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CN113184655A - ARD system control method, device, electronic equipment and storage medium - Google Patents

ARD system control method, device, electronic equipment and storage medium Download PDF

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Publication number
CN113184655A
CN113184655A CN202110456654.5A CN202110456654A CN113184655A CN 113184655 A CN113184655 A CN 113184655A CN 202110456654 A CN202110456654 A CN 202110456654A CN 113184655 A CN113184655 A CN 113184655A
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ard
current
voltage
host
slave
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CN113184655B (en
Inventor
张文智
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Suzhou Inovance Technology Co Ltd
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Suzhou Inovance Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/021—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions the abnormal operating conditions being independent of the system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3423—Control system configuration, i.e. lay-out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0037—Performance analysers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
    • B66B5/027—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions to permit passengers to leave an elevator car in case of failure, e.g. moving the car to a reference floor or unlocking the door
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/30—Details of the elevator system configuration
    • B66B2201/304—Transit control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/403—Details of the change of control mode by real-time traffic data

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Supply And Distribution Of Alternating Current (AREA)
  • Inverter Devices (AREA)

Abstract

The invention belongs to the technical field of elevators and discloses an ARD system control method, an ARD system control device, electronic equipment and a storage medium. The ARD system is formed by connecting an ARD master and a plurality of ARD slaves in parallel, and the method comprises the following steps: the ARD host detects the current state of an external power grid; when the current state is an abnormal state, the ARD host disconnects a connecting contactor of the elevator to be rescued, and outputs inversion voltage to supply power for the elevator to be rescued after delaying preset time; the ARD slave machines pre-synchronize the ARD host machine to obtain preset synchronous voltage, and carry out wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host machine; the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current-equalizing control on the current output inverter voltage according to the detection result. The invention can realize the parallel capacity expansion of the elevator rescue power supply, improves the flexibility of the ARD configuration and meets the requirements of elevators in different power sections.

Description

ARD system control method, device, electronic equipment and storage medium
Technical Field
The invention relates to the technical field of elevators, in particular to an ARD system control method, an ARD system control device, electronic equipment and a storage medium.
Background
An Automatic Rescue Device (ARD) for elevators is a special Rescue power supply Device specially designed for elevator application scenes. When the elevator is in use, if a power supply system (external power grid) fault (power failure, phase failure) occurs, the life and property safety of passengers trapped in the elevator can be threatened. The ARD is put into operation when the situation occurs, specifically, a connecting line between the elevator and an external power grid is disconnected, meanwhile, a battery matched with the ARD is used for supplying power to an elevator control system through an inverter technology, and the ARD is matched with the elevator control system to slowly move the elevator car to a nearby landing (or an appointed landing) to open a door, so that passengers can quickly escape from the elevator car. At present, the ARDs are arranged on the elevator application site in a single mode, and the ARDs of corresponding power sections are generally configured according to the power section where the elevator is located.
However, with the development of elevator technology, elevators with different application scenes and different power sections are produced at the same time, so that the working conditions of the elevator application site are very complicated, and the current ARD single-machine scheme cannot meet the requirements of different users on power supply power.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an ARD system control method, an ARD system control device, electronic equipment and a storage medium, and aims to realize multi-machine parallel capacity expansion of an automatic elevator rescue device.
In order to achieve the above object, the present invention provides an ARD system control method, where the ARD system is formed by connecting an ARD master in parallel with a plurality of ARD slaves, the method including:
the ARD host detects the current state of an external power grid;
when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs inversion voltage to supply power to the elevator to be rescued after delaying for a preset time;
the ARD slave computer pre-synchronizes the ARD host computer to obtain a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host computer;
and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result.
Optionally, the step of detecting, by the ARD master and the ARD slave, the current active power and the current reactive power in real time, and performing current-sharing control on the currently output inverter voltage according to the detection result specifically includes:
the ARD host and the ARD slave detect the current load voltage and the current load current in real time and acquire fundamental wave electric energy information according to the current load voltage and the current load current;
acquiring current active power and current reactive power according to the fundamental wave electric energy information, and taking the current active power and the current reactive power as detection results;
and performing current-sharing control on the currently output inverter voltage according to the detection result and a preset PQ droop algorithm.
Optionally, the step of detecting a current load voltage and a current load current in real time by the ARD master and the ARD slave, and acquiring fundamental wave electric energy information according to the current load voltage and the current load current includes:
the ARD host and the ARD slave detect the current load voltage and the current load current in real time;
performing Fourier series conversion on the current load voltage and the current load current to obtain a conversion result;
separating the conversion result according to standard fundamental wave sine and cosine to obtain fundamental wave electric energy information to be processed;
calculating according to a discretization algorithm and the fundamental wave electric energy information to be processed to obtain fundamental wave electric energy information;
the fundamental wave electric energy information comprises fundamental wave current and fundamental wave voltage.
Optionally, the step of performing current-output inverter voltage average control according to the detection result and the preset PQ droop algorithm specifically includes:
acquiring frequency information and amplitude information of currently output inverter voltage according to a preset PQ droop control formula, current active power and current reactive power;
performing current-sharing control on the currently output inverter voltage according to the frequency information and the amplitude information;
the preset PQ droop control formula is as follows:
Figure BDA0003039672900000031
wherein, ω isnFor the frequency information, VnAs amplitude information, kpωIs an active frequency coefficient, PnFor the current active power, kqvIs a reactive amplitude coefficient, QnFor the current reactive power, ω is the frequency at idle, V is the amplitude at idle, k1、k2Is a scaling factor.
In addition, in order to achieve the above object, the present invention further provides an ARD system control method, where the ARD system is formed by connecting an ARD master and a plurality of ARD slaves in parallel, and the control method is applied to the ARD slaves;
when the current state of an external power grid is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and an elevator to be rescued, a preset time delay is carried out, an inversion voltage is output to supply power to the elevator to be rescued, an ARD slave computer carries out presynchronization on the ARD host computer to obtain a preset synchronous voltage, and wave generation inversion is carried out according to the preset synchronous voltage to form parallel output with the ARD host computer;
the ARD slave machine detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
Optionally, the step of pre-synchronizing the ARD master by the ARD slave to obtain a preset synchronization voltage, and performing wave-sending inversion according to the preset synchronization voltage to form parallel output with the ARD master includes:
the ARD slave machine detects the current state of the ARD host machine, and when the current state is a wave-sending inversion state, the ARD slave machine performs phase locking on the inversion voltage to obtain a preset synchronous voltage;
and carrying out wave-generating inversion according to the preset synchronous voltage so as to form parallel output with the ARD host.
In addition, in order to achieve the above object, the present invention further provides an ARD system control method, where the ARD system is formed by connecting an ARD master and a plurality of ARD slaves in parallel, and the control method is applied to the ARD master;
the ARD host detects the current state of an external power grid;
when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs an inversion voltage to supply power to the elevator to be rescued after delaying for a preset time length, so that an ARD slave machine pre-synchronizes the ARD host, obtains a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage;
when the ARD slave machine conducts wave-sending inversion according to the preset synchronous voltage, the ARD host machine and the ARD slave machine form parallel output;
the ARD host detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
Further, to achieve the above object, the present invention also proposes an ARD system control apparatus, comprising: the system comprises a master control module and a slave control module;
the main control module is used for controlling the ARD host to detect the current state of the external power grid;
the main control module is further used for controlling the ARD host to disconnect a connecting contactor between the external power grid and the elevator to be rescued when the current state is an abnormal state, and outputting an inverter voltage to supply power to the elevator to be rescued after delaying a preset time;
the slave control module is used for controlling the ARD slave machine to pre-synchronize the ARD host machine so as to obtain a preset synchronous voltage, and performing wave-sending inversion according to the preset synchronous voltage so as to form parallel output with the ARD host machine;
and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result.
Further, to achieve the above object, the present invention also proposes an electronic device including a memory, a processor, and an ARD system control program stored on the memory and executable on the processor, the ARD system control program being configured to implement the steps of the ARD system control method as described above.
Further, to achieve the above object, the present invention also proposes a storage medium having stored thereon an ARD system control program which, when executed by a processor, realizes the steps of the ARD system control method as described above.
According to the invention, the ARD system formed by connecting the ARD host and the plurality of the ARD slave machines in parallel is arranged, and the ARD host detects the current state of an external power grid; when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs inversion voltage to supply power to the elevator to be rescued after delaying for a preset time; the ARD slave computer pre-synchronizes the ARD host computer to obtain a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host computer; and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result. Through the technical scheme, the parallel capacity expansion of the elevator rescue power supply can be realized, the flexibility of the ARD configuration is improved, and the requirements of elevators in different application scenes and different power sections can be met.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the method for controlling the ARD system of the present invention;
FIG. 3 is a parallel control topology according to an embodiment of the method for controlling the ARD system of the present invention;
FIG. 4 is a schematic diagram illustrating the PQ-based droop control of an embodiment of the ARD system of the present invention;
FIG. 5 is a timing chart of parallel operation according to an embodiment of the ARD system control method of the present invention;
FIG. 6 is a schematic diagram of two inverter modules connected in parallel according to an embodiment of the method for controlling an ARD system of the present invention;
FIG. 7 is a schematic diagram illustrating droop control based on the modified PQ method according to an embodiment of the ARD system control method of the present invention;
FIG. 8 is a flowchart illustrating a second embodiment of the method for controlling the ARD system of the present invention;
fig. 9 is a block diagram showing the configuration of the first embodiment of the ARD system control apparatus according to the present invention.
The reference numbers illustrate:
reference numerals Name (R) Reference numerals Name (R)
100 ARD host Z Virtual inductive impedance
200 ARD slave PCC Common connection point
300 Load(s)
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an electronic device in a hardware operating environment according to an embodiment of the present invention.
As shown in fig. 1, the electronic device may include: a processor 1001, such as a Central Processing Unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a Random Access Memory (RAM) Memory, or may be a Non-Volatile Memory (NVM), such as a disk Memory. The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration shown in fig. 1 does not constitute a limitation of the electronic device and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a storage medium, may include therein an operating system, a network communication module, a user interface module, and an ARD system control program.
In the electronic apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with a network server; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the electronic device according to the present invention may be provided in the electronic device, and the electronic device calls the ARD system control program stored in the memory 1005 through the processor 1001 and executes the ARD system control method provided by the embodiment of the present invention.
An embodiment of the present invention provides an ARD system control method, and referring to fig. 2, fig. 2 is a schematic flow diagram of a first embodiment of an ARD system control method according to the present invention.
Referring to fig. 3, fig. 3 is a parallel control topology according to an embodiment of the ARD system control method of the present invention; the ARD system is formed by connecting an ARD master machine and a plurality of ARD slave machines in parallel. In fig. 3, the load 300 is a load corresponding to an elevator to be rescued, and the ARD master 100 is connected in parallel with a plurality of ARD slaves 200. The host machine and the slave machine can adopt the machine type with a single power section or the machine types with different power sections, and the host machine and the slave machine are independent machine bodies. Fig. 3 includes only two slaves for explanation, but more slaves may be provided in the implementation, and this embodiment does not impose a limitation on this.
The ARD master and the ARD slave each include a controller, a voltage source, and an inverter (not shown in the drawings, but do not affect the explanation of the embodiment); the control end of the controller is connected with the controlled end of the inverter, the input end of the inverter is connected with the output end of the voltage source, and the output end of the inverter is connected with the input end of the load of the elevator to be rescued.
Based on the topology, in this embodiment, the ARD system control method includes the following steps:
step S10: the ARD host detects the current state of the external power grid.
The external power grid is an external power grid for supplying power to the elevator, the elevator and the external power grid are connected by a power supply line, and the disconnection and connection of the power supply line are controlled by a connection contactor.
Step S20: when the current state is an abnormal state, the ARD host disconnects the connecting contactor between the external power grid and the elevator to be rescued, and outputs inversion voltage to supply power to the elevator to be rescued after delaying preset time.
In a specific implementation, the abnormal state may be that the external power grid is influenced by the total power grid and has insufficient supply voltage, and cannot supply voltage for the elevator; external grid outages, such as regional power limits, etc.; the abnormal state causes that the elevator can not receive normal power supply voltage, stops working or has poor working state.
Referring to fig. 5, fig. 5 is a timing chart illustrating parallel operation according to an embodiment of the ARD system control method of the present invention.
For example, when the external power grid is powered off at the time t1, the ARD host cuts off a connecting contactor between the external power grid and the elevator to be rescued, and after the ARD host delays for a preset time, the ARD host starts wave-generating inversion at the time t2 (without a phase-locking presynchronization step).
It should be noted that the preset time may be 3s, the ARD host includes a voltage source, a controller and an inverter, the controller may execute a corresponding software algorithm, the software algorithm adds droop control, the controller of the ARD slave also has a function of executing the software algorithm, which is explained in the following steps, and details are not repeated here.
Step S30: the ARD slave computer pre-synchronizes the ARD host computer to obtain a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host computer;
it is easy to understand that the ARD master is started before the ARD slave, so in order to keep the master and the slave synchronized after the ARD slave is started, the ARD slave needs to be pre-synchronized, and the purpose of pre-synchronization is to obtain a given pre-synchronization voltage, so that the wave-sending inversion of the ARD slave and the master is kept consistent with that of the ARD master.
Further, step S30 specifically includes: the ARD slave machine detects the current state of the ARD host machine, and when the current state is a wave-sending inversion state, the ARD slave machine performs phase locking on the inversion voltage to obtain a preset synchronous voltage; and carrying out wave-generating inversion according to the preset synchronous voltage so as to form parallel output with the ARD host.
Continuing to refer to fig. 5, as can be seen from fig. 5, when the external power grid is powered off to cause an abnormal state, the slave device also detects the external power grid power off at time t1, enters a preparation mode, and starts to detect whether the ARD master device starts to operate. As described above, the ARD slave and the ARD master may be of the same type, have the same function, and only the start timing is different in the present control method. And (3) supplying power to the ARD host at the time of t2, detecting that the current state of the ARD host is a wave-sending inversion state by the ARD slave, and starting to perform parallel operation pre-synchronization. The main way of pre-synchronization is to phase lock the voltage output by the ARD host to the load. The phase lock is used for providing given voltage during presynchronization to obtain presynchronization voltage. In the pre-synchronization period, the ARD slave is not excited and inverted. At the time t3, the ARD slave completes the presynchronization operation and starts to invert, and the parallel connection stage is from the time t3 to the time t 4.
Step S40: and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result.
It should be noted that the current sharing control principle applied in this embodiment is a droop principle, which is based on the classic PQ method (P means active power and Q means reactive power in the PQ method), and is based on the inductive lead connection between the inverter and the common connection point, and there is no inductive lead inductance in practice, and virtual inductive impedance is used instead in software.
Further, step S40 specifically includes: the ARD host and the ARD slave detect the current load voltage and the current load current in real time and acquire fundamental wave electric energy information according to the current load voltage and the current load current; acquiring current active power and current reactive power according to the fundamental wave electric energy information, and taking the current active power and the current reactive power as detection results; and performing current-sharing control on the currently output inverter voltage according to the detection result and a preset PQ droop algorithm.
Referring to fig. 4 and 6, fig. 4 is a schematic diagram illustrating the PQ method droop control according to an embodiment of the ARD control method of the present invention; fig. 6 is a schematic parallel diagram of two inverter modules according to an embodiment of the ARD system control method of the present invention.
Wherein, Z in FIG. 60For the virtual inductive impedance, the line impedance of two inverter power supplies (assuming that the inverter power supplies are the inverter and power supply combination of the ARD master and the ARD slave) is Rn + jXn, and the angle of the output voltage of each inverter power supply relative to the PCC Point (Point of Common Coupling, the connection Point of more than one user load in the power system) of the parallel load side voltage is Rn + jXn
Figure BDA0003039672900000081
Output current I of nth inverteronAs shown in the following equation (1), the line impedance may be approximated to 0 because the line impedance exhibits an inductive characteristic R:
Figure BDA0003039672900000091
wherein, VonFor the inverter output voltage, V0Is the common junction voltage.
The multiplex rate S output by the nth inverter power supply is obtained simultaneouslynThe formula is shown in the following formula (2):
Figure BDA0003039672900000092
the relation between the active P and the reactive Q and the voltage of each node can be obtained by combining the above equations (1) and (2) as shown in the following equation (3)While due to the power angle
Figure BDA0003039672900000093
Is relatively small, so
Figure BDA0003039672900000094
Approximately equal to 1 and approximately equal to,
Figure BDA0003039672900000095
approximately equal to 0.
Figure BDA0003039672900000096
Further, by differentiating the formula (3), the formula (4) can be obtained as follows:
Figure BDA0003039672900000097
the formula (4) can analyze that the phase change of the output voltage influences the active change of the output voltage, and the amplitude change of the output voltage influences the output reactive power of the output voltage. The more modules the phase leads, the larger the output active power is, the larger the amplitude is, and the larger the output reactive power is. Therefore, active power and reactive power of the output of the inverter are controlled only by adjusting the amplitude and the phase of the expected output voltage, and the frequency of the output voltage is adjusted to change the phase so as to adjust the active power. The above is the basic idea of the PQ method. The control formula is shown in the following formula (5):
ωn＝ω*-kpωPn，Vn＝V*-kqvQn (5)
where ω is the frequency at no load and V is the amplitude at no load. Referring to fig. 4, it can be seen from fig. 4 that when a module with high active power is output, the frequency will be reduced by the droop algorithm, so that the phase will also be reduced, and therefore the active power is reduced, and the power balance is achieved. When the module with large output reactive power is used, the amplitude value of the module is reduced through a droop algorithm, so that the reactive power is reduced, and the balance of the reactive power is achieved.
It should be understood that the practical application scenario of this embodiment is not in an ideal state, the above droop control scheme mainly considers the droop current sharing algorithm that should be used in a steady state, mainly when the phase difference between the PCC point voltage and the actual inverter output voltage is not large in the ideal state, but this method is not applicable at the time of the inverter being turned on, that is, dynamic performance is not considered.
Further, in order to effectively perform current sharing control, the step of performing current sharing control on the currently output inverter voltage according to the detection result and the preset PQ droop algorithm specifically includes: acquiring frequency information and amplitude information of currently output inverter voltage according to a preset PQ droop control formula, current active power and current reactive power; performing current-sharing control on the currently output inverter voltage according to the frequency information and the amplitude information; the preset PQ droop control formula is as follows:
Figure BDA0003039672900000101
wherein, ω isnFor the frequency information, VnAs amplitude information, kpωIs an active frequency coefficient, PnFor the current active power, kqvIs a reactive amplitude coefficient, QnFor the current reactive power, ω is the frequency at idle, V is the amplitude at idle, k1、k2Is a scaling factor.
The above formula improves the PQ droop control method, performs active differential compensation on the frequency, and performs reactive power compensation on the amplitude, and in conclusion, the control block diagram of the droop current sharing system added with the PQ droop method can be obtained as shown in fig. 7.
Referring to fig. 7, fig. 7 illustrates droop control based on the modified PQ method according to an embodiment of the ARD system control method of the present invention; the method comprises the steps of firstly obtaining current load voltage and current, calculating active power and reactive power, carrying out droop control based on the active power and the reactive power through software control, carrying out active differential compensation on frequency, carrying out reactive power compensation on amplitude (the frequency to be compensated is 50Hz in fig. 7, the amplitude to be compensated is 311V, and other amplitudes or frequencies can be possible according to different types of elevators in specific implementation, wherein the amplitude or frequencies are not limited in the embodiment), executing a voltage synthesis step after compensation to generate corresponding compensation voltage Uref, and simultaneously obtaining load voltage and current according to a virtual impedance principle to calculate and generate a final pulse width modulation signal so as to control the output voltage of an inverter and form synchronous parallel operation of a host machine and a slave machine which are matched with each other.
Further, after step S40, the method further includes: and when a rescue completion signal sent by the elevator to be rescued is received, the ARD host machine and the ARD slave machine are shut down.
It is readily understood that the rescue process provides the ARD system with power to the elevator to be rescued so that the elevator to be rescued can travel to the nearest landing (e.g., the elevator to be rescued 2/3 is on floor N, 1/3 is on floor N +1, so floor N is the nearest landing, traveling down to floor N), and opens the doors of the car of the elevator so that people in the car can escape as quickly as possible. When the rescue process is finished, the elevator detects that no load is borne in the car, and then a rescue finishing signal can be sent at t4 to prompt the ARD system to stop working. And the ARD system judges that the rescue is finished, and the ARD system is stopped at t 5.
In this embodiment through introducing droop control, virtual impedance technique into the ARD system, can carry out the parallelly connected dilatation of elevator rescue power, improved the flexibility of ARD configuration, can be applied to most elevator application scenarios through the parallelly connected dilatation of multimachine.
Referring to fig. 8, fig. 8 is a flowchart illustrating a method for controlling an ARD system according to a second embodiment of the present invention.
Further, in order to effectively perform instantaneous active and reactive power separation, the step of detecting the current load voltage and the current load current in real time by the ARD master and the ARD slave, and acquiring fundamental wave electric energy information according to the current load voltage and the current load current specifically includes:
step S411: the ARD host and the ARD slave detect the current load voltage and the current load current in real time.
The fundamental electric energy information includes a fundamental current and a fundamental voltage. The general instantaneous value formulas of the output voltage and the current are respectively as follows:
Figure BDA0003039672900000111
wherein u is an instantaneous voltage value, i is an instantaneous current value,
Figure BDA0003039672900000112
is the phase angle corresponding to the instantaneous voltage value,
Figure BDA0003039672900000113
is the phase angle corresponding to the instantaneous current value. The formula for obtaining instantaneous active power and reactive power according to instantaneous voltage and current is as follows:
Figure BDA0003039672900000114
Figure BDA0003039672900000115
wherein, URIs the real part of the fundamental wave of the present voltage, UIFor the imaginary part of the fundamental wave of the present voltage, IRIs the real part of the fundamental wave of the present current, IIIs the imaginary part of the fundamental wave of the present current.
Step S412: and carrying out Fourier series conversion on the current load voltage and the current load current to obtain a conversion result.
It is easy to understand that, in an actual system, the harmonic component ratio of the inverter current is large, and in order to obtain the reactive power and the active power without the influence of the harmonic current, the fundamental wave part needs to be separated, specifically, the output voltage and current need to be fourier-transformed, and the fourier series expressions of the current i and the voltage u are obtained as follows:
Figure BDA0003039672900000116
Figure BDA0003039672900000117
step S413: separating the conversion result according to standard fundamental wave sine and cosine to obtain fundamental wave electric energy information to be processed;
further, based on the orthogonality of the trigonometric functions, the current i and the voltage u are respectively operated according to the standard fundamental wave sine ω t and cosine cos ω t, and the expression of the fundamental wave can be separated as follows:
Figure BDA0003039672900000121
Figure BDA0003039672900000122
Figure BDA0003039672900000123
Figure BDA0003039672900000124
step S414: and calculating according to a discretization algorithm and the to-be-processed fundamental wave electric energy information to obtain fundamental wave electric energy information.
It is easy to understand that, in a DSP (Digital Signal processing) program in a controller of the ARD master and the ARD slave, discretization of the above Process is required, and in the DSP, a sine table and a cosine table of the same frequency of the fundamental wave are required to be stored in the cosine (or the DSP can perform sine and cosine calculation in real time), assuming that the number of sampling points in one sine period is N, a discretization calculation formula is obtained as follows:
Figure BDA0003039672900000125
Figure BDA0003039672900000126
Figure BDA0003039672900000127
Figure BDA0003039672900000128
in the embodiment, the real part UR of the present voltage fundamental wave, the imaginary part UI of the present voltage fundamental wave, the real part IR of the present current fundamental wave, and the imaginary part II of the present current fundamental wave can be obtained through the discretization algorithm described above. However, the current instantaneous active and reactive power must be fully obtained through the accumulation of a previous sine cycle. Compared with other methods, the method can automatically filter out the influence of harmonic current on P, Q; reactive calculation has the intervention of the current instantaneous current, and the dynamic performance is more excellent; and no additional storage space is required.
In order to achieve the above object, the present invention further provides an ARD system control method, where the ARD system is formed by connecting an ARD master and a plurality of ARD slaves in parallel, and the control method is applied to the ARD slaves;
when the current state of an external power grid is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and an elevator to be rescued, a preset time delay is carried out, an inversion voltage is output to supply power to the elevator to be rescued, an ARD slave computer carries out presynchronization on the ARD host computer to obtain a preset synchronous voltage, and wave generation inversion is carried out according to the preset synchronous voltage to form parallel output with the ARD host computer;
the ARD slave machine detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
Further, the ARD slave performs presynchronization on the ARD master to obtain a preset synchronous voltage, and performs wave-generating inversion according to the preset synchronous voltage to form parallel output with the ARD master, specifically including:
the ARD slave machine detects the current state of the ARD host machine, and when the current state is a wave-sending inversion state, the ARD slave machine performs phase locking on the inversion voltage to obtain a preset synchronous voltage;
and carrying out wave-generating inversion according to the preset synchronous voltage so as to form parallel output with the ARD host.
In addition, in order to achieve the above object, the present invention further provides an ARD system control method, where the ARD system is formed by connecting an ARD master and a plurality of ARD slaves in parallel, and the control method is applied to the ARD master;
the ARD host detects the current state of an external power grid;
when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs an inversion voltage to supply power to the elevator to be rescued after delaying for a preset time length, so that an ARD slave machine pre-synchronizes the ARD host, obtains a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage;
when the ARD slave machine conducts wave-sending inversion according to the preset synchronous voltage, the ARD host machine and the ARD slave machine form parallel output;
the ARD host detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
To achieve the above object, referring to fig. 9, fig. 9 is a block diagram showing a first embodiment of an ARD system control apparatus according to the present invention. The invention also provides an ARD system control device.
Referring to fig. 3, fig. 3 is a parallel control topology according to an embodiment of the ARD system control method of the present invention; the ARD system is formed by connecting an ARD master machine and a plurality of ARD slave machines in parallel. In fig. 3, the load 300 is a load corresponding to an elevator to be rescued, and the ARD master 100 is connected in parallel with a plurality of ARD slaves 200. The host machine and the slave machine can adopt the machine type with a single power section or the machine types with different power sections, and the host machine and the slave machine are independent machine bodies. Fig. 3 includes only two slaves for explanation, but more slaves may be provided in the implementation, and this embodiment does not impose a limitation on this.
The device comprises: a master control module 10 and a slave control module 20;
the ARD master and the ARD slave each include a controller, a voltage source, and an inverter (not shown in the drawings, but do not affect the explanation of the embodiment); the control end of the controller is connected with the controlled end of the inverter, the input end of the inverter is connected with the output end of the voltage source, and the output end of the inverter is connected with the input end of the load of the elevator to be rescued.
Based on the topology, in this embodiment, the ARD system control method includes the following steps:
and the main control module 10 is used for detecting the current state of the external power grid by the ARD host.
The external power grid is an external power grid for supplying power to the elevator, the elevator and the external power grid are connected by a power supply line, and the disconnection and connection of the power supply line are controlled by a connection contactor.
The main control module 20 is further configured to disconnect the connecting contactor between the external power grid and the elevator to be rescued when the current state is an abnormal state, and output an inverter voltage to supply power to the elevator to be rescued after a preset time is delayed.
In a specific implementation, the abnormal state may be that the external power grid is influenced by the total power grid and has insufficient supply voltage, and cannot supply voltage for the elevator; external grid outages, such as regional power limits, etc.; the abnormal state causes that the elevator can not receive normal power supply voltage, stops working or has poor working state.
Referring to fig. 5, fig. 5 is a timing chart illustrating parallel operation according to an embodiment of the ARD system control method of the present invention.
For example, when the external power grid is powered off at the time t1, the ARD host cuts off a connecting contactor between the external power grid and the elevator to be rescued, and after the ARD host delays for a preset time, the ARD host starts wave-generating inversion at the time t2 (without a phase-locking presynchronization step).
It should be noted that the preset time may be 3s, the ARD host includes a voltage source, a controller and an inverter, the controller may execute a corresponding software algorithm, the software algorithm adds droop control, the controller of the ARD slave also has a function of executing the software algorithm, which is explained in the following steps, and details are not repeated here.
The slave control module 20 is configured to control the ARD slave to perform presynchronization on the ARD host to obtain a preset synchronous voltage, and perform wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host;
it is easy to understand that the ARD master is started before the ARD slave, so in order to keep the master and the slave synchronized after the ARD slave is started, the ARD slave needs to be pre-synchronized, and the purpose of pre-synchronization is to obtain a given pre-synchronization voltage, so that the wave-sending inversion of the ARD slave and the master is kept consistent with that of the ARD master.
Further, the slave control module 20 is specifically configured to control the ARD slave to detect a current state of the ARD master, and when the current state is a wave-generating inversion state, the ARD slave performs phase locking on the inversion voltage to obtain a preset synchronous voltage; and carrying out wave-generating inversion according to the preset synchronous voltage so as to form parallel output with the ARD host.
Continuing to refer to fig. 5, as can be seen from fig. 5, when the external power grid is powered off to cause an abnormal state, the slave device also detects the external power grid power off at time t1, enters a preparation mode, and starts to detect whether the ARD master device starts to operate. As described above, the ARD slave and the ARD master may be of the same type, have the same function, and only the start timing is different in the present control method. And (3) supplying power to the ARD host at the time of t2, detecting that the current state of the ARD host is a wave-sending inversion state by the ARD slave, and starting to perform parallel operation pre-synchronization. The main way of pre-synchronization is to phase lock the voltage output by the ARD host to the load. The phase lock is used for providing given voltage during presynchronization to obtain presynchronization voltage. In the pre-synchronization period, the ARD slave is not excited and inverted. At the time t3, the ARD slave completes the presynchronization operation and starts to invert, and the parallel connection stage is from the time t3 to the time t 4.
Furthermore, the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and perform current-sharing control on the currently output inverter voltage according to the detection result.
It should be noted that the current sharing control principle applied in this embodiment is a droop principle, which is based on the classic PQ method (P means active power and Q means reactive power in the PQ method), and is based on the inductive lead connection between the inverter and the common connection point, and there is no inductive lead inductance in practice, and virtual inductive impedance is used instead in software.
Further, the ARD host and the ARD slave detect the current load voltage and the current load current in real time, and obtain fundamental wave electric energy information according to the current load voltage and the current load current; acquiring current active power and current reactive power according to the fundamental wave electric energy information, and taking the current active power and the current reactive power as detection results; and performing current-sharing control on the currently output inverter voltage according to the detection result and a preset PQ droop algorithm.
Referring to fig. 4 and 6, fig. 4 is a schematic diagram illustrating the PQ method droop control according to an embodiment of the ARD control method of the present invention; fig. 6 is a schematic parallel diagram of two inverter modules according to an embodiment of the ARD system control method of the present invention.
Wherein, Z in FIG. 60For the virtual inductive impedance, the line impedance of two inverter power supplies (assuming that the inverter power supplies are the inverter and power supply combination of the ARD master and the ARD slave) is Rn + jXn, and the angle of the output voltage of each inverter power supply relative to the PCC Point (Point of Common Coupling, the connection Point of more than one user load in the power system) of the parallel load side voltage is Rn + jXn
Figure BDA0003039672900000168
Output current I of nth inverteronAs shown in the following equation (1), the line impedance may be approximated to 0 because the line impedance exhibits an inductive characteristic R:
Figure BDA0003039672900000161
wherein, VonFor the inverter output voltage, V0Is the common junction voltage.
The multiplex rate S output by the nth inverter power supply is obtained simultaneouslynThe formula is shown in the following formula (2):
Figure BDA0003039672900000162
the relation between the active P and the reactive Q and the voltage of each node can be obtained by combining the above equations (1) and (2) as shown in the following equation (3), and simultaneously, the power angle is used
Figure BDA0003039672900000163
Is relatively small, so
Figure BDA0003039672900000164
Approximately equal to 1 and approximately equal to,
Figure BDA0003039672900000165
approximately equal to 0.
Figure BDA0003039672900000166
Further, by differentiating the formula (3), the formula (4) can be obtained as follows:
Figure BDA0003039672900000167
the formula (4) can analyze that the phase change of the output voltage influences the active change of the output voltage, and the amplitude change of the output voltage influences the output reactive power of the output voltage. The more modules the phase leads, the larger the output active power is, the larger the amplitude is, and the larger the output reactive power is. Therefore, active power and reactive power of the output of the inverter are controlled only by adjusting the amplitude and the phase of the expected output voltage, and the frequency of the output voltage is adjusted to change the phase so as to adjust the active power. The above is the basic idea of the PQ method. The control formula is shown in the following formula (5):
ωn＝ω*-kpωPn，Vn＝V*-kqvQn (5)
where ω is the frequency at no load and V is the amplitude at no load. Referring to fig. 4, it can be seen from fig. 4 that when a module with high active power is output, the frequency will be reduced by the droop algorithm, so that the phase will also be reduced, and therefore the active power is reduced, and the power balance is achieved. When the module with large output reactive power is used, the amplitude value of the module is reduced through a droop algorithm, so that the reactive power is reduced, and the balance of the reactive power is achieved.
It should be understood that the practical application scenario of this embodiment is not in an ideal state, the above droop control scheme mainly considers the droop current sharing algorithm that should be used in a steady state, mainly when the phase difference between the PCC point voltage and the actual inverter output voltage is not large in the ideal state, but this method is not applicable at the time of the inverter being turned on, that is, dynamic performance is not considered.
Further, in order to effectively perform current sharing control, the step of performing current sharing control on the currently output inverter voltage according to the detection result and the preset PQ droop algorithm specifically includes: acquiring frequency information and amplitude information of currently output inverter voltage according to a preset PQ droop control formula, current active power and current reactive power; performing current-sharing control on the currently output inverter voltage according to the frequency information and the amplitude information; the preset PQ droop control formula is as follows:
Figure BDA0003039672900000171
wherein, ω isnFor the frequency information, VnAs amplitude information, kpωIs an active frequency coefficient, PnFor the current active power, kqvIs a reactive amplitude coefficient, QnFor the current reactive power, ω is the frequency at idle, V is the amplitude at idle, k1、k2Is a scaling factor.
The above formula improves the PQ droop control method, performs active differential compensation on the frequency, and performs reactive power compensation on the amplitude, and in conclusion, the control block diagram of the droop current sharing system added with the PQ droop method can be obtained as shown in fig. 7.
Referring to fig. 7, fig. 7 illustrates droop control based on the modified PQ method according to an embodiment of the ARD system control method of the present invention; the method comprises the steps of firstly obtaining current load voltage and current, calculating active power and reactive power, carrying out droop control based on the active power and the reactive power through software control, carrying out active differential compensation on frequency, carrying out reactive power compensation on amplitude (the frequency to be compensated is 50Hz in fig. 7, the amplitude to be compensated is 311V, and other amplitudes or frequencies can be possible according to different types of elevators in specific implementation, wherein the amplitude or frequencies are not limited in the embodiment), executing a voltage synthesis step after compensation to generate corresponding compensation voltage Uref, and simultaneously obtaining load voltage and current according to a virtual impedance principle to calculate and generate a final pulse width modulation signal so as to control the output voltage of an inverter and form synchronous parallel operation of a host machine and a slave machine which are matched with each other.
Further, after step S40, the method further includes: and when a rescue completion signal sent by the elevator to be rescued is received, the ARD host machine and the ARD slave machine are shut down.
It is readily understood that the rescue process provides the ARD system with power to the elevator to be rescued so that the elevator to be rescued can travel to the nearest landing (e.g., the elevator to be rescued 2/3 is on floor N, 1/3 is on floor N +1, so floor N is the nearest landing, traveling down to floor N), and opens the doors of the car of the elevator so that people in the car can escape as quickly as possible. When the rescue process is finished, the elevator detects that no load is borne in the car, and then a rescue finishing signal can be sent at t4 to prompt the ARD system to stop working. And the ARD system judges that the rescue is finished, and the ARD system is stopped at t 5.
In this embodiment through introducing droop control, virtual impedance technique into the ARD system, can carry out the parallelly connected dilatation of elevator rescue power, improved the flexibility of ARD configuration, can be applied to most elevator application scenarios through the parallelly connected dilatation of multimachine.
Furthermore, an embodiment of the present invention also proposes a storage medium having an ARD system control program stored thereon, the ARD system control program being executed by a processor to perform the steps of the ARD system control method as described above.
Since the storage medium adopts all technical solutions of all the embodiments, at least all the beneficial effects brought by the technical solutions of the embodiments are achieved, and no further description is given here.
It should be understood that the above is only an example, and the technical solution of the present invention is not limited in any way, and in a specific application, a person skilled in the art may set the technical solution as needed, and the present invention is not limited thereto.
It should be noted that the above-described work flows are only exemplary, and do not limit the scope of the present invention, and in practical applications, a person skilled in the art may select some or all of them to achieve the purpose of the solution of the embodiment according to actual needs, and the present invention is not limited herein.
In addition, the technical details that are not described in detail in this embodiment may refer to the ARD system control method provided in any embodiment of the present invention, and are not described herein again.
Further, it is to be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention or portions thereof that contribute to the prior art may be embodied in the form of a software product, where the computer software product is stored in a storage medium (e.g. Read Only Memory (ROM)/RAM, magnetic disk, optical disk), and includes several instructions for enabling a terminal device (e.g. a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (10)

1. An ARD system control method, wherein the ARD system is configured by connecting an ARD master in parallel with a plurality of ARD slaves, the method comprising:
the ARD host detects the current state of an external power grid;
when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs inversion voltage to supply power to the elevator to be rescued after delaying for a preset time;
the ARD slave computer pre-synchronizes the ARD host computer to obtain a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage to form parallel output with the ARD host computer;
and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result.
2. The ARD system control method according to claim 1, wherein the ARD master and the ARD slave detect the current active power and the current reactive power in real time, and perform current-share control on the currently output inverter voltage according to the detection result, specifically comprising:
the ARD host and the ARD slave detect the current load voltage and the current load current in real time and acquire fundamental wave electric energy information according to the current load voltage and the current load current;
acquiring current active power and current reactive power according to the fundamental wave electric energy information, and taking the current active power and the current reactive power as detection results;
and performing current-sharing control on the currently output inverter voltage according to the detection result and a preset PQ droop algorithm.
3. The ARD system control method according to claim 2, wherein the step of detecting a current load voltage and a current load current in real time by the ARD master and the ARD slave, and acquiring fundamental wave power information according to the current load voltage and the current load current includes:
the ARD host and the ARD slave detect the current load voltage and the current load current in real time;
performing Fourier series conversion on the current load voltage and the current load current to obtain a conversion result;
separating the conversion result according to standard fundamental wave sine and cosine to obtain fundamental wave electric energy information to be processed;
calculating according to a discretization algorithm and the fundamental wave electric energy information to be processed to obtain fundamental wave electric energy information;
the fundamental wave electric energy information comprises fundamental wave current and fundamental wave voltage.
4. The ARD system control method of claim 3, wherein the step of performing the current-output inverter voltage current-sharing control according to the detection result and the preset PQ droop algorithm comprises:
acquiring frequency information and amplitude information of currently output inverter voltage according to a preset PQ droop control formula, current active power and current reactive power;
performing current-sharing control on the currently output inverter voltage according to the frequency information and the amplitude information;
the preset PQ droop control formula is as follows:
Figure FDA0003039672890000021
wherein, ω isnFor the frequency information, VnAs amplitude information, kpωIs an active frequency coefficient, PnFor the current active power, kqvIs a reactive amplitude coefficient, QnFor the current reactive power, ω is the frequency at idle, V is the amplitude at idle, k1、k2Is a scaling factor.
5. The control method of the ARD system is characterized in that the ARD system is formed by connecting an ARD master machine and a plurality of ARD slave machines in parallel, and the control method is applied to the ARD slave machines;
when the current state of an external power grid is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and an elevator to be rescued, a preset time delay is carried out, an inversion voltage is output to supply power to the elevator to be rescued, an ARD slave computer carries out presynchronization on the ARD host computer to obtain a preset synchronous voltage, and wave generation inversion is carried out according to the preset synchronous voltage to form parallel output with the ARD host computer;
the ARD slave machine detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
6. The ARD system control method according to claim 5, wherein the ARD slave pre-synchronizes the ARD master to obtain a preset synchronization voltage, and performs wave-generation inversion according to the preset synchronization voltage to form a parallel output with the ARD master, specifically comprising:
the ARD slave machine detects the current state of the ARD host machine, and when the current state is a wave-sending inversion state, the ARD slave machine performs phase locking on the inversion voltage to obtain a preset synchronous voltage;
and carrying out wave-generating inversion according to the preset synchronous voltage so as to form parallel output with the ARD host.
7. The control method of the ARD system is characterized in that the ARD system is formed by connecting an ARD host and a plurality of ARD slaves in parallel, and the control method is applied to the ARD host;
the ARD host detects the current state of an external power grid;
when the current state is an abnormal state, the ARD host disconnects a connecting contactor between the external power grid and the elevator to be rescued, and outputs an inversion voltage to supply power to the elevator to be rescued after delaying for a preset time length, so that an ARD slave machine pre-synchronizes the ARD host, obtains a preset synchronous voltage, and performs wave-sending inversion according to the preset synchronous voltage;
when the ARD slave machine conducts wave-sending inversion according to the preset synchronous voltage, the ARD host machine and the ARD slave machine form parallel output;
the ARD host detects the current active power and the current reactive power in real time and carries out current equalizing control on the current output inverter voltage according to the detection result.
8. An ARD system control apparatus, characterized in that the apparatus comprises: the system comprises a master control module and a slave control module;
the main control module is used for controlling the ARD host to detect the current state of the external power grid;
the main control module is further used for controlling the ARD host to disconnect a connecting contactor between the external power grid and the elevator to be rescued when the current state is an abnormal state, and outputting an inverter voltage to supply power to the elevator to be rescued after delaying a preset time;
the slave control module is used for controlling the ARD slave machine to pre-synchronize the ARD host machine so as to obtain a preset synchronous voltage, and performing wave-sending inversion according to the preset synchronous voltage so as to form parallel output with the ARD host machine;
and the ARD host and the ARD slave detect the current active power and the current reactive power in real time, and carry out current equalizing control on the current output inverter voltage according to the detection result.
9. An electronic device, characterized in that the electronic device comprises: a memory, a processor, and an ARD system control program stored on the memory and executable on the processor, the ARD system control program configured to implement the steps of the ARD system control method as claimed in any one of claims 1 to 7.
10. A storage medium having stored thereon an ARD system control program which, when executed by a processor, implements the steps of the ARD system control method according to any one of claims 1 to 7.
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