Elevator Drives Past, Present and Future As Presented at NAVTP Annual Forum Atlanta, Georgia May 3, 2007 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 1900-1970’s – 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 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 1980’s – Microprocessors Improve – Car Dispatch and Motor Drive Controllers Otis type 84,NYC with Encoder Westinghouse #205 with Encoder History Late 1980’s – – Variable Frequency Inverters AC Induction Motors, Geared Applications Only Early 1990’s – – More AC Inverters and Motors Begin to Displace Small DC, 3-15 HP Mid-1990’s – – Vector Control AC Inverters 10-40 HP Almost as Good as SCR-DC. – KONE Introduces PM EcoDisc AC Machine History Late 1990’s – – – – – 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 Elevator Drive Requirements Elevator Duty Cycle 2.5 P O W E R K I L O W A T T S FULL CAR EMPTY CAR 1.0 0 -1.0 -2.5 EMPTY CAR FULL CAR 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 SCR-DC PWM-DC Variable Voltage V V V F Inv. (V/Hz) Open/Closed Loop 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 High Speed Elevators 500-1,600+ fpm – Low Friction Gearless – 45-600 HP / 34-450 kW or Larger – True Regeneration is Mandatory Industry Trends Energy Consumption Reduction – kW-hrs / Month – Harmonics, Power Factor 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 Feature Diode – SCR-DC PWM Inv Installed Cost PWM PWM Smallest vol. Wt. External XFMR Pwr conv efficiency 90% w/ XFMR 93-96% 92-94% Drive Type Comparison SCR-DC Diode – PWM Inv PWM PWM Regeneration No Low Harmonics No No Unity Pwr Factor No No Desired Feature Drive Type Comparison SCR-DC Diode – PWM Inv PWM PWM Flexible Motor V With XFMR Below Vac input Stand-by Friendly No AC / DC Motor No No Desired Feature Future Expectations More PM Gearless – Low and High Power More Interest in Energy Conservation – Overall Efficiency – Regeneration More Restrictions on Harmonics and EMC – Sinusoidal High pf Utility Line Current – All Inclusive Drive Units with Filters Future Elevator Drives PWM-PWM Double Converter-Inverter – Regulated Harmonics – Unity pf – Fully Regenerative – Compatible with DC Stand-by Power PM Operation without Resolver – Electronic Alignment Sensing Compact All Inclusive Packaging Works with AC Ind. or PM or DC Motors World’s Tallest Buildings Magnetek has Elevator Drives in 17 of the 30 tallest buildings in the world.