CN103241605A - Elevator starting compensation control method - Google Patents

Elevator starting compensation control method Download PDF

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Publication number
CN103241605A
CN103241605A CN2013101693563A CN201310169356A CN103241605A CN 103241605 A CN103241605 A CN 103241605A CN 2013101693563 A CN2013101693563 A CN 2013101693563A CN 201310169356 A CN201310169356 A CN 201310169356A CN 103241605 A CN103241605 A CN 103241605A
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elevator
compensating moment
control method
load
descending
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CN103241605B (en
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陈文斌
郑松鹤
林生佐
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Hitachi Elevator China Co Ltd
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Hitachi Elevator China Co Ltd
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Abstract

The invention relates to an elevator starting compensation control method. An elevator comprises an elevator controller, a weighing module and a location detecting module, wherein the weighing module and the location detecting module are electrically connected with the elevator controller. The elevator starting compensation control method includes steps of recording weight of the elevator with no load or full load at first, recording pulses fed back by the location detecting module of the elevator ascending with no load or full load and descending with no load or full load within a sampling period T when the elevator is started, calculating compensation torque in each state according to the pulses, calculating compensation torque under other loads, constituting calculated compensation torques into a compensation torque sequence, and adaptively adjusting the compensation torque sequence according to detected practical conditions. By the elevator starting compensation control method, the elevator can be prevented from slipping when started, and riding comfortability is improved. In addition, by the elevator starting compensation control method which is adaptive, adjustment accuracy is high, judgment by human experience is not needed during the elevator is debugged, and debugging efficiency is high.

Description

Elevator starts the control method of compensation
Technical field
The present invention relates to elevator and start the control technology field, particularly a kind of elevator starts the control method of compensation.
Background technology
In elevator device, lift car and counterweight are stranded in the traction sheave both sides by steel rope, generally speaking, varying in weight of lift car and counterweight, therefore, there is unbalanced loading in the traction sheave both sides, thereby cause that lift car occurred falling to slip or projection when elevator started, influence the traveling comfort of elevator ride, in order to make lift car when the elevator band-type brake is opened, keep static, traction sheave should be exported with the equal-sized electromagnetic torque of load torque to keep the balance of system, in the general elevator device by human body sensory and manual setting parameter, non-displacement when making elevator No Load Start and fully loaded the startup, by electric life controller above-mentioned parameter being carried out linear interpolation then calculates, obtain the startup compensated curve of elevator, because human body sensory is not quite similar, rely on perceptible data not accurate enough, simultaneously, the startup compensated curve efficient of adjusting elevator by human body sensory is low, and the Weighing module in the elevator device is affected by the external environment easily and slowly changes, when variable quantity runs up to enough greatly, can influence the accuracy of traction sheave output torque calculation, finally cause the traveling comfort of elevator ride to reduce.
Summary of the invention
The object of the present invention is to provide the high elevator of a kind of accuracy height, debugging efficiency to start the control method of compensation.
In order to realize purpose of the present invention, the technical scheme of taking is:
A kind of elevator starts the control method of compensation, described elevator comprise electric life controller, with Weighing module and position detecting module that electric life controller is electrically connected, may further comprise the steps:
The Q that weighs of a, the zero load of record elevator 1, at full load the Q that weighs 2
When b, electric life controller are noted elevator respectively and are started in sampling period T the fully loaded pulse count P that position detecting module is sent back when descending of fully loaded up, the elevator of unloaded descending, the elevator of up, the elevator of elevator zero load 1, P 2, P 3, P 4
C, according to the unloaded compensating moment F when up of the data computation elevator of step b gained 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4
D, according to the data of step a, c gained, calculate elevator at all the other load-carrying Q XUnder the situation, up, descending compensating moment F UX, F DX, and form ascending for elevator compensating moment sequence { F U0, F U1F UnAnd the descending compensating moment sequence of elevator { F D0, F D1F Dn, wherein, n is the maximum output valve of Weighing module, X is natural number, 0≤X≤n;
E, calculating compensating moment correction F Δ, and elevator compensating moment sequence adjusted, at first judge compensating moment correction F ΔSize, work as F Δ＞F Δ errPerhaps F Δ＜-F Δ errThe time, then make F Δ=0; When-F Δ err≤ F Δ≤ F Δ errThe time, if F Δ＞F Δ max, make F Δ=F Δ maxIf F Δ＜-F Δ max, make F Δ=-F Δ max, then according to F ΔValue, adjust F UX, F DXSequence is with the F after adjusting UX, F DXReformulate elevator compensating moment sequence, wherein, F Δ errBe compensating moment abnormity point, the F that presets Δ maxBe the maximum compensating moment correction that presets;
F, the compensating moment sequence after adjusting is carried out the reasonableness verification, if abnormal condition occur, then the compensating moment sequence is carried out the reasonableness adjustment.
By obtaining the displacement that pulse count that position detecting module sends back obtains lift car, and the compensating moment when calculating this displacement, and in conjunction with the lift car zero load, the weight of at full load and zero load, the pulse count that position detecting module was sent back when full elevator started, compensating moment when calculating any load-carrying, compensating moment during with any load-carrying of calculating is formed the compensating moment sequence, elevator is adjusted the torque of traction sheave output in use according to this compensating moment sequence, thereby make elevator device the car phenomenon when starting, not occur slipping, improved the traveling comfort of taking, the elevator of this self-adaptation type starts the control method of compensation and adjusts the accuracy height, when being debugged, elevator device do not need to judge by human body sensory, the debugging efficiency height, after the elevator device period of service is long, Weighing module is affected by the external environment easily and slowly changes, by compensating moment is revised, thereby offset because the influence that the variation of Weighing module causes the elevator device traveling comfort has further improved the traveling comfort that elevator device is taken.
Below technical scheme is further specified:
Therein among embodiment, the unloaded compensating moment F when up of described elevator 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4All satisfy formula F a=F a+ K * P a, in (a=1,2,3,4) formula, K is the computational constant that presets.The pulse count that position detecting module is sent back can reflect the displacement of lift car, adjust compensating moment by said method, make compensating moment after the adjustment can eliminate the displacement of lift car, make lift car when starting, keep stabilized conditions, car do not occur slipping, improved the traveling comfort of taking.
Among embodiment, described therein Described
Figure BDA00003167790400032
Obtain elevator compensating moment sequence by said method and can make lift car when elevator starts, keep stable, thereby improve the traveling comfort of taking.
Therein among embodiment, described compensating moment correction F ΔSatisfy formula F Δ=K * P X, in the formula, K is the computational constant that presets, P XWhen starting for elevator in the sampling period T and elevator at load-carrying Q XThe time position detecting module pulse count sent back.By being revised, elevator compensating moment can further improve the traveling comfort of taking.
Therein among embodiment, elevator compensating moment sequence is carried out reasonableness when adjusting, satisfy formula F UX 1 = F UX 1 + [ 1 - min ( | X 1 - X | × A , 1 ) ] × F Δ ; F DX 1 = F DX 1 + [ 1 - min ( | X 1 - X | × A , 1 ) ] × F Δ , wherein, X 1Be natural number, 0≤X 1≤ n, X are current elevator weighing value, and A is the coefficient of weight that presets, and 0≤A≤1, and the effect of min function is the minimum value of asking for each parameter of function.Adopt this method that elevator compensating moment sequence is regulated and to make lift car when starting, keep stable, improve the traveling comfort of taking.
Among embodiment, described position detecting module is elevator motor axle rotary encoder therein.Elevator motor axle rotary encoder is the device of elevator standard configuration, can not increase the hardware cost of enterprise when satisfying effect.
Among embodiment, described Weighing module is LOAD CELLS therein, and described LOAD CELLS is installed in described lift car bottom.LOAD CELLS is the device that the elevator standard configuration of weighting apparatus is arranged, and can not increase the hardware cost of enterprise when satisfying effect.
Advantage of the present invention is:
By obtaining the displacement that pulse count that position detecting module sends back obtains lift car, and the compensating moment when calculating this displacement, and in conjunction with the lift car zero load, the weight of at full load and zero load, the pulse count that position detecting module was sent back when full elevator started, compensating moment when calculating any load-carrying, compensating moment during with any load-carrying of calculating is formed the compensating moment sequence, elevator is adjusted the torque of traction sheave output in use according to this compensating moment sequence, thereby make elevator device the car phenomenon when starting, not occur slipping, improved the traveling comfort of taking, the elevator of this self-adaptation type starts the control method of compensation and adjusts the accuracy height, when being debugged, elevator device do not need to judge by human body sensory, the debugging efficiency height, after the elevator device period of service is long, Weighing module is affected by the external environment easily and slowly changes, by compensating moment is revised, thereby offset because the influence that the variation of Weighing module causes the elevator device traveling comfort has further improved the traveling comfort that elevator device is taken.
Description of drawings
Fig. 1 is the scheme drawing that elevator of the present invention starts elevator device in the control method that compensates.
Description of reference numerals:
100. lift car, 200. electric life controllers, 300. position detecting module, 400. Weighing modules, 500. traction sheaves, 600. counterweights.
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated:
Consult Fig. 1, in an embodiment of the present invention, a kind of elevator starts the control method of compensation, described elevator comprise electric life controller 200, with Weighing module 400 and position detecting module 300 that electric life controller 200 is electrically connected, it may further comprise the steps:
The Q that weighs of a, the zero load of record elevator 1, at full load the Q that weighs 2
When b, electric life controller 200 are noted elevator respectively and are started in sampling period T the fully loaded pulse count P that position detecting module 300 is sent back when descending of fully loaded up, the elevator of unloaded descending, the elevator of up, the elevator of elevator zero load 1, P 2, P 3, P 4
C, according to the unloaded compensating moment F when up of the data computation elevator of step b gained 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4
D, according to the data of step a, c gained, calculate elevator at all the other load-carrying Q XUnder the situation, up, descending compensating moment F UX, F DX, and form ascending for elevator compensating moment sequence { F U0, F U1F UnAnd the descending compensating moment sequence of elevator { F D0, F D1F Dn, wherein, n is the maximum output valve of Weighing module 400, X is natural number, 0≤X≤n;
E, calculating compensating moment correction F Δ, and elevator compensating moment sequence adjusted, at first judge compensating moment correction F ΔSize, work as F Δ＞F Δ errPerhaps F Δ＜-F Δ errThe time, then make F Δ=0; When-F Δ err≤ F Δ≤ F Δ errThe time, if F Δ＞F Δ max, make F Δ=F Δ maxIf F Δ＜-F Δ max, make F Δ=-F Δ max, then according to F ΔValue, adjust F UX, F DXSequence is with the F after adjusting UX, F DXReformulate elevator compensating moment sequence, wherein, F Δ errBe compensating moment abnormity point, the F that presets Δ maxBe the maximum compensating moment correction that presets;
F, the compensating moment sequence after adjusting is carried out the reasonableness verification, if abnormal condition occur, then the compensating moment sequence is carried out the reasonableness adjustment.
Compensating moment F when described elevator zero load is up 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4All satisfy formula F a=F a+ K * P a, in (a=1,2,3,4) formula, K is the computational constant that presets.
Described F UX = Q X - Q 1 Q 2 - Q 1 × ( F 3 - F 1 ) + F 1 ; Described F DX = Q X - Q 1 Q 2 - Q 1 × ( F 4 - F 2 ) + F 2 .
Described compensating moment correction F ΔSatisfy formula F Δ=K * P X, in the formula, K is the computational constant that presets, P XFor in the sampling period T when elevator starts and elevator at load-carrying Q XThe time position detecting module 300 pulse count sent back.
When elevator compensating moment sequence is carried out the reasonableness adjustment, satisfy formula F UX 1 = F UX 1 + [ 1 - min ( | X 1 - X | × A , 1 ) ] × F Δ ; F DX 1 = F DX 1 + [ 1 - min ( | X 1 - X | × A , 1 ) ] × F Δ , wherein, X 1Be natural number, 0≤X 1≤ n, X are current elevator weighing value, and A is the coefficient of weight that presets, and 0≤A≤1, and the effect of min function is the minimum value of asking for each parameter of function.
Described position detecting module 300 is elevator motor axle rotary encoder, and described Weighing module 400 is LOAD CELLS, and described LOAD CELLS is installed in described lift car 100 bottoms.
By obtaining the displacement that pulse count that position detecting module 300 sends back obtains lift car 100, and the compensating moment when calculating this displacement, and in conjunction with lift car 100 zero loads, the weight of at full load and zero load, the pulse count that position detecting module 300 was sent back when full elevator started, compensating moment when calculating any load-carrying, compensating moment during with any load-carrying of calculating is formed the compensating moment sequence, elevator is adjusted the torque of traction sheave 500 outputs in use according to this compensating moment sequence, thereby make elevator device the car phenomenon when starting, not occur slipping, improved the traveling comfort of taking, the elevator of this self-adaptation type starts the control method of compensation and adjusts the accuracy height, when being debugged, elevator device do not need to judge by human body sensory, the debugging efficiency height, after the elevator device period of service is long, Weighing module 400 is affected by the external environment easily and slowly changes, by compensating moment is revised, thereby offset because the influence that the variation of Weighing module 400 causes the elevator device traveling comfort has further improved the traveling comfort that elevator device is taken.
Because varying in weight of lift car 100 and counterweight 600, there is unbalanced loading in traction sheave 500 both sides, thereby cause that lift car 100 occurred falling to slip or projection when elevator started, influence the traveling comfort of elevator ride, according to the method described above traction sheave moment is compensated, make traction sheave two end moments reach balance, thereby it is more comfortable that elevator ride is got up.
Above-listed detailed description is at the specifying of possible embodiments of the present invention, and this embodiment is not in order to limiting claim of the present invention, and the equivalence that all the present invention of disengaging do is implemented or change, all should be contained in the claim of this case.

Claims (7)

1. an elevator starts the control method of compensation, described elevator comprise electric life controller, with Weighing module and position detecting module that electric life controller is electrically connected, it is characterized in that, may further comprise the steps:
The Q that weighs of a, the zero load of record elevator 1, at full load the Q that weighs 2
When b, electric life controller are noted elevator respectively and are started in sampling period T the fully loaded pulse count P that position detecting module is sent back when descending of fully loaded up, the elevator of unloaded descending, the elevator of up, the elevator of elevator zero load 1, P 2, P 3, P 4
C, according to the unloaded compensating moment F when up of the data computation elevator of step b gained 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4
D, according to the data of step a, c gained, calculate elevator at all the other load-carrying Q XUnder the situation, up, descending compensating moment F UX, F DX, and form ascending for elevator compensating moment sequence { F U0, F U1F UnAnd the descending compensating moment sequence of elevator { F D0, F D1F Dn, wherein, n is the maximum output valve of Weighing module, X is natural number, 0≤X≤n;
E, calculating compensating moment correction F Δ, and elevator compensating moment sequence adjusted, at first judge compensating moment correction F ΔSize, work as F Δ＞F Δ errPerhaps F Δ＜-F Δ errThe time, then make F Δ=0; When-F Δ err≤ F Δ≤ F Δ errThe time, if F Δ＞F Δ max, make F Δ=F Δ maxIf F Δ＜-F Δ max, make F Δ=-F Δ max, then according to F ΔValue, adjust F UX, F DXSequence is with the F after adjusting UX, F DXReformulate elevator compensating moment sequence, wherein, F Δ errBe compensating moment abnormity point, the F that presets Δ maxBe the maximum compensating moment correction that presets;
F, the compensating moment sequence after adjusting is carried out the reasonableness verification, if abnormal condition occur, then the compensating moment sequence is carried out the reasonableness adjustment.
2. elevator according to claim 1 starts the control method of compensation, it is characterized in that, the compensating moment F when described elevator zero load is up 1, the unloaded compensating moment F when descending of elevator 2, the fully loaded compensating moment F when up of elevator 3, the fully loaded compensating moment F when descending of elevator 4All satisfy formula F a=F a+ K * P a, in (a=1,2,3,4) formula, K is the computational constant that presets.
3. start the control method that compensates according to claim 1 or 2 described elevators, it is characterized in that, described F UX = Q X - Q 1 Q 2 - Q 1 × ( F 3 - F 1 ) + F 1 ; Described F DX = Q X - Q 1 Q 2 - Q 1 × ( F 4 - F 2 ) + F 2 .
4. elevator according to claim 1 starts the control method of compensation, it is characterized in that described compensating moment correction F ΔSatisfy formula F Δ=K * P X, in the formula, K is the computational constant that presets, P XWhen starting for elevator in the sampling period T and elevator at load-carrying Q XThe time position detecting module pulse count sent back.
5. elevator according to claim 1 starts the control method of compensation, it is characterized in that, when elevator compensating moment sequence is carried out the reasonableness adjustment, satisfies formula
Figure FDA00003167790300022
Figure FDA00003167790300021
Wherein, X 1Be natural number, 0≤X 1≤ n, X are current elevator weighing value, and A is the coefficient of weight that presets, and 0≤A≤1, and the effect of min function is the minimum value of asking for each parameter of function.
6. elevator according to claim 1 starts the control method of compensation, it is characterized in that described position detecting module is elevator motor axle rotary encoder.
7. elevator according to claim 1 starts the control method of compensation, it is characterized in that described Weighing module is LOAD CELLS, and described LOAD CELLS is installed in described lift car bottom.
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103754726A (en) * 2013-12-31 2014-04-30 日立电梯(上海)有限公司 Device for preventing lift car from moving accidentally and method thereof
CN105668358A (en) * 2016-03-09 2016-06-15 上海贝思特控制技术有限公司 Special no-weighing starting torque compensation algorithm for elevator and debugging method
CN110002298A (en) * 2019-04-09 2019-07-12 深圳市海浦蒙特科技有限公司 A kind of elevator starting control method and system
CN110316629A (en) * 2018-03-30 2019-10-11 上海三菱电梯有限公司 Elevator meausring apparatus auto-correction method
CN110510465A (en) * 2019-08-09 2019-11-29 深圳市海浦蒙特科技有限公司 It is a kind of to drive elevator starting control method and system by force
CN111115398A (en) * 2019-12-12 2020-05-08 日立楼宇技术（广州）有限公司 Debugging method and device of elevator, debugging terminal and storage medium
CN113044693A (en) * 2019-12-26 2021-06-29 株式会社日立制作所 Elevator control device and elevator control method
CN113776804A (en) * 2021-09-22 2021-12-10 日立电梯电机（广州）有限公司 Dynamic life test method for brake
CN115043279A (en) * 2022-07-19 2022-09-13 广州永日电梯有限公司 Torque compensation control method for starting elevator

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JP2009057186A (en) * 2007-09-03 2009-03-19 Hitachi Ltd Elevator control method
CN101723215A (en) * 2009-11-27 2010-06-09 上海永大吉亿电机有限公司 Method for detecting and compensating starting torque of frequency transformer for elevator
CN102097987A (en) * 2011-02-18 2011-06-15 哈尔滨工业大学 Method for compensating starting torque of weighting sensor-free elevator traction permanent magnet synchronous motor
CN102259781A (en) * 2011-07-19 2011-11-30 上海贝思特电气有限公司 Torque compensation method for lift without weighing device

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JP2009057186A (en) * 2007-09-03 2009-03-19 Hitachi Ltd Elevator control method
CN101723215A (en) * 2009-11-27 2010-06-09 上海永大吉亿电机有限公司 Method for detecting and compensating starting torque of frequency transformer for elevator
CN102097987A (en) * 2011-02-18 2011-06-15 哈尔滨工业大学 Method for compensating starting torque of weighting sensor-free elevator traction permanent magnet synchronous motor
CN102259781A (en) * 2011-07-19 2011-11-30 上海贝思特电气有限公司 Torque compensation method for lift without weighing device

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103754726B (en) * 2013-12-31 2016-02-17 日立电梯(上海)有限公司 A kind of devices and methods therefor preventing accidental movement of elevator cage
CN103754726A (en) * 2013-12-31 2014-04-30 日立电梯(上海)有限公司 Device for preventing lift car from moving accidentally and method thereof
CN105668358A (en) * 2016-03-09 2016-06-15 上海贝思特控制技术有限公司 Special no-weighing starting torque compensation algorithm for elevator and debugging method
CN110316629B (en) * 2018-03-30 2021-10-08 上海三菱电梯有限公司 Automatic correction method for elevator weighing device
CN110316629A (en) * 2018-03-30 2019-10-11 上海三菱电梯有限公司 Elevator meausring apparatus auto-correction method
CN110002298A (en) * 2019-04-09 2019-07-12 深圳市海浦蒙特科技有限公司 A kind of elevator starting control method and system
CN110002298B (en) * 2019-04-09 2021-09-14 深圳市海浦蒙特科技有限公司 Elevator starting control method and system
CN110510465A (en) * 2019-08-09 2019-11-29 深圳市海浦蒙特科技有限公司 It is a kind of to drive elevator starting control method and system by force
CN110510465B (en) * 2019-08-09 2022-02-18 深圳市海浦蒙特科技有限公司 Forced drive elevator starting control method and system
CN111115398A (en) * 2019-12-12 2020-05-08 日立楼宇技术（广州）有限公司 Debugging method and device of elevator, debugging terminal and storage medium
CN111115398B (en) * 2019-12-12 2022-03-22 日立楼宇技术（广州）有限公司 Debugging method and device of elevator, debugging terminal and storage medium
CN113044693A (en) * 2019-12-26 2021-06-29 株式会社日立制作所 Elevator control device and elevator control method
CN113776804A (en) * 2021-09-22 2021-12-10 日立电梯电机（广州）有限公司 Dynamic life test method for brake
CN115043279A (en) * 2022-07-19 2022-09-13 广州永日电梯有限公司 Torque compensation control method for starting elevator
CN115043279B (en) * 2022-07-19 2023-01-06 广州永日电梯有限公司 Torque compensation control method for starting elevator

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