CN104340802A - Drive control system and drive control method for preventing car rolling of elevator - Google Patents
Drive control system and drive control method for preventing car rolling of elevator Download PDFInfo
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- CN104340802A CN104340802A CN201410554601.7A CN201410554601A CN104340802A CN 104340802 A CN104340802 A CN 104340802A CN 201410554601 A CN201410554601 A CN 201410554601A CN 104340802 A CN104340802 A CN 104340802A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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Abstract
The invention provides a drive control system for preventing car rolling of an elevator. The drive control system is arranged in a circuit for controlling the elevator to lift and comprises a car rolling judgment module, a speed control module, a current control module and a PWM (Pulse Width Modulation) output module which are sequentially connected. The drive control system further comprises a speed and position detection device connected with the car rolling judgment module, a current detection device connected with the current control module, and a signal monitoring device. According to the system provided by the invention, the car rolling phenomenon of the elevator car can be controlled from the drive control aspect of a traction machine.
Description
Technical field
The present invention relates to elevator control technology field, be specifically related to a kind of elevator anti-running driving control system and drived control method.
Background technology
Along with socioeconomic fast development, the quickening of Process of Urbanization Construction paces, many high buildings and large mansions emerge in large numbers like the mushrooms after rain, and people are grown with each passing day to the degree of dependence of elevator in daily life, and elevator has become requisite instrument in people's life.
For traction elevator, counterweight and car are suspended on the both sides of traction sheave respectively by the connection of hoist ropes, and the effect of counterweight is the weight of a part of car of balance and load.Under normal circumstances, elevator drives traction sheave by electrical motor and relies on the frictional force drives lift car of traction race and steel rope to run up and down, elevator makes traction sheave stop by mechanical brake after stopping, and the static friction by traction race and steel rope makes lift car and counterweight keep static.Once the mechanical brake of elevator is subject to the accidents such as jam and lost efficacy, traction sheave is by due to counterweight-side and varying in weight of cage side and passive rotation, also will there is displacement out of control (be commonly called as slip car) in lift car, can cause the grave accident of personal injury and device damage time serious.
Generally there are two kinds of methods to prevent the car that slips of lift car at present.One is protection device for installing, once car slips car phenomenon, fender guard acts on immediately and forces car to stop.This method serves effect to a certain extent, but needs additionally to increase device on lift appliance basis, and fender guard also needs periodic detection to keep in repair, and increases cost and wastes the time.The second adopts the method for compensating moment, first calculates the moment preventing it from slipping occurring slipping before car situation, just carries out torque compensation once there is slipping car situation.This method due to the change of the load that the change of passenger causes be indefinite, the moment making it compensate may not be mated completely and be there is certain deviation, thus also not exclusively reliable.
Summary of the invention
The technical problem to be solved in the present invention is, for the defect of existing elevator anti-running technology, provides a kind of elevator anti-running driving control system and drived control method from the drived control aspect of towing machine.
A kind of elevator anti-running driving control system, is arranged in the circuit controlling elevator lifting, comprises slipping car judge module, rate control module, current control module, PWM output module, monitoring device, current sensing means and speed and position detecting device.Speed and position detecting device comprise position transduser and speed and position computation module, position transduser is arranged on elevator traction arbor, its mouth is connected with position computation module input end with speed, speed and position computation module mouth with slip car judge module input end and be connected.Current sensing means comprises current sensor and current calculation module, current sensor test side is connected with three inverters of feed in lift circuit, the mouth of current sensor is connected with the input end of current calculation module, and the mouth of current sensor is connected with the input end of current control module.Rate control module comprises perturbing torque computing module, slip vehicle speed control module and normal speed control module; Wherein slip vehicle speed control module and normal speed control module input end all with slip the mouth of car judge module and be connected, vehicle speed control module of slipping all is connected with current control module with the mouth of normal speed control module; The input end of vehicle speed control module of slipping also is connected with the mouth of perturbing torque computing module, and the input end of perturbing torque computing module is connected with the mouth of current sensing means.Current control module mouth is connected with PWM output module input end.Monitoring device, comprises CAN and upper computer, and the data of position transduser and current sensing means collection are transferred to upper computer by CAN.
A kind of elevator anti-running drived control method, comprises the following steps:
Step 1, system initialization, comprising:
The given rotating speed ω of setting towing machine
*with give displacement values d
*, exciting current setting value i
d *=0, car exit slip car state leading zero speed run time span t
*, car normal load changes the shift value caused, the permissible value of car speed;
Step 2, the real work electric current that before driving lift boy makes the three-phase inverter in circuit is worked as in current sensing means collection, position transduser gathers position and the speed of current lift car, calculating torque current value, exciting current value and towing machine tachometer value and car position value;
Step 3, judges whether lift car is in car state of slipping, if so, then enters vehicle speed pattern of slipping, go to step 4; If not, then perform normal speed mode, go to step 6;
Step 4, performs vehicle speed pattern of slipping, and exports the signal driving towing machine running;
Step 5, repeats step 2 and step 3;
Step 6, performs normal speed mode, and exports the signal driving towing machine running;
Step 7, goes to step 2.
The present invention compared with prior art, has remarkable advantage: (1) the present invention provides a kind of elevator anti-running driving control system from the angle of towing machine drived control, without the need to installing extra material resources fender guard; (2) the present invention's perturbation load torque of proposing to utilize observer to observe is as input; according to towing machine actual speed and car slip truck position deviation carry out coupling control and add that the compensatory control amount of perturbing torque is to determine the setting value of torque current; can extremely balance by Torque-adjusting fast and effectively; prevent car to slip car, protect the safety of passenger and elevator.
Accompanying drawing explanation
Fig. 1 is the elevator anti-running driving control system schematic diagram that the present invention proposes;
Fig. 2 is the elevator anti-running driving control system constructional drawing that the present invention proposes
Fig. 3 is the ANN (Artificial Neural Network) Control constructional drawing under the vehicle speed pattern of slipping that proposes of the present invention;
Fig. 4 is the perturbation load torque observer of the perturbation load torque Front feedback control under the vehicle speed pattern of slipping that proposes of the present invention;
Fig. 5 is that the rate control module of the elevator anti-running driving control system that the present invention proposes is slipping the control structure figure under vehicle speed pattern;
Fig. 6 is the control structure figure of rate control module under normal speed mode of the elevator anti-running driving control system that the present invention proposes;
Fig. 7 is the diagram of circuit of the elevator anti-running drived control method that the present invention proposes.
Detailed description of the invention
Below in conjunction with Figure of description, specifically describe a kind of elevator anti-running driving control system provided by the present invention and drived control method.
Composition graphs 1, a kind of elevator anti-running driving control system, be arranged in the circuit controlling elevator lifting, comprise and slip car judge module, rate control module, current control module speed, PWM output module, monitoring device, current sensing means and speed and position detecting device.
Composition graphs 2, speed and position detecting device comprise position transduser and speed and position computation module, position transduser is arranged on elevator traction arbor, its mouth is connected with position computation module input end with speed, speed and position computation module mouth with slip car judge module input end and be connected; Current sensing means comprises current sensor and current calculation module, current sensor test side is connected with three inverters of feed in elevator point road, the mouth of current sensor is connected with the input end of current calculation module, and the mouth of current sensor is connected with the input end of current control module; Rate control module comprises perturbing torque computing module, slip vehicle speed control module and normal speed control module, wherein slip vehicle speed control module and normal speed control module input end all with slip the mouth of car judge module and be connected, vehicle speed control module of slipping all is connected with current control module with the mouth of normal speed control module, the input end of vehicle speed control module of slipping also is connected with the mouth of perturbing torque computing module, and the input end of perturbing torque computing module is connected with the mouth of current sensing means; Current control module mouth is connected with PWM output module input end; Monitoring device, comprises CAN and upper computer, and the data of position transduser and current sensing means collection are transferred to upper computer by CAN.The actual position of upper computer Real-Time Monitoring car and velocity information.
The driving governor that the present invention relates to uses the high-performance digital signal processor that model is TMS320F28335.The towing machine that the present invention relates to uses permanent magnetism synchronization gear wheel free motor; The sensor that the present invention relates to has coder and Hall element.
The signal trend of this system is:
After people has pressed call module, produce energizing signal to signal acquisition module, elevator is started working operation, and now the position of the lift car of collection and speed parameter are transferred to and slip car judge module by position transduser after speed and position computation module process;
Slipped car judge module by the signal transmission after judging to just looking into rate control module and slipping the control module of car element in rate control module; When normal speed mode, normal speed control module regulates, and adjustment result is transferred to current control module; When slipping vehicle speed pattern, the signal that the real work current delivery of slipping the collection of vehicle speed control module received current sensor exports to signal and the car judge module that slips of perturbing torque computing module process gained, and is undertaken the two regulating the result obtained to be transferred to current control module;
The real work current delivery that result after current control module inbound pacing control module regulates and current sensor gather is to the signal of current calculation module process gained, and the result obtained after the two being regulated is transferred to PWM output module;
The output signal of PWM output module acts on the feeding network driving elevator traction machine running of elevator.
A kind of elevator anti-running drived control method, comprises the following steps:
Step 1, system initialization, comprising:
The given rotating speed ω of setting towing machine
*, exciting current setting value i
d *, to displacement values d
*, car exit slip car state leading zero speed run time span t
*, car normal load changes the shift value d caused
a, the permissible value v of car speed
a; Wherein, ω
*be given according to the running velocity of elevator needs, can be 0 ~ 150 rev/min, i
d *=0, t
*=get about 3 seconds, d
adisplacement is obtained by the pulse count of each control cycle of coder, gets 2 ~ 10 pulse counts of each cycle here, v
a=common passenger elevator speed is generally about 1.5 meter per seconds.
Step 2, the real work electric current that before driving lift boy makes the three-phase inverter in circuit is worked as in current sensing means collection, position transduser gathers position and the speed of current lift car, calculating torque current value, exciting current value and towing machine tachometer value and car actual displacement value, and detailed process is:
Step 2.1, three inverter t that current sensor collects
nthe actual current in moment
t is obtained through CLARK conversion
nbiphase current under moment rest frame
n refers to the index value of circulation step 3 numbers;
Step 2.2, the biphase current under rest frame
with Capstan rotor angle
carry out PARK conversion and obtain torque current
and exciting current
Step 2.3, according to car at t
nthe speed in moment calculates the rotating speed of towing machine
obtain according to the pulse count conversion of coder at each cycle of run of control program.
Step 2.4, according to car at t
nthe position in moment obtains actual displacement value
that the position conversion forwarded to according to Capstan rotor obtains.
Step 3, judges whether lift car is in car state of slipping, if so, then enters vehicle speed pattern of slipping, go to step 4; If not, then perform normal speed mode, go to step 6; Judge whether lift car is in slip the concrete grammar of car state and be: position transduser gathers position and the velocity information of current lift car, when the speed of lift car is greater than the permissible value v of setting
aand the change of car displacement exceedes setting normal load changes the displacement d caused
atime, just judge that car is in car state of slipping; When the speed of lift car is not more than the permissible value of setting and the change of car displacement does not exceed setting normal load change the displacement caused, and the zero-speed rate operation holding time is greater than setting value t
*time, car normally works.
Step 4, perform vehicle speed pattern of slipping, composition graphs 5, detailed process is:
Step 4.1, calculates the given rotating speed ω of towing machine
*and t
nthe actual feedback rotating speed of moment towing machine
closed loop PI regulated value
Step 4.2, calculate car position give displacement values d
*with t
nthe actual displacement value of moment car position
closed loop PI regulated value
Step 4.3, calculates the torque current setting value of slipping and exporting under vehicle speed pattern
detailed process is:
Step 4.3.1, will
with
carry out Feedback Neural Network control as input, export the setting value obtaining towing machine torque current
a part of input
Step 4.3.2, the real work Current calculation according to three inverters obtains t
nthe electromagnetic torque in moment
electromagnetic torque
calculate rotor velocity
process in there is perturbation load torque
perturbing torque observer is utilized to observe perturbation load torque
perturbation load torque
electric current is compensated after being multiplied by current compensation factor β
Step 4.3.3, slips the torque current setting value exported under vehicle speed pattern
for
with
sum;
Step 4.4, by torque current setting value
with torque current
carry out closed loop PI adjustment, Driving Torque voltage
Step 4.5, by exciting current setting value
with exciting current
carry out closed loop PI adjustment, export field voltage
Step 4.6, will
with Capstan rotor angle
two phase voltages under IPARK conversion obtains rest frame
with
Step 4.7,
with
carry out SVPWM conversion, upgrade output PWM dutycycle and act on three-phase inverter, upgrade the drive current of towing machine and then upgrade the rotating speed of towing machine.
Step 5, repeat step 2 and step 3, current sensing means collection drives the real work electric current of the three-phase inverter in elevator pull up circuit this moment, position transduser gathers position and the speed of current lift car, calculating torque current value, exciting current value and towing machine tachometer value and car position value.When the speed of lift car is greater than the permissible value v of setting
aand the change of car displacement exceedes setting normal load changes the displacement d caused
atime, just judge that car is in car state of slipping; Then forward step 4 to; Otherwise car normally works, forward step 6 to.
Step 6, perform normal speed mode, composition graphs 6, concrete grammar is:
Step 6.1, the given rotating speed ω of towing machine
*and t
nmoment actual feedback rotating speed
the closed loop PI that carries out regulate the torque current setting value obtained under normal speed mode
Step 6.2, will
with torque current
carry out closed loop PI adjustment, Driving Torque voltage
Step 6.3, by exciting current setting value
with exciting current
carry out closed loop PI adjustment, export field voltage
Step 6.4, will
with Capstan rotor angle
two phase voltages under IPARK conversion obtains rest frame
with
Step 6.5,
with
carry out SVPWM conversion, upgrade and export PWM ripple dutycycle.
Step 7, PWM acts on three inverters thus drives towing machine running, and go to step 2, detailed process is: the dutycycle that PWM ripple upgrades acts on three-phase inverter and then drives towing machine running, jump procedure 2, and system continues the running state of monitoring elevator.
Feedback Neural Network described in step 4.3 has good modeling ability to non-linear Multiinputoutput dynamic system.Feedback Neural Network can regard the improved form that has the Feedforward BP Neural Network of local mnemon and local feedback link as.Feedback Neural Network adds associated layers as dynamic memory link, and its input layer all has adjustable weights to hidden layer node, hidden layer node between output layer node, associated layers node to hidden layer node.Of the present inventionly slipping two controlling quantitys in vehicle speed pattern---the speed of towing machine and car slip truck position deviation, there is very strong coupling, the control method of application Feedback Neural Network can reflect that system exports time dependent dynamic process, thus car can be slipped to car more timely and accurately and regulate, make its fast quick-recovery normal.Composition graphs 3, the output after towing machine speed and car position carry out PI adjustment is respectively
with
with
be two inpuies of Feedback Neural Network,
with
can represent with vector u, therefore u is the input of Feedback Neural Network.Expression formula f (z, u) represents associated layers function, and wherein z is state vector.Expression formula
representing hidden layer function, exporting as slipping the towing machine torque current setting value exported under vehicle speed pattern
a part
about the content of Feedback Neural Network see " " Feedback Neural Network be used for Multiinputoutput Modelling of Dynamic System " of Pan Changbo, Li Hongxing, is published in " computer applicaion ", in June, 2009, the 29th volume ".
The elevator that the present invention relates to is the vertical lifting equipment for transporting, and when elevator occurs slipping car situation, because various interference makes its load torque be constantly change, therefore, now the perturbing torque of elevator traction machine control system is unknown.In load torque the unknown or when being interfered, traditional PI D can not input by regulable control rapidly, but is regulated by the Error Feedback of rotating speed, causes control effects not good like this.But in system control process, only usually can not reach the control objectives of expection with output feedack, therefore also will by feedback of status.By the feedback information of state variable, better can correct control system, suppress the impact of external disturbance.But the value of some state variable cannot be measured by sensor, therefore can be estimated by the value of state observer to state variable.The system performance dragged to improve towing machine when occurring slipping car at car makes its fast quick-recovery normal, adopts the method based on perturbing torque observation in step 4.3.2, by perturbing torque feedforward compensation, can disturbance suppression on the impact of system.
In elevator traction machine rate control module, perturbation load torque is difficult to directly be measured by sensor.Therefore, by perturbation load torque observer, moment information is fed back to controller, thus realize the suppression to torque disturbance.In the present invention, consider that towing machine rotating speed and load torque exist positive connection, also rotating speed is observed while realizing load torque observation.Real work Current calculation according to three inverters obtains t
nthe electromagnetic torque in moment
electromagnetic torque
calculate rotor velocity
process in there is perturbation load torque
perturbing torque observer is utilized to observe perturbation load torque
perturbation load torque
electric current is compensated after being multiplied by current compensation factor β
Owing to having observed perturbation load torque and towing machine rotating speed simultaneously, therefore by towing machine rotating speed
with TL as state variable, namely
Input and output are respectively electromagnetic torque
with towing machine rotating speed
namely
thus the expression formula that can obtain state observer is
In formula, state matrix
Input matrix
Output matrix C=[1 0], feedback of status gain matrix
Wherein, J is the rotor inertia of towing machine system, and k is frictional damping coefficient, T
sfor the sampling interval, for discrete state observer, its sampling frequency is consistent with speed ring frequency.Feedback of status gain matrix coefficient h
1and h
2configured by the characteristic equation of state error and obtain.The content of state observer is see " " lineary system theory " that Zheng great Zhong writes (1990) one book ".
The perturbation load torque T obtained will be observed
lcurrent i is compensated after being multiplied by current compensation factor β
comp, join the input end of current controller as compensation rate, the compensated in advance realizing perturbing torque controls.Select suitable compensating factor β, just can compensating disturbance load torque, reach and reduce transient speed static difference, shorten the object of the recovery time after disturbance.When compensating factor is selected just right, static difference will be made to disappear, be at this moment called full compensation, the complete critical compensating factor compensated is β
0.As β < β
0, be called undercompensation; As β > β
0, be called overcompensation.Critical compensating factor
β value equals β as far as possible
0, more close better, wherein, p is towing machine number of pole-pairs, ψ
ffor permanent magnet flux linkage.
Claims (7)
1. an elevator anti-running driving control system, be arranged in the circuit controlling elevator lifting, it is characterized in that, comprise and slip car judge module, rate control module, current control module speed, PWM output module, monitoring device, current sensing means and speed and position detecting device;
Speed and position detecting device comprise position transduser and speed and position computation module, position transduser is arranged on elevator traction arbor, its mouth is connected with position computation module input end with speed, speed and position computation module mouth with slip car judge module input end and be connected;
Current sensing means comprises current sensor and current calculation module, current sensor test side is connected with the three-phase inverter of feed in lift circuit, the mouth of current sensor is connected with the input end of current calculation module, and the mouth of current sensor is connected with the input end of current control module;
Rate control module comprises perturbing torque computing module, slip vehicle speed control module and normal speed control module; Wherein slip vehicle speed control module and normal speed control module input end all with slip the mouth of car judge module and be connected, vehicle speed control module of slipping all is connected with current control module with the mouth of normal speed control module; The input end of vehicle speed control module of slipping also is connected with the mouth of perturbing torque computing module, and the input end of perturbing torque computing module is connected with the mouth of current sensing means;
Current control module mouth is connected with PWM output module input end;
Monitoring device, comprises CAN and upper computer, and the data of position transduser and current sensing means collection are transferred to upper computer by CAN.
2. elevator anti-running driving control system according to claim 1, is characterized in that,
The position of the lift car of collection and speed parameter are transferred to and slip car judge module by position transduser after speed and position computation module process;
Slip car judge module by the signal transmission after judgement to the normal speed control module in rate control module and vehicle speed control module of slipping; When normal speed mode, normal speed control module regulates, and adjustment result is transferred to current control module; When slipping vehicle speed pattern, the signal that the real work current delivery of slipping the collection of vehicle speed control module received current sensor exports to signal and the car judge module that slips of perturbing torque computing module process gained, and is undertaken the two regulating the result obtained to be transferred to current control module;
The real work current delivery that result after current control module inbound pacing control module regulates and current sensor gather is to the signal of current calculation module process gained, and the result obtained after the two being regulated is transferred to PWM output module;
The output signal of PWM output module acts on the feeding network driving elevator traction machine running of elevator.
3. an elevator anti-running drived control method, is characterized in that, comprise the following steps:
Step 1, system initialization, comprising:
The given rotating speed ω of setting towing machine
*, exciting current setting value i
d *, to displacement values d
*, the time span t that car zero-speed rate is run
*, car normal load changes the shift value caused, the permissible value of car speed;
Step 2, the real work electric current that before driving lift boy makes the three-phase inverter in circuit is worked as in current sensing means collection, position transduser gathers position and the speed of current lift car, calculating torque current value, exciting current value and towing machine tachometer value and car position value;
Step 3, judges whether lift car is in car state of slipping, if so, then enters vehicle speed pattern of slipping, go to step 4; If not, then perform normal speed mode, go to step 6;
Step 4, performs vehicle speed pattern of slipping, and exports the signal driving towing machine running;
Step 5, repeats step 2 and step 3;
Step 6, performs normal speed mode, and exports the signal driving towing machine running;
Step 7, goes to step 2.
4. elevator anti-running drived control method according to claim 3, is characterized in that, step 2 calculating torque current value, exciting current value and towing machine tachometer value and car actual displacement value
detailed process be:
Step 2.1, three inverter t that current sensor collects
nthe actual current in moment
t is obtained through CLARK conversion
nbiphase current under moment rest frame
with
n refers to cycle number;
Step 2.2, the biphase current under rest frame
with Capstan rotor angle
carry out PARK conversion and obtain torque current
and exciting current
Step 2.3, according to car at t
nthe speed in moment calculates the rotating speed of towing machine
Step 2.4, according to car at t
nthe position in moment obtains actual displacement value
5. elevator anti-running drived control method according to claim 3, it is characterized in that, step 3 judges whether lift car is in and slips the concrete grammar of car state and be: position transduser gathers position and the velocity information of current lift car, when the speed of lift car be greater than the permissible value of setting and the change of car displacement exceed setting normal load change the displacement caused time, just judgement car is in car state of slipping; When the speed of lift car is not more than the permissible value of setting and the change of car displacement does not exceed setting normal load change the displacement caused, and the zero-speed rate operation holding time is greater than setting value t
*time, car normally works.
6. elevator anti-running drived control method according to claim 3, is characterized in that, step 4 performs slips the detailed process of vehicle speed pattern and be:
Step 4.1, calculates the given rotating speed ω of towing machine
*and t
nthe actual feedback rotating speed of moment towing machine
closed loop PI regulated value
Step 4.2, calculate car position give displacement values d
*with t
nthe actual displacement value of moment car position
closed loop PI regulated value
Step 4.3, calculates the torque current setting value of slipping and exporting under vehicle speed pattern
detailed process is:
Step 4.3.1, will
with
carry out Feedback Neural Network control as input, export the setting value obtaining towing machine torque current
a part of input
Step 4.3.2, the real work Current calculation according to three inverters obtains t
nthe electromagnetic torque in moment
electromagnetic torque
calculate rotor velocity
process in there is perturbation load torque
perturbing torque observer is utilized to observe perturbation load torque
perturbation load torque
electric current is compensated after being multiplied by current compensation factor β
Step 4.3.3, slips the torque current setting value exported under vehicle speed pattern
for
with
sum;
Step 4.4, by torque current setting value
with torque current
carry out closed loop PI adjustment, Driving Torque voltage
Step 4.5, by exciting current setting value i
d *with exciting current
carry out closed loop PI adjustment, export field voltage
Step 4.6, will
with Capstan rotor angle
two phase voltages under IPARK conversion obtains rest frame
with
Step 4.7,
with
carry out SVPWM conversion, upgrade output PWM dutycycle and act on three-phase inverter and then drive towing machine running.
7. elevator anti-running drived control method according to claim 3, it is characterized in that, the concrete grammar that step 6 performs normal speed mode is:
Step 6.1, the given rotating speed ω of towing machine
*and t
nmoment actual feedback rotating speed
the closed loop PI that carries out regulate the torque current setting value obtained under normal speed mode
Step 6.2, will
with torque current
carry out closed loop PI adjustment, Driving Torque voltage
Step 6.3, by exciting current setting value i
d *with exciting current
carry out closed loop PI adjustment, export field voltage
Step 6.4, will
with Capstan rotor angle
two phase voltages under IPARK conversion obtains rest frame
with
Step 6.5,
with
carry out SVPWM conversion, upgrade output PWM dutycycle and act on three-phase inverter and then drive towing machine running.
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| CN109095301A (en) * | 2018-09-25 | 2018-12-28 | 日立楼宇技术（广州）有限公司 | A kind of elevator control method, device, equipment and medium |
| CN109305612A (en) * | 2017-07-28 | 2019-02-05 | 上海三菱电梯有限公司 | Elevator starts control device |
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| CN108069303B (en) * | 2016-11-17 | 2019-08-06 | 上海三菱电梯有限公司 | Elevator staring torque compensation method |
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| CN109305612B (en) * | 2017-07-28 | 2020-09-18 | 上海三菱电梯有限公司 | Elevator starting control device |
| CN109019232A (en) * | 2018-09-07 | 2018-12-18 | 江苏蒙哥马利电梯有限公司 | A kind of express elevator can decelerating electron safety tongs system and 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 |
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