带超级电容模块的馈能型电梯驱动系统若干关键技术研究
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摘要
自21世纪开始,中国经济的飞速发展使得人们对生活质量的要求不断提高、对生产效率的追求不断加深,电梯系统普遍出现在了高层建筑物和大型现代化工厂里,其保有量和增长潜力不断增加。然而,与之不符的是电梯的先进驱动控制技术目前主要掌握在韩国人以及美国人手里。鉴于上述原因,迅速发展国人自己的电梯先进驱动技术对于越来越大的电梯应用市场已是当务之急。同时,在中国电梯大保有量和增长量的基础上,深入地研究电梯系统的节能技术,在现有环境下对于降低能源消耗、减少碳排放量、保持经济可持续发展同样有着极其重要的战略意义。本文在基于带超级电容模块的馈能型电梯驱动系统和电梯试验塔的硬件平台上,对该系统的若干关键技术进行了深入的分析和研究。
首先,由于本文所提的馈能型电梯驱动系统采用多模块集成的驱动和控制方案,所以对辅助电源提出了有别于其他系统的多输出、宽输入、中等功率、高效率等要求。针对于此,本文提出并实现了具有宽范围输入、主开关管和副边二极管全软开关的新型双管正激电路作为基于直流母线分布式电源的前端变换器。该拓扑在传统双管正激变换电路的基础上,增加了一个电容钳位型磁复位电路和一个谐振型辅助电路后,不仅使电路占空比突破了传统双管正激50%的限制,而且使得输入电压变化在200-400V的宽范围时依然能够实现全软开关,从而大幅提高了传统双管正激电路的效率。最终实验结果证明,该变换器的性能远高于传统变换器效率,满足了馈能型电梯驱动系统对辅助电源的需求,并且该电路的高效率特性使其具有较好的大功率应用前景。
其次,电梯启动时受到电机编码器低速下强非线性特点的影响,采用传统控制器会发生较大的遛坡,甚至在某些情况下会出现由极限环引起的抖动而无法控制轿厢静止。针对该问题,本文建立了电梯系统启动摩擦力模型,提出了参数随电梯速度动态调整的非线性控制器,并通过李雅普诺夫方法证明了所提控制方法的全局收敛性。相比PI控制器和其他控制方法,本文提出的电梯启动非线性控制器具有超调量小、调整时间短、遛坡距离短的优点；并且因为控制力矩是连续变化的,使得乘客舒适度体验会更加优异。
再次,当工业现场电能质量较差时,电梯网侧变流器有可能因无法快速与电网实现同步而导致其不能正常工作。为了提高网侧变流器与电网的同步速度,本文在传统SOGI-FLL电网同步方法的基础上,首次提出通过增加一个输入端口而构建出全新的双输入二阶广义积分正弦信号发生器模块(DISOGI-FLL QSG)。该方法突破了传统方法收敛速度的固有限制,大幅缩短了收敛时间；同时通过李雅普诺夫方法证明了该系统的稳定性和更快的收敛速率。以该模块为基础,将其分别应用在了电梯三相电网电压和单相电网同步中,并针对低频谐波使用了多模块交叉反馈去耦合的方法消除干扰。相比传统方法可以更加迅速地获得电网基波以及各次谐波的幅值、相位、频率信息。最后的仿真和实验证明了,本章所提方法比传统方法的同步速度提高了一倍以上。
最后,现有研究表明电网最易受到0.01-1Hz波动功率的影响,而电梯的运行功率具有间歇性、波动性的特点,对电网质量产生严重影响。本文以提高电梯网侧电能质量为目标,建立了电梯系统周期运行的功率模型,并以此为基础通过系统各模块的协调运行实现了系统网侧恒功率运行,消除了网侧的功率波动、提高了电网电能质量、大幅降低了变流器功率等级。同时,为了使功率模型更加精确,以超级电容器端压为参考误差信号,通过增加系统参数的在线估计器,使得超级电容器端压在周期运行前后保持一致。实验表明,与传统的电梯能量回收系统相比,本章提出的恒功率控制方案使得电网功率在0.01-1Hz范围内的波动减小了75%。
Since the start of21st century, the requirement of life quality and production efficiency has increased dramatically, with China's rapid economic development. As a result, the elevator system has a greater usage and growth potential in high-rise buildings and large modern factories. However, the advanced elevator-control technology is mainly dominated by Koreans and Americans. Therefore, the research of our own elevator technology means a lot to China's sustainable economic development. Meanwhile, a better study of the energy-saving elevator system based on the large holdings and increase is of a great help to reduce energy consumption, carbon emissions, and maintain the sustainable economic development. This paper has made an in-depth study of some key technologies of the regenerative elevator with super-capacitor-based energy storage system, based on the elevator testing tower and hardware platform.
Firstly, a distributed auxiliary power solution is proposed to meet the elevator driving system requirements and to reduce the EMI, after some comparison of other topologies. Meanwhile, a full-soft-switch forward is proposed as the front-end converter of the auxiliary power. The proposed converter overcomes the limit of50%duty cycle, and realizes the ZVZCS on main switches and diodes within the input voltage from200to400V, with a clamp circuit and resonant circuit. The experimental results show that the efficiency is much higher than the traditional forward converter.
Secondly, the reason why a traditional PI controller cannot achieve a good start-hover of elevator car is found, after the analysis of the motor angular displacement and velocity nonlinear caused by the limit of encoder resolution. It leads to a large slip-distance, and even vibrations caused by the limit cycle, in some cases. To solve the problem, the start-hover friction mathematics model is established, and a new nonlinear controller is proposed, whose gain coefficient is adjustable according to the velocity and displacement. The global stability is proved by Lyapunov method. Compared to the traditional PI controller, the proposed nonlinear controller has a smaller overshoot, and a less adjust time, and a shorter slip distance. And the passenger would feel more comfortable due to the continuous variation of the control torque.
Thirdly, the grid quality is poor in the industrial field, which has a great influence on the elevator driving system. To overcome this, a new quadrature-signal-generator (QSG) is proposed, which has two inputs based on the traditional SOGI-FLL (dual input SOGI-FLL, DISOGI-FLL). The analysis of the state-space equations of the DISOGI-FLL shows a much better dynamic response in amplitude and frequency track. The global stability of the system is proved by Lyapunov method, and the frequency convergence rate range is achieved, too. Based on this QSG, a single-phase synchronous method and a three-phase synchronous method are developed respectively. By multi-module expansion, harmonics are tracked as well. The simulation and experimental shows that, the convergence time is reduced by50%compared to traditional methods.
Finally, studies show that the grid is most vulnerable to the impact of0.01to1Hz power fluctuation, which is the main power fluctuation frequency of the regenerative elevator. To improve the power quality, a power model of the elevator is proposed, and with the help of the super-capacitor module, the constant power controller is achieved to eliminate the power fluctuation. To realize a better effect, an adaptive estimator is designed by the super-capacitor terminal voltage as the reference error, and the super-capacitor voltage would remain the same before and after a run cycle, by addition. Compared with traditional way, the proposed controller removes75%power fluctuation.
首先,由于本文所提的馈能型电梯驱动系统采用多模块集成的驱动和控制方案,所以对辅助电源提出了有别于其他系统的多输出、宽输入、中等功率、高效率等要求。针对于此,本文提出并实现了具有宽范围输入、主开关管和副边二极管全软开关的新型双管正激电路作为基于直流母线分布式电源的前端变换器。该拓扑在传统双管正激变换电路的基础上,增加了一个电容钳位型磁复位电路和一个谐振型辅助电路后,不仅使电路占空比突破了传统双管正激50%的限制,而且使得输入电压变化在200-400V的宽范围时依然能够实现全软开关,从而大幅提高了传统双管正激电路的效率。最终实验结果证明,该变换器的性能远高于传统变换器效率,满足了馈能型电梯驱动系统对辅助电源的需求,并且该电路的高效率特性使其具有较好的大功率应用前景。
其次,电梯启动时受到电机编码器低速下强非线性特点的影响,采用传统控制器会发生较大的遛坡,甚至在某些情况下会出现由极限环引起的抖动而无法控制轿厢静止。针对该问题,本文建立了电梯系统启动摩擦力模型,提出了参数随电梯速度动态调整的非线性控制器,并通过李雅普诺夫方法证明了所提控制方法的全局收敛性。相比PI控制器和其他控制方法,本文提出的电梯启动非线性控制器具有超调量小、调整时间短、遛坡距离短的优点；并且因为控制力矩是连续变化的,使得乘客舒适度体验会更加优异。
再次,当工业现场电能质量较差时,电梯网侧变流器有可能因无法快速与电网实现同步而导致其不能正常工作。为了提高网侧变流器与电网的同步速度,本文在传统SOGI-FLL电网同步方法的基础上,首次提出通过增加一个输入端口而构建出全新的双输入二阶广义积分正弦信号发生器模块(DISOGI-FLL QSG)。该方法突破了传统方法收敛速度的固有限制,大幅缩短了收敛时间；同时通过李雅普诺夫方法证明了该系统的稳定性和更快的收敛速率。以该模块为基础,将其分别应用在了电梯三相电网电压和单相电网同步中,并针对低频谐波使用了多模块交叉反馈去耦合的方法消除干扰。相比传统方法可以更加迅速地获得电网基波以及各次谐波的幅值、相位、频率信息。最后的仿真和实验证明了,本章所提方法比传统方法的同步速度提高了一倍以上。
最后,现有研究表明电网最易受到0.01-1Hz波动功率的影响,而电梯的运行功率具有间歇性、波动性的特点,对电网质量产生严重影响。本文以提高电梯网侧电能质量为目标,建立了电梯系统周期运行的功率模型,并以此为基础通过系统各模块的协调运行实现了系统网侧恒功率运行,消除了网侧的功率波动、提高了电网电能质量、大幅降低了变流器功率等级。同时,为了使功率模型更加精确,以超级电容器端压为参考误差信号,通过增加系统参数的在线估计器,使得超级电容器端压在周期运行前后保持一致。实验表明,与传统的电梯能量回收系统相比,本章提出的恒功率控制方案使得电网功率在0.01-1Hz范围内的波动减小了75%。
Since the start of21st century, the requirement of life quality and production efficiency has increased dramatically, with China's rapid economic development. As a result, the elevator system has a greater usage and growth potential in high-rise buildings and large modern factories. However, the advanced elevator-control technology is mainly dominated by Koreans and Americans. Therefore, the research of our own elevator technology means a lot to China's sustainable economic development. Meanwhile, a better study of the energy-saving elevator system based on the large holdings and increase is of a great help to reduce energy consumption, carbon emissions, and maintain the sustainable economic development. This paper has made an in-depth study of some key technologies of the regenerative elevator with super-capacitor-based energy storage system, based on the elevator testing tower and hardware platform.
Firstly, a distributed auxiliary power solution is proposed to meet the elevator driving system requirements and to reduce the EMI, after some comparison of other topologies. Meanwhile, a full-soft-switch forward is proposed as the front-end converter of the auxiliary power. The proposed converter overcomes the limit of50%duty cycle, and realizes the ZVZCS on main switches and diodes within the input voltage from200to400V, with a clamp circuit and resonant circuit. The experimental results show that the efficiency is much higher than the traditional forward converter.
Secondly, the reason why a traditional PI controller cannot achieve a good start-hover of elevator car is found, after the analysis of the motor angular displacement and velocity nonlinear caused by the limit of encoder resolution. It leads to a large slip-distance, and even vibrations caused by the limit cycle, in some cases. To solve the problem, the start-hover friction mathematics model is established, and a new nonlinear controller is proposed, whose gain coefficient is adjustable according to the velocity and displacement. The global stability is proved by Lyapunov method. Compared to the traditional PI controller, the proposed nonlinear controller has a smaller overshoot, and a less adjust time, and a shorter slip distance. And the passenger would feel more comfortable due to the continuous variation of the control torque.
Thirdly, the grid quality is poor in the industrial field, which has a great influence on the elevator driving system. To overcome this, a new quadrature-signal-generator (QSG) is proposed, which has two inputs based on the traditional SOGI-FLL (dual input SOGI-FLL, DISOGI-FLL). The analysis of the state-space equations of the DISOGI-FLL shows a much better dynamic response in amplitude and frequency track. The global stability of the system is proved by Lyapunov method, and the frequency convergence rate range is achieved, too. Based on this QSG, a single-phase synchronous method and a three-phase synchronous method are developed respectively. By multi-module expansion, harmonics are tracked as well. The simulation and experimental shows that, the convergence time is reduced by50%compared to traditional methods.
Finally, studies show that the grid is most vulnerable to the impact of0.01to1Hz power fluctuation, which is the main power fluctuation frequency of the regenerative elevator. To improve the power quality, a power model of the elevator is proposed, and with the help of the super-capacitor module, the constant power controller is achieved to eliminate the power fluctuation. To realize a better effect, an adaptive estimator is designed by the super-capacitor terminal voltage as the reference error, and the super-capacitor voltage would remain the same before and after a run cycle, by addition. Compared with traditional way, the proposed controller removes75%power fluctuation.
引文
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