CN104649087A - Elevator control device - Google Patents

Abstract

The invention discloses an elevator control device. The elevator control device comprises a speed command generating part, a speed command following part, a load torque calculating part, and a current command following part; the device generates and tracks a speed command of lift car running and a current command of an electric motor, so that the elevator system is ran. The elevator control device further comprises a residual frictional force estimating part, which is used for estimating the static frictional force suffered by the elevation system after stopping; a maximum frictional force estimating part, which is used for estimating the maximum static frictional force suffered by the elevator system; an offset torque calculating part, which is used for calculating the offset torque according to the estimated residual frictional force and the maximum frictional force, wherein initial value of the offset torque is calculated according to the estimated residual frictional force, and the target value of the offset torque is calculated according to the maximum frictional force obtained through estimation and the running direction of the lift car this time. Through calculation and application of offset torque, the elevator control device can be more simply and effectively inhibit the vibration of the lift car in the course of vibration.

Description

Elevator control gear

Technical field

The present invention relates to a kind of elevator control gear.

Background technology

For tracking-driven elevator or forcibly driving elevator system, when car starts, be inevitably subject to the effect of mechanical friction.As shown in Figure 1, wherein elevator control gear comprises speed command generating unit to the formation of tracking-driven elevator system, speed command follows portion, load torque calculating part and current-order follow portion's (not shown).The elevator of this elevator control gear car when starting is used to vibrate.

Below with behavior example on car, set forth the mechanism of production of car vibrations when starting.Before releasing of brake, car is subject to the effect of remaining friction force; Remaining friction force refers to because the elasticity of suspension gear and the combined action of mechanical system friction force produce, the friction force of continuous action under system halted state, and the direction that its direction and system were run last time is relevant.As shown in Figure 2, in the moment 1, releasing of brake, almost speed command generating unit sends toggle speed instruction simultaneously, follow the effect in portion at speed command under, car is subject to towing machine traction and produces movement tendency, but due to the constraint of static friction force, car keeps static, and static friction force value increases more quickly, until the moment 2, the static friction force amplitude suffered by car equals maximum static friction force value, and car is setting in motion just; After this, car is by kinetic force of friction effect, and the value of kinetic force of friction almost keeps stable.Can find out, friction force rises to maximum static friction force by 0 in a short period of time, after this substantially remains unchanged.Therefore, can be similar to and think, car receives the exciting force of a step-like when starting, and the interference of this step is the necessary condition that vibration occurs when causing car to start.

As shown in Figure 3, because traction sheave is connected with car by suspension gear, when car is away from traction sheave, the elasticity modulus of suspension gear is less, and being coupled therefore between traction sheave with car is more weak.Bring two problems thus:

The first, the vibratory response after car is interfered is more remarkable; The accelerating curve of elevator car when up startup should be trapezoidal, but in fact unloading phase (namely on the left of curve) to become be almost vertical uplift, as shown in Figure 4.This is the key factor causing feeling for taking difference, because accekeration is now very large, and the amplitude impression of human body to acceleration/accel is more responsive.

The second, car vibrations due to the coupling of electrical motor and car more weak, be therefore difficult to be inhibited or eliminate; In recent years along with the increase of lifting height of lift, the vibration problem of car when lower floor starts seems more and more outstanding.

Such as, if increase the rigidity of suspension gear, the material that working strength is higher, increase diameter, increase suspension gear quantity etc., the amplitude of car vibrations can be alleviated.But this directly causes cost increase and system weight to increase.Configuring suspension gear far above the required specification of carrying to alleviate Vibration on Start-up, is very uneconomic.And this is also only alleviate passively, instead of set about from source suppressing Vibration on Start-up.

Chinese patent CN1221701A and CN1158817A discloses the method compensated car vibrations, and they have two common ground: the first, and they are all after car vibrations occurs, and compensate passively, and are indifferent to the source causing vibrating; Therefore, these methods limitedly can only alleviate vibration, and thoroughly can not eliminate vibration; The second, their algorithm is all more complicated, and to the hardware performance of control system, the precision of software programming quality and sensor and signal disturbing etc. have higher requirement, implement more difficult.

Chinese patent CN1079441 discloses a kind of static friction force that the elevator device of Induction Motor-Driven can be made to overcome drop-gear box, thus the method for smooth starting; This method allows the gear in drop-gear box shake in advance, thus avoids the static friction force brought by drop-gear box, but does not tackle the suffered static friction force of car itself.

US Patent No. 005635688A discloses a kind of method suppressing car Vibration on Start-up, and namely the first, releasing of brake detected; The second, send creeper speed instruction to actuator; 3rd, when certain event occurs, send the speed command needed for normally running to driving it.Described " certain event " refers to that certain hour expires, or car is moved.Although the method is also initiatively suppress vibration, but " certain hour " lacked clearly and calculates means accurately, and needing detection car to move, meaning and must configure special sensing device for car movement state, hardware system is configured complicated, and increase cost.

Summary of the invention

Technical matters to be solved by this invention is to provide a kind of elevator control gear, and it can alleviate the vibration of car when elevator starts.

For solving the problems of the technologies described above, the technical solution of elevator control gear of the present invention is:

Comprise speed command generating unit, speed command follows portion, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed command of cage operation and the current-order of electrical motor, makes elevator device work; Also comprise remaining friction force estimating portion, for estimating the static friction force born after elevator device stops; Maximum frictional force estimating portion, for estimating the maximum static friction force that elevator device bears; Skew torque calculation portion, according to estimated remaining friction force and maximum frictional force, calculates skew torque; Wherein, calculate the initial value of skew torque according to the remaining friction force of estimation gained, according to the maximum frictional force of estimation gained and in conjunction with the expected value of this cage operation direction calculating skew torque; The control of described elevator control gear to elevator comprises as the next stage: the stage one: skew torque as described in applying to electrical motor; Stage two: generate the speed command needed for cage operation.

In the described stage one when applying skew torque to electrical motor, to traction sheave operating speed opened loop control; Skew torque value, from initial value, changes to expected value direction; When skew torque value reaches expected value, or traction sheave amount of spin exceedes certain limit, or when traction sheave rotating speed exceedes certain limit, skew torque remains unchanged, and applies velocity close-loop control to traction sheave, and elevator runs and enters the stage two.

In the described stage one when applying skew torque to electrical motor, to the closed loop control of traction sheave operating speed; First the initial value of skew torque is applied, then generate and follow the tracks of special speed command, observing the torque generated due to speed tracing, when this torque value and initial value sum are more than or equal to expected value, or traction sheave amount of spin is when exceeding certain limit, elevator runs and enters the stage two.

Described remaining friction force estimating portion comprises the steps: step 1 for the estimation of remaining friction force, drives cage operation to arrive certain position; When car stops, and when drg is not yet held tightly, record the current value of now electrical motor, be designated as " electric current 1 "; Step 2, drives car inverted running to arrive certain position; Use the same method and record the current value of electrical motor, be designated as " electric current 2 "; Step 3, according to the last service direction of " electric current 1 ", " electric current 2 " and car, the remaining friction force of estimation elevator device.

Described remaining friction force estimating portion comprises the steps: step 1 for the estimation of remaining friction force, be in zero load at car, balance carry and fully loaded, remaining friction force estimating portion calculates unloaded remaining friction force respectively, balance carries remaining friction force and fully loaded remaining friction force; Step 2, carry remaining friction force and fully loaded remaining friction force according to the remaining friction force of zero load, balance, calculating car is in remaining friction force during other load load-carrying.

Described maximum frictional force estimating portion comprises the steps: step 1 for the estimation of maximum frictional force, drives cage operation, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 3 "; Step 2, drives car inverted running, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 4 "; Step 3, according to the maximum static friction force of " electric current 3 " and " electric current 4 " estimation elevator device.

When described remaining friction force estimating portion carries out the estimation of remaining friction force, control setup enters remaining friction force estimation mode; In such a mode, speed command generating unit sends speed command, and commander's car runs to same floor with up and down direction respectively; The instruction of remaining friction force estimating portion reading speed, motor movement status feedback signal and drg actuating signal; When speed command is reduced to zero, and drg is not held tightly, and following condition:

| I _k-I _k+1| < I _{d_lev}formula (1)

Continue to be met overtime T _levtime, record the current-order I of up flat bed and descending flat bed respectively _uland I _dl; Wherein:

I _kmotor current instruction in the kth sampling period;

I _{d_lev}current-differencing threshold value;

T _levthe resonance semiperiod that system is current, its method of calculating is:

$T_{\mathrm{lev}}=\mathrm{\&pi;}\sqrt{\frac{m_c}{k}}$ Formula (2)

Wherein, m _cit is the total mass of car and load;

K is the current elasticity modulus of cage side suspension device, and it is tried to achieve by suspension gear radical N, single suspension gear elastic modulus E, single suspension gear sectional area s and suspension gear length l:

$k=N\&CenterDot;E\frac{s}{l}$ Formula (3)

When meeting above Rule of judgment, the current value I corresponding according to the remaining friction force of following regular computing system _rf:

If car service direction last time is up, then

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{ul}}-I_{\mathrm{dl}})$ Formula (4)

Otherwise

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{dl}}-I_{\mathrm{ul}})$ Formula (5).

When described maximum frictional force estimating portion carries out maximum friction force evaluating, control setup enters maximum frictional force estimation mode; In such a mode, speed command generating unit commander car travels at the uniform speed through same position with up and down direction respectively; The reading speed instruction of maximum frictional force estimating portion and motor movement status feedback signal, at car at the uniform velocity through above-mentioned same position, record the current-order I that uplink and downlink run respectively _ucand I _dc; Then corresponding according to following formula computing system maximum frictional force current value I _mf:

$I_{\mathrm{mf}}=\frac{1}{2}\mathrm{\&eta;}(I_{\mathrm{uc}}-I_{\mathrm{dc}})$ Formula (6)

Wherein, η is the ratio of system maximum static friction force and kinetic force of friction; η is determined by system mechanical characteristics.

When described remaining friction force estimating portion carries out the estimation of remaining friction force, control setup enters remaining friction force estimation mode; Be in zero load, semi-load and at full load at car, use described formula (4), calculate the remaining friction force electric current of corresponding three load-carryings respectively:

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{ul}}-I_{\mathrm{dl}})$ Formula (4)

I _{rf_N}unloaded remaining friction force electric current

I _{rf_B}semi-load remaining friction force electric current

I _{rf_F}fully loaded remaining friction force electric current

When system worked well, suppose that car internal burden is p with the ratio of full value, if last time, car was up, the evaluation method of so remaining friction force electric current is:

I _rf=(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²+ (-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p+I _{rf_N}formula (20)

If last time, car was descending, the evaluation method of so remaining friction force electric current is:

I _rf=-(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²-(-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p-I _{rf_N}formula (21).

The control method of described elevator control gear to elevator is as follows:

When elevator device needs to start, first control setup applies pre-add electric current I to electrical motor _pre:

I _{pre_k}=I _wgh+ I _rf-lformula (7)

Wherein:

$I_{\mathrm{wgh}}=\frac{K_{r}R}{K_t}(m_c-m_b)g$ Formula (8)

K _tit is motor force moment coefficient; m _cit is the total mass of car and load; m _bit is the quality of counterweight; G is acceleration due to gravity; R is traction sheave radius; K _rbe suspension gear around than;

$I_{\mathrm{rf}-l}=\left\{\begin{array}{c}{I}_{\mathrm{rf}}----\left|I_{\mathrm{rf}}\right|<\left|I_{\mathrm{mf}}\right|\\ I_{\mathrm{mf}}----\left|I_{\mathrm{rf}}\right|\&GreaterEqual;\left|I_{\mathrm{mf}}\right|\end{array}\right.$ Formula (9)

I _rfit is the current value that remaining friction force is corresponding;

I _mfit is the current value that maximum frictional force is corresponding;

Then control setup drives releasing of brake, keeps speed command to be zero, and forbids speed command and follow portion; Pre-add electric current I _precalculating formula become:

If car is this time up:

I _{pre_k}=I _{pre_k-1}+ Δ I formula (10)

If car is this time descending:

I _{pre_k}=I _{pre_k-1}-Δ I formula (11)

Wherein Δ I is the rate of change of electric current;

When meeting " acceleration environment ", enabling speed command and following portion, formation speed instruction from traction sheave current feedback velocity amplitude, pre-add electric current I _prevalue no longer change, that is:

I=I _{pre_fin}+ I _contformula (13)

Wherein:

I _{pre_fin}the end value of pre-add current-order;

I _contthe current-order that the speed command portion of following exports;

I ... total current instruction;

If car is this time up, " acceleration environment " refers to:

I _{pre_k}>=I _wgh+ I _mfformula (14)

Or: $S_s\&GreaterEqual;\frac{K_t}{K_r\mathrm{kR}}(I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (15)

Wherein, S _sfrom this releasing of brake, the tangential displacement amount of traction sheave; K is the current elasticity modulus of cage side suspension device;

Or: abs (V _s)>=V _levformula (16)

Wherein, V _sit is the tangential velocity of traction sheave; V _levit is safety guard-safeguard threshold speed;

If car is this time descending, " acceleration environment " refers to:

I _{pre_k}≤ I _wgh-I _mfformula (17)

Or: $S_s\&le;\frac{K_t}{K_r\mathrm{kR}}(-I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (18)

Or: abs (V _s)>=V _levformula (19).

The control method of described elevator control gear to elevator is as follows: when elevator device needs to start, apply pre-add electric current I according to formula (7) _pre;

I _{pre_k}=I _wgh+ I _rf-lformula (7)

Then control setup drives releasing of brake, applies specific speed command V _pre, and enable speed command and follow portion;

Now, the electric current I applying to give electrical motor is:

I=I _wgh+ I _rf-l+ I _contformula (22)

Wherein:

I ... total current instruction;

$I_{\mathrm{wgh}}=\frac{K_{r}R}{K_t}(m_c-m_b)g$ Formula (8)

K _tit is motor force moment coefficient; m _cit is the total mass of car and load; m _bit is the quality of counterweight; G is acceleration due to gravity; R is traction sheave radius; K _rbe suspension gear around than;

$I_{\mathrm{rf}-l}=\left\{\begin{array}{c}{I}_{\mathrm{rf}}----\left|I_{\mathrm{rf}}\right|<\left|I_{\mathrm{mf}}\right|\\ I_{\mathrm{mf}}----\left|I_{\mathrm{rf}}\right|\&GreaterEqual;\left|I_{\mathrm{mf}}\right|\end{array}\right.$ Formula (9)

I _contthe current-order that the speed command portion of following exports;

When meeting " acceleration environment ", from V _prestart the speed command generated needed for car operation;

If car is this time up, " acceleration environment " refers to:

I>=I _wgh+ I _mfformula (23)

I _mfit is the current value that maximum frictional force is corresponding;

Or meet formula (15)

$S_s\&GreaterEqual;\frac{K_t}{K_r\mathrm{kR}}(I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (15)

Wherein, S _sfrom this releasing of brake, the tangential displacement amount of traction sheave; K is the current elasticity modulus of cage side suspension device;

If car is this time descending, " acceleration environment " refers to:

I≤I _wgh-I _mfformula (24)

Or meet formula (18)

$S_s\&le;\frac{K_t}{K_r\mathrm{kR}}(-I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (18).

The technique effect that the present invention can reach is:

The present invention, by calculating and applying to offset torque, can suppress the vibration of car when starting more simply, effectively.

The present invention, before attempting to suppress car Vibration on Start-up, estimates the static friction force born after elevator device flat bed stops in advance by remaining friction force estimating portion and maximum frictional force estimating portion, and the maximum static friction force that elevator device bears.On this basis, before accurate Calculation car brings into operation, need the skew torque value be applied on electrical motor, or traction sheave needs the angle value of rotation.The object of described skew torque and traction sheave rotational angle allows car before commencement of commercial operation, bears the critical value of static friction force in advance, thus alleviate the Vibration on Start-up caused by friction force.The skew torque of the required applying due to calculated in advance or traction sheave rotational angle, so do not need the state of kinematic motion detecting car extraly, and can guarantee good vibration suppressioning effect; In addition owing to only applying skew torque or the traction sheave rotational angle of actual needs, so elevator relatively can be saved start required time, running efficiency of system is improved.

The invention provides the evaluation method of remaining friction force: drive car to run to same floor with up and down direction respectively; When completing flat bed action, and when drg is not yet held tightly, record the motor current value of up flat bed and descending flat bed respectively; If do not have remaining friction force, so recorded current value should be equal; That is, if the current value recorded is unequal, then illustrative system bears remaining static friction force after stopping, and the difference of institute's record current value, namely reflects the size and Orientation of remaining friction force.

Present invention also offers the evaluation method of maximum frictional force: when load-carrying is constant, when elevator travels at the uniform speed through same position with uplink and downlink respectively, record the current value of electrical motor respectively.The difference of institute's record current value, when namely reflecting system cloud gray model bear the size of kinetic force of friction.By this kinetic force of friction, can the maximum static friction force of estimating system.

The present invention has the following advantages:

The first, not passively vibration is compensated, but active suppression vibration;

The second, under the prerequisite not increasing hardware facility, accurately calculate the required skew torque applied;

3rd, algorithm is simple, is easy to programming realization, and less demanding to processor performance.

Accompanying drawing explanation

Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:

Fig. 1 is the control principle drawing of prior art tracking-driven elevator system;

Fig. 2 is elevator car friction value diagram of curves over time when up startup of application prior art elevator control gear;

Fig. 3 is the structural representation of prior art tracking-driven elevator system;

Fig. 4 is the acceleration plots of elevator car when up startup of application prior art elevator control gear, and wherein transverse axis is the time, and the longitudinal axis is car acceleration value;

Fig. 5 is the schematic diagram of elevator control gear of the present invention;

Fig. 6 is application elevator of the present invention car friction value diagram of curves over time when starting;

Fig. 7 is the acceleration plots of application elevator of the present invention car when starting, and wherein transverse axis is the time, and the longitudinal axis is car acceleration value.

Detailed description of the invention

As shown in Figure 5, elevator control gear of the present invention, comprises speed command generating unit, speed command follows portion, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed command of cage operation and the current-order of electrical motor, makes elevator device work;

Load torque calculating part feeds back calculated load torque value according to car load and is sent to adder;

The formation speed instruction of speed command generating unit is also sent to adder through the speed command portion of following;

Adder generates current-order and is sent to current-order follows portion;

Also comprise remaining friction force estimating portion, for estimating the static friction force born after elevator device stops;

Maximum frictional force estimating portion, for estimating the maximum static friction force that elevator device bears;

Skew torque calculation portion, according to estimated remaining friction force and maximum frictional force, calculates skew torque; Wherein, calculate the initial value of skew torque according to the remaining friction force of estimation gained, according to the maximum frictional force of estimation gained and in conjunction with the expected value of this cage operation direction calculating skew torque;

The control of described elevator control gear to elevator comprises as the next stage:

Stage one: apply described skew torque to electrical motor;

Stage two: generate the speed command needed for cage operation;

When applying skew torque to electrical motor, to traction sheave operating speed opened loop control; Skew torque value, from initial value, changes to expected value direction; When skew torque value reaches expected value, or traction sheave amount of spin exceedes certain limit, or when traction sheave rotating speed exceedes certain limit, skew torque remains unchanged, and applies velocity close-loop control to traction sheave, and elevator runs and enters the stage two;

In the stage two, from traction sheave present speed value of feedback, generate the speed command needed for cage operation.

Or, when applying skew torque to electrical motor, to the closed loop control of traction sheave operating speed; First the initial value of skew torque is applied, then generate and follow the tracks of special speed command, observing the torque generated due to speed tracing, when this torque value and initial value sum are more than or equal to expected value, or traction sheave amount of spin is when exceeding certain limit, elevator runs and enters the stage two;

In the stage two, present speed command value starts, and generates the speed command needed for cage operation.

Remaining friction force estimating portion comprises the steps: for the estimation of remaining friction force

Step 1, drives cage operation to arrive certain position; When car stops, and when drg is not yet held tightly, record the current value of now electrical motor, be designated as " electric current 1 ";

Step 2, drives car inverted running to arrive certain position; Use the same method and record the current value of electrical motor, be designated as " electric current 2 ";

Step 3, according to the last service direction of " electric current 1 ", " electric current 2 " and car, the remaining friction force of estimation elevator device.

According to above-mentioned method of calculating, remaining friction force during estimation car load, evaluation method comprises the steps:

Step 1, be in zero load at car, balance carry and fully loaded, remaining friction force estimating portion calculates unloaded remaining friction force respectively, balance carries remaining friction force and fully loaded remaining friction force;

Step 2, carry remaining friction force and fully loaded remaining friction force according to the remaining friction force of zero load, balance, calculating car is in remaining friction force during other load load-carrying.

Maximum frictional force estimating portion comprises the steps: for the estimation of maximum frictional force

Step 1, drives cage operation, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 3 ";

Step 2, drives car inverted running, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 4 ";

Step 3, according to the maximum static friction force of " electric current 3 " and " electric current 4 " estimation elevator device.

Embodiment 1:

The sign symbol of the current value of definition electrical motor, positive sign represents that the moment that electric current produces makes car acquisition acceleration/accel upwards; Negative sign represents that the moment that electric current produces makes car obtain downward acceleration/accel;

The positive dirction of definition displacement is car up direction;

The sampling period that control setup uses is 5ms;

When needs carry out the estimation of remaining friction force (by manual activation, also automatically can be triggered by control setup, not represent in figure), control setup enters remaining friction force estimation mode; In such a mode, speed command generating unit sends specific speed command, and commander's car runs to same floor with up and down direction respectively; The instruction of remaining friction force estimating portion reading speed, motor movement status feedback signal and drg actuating signal (not shown); When speed command is reduced to zero, and drg is not held tightly, and following condition:

| I _k-I _k+1| < I _{d_lev}formula (1)

Continue to be met overtime T _levtime, record the current-order I of up flat bed and descending flat bed respectively _uland I _dl; Wherein:

I _kmotor current instruction in the kth sampling period;

I _{d_lev}current-differencing threshold value, should choose according to allowed remaining friction force estimation error, is taken as 0.5% of electrical motor load current value here;

T _levthe resonance semiperiod that system is current, its method of calculating is:

$T_{\mathrm{lev}}=\mathrm{\&pi;}\sqrt{\frac{m_c}{k}}$ Formula (2)

Here, m _cit is the total mass of car and load;

K is the current elasticity modulus of cage side suspension device, and it is tried to achieve by suspension gear radical N, single suspension gear elastic modulus E, single suspension gear sectional area s and suspension gear length l:

$k=N\&CenterDot;E\frac{s}{l}$ Formula (3)

When meeting above Rule of judgment, illustrate that car movement is basicly stable; Then corresponding according to the remaining friction force of following regular computing system current value I _rf:

If car service direction last time is up, then

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{ul}}-I_{\mathrm{dl}})$ Formula (4)

Otherwise

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{dl}}-I_{\mathrm{ul}})$ Formula (5)

After completing estimation, remaining friction force estimating portion is by I _rfvalue transmit give skew torque calculation portion.

(by manual activation, also automatically can be triggered by control setup, not represent in figure) when needs carry out maximum friction force evaluating, control setup enters maximum frictional force estimation mode; In such a mode, speed command generating unit commander car travels at the uniform speed through same position with up and down direction respectively; The reading speed instruction of maximum frictional force estimating portion and motor movement status feedback signal, at car at the uniform velocity through above-mentioned same position, record the current-order I that uplink and downlink run respectively _ucand I _dc; Then corresponding according to following formula computing system maximum frictional force current value I _mf:

$I_{\mathrm{mf}}=\frac{1}{2}\mathrm{\&eta;}(I_{\mathrm{uc}}-I_{\mathrm{dc}})$ Formula (6)

Wherein, η is the ratio of system maximum static friction force and kinetic force of friction; η is determined by system mechanical characteristics, can record by experiment, also can rule of thumb value;

After completing estimation, maximum frictional force estimating portion is by I _mfvalue transmit give skew torque calculation portion.

According to above method, when elevator runs usually, also there will be the opportunity can carrying out remaining friction force and maximum friction force evaluating.Industry personnel should be able to easily expect, also can estimate remaining friction force and maximum frictional force at this moment or correct.This is not further elaborated herein.

When elevator device needs to start, first control setup applies pre-add electric current I to electrical motor _pre:

I _{pre_k}=I _wgh+ I _rf-lformula (7)

Wherein:

$I_{\mathrm{wgh}}=\frac{K_{r}R}{K_t}(m_c-m_b)g$ Formula (8)

Here, K _tit is motor force moment coefficient; m _bit is the quality of counterweight; G is acceleration due to gravity; R is traction sheave radius; K _rbe suspension gear around than;

$I_{\mathrm{rf}-l}=\left\{\begin{array}{c}{I}_{\mathrm{rf}}----\left|I_{\mathrm{rf}}\right|<\left|I_{\mathrm{mf}}\right|\\ I_{\mathrm{mf}}----\left|I_{\mathrm{rf}}\right|\&GreaterEqual;\left|I_{\mathrm{mf}}\right|\end{array}\right.$ Formula (9)

Then control setup drives releasing of brake (not marking in figure), keeps speed command to be zero, and forbids speed command and follow portion; Pre-add electric current I _precalculating formula become:

If car is this time up:

I _{pre_k}=I _{pre_k-1}+ Δ I formula (10)

If car is this time descending:

I _{pre_k}=I _{pre_k-1}-Δ I formula (11)

Wherein:

Δ I represents the rate of change of electric current; When the sampling period is certain, Δ I is less, suppresses the effect of Vibration on Start-up stronger; But Δ I has long wait time when too little meeting causes system to start.Therefore the above value because usually choosing Δ I should be considered; Δ I can be taken as herein:

$\mathrm{\&Delta;I}=\frac{1}{200}{I}_{\mathrm{mf}}$ Formula (12)

When meeting " acceleration environment ", enabling speed command and following portion, formation speed instruction from traction sheave current feedback velocity amplitude, pre-add electric current I _prevalue no longer change, that is:

I=I _{pre_fin}+ I _contformula (13)

Wherein:

I _{pre_fin}the end value of pre-add current-order;

I _contthe current-order that the speed command portion of following exports;

I ... total current instruction;

If car is this time up, " acceleration environment " refers to:

I _{pre_k}>=I _wgh+ I _mfformula (14)

Or: $S_s\&GreaterEqual;\frac{K_t}{K_r\mathrm{kR}}(I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (15)

Wherein, S _sfrom this releasing of brake, the tangential displacement amount of traction sheave;

Or: abs (V _s)>=V _levformula (16)

Wherein, V _sit is the tangential velocity of traction sheave; V _levbe safety guard-safeguard threshold speed, be taken as 0.1m/s herein;

If car is this time descending, " acceleration environment " refers to:

I _{pre_k}≤ I _wgh-I _mfformula (17)

Or: $S_s\&le;\frac{K_t}{K_r\mathrm{kR}}(-I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (18)

Or: abs (V _s)>=V _levformula (19)

As shown in Figure 6, in the moment 1, releasing of brake; The moment now produced by electrical motor pre-add electric current makes car just bear the remaining friction force the same with before releasing of brake; Then, along with the change of pre-torque, car friction also progressively changes to maximum static friction force direction; Until the moment 2, suffered by car, static friction force reaches maxim, and pre-torque no longer changes, and velocity close-loop control enabled by elevator control gear, generates cage operation speed command; After this, car starts startup optimization.

In above-mentioned start-up course, car friction is controlled slope interference; Compared with disturbing with step, its impact obviously reduces; Therefore, the vibration of car when starting obviously is suppressed.As shown in Figure 7, vibration during startup is almost completely eliminated.

Consider that the remaining friction force that control setup is estimated and maximum static friction force inevitably have error, so the moment that probably accurately cannot start movement at car sends car speed instruction.However, exciting force suffered when car starts still can be slowed down to a great extent, so its effect alleviating car Vibration on Start-up is still obvious.

Embodiment 2:

The present embodiment, compared with embodiment 1, estimates that the method for remaining friction force is different; Other parts are then identical;

When carrying out the estimation of remaining friction force, being in zero load, semi-load and at full load at car, using formula (4) described in embodiment 1, calculate the remaining friction force electric current of corresponding three load-carryings respectively:

I _{rf_N}unloaded remaining friction force electric current

I _{rf_B}semi-load remaining friction force electric current

I _{rf_F}fully loaded remaining friction force electric current

When system worked well, suppose that car internal burden is p with the ratio of full value, if last time, car was up, the evaluation method of so remaining friction force electric current is:

I _rf=(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²+ (-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p+I _{rf_N}formula (20)

If last time, car was descending, the evaluation method of so remaining friction force electric current is:

I _rf=-(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²-(-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p-I _{rf_N}formula (21)

Embodiment 3:

In the present embodiment, estimate that the method for remaining friction force is identical with embodiment 1 or embodiment 2; The method of estimation maximum frictional force is identical with embodiment 1;

When elevator device needs to start, the formula (7) according to embodiment 1 applies pre-add electric current I _pre;

Then control setup drives releasing of brake, applies specific speed command V _pre, and enable speed command and follow portion; Wherein, V _preless, suppress the effect of Vibration on Start-up stronger; But V _pretoo little meeting has long wait time when causing system to start; Therefore should consider above because usually choosing V _prevalue; Herein by V _prebe taken as 0.05m/s, its direction is car this time service direction;

Now, the electric current I applying to give electrical motor is:

I=I _wgh+ I _rf-l+ I _contformula (22)

When meeting " acceleration environment ", from V _prestart the speed command generated needed for car operation;

If car is this time up, " acceleration environment " refers to:

I>=I _wgh+ I _mfformula (23)

Or meet formula (15);

If car is this time descending, " acceleration environment " refers to:

I≤I _wgh-I _mfformula (24)

Or meet formula (18).

Claims (11)

1. an elevator control gear, comprises speed command generating unit, speed command follows portion, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed command of cage operation and the current-order of electrical motor, makes elevator device work;

It is characterized in that: also comprise remaining friction force estimating portion, for estimating the static friction force born after elevator device stops;

Maximum frictional force estimating portion, for estimating the maximum static friction force that elevator device bears;

Skew torque calculation portion, according to estimated remaining friction force and maximum frictional force, calculates skew torque; Wherein, calculate the initial value of skew torque according to the remaining friction force of estimation gained, according to the maximum frictional force of estimation gained and in conjunction with the expected value of this cage operation direction calculating skew torque;

The control of described elevator control gear to elevator comprises as the next stage:

Stage one: apply described skew torque to electrical motor;

Stage two: generate the speed command needed for cage operation.

2. elevator control gear according to claim 1, is characterized in that: in the described stage one when applying skew torque to electrical motor, to traction sheave operating speed opened loop control; Skew torque value, from initial value, changes to expected value direction; When skew torque value reaches expected value, or traction sheave amount of spin exceedes certain limit, or when traction sheave rotating speed exceedes certain limit, skew torque remains unchanged, and applies velocity close-loop control to traction sheave, and elevator runs and enters the stage two.

3. elevator control gear according to claim 1, is characterized in that: in the described stage one when applying skew torque to electrical motor, to the closed loop control of traction sheave operating speed; First the initial value of skew torque is applied, then generate and follow the tracks of special speed command, observing the torque generated due to speed tracing, when this torque value and initial value sum are more than or equal to expected value, or traction sheave amount of spin is when exceeding certain limit, elevator runs and enters the stage two.

4. elevator control gear according to claim 1, is characterized in that: described remaining friction force estimating portion comprises the steps: for the estimation of remaining friction force

Step 1, drives cage operation to arrive certain position; When car stops, and when drg is not yet held tightly, record the current value of now electrical motor, be designated as " electric current 1 ";

Step 2, drives car inverted running to arrive certain position; Use the same method and record the current value of electrical motor, be designated as " electric current 2 ";

Step 3, according to the last service direction of " electric current 1 ", " electric current 2 " and car, the remaining friction force of estimation elevator device.

5. elevator control gear according to claim 4, is characterized in that: described remaining friction force estimating portion comprises the steps: for the estimation of remaining friction force

Step 1, be in zero load at car, balance carry and fully loaded, remaining friction force estimating portion calculates unloaded remaining friction force respectively, balance carries remaining friction force and fully loaded remaining friction force;

Step 2, carry remaining friction force and fully loaded remaining friction force according to the remaining friction force of zero load, balance, calculating car is in remaining friction force during other load load-carrying.

6. elevator control gear according to claim 1, is characterized in that: described maximum frictional force estimating portion comprises the steps: for the estimation of maximum frictional force

Step 1, drives cage operation, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 3 ";

Step 2, drives car inverted running, and when car at the uniform velocity arrives certain position, the current value of record electrical motor, is designated as " electric current 4 ";

Step 3, according to the maximum static friction force of " electric current 3 " and " electric current 4 " estimation elevator device.

7. elevator control gear according to claim 1, is characterized in that: when described remaining friction force estimating portion carries out the estimation of remaining friction force, control setup enters remaining friction force estimation mode; In such a mode, speed command generating unit sends speed command, and commander's car runs to same floor with up and down direction respectively; The instruction of remaining friction force estimating portion reading speed, motor movement status feedback signal and drg actuating signal; When speed command is reduced to zero, and drg is not held tightly, and following condition:

| I _k-I _k+1| < I _{d_lev}formula (1)

Continue to be met overtime T _levtime, record the current-order I of up flat bed and descending flat bed respectively _uland I _dl; Wherein:

I _kmotor current instruction in the kth sampling period;

I _{d_lev}current-differencing threshold value;

T _levthe resonance semiperiod that system is current, its method of calculating is:

$T_{\mathrm{lev}}=\mathrm{\&pi;}\sqrt{\frac{m_c}{k}}$ Formula (2)

Wherein, m _cit is the total mass of car and load;

K is the current elasticity modulus of cage side suspension device, and it is tried to achieve by suspension gear radical N, single suspension gear elastic modulus E, single suspension gear sectional area s and suspension gear length l:

$k=N\&CenterDot;E\frac{s}{l}$ Formula (3)

When meeting above Rule of judgment, the current value I corresponding according to the remaining friction force of following regular computing system _rf:

If car service direction last time is up, then

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{ul}}-I_{\mathrm{dl}})$ Formula (4)

Otherwise

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{dl}}-I_{\mathrm{ul}})$ Formula (5).

8. elevator control gear according to claim 7, is characterized in that: when described maximum frictional force estimating portion carries out maximum friction force evaluating, control setup enters maximum frictional force estimation mode; In such a mode, speed command generating unit commander car travels at the uniform speed through same position with up and down direction respectively; The reading speed instruction of maximum frictional force estimating portion and motor movement status feedback signal, at car at the uniform velocity through above-mentioned same position, record the current-order I that uplink and downlink run respectively _ucand I _dc; Then corresponding according to following formula computing system maximum frictional force current value I _mf:

$I_{\mathrm{mf}}=\frac{1}{2}\mathrm{\&eta;}(I_{\mathrm{uc}}-I_{\mathrm{dc}})$ Formula (6)

Wherein, η is the ratio of system maximum static friction force and kinetic force of friction; η is determined by system mechanical characteristics.

9. elevator control gear according to claim 1, is characterized in that: when described remaining friction force estimating portion carries out the estimation of remaining friction force, control setup enters remaining friction force estimation mode; Be in zero load, semi-load and at full load at car, use described formula (4), calculate the remaining friction force electric current of corresponding three load-carryings respectively:

$I_{\mathrm{rf}}=\frac{1}{2}(I_{\mathrm{ul}}-I_{\mathrm{dl}})$ Formula (4)

I _{rf_N}unloaded remaining friction force electric current

I _{rf_B}semi-load remaining friction force electric current

I _{rf_F}fully loaded remaining friction force electric current

When system worked well, suppose that car internal burden is p with the ratio of full value, if last time, car was up, the evaluation method of so remaining friction force electric current is:

I _rf=(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²+ (-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p+I _{rf_N}formula (20)

If last time, car was descending, the evaluation method of so remaining friction force electric current is:

I _rf=-(2I _{rf_F}-4I _{rf_B}+ 2I _{rf_N}) p ²-(-I _{rf_F}+ 4I _{rf_B}-3I _{rf_N}) p-I _{rf_N}formula (21).

10. elevator control gear according to claim 8, is characterized in that: the control method of described elevator control gear to elevator is as follows:

When elevator device needs to start, first control setup applies pre-add electric current I to electrical motor _pre:

I _{pre_k}=I _wgh+ I _rf-lformula (7)

Wherein:

$I_{\mathrm{wgh}}=\frac{K_{r}R}{K_t}(m_c-m_b)g$ Formula (8)

K _tit is motor force moment coefficient; m _cit is the total mass of car and load; m _bit is the quality of counterweight; G is acceleration due to gravity; R is traction sheave radius; K _rbe suspension gear around than;

$I_{\mathrm{rf}-l}=\left\{\begin{array}{c}{I}_{\mathrm{rf}}----\left|I_{\mathrm{rf}}\right|<\left|I_{\mathrm{mf}}\right|\\ I_{\mathrm{mf}}----\left|I_{\mathrm{rf}}\right|\&GreaterEqual;\left|I_{\mathrm{mf}}\right|\end{array}\right.$ Formula (9)

I _rfit is the current value that remaining friction force is corresponding;

I _mfit is the current value that maximum frictional force is corresponding;

Then control setup drives releasing of brake, keeps speed command to be zero, and forbids speed command and follow portion; Pre-add electric current I _precalculating formula become:

If car is this time up:

I _{pre_k}=I _{pre_k-1}+ Δ I formula (10)

If car is this time descending:

I _{pre_k}=I _{pre_k-1}-Δ I formula (11)

Wherein Δ I is the rate of change of electric current;

When meeting " acceleration environment ", enabling speed command and following portion, formation speed instruction from traction sheave current feedback velocity amplitude, pre-add electric current I _prevalue no longer change, that is:

I=I _{pre_fin}+ I _contformula (13)

Wherein:

I _{pre_fin}the end value of pre-add current-order;

I _contthe current-order that the speed command portion of following exports;

I ... total current instruction;

If car is this time up, " acceleration environment " refers to:

I _{pre_k}>=I _wgh+ I _mfformula (14)

Or: $S_s\&GreaterEqual;\frac{K_t}{K_r\mathrm{kR}}(I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (15)

Wherein, S _sfrom this releasing of brake, the tangential displacement amount of traction sheave; K is the current elasticity modulus of cage side suspension device;

Or: abs (V _s)>=V _levformula (16)

Wherein, V _sit is the tangential velocity of traction sheave; V _levit is safety guard-safeguard threshold speed;

If car is this time descending, " acceleration environment " refers to:

I _{pre_k}≤ I _wgh-I _mfformula (17)

Or: $S_s\&le;\frac{K_t}{K_r\mathrm{kR}}(-I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (18)

Or: abs (V _s)>=V _levformula (19).

11. elevator control gears according to claim 8, is characterized in that: the control method of described elevator control gear to elevator is as follows: when elevator device needs to start, apply pre-add electric current I according to formula (7) _pre;

I _{pre_k}=I _wgh+ I _rf-lformula (7)

Then control setup drives releasing of brake, applies specific speed command V _pre, and enable speed command and follow portion;

Now, the electric current I applying to give electrical motor is:

I=I _wgh+ I _rf-l+ I _contformula (22)

Wherein:

I ... total current instruction;

$I_{\mathrm{wgh}}=\frac{K_{r}R}{K_t}(m_c-m_b)g$ Formula (8)

K _tit is motor force moment coefficient; m _cit is the total mass of car and load; m _bit is the quality of counterweight; G is acceleration due to gravity; R is traction sheave radius; K _rbe suspension gear around than;

$I_{\mathrm{rf}-l}=\left\{\begin{array}{c}{I}_{\mathrm{rf}}----\left|I_{\mathrm{rf}}\right|<\left|I_{\mathrm{mf}}\right|\\ I_{\mathrm{mf}}----\left|I_{\mathrm{rf}}\right|\&GreaterEqual;\left|I_{\mathrm{mf}}\right|\end{array}\right.$ Formula (9)

I _contthe current-order that the speed command portion of following exports;

When meeting " acceleration environment ", from V _prestart the speed command generated needed for car operation;

If car is this time up, " acceleration environment " refers to:

I>=I _wgh+ I _mfformula (23)

I _mfit is the current value that maximum frictional force is corresponding;

Or meet formula (15)

$S_s\&GreaterEqual;\frac{K_t}{K_r\mathrm{kR}}(I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (15);

Wherein, S _sfrom this releasing of brake, the tangential displacement amount of traction sheave; K is the current elasticity modulus of cage side suspension device;

If car is this time descending, " acceleration environment " refers to:

I≤I _wgh-I _mfformula (24)

Or meet formula (18)

$S_s\&le;\frac{K_t}{K_r\mathrm{kR}}(-I_{\mathrm{mf}}-I_{\mathrm{rf}-l})$ Formula (18).