CN105236223A - Inertia measuring system and method - Google Patents

Abstract

The present invention relates to an inertia measurement system and method. The inertia measurement method includes: measuring the rolling acceleration a of the car and measuring the static torque M of the traction machine, and obtaining the inertia of the elevator through the rolling acceleration of the car and the torque of the traction machine I; Wherein, in the state where the brake is released and the traction machine does not apply torque, the car is allowed to fall freely into a rolling state, and the rolling acceleration of the car is obtained; when the brake is released and the car is stationary, Obtain the static torque of the traction machine. According to the elevator inertia calculated above, fully considering the influence of elevator related structures and parts in actual operation, the obtained elevator inertia is accurate and reliable, which can provide a basis for the optimization of elevator speed control parameters, and can also check the mechanical configuration of the elevator on site.

Description

Inertia measurement system and method

technical field

The invention belongs to the field of elevators and hoists, and in particular relates to an inertia measurement system and method.

Background technique

The control and operation of the elevator need to consider the elevator inertia. The traditional elevator inertia is obtained by calculating the nominal value of the mass of each component of the elevator. However, the number of elevator mechanical parts is hundreds or thousands, which leads to complex calculation of mechanical inertia and low accuracy. In addition, there is a tolerance between the nominal mass value of the components and the real mass of the components, so the calculation result has a large error and cannot be accurately calculated. A good guide to the optimization of the elevator speed control parameters cannot be used to test the field configuration of the elevator. In addition, because the elevator user will re-modify the decoration in some cases, it is more difficult to accurately obtain the mechanical inertia of the elevator. Therefore, it is particularly difficult to accurately measure the inertia of the elevator on site.

Contents of the invention

Based on this, the present invention overcomes the defects of the prior art and provides an inertia measurement system and method for conveniently and accurately measuring the elevator inertia.

Its technical scheme is as follows:

A method for measuring inertia, comprising: measuring the rolling acceleration a of the car and measuring the static torque M of the traction machine, and obtaining the inertia I of the elevator through the rolling acceleration of the car and the torque of the traction machine; wherein, when the brake is released 1. In the state where the traction machine does not apply torque, let the car fall freely into a rolling state, and obtain the rolling acceleration of the car; when the brake is released and the car is stationary, obtain the static torque of the traction machine .

In one of the embodiments, it includes the steps: the brake control unit controls the brake to release it, the drive control unit controls the traction machine so that it does not apply torque, and the car enters the rolling state, and obtains The acceleration of the car rolling; the braking control unit controls the brake to release it, and the drive control unit controls the traction machine to apply a reverse torque to make the car go from the rolling state to the stationary state, and obtain the stationary rotational speed torque; after obtaining the rolling acceleration and the static torque, the brake control unit controls the brake to hold it tightly.

In one of the embodiments, after the car enters the rolling state and the rolling is stable, the rolling acceleration is detected.

In one of the embodiments, a rotation sensor is arranged at the rotating shaft of the traction machine to detect the rotation speed of the traction machine, obtain the displacement data of the car according to the rotation speed of the traction machine, and calculate the displacement Secondary differentiation of the data to obtain the rolling acceleration of the car; or, a speed sensor is set on the car or the counterweight, the speed sensor detects and obtains the speed data of the car, and the speed The data is differentiated to obtain the rolling acceleration of the car; or, an acceleration sensor is arranged on the car or the counterweight, and the acceleration sensor detects and obtains the rolling acceleration.

In one of the embodiments, the traction machine is driven by a frequency converter, and the static torque is obtained through the current output by the frequency converter.

In one of the embodiments, according to the inertia measurement method described in any one of claims 1 to 4, it is characterized in that, according to the inertia measurement method described in claim 1, it is characterized in that the inertia I of the elevator, the sliding car of the car The acceleration a and the static torque M of the traction machine meet:

$\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; R</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; .</span>\frac{\mathrm{<span\; class="notranslate">\; g</span>}}{\mathrm{<span\; class="notranslate">\; a</span>}}$

Among them, g is the gravity acceleration of the elevator location;

k is the suspension ratio of the elevator, that is, the ratio of the linear speed of the traction machine to the speed of the car;

R is the diameter of the sheave of the traction machine pulling the car.

An inertia measurement system, comprising: a controller, the controller is respectively connected to the brake and the traction machine of the elevator, and the controller is used to control the working state of the brake and the traction machine; an acceleration detection unit, the acceleration detection unit Docking with the car or counterweight or traction machine, it is used to detect the acceleration of the car when the brake is released and the traction machine does not apply torque;

A torque detection unit, the torque detection unit is connected with the traction machine or the controller, and is used to detect the static torque of the traction machine when the brake is released and the car is at rest;

Inertia calculation unit, the acceleration detection unit and the torque detection unit are connected to the inertia calculation unit respectively; wherein, the acceleration detection unit sends the rolling acceleration to the inertia calculation unit, and the torque The detection unit sends the static torque to the inertia calculation unit, and the inertia calculation unit calculates the elevator inertia according to the rolling acceleration and the static torque.

In one of the embodiments, the controller includes an elevator control system, a braking control unit, and a variable frequency drive unit; wherein, the elevator control system is connected to the braking control unit and the variable frequency drive unit respectively, and the The brake control unit is connected to the brake, the variable frequency drive unit is connected to the traction machine, and the torque detection unit is connected to the variable frequency drive unit.

In one of the embodiments, the inertia calculation unit is signal-interfaced with the elevator control system, and sends a signal to the elevator control system whether the inertia calculation is completed.

In one of the embodiments, the acceleration detection unit includes a rotation sensor, and the rotation sensor is arranged at the rotating shaft of the traction machine for detecting the rotational speed of the traction machine; or, the acceleration detection unit includes A speed sensor, the speed sensor is arranged on the car or the counterweight, and the speed sensor is used to detect the speed of the car; or, the acceleration detection unit includes an acceleration sensor, and the acceleration sensor is arranged on the car On the car or counterweight, the acceleration sensor is used to detect the acceleration of the car.

The beneficial effects of the present invention are:

In the state where the brake is released and the traction machine does not apply torque, let the car fall freely into a rolling state, and obtain the rolling acceleration of the car; when the brake is released and the car is stationary, obtain the traction machine of static torque. The elevator inertia is obtained through the car sliding acceleration and the traction machine torque, fully considering the influence of the elevator related structures and parts in actual operation, the obtained elevator inertia is accurate and reliable, which can provide a basis for the optimization of elevator speed control parameters, and can also be tested The mechanical configuration of the elevator on site. Moreover, in the process of detecting and calculating the inertia of the elevator, the main structure required for the normal operation of the elevator does not need to be changed, and the safe operation of the elevator is not affected.

Description of drawings

Fig. 1 is the working principle diagram of the inertia measurement system of the embodiment of the present invention;

Fig. 2 is a state parameter diagram of the elevator during the elevator inertia detection process according to the embodiment of the present invention.

Explanation of reference signs:

100. Elevator control system, 210. Brake control unit, 220. Variable frequency drive unit, 300. Traction machine, 400. Brake, 510. Acceleration detection unit, 520. Torque detection unit, 600. Inertia calculation unit.

detailed description

The present invention will be described in further detail below, but the embodiments of the present invention are not limited thereto.

As shown in FIG. 1 , the inertia measurement system includes: a controller, an acceleration detection unit 510 , a torque detection unit 520 , and an inertia calculation unit 600 .

Among them, the elevator control system 100 is respectively connected with the brake control unit 210 and the variable frequency drive unit 220 , the brake control unit 210 is connected with the brake 400 , and the variable frequency drive unit 220 is connected with the traction machine 300 . The elevator control system 100 sends control signals to the brake control unit 210 and the variable frequency drive unit 220 respectively, and according to the received control signals, the brake control unit 210 controls the working state of the brake 400 and the variable frequency drive unit 220 controls the operation of the traction machine 300 state.

The acceleration detection unit 510 is docked with the car or the counterweight or the traction machine 300, and is used to measure the acceleration of the car rolling when the brake 400 is released and the traction machine 300 does not apply torque. Including but not limited to the following three methods, the optimal method can be selected according to the elevator system structure and implementation cost:

1. The acceleration detection unit 510 includes a rotation sensor. The rotation sensor is installed at the rotating shaft of the traction machine 300 to measure the rotation speed of the traction machine 300, obtain the displacement data of the car according to the rotation speed of the traction machine 300, and carry out secondary processing on the displacement data. Differentiate to obtain the rolling acceleration of the car;

2. The acceleration detection unit 510 includes a speed sensor. The speed sensor is arranged on the car or the counterweight. The speed sensor measures and obtains the speed data of the car, and differentiates the speed data to obtain the rolling acceleration of the car;

3. The acceleration detection unit 510 includes an acceleration sensor. The acceleration sensor is installed on the car or the counterweight. The acceleration sensor measures and obtains the rolling acceleration.

The torque detection unit 520 is docked with the variable frequency drive unit 220 (not limited to this, it can also be docked with the traction machine 300 or the controller), and is used to measure the static rotational speed of the traction machine 300 when the brake 400 is released and the car is at rest. Since the traction machine 300 is driven by a frequency converter, the torque detection unit 520 can obtain the torque of the traction machine 300 at the corresponding moment by measuring the current output from the frequency converter. The system structure is simple and it is convenient to obtain the traction torque. The torque of the machine 300.

The acceleration detection unit 510 and the torque detection unit 520 are connected to the inertia calculation unit 600 respectively, the acceleration detection unit 510 sends the acceleration of the vehicle slipping to the inertia calculation unit 600, the torque detection unit 520 sends the static torque to the inertia calculation unit 600, and the elevator The moment of inertia I, the car's rolling acceleration a, and the static torque M of the traction machine 300 satisfy:

$\mathrm{<span\; class="notranslate">\; I</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; m</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; R</span>}}{\mathrm{<span\; class="notranslate">\; k</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; .</span>\frac{\mathrm{<span\; class="notranslate">\; g</span>}}{\mathrm{<span\; class="notranslate">\; a</span>}}\mathrm{<span\; class="notranslate">\; \dots </span>}<span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

Among them, g is the gravity acceleration of the elevator location;

k is the suspension ratio of the elevator, that is, the ratio of the linear speed of the traction machine 300 to the speed of the car;

R is the diameter of the sheave of the traction machine 300 pulling the car.

The inertia calculation unit 600 calculates the inertia I of the elevator according to formula (1).

The inertia calculation unit 600 is also connected with the elevator control system 100 for signals, and sends a signal to the elevator control system 100 whether the inertia calculation is completed after the elevator inertia calculation is completed.

The elevator control system 100 sends control signals to the brake control unit 210 and the variable frequency drive unit 220 respectively, and the brake control unit 210 controls when the brake 400 is released and when to hold the brake 400 through the control signals received from the elevator control system 100, and the frequency conversion The drive unit 220 controls when the traction machine 300 applies torque through the control signal received from the elevator control system 100, and controls the direction and magnitude of the torque. When measuring the inertia of the elevator, it includes but is not limited to the following steps:

A. The brake control unit 210 controls the brake 400 to release it, and the variable frequency drive unit 220 controls the traction machine 300 so that no torque is applied, so that the car enters a rolling state. After the car slides smoothly, the acceleration detection unit 510 acquires the rolling acceleration a, and sends the rolling acceleration a to the inertia calculation unit 600 . Wherein, the real-time acceleration value of the car measured by the acceleration detection unit 510, when the real-time acceleration value of the car is stable, it can be considered that the car is rolling smoothly, and the acceleration of the car at this time is used as the rolling acceleration. As shown in Figure 2, the car starts to fall from the static state to the stable state of rolling, the initial acceleration gradually increases from 0, and then the acceleration gradually becomes stable and enters the stable state of rolling. The acceleration hardly changes, and it is more accurate to measure the acceleration of the car after the car is stable.

B. The brake control unit 210 controls the brake 400 to maintain the released state, and the variable frequency drive unit 220 controls the traction machine 300 to apply a reverse torque to make the car slide from the car state to the stationary state. After the car stops, the torque detection The unit 520 reads the current output by the frequency conversion controller when the car is stationary, and converts it into the torque value of the traction machine 300 through the three-two conversion method as the static torque M, and sends the static torque M to the inertia calculation unit 600 .

C. The inertia calculation unit 600 calculates the elevator inertia I by formula (1) after receiving the rolling acceleration a and the static torque M.

D. After the inertia calculation unit 600 calculates the inertia I of the elevator, it sends a calculation completion signal to the elevator control system, and the elevator control system sends control signals to the braking control unit 210 and the variable frequency drive unit 220 respectively, so that the braking control unit 210 controls the brake 400 to tighten the brake 400, so that the variable frequency drive unit 220 controls the traction machine 300 to not apply torque.

According to the elevator inertia calculated above, fully considering the influence of elevator related structures and parts in actual operation, the obtained elevator inertia is accurate and reliable, which can provide a basis for the optimization of elevator speed control parameters, and can also check the mechanical configuration of the elevator on site. In addition, it only needs to measure the two parameters of rolling acceleration and static torque on site, the operation is simple, and the main structure required for the normal operation of the elevator does not need to be changed, and the safe operation of the elevator is not affected.

The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be It is considered to be within the range described in this specification.

The above examples only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims (10)

1. an inertia method of measurement, is characterized in that, comprising: that measures car slips car acceleration/accel and measure the static torque of towing machine, obtains elevator inertia by the static torque of car acceleration/accel and towing machine of slipping of car;

Wherein, under the state that releasing of brake, towing machine do not apply torque, make car free fall for slipping car state, what obtain car slips car acceleration/accel; Under the state of releasing of brake, car stationary, obtain the static torque of towing machine.

2. inertia method of measurement according to claim 1, is characterized in that, comprising:

Brak control unit controls described drg makes it unclamp, and driving control unit controls towing machine makes it not apply torque, make described car enter described in slip car state, slip car acceleration/accel described in acquisition;

Brak control unit controls described drg makes it unclamp, and driving control unit controls towing machine and applies opposing torque, makes car from described car state of slipping to quiescence, obtains described static torque;

Slip described in acquisition car acceleration/accel, obtain described static torque after, brak control unit controls described drg makes it hold tightly.

3. inertia method of measurement according to claim 2, is characterized in that, until slip described in described car enters car state and slip car steadily after, then described in measuring, slip car acceleration/accel.

4. inertia method of measurement according to claim 1, it is characterized in that, in rotating shaft place of described towing machine, rotation sensor is set, measure the rotating speed of described towing machine, obtain the displacement data of described car according to the rotating speed of described towing machine, second differential is carried out to described displacement data and obtains and described in described car, to slip car acceleration/accel;

Or, described car or counterweight arrange speed sensor, are measured the speed data obtaining described car by described speed sensor, differential is carried out to described speed data and obtains and described in described car, to slip car acceleration/accel;

Or, described car or counterweight arrange acceleration pick-up, by slipping car acceleration/accel described in described acceleration pick-up measurement acquisition.

5. inertia method of measurement according to claim 1, is characterized in that, described towing machine adopts transducer drive, and the electric current exported by described frequency converter obtains described static torque.

6., according to the arbitrary described inertia method of measurement of claim 1 to 5, it is characterized in that, elevator inertia I, car slip car acceleration/accel a, towing machine static torque M meet:

$I=M\&CenterDot;{\left(\frac{R}{k}\right)}^2\&CenterDot;\frac{g}{a}$

Wherein, g is elevator locus acceleration due to gravity;

K is the hanging ratio of elevator, i.e. the ratio of the linear velocity of towing machine and the speed of car;

R is the diameter of the rope sheave of towing machine traction car.

7. an inertia measuring system, is characterized in that, comprising:

Controller, drg, the towing machine of described controller and elevator dock respectively, and the mode of operation of control brake, towing machine respectively;

Acceleration detecting unit, described acceleration detecting unit and car or counterweight or towing machine dock, and slip and slip car acceleration/accel for measuring the car when releasing of brake, towing machine do not apply torque under car state;

Torque test unit, described Torque test unit docks with described towing machine or described controller, for measuring the static torque of towing machine under releasing of brake, car stationary state;

Inertia calculation unit, described acceleration detecting unit and described Torque test unit dock with described inertia calculation unit respectively;

Wherein, the described car acceleration/accel that slips is sent to described inertia calculation unit by described acceleration detecting unit, described static torque is sent to described inertia calculation unit by described Torque test unit, described inertia calculation unit according to described in slip car acceleration/accel and described static torque calculation and obtain elevator inertia.

8. inertia measuring system according to claim 7, is characterized in that, described controller comprises apparatus for controlling elevator, brak control unit, variable frequency drive unit;

Wherein, described apparatus for controlling elevator docks with described brak control unit, described variable frequency drive unit signal respectively, described brak control unit docks with described drg, and described variable frequency drive unit is docked with described towing machine, and described Torque test unit docks with described variable frequency drive unit.

9. inertia measuring system according to claim 8, is characterized in that, described inertia calculation unit docks with described apparatus for controlling elevator signal, and sends the signal whether completing elevator inertia calculation to described apparatus for controlling elevator.

10. inertia measuring system according to claim 7, is characterized in that, described acceleration detecting unit comprises rotation sensor, and rotating shaft place of described towing machine is located at by described rotation sensor, for measuring the rotating speed of described towing machine;

Or described acceleration detecting unit comprises speed sensor, described speed sensor is located on described car or counterweight, and described speed sensor is for measuring the speed of car;

Or described acceleration detecting unit comprises acceleration pick-up, described acceleration pick-up is located on described car or counterweight, and described acceleration pick-up is for measuring the acceleration/accel of car.