CN112803869A - Elevator power failure self-rescue energy feedback method and device - Google Patents
Elevator power failure self-rescue energy feedback method and device Download PDFInfo
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- CN112803869A CN112803869A CN202011623105.4A CN202011623105A CN112803869A CN 112803869 A CN112803869 A CN 112803869A CN 202011623105 A CN202011623105 A CN 202011623105A CN 112803869 A CN112803869 A CN 112803869A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using DC to AC converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for AC mains or AC distribution networks
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/46—Controlling of the sharing of output between the generators, converters, or transformers
- H02J3/466—Scheduling the operation of the generators, e.g. connecting or disconnecting generators to meet a given demand
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0063—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with circuits adapted for supplying loads from the battery
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from AC mains by converters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
- H02K11/215—Magnetic effect devices, e.g. Hall-effect or magneto-resistive elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P9/00—Arrangements for controlling electric generators for the purpose of obtaining a desired output
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2103/00—Controlling arrangements characterised by the type of generator
- H02P2103/20—Controlling arrangements characterised by the type of generator of the synchronous type
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Elevator Control (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
本发明公开了一种电梯自救能量回馈控制方法及装置，该方法包括步骤：在外部电网停电时，根据轿厢重量与对重重量的关系，驱动电梯往同步发电机发电的方向运行；实时获取变频器的母线电压值；计算母线电压值与母线电压期望值之间的母线电压偏差值；通过PI调节器调节直轴电流，使母线电压偏差值为零；实时获取三相同步电机的直轴电流反馈信号；计算直轴电流与直轴电流反馈信号之间的直轴电流偏差值；通过PI调节器调节直轴电压，使得直轴电流偏差值为零；根据直轴电压和交轴电压生成三相控制电压输出至三相同步电机。本发明可以使能量回馈电梯的停电电源柜无需额外配置制动电阻，以及相匹配的开关管、驱动回路、检测回路等，和能耗电阻散热空间等。
The invention discloses an elevator self-rescue energy feedback control method and device. The method comprises the steps of: when an external power grid is powered off, according to the relationship between the car weight and the counterweight weight, drive the elevator to run in the direction of synchronous generator power generation; real-time acquisition The bus voltage value of the inverter; calculate the bus voltage deviation value between the bus voltage value and the expected value of the bus voltage; adjust the direct axis current through the PI regulator to make the bus voltage deviation value zero; obtain the direct axis current of the three-phase synchronous motor in real time Feedback signal; calculate the direct axis current deviation value between the direct axis current and the direct axis current feedback signal; adjust the direct axis voltage through the PI regulator, so that the direct axis current deviation value is zero; generate three according to the direct axis voltage and quadrature axis voltage. The phase control voltage is output to the three-phase synchronous motor. The invention can make the power-off power cabinet of the energy feedback elevator do not need to be additionally equipped with braking resistors, matching switch tubes, drive circuits, detection circuits, etc., and energy dissipation resistor heat dissipation space.
Description
Technical Field
The invention belongs to the technical field of elevator control, and particularly relates to a self-rescue energy feedback method and device for an elevator in power failure.
Background
As a common device, an elevator is inevitably subjected to power failure, at the moment, in order to reduce energy consumption during power failure self-rescue and save the battery capacity of a power failure power supply cabinet, the power failure self-rescue operation mode of the elevator is generally a power generation operation mode, the elevator with non-energy feedback is an elevator, a synchronous motor performs low-speed power generation operation through energy consumption braking, and the elevator with energy feedback has no braking resistance configuration. The existing technology is to dispose a dynamic braking resistor in a power failure cabinet to consume the generated energy. The energy consumption resistor is matched with a switching tube, a driving circuit, a detection circuit and the like which are matched, and the energy consumption resistor is matched with a heat dissipation space and the like. In addition, the heating of the energy consumption resistor can improve the temperature rise of the whole power failure power supply cabinet, the stability of parts in the cabinet is reduced, and the service life is shortened.
Disclosure of Invention
In order to overcome the technical defects, the invention provides a self-rescue ability feedback method and a self-rescue ability feedback device for an elevator, which do not need to be additionally provided with a brake resistor.
In order to solve the problems, the invention is realized according to the following technical scheme:
a self-rescue energy feedback control method for an elevator comprises the following steps:
when the external power grid has power failure, the elevator is driven to move towards the power generation direction of the synchronous generator according to the relation between the weight of the lift car and the weight of the counterweight;
acquiring a bus voltage value of the frequency converter in real time;
calculating a bus voltage deviation value between the bus voltage value and a bus voltage expected value;
regulating the direct-axis current through a PI regulator to enable the deviation value of the bus voltage to be zero;
acquiring a direct-axis current feedback signal of the three-phase synchronous motor in real time;
calculating a direct-axis current deviation value between the direct-axis current and the direct-axis current feedback signal;
regulating the direct-axis voltage through a PI regulator to enable the direct-axis current deviation value to be zero;
and generating three-phase control voltage according to the direct-axis voltage and the quadrature-axis voltage and outputting the three-phase control voltage to the three-phase synchronous motor.
As a further improvement of the invention, when the external power grid is powered off, the method also comprises the following steps: and an internal power supply of the power failure power supply cabinet is used for supplying power to the elevator.
As a further improvement of the present invention, the step of driving the running direction of the elevator based on the relationship between the weight of the car and the weight of the counterweight includes the steps of:
when the weight of the lift car is lighter than that of the counterweight, the elevator is driven to move downwards;
when the weight ratio of the car is heavier than the weight ratio, the elevator is driven to move upward.
As a further improvement of the present invention, the step of obtaining the direct-axis current feedback signal of the three-phase synchronous motor in real time includes the following steps:
respectively acquiring three-phase current and magnetic pole positions of the three-phase synchronous motor through a current sensor and a motor magnetic pole position detector;
according to the three-phase current and the magnetic pole position, CLARK/PARK conversion is carried out to obtain the direct-axis current feedback signal.
As a further improvement of the present invention, the step of obtaining the direct-axis current feedback signal of the three-phase synchronous motor in real time includes the following steps:
respectively acquiring any two-phase current and any two-phase magnetic pole position of the three-phase synchronous motor through a current sensor and a motor magnetic pole position detector;
calculating according to the two-phase currents to obtain three-phase currents;
according to the three-phase current and the magnetic pole position, CLARK/PARK conversion is carried out to obtain the direct-axis current feedback signal.
As a further improvement of the present invention, the step of generating a three-phase control voltage according to the direct-axis voltage and the quadrature-axis voltage and outputting the three-phase control voltage to the three-phase synchronous motor comprises the following steps:
performing CLARK/PARK inverse transformation on the direct-axis voltage and the quadrature-axis voltage to obtain three-phase voltage;
and performing PWM control on the inverter side of the frequency converter according to the three-phase voltage to obtain the three-phase control voltage.
As a further improvement of the present invention, the present invention further includes a method for determining a relationship between the car weight and the counterweight weight, comprising:
arranging a car sensor on the car to acquire the weight of the car in real time;
a rope end sensor is arranged at the counterweight rope end to acquire the counterweight weight in real time;
judging the relationship between the car weight and the counterweight weight according to the car weight and the counterweight weight;
or detecting the output torque direction of the frequency converter when the speed of the three-phase synchronous motor is zero;
and judging the relationship between the two according to the direction of the output torque.
In addition, the invention also provides an elevator self-rescue energy feedback control device, which is applied to an elevator, wherein the elevator is provided with a three-phase alternating current power supply, a frequency converter full-bridge rectification circuit, a frequency converter inverter circuit and a three-phase synchronous motor which are sequentially connected, and the elevator energy self-rescue feedback control device comprises:
the control unit is used for driving the elevator to run towards the power generation direction of the synchronous generator according to the relation between the weight of the lift car and the weight of the counterweight when the external power grid is powered off;
the voltage collector is used for acquiring the bus voltage value of the frequency converter in real time;
the control unit is connected with the voltage collector and is used for calculating a bus voltage deviation value between the bus voltage value and a bus voltage expected value;
the PI regulator is used for regulating the direct-axis current to enable the deviation value of the bus voltage to be zero;
the current sensor is arranged on the frequency converter and used for acquiring the phase current of the three-phase synchronous motor;
the motor magnetic pole position detector is arranged on the three-phase synchronous motor and used for acquiring the magnetic pole position of the three-phase synchronous motor;
the control unit is connected with the current sensor and the motor magnetic pole position detector and used for acquiring direct axis current feedback signals according to the phase currents and the magnetic pole positions and calculating direct axis current deviation values between the direct axis currents and the direct axis current feedback signals;
the PI regulator regulates the direct-axis voltage to enable the direct-axis current deviation value to be zero;
and the control unit obtains three-phase control voltage according to the direct-axis voltage and the quadrature-axis voltage and outputs the three-phase control voltage to the inverter circuit of the frequency converter.
As a further improvement of the present invention, the present invention further includes a power failure power supply cabinet connected between the three-phase ac power supply and the full-bridge rectifier circuit of the inverter, wherein the power failure power supply cabinet includes: the device comprises a charging module, a battery pack, a discharging module, a first switch and a second switch;
the three-phase alternating current power supply passes through first switch with the full-bridge rectifier circuit of converter is connected, three-phase alternating current power supply with the module of charging is connected, the module of charging the group battery the module of discharging connects in order, the module of discharging pass through the second switch with the full-bridge rectifier circuit of converter is connected.
As a further improvement of the invention, the invention also comprises: the CLARK/PARK inverse transformation module and the PWM driving module;
the CLARK/PARK inverse transformation module is connected with the control unit, acquires the direct axis voltage and the quadrature axis voltage, and carries out CLARK/PARK inverse transformation on the direct axis voltage and the quadrature axis voltage to obtain three-phase voltage;
the PWM driving module carries out PWM control according to the three-phase voltage to obtain the three-phase control voltage;
the control unit further includes: the CLARK/PARK conversion module is used for carrying out CLARK/PARK conversion on the phase current and the magnetic pole position to obtain the direct-axis current feedback signal.
Compared with the prior art, the invention has the following technical effects: firstly, when power failure self-rescue occurs, the elevator runs in the power generation direction, the elevator works in a low-power generation state, and the bus voltage and the motor direct-axis current are adjusted by setting the outer ring as a bus voltage ring and the inner ring as a direct-axis current ring, so that the power generation energy is reversely transmitted to the motor coil to be consumed in the form of heat energy. Therefore, the power failure power cabinet of the energy feedback elevator does not need to be additionally provided with a brake resistor, a matched switch tube, a driving loop, a detection loop and the like, an energy consumption resistor heat dissipation space and the like, so that the size of the power failure power cabinet is reduced. Meanwhile, the temperature rise in the power failure power supply cabinet is reduced, and the stability and the service life of the device are improved.
Drawings
Embodiments of the invention are described in further detail below with reference to the attached drawing figures, wherein:
fig. 1 is a control flow chart of the elevator self-rescue energy feedback control method according to the embodiment;
fig. 2 is a control flow chart of the elevator self-rescue energy feedback control method according to the second embodiment.
Description of the labeling: 1. a three-phase AC power supply; 2. a power failure power supply cabinet; 21. a charging module; 22. a battery pack; 23. a discharge module; 24. a first switch; 25. a second switch; 3. a full-bridge rectifier circuit of the frequency converter; 4. a frequency converter bus capacitor; 5. a frequency converter inverter side circuit; 6. a U-phase current sensor; 7. a V-phase current sensor; 8. a W-phase current sensor; 9. a three-phase synchronous motor; 10. a PI regulator; 11. a voltage collector; 12. a control unit; 121. a CLARK/PARK inverse transformation module; 122. a CLARK/PARK transformation module; 123. a PWM driving module; 13. and a current calculation module.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example one
The embodiment provides a self-rescue energy feedback control method for an elevator, which comprises the following steps as shown in fig. 1:
s1, when the external power grid has a power failure, driving the elevator to move towards the power generation direction of the synchronous generator according to the relation between the weight of the lift car and the weight of the counterweight;
s2, acquiring a bus voltage value of the frequency converter in real time;
s3, calculating a bus voltage deviation value between the bus voltage value and the bus voltage expected value;
s4, regulating the direct-axis current through the PI regulator 10 to enable the deviation value of the bus voltage to be zero;
s5, acquiring a direct-axis current feedback signal of the three-phase synchronous motor 9 in real time;
s6, calculating a direct-axis current deviation value between the direct-axis current and the direct-axis current feedback signal;
s7, regulating the direct-axis voltage through the PI regulator 10 to enable the direct-axis current deviation value to be zero;
and S8, generating three-phase control voltage according to the direct-axis voltage and the quadrature-axis voltage and outputting the three-phase control voltage to the three-phase synchronous motor 9.
In the above embodiment, when the external power grid fails, the method further includes the following steps: the power supply inside the power failure power cabinet 2 is used for supplying power to the elevator.
In the above embodiment, step S1 includes the steps of:
s11, when the weight of the lift car is lighter than that of the counterweight, the elevator is driven to move downwards to perform power failure self-rescue operation;
and S12, when the weight ratio of the lift car to the weight of the weight is heavy, driving the elevator to move upwards to move, and performing self-rescue operation in power failure.
In the above embodiment, step S5 includes the steps of:
s51, respectively acquiring three-phase current and magnetic pole positions of the three-phase synchronous motor 9 through a current sensor and a motor magnetic pole position detector;
and S52, performing CLARK/PARK inverse transformation according to the three-phase current and the magnetic pole position to obtain a direct-axis current feedback signal.
In addition, the embodiment also comprises a method for judging the relation between the car weight and the counterweight weight, which comprises the following steps:
s13, arranging a car sensor on the car to obtain the weight of the car in real time;
s14, arranging a rope end sensor at the counterweight rope end to acquire the counterweight weight in real time;
and S15, judging the relationship between the car weight and the counterweight weight according to the car weight and the counterweight weight.
When the elevator runs in the power-off self-rescue direction, the elevator works in a low-power generation state, and the bus voltage and the direct-axis current of the motor are adjusted by setting the outer ring as the bus voltage ring and the inner ring as the direct-axis current ring, so that the power generation energy is reversely transmitted to the motor coil to be consumed in the form of heat energy. Therefore, the power failure power cabinet of the energy feedback elevator does not need to be additionally provided with a brake resistor, a matched switch tube, a driving loop, a detection loop and the like, an energy consumption resistor heat dissipation space and the like, so that the size of the power failure power cabinet is reduced. Meanwhile, the temperature rise in the power failure power supply cabinet is reduced, and the stability and the service life of the device are improved.
Example two
The embodiment provides another elevator self-rescue energy feedback control method, as shown in fig. 2, which is different from the first embodiment in that the step of obtaining the direct-axis current feedback signal of the three-phase synchronous motor 9 in real time is implemented by the following steps:
s53, acquiring any two-phase current and any two-phase magnetic pole position of the three-phase synchronous motor 9 through the current sensor and the motor magnetic pole position detector, in this embodiment, current sensors are provided on both the U-phase and the V-phase of the three-phase synchronous motor 9, acquiring the U-phase current and the V-phase current of the three-phase synchronous motor 9, respectively, and calculating the W-phase current;
s54, calculating to obtain three-phase current according to the two-phase current of the U-phase and the V-phase, and calculating to obtain the current of the W-phase through the relation that the sum of the three-phase current is equal to zero, wherein the calculation formula is as follows: i isW＝IU-IV；
And S55, carrying out CLARK/PARK inverse transformation according to the three-phase current and the magnetic pole position to obtain a direct-axis current feedback signal.
In addition, the method for judging the relationship between the car weight and the counterweight weight adopted in the embodiment is different from the first embodiment, and the embodiment is realized by adopting the following steps:
s16, detecting the output torque direction of the frequency converter when the speed of the three-phase synchronous motor 9 is zero;
and S17, judging the relationship between the two according to the direction of the output torque.
For a specific implementation process of this embodiment, please refer to embodiment one, which is not described herein.
EXAMPLE III
This embodiment provides an elevator energy repayment controlling means that saves oneself, uses on an elevator, as shown in fig. 1 and fig. 2, the elevator is provided with three-phase alternating current power supply 1, converter full-bridge rectifier circuit 3, converter inverter circuit and the three-phase synchronous machine 9 that connects in order, and elevator energy repayment controlling means that saves oneself includes: the elevator control system comprises a control unit 12, a voltage collector 11, a PI regulator 10, a current sensor and a motor magnetic pole position detector, wherein the control unit 12 is used for driving an elevator to run towards the power generation direction of a synchronous generator according to the relation between the weight of a car and the weight of a counterweight when an external power grid is powered off; the voltage collector 11 acquires a bus voltage value of the frequency converter in real time; the control unit 12 is connected with the voltage collector 11 and is used for calculating a bus voltage deviation value between a bus voltage value and a bus voltage expected value; the PI regulator 10 is used for regulating the direct-axis current to enable the deviation value of the bus voltage to be zero; the current sensor is arranged on the frequency converter and used for acquiring the phase current of the three-phase synchronous motor 9, and the current sensor can be a Hall sensor; the motor magnetic pole position detector is arranged on the three-phase synchronous motor 9 and used for acquiring the magnetic pole position of the three-phase synchronous motor 9, and the motor magnetic pole position detector can be a rotary encoder; the control unit 12 is connected with the current sensor and the motor magnetic pole position detector, and is used for acquiring a direct axis current feedback signal according to the phase current and the magnetic pole position, and calculating a direct axis current deviation value between the direct axis current and the direct axis current feedback signal; the PI regulator 10 regulates the direct-axis voltage to enable the direct-axis current deviation value to be zero; the control unit 12 obtains a three-phase control voltage according to the direct-axis voltage and the quadrature-axis voltage and outputs the three-phase control voltage to the inverter circuit of the frequency converter.
For a specific implementation process of the above apparatus, please refer to embodiment one, which is not described in detail herein.
In addition, this embodiment still includes the power failure power cabinet 2 of connecting between three-phase alternating current power supply 1 and converter full-bridge rectifier circuit 3, and power failure power cabinet 2 includes: a charging module 21, a battery pack 22, a discharging module 23, a first switch 24, and a second switch 25; the three-phase alternating current power supply 1 is connected with the frequency converter full-bridge rectification circuit 3 through the first switch 24, the three-phase alternating current power supply 1 is connected with the charging module 21, the battery pack 22 and the discharging module 23 are sequentially connected, and the discharging module 23 is connected with the frequency converter full-bridge rectification circuit 3 through the second switch 25.
In the using process, when the external power grid supplies power normally, the first switch 24 is closed, the second switch 25 is opened, the charging module 21 charges the battery pack 22 through the external power grid, the discharging module 23 does not work, and the elevator works normally by using the external power grid. When the external power grid is powered off, the first switch 24 is switched off, the second switch 25 is switched on, the charging module 21 stops charging the battery pack 22, the discharging module 23 supplies power to the elevator through the battery pack 22, and the elevator is in a self-rescue working condition in power failure at the moment.
Specifically, the control unit 12 includes: a CLARK/PARK inverse transformation module 121 and a PWM driving module 123; the CLARK/PARK inverse transformation module 121 carries out CLARK/PARK inverse transformation on the direct-axis voltage and the alternating-axis voltage to obtain three-phase voltage; the PWM driving module 123 performs PWM control according to the three-phase voltage, to obtain a three-phase control voltage.
The control unit 12 further includes: the CLARK/PARK conversion module 122 is used for carrying out CLARK/PARK conversion on the phase current and the magnetic pole position to obtain a direct-axis current feedback signal.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, so that any modification, equivalent change and modification made to the above embodiment according to the technical spirit of the present invention are within the scope of the technical solution of the present invention.
Claims (10)
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| CN202011623105.4A CN112803869A (en) | 2020-12-30 | 2020-12-30 | Elevator power failure self-rescue energy feedback method and device |
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| CN202011623105.4A CN112803869A (en) | 2020-12-30 | 2020-12-30 | Elevator power failure self-rescue energy feedback method and device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114865699A (en) * | 2022-05-25 | 2022-08-05 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
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| CN108599251A (en) * | 2018-05-21 | 2018-09-28 | 日立楼宇技术（广州）有限公司 | Elevator tandem energy back-feed control method and system |
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- 2020-12-30 CN CN202011623105.4A patent/CN112803869A/en active Pending
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| CN1067632A (en) * | 1991-06-12 | 1993-01-06 | 三菱电机株式会社 | Elevator power failure operation device |
| JPH0551182A (en) * | 1991-06-12 | 1993-03-02 | Mitsubishi Electric Corp | Elevator operating device during power failure time |
| JP2005102410A (en) * | 2003-09-25 | 2005-04-14 | Mitsubishi Electric Corp | Control unit of elevator |
| JP2005145687A (en) * | 2003-11-18 | 2005-06-09 | Mitsubishi Electric Corp | Elevator controller |
| JP2007135311A (en) * | 2005-11-10 | 2007-05-31 | Yaskawa Electric Corp | Motor controller |
| CN108599251A (en) * | 2018-05-21 | 2018-09-28 | 日立楼宇技术（广州）有限公司 | Elevator tandem energy back-feed control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114865699A (en) * | 2022-05-25 | 2022-08-05 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
| CN114865699B (en) * | 2022-05-25 | 2024-03-22 | 石河子大学 | Multi-motor energy feedback control method for flying inspection robot |
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