CN104062897B - A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching - Google Patents
A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching Download PDFInfo
- Publication number
- CN104062897B CN104062897B CN201410214519.XA CN201410214519A CN104062897B CN 104062897 B CN104062897 B CN 104062897B CN 201410214519 A CN201410214519 A CN 201410214519A CN 104062897 B CN104062897 B CN 104062897B
- Authority
- CN
- China
- Prior art keywords
- frequency
- electric
- power
- frequency electric
- staircase
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 111
- 238000000034 method Methods 0.000 title claims abstract description 32
- 238000001514 detection method Methods 0.000 claims abstract description 10
- 230000001360 synchronised effect Effects 0.000 abstract description 15
- 238000007689 inspection Methods 0.000 abstract description 6
- 230000005611 electricity Effects 0.000 description 15
- 230000000875 corresponding effect Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 10
- 230000001105 regulatory effect Effects 0.000 description 8
- 230000033228 biological regulation Effects 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 235000013399 edible fruits Nutrition 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009699 differential effect Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000009123 feedback regulation Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Landscapes
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching, the staircase work frequency conversion switched system of the present invention is provided with phase difference detecting circuit and power frequency detection circuit, the phase difference of variable-frequency electric and power frequency electric is detected by phase difference detecting circuit, power frequency detects the frequency of electric circuit inspection power frequency electric, the frequency of variable-frequency electric is adjusted using phase difference, the frequency stable for finally making variable-frequency electric is power frequency.When power frequency electric drive being switched to by frequency conversion electric drive, first the frequency of frequency conversion is adjusted to power frequency, phase adjusted is then carried out again, variable-frequency electric is stabilized to the phase difference of power frequency electric and switched over after particular value again.The present invention can complete the synchronous adjustment of phase and frequency in 2s in the case where the phase difference of variable-frequency electric and power frequency electric is arbitrary value, realize from frequency conversion electric drive to the electrically driven (operated) no current impact switching of power frequency.
Description
Technical field
The present invention relates to staircase control field, and in particular to a kind of Phase synchronization switching side for staircase work frequency conversion switching
Method and staircase work frequency conversion switched system.
Background technology
As the continuous development of society, staircase are increasingly widely applied, the driving of staircase mainly has：Power frequency
Drive, frequency conversion drive and bypass drive.
The mode that power frequency drives, system architecture is most simple, and using most stable, but the problem for existing is exactly not energy-conservation, nothing
Method speed governing；The advantage of full frequency conversion drive can be wide-range-timing, and comfortableness is preferable, but system cost is higher, it is impossible to carry out
Energy feedback, when descending, substantial amounts of energy is lost in the form of heat；Bypass type of drive combines the advantage of power frequency and frequency conversion,
Speed governing can be carried out, energy feedback during high-speed downstream, can be carried out, meet the design concept of the environmental protection of country's promotion, be modern
The direction that staircase actuation techniques develop afterwards.
Bypass type of drive is referred in staircase (or pavement) acceleration, deceleration, low cruise, using frequency-variable controller
(frequency converter) outputting drive voltage motor, so as to drive staircase to run；In staircase high-speed cruising, using industrial power
(three-phase electricity) motor.
In bypass type of drive, staircase is driven using power frequency when there is passenger on staircase, otherwise then adopts frequency conversion drive.
If be in power frequency operation, once no passenger on staircase, then need to switch to frequency conversion drive by power frequency driving；If conversely, place
When converting operation, once there is passenger on staircase, then need to switch to power frequency driving by frequency conversion drive.
Staircase work frequency variable synchronous need to consider three variables, respectively frequency, phase and amplitude when switching that its medium frequency is
The major issue that staircase work frequency variable synchronous are present when switching.Due to completing after work frequency conversion switching, in fact it could happen that phase place is inconsistent (no
Situation synchronously).If phase is larger, after the counter electromotive force of electrode and line voltage superposition, very big impact can be formed
Electric current, so causing causes staircase to there is serious shake.Often very acutely, this is to electrical system, frame for movement for motor vibrating
There are larger impact and abrasion.And motor vibrating causes staircase to be shaken, cause the discomfort of passenger.Although having carried in prior art
The phase synchronization method of correlation is gone out, but in prior art, has realized that the lock in time consumed by phase locked process is long.
Secondly as the driving of staircase is directly powered using electrical network substantially, with reference to GB GBT12325-2008, (quality of power supply is supplied
Piezoelectric voltage deviation) and GB GBT15945-2008 (quality of power supply power system frequency deviation), line voltage (for frequency is
The electrical network of 50Hz and 60Hz) frequency fluctuate deviation up and down for ± 0.5Hz, the fluctuation range of voltage magnitude is ± 7%.And it is existing
Synchronizing process more when being implemented on frequency conversion and switching to power frequency, and after the completion of switching, with regard to no longer carrying out Phase synchronization monitoring, so as to
Cause when frequency conversion is switched to by power frequency, however it remains the nonsynchronous phenomenon of phase place.
The content of the invention
For the deficiencies in the prior art, the invention provides a kind of staircase work frequency conversion switched system and be used for staircase work frequency conversion
The Phase synchronization changing method of switching.
A kind of Phase synchronization changing method for staircase work frequency conversion switching, drives the variable-frequency electric of staircase to switch to power frequency electric
When, step is as follows：
(1) frequency of variable-frequency electric is adjusted to the frequency of power frequency electric；
(2) detect the phase difference of variable-frequency electric and power frequency electric；
(3) frequency and phase difference forming frequency Regulate signal according to power frequency electric, and change is adjusted with the frequency adjusting signals
The frequency of frequency electricity, makes the Phase synchronization of variable-frequency electric and power frequency electric, switches to power frequency electric drive staircase.
In the Phase synchronization changing method of the present invention, when frequency conversion electric drive staircase switches to power frequency electric drive staircase, first
The frequency of the frequency to power frequency electric of variable-frequency electric is adjusted, then according to the phase between the frequency and power frequency electric and variable-frequency electric of power frequency electric
Potential difference adjusts the frequency of variable-frequency electric, adjusts the phase difference of variable-frequency electric and power frequency electric by regulating frequency, makes the two phase difference to set
Fixed phase difference threshold, that is, complete Phase synchronization, then staircase switched to power frequency electric drive, ensure that frequency conversion by the method
Frequency, the phase place for switching to the moment of power frequency, frequency conversion electric drive (frequency conversion drive) and power frequency electric drive (power frequency driving) is synchronous,
The rush of current that produces because during switching phase place is asynchronous is effectively prevent in prior art, so as to avoid generation during switching from trembling
It is dynamic.
Complete synchronously to refer to the phase difference of variable-frequency electric and power frequency electric less than the phase difference threshold for setting in the present invention.
Adjust the frequency of variable-frequency electric in the step (3) by the following method：
(3-1) pid algorithm is carried out to described phase difference according to the phase difference threshold of setting, phase difference is converted into into frequency
Increment；
(3-2) the frequency summation to described frequency increment and power frequency electric obtains frequency adjusting signals, is adjusted with the frequency
The frequency of Signal Regulation variable-frequency electric.
The control parameter (including differential coefficient, proportionality coefficient, integral coefficient and phase difference threshold) of pid algorithm is mutually solely
It is vertical, and control parameter is selected fairly simple, it is easy to accomplish.The frequency actually one of variable-frequency electric is adjusted based on pid algorithm
Feed-back loop regulation process, by multiple feed-back loop regulation, finally makes the frequency of variable-frequency electric be equal to the frequency of power frequency electric, frequency conversion
Electricity is less than the phase difference threshold for setting with the phase difference of power frequency electric.The frequency that each adjustment terminates rear variable-frequency electric is the frequency and adjusts
The corresponding frequency (the frequency sum of frequency increment and power frequency electric) of section signal.In handoff procedure, if running into the frequency of power frequency electric
Rate fluctuates, and also exchanging nodule fruit does not affect, it is only possible to can affect regulating time.
The differential coefficient of the pid algorithm is 0, and proportionality coefficient is 1.5, and the integral coefficient of the PID controller is 0.5.
Described phase difference threshold is 5 °.
In pid algorithm, the differential action will cause output valve to be widely varied, and so be unfavorable for the stable operation for producing.Therefore
Differential coefficient is directly made to be zero.Kp is bigger than normal, and the number of oscillation is added, and regulating time is lengthened.When Kp is too big, system can tend to unstable
It is fixed.Kp is too little, can make the slow in one's movements of system again.Steady-state error is eliminated by adjusting integral coefficient, the control essence of system is improved
Degree.And the proportionality coefficient in PID controller, integral coefficient it is identical with differential coefficient setting when, convergence time only with initial phase
Difference (phase difference threshold of setting) is relevant, type, staircase type with frequency converter (driver) and load is unrelated.Cause
This, by the proportionality coefficient of reasonable adjusting pid algorithm, differential coefficient, integral coefficient and phase difference threshold, can make in 2s
Switching is completed after the frequency and phase place of variable-frequency electric are synchronous with power frequency electric, and reduces the steady-state error of the bit synchronization changing method.
After step (3) switches to power frequency electric drive staircase, continue the phase difference of detection variable-frequency electric and power frequency electric, and according to work
The frequency and phase difference forming frequency Regulate signal of frequency electricity, adjusts the frequency of variable-frequency electric with the frequency adjusting signals, makes variable-frequency electric
With the Phase synchronization of power frequency electric；
Power frequency electric directly switches when switching to variable-frequency electric.
Continue keep frequency Regulate signal after the completion of switching synchronous with power frequency electric, i.e., keep becoming during power frequency electric drive
Frequency electricity and power frequency electric Phase synchronization, so when power frequency electric drive switches to frequency conversion electric drive, directly switch, need not carry out
Phase adjusted.
Present invention also offers a kind of staircase work frequency conversion switched system, including：
Conversion power supply circuit, for power frequency electric is converted into frequency conversion electric drive staircase；
First control circuit, for the frequency of the variable-frequency electric of conversion power supply circuit output is controlled according to control instruction；
Power frequency power supply circuits, for exporting power frequency electric drive staircase；
Switching circuit, for switching frequency conversion electric drive staircase or power frequency electric drive staircase；
Also include：
Phase difference detecting circuit, for detecting the phase difference of variable-frequency electric and power frequency electric；
Power frequency detects circuit, for detecting the frequency of power frequency electric；
Second control circuit, adjusts letter for the corresponding frequency of rate-adaptive pacemaker according to the phase difference and power frequency electric
Number；
The first control circuit is additionally operable to when frequency conversion electric drive staircase switches to power frequency electric drive staircase, according to reception
The frequency adjusting signals for arriving adjust the frequency of variable-frequency electric, make variable-frequency electric and power frequency electric Phase synchronization, then are switched by switching circuit
To power frequency electric drive staircase；
It is additionally operable to, when power frequency electric drive staircase switches to frequency conversion electric drive staircase, switch to variable-frequency electric by switching circuit
Drive staircase.
The staircase work frequency conversion switched system of the present invention detects the frequency of electric circuit inspection power frequency electric by power frequency, by phase difference
The phase difference of electric circuit inspection variable-frequency electric and power frequency electric is detected, then the corresponding frequency of rate-adaptive pacemaker according to phase difference and power frequency electric
Rate Regulate signal.Phase difference constitutes a kind of closed loop based on phase difference by second control circuit equivalent to a feedback signal
Control method, adjusts the frequency of variable-frequency electric by phase difference, phase place is compensated using frequency change in turn, is finally reached
Adjust the purpose of phase place.
In the present invention, switching circuit includes contactor and control circuit, carry out work frequency conversion switch when, control circuit according to
The relation of the phase and frequency of variable-frequency electric and power frequency electric, the working condition of control contactor complete work frequency conversion switching.Conversion power supply
Contactor is equipped between circuit and power frequency power supply circuits and motor, positioned at conversion power supply circuit and positioned at power frequency power supply circuits
The state of contactor can mutually locking, one closure when another have to be off.When being switched by frequency conversion drive, power frequency drives
When, make the frequency and phase place of variable-frequency electric synchronous with power frequency electric first, corresponding action completed by control contactor then, is made
Conversion power supply circuit is disconnected with motor, and power frequency power supply circuits are turned on motor, completes switching.Frequency conversion is switched to when being driven by power frequency
During driving, directly power frequency power supply circuits is disconnected with motor by switching circuit, conversion power supply circuit is turned on motor.This
Bright middle control circuit is based on chip microcontroller, it is easy to accomplish, and it is with low cost.
Staircase is in frequency conversion drive state or power frequency driving condition depends on the load condition of staircase, when staircase zero load
(i.e. no passenger on staircase), it is desirable to frequency conversion drive, when staircase has load (having passenger on staircase) run on power frequency drive
It is dynamic.Sensor can be adopted in the present invention to obtain the loading condition of staircase, and formed accordingly according to the loading condition for collecting
Control instruction, frequency of the first control circuit according to the output electricity of the control instruction control conversion power supply circuit.When staircase zero load
When, corresponding control instruction is formed, first control circuit controls conversion power supply circuit output corresponding frequencies according to the control instruction
Variable-frequency electric, and now switching circuit turns on conversion power supply circuit and motor, power frequency power supply circuits is disconnected with motor.Instead
It, when staircase has load, first control circuit controls the change of conversion power supply circuit output corresponding frequencies according to the control instruction
Frequency electricity, and now switching circuit makes power frequency power supply circuits turn on motor, conversion power supply circuit is disconnected with motor.
In power frequency electric drive, inverter supply circuit has an input, and frequency converter also has output, and the frequency of output voltage and
Phase place is synchronous with power-frequency voltage holding always, in order to switching next time.Due to when motor is in power frequency to be driven, although frequency converter has
Output voltage, but the output current of frequency converter is zero, so not having temperature rise.
When the loading condition of staircase changes, then switched accordingly, the first control circuit in whole process
The control instruction, and the frequency and phase place of variable-frequency electric are detected, specific work process is as follows：
Staircase is in frequency conversion drive, if control instruction changes, by first control circuit by the output of frequency converter
After the frequency of variable-frequency electric rises to power frequency (frequency of power frequency electric), start to detect the phase difference of variable-frequency electric and power frequency electric, by the
Two control circuit forming frequency Regulate signals, first control circuit are carried out according to the frequency adjusting signals that second control circuit is exported
Frequency adjusts and then completes Phase synchronization operation, and after the Phase synchronization with power frequency electric of variable-frequency electric, switching circuit supplies power frequency
Circuit is turned on motor, conversion power supply circuit is disconnected with motor, is completed the switching that frequency conversion drive is driven to power frequency.
In the staircase work frequency conversion switched system of the present invention, when staircase is in power frequency electric drive, phase difference detecting circuit inspection
Survey the phase difference of variable-frequency electric and power frequency electric, second control circuit according to work frequency and phase difference forming frequency Regulate signal,
During whole power frequency electric drive, frequency adjusting signals are synchronous all the time with the phase place of power frequency electric.
As during power frequency operation, frequency adjusting signals are synchronous all the time with power frequency electric, therefore the variable-frequency electric for obtaining accordingly
Phase place it is also synchronous with power frequency electric.Therefore, when control instruction changes, control relay and contactor complete to cut accordingly at once
Change, conversion power supply circuit is turned on motor, power frequency power supply circuits is disconnected with motor.
In the present invention, phase difference detection obtains variable-frequency electric and the phase difference of power frequency electric has positive negativity, its positive negativity setting
Depending on standard is according to practical situations.According to the positive negativity of the phase difference, determine the positive negativity of frequency increment, and then determine change
The direction that the electric frequency of frequency is adjusted.
In the present invention, phase difference detecting circuit and power frequency detect circuit using 50Hz as detection frequency, therefore phase difference is more
The new update cycle is 20ms, and the regulating cycle of frequency adjusted signal is also 20ms, accordingly in Phase synchronization handoff procedure,
The regulating cycle of the frequency and phase place of frequency conversion voltage is also 20ms.
Preferably, the power frequency power supply circuits of the present invention can be power supply grid, the power frequency electric that correspondence is obtained is electrical network
Output electricity.
Preferably, described conversion power supply circuit and first control circuit are integrated in a frequency converter, first control circuit
Also serve as the control system of frequency converter.
Frequency converter mainly includes rectifying part, energy storage section, inverter circuit and control system, is input into by control system
Frequency setting signal determines the frequency of the output electricity of inverter circuit.By conversion power supply circuit and first control circuit collection in the present invention
Cheng Yuyi frequency converters, using rectifying part, energy storage section, inverter circuit group as conversion power supply circuit, using control system as
One control circuit.Accordingly, input signal of the control instruction for the multi-speed section of frequency converter.Second control circuit is integrated in staircase
Staircase operation logic control panel (for controlling staircase operation), staircase operation logic control panel has serial communication interface, and this connects
The information interchange of the main responsible transducer drive plate (i.e. control system) of mouth and staircase operation logic control panel, second control circuit
The frequency adjusting signals of output are sent to control system by the serial communication interface of staircase operation logic control panel.
Second control circuit includes PID controller and adder；
With phase difference as feedback signal, with phase difference threshold as Setting signal, output frequency increases described PID controller
Amount；
Frequency increment is added with the frequency of power frequency electric and obtains frequency adjusting signals by described adder.
The output quantity of PID controller is frequency increment, and amount of phase difference is turned to frequency, and its higher limit and lower limit are respectively
" Up Limit " and " Down Limit ", can be adjusted by the menu of PID controller, the higher limit set in the present invention
± 1.00Hz is respectively with lower limit.
The differential coefficient of the PID controller is 0, and proportionality coefficient is 1.5, and integral coefficient is 0.5.
Described phase difference threshold is 5 °.
During the present invention is for the Phase synchronization changing method and staircase work frequency conversion switched system of staircase work frequency conversion switching, utilize
Phase difference adjusts the frequency of variable-frequency electric, and usage frequency makes up phase difference, and the frequency stable for finally making variable-frequency electric is power frequency, variable-frequency electric
Stabilize to the phase difference threshold of setting with the phase difference of power frequency electric, and then be arbitrary value with the phase difference of power frequency electric in variable-frequency electric
In the case of, the synchronous adjustment of phase and frequency can be completed in 2s, is realized from converting operation (frequency conversion electric drive) to power frequency
The no current impact switching of operation (power frequency electric drive).After completing the synchronization, power-frequency voltage and frequency conversion voltage are remained
The synchronism of phase and frequency, realizes that power frequency electric is driven into that frequency conversion is electrically driven (operated) to be switched fast.
Description of the drawings
Structured flowcharts of the Fig. 1 for the staircase work frequency conversion switched system of the present embodiment；
Fig. 2 is the Voltage Vector Analysis figure of power supply and driving voltage；
Schematic diagrams of the Fig. 3 for the staircase work frequency conversion switched system of the present embodiment.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
The Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching of the present invention, in order to
Ensure work frequency conversion switching is completed within the time of regulation, the program has electrical network following requirement：
With reference to GB GBT12325-2008 (voltage deviation) and GB GBT15945-2008 (power system frequency deviation),
The frequency of line voltage (electrical network for frequency is 50Hz and 60Hz) fluctuates deviation up and down for ± 0.5Hz, the ripple of voltage magnitude
Dynamic scope is ± 7%.Line voltage just normally can be switched in the case where conditions above is met, and otherwise be likely to result in same
Step time-out cannot complete synchronization.
The staircase work frequency conversion switched system of the present embodiment, as shown in figure 1, including：
Conversion power supply circuit, for power frequency electric is converted into frequency conversion electric drive staircase；
First control circuit, for the frequency of the variable-frequency electric of conversion power supply circuit output is controlled according to control instruction；
Power frequency power supply circuits, for exporting power frequency electric drive staircase；
Switching circuit, for switching frequency conversion electric drive staircase or power frequency electric drive staircase；
Phase difference detecting circuit, for detecting the phase difference of variable-frequency electric and power frequency electric；
Power frequency detects circuit, for detecting the frequency of power frequency electric；
Second control circuit, adjusts letter for the corresponding frequency of rate-adaptive pacemaker according to the phase difference and power frequency electric
Number；
First control circuit is additionally operable to when frequency conversion electric drive staircase switches to power frequency electric drive staircase, according to what is received
Frequency adjusting signals adjust the frequency of variable-frequency electric, make variable-frequency electric and power frequency electric Phase synchronization, then switch to work by switching circuit
Frequency electric drive staircase；
It is additionally operable to, when power frequency electric drive staircase switches to frequency conversion electric drive staircase, switch to variable-frequency electric by switching circuit
Drive staircase.
In the present embodiment, conversion power supply circuit and first control circuit are integrated into frequency converter, and power frequency power supply circuits are electrical network,
Power input R, S, T of the frequency converter is connected with electrical network (power frequency electric).The output electricity of the output electricity and electrical network of frequency converter is defeated
Enter switching circuit, switching circuit is had three output ends, is connected with three inputs of motor respectively, for directly driving electricity
Machine.When system is in frequency conversion electric drive, switching circuit is controlled by the frequency and phase place of variable-frequency electric, if control instruction occurs to become
Change, then switch after the frequency and phase place of variable-frequency electric is synchronous with power frequency electric again.When system is in power frequency electric drive, if control instruction
Change, then directly switch over.
In the present embodiment, by sensor, control instruction detects that staircase service condition is obtained, according to the service condition reality of staircase
Shi Gengxin.When sensor detects no passenger on staircase, corresponding control instruction makes the frequency conversion of conversion power supply circuit output
Electric frequency is setting conversion frequencies (in the present embodiment be 20HZ), if now sensor is detected when having passenger on staircase, controls
System instruction occurs to change, and it is power frequency (this enforcement that the control instruction after change makes the variable-frequency electric frequency of conversion power supply circuit output
The frequency of the output electricity of real-time grid in example).
Phase angle in the present embodiment between the R phases and T-phase for electrical network of phase difference detecting circuit detection is exported with frequency converter
The difference at the phase angle between the U phases and W phases at end.
Second control circuit includes PID controller and adder, PID controller with phase difference as feedback signal, with phase place
Difference limen value be Setting signal, output frequency increment；Frequency increment is added with the frequency of power frequency electric and obtains frequency regulation by adder
Signal.
In the staircase work frequency conversion switched system, when power frequency driving is switched to by frequency conversion drive, first control circuit is also used
The frequency of variable-frequency electric is adjusted in receives frequency Regulate signal and accordingly, the regulation process is a feedback regulation process, with work
The frequency of frequency electricity finally makes the frequency of variable-frequency electric be equal to the frequency of power frequency electric as target frequency by multiple feed-back loop regulation
Rate, makes variable-frequency electric that the phase difference threshold for setting is less than with the phase difference of power frequency electric.Each adjustment terminates the frequency of rear variable-frequency electric i.e.
For the corresponding frequency of the frequency adjusting signals (the frequency sum of frequency increment and power frequency electric), the frequency stable of variable-frequency electric is finally made
For power frequency.In switching to that power frequency is electrically driven (operated) by frequency conversion electric drive and switching, phase difference when will be initial is (when control instruction changes
Phase difference when corresponding) be adjusted to duration required for the phase difference threshold for setting with it is initial when phase difference size it is unrelated,
It is limited only by differential coefficient, proportionality coefficient, integral coefficient and the phase difference threshold of PID controller.And in handoff procedure, such as
Fruit runs into the frequency fluctuation of power frequency electric, and also exchanging nodule fruit does not affect, it is only possible to can affect regulating time.
In the present embodiment, it is to realize in 2s, completing the switching of work frequency variable synchronous, the differential coefficient of PID controller in the present embodiment
For 0, proportionality coefficient is 1.5, and integral coefficient is 0.5, and phase difference threshold is 5 °.
In work frequency conversion handoff procedure, the switching of work frequency variable synchronous needs to consider three variable synchronizations, respectively phase place, frequency
And amplitude.
Relation between power frequency electric and variable-frequency electric voltage vector as shown in Fig. 2For the voltage vector of variable-frequency electric,For work
The voltage vector of frequency electricity, Δ θ isWithBetween phase difference, | Δ U | isWithBetween difference in magnitude,It isWithVector difference.In the voltage vector for not considering power frequency electricIt is in the case that amplitude is mutated, right
The voltage change of switching instant carries out labor.
So that reduce switching instant to impact the voltage and current of frequency converter, need to meet three below condition and can carry out
The switching of " power frequency electric drive is to frequency conversion electric drive " or " frequency conversion electric drive is to power frequency electric drive "：
(a)WithBetween phase difference θ, it is necessary within the scope of ± Δ θ * (need calculate and test determine) (i.e. |
Δθ|≤|Δθ*|)；
(b)WithBetween amplitude Δ U difference meet condition：
ΔU≤0.1*|UL|；
Frequency (i.e. power frequency) f of (c) power frequency electricLWith frequency f of variable-frequency electricIBetween meet condition：
fL-0.1≤fI≤fL-0.1。
Track of the solid line circle for the voltage vector of power frequency electric in Fig. 2, broken circle is frequency converter output voltage | Δ U | is respectivelyWhen voltage vector track.Due toFrom the cosine law of triangle：
Wherein XXX represents Min, Nor with Max respectively (XXX in formula (1) must be identical).
Under the conditions of equal Δ θ, in order to ensure during power frequency operation, the voltage amplitude of the voltage magnitude and variable-frequency electric of power frequency electric
It is worth equal energy (even if | Δ U |=0), it is thus necessary to determine that the size of Δ θ in this case.Because：
The maximum Δ θ of Δ θ is drawn according to the cosine law by conditions aboveMaxFor 18.2 °.As Δ θ<ΔθMaxWhen, it is both full
Sufficient condition：
In turn ensure that the convergence of voltage difference amplitude.As Δ θ=Δ θMaxWhen=± 18.2 °, drawn according to formula (1)：
So meet complete within 2s switching under conditions of, as far as possible reduce frequency converter voltage and current impact, here
Select Δ θ=5 °, i.e. phase difference threshold θ *=5 °.Voltage now is respectively：
Therefore, whenWhen：
The control principle of the staircase work frequency conversion switched system of the present embodiment is as shown in figure 3, power frequency detection electric circuit inspection power frequency
Frequency f of electricityL, the phase difference θ of phase difference detecting circuit detection variable-frequency electric and power frequency electric, with the phase difference threshold θ * that sets as to
Determine signal, phase difference θ is converted into by corresponding frequency increment Δ f by PID controller, "+" table (is used by adder in Fig. 3
Show), by first frequency signal fLThe frequency adjusting signals (corresponding frequency is f*) obtained with the summation of second frequency signal delta f,
Control the frequency of the variable-frequency electric of frequency converter output according to frequency adjusting signals, variable-frequency electric and power frequency are electrically accessed switching circuit, and by
The output driving motor M of switching circuit.
In the present embodiment power frequency detection circuit and phase difference detecting circuit detection frequency be 50Hz, therefore phase difference update
Update cycle be 20ms, the regulating cycle of PID is also 20ms, accordingly during Phase synchronization, the frequency of variable-frequency electric and
The regulating cycle of phase place is also 20ms, and the frequency resolution of variable-frequency electric is 0.01Hz.
In the case where system is in frequency conversion drive, when the control instruction that first control circuit is received changes,
Carry out following steps：
(1) frequency of variable-frequency electric is adjusted to the frequency of power frequency electric；
(2) detect the phase difference of variable-frequency electric and power frequency electric；
(3) the frequency forming frequency Regulate signal according to the phase difference and power frequency electric, and adjusted with the frequency adjusting signals
The frequency of section variable-frequency electric, makes the Phase synchronization of variable-frequency electric and power frequency electric, switches to power frequency electric drive staircase.It is specific as follows：
(3-1) pid algorithm is carried out to phase difference according to the phase difference threshold of setting, phase difference is converted into into frequency increment；
(3-2) the frequency summation to frequency increment and power frequency electric obtains frequency adjusting signals, is adjusted with the frequency adjusting signals
The frequency of section variable-frequency electric.
During ensureing whole power frequency operation, driving voltage all the time with power supply frequency and Phase synchronization,
In the present embodiment after power frequency electric drive being switched to by frequency conversion electric drive, during power frequency electric drive, continue inspection
The phase difference of variable-frequency electric and power frequency electric, and the frequency according to power frequency electric and phase difference forming frequency Regulate signal are surveyed, the frequency is used
Regulate signal adjusts the frequency of variable-frequency electric, makes the Phase synchronization of variable-frequency electric and power frequency electric.
Therefore, when frequency conversion electric drive being switched to by power frequency electric drive, directly switched over by switching circuit, carried
High switching efficiency.
Disclosed above is only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and is appointed
What those of ordinary skill in the art can carry out various changes and modification spirit and model without deviating from the present invention to the present invention
Enclose, should all cover within the protection domain of this practicality invention.
Claims (7)
1. it is a kind of for the frequency conversion of staircase work switching Phase synchronization changing method, it is characterised in that drive staircase frequency conversion TURP
When shifting to power frequency electric, step is as follows：
(1) frequency of variable-frequency electric is adjusted to the frequency of power frequency electric；
(2) detect the phase difference of variable-frequency electric and power frequency electric；
(3) frequency and phase difference forming frequency Regulate signal according to power frequency electric, and variable-frequency electric is adjusted with the frequency adjusting signals
Frequency, make the Phase synchronization of variable-frequency electric and power frequency electric, switch to power frequency electric drive staircase；
Adjust the frequency of variable-frequency electric in the step (3) by the following method：
(3-1) pid algorithm is carried out to described phase difference according to the phase difference threshold of setting, phase difference is converted into into frequency increasing
Amount；
(3-2) the frequency summation to described frequency increment and power frequency electric obtains frequency adjusting signals, uses the frequency adjusting signals
Adjust the frequency of variable-frequency electric.
2. it is as claimed in claim 1 to be used for the Phase synchronization changing method that the frequency conversion of staircase work switches, it is characterised in that described
The differential coefficient of pid algorithm is 0, and proportionality coefficient is 1.5, and the integral coefficient of the PID controller is 0.5.
3. it is as claimed in claim 2 to be used for the Phase synchronization changing method that the frequency conversion of staircase work switches, it is characterised in that described
Phase difference threshold is 5 °.
4. the Phase synchronization switching for staircase work frequency conversion switching as described in any one claim in claims 1 to 3
Method, it is characterised in that after step (3) switches to power frequency electric drive staircase, continues the phase difference of detection variable-frequency electric and power frequency electric,
And the frequency according to power frequency electric and phase difference forming frequency Regulate signal, the frequency of variable-frequency electric is adjusted with the frequency adjusting signals,
Make the Phase synchronization of variable-frequency electric and power frequency electric；
Power frequency electric directly switches when switching to variable-frequency electric.
5. a kind of staircase work frequency conversion switched system, including：
Conversion power supply circuit, for power frequency electric is converted into frequency conversion electric drive staircase；
First control circuit, for the frequency of the variable-frequency electric of conversion power supply circuit output is controlled according to control instruction；
Power frequency power supply circuits, for exporting power frequency electric drive staircase；
Switching circuit, for switching frequency conversion electric drive staircase or power frequency electric drive staircase；
Characterized in that, also including：
Phase difference detecting circuit, for detecting the phase difference of variable-frequency electric and power frequency electric；
Power frequency detects circuit, for detecting the frequency of power frequency electric；
Second control circuit, for the corresponding frequency adjusting signals of rate-adaptive pacemaker according to the phase difference and power frequency electric；
The first control circuit is additionally operable to when frequency conversion electric drive staircase switches to power frequency electric drive staircase, according to what is received
Frequency adjusting signals adjust the frequency of variable-frequency electric, make variable-frequency electric and power frequency electric Phase synchronization, then switch to work by switching circuit
Frequency electric drive staircase；
It is additionally operable to, when power frequency electric drive staircase switches to frequency conversion electric drive staircase, switch to frequency conversion electric drive by switching circuit
Staircase；
Described conversion power supply circuit and first control circuit are integrated in a frequency converter, and first control circuit also serves as the control of frequency converter
System processed；
Second control circuit includes PID controller and adder；
Described PID controller with phase difference as feedback signal, with phase difference threshold as Setting signal, output frequency increment；
Frequency increment is added with the frequency of power frequency electric and obtains frequency adjusting signals by described adder.
6. staircase work frequency conversion switched system as claimed in claim 5, it is characterised in that the differential coefficient of the PID controller
For 0, proportionality coefficient is 1.5, and integral coefficient is 0.5.
7. staircase work frequency conversion switched system as claimed in claim 6, it is characterised in that described phase difference threshold is 5 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410214519.XA CN104062897B (en) | 2014-05-20 | 2014-05-20 | A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410214519.XA CN104062897B (en) | 2014-05-20 | 2014-05-20 | A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104062897A CN104062897A (en) | 2014-09-24 |
| CN104062897B true CN104062897B (en) | 2017-03-29 |
Family
ID=51550662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410214519.XA Active CN104062897B (en) | 2014-05-20 | 2014-05-20 | A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104062897B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106006342B (en) * | 2016-08-01 | 2018-01-02 | 广东工业大学 | Escalator is switched to the control method and device of frequency conversion drive by power network driving |
| CN106533319B (en) * | 2016-10-29 | 2019-03-29 | 上海新时达电气股份有限公司 | Frequency conversion and power frequency without trace switching method |
| CN109120204A (en) * | 2017-06-26 | 2019-01-01 | 株洲变流技术国家工程研究中心有限公司 | A kind of frequency converter synchronous switching-over control method |
| CN109510471B (en) | 2017-09-15 | 2022-11-04 | 奥的斯电梯公司 | Frequency converter, bypass frequency conversion control system and switching control method thereof |
| CN109921717B (en) * | 2017-12-12 | 2021-01-26 | 日立楼宇技术（广州）有限公司 | Adjustment method and system for escalator variable power frequency switching compensation angle |
| CN109921718B (en) * | 2017-12-12 | 2021-01-26 | 日立楼宇技术（广州）有限公司 | Method and system for adjusting variable working frequency switching compensation angle of escalator |
| CN108011560A (en) * | 2017-12-25 | 2018-05-08 | 深圳市英威腾电气股份有限公司 | A kind of method and system for controlling staircase |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61291390A (en) * | 1985-06-18 | 1986-12-22 | 三菱電機株式会社 | Escalator control device |
| JP3004500B2 (en) * | 1993-07-27 | 2000-01-31 | 株式会社東芝 | Escalator control device for wheelchair |
| DE10128839B4 (en) * | 2001-06-15 | 2006-11-23 | Otis Elevator Co., Farmington | Method and device for controlling the drive of a conveyor |
| DE10128840A1 (en) * | 2001-06-15 | 2003-01-09 | Otis Elevator Co | Method and device for controlling the drive of a conveyor |
| CN201012876Y (en) * | 2006-12-30 | 2008-01-30 | 北京东梅电梯有限公司 | An escalator control system |
| CN201694723U (en) * | 2010-05-22 | 2011-01-05 | 徐建康 | Smart escalator power saver |
| CN102377385B (en) * | 2010-08-26 | 2014-04-23 | 日立电梯（广州）自动扶梯有限公司 | Bypass variable frequency control device with phase detection |
-
2014
- 2014-05-20 CN CN201410214519.XA patent/CN104062897B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104062897A (en) | 2014-09-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104062897B (en) | A kind of Phase synchronization changing method and staircase work frequency conversion switched system for staircase work frequency conversion switching | |
| CN103280836B (en) | A kind of flywheel energy storage system grid-connected control method and energy-storage system thereof | |
| Dong et al. | Modes of operation and system-level control of single-phase bidirectional PWM converter for microgrid systems | |
| CN102222937B (en) | Photovoltaic grid-connected inverter and grid-connected control method thereof | |
| CN108390602B (en) | A Direct Predictive Power Control Method for Hybrid Excitation Synchronous Motors | |
| CN109193700A (en) | Frequency self- recoverage control method based on virtual synchronous generator | |
| CN104467023B (en) | Control method for gas turbine power generation device and gas turbine power generation device | |
| CN102904282A (en) | A microgrid grid-connected control method based on the inverter in the energy storage unit | |
| CN101479928A (en) | Inverter control device and its operation method | |
| CN109861609A (en) | Optimal model predictive control device and method for five-arm two-permanent magnet motor system | |
| CN102001558A (en) | Control system integrating elevator control, driving and energy feedback | |
| CN113114081B (en) | Frequency conversion and power frequency seamless switching control method, controller, system and storage medium | |
| CN102904517A (en) | Maximum power tracking control method for excitation synchronous generator | |
| CN107196344A (en) | Based on motor synchronizing virtual synchronous grid-connected inverters controllers of the SPF PLL with local load and method | |
| CN105620706A (en) | Ship electric propulsion system with harmonic suppressing and regenerative braking functions and control method | |
| CN108631363B (en) | Photovoltaic virtual synchronous control method for inverter based on master-slave control | |
| CN106130072A (en) | A kind of have bank electricity and the composite power source of energy feedback function | |
| CN104158228B (en) | Grid connection method of permanent magnet synchronous motor with no damping winding | |
| CN103986381B (en) | The microgrid of sea wave power generation system builds optimized power factor composite control method | |
| CN103312306A (en) | Pulse-width modulation method for large-power alternating-current transmission electric-driving mine car | |
| CN119051533B (en) | Control method of induction motor driving system based on current source inverter | |
| CN107508302A (en) | A kind of electric power energy-saving control method in flywheel energy storage system | |
| CN108134541B (en) | asynchronous motor soft starter and predictive feedback control method based on same | |
| CN114362250A (en) | A pre-grid-connected control method for distributed energy in green ports | |
| CN116247703B (en) | A DC bus voltage control device, method, system and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |