CN103241605A - Elevator starting compensation control method - Google Patents

Elevator starting compensation control method Download PDF

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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
compensation torque
load
compensation
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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

本发明的一种电梯启动补偿的控制方法，所述电梯包括电梯控制器、与电梯控制器电气连接的称重模块及位置检测模块，首先记录电梯空载、满载时的称重，再记录电梯启动时在采样周期T内电梯空载上行、电梯空载下行、电梯满载上行、电梯满载下行时位置检测模块传回来的脉冲数，根据该脉冲数计算出各状态下的补偿力矩，再计算在其余载重下的补偿力矩，并将计算出的补偿力矩组成补偿力矩序列，并且根据检查到的实际情况对补偿力矩序列进行自适应调整。本发明的电梯启动补偿的控制方法，能够使电梯系统在启动时不出现溜车现象，提高了乘坐的舒适性，这种自适应型的控制方法调整准确度高，在对电梯系统进行调试时不需要通过人体感觉来判断，调试效率高。

A control method for elevator start-up compensation of the present invention, the elevator includes an elevator controller, a weighing module electrically connected to the elevator controller, and a position detection module, firstly record the weight of the elevator when it is empty and full, and then record the weight of the elevator When starting, within the sampling period T, the number of pulses sent back by the position detection module when the elevator goes up with no load, the elevator goes down with no load, the elevator goes up with a full load, and the elevator goes down with a full load, calculates the compensation torque in each state according to the number of pulses, and then calculates in The compensation torque under the rest of the load, and the calculated compensation torque is composed of a compensation torque sequence, and the compensation torque sequence is adaptively adjusted according to the actual situation detected. The control method for elevator start-up compensation of the present invention can prevent the elevator system from slipping when it is started, and improves ride comfort. This self-adaptive control method has high adjustment accuracy, and when debugging the elevator system It does not need to be judged by human body feeling, and the 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)

1.一种电梯启动补偿的控制方法，所述电梯包括电梯控制器、与电梯控制器电气连接的称重模块及位置检测模块，其特征在于，包括以下步骤：1. A control method for elevator start-up compensation, described elevator includes elevator controller, weighing module and position detection module electrically connected with elevator controller, it is characterized in that, comprises the following steps: a、记录电梯空载的称重Q1、满载时的称重Q2；a. Record the weight Q 1 of the elevator when it is empty and the weight Q 2 when it is fully loaded; b、电梯控制器分别记录下电梯启动时在采样周期T内电梯空载上行、电梯空载下行、电梯满载上行、电梯满载下行时位置检测模块传回来的脉冲数P1、P2、P3、P4；b. The elevator controller respectively records the number of pulses P 1 , P 2 , and P 3 returned by the position detection module when the elevator starts up during the sampling period T, when the elevator goes up with no load, when the elevator goes down with no load, when the elevator goes up with a full load, and when the elevator goes down with a full load , P 4 ; c、根据步骤b所得的数据计算电梯空载上行时的补偿力矩F1、电梯空载下行时的补偿力矩F2、电梯满载上行时的补偿力矩F3、电梯满载下行时的补偿力矩F4；c. According to the data obtained in step b, calculate the compensation torque F 1 when the elevator goes up with no load, the compensation torque F 2 when the elevator goes down with no load, the compensation torque F 3 when the elevator goes up with a full load, and the compensation torque F 4 when the elevator goes down with a full load ; d、根据步骤a、c所得的数据，计算出电梯在其余载重QX情况下，上行、下行的补偿力矩FUX、FDX，并组成电梯上行补偿力矩序列{FU0，FU1…FUn}和电梯下行补偿力矩序列{FD0,FD1…FDn}，其中，n为称重模块的最大输出值，X为自然数，0≤X≤n;d. According to the data obtained in steps a and c, calculate the upward and downward compensation torques F UX and F DX of the elevator under the condition of the remaining load Q X , and form the elevator upward compensation torque sequence {F U0 , F U1 ...F Un } and elevator downward compensation torque sequence {F D0 , F D1 ...F Dn }, where n is the maximum output value of the weighing module, X is a natural number, 0≤X≤n; e、计算补偿力矩修正值FΔ，并对电梯补偿力矩序列进行调整，首先判断补偿力矩修正值FΔ的大小，当FΔ＞FΔerr或者FΔ＜-FΔerr时，则令FΔ=0；当-FΔerr≤FΔ≤FΔerr时，若FΔ＞FΔmax，令FΔ＝FΔmax；若FΔ＜-FΔmax，令FΔ=-FΔmax，然后根据FΔ的值，调整FUX、FDX序列，将调整之后的FUX、FDX重新组成电梯补偿力矩序列，其中，FΔerr为预设定的补偿力矩异常点、FΔmax为预设定的最大补偿力矩修正值；e. Calculate the compensation torque correction value F Δ , and adjust the elevator compensation torque sequence. First, determine the size of the compensation torque correction value F Δ . When F Δ >F Δerr or F Δ <-F Δerr , then set F Δ = 0; when -F Δerr ≤ F Δ ≤ F Δerr , if F Δ > F Δmax , set F Δ = F Δmax ; if F Δ <-F Δmax , set F Δ =-F Δmax , and then according to the value of F Δ , adjust the sequence of F UX and F DX , and recompose the adjusted F UX and F DX to the elevator compensation torque sequence, where F Δerr is the preset abnormal point of compensation torque, and F Δmax is the preset maximum compensation torque correction value; f、对调整后的补偿力矩序列进行合理性校验，若出现异常情况，则对补偿力矩序列进行合理性调整。f. Check the rationality of the adjusted compensation torque sequence, and adjust the rationality of the compensation torque sequence if any abnormal situation occurs. 2.根据权利要求1所述的电梯启动补偿的控制方法，其特征在于，所述电梯空载上行时的补偿力矩F1、电梯空载下行时的补偿力矩F2、电梯满载上行时的补偿力矩F3、电梯满载下行时的补偿力矩F4均满足公式Fa＝Fa+K×Pa，（a=1,2,3,4）式中，K为预设定的计算常数。2. The control method for elevator starting compensation according to claim 1, characterized in that, the compensation torque F 1 when the elevator goes up with no load, the compensation torque F 2 when the elevator goes down with no load, and the compensation torque when the elevator goes up with a full load The torque F 3 and the compensation torque F 4 when the elevator is fully loaded and descending all satisfy the formula F a =F a +K×P a , (a=1,2,3,4), where K is a preset calculation constant. 3.根据权利要求1或者2所述的电梯启动补偿的控制方法，其特征在于，所述 F UX = Q X - Q 1 Q 2 - Q 1 &times; ( F 3 - F 1 ) + F 1 ; 所述 F DX = Q X - Q 1 Q 2 - Q 1 &times; ( F 4 - F 2 ) + F 2 . 3. The control method of elevator starting compensation according to claim 1 or 2, characterized in that, the f UX = Q x - Q 1 Q 2 - Q 1 &times; ( f 3 - f 1 ) + f 1 ; said f DX = Q x - Q 1 Q 2 - Q 1 &times; ( f 4 - f 2 ) + f 2 . 4.根据权利要求1所述的电梯启动补偿的控制方法，其特征在于，所述补偿力矩修正值FΔ满足公式FΔ=K×PX，式中，K为预设定的计算常数，PX为电梯启动时采样周期T内且电梯在载重QX时位置检测模块传回来的脉冲数。4. The control method for elevator starting compensation according to claim 1, characterized in that, the compensation torque correction value F Δ satisfies the formula F Δ =K×P X , where K is a preset calculation constant, P X is the number of pulses sent back by the position detection module in the sampling period T when the elevator starts and the elevator is under load Q X. 5.根据权利要求1所述的电梯启动补偿的控制方法，其特征在于，对电梯补偿力矩序列进行合理性调整时，满足公式
Figure FDA00003167790300022
Figure FDA00003167790300021
其中，X1为自然数，0≤X1≤n，X为当前电梯称重值，A为预设定的加权系数，且0≤A≤1，min函数的作用是求取函数各参数的最小值。5. The control method of elevator starting compensation according to claim 1, characterized in that, when the elevator compensation torque sequence is rationally adjusted, the formula is satisfied
Figure FDA00003167790300022
Figure FDA00003167790300021
Among them, X 1 is a natural number, 0≤X 1 ≤n, X is the current weighing value of the elevator, A is a preset weighting coefficient, and 0≤A≤1, the function of the min function is to obtain the minimum value of each parameter of the function value. 6.根据权利要求1所述的电梯启动补偿的控制方法，其特征在于，所述位置检测模块为电梯电机轴旋转编码器。6. The control method for elevator start-up compensation according to claim 1, wherein the position detection module is a rotary encoder of an elevator motor shaft. 7.根据权利要求1所述的电梯启动补偿的控制方法，其特征在于，所述称重模块为称重传感器，所述称重传感器安装在所述电梯轿厢底部。7. The control method for elevator starting compensation according to claim 1, wherein the weighing module is a load cell, and the load cell is installed at the bottom of the elevator car.
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Cited By (9)

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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 Elevator debugging method, device, 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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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
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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
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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 Elevator debugging method, device, 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 Elevator debugging method, device, debugging terminal and storage medium
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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
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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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