CN104150301B - Elevator operation curve modification method - Google Patents

Abstract

The present invention relates to a kind of elevator operation curve modification method, the method enters for revising elevator the operation curve of estimating subtracting after deceleration area, thereby solves because the slippage of position causes the inaccurate problem of elevator parking. The method includes the steps of: measure the real surplus distance of elevator, and estimate Distance Remaining and compare and obtain deviation Distance Remaining; A kind of elevator operation curve modification method based on trigonometric function is provided, revises displacement curve, rate curve, accelerating curve, acceleration curve all continuously level and smooth, and curve conveniently solves, calculate and storage without segmentation; Fair curve and Theoretical Prediction curve are carried out to linear superposition, obtain revised operation curve. Thereby realize the level and smooth stop of elevator, farthest meet passenger's comfort level simultaneously.

Description

Elevator operation curve modification method

Technical field

The present invention relates to elevator technology, be specifically related to a kind of elevator operation curve correction based on trigonometric functionMethod.

Technical background

Elevator in running, the slippage that steel wire rope may produce relative driving wheel due to inertia, orDue to the speed of service deviation that the response speed of frequency converter produces, cause lift car actual walk line-spacingFrom with estimate distance there is deviation, cause the inaccurate problem of elevator parking.

The inverter input signal of controlling elevator running is decided by the Elevator Running Speed Cueve of pre-estimation,Therefore the generation of speed curve of elevator and on-line optimization have very important meaning to the runnability of elevatorJustice. Common elevator operation curve (as Fig. 1) comprises and adds accelerating region (T₁), even accelerating region (T₂), subtractAccelerating region (T₃), constant speed district (T₄), acceleration and deceleration district (T₅), even deceleration area (T₆) and subtract deceleration area (T₇)，Wherein add accelerating region (T₁), subtract accelerating region (T₃), acceleration and deceleration district (T₅) and subtract deceleration area (T₇) be itSeveral sections of middle indispensability. Therefore,, in order to solve the inaccurate problem of elevator parking, need subtractingSpeed district (T₇) rate curve of section revises, and makes elevator can accurately rest in predetermined dock floor,And speed and acceleration while stop are 0.

Chinese patent CN102234048A discloses a kind of method for correcting speed curve of elevator. Providing a kind of usesThe speed fair curve of half trip after revising this deceleration; This rate curve and this fair curve of speed are changedAdd, revise rear rate curve to obtain. This erection rate curve is continuously level and smooth, but its accelerating curveBe designed to 4 sections of straight lines, though continuous unsmooth. Consider from the angle realizing, this curve needs segmentationStorage and calculating, realize operational efficiency lower, cannot better meet and utilize the limited computational resource of elevator realThe demand of existing Computationally efficient.

But the comfortableness that the run curve of elevator and passenger take elevator has close ties. Design is flatThe comfortableness that sliding elevator run curve can effectively improve passenger takes elevator, run curve comprises positionCurve to the time of curve to the time of curve to the time, speed, acceleration, acceleration are to the timeCurve. Therefore, take the comfortableness of elevator in order at utmost to improve passenger, be necessary that design is a kind ofMore naturally elevator operation fair curve, the displacement curve of this correction, rate curve, accelerating curve,Acceleration curve all needs that level and smooth meanwhile, curve should conveniently solve continuously, calculate without segmentation andStorage, thus limited calculating and the storage efficiency of elevator improved.

Consider that trigonometric function curve is the most frequently used in engineering field and one of the most natural curve movement, itsThere is continuous and flatness preferably, after differential or integration, still can retain trigonometric function characteristic. With straight lineOr parabolic curve compares, passenger takes and adopts the elevator of trigonometric function run curve to have better comfortable bodyTest. , consider from the angle realizing, such curve calculation is simple, memory source utilizes less meanwhile.

Summary of the invention

The present invention proposes a kind of elevator operation curve modification method based on trigonometric function, the displacement song of correctionLine, rate curve, accelerating curve, acceleration curve all level and smooth continuously, make the lift car canAccurately and smoothly rest in predetermined floor, the comfortableness that improves passenger simultaneously and take elevator.

The elevator operation curve modification method that the present invention proposes subtracts deceleration area (T for revising to comprise₇) section fortuneRow curve, in time T₇In constant situation, in the time that this section of stroke finishes, displacement deviation is corrected for 0(accurately stopping), erection rate, correction acceleration are also 0 simultaneously.

To achieve these goals, the technical solution adopted in the present invention is as follows:

Elevator operation curve modification method, comprises the steps:

(1) measure the real surplus distance of elevator apart from terminal; Then obtain real surplus distance and theoryEstimate the difference of Distance Remaining, i.e. deviation Distance Remaining Δ S;

(2) when elevator subtracts deceleration area (T entering₇) after, if this deviation Distance Remaining Δ S is non-vanishing,Need to carry out the correction of operation curve, obtain revising as the operation curve Δ Ω (t) of formula (1), itsDescribed in operation curve Δ Ω (t) the displacement curve Δ S (t), the rate curve Δ v (t) that comprise correction, accelerateLine Δ a (t) and acceleration curve Δ α (t) write music:

ΔΩ(t)＝[ΔS(t),Δv(t),Δa(t),Δα(t)]^T(1)

In the time that deviation Distance Remaining Δ S is greater than zero, operation curve Δ Ω (t) revises as follows:

The trigonometric function curve that the displacement curve Δ S (t) revising is continuously smooth, and elevator knot running timeShu Shi, offset deviation is 0, i.e. Δ S (T₇)＝0；

The trigonometric function curve that the rate curve Δ v (t) revising is continuously smooth, this curve is along with time tIncrease, starting from scratch first to increase is decreased to zero, i.e. Δ v (0)=Δ v (T again₇)=0, works as t=T₇/ 2 o'clock,Erection rate reaches maximum Δ v, obtains Δ v (T₇/2)＝Δv；

The trigonometric function curve that the accelerating curve Δ a (t) revising is continuously smooth, this curve is along with time tIncrease, starting from scratch first increases, reduces then to increase to zero again; Work as t=T₇, revise acceleration at/2 o'clockBe zero, i.e. Δ a (0)=Δ a (T₇/2)＝Δa(T₇)＝0；

The acceleration curve Δ α (t) the revising trigonometric function curve that is continuously smooth, this curve along with timeBetween the increase of t, start from scratch and first reduce to increase to again zero. Be Δ α (0)=Δ α (T₇)=0; Work as t=T₇/2Time, revise acceleration and reach minimum of a value-Δ α, obtain Δ α (T₇/2)＝-Δα；

In the time that deviation Distance Remaining Δ S is less than zero, the modification method of operation curve Δ Ω (t) is as follows:

The trigonometric function curve that the displacement curve Δ S (t) revising is continuously smooth, and elevator knot running timeShu Shi, offset deviation is 0, i.e. Δ S (T₇)＝0；

The trigonometric function curve that the rate curve Δ v (t) revising is continuously smooth, this curve is along with time tIncrease, start from scratch and first reduce to be decreased to again zero, be i.e. Δ v (0)=Δ v (T₇)=0; Work as t=T₇/ 2 o'clock,Erection rate reaches minimum of a value-Δ v, obtains Δ v (T₇/2)＝-Δv；

The trigonometric function curve that the accelerating curve Δ a (t) revising is continuously smooth, this curve is along with time tIncrease, start from scratch first reduce, again increase be then decreased to zero; Work as t=T₇, revise acceleration at/2 o'clockBe zero, i.e. Δ a (0)=Δ a (T₇/2)＝Δa(T₇)＝0；

The acceleration curve Δ α (t) the revising trigonometric function curve that is continuously smooth, this curve along with timeBetween the increase of t, start from scratch and first increase and be decreased to again zero. Be Δ α (0)=Δ α (T₇)=0; Work as t=T₇/2Time, revise acceleration and reach maximum Δ α, obtain Δ α (T₇/2)＝Δα；

(3) fair curve Δ Ω (t) and Theoretical Prediction curve Ω (t) are carried out to linear superposition, revisedAfter formula (2) operation curve Ω ' (t).

Ω'(t)＝ΔΩ(t)+Ω(t)(2)

Adopt said method to make elevator adopt revised curve Ω ' (t) to move, can realize accurate and smooth-goingStop, the comfortableness that improves passenger simultaneously and take elevator.

Brief description of the drawings

Fig. 1 is that common elevator is estimated ideal speed curve schematic diagram.

Fig. 2 is that deviation Distance Remaining Δ S of the present invention is greater than at 1 o'clock, rate curve and acceleration before and after revisingCurve synoptic diagram.

Fig. 3 is that deviation Distance Remaining Δ S of the present invention is less than at 1 o'clock, rate curve and acceleration before and after revisingCurve synoptic diagram.

Fig. 4 is the fair curve that deviation Distance Remaining Δ S of the present invention is greater than at 1 o'clock, comprises and revises displacement songLine, rate curve, accelerating curve, acceleration curve synoptic diagram.

Fig. 5 is the fair curve that deviation Distance Remaining Δ S of the present invention is less than at 1 o'clock, comprises and revises displacement songLine, rate curve, accelerating curve, acceleration curve.

Detailed description of the invention

Below in conjunction with the accompanying drawings and embodiments, further set forth the present invention.

When the operation of elevator is from even deceleration area (T₆) be transformed into and subtract deceleration area (T₇) moment moment time, thisTime elevator speed be made as v₀, Theoretical Prediction Distance Remaining is S₀。

Owing to subtracting deceleration area (T in Theoretical Prediction rate curve₇) acceleration be steady state value, establish this and addSpeed is α, subtracts the initial acceleration a of deceleration area₀Be expressed as:

a₀＝αT₇(3)

Subtract the initial velocity v of deceleration area₀With Theoretical Prediction Distance Remaining be S₀Be expressed as respectively:

$v_0=\frac{1}{2}\mathrm{\α}{T}_7^2---\left(4\right)$

$S_0=\frac{1}{6}\mathrm{\α}{T}_7^3---\left(5\right)$

Obtained subtracting the time T of deceleration area by formula (4), (5) formula₇：

$T_7=\frac{{3S}_0}{v_0}---\left(6\right)$

Obtained subtracting the initial acceleration of deceleration area by formula (3), (4) formula:

$a_0=\frac{{2v}_0}{T_7}---\left(7\right)$

Obtained by formula (6), (7) formula:

$a_0=\frac{2v_0^2}{3S_0}---\left(8\right)$

Therefore, obtain acceleration α and v by formula (3), (8) formula₀、S₀Relation:

$\mathrm{\α}=\frac{2v_0^3}{9S_0^2}---\left(9\right)$

Obtain subtracting deceleration area Theoretical Prediction displacement curve, rate curve and accelerating curve by formula (9) formulaBe respectively:

$S\left(t\right)=\frac{1}{6}\frac{2v_0^3}{9S_0^2}{(T_7-t)}^3=\frac{v_0^3}{27S_0^2}{(T_7-t)}^3---\left(10\right)$

$v\left(t\right)=\frac{1}{2}\frac{2v_0^3}{9S_0^2}{(T_7-t)}^2=\frac{v_0^3}{9S_0^2}{(T_7-t)}^2---\left(11\right)$

$a\left(t\right)=\frac{2v_0^3}{9S_0^2}(T_7-t)---\left(12\right)$

But in the time that elevator moves owing to occurring the problems such as slippage, real surplus distance remains with Theoretical PredictionDistance is S₀And unequal, if now elevator still adopts Theoretical Prediction curve motion, will in the time stoppingProduce deviation. Therefore, need to revise this curve, elevator can accurately be stopped.

Can measure and estimate to obtain actual residue distance by the flat bed inductor in each dock floor settingFrom. If real surplus distance is S ', deviation Distance Remaining Δ S is expressed as:

ΔS＝S'-S₀(13)

In the time that deviation Distance Remaining Δ S is greater than zero, show that real surplus distance is greater than Theoretical Prediction residue distanceFrom, should revise and estimate operation curve, for example in running, accelerate, make to estimate Distance RemainingExtend, thereby in the time that finish running time, elevator can accurately be stopped, and speed, acceleration parameterAlso be zero (referring to Fig. 2, Fig. 4).

In the time that deviation Distance Remaining Δ S is less than zero, show that real surplus distance is less than Theoretical Prediction residue distanceFrom, should revise and estimate operation curve, for example in running, slow down, make to estimate Distance RemainingShorten, thereby in the time that finish running time, elevator can accurately be stopped, and speed, acceleration parameterAlso be zero (Fig. 3, Fig. 5).

Therefore,, by design modification operation curve Δ Ω (t), revised theory is estimated curve Ω (t) and isΩ ' (t), thereby elevator can accurately be stopped.

The correction displacement song that correction operation curve Δ Ω (t) based on trigonometric function Curve Design comprisesLine, rate curve, accelerating curve, acceleration curve are all continuously level and smooth, and meanwhile, curve is conveniently askedSeparate, calculate and storage without segmentation.

The trigonometric function curve that the rate curve Δ v (t) revising in Fig. 4, Fig. 5 is continuously smooth, wherein Δv(0)＝Δv(T₇)=0. Character by trigonometric function curve obtains: work as t=T₇/ 2 o'clock, erection rate reached(in the time that deviation Distance Remaining Δ S is greater than zero, this value is maximum to extreme value; When deviation Distance Remaining Δ, S is littleAt 1 o'clock, this value was minimum), be made as Δ v, obtain Δ v (T₇/ 2)=Δ v, and work as t=1T₇/4＝3T₇/4Time, Δ v (1T₇/4)＝Δv(3T₇/ 4)=Δ v/2. The area comprising for rate curve due to travel distance,Therefore can obtain:

$\mathrm{\ΔS}=\frac{1}{2}\mathrm{\Δv}{T}_7---\left(14\right)$

Obtain:

$\mathrm{\Δv}=\frac{2\mathrm{\ΔS}}{T_7}---\left(15\right)$

According to the track of the erection rate curve shown in Fig. 4,5, assumed curve expression formula is:

Δv(t)＝-Acos(ωt)+b(16)

Obtain:

$A=\frac{\mathrm{\Δv}}{2},b=\frac{\mathrm{\Δv}}{2},\mathrm{\ω}=\frac{2\mathrm{\π}}{T_7}---\left(17\right)$

Therefore, erection rate curve about the function of time is:

$\mathrm{\Δv}\left(t\right)=-\frac{\mathrm{\Δv}}{2}\cos \left(\frac{2\mathrm{\πt}}{T_7}\right)+\frac{\mathrm{\Δv}}{2}---\left(18\right)$

Obtain revising the function of accelerating curve about the time by Δ a (t)=d (Δ v (t)):

$\mathrm{\Δa}\left(t\right)=\frac{\mathrm{\π\Δv}}{T_7}\sin \left(\frac{2\mathrm{\πt}}{T_7}\right)---\left(19\right)$

Obtain revising the function of acceleration curve about the time by Δ α (t)=d (Δ a (t)):

$\mathrm{\Δ\α}\left(t\right)=\frac{2{\mathrm{\π}}^2\mathrm{\Δv}}{T_7^2}\cos \left(\frac{2\mathrm{\πt}}{T_7}\right)---\left(20\right)$

Function by (18) formula calculation deviation Distance Remaining Δ S about the time:

$\begin{array}{c}\mathrm{\ΔS}\left(t\right)=\mathrm{\ΔS}-\∫\mathrm{\Δv}\left(t\right)\mathrm{dt}\\ =\mathrm{\ΔS}-(\frac{\mathrm{\Δvt}}{2}-\frac{\mathrm{\Δv}{T}_7}{4\mathrm{\π}}\sin \left(\frac{2\mathrm{\πt}}{T_7}\right))\end{array}---\left(21\right)$

Fair curve Δ Ω (t) and Theoretical Prediction curve Ω (t) are carried out to linear superposition, after obtaining revisingOperation curve Ω ' (t):

$\mathrm{\Ω}\text{'}\left(t\right)=\left[\begin{array}{c}S\text{'}\left(t\right)\\ v\text{'}\left(t\right)\\ a\text{'}\left(t\right)\\ \mathrm{\α}\text{'}\left(t\right)\end{array}\right]=\mathrm{\Δ\Ω}\left(t\right)+\mathrm{\Ω}\left(t\right)=\left[\begin{array}{c}\mathrm{\ΔS}\left(t\right)+S\left(t\right)\\ \mathrm{\Δv}\left(t\right)+v\left(t\right)\\ \mathrm{\Δa}\left(t\right)+a\left(t\right)\\ \mathrm{\Δ\α}\left(t\right)+\mathrm{\α}\left(t\right)\end{array}\right]---\left(22\right)$

It is level and smooth and continuous that the correction operation curve Δ Ω ' that above formula obtains (t) has ensured that elevator moves,And this curve conveniently solves, calculate and storage without segmentation.

The correction operation curve of above-described embodiment comprises [0, the T that subtracts deceleration area₇] time period, but revise fortuneRow curve also can further comprise [t₁,t₂] time period, wherein 0≤t₁<t₂≤T₇, now between the timeEvery variable T₇To be t₂-t₁。

Above-described embodiment has carried out the correction of an operation curve, but before elevator end of run, also canTo carry out operation curve correction repeatedly, different time sections, for example elevator has many group position correction dressesThe situation of putting. Now the Modification of Curves tool based on trigonometric function is easy to the advantages such as stack, by phaseThe variation of position can realize mutual stack.

More than disclose and explained general principle of the present invention, principal character and advantage. Although by implementingExample is set forth the present invention, but is not restricted to disclosed embodiment, is not departing from essence of the present inventionUnder the prerequisite of god and scope, still have many changes and improvements. Therefore for not departing from variation of the present invention, changingEnter and modify and all belong to covering scope of the present invention.

Claims (3)

1. an elevator operation curve modification method, is characterized in that, the method comprises the following step:

1]. measure the real surplus distance of elevator apart from terminal; Then obtain real surplus distance pre-with theoryEstimate the difference of Distance Remaining, i.e. deviation Distance Remaining Δ S;

2]. when entering, elevator subtracts after deceleration area, if this deviation Distance Remaining is non-vanishing, revised theoryEstimate displacement curve, rate curve, accelerating curve, the acceleration curve in curve and make displacement songLine, rate curve, accelerating curve, acceleration curve are all continuously level and smooth, thereby obtain fair curve;

3]. by step 2] fair curve and the Theoretical Prediction curve that obtain carry out linear superposition, revisedAfter operation curve;

Described fair curve comprises erection rate curve, revises accelerating curve, revises acceleration curve,Revise displacement curve, its erection rate curve, revise accelerating curve, revise acceleration curve, repairPositive displacement curve is expressed as following formula about the function of time:

$\mathrm{\&Delta;}v\left(t\right)=-\frac{\mathrm{\&Delta;}v}{2}cos\left(\frac{2\mathrm{\&pi;}t}{T_7}\right)+\frac{\mathrm{\&Delta;}v}{2}$

$\mathrm{\&Delta;}a\left(t\right)=\frac{\mathrm{\&pi;}\mathrm{\&Delta;}v}{T_7}sin\left(\frac{2\mathrm{\&pi;}t}{T_7}\right)$

$\mathrm{\&Delta;}\mathrm{\&alpha;}\left(t\right)=\frac{2{\mathrm{\&pi;}}^2\mathrm{\&Delta;}v}{T_7^2}cos\left(\frac{2\mathrm{\&pi;}t}{T_7}\right)$

$\begin{array}{c}\mathrm{\&Delta;}S\left(t\right)=\mathrm{\&Delta;}S-\&Integral;\mathrm{\&Delta;}v\left(t\right)dt\\ =\mathrm{\&Delta;}S-\left(\frac{\mathrm{\&Delta;}vt}{2}-\frac{{\mathrm{\&Delta;vT}}_7}{4\mathrm{\&pi;}}\sin \left(\frac{2\mathrm{\&pi;}t}{T_7}\right)\right)\end{array}$

Wherein:

$\mathrm{\&Delta;}v=\frac{2\mathrm{\&Delta;}S}{T_7}.$

2. elevator operation curve modification method as claimed in claim 1, is characterized in that, in described step2], in, in the time that deviation Distance Remaining Δ S is greater than zero, described displacement curve, rate curve, acceleration are write musicThe modification method of line, acceleration curve is as follows respectively:

The displacement curve Δ S (t) the revising trigonometric function curve that is continuously smooth, and elevator finishes running timeTime (t=T₇), offset deviation is 0, i.e. Δ S (T₇)＝0；

The trigonometric function curve that the rate curve Δ v (t) revising is continuously smooth, this curve is along with time tIncrease, starting from scratch first to increase is decreased to zero, i.e. Δ v (0)=Δ v (T again₇)=0; Work as t=T₇/ 2 o'clock,Erection rate reaches maximum Δ v, obtains Δ v (T₇/2)＝Δv；

The trigonometric function curve that the accelerating curve Δ a (t) revising is continuously smooth, this curve is along with time tIncrease, starting from scratch first increases, reduces then to increase to zero again; Work as t=T₇/ 2 o'clock, revise and accelerateDegree is zero, i.e. Δ a (0)=Δ a (T₇/2)＝Δa(T₇)＝0；

The acceleration curve Δ α (t) the revising trigonometric function curve that is continuously smooth, this curve along with timeBetween the increase of t, start from scratch and first reduce to increase to again zero; Be Δ α (0)=Δ α (T₇)=0, works as t=T₇/2Time, revise acceleration and reach minimum of a value-Δ α, obtain Δ α (T₇/ 2)=-Δ α; Wherein T₇For subtracting [0, the T of deceleration area₇] time period.

3. elevator operation curve modification method as claimed in claim 1, is characterized in that, in described step2], in, in the time that deviation Distance Remaining Δ S is less than zero, described displacement curve, rate curve, acceleration are write musicThe modification method of line, acceleration curve is as follows respectively:

The displacement curve Δ S (t) the revising trigonometric function curve that is continuously smooth, and elevator finishes running timeTime, offset deviation is 0, i.e. Δ S (T₇)＝0；

The trigonometric function curve that the rate curve Δ v (t) revising is continuously smooth, this curve is along with time tIncrease, start from scratch and first reduce to be decreased to again zero, be i.e. Δ v (0)=Δ v (T₇)=0; Work as t=T₇/ 2 o'clock,Erection rate reaches minimum of a value-Δ v, obtains Δ v (T₇/2)＝-Δv；

The trigonometric function curve that the accelerating curve Δ a (t) revising is continuously smooth, this curve is along with time tIncrease, start from scratch first reduce, again increase be then decreased to zero; Work as t=T₇/ 2 o'clock, revise and accelerateDegree is zero, i.e. Δ a (0)=Δ a (T₇/2)＝Δa(T₇)＝0；

The acceleration curve Δ α (t) the revising trigonometric function curve that is continuously smooth, this curve along with timeBetween the increase of t, start from scratch and first increase and be decreased to again zero; Be Δ α (0)=Δ α (T₇)=0; Work as t=T₇/2Time, revise acceleration and reach maximum Δ α, obtain Δ α (T₇/2)＝Δα。