Elevator Drives - Discussion

History Requirements Motor and Control Types Industry Trends Future Drives

History
236 BC First Passenger Lift, Archimedes
1853 Safe Elevator Demo, Elisha Otis 1857 First Safe Elevator Installation, Cooper Union, NYC 1861 Otis Elevator Patent

Otis Patent 1861

History
1873 First Modern DC Motor
1874 J. W. Meaker Door Opener Patent 1880 First Electric Motor Controlled Elevator Siemens / Sprague 1882-1889 Tesla AC Induction Motor 3-Phase Squirrel Cage Design 1889 Otis Elevator Uses DC Motor

Otis DC Elevator Motor

Circa 1889

History
1891 Ward Leonard Variable Speed Control
AC Induction Motor Turning DC Dynamo Rheostat to Control Generated Voltage DC Voltage Controls DC Motor Speed

1900-1970s Ward-Leonard M-G Sets and DC Motors Used for Variable Speed Elevators AC Motors Used 1 and 2 Speed Starters

Otis No. 1 Geared DC Machine with DC Motor

Circa 1915

Otis Gearless DC Machine

Circa 1919

(Otis Elevator, 1920s)

M-G Set Controls

Otis Type 84 26
Broadway,NYC

Circa 1930s

History
1975-Present
Thyristor (SCR) DC Drives Control Elevators All Analog Components in the 70s Replaces Aging M-G Sets

1980s Microprocessors Improve

Car Dispatch and Motor Drive Controllers

Otis type 84,NYC

with Encoder

Westinghouse #205 with Encoder

History
Late 1980s
Variable Frequency Inverters AC Induction Motors, Geared Applications Only

Early 1990s
More AC Inverters and Motors Begin to Displace Small DC, 3-15 HP

Mid-1990s
Vector Control AC Inverters 10-40 HP Almost as Good as SCR-DC. KONE Introduces PM EcoDisc AC Machine

History

Late 1990s
Custom Gearless AC Induction Machines First Fully Regenerative AC Elevator Drives Much Discussion on PM-AC and MRL SCR-DC Still Used for Medium and Large Building Mods

History
2000-Present
More PM-AC Motor Manufacturers. PM Gearless Begins to Replace AC Geared EU Focus on Efficiency and Harmonics/EMC Lower Cost IGBT Inverter Components North America Begins to Focus on Energy Reduction New Construction Leaning toward AC SCR-DC Still Used on Medium-Large Building Mods

Four Quadrant Operation

LSC Vcc

Umot, Imot

Linear power stage

time UT advantages simple, low priced controller low electromagnetic noise level no minimum inductance needed disadvantages high power losses at the final stage at high currents or low motor voltages (PV = R I2) for small nominal power up to 100 W

controller

M
Gnd

Umot

advantages Pulsed

power stage (PWM) V

cc

low power losses high efficiency for higher nominal power

pulse generator Gnd

Umot power stage

disadvantages
electromagnetic noise in the radio frequency range high power losses in the motor at standstill

Umot, Imot

ADS, DEC, AECS, DES, MIP, PCU, EPOS

time cycle time: 20 - 50 ms

Imax

Pulsed power stage: current general measures: ripple V reduce motor voltage
cc

2 fS (Lmot L choke )

enhance total inductance

- motor choke in controller - additional motor choke enhance PWM frequency
Umot, Imot 30% 70%

50% 50%

low motor inductance additional motor choke

frequency kHz 50 20

Time scales in control loops 10 5 2 1 0.5 0.2 0.1 0.05

mechanical time constants
"slow" position controller position controller MIP

current controller

PWM cycle time

0.02 ms 0.05 0.1 0.2 0.5 1

speed controller speed controller as "link" between fast current controller and a slow position control (PLC) 2 5 10 20 cycle time

PWM
PWM(Pulse Width Modulation Cambiando il duty cycle, la velocit cambier
Lo scopo : 1. Ridurre la dissipazione di potenza. 2. Ridurre I problemi di raffreddamento dei transistors)
Duty Cycle 20% Lowest Speed Cycle Duty Cycle 50% Middle Speed Duty Cycle 80% High Speed

Duty Cycle

(DT) Duty Cycle = DT / T (%)

Figure : PWM Control Signal

Duty cycle
si definisce duty cycle d il rapporto tra la durata del segnale "alto" ed il periodo totaleT del segnale, e serve ad esprimere per quanta porzione di periodo il segnale a livello alto:
t

 PWM Un segnale PWM (Pulse Width Modulation ovvero modulazione a variazione della larghezza d'impulso) un' onda quadra di duty cycle variabile che permette di controllare l'assorbimento (la potenza assorbita) di un carico elettrico(nel nostro caso il motore DC), variando modulando) il duty cycle.

 Un segnale PWM caratterizzato dalla frequenza (fissa) e dal duty cycle (variabile); si deduce dalla Figura, il duty cycle il rapporto tra il tempo in cui l'onda assume valore alto e il periodo T (l'inverso della frequenza: T=1/f) Es. un duty cycle dell'80% corrisponde ad un'onda quadra che assume valore alto per l'80% del tempo e basso per il restante 20%,

DC Motor Drives
DC motor speed control using Switching Control or PWM

Voltage Source

Vs Full-bridge DC-DC converter

Vout

Diode rectifier

Filter capacitor

P ulse Widt h %Dut y cycle = x 100 Cycle

PWM
Pluse-width-modulation

Vout = % Duty cycle x Vs

Power Electronic converter

H-bridge converters circuit
Vcc

ON

Q1

D1

D3

Q3

OFF

M
G

OFF

Q4

D4

D2

Q2

ON