CN104649087B - Elevator controlling device - Google Patents

Abstract

The present invention discloses a kind of elevator controlling device, comprises speed command generation unit, portion is followed in speed instruction, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed instruction of cage operation and the current-order of electric motor, and elevator device is worked; Also comprise remaining frictional force estimating portion, for estimating the stiction 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 the remaining frictional force estimated and maximum frictional force, calculates skew torque; Wherein, according to estimation gained remaining friction calculation skew torque initial value, according to estimation gained maximum frictional force and in conjunction with this cage operation direction calculating offset torque target value. The present invention is by calculating and applies skew torque, it is possible to more simply, effectively suppress the vibration of sedan-chair railway carriage or compartment when starting.

Description

Elevator controlling device

Technical field

The present invention relates to a kind of elevator controlling device.

Background technology

For tracking-driven elevator or forcibly driving elevator system, when starting in sedan-chair railway carriage or compartment, unavoidably it is subject to the effect of mechanical friction power. As shown in Figure 1, wherein elevator controlling device comprises speed command generation unit to the formation of tracking-driven elevator system, portion is followed in speed instruction, load torque calculating part and current-order follow portion's (not shown). Use the elevator of this kind of elevator controlling device can vibrate in sedan-chair railway carriage or compartment when starting.

Below with the example of behavior on sedan-chair railway carriage or compartment, set forth the generation mechanism of car vibrations when starting. Before stopper unclamps, sedan-chair railway carriage or compartment is subject to the effect of remaining frictional force; Remaining frictional force refers to that elasticity and mechanical system frictional force acting in conjunction due to suspension system produce, the frictional force of continuous action under system stopping state, and its direction is relevant with the direction of system operation last time. As shown in Figure 2, in the moment 1, stopper unclamps, and almost sends toggle speed instruction with hourly velocity command generation unit, follow the effect in portion in speed instruction under, sedan-chair railway carriage or compartment is subject to traction machine traction and produces movement tendency, but the constraint due to stiction, sedan-chair railway carriage or compartment keeps static, and stiction force value increases more quickly, until the moment 2, the stiction amplitude suffered by sedan-chair railway carriage or compartment equals maximum static friction force value, and sedan-chair railway carriage or compartment just starts motion; Hereafter, sedan-chair railway carriage or compartment is by kinetic friction power effect, and the value of kinetic friction power almost keeps stable. It may be seen that frictional force rises to maximum static friction force in a short period of time on 0, hereafter substantially remain unchanged. Therefore, it is possible to be similar to and think, sedan-chair railway carriage or compartment receives the disturbing force of a step-like when starting, and the prerequisite of vibration occurs when the interference of this step causes sedan-chair railway carriage or compartment to start.

As shown in Figure 3, owing to traction wheel is connected with sedan-chair railway carriage or compartment by suspension system, when sedan-chair railway carriage or compartment is away from traction wheel, the coefficient of elasticity of suspension system is less, therefore between traction wheel with sedan-chair railway carriage or compartment be coupled more weak. Thus bring two problems:

The first, sedan-chair railway carriage or compartment be interfered after vibratory response more remarkable; The accelerating curve in elevator sedan-chair railway carriage or compartment when upper row starts should be trapezoidal, but in fact unloading phase (namely on the left of curve) turn into being almost vertical ascent, as shown in Figure 4.This is the important factor causing feeling for taking difference, because acceleration angle value now is very big, and human body is more responsive to the amplitude impression of acceleration.

2nd, car vibrations due to the coupling of electric motor and sedan-chair railway carriage or compartment more weak, therefore, it is difficult to be inhibited or eliminate; In recent years along with the increase of lifting height of lift, the vibration problem of sedan-chair railway carriage or compartment when lower floor starts seems more and more outstanding.

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

Chinese patent CN1221701A and CN1158817A discloses method car vibrations compensated, and they have two common ground: the first, and they are all after car vibrations occurs, and carry out compensating passively, and are indifferent to the source causing vibration; Therefore, these methods can only limitedly alleviate vibration, and can not thoroughly eliminate vibration; 2nd, their algorithm is all more complicated, and to the hardware performance of Controlling System, the precision of software programming quality and sensor and signal disturbing etc. have higher requirement, implement comparison difficult.

Chinese patent CN1079441 discloses a kind of stiction that the elevator device of Induction Motor-Driven can be made to overcome reduction box, thus the method steadily started; This kind of method allows the gear in reduction box shake in advance, thus avoids the stiction brought by reduction box, but does not tackle the stiction that sedan-chair railway carriage or compartment itself is suffered.

US Patent No. 005635688A discloses a kind of method suppressing sedan-chair railway carriage or compartment Vibration on Start-up, and namely the first, detect that stopper unclamps; 2nd, speed instruction of creeping is sent to driving mechanism; 3rd, when certain event occurs, send the speed instruction needed for normal operation to driving it. Described " certain event " refers to that certain time expires, or sedan-chair railway carriage or compartment is moved. Although the method is also initiatively vibration suppressed, but " certain time " is lacked clearly and calculates means accurately, and need detection sedan-chair railway carriage or compartment to move, it is meant that special sensing device must be configured for car movement state, make hardware system configuration complicated, and increase cost.

Summary of the invention

Technical problem to be solved by this invention is to provide a kind of elevator controlling device, and it can alleviate the vibration in sedan-chair railway carriage or compartment when elevator starts.

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

Comprise speed command generation unit, portion is followed in speed instruction, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed instruction of cage operation and the current-order of electric motor, and elevator device is worked; Also comprise remaining frictional force estimating portion, for estimating the stiction 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 the remaining frictional force estimated and maximum frictional force, calculates skew torque; Wherein, according to estimation gained remaining friction calculation skew torque initial value, according to estimation gained maximum frictional force and in conjunction with this cage operation direction calculating offset torque target value;The control of elevator is comprised such as the next stage by described elevator controlling device: the stage one: skew torque as described in applying to electric motor; Stage two: generate the speed instruction needed for cage operation.

In the described stage one when applying skew torque to electric motor, to traction wheel operating speed opened loop control; Skew torque value, from initial value, changes to target value direction; When skew torque value reaches target value, or traction wheel rotation amount exceedes certain limit, or when traction wheel rotating speed exceedes certain limit, skew torque remains unchanged, and traction wheel is applied velocity close-loop control, and elevator runs and enters the stage two.

In the described stage one when applying skew torque to electric motor, to traction wheel operating speed closed-loop control; First the initial value of skew torque is applied, then generate and follow the tracks of special speed instruction, observe the torque generated due to velocity tracking, when this torque value and initial value sum are more than or equal to target value, or traction wheel rotation amount is when exceeding certain limit, elevator runs and enters the stage two.

Described remaining frictional force estimating portion comprises the steps: step 1 for the estimation of remaining frictional force, drives cage operation to arrive certain position; When sedan-chair railway carriage or compartment stops, and when stopper is not yet held tightly, record the current value of now electric motor, it is designated as " electric current 1 "; Step 2, drives sedan-chair railway carriage or compartment oppositely to run and arrives certain position; With the current value of same method record electric motor, it is designated as " electric current 2 "; Step 3, runs direction according to " electric current 1 ", " electric current 2 " and sedan-chair railway carriage or compartment the last time, the remaining frictional force of estimation elevator device.

Described remaining frictional force estimating portion comprises the steps: step 1 for the estimation of remaining frictional force, when sedan-chair railway carriage or compartment is in zero load, balance load and is fully loaded with, remaining frictional force estimating portion calculates unloaded remaining frictional force respectively, balance carries remaining frictional force and fully loaded remaining frictional force; Step 2, according to unloaded remaining frictional force, the remaining frictional force of balance load and fully loaded remaining frictional force, calculates remaining frictional force when sedan-chair railway carriage or compartment is in 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 sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 3 "; Step 2, drives sedan-chair railway carriage or compartment oppositely to run, and when sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 4 "; Step 3, estimates the maximum static friction force of elevator device according to " electric current 3 " and " electric current 4 ".

When described remaining frictional force estimating portion carries out remaining frictional force estimation, control device enters remaining frictional force estimation mode; In such a mode, speed command generation unit sends speed instruction, and commander sedan-chair railway carriage or compartment runs to same floor with uplink and downlink direction respectively; Remaining frictional force estimating portion reads speed instruction, motor movement status feedback signal and stopper actuating signal; When speed instruction has been reduced to zero, and stopper is not held tightly, and following condition:

|I_k-I_k+1|<I_{d_lev}Formula (1)

Continue to be met and exceed time T_levTime, the current-order I of the record flat layer of upper row and descending flat layer respectively_ulAnd I_dl; Wherein:

I_kMotor current instruction in kth the sampling period;

I_{d_lev}Current-differencing threshold value;

T_levThe resonance semi-period that system is current, its method of calculation are:

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

Wherein, m_cIt it is the total mass of sedan-chair railway carriage or compartment and load;

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

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

When meeting the judgement condition of formula (1), the current value I corresponding according to the following remaining frictional force of rule computing system_rf:

If it is upper row that last time was run direction in sedan-chair railway carriage or compartment, then

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

Otherwise

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

When described maximum frictional force estimating portion carries out maximum friction force evaluating, control device enters maximum frictional force estimation mode; In such a mode, speed command generation unit commander sedan-chair railway carriage or compartment at the uniform velocity runs through same position with uplink and downlink direction respectively; Maximum frictional force estimating portion reads speed instruction and motor movement status feedback signal, in sedan-chair railway carriage or compartment at the uniform velocity through above-mentioned same position, records 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:

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

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

When described remaining frictional force estimating portion carries out remaining frictional force estimation, control device enters remaining frictional force estimation mode; Be in sedan-chair railway carriage or compartment zero load, semi-load and fully loaded time, it may also be useful to described formula (4), calculates the remaining frictional force electric current of corresponding three load-carryings respectively:

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

I_{rf_N}Unloaded remaining frictional force electric current

I_{rf_B}Semi-load remaining frictional force electric current

I_{rf_F}Fully loaded remaining frictional force electric current

When system worked well, it is assumed that sedan-chair railway carriage or compartment internal burden is p with the ratio of full value, if sedan-chair last time railway carriage or compartment is upper row, the evaluation method of so remaining frictional force electric current is:

I_rf=(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²+(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p+I_{rf_N}Formula (20)

If sedan-chair last time railway carriage or compartment is descending, the evaluation method of so remaining frictional force electric current is:

I_rf=-(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²-(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p-I_{rf_N}Formula (21).

Described elevator controlling device is as follows to the control method of elevator:

When elevator device needs to start, first control device applies pre-add electric current I to electric motor_pre:

I_{pre_k}=I_wgh+I_rf-lFormula (7)

Wherein:

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

K_tIt it is electric motor moment coefficient; m_cIt it is the total mass of sedan-chair railway carriage or compartment and load; m_bIt it is the quality of counterweight; G is universal gravity constant; R is traction wheel radius; K_rBe suspension system around than;

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

I_rfIt is current value corresponding to remaining frictional force;

I_mfIt it is the current value that maximum frictional force is corresponding;

Then control device drives stopper to unclamp, and keeps speed instruction to be zero, and portion is followed in the speed instruction of forbidding; Pre-add electric current I_preCalculating formula turn into:

If sedan-chair railway carriage or compartment is upper row this time:

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

If sedan-chair railway carriage or compartment 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 ", portion is followed in the speed instruction of enabling, formation speed instruction from the current feedback speed value of traction wheel, 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 instruction portion of following exports;

I ... total current instruction;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I_{pre_k}≥I_wgh+I_mfFormula (14)

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

Wherein, S_sIt is from this stopper unclamps, the tangential displacement amount of traction wheel; K is the current coefficient of elasticity of cage side suspension system;

Or: abs (V_s)≥V_levFormula (16)

Wherein, V_sIt it is the tangential velocity of traction wheel; V_levIt it is safeguard protection speed threshold value;

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I_{pre_k}≤I_wgh-I_mfFormula (17)

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

Or: abs (V_s)≥V_levFormula (19).

Described elevator controlling device is as follows to the control method of elevator: 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 device drives stopper to unclamp, and applies specific speed instruction V_pre, and portion is followed in the speed instruction of enabling;

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

I=I_wgh+I_rf-l+I_contFormula (22)

Wherein:

I ... total current instruction;

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

K_tIt it is electric motor moment coefficient; m_cIt it is the total mass of sedan-chair railway carriage or compartment and load; m_bIt it is the quality of counterweight; G is universal gravity constant; R is traction wheel radius; K_rBe suspension system around than;

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

I_contThe current-order that the speed instruction portion of following exports;

When meeting " acceleration environment ", from V_preStart to generate the speed instruction needed for the work of sedan-chair railway carriage or compartment;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I≥I_wgh+I_mfFormula (23)

I_mfIt it is the current value that maximum frictional force is corresponding;

Or meet formula (15)

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

Wherein, S_sIt is from this stopper unclamps, the tangential displacement amount of traction wheel; K is the current coefficient of elasticity of cage side suspension system;

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I≤I_wgh-I_mfFormula (24)

Or meet formula (18)

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

The technique effect that the present invention can reach is:

The present invention is by calculating and applies skew torque, it is possible to more simply, effectively suppress the vibration of sedan-chair railway carriage or compartment when starting.

The present invention, before attempting sedan-chair railway carriage or compartment Vibration on Start-up to be suppressed, estimates the stiction born after the flat layer of elevator device stops in advance by remaining frictional 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 sedan-chair railway carriage or compartment starts to run, it is necessary to the skew torque value being applied on electric motor, or the angle value that traction wheel needs rotate. Described skew torque and traction wheel rotate the object of angle, allow sedan-chair railway carriage or compartment before formal operation, bear the threshold value of stiction in advance, thus alleviate the Vibration on Start-up caused by frictional force. The skew torque of the required applying due to calculated in advance or traction wheel rotate angle, so not needing the kinestate detecting sedan-chair railway carriage or compartment extraly, and can guarantee good vibration suppressioning effect; In addition owing to only applying skew torque or the traction wheel rotation angle of actual needs, so elevator can be saved relatively start required time, it is to increase running efficiency of system.

The present invention provides the evaluation method of remaining frictional force: drive sedan-chair railway carriage or compartment to run to same floor with uplink and downlink direction respectively; Flat layer action is completed when, and when stopper is not yet held tightly, the motor current value of the record flat layer of upper row and descending flat layer respectively; If not having remaining frictional force, the current value so recorded should be equal; That is, if the current value recorded is inequal, then illustrative system bears remaining stiction after stopping, the difference of institute's record current value, namely reflects size and the direction of remaining frictional force.

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

The present invention has the following advantages:

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

2nd, under the prerequisite not increasing hardware facility, accurately calculate the required skew torque applied;

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

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 friction force value graphic representation over time suffered by sedan-chair railway carriage or compartment when upper row starts of application prior art elevator controlling device;

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

Fig. 4 is the acceleration plots in elevator sedan-chair railway carriage or compartment when upper row starts of application prior art elevator controlling device, and wherein transverse axis is the time, and the longitudinal axis is that angle value is accelerated in sedan-chair railway carriage or compartment;

Fig. 5 is the schematic diagram of elevator controlling device of the present invention;

Fig. 6 is elevator friction force value graphic representation over time suffered by sedan-chair railway carriage or compartment when starting of application the present invention;

Fig. 7 is the acceleration plots in elevator sedan-chair railway carriage or compartment when starting of application the present invention, and wherein transverse axis is the time, and the longitudinal axis is that angle value is accelerated in sedan-chair railway carriage or compartment.

Embodiment

As shown in Figure 5, elevator controlling device of the present invention, comprises speed command generation unit, portion is followed in speed instruction, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed instruction of cage operation and the current-order of electric motor, and elevator device is worked;

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

Speed command generation unit formation speed instruction is also sent to totalizer through the speed instruction portion of following;

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

Also comprise remaining frictional force estimating portion, for estimating the stiction 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 the remaining frictional force estimated and maximum frictional force, calculates skew torque; Wherein, according to estimation gained remaining friction calculation skew torque initial value, according to estimation gained maximum frictional force and in conjunction with this cage operation direction calculating offset torque target value;

The control of elevator is comprised such as the next stage by described elevator controlling device:

Stage one: apply described skew torque to electric motor;

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

When applying skew torque to electric motor, to traction wheel operating speed opened loop control; Skew torque value, from initial value, changes to target value direction; When skew torque value reaches target value, or traction wheel rotation amount exceedes certain limit, or when traction wheel rotating speed exceedes certain limit, skew torque remains unchanged, and traction wheel is applied velocity close-loop control, and elevator runs and enters the stage two;

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

Or, when applying skew torque to electric motor, to traction wheel operating speed closed-loop control; First the initial value of skew torque is applied, then generate and follow the tracks of special speed instruction, observe the torque generated due to velocity tracking, when this torque value and initial value sum are more than or equal to target value, or traction wheel rotation amount 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 instruction needed for cage operation.

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

Step 1, drives cage operation to arrive certain position; When sedan-chair railway carriage or compartment stops, and when stopper is not yet held tightly, record the current value of now electric motor, it is designated as " electric current 1 ";

Step 2, drives sedan-chair railway carriage or compartment oppositely to run and arrives certain position; With the current value of same method record electric motor, it is designated as " electric current 2 ";

Step 3, runs direction according to " electric current 1 ", " electric current 2 " and sedan-chair railway carriage or compartment the last time, the remaining frictional force of estimation elevator device.

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

Step 1, when sedan-chair railway carriage or compartment is in zero load, balance load and is fully loaded with, remaining frictional force estimating portion calculates unloaded remaining frictional force respectively, balance carries remaining frictional force and fully loaded remaining frictional force;

Step 2, according to unloaded remaining frictional force, the remaining frictional force of balance load and fully loaded remaining frictional force, calculates remaining frictional force when sedan-chair railway carriage or compartment is in 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 sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 3 ";

Step 2, drives sedan-chair railway carriage or compartment oppositely to run, and when sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 4 ";

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

Embodiment 1:

The positive minus symbol of the current value of definition electric motor, positive sign represents that the moment that electric current produces makes sedan-chair railway carriage or compartment obtain acceleration upwards; Negative sign represents that the moment that electric current produces makes sedan-chair railway carriage or compartment obtain downward acceleration;

The positive dirction of definition displacement is line direction on sedan-chair railway carriage or compartment;

The sampling period that control device uses is 5ms;

Carrying out (can by manual activation, it is also possible to automatically trigger, do not represent in figure) when remaining frictional force is estimated by control device at needs, control device enters remaining frictional force estimation mode; In such a mode, speed command generation unit sends specific speed instruction, and commander sedan-chair railway carriage or compartment runs to same floor with uplink and downlink direction respectively; Remaining frictional force estimating portion reads speed instruction, motor movement status feedback signal and stopper actuating signal (not shown); When speed instruction has been reduced to zero, and stopper is not held tightly, and following condition:

|I_k-I_k+1|<I_{d_lev}Formula (1)

Continue to be met and exceed time T_levTime, the current-order I of the record flat layer of upper row and descending flat layer respectively_ulAnd I_dl; Wherein:

I_kMotor current instruction in kth the sampling period;

I_{d_lev}Current-differencing threshold value, should choose according to the remaining frictional force estimation error allowed, is taken as the 0.5% of electric motor load current value here;

T_levThe resonance semi-period that system is current, its method of calculation are:

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

Here, m_cIt it is the total mass of sedan-chair railway carriage or compartment and load;

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

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

When meeting the judgement condition of formula (1), illustrate that car movement is substantially stable; Then corresponding according to the following remaining frictional force of rule computing system current value I_rf:

If it is upper row that last time was run direction in sedan-chair railway carriage or compartment, then

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

Otherwise

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

After completing estimation, remaining frictional force estimating portion is by I_rfValue transmit give skew torque calculation portion.

When needs carry out maximum friction force evaluating (can by manual activation, it is also possible to automatically trigger by control device, do not represent in figure), control device enters maximum frictional force estimation mode; In such a mode, speed command generation unit commander sedan-chair railway carriage or compartment at the uniform velocity runs through same position with uplink and downlink direction respectively; Maximum frictional force estimating portion reads speed instruction and motor movement status feedback signal, in sedan-chair railway carriage or compartment at the uniform velocity through above-mentioned same position, records 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:

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

Wherein, η is system maximum static friction force and the ratio of kinetic friction power; η is determined by system mechanical characteristics, it is possible to record by experiment, it is also possible to according to experience 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 that can carry out remaining frictional force and maximum friction force evaluating. Industry personnel should be able to easily expect, it is also possible at this moment remaining frictional force and maximum frictional force is estimated or is corrected. This is not further elaborated herein.

When elevator device needs to start, first control device applies pre-add electric current I to electric motor_pre:

I_{pre_k}=I_wgh+I_rf-lFormula (7)

Wherein:

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

Here, K_tIt it is electric motor moment coefficient; m_bIt it is the quality of counterweight; G is universal gravity constant; R is traction wheel radius; K_rBe suspension system around than;

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

Then control device drives stopper to unclamp (not marking in figure), keeps speed instruction to be zero, and portion is followed in the speed instruction of forbidding; Pre-add electric current I_preCalculating formula turn into:

If sedan-chair railway carriage or compartment is upper row this time:

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

If sedan-chair railway carriage or compartment 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 more little, suppresses the effect of Vibration on Start-up more strong; But Δ I too little meeting had the long waiting time when causing system to start. Therefore the above value because usually choosing Δ I should be considered; Δ I can be taken as herein:

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

When meeting " acceleration environment ", portion is followed in the speed instruction of enabling, formation speed instruction from the current feedback speed value of traction wheel, 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 instruction portion of following exports;

I ... total current instruction;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I_{pre_k}≥I_wgh+I_mfFormula (14)

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

Wherein, S_sIt is from this stopper unclamps, the tangential displacement amount of traction wheel;

Or: abs (V_s)≥V_levFormula (16)

Wherein, V_sIt it is the tangential velocity of traction wheel; V_levIt is safeguard protection speed threshold value, it is taken as 0.1m/s herein;

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I_{pre_k}≤I_wgh-I_mfFormula (17)

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

Or: abs (V_s)≥V_levFormula (19)

As shown in Figure 6, in the moment 1, stopper unclamps; The moment now produced by electric motor pre-add electric current make sedan-chair railway carriage or compartment just bear unclamp with stopper before the same remaining frictional force; Then, along with the change of pre-torque, frictional force suffered by sedan-chair railway carriage or compartment also progressively changes to maximum static friction force direction; Until the moment 2, stiction suffered by sedan-chair railway carriage or compartment reaches maximum value, and pre-torque no longer changes, and elevator controlling device enables velocity close-loop control, generates cage operation speed instruction; Hereafter, sedan-chair railway carriage or compartment starts startup optimization.

In above-mentioned start-up course, frictional force suffered by sedan-chair railway carriage or compartment is controlled slope interference; Compared with step interference, its impact obviously reduces; Therefore, sedan-chair railway carriage or compartment start time vibration obviously suppressed. As shown in Figure 7, vibration during startup is almost completely eliminated.

Consider that the remaining frictional force that control device is estimated and maximum static friction force unavoidably have error, so the moment that probably accurately cannot start movement in sedan-chair railway carriage or compartment sends car speed instruction.However, disturbing force suffered when sedan-chair railway carriage or compartment starts still can be slowed down to a great extent, so its effect alleviating sedan-chair railway carriage or compartment Vibration on Start-up is still obvious.

Embodiment 2:

The present embodiment is compared with embodiment 1, and the method for the remaining frictional force of estimation is different; Other parts are then identical;

When carrying out remaining frictional force and estimate, be in sedan-chair railway carriage or compartment zero load, semi-load and fully loaded time, it may also be useful to formula (4) described in embodiment 1, calculate the remaining frictional force electric current of corresponding three load-carryings respectively:

I_{rf_N}Unloaded remaining frictional force electric current

I_{rf_B}Semi-load remaining frictional force electric current

I_{rf_F}Fully loaded remaining frictional force electric current

When system worked well, it is assumed that sedan-chair railway carriage or compartment internal burden is p with the ratio of full value, if sedan-chair last time railway carriage or compartment is upper row, the evaluation method of so remaining frictional force electric current is:

I_rf=(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²+(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p+I_{rf_N}Formula (20)

If sedan-chair last time railway carriage or compartment is descending, the evaluation method of so remaining frictional force electric current is:

I_rf=-(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²-(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p-I_{rf_N}Formula (21)

Embodiment 3:

In the present embodiment, the method for the remaining frictional force of estimation and embodiment 1 or embodiment 2 are identical; 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 device drives stopper to unclamp, and applies specific speed instruction V_pre, and portion is followed in the speed instruction of enabling; Wherein, V_preMore little, suppress the effect of Vibration on Start-up more strong; But V_preToo little meeting had the long waiting time when causing system to start; Therefore should consider above because usually choosing V_preValue; Herein by V_preBeing taken as 0.05m/s, its direction is that direction is this time run in sedan-chair railway carriage or compartment;

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

I=I_wgh+I_rf-l+I_contFormula (22)

When meeting " acceleration environment ", from V_preStart to generate the speed instruction needed for the work of sedan-chair railway carriage or compartment;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I≥I_wgh+I_mfFormula (23)

Or meet formula (15);

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I≤I_wgh-I_mfFormula (24)

Or meet formula (18).

Claims (11)

1. an elevator controlling device, comprises speed command generation unit, portion is followed in speed instruction, load torque calculating part, current-order follow portion; This device generates and follows the tracks of the speed instruction of cage operation and the current-order of electric motor, and elevator device is worked;

It is characterized in that: also comprise remaining frictional force estimating portion, for estimating the stiction 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 the remaining frictional force estimated and maximum frictional force, calculates skew torque; Wherein, according to estimation gained remaining friction calculation skew torque initial value, according to estimation gained maximum frictional force and in conjunction with this cage operation direction calculating offset torque target value;

The control of elevator is comprised such as the next stage by described elevator controlling device:

Stage one: apply described skew torque to electric motor;

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

2. elevator controlling device according to claim 1, it is characterised in that: in the described stage one when applying skew torque to electric motor, to traction wheel operating speed opened loop control; Skew torque value, from initial value, changes to target value direction; When skew torque value reaches target value, or traction wheel rotation amount exceedes certain limit, or when traction wheel rotating speed exceedes certain limit, skew torque remains unchanged, and traction wheel is applied velocity close-loop control, and elevator runs and enters the stage two.

3. elevator controlling device according to claim 1, it is characterised in that: in the described stage one when applying skew torque to electric motor, to traction wheel operating speed closed-loop control;First the initial value of skew torque is applied, then generate and follow the tracks of special speed instruction, observe the torque generated due to velocity tracking, when this torque value and initial value sum are more than or equal to target value, or traction wheel rotation amount is when exceeding certain limit, elevator runs and enters the stage two.

4. elevator controlling device according to claim 1, it is characterised in that: described remaining frictional force estimating portion comprises the steps: for the estimation of remaining frictional force

Step 1, drives cage operation to arrive certain position; When sedan-chair railway carriage or compartment stops, and when stopper is not yet held tightly, record the current value of now electric motor, it is designated as " electric current 1 ";

Step 2, drives sedan-chair railway carriage or compartment oppositely to run and arrives certain position; With the current value of same method record electric motor, it is designated as " electric current 2 ";

Step 3, runs direction according to " electric current 1 ", " electric current 2 " and sedan-chair railway carriage or compartment the last time, the remaining frictional force of estimation elevator device.

5. elevator controlling device according to claim 4, it is characterised in that: described remaining frictional force estimating portion comprises the steps: for the estimation of remaining frictional force

Step 1, when sedan-chair railway carriage or compartment is in zero load, balance load and is fully loaded with, remaining frictional force estimating portion calculates unloaded remaining frictional force respectively, balance carries remaining frictional force and fully loaded remaining frictional force;

Step 2, according to unloaded remaining frictional force, the remaining frictional force of balance load and fully loaded remaining frictional force, calculates remaining frictional force when sedan-chair railway carriage or compartment is in other load load-carrying.

6. elevator controlling device according to claim 1, it is characterised 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 sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 3 ";

Step 2, drives sedan-chair railway carriage or compartment oppositely to run, and when sedan-chair railway carriage or compartment at the uniform velocity arrives certain position, the current value of record electric motor, is designated as " electric current 4 ";

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

7. elevator controlling device according to claim 1, it is characterised in that: when described remaining frictional force estimating portion carries out remaining frictional force estimation, control device enters remaining frictional force estimation mode; In such a mode, speed command generation unit sends speed instruction, and commander sedan-chair railway carriage or compartment runs to same floor with uplink and downlink direction respectively; Remaining frictional force estimating portion reads speed instruction, motor movement status feedback signal and stopper actuating signal; When speed instruction has been reduced to zero, and stopper is not held tightly, and following condition:

|I_k-I_k+1|<I_{d_lev}Formula (1)

Continue to be met and exceed time T_levTime, the current-order I of the record flat layer of upper row and descending flat layer respectively_ulAnd I_dl; Wherein:

I_kMotor current instruction in kth the sampling period;

I_{d_lev}Current-differencing threshold value;

T_levThe resonance semi-period that system is current, its method of calculation are:

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

Wherein, m_cIt it is the total mass of sedan-chair railway carriage or compartment and load;

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

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

When meeting the judgement condition of described formula (1), the current value I corresponding according to the following remaining frictional force of rule computing system_rf:

If it is upper row that last time was run direction in sedan-chair railway carriage or compartment, then

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

Otherwise

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

8. elevator controlling device according to claim 7, it is characterised in that: when described maximum frictional force estimating portion carries out maximum friction force evaluating, control device enters maximum frictional force estimation mode;In such a mode, speed command generation unit commander sedan-chair railway carriage or compartment at the uniform velocity runs through same position with uplink and downlink direction respectively; Maximum frictional force estimating portion reads speed instruction and motor movement status feedback signal, in sedan-chair railway carriage or compartment at the uniform velocity through above-mentioned same position, records 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:

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

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

9. elevator controlling device according to claim 1, it is characterised in that: when described remaining frictional force estimating portion carries out remaining frictional force estimation, control device enters remaining frictional force estimation mode; Be in sedan-chair railway carriage or compartment zero load, semi-load and fully loaded time, it may also be useful to described formula (4), calculates the remaining frictional force electric current of corresponding three load-carryings respectively:

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

I_{rf_N}Unloaded remaining frictional force electric current

I_{rf_B}Semi-load remaining frictional force electric current

I_{rf_F}Fully loaded remaining frictional force electric current

When system worked well, it is assumed that sedan-chair railway carriage or compartment internal burden is p with the ratio of full value, if sedan-chair last time railway carriage or compartment is upper row, the evaluation method of so remaining frictional force electric current is:

I_rf=(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²+(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p+I_{rf_N}Formula (20)

If sedan-chair last time railway carriage or compartment is descending, the evaluation method of so remaining frictional force electric current is:

I_rf=-(2I_{rf_F}-4I_{rf_B}+2I_{rf_N})p²-(-I_{rf_F}+4I_{rf_B}-3I_{rf_N})p-I_{rf_N}Formula (21).

10. elevator controlling device according to claim 8, it is characterised in that: described elevator controlling device is as follows to the control method of elevator:

When elevator device needs to start, first control device applies pre-add electric current I to electric motor_pre:

I_{pre_k}=I_wgh+I_rf-lFormula (7)

Wherein:

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

K_tIt it is electric motor moment coefficient; m_cIt it is the total mass of sedan-chair railway carriage or compartment and load; m_bIt it is the quality of counterweight; G is universal gravity constant; R is traction wheel radius; K_rBe suspension system around than;

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

I_rfIt is current value corresponding to remaining frictional force;

I_mfIt it is the current value that maximum frictional force is corresponding;

Then control device drives stopper to unclamp, and keeps speed instruction to be zero, and portion is followed in the speed instruction of forbidding; Pre-add electric current I_preCalculating formula turn into:

If sedan-chair railway carriage or compartment is upper row this time:

I_{pre_k}=I_{pre_k-1}+ △ I formula (10)

If sedan-chair railway carriage or compartment is this time descending:

I_{pre_k}=I_{pre_k-1}-△ I formula (11)

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

When meeting " acceleration environment ", portion is followed in the speed instruction of enabling, formation speed instruction from the current feedback speed value of traction wheel, 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 instruction portion of following exports;

I ... total current instruction;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I_{pre_k}≥I_wgh+I_mfFormula (14)

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

Wherein, S_sIt is from this stopper unclamps, the tangential displacement amount of traction wheel; K is the current coefficient of elasticity of cage side suspension system;

Or: abs (V_s)≥V_levFormula (16)

Wherein, V_sIt it is the tangential velocity of traction wheel; V_levIt it is safeguard protection speed threshold value;

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I_{pre_k}≤I_wgh-I_mfFormula (17)

Or: $S_s\&le;\frac{K_t}{K_{r}kR}\left(-I_{mf}-I_{rf-l}\right)$ Formula (18)

Or: abs (V_s)≥V_levFormula (19).

11. elevator controlling devices according to claim 8, it is characterised in that: described elevator controlling device is as follows to the control method of elevator: 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 device drives stopper to unclamp, and applies specific speed instruction V_pre, and portion is followed in the speed instruction of enabling;

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

I=I_wgh+I_rf-l+I_contFormula (22)

Wherein:

I ... total current instruction;

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

K_tIt it is electric motor moment coefficient; m_cIt it is the total mass of sedan-chair railway carriage or compartment and load; m_bIt it is the quality of counterweight; G is universal gravity constant; R is traction wheel radius; K_rBe suspension system around than;

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

I_contThe current-order that the speed instruction portion of following exports;

When meeting " acceleration environment ", from V_preStart to generate the speed instruction needed for the work of sedan-chair railway carriage or compartment;

If sedan-chair railway carriage or compartment is upper row this time, " acceleration environment " refers to:

I≥I_wgh+I_mfFormula (23)

I_mfIt it is the current value that maximum frictional force is corresponding;

Or meet formula (15)

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

Wherein, S_sIt is from this stopper unclamps, the tangential displacement amount of traction wheel; K is the current coefficient of elasticity of cage side suspension system;

If sedan-chair railway carriage or compartment is this time descending, " acceleration environment " refers to:

I≤I_wgh-I_mfFormula (24)

Or meet formula (18)

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