Control method of permanent magnet synchronous elevator door motor and related device

Abstract

The invention discloses a control method of a permanent magnet synchronous elevator door motor and a related device, and relates to the technical field of elevator control, and the control method comprises the steps that when it is monitored that an elevator door runs to a door opening in-place position or a door closing in-place position, a preset holding torque of the permanent magnet synchronous elevator door motor is read; the direct-axis current of the permanent magnet synchronous elevator door motor is periodically generated, and the quadrature-axis current corresponding to the direct-axis current generated in each period is periodically calculated based on the holding torque; and periodically controlling the permanent magnet synchronous elevator door motor to output holding torque based on the direct-axis current generated in each period and the quadrature-axis current corresponding to the direct-axis current. The permanent magnet synchronous elevator door motor is controlled to output the holding torque based on the direct-axis current and the quadrature-axis current which change periodically, the magnitude of the current passing through each phase winding can be uniform, and therefore the risks of local overheating of the winding and demagnetization of the permanent magnet are reduced, the service life of the system is prolonged, and the stability of the system is improved.

Description

Technical Field

[0001] This application relates to the field of elevator control technology, and in particular to control methods and related devices for permanent magnet synchronous elevator door operators. Background Technology

[0002] In elevator systems, permanent magnet synchronous motors are commonly used as elevator door operators (i.e., permanent magnet synchronous elevator door operators). The permanent magnet synchronous elevator door operator system is mainly used to control the elevator doors. For example, when the elevator door is in the open position (i.e., the elevator door is fully open to ensure that passengers can enter and exit the elevator without obstruction) or the closed position (i.e., the elevator door is fully closed to ensure that the elevator can rise / fall safely), the elevator door operator system needs to output a constant torque to overcome the influence of external forces such as wind resistance and inertia, and ensure that the elevator door is stable when it reaches the open / closed position.

[0003] Currently, the permanent magnet synchronous elevator door operator system is mainly controlled by field-oriented control (FOC) to output a constant torque. Specifically, in FOC control, in order to output a constant torque, the permanent magnet synchronous motor usually uses fixed direct-axis current and quadrature-axis current to control the output of the corresponding constant torque. This control method will cause a large current to pass through one or two phases of the permanent magnet synchronous motor winding for a long time, while the current passing through other windings is smaller (i.e., the current distribution of each phase winding is unbalanced). This will cause local overheating of the winding and corresponding devices that continuously carry a large current, thus affecting the system's operating life and reliability. Summary of the Invention

[0004] In view of the above problems, this application provides a control method and related device for a permanent magnet synchronous elevator door operator to improve the system's service life and stability. The specific solution is as follows:

[0005] The first aspect of this application provides a control method for a permanent magnet synchronous elevator door operator, including:

[0006] The system monitors the elevator door as it moves to the open or closed position and reads the holding torque preset by the permanent magnet synchronous elevator door operator.

[0007] The direct-axis current of the permanent magnet synchronous elevator door operator is generated periodically, and the quadrature-axis current corresponding to the direct-axis current generated in each period is calculated periodically based on the holding torque; wherein, the current values ​​of the periodically generated direct-axis current are not the same current value.

[0008] Based on the direct-axis current generated in each cycle and the quadrature-axis current corresponding to the direct-axis current, the permanent magnet synchronous elevator door operator is periodically controlled to output the holding torque, which is used to maintain the stable state of the elevator door in the open or closed position.

[0009] Furthermore, the periodic generation of the direct-axis current of the permanent magnet synchronous elevator door operator includes:

[0010] In the first cycle, the direct-axis current is generated based on the preset excitation current ratio coefficient of the permanent magnet synchronous elevator door operator, and the direct-axis current of subsequent cycles is generated based on the preset excitation current ratio coefficient of the first cycle.

[0011] When the direct-axis current is not zero, the magnetic field generated by the direct-axis current is opposite in direction to the magnetic field of the permanent magnet of the permanent magnet synchronous elevator door operator.

[0012] Furthermore, simultaneously calculating the quadrature-axis current corresponding to the direct-axis current based on the holding torque during the adjustment process includes:

[0013] Under the constraint that the total current value corresponding to the quadrature-axis current and the direct-axis current is less than a preset total current threshold, the quadrature-axis current corresponding to the direct-axis current is calculated based on the quadrature-axis current formula: Iq=Te / {(3 / 2)*P*[Ψpm+(Ld-Lq)*Id]}.

[0014] Wherein, Iq is the quadrature-axis current; Te is the holding torque; P is the number of pole pairs of the permanent magnet synchronous elevator door operator; Ψpm is the permanent magnet flux linkage; Ld is the direct-axis inductance; Lq is the quadrature-axis inductance; and Id is the direct-axis current.

[0015] Furthermore, after the step of periodically adjusting the direct-axis current of the permanent magnet synchronous elevator door operator and calculating the quadrature-axis current corresponding to the direct-axis current based on the holding torque, the method further includes:

[0016] The current values ​​of the direct-axis current and the quadrature-axis current are smoothed.

[0017] Furthermore, the step of periodically controlling the permanent magnet synchronous elevator door operator to output the holding torque based on the direct-axis current and the corresponding quadrature-axis current includes:

[0018] Based on the direct-axis current and the quadrature-axis current, corresponding direct-axis voltage and quadrature-axis voltage are generated. Combining the direct-axis voltage and the quadrature-axis voltage, a corresponding switching signal is generated based on space vector pulse width modulation. Based on the switching signal, the permanent magnet synchronous elevator door operator is controlled to output the holding torque.

[0019] Furthermore, the step of combining the direct-axis voltage and the quadrature-axis voltage to generate the corresponding switching signal based on space vector pulse width modulation includes:

[0020] The amplitude and phase of the direct-axis voltage and the quadrature-axis voltage are obtained respectively. The amplitude and phase of the direct-axis voltage and the amplitude and phase of the quadrature-axis voltage are respectively used to generate corresponding switching signals through inverse Park transform, inverse Clark transform and space vector pulse width modulation.

[0021] A second aspect of this application provides a control system for a permanent magnet synchronous elevator door operator, comprising:

[0022] The reading unit is used to read the preset holding torque of the permanent magnet synchronous elevator door operator when the elevator door moves to the open or closed position.

[0023] The adjustment calculation unit is used to periodically adjust the direct-axis current of the permanent magnet synchronous elevator door operator, and at the same time calculate the quadrature-axis current corresponding to the direct-axis current based on the holding torque during the adjustment process;

[0024] The control unit is used to periodically control the permanent magnet synchronous elevator door operator to output the holding torque based on the direct-axis current and the quadrature-axis current corresponding to the direct-axis current.

[0025] A third aspect of this application provides a control device for a permanent magnet synchronous elevator door operator, comprising at least one processor and a memory connected to the processor, wherein:

[0026] The memory is used to store computer programs;

[0027] The processor is used to execute the computer program so that the electronic device can implement the control method of the permanent magnet synchronous elevator door operator of the first aspect or any implementation thereof.

[0028] The fourth aspect of this application provides a computer program product including computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the control method for a permanent magnet synchronous elevator door operator as described in the first aspect or any implementation thereof.

[0029] The fifth aspect of this application provides a computer storage medium carrying one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the control method of the permanent magnet synchronous elevator door operator described in the first aspect or any implementation thereof.

[0030] By employing the above technical solution, the control method and related equipment for permanent magnet synchronous elevator door operators provided in this application periodically adjust the direct-axis current of the permanent magnet synchronous elevator door operator under a preset holding torque, and calculate the quadrature-axis current corresponding to the direct-axis current based on the holding torque. The direct-axis current and quadrature-axis current are periodically changing. Under the condition that the output holding torque remains unchanged, the periodically changing direct-axis current and quadrature-axis current can make the current passing through each phase winding of the permanent magnet synchronous motor uniform and balanced, avoiding the occurrence of a certain winding continuously passing a large current, thereby ensuring that each phase winding and corresponding device will not experience local overheating, and thus improving the operating life and stability of the system. Attached Figure Description

[0031] The above and other features, advantages, and aspects of the embodiments of this disclosure will become more apparent from the accompanying drawings and the following detailed description. Throughout the drawings, the same or similar reference numerals denote the same or similar elements. It should be understood that the drawings are schematic, and the originals and elements are not necessarily drawn to scale.

[0032] Figure 1 A flowchart illustrating a control method for a permanent magnet synchronous elevator door operator provided in this application;

[0033] Figure 2 A logic block diagram of a control method for a permanent magnet synchronous elevator door operator provided in this application;

[0034] Figure 3 The structural block diagram of a control device for a permanent magnet synchronous elevator door operator provided in this application. Detailed Implementation

[0035] The embodiments of this application are described below with reference to the accompanying drawings. The terminology used in the implementation section of this application is for explaining specific embodiments only and is not intended to limit the scope of this application.

[0036] The embodiments of this application will now be described with reference to the accompanying drawings. Those skilled in the art will recognize that, with technological advancements and the emergence of new scenarios, the technical solutions provided in the embodiments of this application are equally applicable to similar technical problems.

[0037] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such terms are interchangeable where appropriate; this is merely a way of distinguishing objects with the same attributes in the embodiments of this application. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, so that a process, method, system, product, or apparatus that comprises a series of elements is not necessarily limited to those elements, but may include other elements not explicitly listed or inherent to those processes, methods, products, or apparatuses.

[0038] In elevator systems, permanent magnet synchronous motors are widely used in elevator door operator systems (i.e., permanent magnet synchronous elevator door operator systems) due to their high power density and high efficiency. These systems primarily control elevator doors. For example, when the elevator door reaches the open (fully open position, ensuring unobstructed passenger access) or closed (fully closed position, ensuring safe ascent / descent), the door operator system needs to output a constant torque to overcome the effects of wind resistance, inertia, and other external forces, ensuring the door's stable position when it reaches the open / closed position. Currently, this is mainly achieved through field-oriented control (FOC). The FOC (Forward-Oriented Control) mechanism is used to control the permanent magnet synchronous elevator door operator system to output a constant torque. Specifically, in FOC control, to output a constant torque, the permanent magnet synchronous motor is typically controlled to output a fixed direct-axis current and quadrature-axis current. This control method results in a large current flowing through one or two phases of the permanent magnet synchronous motor winding for a long period, while the current flowing through other windings is smaller (i.e., the current distribution among the phase windings is unbalanced). This leads to localized overheating in the portion of the winding and corresponding components that continuously carry a large current, thus affecting the system's lifespan and reliability. Furthermore, when a large current flows through one or two phase windings for a long period, a fixed strong stator magnetic field is generated. If the permanent magnet magnetic field of the motor itself is exposed to this strong magnetic field for a long time, it is prone to irreversible demagnetization.

[0039] In view of this, see Figure 1 This application provides a control method for a permanent magnet synchronous elevator door operator, the control method comprising:

[0040] 101: When the elevator door is detected to have moved to the open or closed position, the holding torque preset by the permanent magnet synchronous elevator door operator is read.

[0041] When the elevator door is detected to have reached the open or closed position, the permanent magnet synchronous elevator door operator needs to output a fixed torque (i.e. holding torque) to maintain the stability of the elevator door. This holding torque can be preset in advance based on the specifications and operating characteristics of the elevator door.

[0042] 102: Periodically generate the direct-axis current of the permanent magnet synchronous elevator door operator, and periodically calculate the quadrature-axis current corresponding to the direct-axis current generated in each cycle based on the holding torque; wherein, the current values ​​of the periodically generated direct-axis current are not the same current value.

[0043] The direct-axis current of the permanent magnet synchronous elevator door operator is generated periodically (the current values ​​of the generated direct-axis currents will not be the same, and the current values ​​are usually different from each other). Under the condition that the holding torque is a certain value, the current value of each generated direct-axis current corresponds to a quadrature-axis current. The quadrature-axis current corresponding to the direct-axis current in the corresponding period can be calculated by using the holding torque and the quadrature-axis current.

[0044] 103: Based on the direct-axis current and the corresponding quadrature-axis current generated in each cycle, the permanent magnet synchronous elevator door operator outputs holding torque periodically. The holding torque is used to maintain the stable state of the elevator door in the open or closed position.

[0045] In each cycle, a set of direct-axis currents and a set of corresponding quadrature-axis currents are generated. Through these direct-axis currents and quadrature-axis currents, the permanent magnet synchronous elevator door operator can be controlled to output a fixed holding torque in each cycle. This holding torque can be used to maintain the elevator door in the open or closed position, so that the elevator door will not shake due to the influence of external forces such as wind resistance and inertia.

[0046] In the control method of the permanent magnet synchronous elevator door operator described above, when the permanent magnet synchronous elevator door operator outputs a fixed holding torque, its direct-axis current and quadrature-axis current change periodically. Therefore, the current passing through each phase winding also changes periodically. The current distribution will not result in a situation where a certain winding has a large current for a long time while other windings have a small current. The current distribution of each phase winding is balanced, so the thermal stress of each phase winding and power device is also balanced, avoiding local overheating, reducing the failure rate, and extending the service life of the motor and controller. In addition, the magnetic field generated by the periodically changing current also changes periodically, which can reduce the risk of the permanent magnet of the permanent magnet synchronous elevator door operator being in a strong magnetic field for a long time, thereby reducing the risk of demagnetization of the permanent magnet and improving the stability of the permanent magnet synchronous elevator door operator operation.

[0047] For specific control methods, please refer to [link / reference]. Figure 2In some embodiments of this application, periodically generating (or adjusting) the direct-axis current 201 may specifically include: controlling the generation of the corresponding direct-axis current through the excitation current proportional coefficient of the permanent magnet synchronous elevator door operator, wherein the relationship between the direct-axis current and the excitation current proportional coefficient can be: Id=K_id *I_rated; where Id is the direct-axis current, K_id is the excitation current proportional coefficient, and I_rated is the rated current; specifically, in the embodiments of this application, when k_id is greater than zero, the direct-axis current is greater than zero, the magnetic field generated by the direct-axis current is in the same direction as the magnetic field of the permanent magnet of the permanent magnet synchronous elevator door operator, the total magnetic field increases, which belongs to magnetization control; when k_id is equal to zero, the direct-axis current is equal to zero, the torque of the permanent magnet synchronous door operator is only controlled by the quadrature-axis current, and the control is simple; when k_id is less than zero, the direct-axis current is less than zero, the magnetic field generated by the direct-axis current is opposite to the magnetic field of the permanent magnet of the permanent magnet synchronous elevator door operator, the total magnetic field is weakened, which belongs to magnet weakening control. In this embodiment, when the corresponding direct-axis current is generated by controlling the excitation current proportional coefficient k_id of the permanent magnet synchronous elevator door operator, the corresponding direct-axis current can be generated by a preset excitation current proportional coefficient k_id. This preset excitation current proportional coefficient k_id typically varies within a range of 0 or less than zero. For example, in a specific embodiment, the excitation current proportional coefficient k_id changes continuously or discontinuously from 0 to -0.33 in the first cycle, and continuously or discontinuously from -0.33 to 0 in the second cycle. The excitation current proportional coefficient changes between the first and second cycles in subsequent cycles. When the excitation current proportional coefficient changes to a negative value, the corresponding direct-axis current is also negative, meaning the magnetic field generated by the direct-axis current is opposite in direction to the magnetic field of the permanent magnet in the permanent magnet synchronous elevator door operator. Therefore, weak magnetic field control is used to operate the permanent magnet synchronous elevator door operator.

[0048] In the above method, the generated direct-axis current is mainly negative (excluding zero), that is, the field weakening control is mainly used. When the output torque is the same, the amplitude of the total current is smaller, which can effectively reduce the heat generation of the relevant windings and provide a wider range of current vector change (i.e., better current balance), thereby improving the thermal balance effect and further reducing the problem of irreversible demagnetization of permanent magnet magnetic field.

[0049] It is understandable that, in some embodiments of the application, if the motor itself is limited (such as the failure of field weakening control), the motor can be controlled by controlling the excitation current proportional coefficient k_id to be greater than zero to generate a positive direct-axis current, thereby controlling the motor operation (i.e., using magnetization to control the motor operation), as long as the motor operation is controlled by a non-fixed direct-axis current.

[0050] Further, see Figure 2After determining the direct-axis current for each period, the quadrature-axis current (i.e., the current corresponding to the direct-axis current) can be calculated using the quadrature-axis current formula: Iq=Te / {(3 / 2)*P*[Ψpm+(Ld-Lq)*Id]}. Figure 2 The quadrature-axis current (202) corresponding to each cycle is shown below. Here, Iq is the quadrature-axis current; Te is the holding torque; P is the number of pole pairs of the permanent magnet synchronous elevator door operator; Ψpm is the permanent magnet flux linkage; Ld is the direct-axis inductance; Lq is the quadrature-axis inductance; and Id is the direct-axis current. The number of pole pairs P, the permanent magnet flux linkage Ψpm, the Ld direct-axis inductance, and the Lq quadrature-axis inductance are all key parameters of the permanent magnet synchronous elevator door operator and can be preset in advance. After obtaining the fixed holding torque required when the elevator door reaches the open or closed position, the quadrature-axis current corresponding to the direct-axis current of each cycle can be calculated using the quadrature-axis current formula based on the determined direct-axis current for each cycle. In calculating the direct-axis current and the corresponding quadrature-axis current for each cycle, it is necessary to ensure that the total current value corresponding to the quadrature-axis current and the direct-axis current is less than the preset total current threshold (i.e., the combined effective value of the quadrature-axis current and the direct-axis current needs to be limited within the maximum operating current range set by the permanent magnet synchronous elevator door operator to ensure the safe operation of the permanent magnet synchronous elevator door operator). If the total current value corresponding to the quadrature-axis current and the direct-axis current does not meet the above conditions, the excitation current proportional coefficient k_id can be adjusted to generate a new direct-axis current and the corresponding quadrature-axis current that meet the conditions.

[0051] In the above steps, the corresponding direct-axis current is generated and then the corresponding quadrature-axis current is calculated based on the quadrature-axis current calculation formula. This process makes full use of the characteristic that the direct-axis inductance and quadrature-axis inductance in the reluctance torque of the permanent magnet synchronous motor are not equal (i.e., Ld ≠ Lq). Since the direct-axis current is preset, the relevant quadrature-axis current calculation formula is a linear formula after the preset direct-axis current is determined. This allows for more efficient and stable determination of the corresponding quadrature-axis current, requiring less computational resources and resulting in a smoother quadrature-axis current (fewer jumps in the determined quadrature-axis current value). This ensures that the holding torque of the corresponding output is stable and there will be no torque fluctuations due to periodic changes in the direct-axis current and quadrature-axis current.

[0052] After determining the current values ​​of the direct-axis current and the corresponding quadrature-axis current for each cycle, the current values ​​of the direct-axis current and quadrature-axis current can be smoothed, such as by filtering: further filtering the current values ​​of the direct-axis current and quadrature-axis current (i.e., removing relevant current ranges with large current value jumps and using relevant current ranges with gentler current value jumps to control the motor operation, thereby avoiding fluctuations in the holding torque output of the permanent magnet synchronous elevator door operator) or performing transition processing (i.e., in relevant current ranges with large current value jumps, instead of directly using the calculated current value for motor control, a relevant transition algorithm is used to control the motor so that the current transitions to the new target value without step jumps or jitter).

[0053] The smoothing process described above ensures that the holding torque output by the permanent magnet synchronous elevator door operator will not fluctuate when using periodically varying direct-axis current and periodically varying quadrature-axis current to control the permanent magnet synchronous elevator door operator.

[0054] Specifically, Figure 2 The holding torque 203 of the permanent magnet synchronous elevator door operator shown is typically controlled by periodically changing direct-axis current and periodically changing quadrature-axis current to generate corresponding direct-axis voltage and quadrature-axis voltage. A corresponding switching signal is generated based on space vector pulse width modulation (SVPWM) using the direct-axis voltage and quadrature-axis voltage. The holding torque of the permanent magnet synchronous elevator door operator is then controlled based on the switching signal. Specifically, the amplitude and phase of the direct-axis voltage corresponding to the periodically changing direct-axis current and the amplitude and phase of the quadrature-axis voltage corresponding to the quadrature-axis current are obtained. The amplitude and phase of the direct-axis voltage and the amplitude and phase of the quadrature-axis voltage are then mathematically processed using inverse Park transform, inverse Clarke transform, etc., to generate corresponding electrical signals. These signals are then used to generate the corresponding switching signal for driving the inverter via space vector pulse width modulation (SVPWM), thereby controlling the permanent magnet synchronous elevator door operator to output a fixed holding torque and ensuring that the current is dynamically and evenly distributed among different windings.

[0055] In this embodiment of the application, a control system for a permanent magnet synchronous elevator door operator is also provided, the control system comprising:

[0056] The reading unit is used to read the preset holding torque of the permanent magnet synchronous elevator door operator when the elevator door moves to the open or closed position.

[0057] The adjustment calculation unit is used to periodically adjust the direct axis current of the permanent magnet synchronous elevator door operator, and at the same time, calculate the quadrature axis current corresponding to the direct axis current based on the holding torque during the adjustment process;

[0058] The control unit is used to periodically control the permanent magnet synchronous elevator door operator to output the holding torque based on the direct-axis current and the quadrature-axis current corresponding to the direct-axis current.

[0059] This application also provides a control device for a permanent magnet synchronous elevator door operator. (See reference...) Figure 3 The diagram illustrates a structural schematic of a control device for a permanent magnet synchronous elevator door operator suitable for implementing the control method of the permanent magnet synchronous elevator door operator in the embodiments of this application. The control device in the embodiments of this application may include, but is not limited to, fixed terminals such as mobile phones, laptops, PDAs (personal digital assistants), PADs (tablet computers), desktop computers, etc. Figure 3 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0060] like Figure 3 As shown, the control device may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 301, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 302 or a program loaded from a storage device 308 into a random access memory (RAM) 303. When the control device is powered on, the RAM 303 also stores various programs and data required for the operation of the control device. The processing unit 301, ROM 302, and RAM 303 are interconnected via a bus 304. An input / output (I / O) interface 305 is also connected to the bus 304.

[0061] Typically, the following devices can be connected to I / O interface 305: input devices 306 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 307 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 308 including, for example, memory cards, hard drives, etc.; and communication devices 309. Communication device 309 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 3 A control device with various means is shown; however, it should be understood that it is not required to implement or have all of the means shown. More or fewer means may be implemented or included alternatively.

[0062] This application also provides a computer program product including computer-readable instructions, which, when executed on an electronic device, cause the electronic device to implement any of the permanent magnet synchronous elevator door operator control methods provided in this application.

[0063] This application also provides a computer-readable storage medium carrying one or more computer programs. When the one or more computer programs are executed by an electronic device, the electronic device can implement any of the permanent magnet synchronous elevator door operator control methods provided in this application.

[0064] It should also be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. In addition, in the device embodiment drawings provided in this application, the connection relationship between modules indicates that they have a communication connection, which can be implemented as one or more communication buses or signal lines.

[0065] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware, or it can be implemented by special-purpose hardware including application-specific integrated circuits, special-purpose CPUs, special-purpose memory, special-purpose components, etc. Generally, any function performed by a computer program can be easily implemented by corresponding hardware, and the specific hardware structure used to implement the same function can also be diverse, such as analog circuits, digital circuits, or special-purpose circuits. However, for this application, software program implementation is more often a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium, such as a computer floppy disk, USB flash drive, mobile hard disk, ROM, RAM, magnetic disk, or optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, training equipment, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0066] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product.

[0067] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, training device, or data center to another website, computer, training device, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a training device or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state drives (SSDs)).

Claims

1. A control method for a permanent magnet synchronous elevator door operator, characterized in that, include: The system monitors the elevator door as it moves to the open or closed position and reads the holding torque preset by the permanent magnet synchronous elevator door operator. The direct-axis current of the permanent magnet synchronous elevator door operator is generated periodically, and the quadrature-axis current corresponding to the direct-axis current generated in each period is calculated periodically based on the holding torque; wherein, the current values ​​of the periodically generated direct-axis current are not the same current value. Based on the direct-axis current generated in each cycle and the quadrature-axis current corresponding to the direct-axis current, the permanent magnet synchronous elevator door operator is periodically controlled to output the holding torque, which is used to maintain the stable state of the elevator door in the open or closed position.

2. The control method according to claim 1, characterized in that, The periodic generation of the direct-axis current of the permanent magnet synchronous elevator door operator includes: In the first cycle, the direct-axis current is generated based on the preset excitation current ratio coefficient of the permanent magnet synchronous elevator door operator, and the direct-axis current of subsequent cycles is generated based on the preset excitation current ratio coefficient of the first cycle. When the direct-axis current is not zero, the magnetic field generated by the direct-axis current is opposite in direction to the magnetic field of the permanent magnet of the permanent magnet synchronous elevator door operator.

3. The control method according to claim 1, characterized in that, The simultaneous calculation of the quadrature-axis current corresponding to the direct-axis current based on the holding torque during the adjustment process includes: Under the constraint that the total current value corresponding to the quadrature-axis current and the direct-axis current is less than a preset total current threshold, the quadrature-axis current corresponding to the direct-axis current is calculated based on the quadrature-axis current formula: Iq=Te / {(3 / 2)*P*[Ψpm+(Ld-Lq)*Id]}. Wherein, Iq is the quadrature-axis current; Te is the holding torque; P is the number of pole pairs of the permanent magnet synchronous elevator door operator; Ψpm is the permanent magnet flux linkage; Ld is the direct-axis inductance; Lq is the quadrature-axis inductance; and Id is the direct-axis current.

4. The control method according to claim 1, characterized in that, After the step of periodically adjusting the direct-axis current of the permanent magnet synchronous elevator door operator and calculating the quadrature-axis current corresponding to the direct-axis current based on the holding torque, the method further includes: The current values ​​of the direct-axis current and the quadrature-axis current are smoothed.

5. The control method according to claim 1, characterized in that, The method of periodically controlling the permanent magnet synchronous elevator door operator to output the holding torque based on the direct-axis current and the corresponding quadrature-axis current includes: Based on the direct-axis current and the quadrature-axis current, corresponding direct-axis voltage and quadrature-axis voltage are generated. Combining the direct-axis voltage and the quadrature-axis voltage, a corresponding switching signal is generated based on space vector pulse width modulation. Based on the switching signal, the permanent magnet synchronous elevator door operator is controlled to output the holding torque.

6. The control method according to claim 5, characterized in that, The step of combining the direct-axis voltage and the quadrature-axis voltage to generate the corresponding switching signal based on space vector pulse width modulation includes: The amplitude and phase of the direct-axis voltage and the quadrature-axis voltage are obtained respectively. The amplitude and phase of the direct-axis voltage and the amplitude and phase of the quadrature-axis voltage are respectively used to generate corresponding switching signals through inverse Park transform, inverse Clark transform and space vector pulse width modulation.

7. A control system for a permanent magnet synchronous elevator door operator, characterized in that, include: The reading unit is used to read the preset holding torque of the permanent magnet synchronous elevator door operator when the elevator door moves to the open or closed position. The adjustment calculation unit is used to periodically adjust the direct-axis current of the permanent magnet synchronous elevator door operator, and at the same time calculate the quadrature-axis current corresponding to the direct-axis current based on the holding torque during the adjustment process; The control unit is used to periodically control the permanent magnet synchronous elevator door operator to output the holding torque based on the direct-axis current and the quadrature-axis current corresponding to the direct-axis current.

8. A control device for a permanent magnet synchronous elevator door operator, characterized in that, It includes at least one processor and a memory connected to the processor, wherein: The memory is used to store computer programs; The processor is used to execute the computer program so that the control device can implement the control method of the permanent magnet synchronous elevator door operator as described in any one of claims 1 to 6.

9. A computer program product, characterized in that, It includes computer-readable instructions that, when executed on an electronic device, cause the electronic device to implement the control method for a permanent magnet synchronous elevator door operator as described in any one of claims 1 to 6.

10. A computer storage medium, characterized in that, The storage medium carries one or more computer programs, which, when executed by an electronic device, enable the electronic device to implement the control method for a permanent magnet synchronous elevator door operator as described in any one of claims 1 to 6.

Images