Professional Documents
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Elevator Drives
Elevator Drives
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
Circa 1919
M-G Set Controls
(Otis Elevator, 1920’s)
Otis Type 84
26 Broadway,NYC
Circa 1930’s
History
1975-Present
– Thyristor (SCR) DC Drives
Control Elevators
– All Analog Components in the 70’s
– Replaces Aging M-G Sets
2.5
P
O
W
EMPTY CAR
E FULL CAR
R 1.0
K
I 0
L
O
W -1.0 EMPTY CAR FULL CAR
A
T
T
S
-2.5
Four Quadrant Operation
What Customers Want
Repeatable Elevator Performance
Smooth Operation
Reliable Operating Life
Effortless Installation
Custom Control Interface
High Efficiency
Conformance to All Codes
Low Installed Cost
Elevators vs. Industrial Applications
Infinitely Variable Speed Range
Infinitely Variable Torque Range with
Smooth Bump Less Operation
Millions of Repeated Operating Cycles
with High Peak Torque
High Inertia Resonant Load
Accurate Stopping Position
Unattended Operation 24/7/365
Elevators vs. Industrial Applications
Quiet Operation
Long Operating Life
Long-Term Product Support
Types of Motors
DC Shunt Field
– High Speed Geared
– Low Speed Gearless
– Full HP Range 5 – 600 HP
– 89–94% Efficient
– High Torque Capacity Accel/Decel
– In Elevator Service for 70+ Years
– Requires DC Generator, SCR or Other AC-DC
Power Conversion from AC Utility Power
– DC Motor Can Act Like a Generator
Types of Motors
AC Induction
– High Speed Geared, 2–75 HP
– Few Low Speed Designs for Gearless
– 85–94% Efficient
– Many with Single or 2 Speed Starters
– Can be Variable Speed by Inverter Control
of Frequency
– Torque Strength Derived from Out of Phase
Excitation Current
– Requires Flux Vector Control for Wide
Operating Speed Range
– Can Act Like a Generator
Types of Motors
AC Permanent Magnet (PM)
– New Designs for Compact Gearless Machines
– Torque Strength from Permanent Magnets
– 90–95% Efficient
– Compatible with Inverters to Control Speed
– Requires Synchronous Flux Vector / Angle Control
to Regulate / Modulate Torque
– Supply Limited to Specialty Machine Builders
– Not Suitable for High rpm Speed Geared Designs
– Can Act Like a Generator
Modernization
Why keep a DC machine?
– Many large DC machines cannot be
easily replaced with AC.
– Large Installed Base of DC Machines
Worldwide
– DC Motors and Machines are in Good
Working Order and Provide Excellent
Ride Quality
Large DC Machines
Otis 72
and 269
Types of Motor Drives
For DC Motors For AC Motors
M-G Set Variable Voltage
SCR-DC V V V F Inv. (V/Hz)
Open/Closed Loop
PWM-DC
Vector Control Inv.
Open/Closed Loop
Synchronous PM Inv.
Closed Loop
Regen or Non-Regen
Elevator Power Consumption
…the need for Regeneration
Horsepower = Torque x Speed
Gearless Friction Losses are 10-20% of Elevator
HP Rating
Moving inertia absorbs energy during acceleration
that must be removed during deceleration.
Mechanical, electric and electronic losses are
proportional to torque or current flow.
Energy Wasted / Dissipated During Deceleration
= Heat
Excessive heat in control rooms must be removed.
Practical Energy Considerations
Low Speed Elevators 50–150 fpm
– Almost Always Geared… or PM Gearless
– Low Speed Usually Means Low Power
2-35 HP / 2-25 kW
– Most power is consumed by frictional losses.
– True regeneration is not critical.
– High Gearbox Losses During Regeneration
– Drive type makes little difference in overall
energy consumption.
– If DC, Good Candidate for Conversion to AC by
– Replacing Motor
Low Installed Cost is Usual Critical Issue
Practical Energy Considerations
Medium Speed Elevators 150–450 fpm
– Geared and Some Gearless… Including PM
– 15-60 HP / 12-45 kW
– Lower Frictional Losses in Gearbox
– Recovery of inertia energy becomes important,
particularly with gearless.
– Resistive Braking Still Possible but Need to Perform
Heat Load Calculations for Equipment Room
Practical Energy Considerations
Performance
– Reduced Floor–Floor Time
– Reduced Vibration
Low Maintenance
– Cleanliness
Larger PM Machines
– More Gearless Applications
Energy Consumption
Elevator Speed and Payload
Frequency of Use
Hoist Way Efficiency
Motor Efficiency
Power Conversion Efficiency
Idle Losses
Regeneration
Drive Type Comparison
Desired Diode – PWM -
Feature SCR-DC PWM Inv PWM
Installed
Cost
Smallest External
vol. Wt. XFMR
Pwr conv 90%
w/ XFMR 93-96% 92-94%
efficiency
Drive Type Comparison
Desired Diode – PWM -
Feature SCR-DC PWM Inv PWM
Regen-
eration No
Low
Harmonics No No
Unity
Pwr No No
Factor
Drive Type Comparison
Desired Diode – PWM -
Feature SCR-DC PWM Inv PWM
Flexible With Below
Motor V XFMR Vac input
Stand-by
Friendly No
AC / DC
Motor No No
Future Expectations
More PM Gearless
– Low and High Power