In this embodiment, by collecting the temperature of the power electronic device and predicting the temperature of the power electronic device according to the current and temperature. Due to the different thermal resistances of the power electronic device and the radiator, their heat dissipation speeds are different, which in turn leads to different prediction steps. According to the thermal resistance and 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 rotational speed of the actuator of the power supply device is 6000 r / min. The expected operating speed n of the actuator of the power supply device can be calculated according to the predicted temperature of the power supply device. 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 according to 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 the energy stored in the battery is reduced, the time of the energy storage type emergency power supply of the hoist is extended, and the working ability of the energy storage type emergency power supply system of the hoist is improved.

[0243] The energy storage type emergency power supply and drive control method for a hoist provided by the present invention realizes energy storage in the battery link when the mains power supply of the hoist is normal; when the mains power supply of the hoist is abnormal, the battery energy storage link provides emergency power to the hoist. It replaces the system using a diesel engine as the emergency power supply in the prior art, and improves the control process of the hoist in emergency operation, 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 the 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.

[0244] To improve the diesel engine emergency power supply in the prior art, the present invention proposes an energy storage type emergency power supply and drive control device for an electro-excited synchronous motor hoist. Referring to Figure 6 as shown, the device includes:

[0245] An acquisition module, used to collect the working states of the mains power supply loop 1 and the mains power supply loop 2 in real time;

[0246] A first judgment module, used to judge whether to cut off the mains power supply mode and switch to the emergency power supply mode according to the abnormal working states of the mains power supply loops 1 and 2;

[0247] A power supply start module, used to convert the direct current stored in the battery into three-phase alternating current control electricity;

[0248] An auxiliary and electric control start module, used to start the hoist auxiliary unit and the electric control unit, and judge whether the hoist has the operating conditions;

[0249] A hoist operation and excitation control module, used to receive the hoist operation instruction, start the excitation DC conversion module, and control the hoist to operate according to the operation instruction; the excitation DC conversion module adopts a conversion circuit with DC-DC conversion function;

[0250] A second judgment module, used to judge whether to exit the emergency power supply mode;

[0251] A switching module, connected to the first judgment module and the second judgment module, 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.

[0252] In the embodiment of the present application, the power supply start module includes:

[0253] A battery start module: detecting whether the battery working state is normal; the battery working state includes: battery voltage monitoring, power calculation and temperature detection;

[0254] The starting power generation module is used to generate starting power using the electric energy stored in the battery and enter the power conversion link; the power conversion link selects the conversion method of converting the direct current stored in the battery into three-phase alternating current according to whether the direct current side voltage is greater than the effective value of the emergency power line voltage or whether three-phase power supply is required;

[0255] The electric energy conversion module is used to convert the direct current electric energy into three-phase alternating current electric energy according to the selected conversion method;

[0256] When the direct current 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 electric energy conversion module; when three-phase power supply is required, the starting power generation module is directly connected to the AC conversion module, and a second DC boost module is added.

[0257] The excitation DC conversion module adopts a conversion circuit with DC-DC conversion function. In this implementation, a full-bridge reversible chopper circuit is used as the topology of the excitation DC conversion module, as Figure 7 shown. In the figure, 1101 and 1102 are terminals for connecting 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.

[0258] When the hoist is a DC motor, the hoist operation and excitation control module in the energy storage type emergency power supply and drive control device of the electrically excited synchronous motor hoist with the hoist being an asynchronous motor is set to receive the hoist operation instruction, start the motor excitation DC conversion module, start the motor armature DC conversion module, and control the operation of the hoist according to the operation instruction. The excitation DC conversion module adopts a conversion circuit with DC-DC conversion function. In this implementation, a full-bridge reversible chopper circuit is used as the topology of the excitation DC conversion module. The armature DC conversion module adopts a conversion circuit with DC-DC conversion function. In this implementation, a full-bridge reversible chopper circuit is used as the topology of the excitation DC conversion module, as Figure 8 shown. In the figure, 1201 and 1202 are terminals for connecting DC input, 1203 and 1204 are fully controlled semiconductor power devices, and 1205 and 1206 are connected to the excitation winding of the DC motor. 1203 and 1204 realize the capacity expansion of the armature winding current through device parallel connection.

[0259] It should be noted that when the energy storage type emergency power supply and drive control device for an electric excitation synchronous motor hoist provided in the above embodiments executes an energy storage type emergency power supply and drive control method for an electric excitation synchronous motor hoist, only the division of the above functional modules is used for illustration. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device 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 electric excitation synchronous motor hoist provided in the above embodiments and the embodiments of the energy storage type emergency power supply and drive control method for an electric excitation synchronous motor hoist belong to the same concept. The implementation process is shown in the energy storage type emergency power supply and drive control device for an electric excitation synchronous motor hoist, which will not be elaborated here.

[0260] In the embodiment of the present invention, the power supply device adopts the circuit topology as Figure 9 shown. It is composed of a three-phase rectifier configured with an LCL filter, and a fully controlled switch semiconductor device is selected for the main circuit. The input DC terminals 1301 and 1302 are connected to the DC bus. The three-phase inductor 1304, three-phase capacitor 1305, and three-phase inductor 1306 form an LCL filter, and 1307 is the three-phase output terminal.

[0261] In the embodiment of the present invention, the charge and discharge device is as Figure 10 shown, and it is composed of a current reversible chopper circuit. When in the normal working mode to charge the battery and the emergency working mode to feedback energy to the battery, the reversible chopper circuit operates in the buck mode to reduce the DC bus voltage and control the charging current to charge the battery. When in the emergency working mode to output power to the control power switching device, the reversible chopper circuit operates in the boost mode to increase the battery voltage and control 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 with IGBT and diode in parallel, terminal 1406 is connected to the positive electrode of the battery module, terminal 1407 is connected to the negative electrode of the battery module, and inductor 1405 is between the midpoint of devices 1403 and 1404 and terminal 1406. Additionally, the charge and discharge 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. The energy storage element can be a lithium-ion battery, super capacitor, lead-acid battery, nickel-based secondary alkaline battery, etc. In this embodiment, lithium-ion batteries are used. By connecting lithium-ion batteries in series to form a series module, and then connecting multiple groups of series modules in parallel to form a battery pack. The battery management unit can collect, control, transmit information, monitor parameters, protect and control, balance the battery, and measure the battery power of the battery state information.

[0262] In the operation control module of the hoist of the present invention, a hoist operation control device is proposed, and its structural schematic diagram is asFigure 11 As shown in the figure. Zero-speed control and energy calculation module: used to control the motor to run at zero speed through the inverter device, calculate the load of the hoist and the energy consumed to lift the load or the energy fed back when lowering the load. Judgment module: used to judge whether to allow the current lifting or lowering according to the energy consumed or fed back when lifting or lowering the payload m and the state of charge of the battery. Maximum allowable speed calculation module: used to calculate the maximum allowable running speed of the hoist and control the actual running speed of the hoist to be less than or equal to the maximum running speed. Parking control module: used to control the hoist to decelerate and stop when receiving a parking command. When receiving an emergency stop command, control the hoist to brake immediately and stop.

[0263] The inverter device is used in the hoist operation control module, as Figure 12 shown in the figure. 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 switch semiconductor device 1503. The output three-phase terminals 1504 are connected to the power supply switching device.

[0264] It should be noted that each functional module in the embodiments of the present invention can be integrated into one processing module, or can be physically present as individual units, or two or more units can be integrated into one module. The above integrated module can be implemented in the form of hardware or in the form of a software functional module.

[0265] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

Claims

1. A method for energy storage emergency power supply and drive control of an electro-excited synchronous motor hoist, characterized in that: The method includes: Real-time collect the working states of the mains circuit 1 and the mains circuit 2; Judge whether to cut off the mains power supply mode and switch to the emergency power supply mode according to the abnormal working states of the mains circuit 1 and 2; Switch to the emergency power supply mode, and switch the hoist from mains power supply to emergency power supply; the electric energy for the emergency power supply is provided by the battery; Convert the direct current stored in the battery into three-phase alternating current control electricity; Start the hoist auxiliary unit and the electric control unit, and judge whether the hoist has the operating conditions; Receive the hoist operation instruction, start the motor excitation DC conversion, and control the hoist to operate according to the operation instruction; The starting excitation DC conversion link includes: Plan the excitation current instruction according to the operation state of the emergency hoist motor; Through the PID control algorithm, obtain the excitation regulation voltage, compare it with the carrier wave to generate a PWM signal, and trigger the circuit of the excitation current conversion link; Before receiving the hoist operation instruction, starting the motor excitation DC conversion, and controlling the hoist to operate according to the operation instruction, it also includes: Judge whether it is allowed to lift or lower this time according to the state of charge of the battery and the load mass; The judgment of whether it is allowed to lift or lower this time includes: Control the motor to run at zero speed, calculate the load of the hoist and the energy consumed for lifting the load or the energy fed back for lowering the load; Judge whether the remaining available power of the battery can complete this lift according to the energy consumed or fed back for lifting or lowering the effective load and the state of charge of the battery; If the battery can meet this lift, calculate the maximum allowable running speed of the hoist, control the actual running speed of the hoist to be less than or equal to the maximum running speed, and continue the lifting or lowering process; If the battery cannot meet this lift, issue a stop or emergency stop command; when receiving the stop command, control the hoist to decelerate and stop; when receiving the emergency stop command, control the hoist to brake immediately and stop; Judge whether to exit the emergency power supply mode according to the normal working states of the mains circuit 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 current conversion link to the original circuit.

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

3. The method for energy storage emergency power supply and drive control of an electro-excited synchronous motor hoist according to claim 2, characterized in that: The conversion of the DC electric energy into three-phase AC electric energy according to the selected conversion method includes: When the DC side voltage is greater than the effective value of the emergency power supply line voltage times, select the conversion method of directly converting DC electrical energy into three-phase AC control electricity; When the DC-side voltage is less than the effective value of the emergency power supply line voltage times, select the conversion method of first boosting the output DC voltage to the first DC voltage set value and then converting the DC electrical energy into AC control electricity; When a three-phase power supply is required, select a conversion method that first converts DC electrical energy into AC control electricity and then boosts the output voltage to the second DC voltage set value; the second DC voltage set value is times the effective value of the line voltage of the hoist power supply; the second DC voltage set value is greater than or equal to the first DC voltage set value; The conversion of the DC electric energy into three-phase AC electric energy includes three stages: In the first stage, control the output AC voltage frequency to the set frequency; In the second stage, the AC voltage amplitude rises linearly to the set value of the AC voltage amplitude; In the third stage, perform the outer-loop closed-loop control of the power supply voltage amplitude and frequency. The outer-loop closed-loop control outputs the given values of the active current and the reactive current. Sample the feedback values of the active current and the reactive current, and then perform the inner-loop closed-loop control on the active current and the reactive current, and finally output the emergency power supply with stable amplitude and frequency.

4. The energy storage emergency power supply and drive control method for an electro-excited synchronous motor hoist according to claim 1, characterized in that: The method for planning the excitation current command according to the operating state of the emergency hoist motor includes: Set the motor operating state, and the motor operating state includes: the first startup positioning state, the waiting-for-operation state after positioning, the motor running state, the parking state, and the de-excitation state; According to the motor operating state and the hoist operation command, plan different excitation current commands respectively: Excitation current command in the first startup positioning state: Perform initial positioning on the electro-excited synchronous motor by inputting DC current to the excitation winding. Use k1 times the no-load excitation current as the given value of the excitation current, and use the step given method to strongly excite the motor; Excitation current command in the waiting-for-operation state after positioning: After the initial positioning is completed, reduce the excitation current to k2 times the no-load excitation current and wait for the motor operation command; Excitation current command in the motor running state: When receiving the motor running command, in the first stage, step up the excitation current to k3 times the rated no-load current; in the second stage, dynamically track the excitation current required for motor flux linkage control; Excitation current command in the parking state: When receiving the motor parking command, reduce the excitation current to k2 times the rated excitation current at a slope of k4 times; Excitation current command in the de-excitation state: When receiving the motor parking command, reduce the excitation current to 0 at a slope of k4 times; 5. The energy storage emergency power supply and drive control method for an electro-excited synchronous motor hoist according to claim 1, characterized in that: The energy storage emergency power supply and drive control method for the electro-excited synchronous motor hoist further includes: performing charging management on the battery in the non-emergency working state under the mains power supply state; The performing charging management on the battery in the non-emergency working state under the mains power supply state includes: Detect whether the hoist system is powered by the mains; Judge whether the battery needs to be charged; the judgment method is to start battery charging when the charge quantity indicated by the state of charge of the battery is lower than the first charging charge; there is a margin between the first charging charge and the full charging charge of the battery; the first charging charge is set as the full charge of the battery pack minus the potential energy of a single lowering of the hoisting container; the potential energy of a single lowering of the hoisting container is: Ep = mgh where Ep is the gravitational potential energy, m is the mass of the hoisting container, g is the acceleration due to gravity on the earth's surface, and h is the well depth; Select the charging method according to whether there is a charge and discharge device between the power supply device and the battery device; if there is no charge and discharge device between the power supply device and the battery device, control the power supply device to work in the rectification mode to charge the battery device. When the charge quantity indicated by the state of charge of the battery is greater than or equal to the first charging charge, stop charging the battery. If there is a charge and discharge device between the power supply device and the battery device, control the power supply device to work in the rectification mode. Control the charge and discharge device to work in the buck mode to charge the battery. When the charge quantity indicated by the state of charge of the battery is greater than or equal to the first charging charge, stop charging the battery. The working process of controlling the charge and discharge device to work in the buck mode to charge the battery includes: in the first stage, control the charging current to charge in a constant current manner; in the second stage, control the charging voltage to charge the battery in a constant voltage charging manner.

6. The electro-excited synchronous motor hoist energy storage emergency power supply and drive control method according to claim 5. It is characterized in that: This method further includes: performing heat dissipation regulation based on model prediction on power electronic devices, where the power electronic devices include the power conversion parts of the excitation circuit and the armature circuit of the motor, and the power electronic devices used in the emergency power supply device. The heat dissipation regulation process includes: Collect the temperature of the power electronic device and perform voltage-frequency conversion on the temperature value into a frequency signal. Receive the frequency signal of the temperature of the power electronic device, obtain the temperature value of the power electronic device by decoding the frequency signal, and perform communication coding on the temperature value. Perform data fitting on the digital temperature value to obtain the real-time heat dissipation model of the power electronic device. According to the real-time heat dissipation model of the power electronic device, predict the temperature of the power electronic device at the next moment. According to the predicted temperature of the power electronic device and the heat dissipation mode, control the change of the rotation speed of the heat dissipation device actuator.

7. The electro-excited synchronous motor hoist energy storage emergency power supply and drive control method according to claim 6. It is 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 a two-dimensional variable matrix, X = [It] T , where I represents the effective value of the three-phase current and t represents the operating time of the system; is the estimated value of the regression coefficient; The heat dissipation modes include: a high-performance heat dissipation mode and a low-power heat dissipation mode; the high-performance heat dissipation mode means that the expected operating temperature is fixed, the predicted temperature is compared with the set temperature in real time to obtain the operating speed command of the heat dissipation device actuator, and then the heat dissipation device actuator is controlled to operate at the commanded 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 , and according to the expected operating temperature T ref the operating speed command of the heat dissipation device actuator is obtained, and then the heat dissipation device actuator is controlled to operate at the commanded speed; The obtaining of the desired operating temperature T from the desired operating temperature curve ref , includes: When the temperature of the power electronic device is lower than the ambient temperature T 0 , 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 T 1 and the second operating temperature T 2 , set the desired temperature of the power electronic device to the second desired operating temperature T ref2 ; When the temperature of the power electronic device is between the second operating temperature T 2 and the third operating temperature T 3 , set the desired temperature of the power electronic device to the third desired operating temperature T ref3 ; When the temperature of the power electronic device is greater than the third operating temperature T 3 , the actuator of the forced cooling device operates at the maximum speed and issues an alarm signal; When the desired operating temperature T ref crosses between the desired operating temperatures, the desired operating temperature T ref is transitioned using a single ramp function; 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 , and calculate the predicted temperature value of the power supply device in the case of a two-dimensional variable matrix; Where, I(k) is the effective value of the three-phase given current at the current calculation moment by using the digital signal processing chip, ΔT is the heat conduction time from the power electronic device to the temperature acquisition point, and n is the prediction step length. The rotation speed command is obtained by the following formula: where n ref is the expected operating speed of the power supply unit actuator, T is the predicted temperature of the power supply unit, T ref is the expected operating temperature of the power supply unit set, T max is the maximum allowable operating temperature of the power supply unit, T min is the minimum allowable operating temperature of the power supply unit, n N is the rated speed of the power supply unit actuator; it is specified that n ref > 0.

8. An electro-excited synchronous motor hoist energy storage emergency power supply and drive control device. It is characterized in that: This device includes: An acquisition module for real-time acquisition of the working states of the mains 1 circuit and the mains 2 circuit. A first judgment module for judging whether to cut off the mains power supply mode and switch to the emergency power supply mode according to the abnormal working states of the mains circuits 1 and 2; the electrical energy for the emergency power supply is provided by the battery. A power supply startup module for converting the direct current stored in the battery into three-phase alternating current control electricity. An auxiliary and electric control startup module for starting the hoist auxiliary unit and the electric control unit and judging whether the hoist 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 operation of the hoist according to the operation instruction; the excitation DC conversion module adopts a conversion circuit with DC-DC conversion function; Before receiving the hoist operation instruction, starting the motor excitation DC conversion, and controlling the operation of the hoist according to the operation instruction, it further includes: Judging whether this hoisting or lowering is allowed according to the state of charge of the battery and the load mass; The judgment of whether this hoisting or lowering is allowed includes: Controlling the motor to run at zero speed, calculating the load of the hoist and the energy consumed for lifting the load or the energy fed back for lowering the load; Judging whether the remaining available power of the battery can complete this hoisting according to the energy consumed or fed back for lifting or lowering the payload and the state of charge of the battery; If the battery can meet this hoisting, calculate the maximum allowable operating speed of the hoist, control the actual operating speed of the hoist to be less than or equal to the maximum operating speed, and continue the hoisting or lowering process; If the battery cannot meet this hoisting, issue a stop or emergency stop command; when receiving the stop command, control the hoist to decelerate and stop; when receiving the emergency stop command, control the hoist to brake immediately and stop; 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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