Motor drive control system and control method for blast furnace charging skip

Abstract

The embodiment of the invention provides a motor drive control system and method for a blast furnace charging skip, and belongs to the field of drive control. The motor driving system comprises: a main motor for controlling the speed of the blast furnace charging car; the slave motor is used for controlling the torque of the blast furnace charging skip; the data exchange equipment is used for acquiring a first control parameter of the master motor and a second control parameter of the slave motor in real time; the first standby motor is in a hot standby mode; the second standby motor is in a cold standby mode; and the controller is used for controlling the first standby motor to be started and synchronized to the first control parameter or the second control parameter and switching the second standby motor into a hot standby mode when detecting that the master motor or the slave motor has a fault. Double-motor master-slave synchronous control is adopted for the blast furnace charging skip, the problems that a single-motor driving system of the blast furnace charging skip is insufficient in torque and high in overload risk are solved through a redundancy form of dual use, hot standby and cold standby, and the reliability of the system is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of drive control, and in particular to a motor drive control system and a control method for a blast furnace charge car. Background Art

[0002] Blast furnace charge cars are crucial equipment in the blast furnace ironmaking process, transporting charge materials (such as coke, ore, and flux) from the ground to the blast furnace roof and loading them into the furnace. Traditional blast furnace charge car drive systems typically utilize a single motor, driving the charge car through mechanical transmission devices such as a speed reducer and coupling.

[0003] However, as blast furnaces become larger and larger, the loading capacity of the skips continues to increase, and the single-motor drive system gradually exposes the following problems:

[0004] 1) Insufficient torque and high risk of overload: The single-motor drive system is limited by the motor power and the load-bearing capacity of the mechanical transmission device, and it is difficult to provide sufficient driving torque. Especially under working conditions such as starting, accelerating, and heavy-loaded uphill, the motor is prone to overload, heating, or even burning, seriously affecting production safety and efficiency.

[0005] 2) High equipment failure rate affects production continuity: Blast furnace charge cars start and stop more than 500 times a day. Frequent starting and braking have a huge impact on mechanical components such as motors and reducers, resulting in increased equipment wear and high failure rate.

[0006] In addition, traditional drive systems usually use frequency converters to control the motor speed. Once the frequency converter fails, the system needs to be shut down for replacement, which directly affects the continuous production of the blast furnace and causes huge economic losses.

[0007] In order to solve the above problems, it is urgent to develop a new blast furnace charge car drive system to increase driving torque, reduce overload risk, improve equipment reliability, and achieve uninterrupted operation in the event of a fault, thereby ensuring the continuity and stability of blast furnace production. Summary of the Invention

[0008] The purpose of the embodiments of the present invention is to provide a motor drive control system and control method for a blast furnace charge car, which adopts dual-motor master-slave synchronous control for the blast furnace charge car. Through the redundant form of two uses, one hot standby and one cold standby, the problems of insufficient torque and high overload risk in the single-motor drive system of the blast furnace charge car are solved, thereby greatly improving the reliability of the system.

[0009] In order to achieve the above-mentioned objectives, an embodiment of the present invention provides a motor drive system for a blast furnace charge car, wherein the motor drive system includes: a main motor, which controls the speed of the blast furnace charge car; a slave motor, which controls the torque of the blast furnace charge car; a data exchange device, which is used to obtain the first control parameter of the main motor and the second control parameter of the slave motor in real time; a first standby motor in hot standby mode and a second standby motor in cold standby mode, wherein the main motor, the slave motor, the first standby motor and the second standby motor have the same rated parameters; and a controller, which is used to control the first standby motor to be enabled and synchronized to the first control parameter or the second control parameter, and to switch the second standby motor to the hot standby mode when a fault is detected in the main motor or the slave motor.

[0010] Optionally, the controller is also used to: when a fault is detected in the main motor, block the output of the main motor, and control the first backup motor to be enabled and automatically synchronized to the first control parameter; or when a fault is detected in the slave motor, block the output of the slave motor, and control the first backup motor to be enabled and automatically synchronized to the second control parameter.

[0011] Optionally, after detecting that the main motor has failed and controlling the activation of the first backup motor, the controller is also used to: when detecting that the slave motor has failed, block the output of the slave motor, and control the activation of the second backup motor and automatically synchronize to the second control parameters; or when detecting that the slave motor and the first backup motor have failed, block the output of the slave motor and the first backup motor, and control the activation of the second backup motor and automatically synchronize to the set single-machine control parameters.

[0012] Optionally, the controller is also used to: when a fault is detected in the main motor and the slave motor, block the output of the main motor and the slave motor, control the activation of the first backup motor and automatically synchronize it to the set single-machine control parameters; or when a fault is detected in the main motor and the slave motor, block the output of the main motor and the slave motor, control the activation of the first backup motor and automatically synchronize it to the first control parameters, and enable the second backup motor after switching it to the hot standby mode and automatically synchronize it to the second control parameters.

[0013] Optionally, after controlling the first backup motor or the second backup motor to automatically synchronize to the set single-machine control parameters, the controller is further used to: reduce the speed setting of the motor drive system.

[0014] Optionally, the hot standby mode includes: a powered-on standby state, and the cold standby mode includes: a non-powered state.

[0015] Optionally, the motor drive system also includes a switching cabinet for manually switching one or more of the main motor, the slave motor, the first backup motor and the second backup motor, and the first control parameters include: the speed and phase of the main motor; the second control parameters include: the speed and phase of the slave motor.

[0016] On the other hand, the present invention provides a motor drive control method for a blast furnace charge car, the control method comprising: obtaining a first control parameter of a main motor and a second control parameter of a slave motor, wherein the main motor is used to perform speed control on the blast furnace charge car, and the slave motor is used to perform torque control on the blast furnace charge car; when a failure of the main motor or the slave motor is detected, controlling the first standby motor in hot standby mode to be enabled and synchronized to the first control parameter or the second control parameter; and switching the second standby motor in cold standby mode to the hot standby mode, wherein the main motor, the slave motor, the first standby motor and the second standby motor have the same rated parameters.

[0017] Optionally, after detecting that the main motor has failed and controlling the activation of the first backup motor, the control method further includes: when detecting that the slave motor has failed, blocking the output of the slave motor, and controlling the activation of the second backup motor and automatically synchronizing to the second control parameters; or when detecting that the slave motor and the first backup motor have failed, blocking the output of the slave motor and the first backup motor, and controlling the activation of the second backup motor and automatically synchronizing to the set single-machine control parameters.

[0018] Optionally, the control method also includes: when a fault is detected in the main motor and the slave motor, blocking the output of the main motor and the slave motor, enabling the first backup motor and automatically synchronizing it to the set single-machine control parameters; or when a fault is detected in the main motor and the slave motor, blocking the output of the main motor and the slave motor, enabling the first backup motor and automatically synchronizing it to the first control parameters, and enabling the second backup motor after switching it to the hot standby mode and automatically synchronizing it to the second control parameters.

[0019] Through the above technical solution, the present invention adopts dual-motor master-slave synchronous control for blast furnace charge cars. Through the redundancy of two motors, one hot standby and one cold standby, it can cope with multiple failure modes. This invention solves the problems of insufficient torque and high overload risk in the single-motor drive system of blast furnace charge cars, greatly improving the reliability of the system.

[0020] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following detailed description, they are used to explain the embodiments of the present invention, but do not constitute a limitation of the embodiments of the present invention. In the accompanying drawings:

[0022] Figure 1 This is a structural diagram of a dual-use and one-standby transmission system of a blast furnace charge car in the prior art;

[0023] Figure 2 This is a power distribution single-line diagram of a dual-use, one hot standby, and one cold standby transmission system provided in accordance with an embodiment of the present invention;

[0024] Figure 3 is a redundancy switching flow chart under various fault conditions provided by an embodiment of the present invention;

[0025] Figure 4 4 is a flow chart of a motor driving method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following describes the specific implementation of the embodiment of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the embodiment of the present invention and is not used to limit the embodiment of the present invention.

[0027] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of laws and regulations. In the embodiments of this application, certain software, components, models, and other existing solutions in the industry may be mentioned. These should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use such solutions.

[0028] Before introducing the various embodiments of the present invention, a brief description of the existing technical solutions is first given.

[0029] 1) Technical solution of the existing technology 1: The blast furnace charge car adopts a one-in-one-standby or one-in-two-standby solution, and a single motor drives the blast furnace charge car to operate.

[0030] However, the shortcomings of the existing technology include: the single-motor drive system for blast furnace charge cars suffers from insufficient torque and a high risk of overload, making it unable to meet the heavy load requirements of large blast furnace charge cars. Furthermore, a single-motor drive can easily lead to uneven force distribution on the equipment, reducing the life of the wire rope. Furthermore, failure of a single inverter requires shutdown and replacement, impacting continuous blast furnace production.

[0031] 2) Existing Technology 2: A two-in-one backup solution uses three inverters (VFD1-3). During normal operation, VFD1 drives the master unit, and VFD2 drives the slave unit. In the event of a fault, VFD1 and VFD2 shut down, and VFD3 is manually replaced. This completes a series of operations, including power-on, pre-charging, and parameter downloading, replacing the faulty inverter to complete master-slave control.

[0032] Specific as Figure 1 The figure shows a dual-use and one-standby transmission system for a blast furnace winch. The main winch system in this technical solution uses two motors connected to the drum via a reduction gearbox. The two motors simultaneously drive the drum to rotate, dragging the loading trolley to run on the inclined bridge. This requires the master-slave synchronization control function in the transmission system to achieve this, and is completed by using three sets of frequency conversion devices to form a variable frequency speed regulation system, two of which are in operation and one is in standby, or a single unit can be in operation. The system is powered by two rectifiers, two for use and one for standby, and a control system consisting of three frequency converters. The power supply side of the standby frequency converter is switched by a double-throw switch to achieve power backup, and the output side is also switched by a double-throw switch to achieve motor-side backup. The disadvantages of the second existing technology include: the frequency converter needs to be shut down in the event of a fault, and the standby frequency converter needs to be manually replaced, which affects production time, and there is no further redundancy solution until the faulty frequency converter is repaired.

[0033] Device embodiment

[0034] In this regard, the first aspect of the present invention provides a motor drive system for a blast furnace charge car, such as Figure 2 As shown, the motor drive system may include: a master motor, a slave motor, a data exchange device, a first backup motor in a hot standby mode, a second backup motor in a cold standby mode, and a controller.

[0035] In one embodiment, the motor drive system of the blast furnace skip can use two AC690V motors of exactly the same model and rated parameters, serving as the master motor and slave motor respectively, rigidly connected in the middle by a coupling, to jointly drive the blast furnace skip. For example, the skip AC motor has a power of 560KW and a three-phase AC of 690V, and a total of two motors implement master-slave control. Among them, this motor drive system includes three sets of control parameters and two sets of motor parameters. The control parameters are divided into master parameters, slave parameters, and single motor control parameters. The motor parameters are the nameplate parameters of the master and slave motors and the parameters identified by the motors. Before the motor is put into use, the motor drive system needs to be parameterized (i.e., internally controlled). This needs to be completed during the motor debugging process. First, the motor nameplate parameters are obtained. After the configuration is completed, the identification is completed online. After the identification is completed, the internal control test of the motor characteristics is completed. In addition, a frequency converter (such as an AC transmission variable frequency speed regulation system composed of multiple SINAMICS G130 series) can be used to perform master-slave control on the motor drive system of the blast furnace skip. The inverter not only serves as a power controller for the motors but also achieves a dynamic balance between mechanical load and electrical characteristics through real-time feedback regulation. By adjusting the output frequency and voltage, the inverter controls the speed and torque of the two motors. Furthermore, the inverter can drive the motors according to a preset acceleration-constant speed-deceleration curve based on load requirements, ensuring smooth starting and stopping of the trolley on the inclined bridge.

[0036] The master-slave control scheme can employ speed-torque control. The first frequency converter (VFD1) controls the master motor to control the speed of the blast furnace skip car, i.e., the master uses speed control; the second frequency converter (VFD2) controls the slave motor to control the torque of the blast furnace skip car, i.e., the slave uses torque control, with the torque referenced by the master. The frequency converter can be configured with master, slave, and single-motor control parameter groups. Each transmission device utilizes a PLC for basic interlocking and control, making skip car control a self-contained system and improving overall system reliability. In one embodiment, the electrical drive system of the main hoist drive solution of the present invention can utilize a fully digital speed control system. This fully digital control system offers excellent performance and reliability, meeting the requirements of high dynamic quality and high speed control accuracy. Flexible and diverse software modules are used to control the transmission system, meeting various control requirements and automatically optimizing the speed control system for optimal control performance. The fully digital system also provides comprehensive monitoring, protection, and fault self-diagnosis capabilities for the transmission system. It also features convenient and fast communication networking, enabling communication with the automation system for parameter setting and information exchange. After completing internal control of the master and slave motors, you can proceed to external control. This involves configuring communication parameters with the PLC. Once the PLC has verified communication is correct, external control of the motors is complete. After external control is complete, the master and slave parameters can be configured and tested based on actual production needs. After testing, the motors are coupled to the shafts and tested with the reducers, and parameters can be refined and fine-tuned.

[0037] The data exchange device is used to obtain the first control parameters of the master motor and the second control parameters of the slave motor in real time. Therefore, this design also implements internal Profinet-PN communication, quickly and accurately transmitting information to the host computer, facilitating timely information access by management personnel. The first control parameters may include the speed and phase of the master motor; the second control parameters may include the speed and phase of the slave motor. In one embodiment, SINAMICS Link can be used to control inter-unit communication. Specifically, a CBE20 can be installed on each motor or inverter to enable real-time data exchange, allowing real-time access to the parameters of VFD1 and VFD2 via the CEB20.

[0038] Among them, the main motor, the slave motor, the first backup motor and the second backup motor can have the same rated parameters, that is, the backup motor is also an AC690V motor, with a power of 560KW and a three-phase AC 690V. The above four motor devices and connection methods are as follows Figure 2 As shown. Specifically, the hot standby mode may include: a powered-on standby state; the cold standby mode may include: a non-powered state. In one embodiment, two frequency converters VFD3 and VFD4 may also be set accordingly. The brand may also be the SINAMICSG130 series. The four frequency converters exchange data in real time through the data exchange device CBE20, and the standby motor can receive the data of the frequency converter that has been put into use. Among them, VFD3, as the hot standby frequency converter of the first standby motor, is also in hot standby mode, that is, it is in a powered-on standby state and is not pre-charged. VFD4 is the cold standby frequency converter of the second standby motor. It is also in cold standby mode, that is, it is not powered on, so as to ensure that the motor or frequency converter can be switched in time when continuous faults occur in a short period of time.

[0039] The controller is used to control the activation of the first backup motor and synchronize it to the first control parameter or the second control parameter when a failure of the main motor or the slave motor is detected, and to switch the second backup motor to the hot standby mode. In addition, the motor drive system of the present invention is also provided with a switching cabinet, which can manually / automatically switch the frequency converter in the event of a failure, thus achieving a certain degree of intelligence. The following will introduce the redundant switching scheme of the controller in various situations, such as Figure 3 The redundant switching flow chart is shown as follows:

[0040] Situation 1: Normal production

[0041] Under normal circumstances, VFD1 is used to configure, optimize, and externally control the master motor of the material cart; VFD2 is used to configure, optimize, and externally control the slave motor of the material cart. The internal and external control methods can be referred to as described above. Ultimately, VFD1 contains the master parameters and individual control parameters for the master motor in master-slave control, while VFD2 contains the slave parameters and individual control parameters for the slave motor in master-slave control.

[0042] The reel can be connected to the machine through a reduction gearbox. During production, two motors simultaneously drive the reel, pulling the loading trolley on the inclined bridge. After the master and slave motors of the trolley are coupled, control parameters are refined and fine-tuned under master-slave control, independent control of the master motor, and independent control of the slave motor. When the trolley is at the bottom of the pit (the other trolley is at the top), the gate closes and the main PLC sends a command to the frequency converter cabinet. Upon receiving the start command, the transmission system releases the brake. The system's brake control function establishes a starting torque current in the brake state, and the transmission system issues a brake release command, releasing the brake and ensuring a smooth start of the trolley. Furthermore, to provide operational protection, the trolley is equipped with speed detection and rope loosening detection. If a rope looseness occurs, the rope loosening switch immediately sends a signal to the PLC. Upon receiving the rope loosening signal, the PLC immediately issues a stop command to the power supply and the brake. The winch loading adopts a speed closed-loop method. Once the speed measuring device (speed photoelectric encoder) loses control, it will immediately send a fault signal to the PLC that controls it. After receiving the signal, the PLC will immediately issue a parking brake command and perform other protective measures such as power off according to the program settings.

[0043] Case 2: Single motor failure

[0044] In this case, the controller can also be used to perform the following steps:

[0045] 1) When a failure of the main motor is detected, the output of the main motor is blocked, and the first backup motor is enabled and automatically synchronized to the first control parameter.

[0046] Suppose the main motor fails, for example, if its inverter VFD1 triggers a fault condition: VFD1's output is immediately blocked to prevent equipment damage caused by uneven master and slave output. Simultaneously, the hot standby inverter VFD3 of the first backup motor is precharged. After precharging, VFD3 synchronizes with the main motor's current speed and phase, replacing VFD1 to continue master-slave control. Simultaneously, the cold standby inverter VFD4 of the second backup motor needs to be powered on to switch to hot standby mode (i.e., hot standby mode). After redundancy switchover in this scenario is complete: personnel are dispatched to repair the main motor or VFD1 failure; VFD2 remains unchanged and continues to function as the slave inverter; VFD3 switches from hot standby to master, participating in master-slave control; and VFD4 is powered on, switching from cold standby to hot standby. The system maintains a two-in-one, one-standby switchover mechanism.

[0047] 2) When a failure of the slave motor is detected, the output of the slave motor is blocked, and the first backup motor is enabled and automatically synchronized to the second control parameter.

[0048] Suppose a slave motor fails, for example, if its inverter VFD2 triggers a fault condition: VFD2's output is immediately blocked to prevent uneven output from the master motor and damage to the equipment. Simultaneously, the hot standby inverter VFD3 of the first backup motor is precharged. After precharging, VFD3 synchronizes with the current speed and phase of the slave motor, and VFD3 is activated to replace VFD2 to continue slave-to-master control. Simultaneously, the cold standby inverter VFD4 of the second backup motor needs to be powered on and switched to hot standby mode (i.e., hot standby mode). After redundancy switchover in this scenario is complete: personnel are dispatched to repair the slave motor or VFD2 failure; VFD1 remains unchanged and continues to function as the master inverter; VFD3 switches from hot standby to slave, participating in slave-to-master control; and VFD4 is powered on, switching from cold standby to hot standby. The system maintains a two-in-one, one-backup switchover mechanism.

[0049] Case 3: After a single motor fails, the remaining motors also fail

[0050] Scenario 3 is based on Scenario 2. Assuming the main motor or its inverter VFD1 fails and repairs are not yet complete, the dual-use, one hot standby, and one cold standby system is converted to a dual-use, one standby system. In this case, the controller can also be used to perform the following steps:

[0051] 1) When a failure of a slave motor is detected, the output of the slave motor is blocked, and the second backup motor is enabled and automatically synchronized to the second control parameter.

[0052] That is, if the slave motor or its inverter VFD2 fails and the cold standby inverter VFD4 of the second standby motor has completed precharging, the second standby motor can be converted into a slave to continue master-slave control.

[0053] 2) When a failure is detected in the slave motor and the first backup motor, the outputs of the slave motor and the first backup motor are blocked, and the second backup motor is enabled and automatically synchronized to the set single-machine control parameters.

[0054] If the slave motor and the first backup motor, or their inverters VFD2 and VFD3, fail simultaneously, and the cold standby inverter VFD4 of the second backup motor has completed pre-charging, the second backup motor can be switched to single-unit control mode, i.e., executing the set single-unit control parameters. Specifically, the single-unit control method uses "vector control" with PWM inverter speed regulation. During normal operation, the master inverter VFD1 receives speed commands from the PLC, and the slave inverter VFD2 synchronizes to the speed reference via the PROFINET bus. If a single inverter or motor fails, single-motor control can be continued, reducing the equipment load by lowering the motor speed to ensure equipment safety. This approach will reduce production efficiency to a certain extent and is generally used as an emergency production solution. Therefore, after automatically synchronizing the first backup motor to the set single-unit control parameters, the controller is also configured to reduce the speed reference of the motor drive system through the PLC, thereby reducing equipment load and preventing equipment problems.

[0055] Case 4: Both motors fail at the same time

[0056] Assume that the inverters VFD1 and VFD2 of the master motor or the slave motor simultaneously trigger a fault condition. In this case, after completing the above redundant switching control, the controller still has two options for subsequent production mode. Specifically, the controller can also be used to perform the following steps:

[0057] 1) When a failure of the main motor and the slave motor is detected, the output of the main motor and the slave motor is blocked, and the first backup motor is enabled and automatically synchronized to the set single-machine control parameters.

[0058] That is, when a failure is detected in the master or slave motor, the outputs of VFD1 and VFD2 must be immediately blocked to prevent equipment damage caused by uneven master and slave output. Simultaneously, the hot standby inverter VFD3 of the first backup motor must be precharged. After precharging, VFD3 synchronizes with the current speed and phase of the master motor and is put into use for single-motor control, i.e., executing the set single-machine control parameters described above. The specific control method is not detailed here. Therefore, after automatically synchronizing the second backup motor to the set single-machine control parameters, the controller is also used to reduce the speed setting of the motor drive system through the PLC, reducing equipment load and avoiding equipment problems. Simultaneously, the cold standby inverter VFD4 of the second backup motor must be powered on and switched to hot standby mode (i.e., hot standby mode).

[0059] As can be seen, if a fault is detected in either the master or slave motor, the aforementioned single inverter control can be maintained. At this point, personnel can be dispatched for repairs. The first backup motor is put into operation, controlling the single motor for production. The second backup motor is powered on, switching from cold standby to hot standby. The system has one active and one standby, providing a redundant switching solution.

[0060] 2) When a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is controlled to be enabled and automatically synchronized to the first control parameter, and the second backup motor is switched to hot standby mode and enabled and automatically synchronized to the second control parameter.

[0061] This solution is to put the second backup motor into use as soon as possible after it is powered on to ensure production efficiency and reduce system reliability. At this time, the main motor and the slave motor fail, and personnel are arranged for maintenance; the first backup motor and the second backup motor are put into use as the master and slave respectively to complete the master-slave control.

[0062] In addition, this invention also provides a parameter establishment and switching method, which involves control parameter switching at the same time as motor switching. The system is divided into three sets of control parameters and two sets of motor parameters. The control parameters are divided into master parameters, slave parameters, and single motor control parameters. The VFD3 of the first standby motor participates in real-time data exchange. Assuming that the main motor fails, the frequency converter VFD3 of the first standby motor downloads all parameters of the frequency converter VFD1, and uses the master control parameters to continue to complete the master-slave control. Assuming that the slave motor fails, the frequency converter VFD3 of the first standby motor downloads all parameters of the frequency converter VFD2, and uses the slave control parameters to continue to complete the master-slave control. Assuming that the main motor and the slave motor fail at the same time, the frequency converter VFD3 of the first standby motor downloads all parameters of the frequency converter VFD1, and uses the single control parameters of the main motor to complete temporary control.

[0063] The key technical aspects of this invention are a redundant frequency conversion system with two active, one hot standby, and one cold standby motors under master-slave control, as well as the redundant switching mechanism in the event of a system failure. If a single motor or its frequency conversion system fails, manual / automatic switching of the frequency converter is employed, ensuring a redundant, dual-use, one-standby solution while maintaining production efficiency. If two motors or their frequency conversion systems fail simultaneously, both a single-use, one-standby control solution and a highly efficient, dual-use, zero-standby control solution are available.

[0064] In summary, the present invention, based on the characteristics of frequent start-stop and high inverter failure rate of blast furnace charge cars, has invented a redundant system with two uses, one hot standby and one cold standby under master-slave control. When an inverter failure occurs, it can automatically or manually switch to master-slave control with the standby machine participating or single motor control dominated by the standby machine. At the same time, a cold standby machine is equipped before the faulty equipment is repaired to increase redundancy. When two motors and their inverters fail at the same time, a high-redundancy control method of single motor control with one use and one standby can be selected, or a high-efficiency method of two uses and zero standby can be selected. This invention greatly improves the reliability of the blast furnace charge car system, and increases the system availability from 98.5% of two uses and one standby to 99.99%, an increase of three orders of magnitude. The master-slave control method ensures torque balance, which increases the average life of the charge car wire rope from 6 months to 14 months, reducing costs. At the same time, the system has an automatic switching function, which is intelligent, can save labor costs and improve work efficiency.

[0065] Method Example

[0066] The second aspect of the present invention provides a motor driving method 200 for a blast furnace skip, such as Figure 4 As shown, the control method may include:

[0067] Step S210, obtaining a first control parameter of a master motor and a second control parameter of a slave motor, wherein the master motor is used to control the speed of the blast furnace skip and the slave motor is used to control the torque of the blast furnace skip;

[0068] Step S220 , when a failure of the main motor or the slave motor is detected, controlling to enable the first backup motor in the hot standby mode and synchronize it to the first control parameter or the second control parameter; and

[0069] Step S230 : Switching the second standby motor in the cold standby mode to the hot standby mode, wherein the master motor, the slave motor, the first standby motor, and the second standby motor have the same rated parameters.

[0070] In one embodiment, after detecting that the main motor fails and controlling the activation of the first backup motor in step S220, the control method 200 may further include:

[0071] Step S241, when a failure of the slave motor is detected, the output of the slave motor is blocked, and the second backup motor is enabled and automatically synchronized to the second control parameter; or

[0072] Step S242 , when it is detected that the slave motor and the first backup motor fail, the outputs of the slave motor and the first backup motor are blocked, and the second backup motor is controlled to be enabled and automatically synchronized to the set single-machine control parameters.

[0073] In one embodiment, the control method 200 may further include:

[0074] Step S251, when a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is enabled and automatically synchronized to the set single-machine control parameters; or

[0075] Step S252, when a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is enabled and automatically synchronized to the first control parameter, and the second backup motor is switched to hot standby mode and enabled and automatically synchronized to the second control parameter.

[0076] The key technical aspects of this invention are a redundant frequency conversion system with two active, one hot standby, and one cold standby motors under master-slave control, as well as the redundant switching mechanism in the event of a system failure. If a single motor or its frequency conversion system fails, manual / automatic switching of the frequency converter is employed, ensuring a redundant, dual-use, one-standby solution while maintaining production efficiency. If two motors or their frequency conversion systems fail simultaneously, both a single-use, one-standby control solution and a highly efficient, dual-use, zero-standby control solution are available.

[0077] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0078] The above are merely embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

Claims

1. A motor drive system for a blast furnace charge car, characterized in that: The motor drive system comprises: A main motor controls the speed of the blast furnace skip; From the motor, torque control is performed on the blast furnace skip; A data exchange device, configured to obtain in real time a first control parameter of the master motor and a second control parameter of the slave motor; a first backup motor in a hot standby mode and a second backup motor in a cold standby mode, wherein the master motor, the slave motor, the first backup motor, and the second backup motor have the same rated parameters; and The controller is configured to control the first backup motor to be enabled and synchronized to the first control parameter or the second control parameter, and to switch the second backup motor to the hot standby mode when a failure of the main motor or the slave motor is detected.

2. The motor drive system according to claim 1, characterized in that: The controller is also used for: When a failure of the main motor is detected, the output of the main motor is blocked, and the first backup motor is enabled and automatically synchronized to the first control parameter; or When a failure of the slave motor is detected, the output of the slave motor is blocked, and the first backup motor is enabled and automatically synchronized to the second control parameter.

3. The motor drive system according to claim 2, characterized in that: After detecting that the main motor fails and controlling the first backup motor to be enabled, the controller is further configured to: When a failure of the slave motor is detected, blocking the output of the slave motor, and controlling the second backup motor to be enabled and automatically synchronized to the second control parameter; or When it is detected that the slave motor and the first backup motor fail, the outputs of the slave motor and the first backup motor are blocked, and the second backup motor is enabled and automatically synchronized to the set single-machine control parameters.

4. The motor drive system according to claim 1, wherein: The controller is also used for: When a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, and the first backup motor is controlled to be enabled and automatically synchronized to the set single-machine control parameters; or When a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is controlled to be enabled and automatically synchronized to the first control parameter, and the second backup motor is switched to the hot standby mode and enabled and automatically synchronized to the second control parameter.

5. The motor drive system according to claim 1, wherein: After controlling the first standby motor or the second standby motor to be automatically synchronized to the set single-machine control parameters, the controller is further used to: reduce the speed setting of the motor drive system.

6. The motor drive system according to claim 1, characterized in that: The hot standby mode includes a powered-on standby state, and the cold standby mode includes a non-powered state.

7. The motor drive system according to claim 1, characterized in that: The motor drive system further includes a switching cabinet for manually switching one or more of the main motor, the slave motor, the first backup motor, and the second backup motor. The first control parameter includes: the speed and phase of the master motor; the second control parameter includes: the speed and phase of the slave motor.

8. A motor drive control method for a blast furnace charging car, characterized in that: The control method includes: Obtaining a first control parameter of a master motor and a second control parameter of a slave motor, wherein the master motor is used to perform speed control on the blast furnace skip car, and the slave motor is used to perform torque control on the blast furnace skip car; When a failure of the master motor or the slave motor is detected, controlling to enable the first backup motor in hot standby mode and synchronize the motor to the first control parameter or the second control parameter; and The second backup motor in the cold standby mode is switched to the hot standby mode, wherein the master motor, the slave motor, the first backup motor, and the second backup motor have the same rated parameters.

9. The control method according to claim 8, characterized in that: After detecting that the main motor fails and controlling the first backup motor to be enabled, the control method further includes: When a failure of the slave motor is detected, blocking the output of the slave motor, and controlling the second backup motor to be enabled and automatically synchronized to the second control parameter; or When it is detected that the slave motor and the first backup motor fail, the outputs of the slave motor and the first backup motor are blocked, and the second backup motor is enabled and automatically synchronized to the set single-machine control parameters.

10. The control method according to claim 8, characterized in that: The control method further includes: When a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is enabled and automatically synchronized to the set single-machine control parameters; or When a failure of the main motor and the slave motor is detected, the outputs of the main motor and the slave motor are blocked, the first backup motor is enabled and automatically synchronized to the first control parameter, and the second backup motor is switched to the hot standby mode and enabled and automatically synchronized to the second control parameter.

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