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Faculty of Engineering
Use a fluid to lift and lower the car. The car has a piston in a
cylinder beneath it; the elevator lifts when an electric motor
powers a hydraulic pump to push a fluid (typically oil) into the
cylinder, which pushes the piston up. To lower the car, the control
system opens a valve and the fluid flows back into the tank as the
weight of the car pushes down on the piston. Hydraulic machines
can effectively multiply the relatively weak force of the pump to
generate the stronger force needed to lift the car.
2 PLC-Based Smart Elevator Control System
Chapter 1 Introduction
2.1.2 Inverter
The most commonly used speed control method of three phase
induction motor in modern systems is varying both the stator
supply voltage and frequency. The variation of supply voltage and
frequency was a very complicated matter until the wide
development in industrial power electronic devices. Inverter is a
power electronic device that can be used to obtain a variable
voltage and variable frequency. It consists of power electronic
switches which can be controlled by driving pulses generated
from the control unit.
3.1 Introduction
Peak-hour traffic in a busy high-rise often means long waits, a
scramble for each arriving elevator, crowded elevator-cars and too
many stops. A Programmable Logic Controller (PLC) is used in a
destination control system for elevator selection to minimize these
inconveniences by instantly assigning each passenger to the
nearest elevator.
Table 3-1
Control system
Location of Location of
Passenger location selection
Elevator A Elevator B
Floor (1) Floor (2) Floor (3) Elevator (A)
Floor (4) Floor (1) Floor (3) Elevator (B)
Floor (2) Floor (3) Floor (4) Elevator (A)
PLC Inputs
I0.0 Elevator A –limit switch I1.0 Ok switch at floor 1
at floor 1
I0.1 Elevator A -limit switch I1.1 Ok switch at floor 2
at floor 2
I0.2 Elevator A -limit switch I1.2 Ok switch at floor 3
at floor 3
I0.3 Elevator A -limit switch I1.3 Ok switch at floor4
at floor 4
I0.4 Elevator B -limit switch I1.4 Call button 1
at floor 1
I0.5 Elevator B -limit switch I1.5 Call button 2
at floor 2
I0.6 Elevator B -limit switch I1.6 Call button 3
at floor 3
I0.7 Elevator B -limit switch I1.7 Call button 4
at floor 4
PLC outputs
Q0.0 Elevator (A) up Q0.2 Elevator (B) up
Q0.1 Elevator (A) down Q0.3 Elevator (B) down
Figure (3.4)
Figure (3.5)
3. Figure (3.6) shows that passenger location is floor (1) and
the desired destination is floor (4).
Figure (3.6)
Figure (3.7)
5. Figure (3.8) shows that elevator (A) arrived floor (2).
Figure (3.8)
20 PLC-Based Smart Elevator Control System
Chapter 3 PLC-Based Destination Control System
6. Figure (3.9) shows that elevator (A) arrived floor (1), and
timer (T3) operates for 5 seconds till the passenger entering the
elevator.
Figure (3.9)
7. Figure (3.10) shows that elevator A is moved up after the
passenger entered the elevator.
Figure (3.10)
Figure (3.11)
Figure (3.12)
Figure (3.13)
1 vqs
s
vas cos( ) sin( )
v cos( 120) sin( 120) s
bs 1 vds (4.1)
vcs cos( 120) sin( 120) s
1 vos
d
vqs R si qs Ψqs ωΨds (4.3)
dt
d
v ds R s i ds Ψ ds ωΨ qs (4.4)
dt
d
vqr Rr iqr qr ( r )dr 0 (4.5)
dt
d
vdr Rr idr dr ( r )qr 0 (4.6)
dt
dm
Te Tl J Bm (4.11)
dt
IDC Iac
+ +
VDC Vac
Figure (4.4) Three phase voltage source inverter using power transistor
Figure (4.5) Equivalent circuit indicating voltage vno between the neutral
points
2 1 1
van vao vbo vco (4.12)
3 3 3
2 1 1
vbn vbo vao vco (4.13)
3 3 3
2 1 1
vcn vco vao vbo (4.14)
3 3 3
doing this, the magnitude of the magnetic field in the stator is kept
at an approximately constant level throughout the operating range
below base speed.
Figure (4.7) open loop V/F speed control with voltage-fed inverters
Figure (4.8) Torque speed curves showing effect of frequency variation, load
torque and supply voltage changes
Here, the speed loop error generates a slip command sl* via a
proportional-integral controller (P-I controller) and limiter. This
slip command is added to the feedback speed signal r to get the
frequency command e* which, in turn, generates the voltage
command through a volts/Hz function generator.[2]
Figure (4.9) close loop speed control with V/F control and slip regulation
Te k 't I a I f
(4.15)
Two control inputs ids and iqs can be used for a vector
controlled inverter as shown in Figure (4.11).
Te k t Ψ r i qs k 't i ds i qs (4.16)
Figure (4.12) direct vector control block diagram with rotor flux orientation
Figure (4.13) stationary and synchronous phasors showing correct rotor flux
orientation
s
Ψ dr Ψ r cosθ e
(4.17)
s
Ψ qr Ψ r sinθ e
(4.18)
s s
Ψ dr Ψ qr
where; cosθ e , sinθ e
Ψr Ψr
Ψr (Ψsdr ) 2 (Ψsqr ) 2
(4.19)
s
dΨ dr Lm s s 1 s
i ds w r Ψqr Ψ dr (4.20)
dt τr τr
s
dΨ qr Lm s s 1 s
i qs w r Ψ dr Ψqr (4.21)
dt τr τr
These two equations are defined as the current model for flux
estimation as shown in figure (4.14).
dΨ dr
R r i dr (ωe ω r )Ψ qr 0 (4.23)
dt
dΨ qr
R r i qr (ωe ωr )Ψ dr 0 (4.24)
dt
Ψdr L r i dr L mi ds (4.25)
Ψ qr L r i qr L mi qs (4.26)
From equations (4.25) and (4.26), the dq-axis rotor current can be
written as:
1 L
i dr Ψ dr m i ds (4.27)
Lr Lr
1 L
iqr Ψqr m i qs (4.28)
Lr Lr
The rotor current in equation (4.25) and (4.26) which are
inaccessible, can be eliminated with the help of equation (4.27)
and (4.28) as:
dΨ qr Rr L
Ψ qr m R r i qs ωsl Ψ dr 0 (4.29)
dt Lr Lr
dΨ qr Rr L
Ψ dr m R r i ds ωsl Ψ qr 0 (4.30)
dt Lr Lr
dΨ qr
Ψ qr 0 That is, 0
dt
L r dΨ r
Ψ r L mi ds (4.31)
R r dt
Lm R r
ωsl i qs (4.32)
Ψ r Lr
̂
Where Ψ Ψ has been substituted
̂
If rotor fluxes Ψ , which is usually the case, then
from equation (4.31):
Ψ r L mi ds
(4.33)
In other words, the rotor flux is directly proportional to
current in steady state.
The indirect vector controller takes only the speed from the
machine while all other parameters are estimated. The
implementation of the indirect vector control is as shown in figure
ωsl Lm R r
ks (4.34)
i qs Lr Ψ r
Figure (4.16) indirect vector control block diagram with open loop flux
control
Figure (4.19) developed and load torque with a step change in load at a
constant speed reference of 1500 rpm
Figure (4.22) developed and load torque with a step change in load at a
constant speed reference of 1500 rpm
Figure (4.25) developed load torque with a step change in load torque and a
constant speed reference of 1500 rpm
1. PLC-Unit
In this project, the used PLC-unit is s7313c as shown in figure
(5.2) and has the following features:
16 digital inputs
16 digital outputs
Memory:
o Ram
Integrated: 32KB for program and data
Expandable: no
o Load memory
Upgradable FEPROM : with micro
memory card (MMC)UP TO 4 MB
o Backup
Without battery: program and data
Profibus-DP/Device Net
Execution times
o Pit operation: 0.1 ㎲ to 0.2 ㎲
o Word operation: 0.5 ㎲
2. Limit Switches
In order to indicate the location of the elevator-car, eight limit
switches are used. The employed limit switch and its operating
conditions are shown in figure (5.3).
3. Push Buttons
Generally, Push buttons, shown in figure (5.4) are used to
choose the desired destination. This can be done by pressing the
floor button (green) followed by the confirmation button (red).
These push buttons are normally open and its operation includes
two functions as follows:
4. Driving Motors
Two geared dc-motors are used to drive the two elevators-cars
as shown in figure (5.5).
5. Relays
Four relays, shown in figure (5.6), are used to control the
rotating direction of the driving motors.
6. Dc Power Supply
The dc motors are supplied from a dc power supply as shown
in figure (5.7) consisting of the following components:
Figure (5.8)
Figure (5.9)
Figure (5.10)
Figure (5.11)
Figure (5.12)
Figure (5.13)
Figure (5.14)
8. Figure (5.15) shows that elevator (A) arrived floor (4) and
stopped.
Figure (5.15)
References