CN105523452A - Multi-tractor synchronous control system and operation method thereof - Google Patents
Multi-tractor synchronous control system and operation method thereof Download PDFInfo
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- CN105523452A CN105523452A CN201610131488.0A CN201610131488A CN105523452A CN 105523452 A CN105523452 A CN 105523452A CN 201610131488 A CN201610131488 A CN 201610131488A CN 105523452 A CN105523452 A CN 105523452A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The invention relates to an elevator control system and an operation method thereof, in particular to a multi-tractor synchronous control system and an operation method thereof. The multi-tractor synchronous control system is quick in emergency response, high in safety and high in speed. A first sensor module is arranged on a power module and connected with the control system. The power module comprises an alternating-current power source and a rectifier module, and the alternating-current power source is connected with the rectifier module which is connected with the control system. The first sensor module comprises a first current sensor and a first voltage sensor, and the first current sensor is arranged at an output end of the rectifier module and connected with the control system. Operating speed of an elevator car can be effectively increased to save waiting time, reliability of the system is improved, the number of tractor braches can be regulated at any time according to load conditions, and accordingly high efficiency and energy saving are realized.
Description
Technical field
The present invention relates to a kind of apparatus for controlling elevator and method of work thereof, particularly relate to a kind of many towing machines synchronous control system and method for work thereof.
Background technology
Along with urbanization process is constantly accelerated, skyscraper continues to bring out, and this has just driven the fast development of elevator industry, along with the floor of skyscraper is more and more higher, people are more and more faster to the requirement of elevator speed, as the towing machine of elevator driving device also towards the future development of high speed.The single towing machine structure of the many employings of existing lift driving and controlling system, when towing machine et out of order, emergency capability is not enough, and safety performance is lower, and single towing machine kinetic energy is not enough, and its speed can not meet the needs of people's life.
Summary of the invention
The present invention is directed to above problem, provide that a kind of emergency capability is strong, safety performance is high, fireballing many towing machines synchronous control system and method for work thereof.
Technical scheme of the present invention is: comprise power module, sensor assembly one, monitored control system, control system, some towing machine modules and car;
Described power module and monitored control system are connected with described control system respectively, and described towing machine module is connected respectively with described control system and described car;
Described sensor assembly one is located on described power module, and is connected with described control system.
Described power module comprises source of AC and rectification module, and described source of AC is connected with described rectification module, and described rectification module connects described control system.
Described sensor assembly one comprises current sensor one and voltage sensor one;
Described current sensor one is placed on the mouth of described rectification module, and is connected with described control system;
Described voltage sensor one is placed on the mouth of described rectification module, and is connected with described control system.
Described control system comprises dsp chip, bus module, acquisition of signal and conditioning module and signal isolation and amplifier module;
Described bus module is connected with described dsp chip, described monitored control system by bus module and described dsp chip interconnected, realize two way communication;
Described acquisition of signal is connected with described dsp chip with conditioning module, realizes acquisition of signal and conversion;
Described signal output module is connected with described dsp chip, realizes signal and exports.
Described acquisition of signal and conditioning module comprise the filter circuit of pressure-stabilizing, bias voltage circuit and the ratio Circuit tuning that are connected in turn,
Towing machine module described in each comprises towing machine, sensor assembly two and towing machine driver module,
Described towing machine driver module connects described signal isolation and amplifier module and towing machine respectively;
Described sensor assembly two comprises current sensor two and speed sensor one, and described current sensor two to be placed on described towing machine driver module and to be connected with conditioning module with described acquisition of signal,
The rotating shaft that described speed sensor one is placed in described towing machine is connected with conditioning module with described acquisition of signal.
Described car is provided with speed sensor two, and described speed sensor two is connected with conditioning module with described acquisition of signal.
Work as follows:
1) control system initialization, the communication of simultaneously setting up between dsp chip with upper computer is connected;
2) memory device carried is divided into velocity curve computing module, rate control module and current control module three districts by dsp chip in advance;
3) given speed curve is obtained;
3.1) upper computer sends to constant speed angle value to dsp chip by bus module;
3.1) velocity information that in dsp chip, acquisition of signal and conditioning module picking rate sensor two transmit also is passed to velocity curve computing module;
3.2) velocity curve computing module calculates given speed curve according to velocity information and given speed value;
4) given speed curve is started to rate control module;
5) current controling signal is obtained;
6) current signal of current control module combination current control signal and current sensor two, sends drive singal, controls towing machine driver module, drags towing machine running;
7) drive singal compensation is carried out;
7.1) read the velocity amplitude that each speed sensor one transmits, calculate the velocity contrast between each velocity amplitude
7.2) velocity contrast is sent to current control module
7.1) the current value information that current sensor two transmits is read;
7.2) current control module is according to the current value read and velocity contrast and drive singal, calculates new drive singal;
7.3) judge Current Voltage whether out-of-bounds, if out-of-bounds, report an error and the given speed value that please look for novelty to upper computer, if not out-of-bounds, return step 7.1), complete.
Many towing machines dragging structure is adopted in the present invention, the population size of elevator device is increased by the quantity increasing towing machine, reduce towing machine R&D costs, and can when single towing machine et out of order, other towing machines can work on, reduce risk during single towing machine et out of order, improve the emergency capability of elevator, thus improve the safety and reliability of whole elevator device.Multiple towing machine acts on same car simultaneously, can effectively improve cage operation speed, saves wait time.
Utilize closed loop control system to construct various Digital Control module, Digital Control is implemented to drived control, thus obtains high-precision servocontrol, thus realize the speed sync between many towing machines.Construct speeds control ring, current regulator, add real-time speed monitoring and compensation tache, improve the reliability of many towing machines control system.Towing machine branch road can be increased and decreased at any time according to condition of loading, energy-efficient.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention,
Fig. 2 is control principle schematic diagram of the present invention,
Fig. 3 is control method diagram of circuit of the present invention.
Detailed description of the invention
The present invention comprises power module, sensor assembly one, monitored control system, control system, some towing machine modules and car as Figure 1-3.Described power module and monitored control system are connected with described control system respectively, and described towing machine module is connected respectively with described control system and described car; Described sensor assembly one is located on described power module, and is connected with described control system.
Described power module comprises source of AC and rectification module, and source of AC described in rectification module is connected with described rectification module, and described rectification module connects described control system.The AC rectification that source of AC provides by rectification module is the operable direct current (DC) of system, is system power supply.
Described sensor assembly one comprises current sensor one and voltage sensor one; Described current sensor one is placed on the mouth of described rectification module, and is connected with described control system.For detecting the outgoing current of rectification module.Described voltage sensor one is placed on the mouth of described rectification module, and is connected with described control system.For detecting the output voltage of rectification module.
Described control system comprises dsp chip, bus module, acquisition of signal and conditioning module and signal isolation and amplifier module.Described bus module is connected with described dsp chip, described monitored control system by bus module and described dsp chip interconnected, realize two way communication.
Described acquisition of signal is connected with described dsp chip with conditioning module, realizes acquisition of signal and conversion; Described signal output module is connected with described dsp chip, realizes signal and exports.
Described acquisition of signal and conditioning module comprise the filter circuit of pressure-stabilizing, bias voltage circuit and the ratio Circuit tuning that are connected in turn.The output signal of filter circuit of pressure-stabilizing stability sensor, the output signal value of sensor is converted to the scope that ratio Circuit tuning can process by bias voltage circuit, and signal value is adjusted to the range of receiving of dsp chip by ratio Circuit tuning.Make the signal of each sensor promptly and accurately can send dsp chip to process.
Towing machine module described in each comprises towing machine, sensor assembly two and towing machine driver module.Described towing machine driver module connects described signal isolation and amplifier module and towing machine respectively.Described towing machine is for dragging cage operation, many towing machines are adopted to drag same car, promote the running velocity of car, and when a towing machine malfunction shutdown, residue towing machine also can drag cage operation, reduce risk during single towing machine et out of order, improve the emergency capability of elevator, thus improve the safety and reliability of whole elevator device.
Described sensor assembly two comprises current sensor two and speed sensor one, described current sensor two to be placed on described towing machine driver module and to be connected with conditioning module with described acquisition of signal, gather towing machine driver module outgoing current value signal, and send dsp chip to and carry out signal transacting.The rotating shaft that described speed sensor one is placed in described towing machine is connected with conditioning module with described acquisition of signal, gathers towing machine tach signal and also send to DSP module to process.Described car is provided with speed sensor two, and described speed sensor two is connected with conditioning module with described acquisition of signal, gathers the running speed signal of car, and sends to DSP module to process.
Work as follows:
1) control system initialization, the communication of simultaneously setting up between dsp chip with upper computer is connected; Namely carry out the self-inspection controlling system, carry out examination communication.
2) memory device carried is divided into velocity curve computing module, rate control module and current control module three districts by dsp chip in advance; Namely carry out software partition, realize not interfereing with each other between each function computing, increase arithmetic speed and reduce the reaction time.
3) given speed curve is obtained;
3.1) upper computer sends to constant speed angle value to dsp chip by bus module;
3.1) velocity information that in dsp chip, acquisition of signal and conditioning module picking rate sensor two transmit also is passed to velocity curve computing module;
3.2) velocity curve computing module calculates given speed curve according to velocity information and given speed value;
4) given speed curve is started to rate control module;
5) current controling signal is obtained; The towing machine speed signal that rate control module obtains from speed sensor one, and according to the velocity curve that step 3 obtains, obtain the current controling signal of rate control module to current control module.
6) current signal of current control module combination current control signal and current sensor two, sends drive singal, controls towing machine driver module, drags towing machine running; Thus drive cage operation.
7) drive singal compensation is carried out; Namely real-Time Compensation is carried out to signal, improve control accuracy.
7.1) read the velocity amplitude that each speed sensor one transmits, calculate the velocity contrast between each velocity amplitude;
7.2) velocity contrast is sent to current control module;
7.1) the current value information that current sensor two transmits is read;
7.2) current control module is according to the current value read and velocity contrast and drive singal, calculates new drive singal;
7.3) judge Current Voltage whether out-of-bounds, if out-of-bounds, report an error and the given speed value that please look for novelty to upper computer, if not out-of-bounds, return step 7.1), complete.
Be specifically described for two towing machine below.
As shown in Figure 1, the present invention includes source of AC, rectification module, current sensor one, voltage sensor one, two towing machine driver modules, two current sensors, two, two towing machines, two speed sensors one, upper computer, lift car, speed sensor two and control system.Current sensor one and voltage sensor one are two operable direct current (DC) of towing machine driver module for detecting the AC rectification that described in the electric current of the output of rectification module and voltage, source of AC provides by rectification module.Current sensor two is for detecting the outgoing current of towing machine driver module.Speed sensor one is for detecting the speed signal of towing machine.
Control system preferably adopts DSP control system.DSP control system is by dsp chip, acquisition of signal and conditioning module, signal isolation and amplifier module and module composition, and bus module preferably adopts CAN module.DSP control system has low-power consumption, performance-oriented processing capacity.There is powerful external communication interface (SCI, SPI, CAN) be convenient to form large control system.And the low applicable large-scale commercial production of DSP control system cost.
Described rectification module is connected with source of AC, two towing machine driver modules, current sensor one, voltage sensors one.One of them towing machine driver module is connected with rectification module, one of them current sensor two, signal isolation and amplifier module, accepts the control of dsp chip.One of them towing machine is connected with one of them current sensor two, one of them speed sensor one, lift car.Towing machine can drag elevator, and another driver module is connected with rectification module, another current sensor two, signal isolation and amplifier module.Another towing machine is connected with another current sensor two, another speed sensor one, lift car.Two towing machine driver modules by after signal isolation and amplifier module controls for driving the operation of towing machine.Speed sensor two is for detecting elevator car speed information.
Described acquisition of signal is connected with current sensor one, voltage sensor one, two current sensors two, two speed sensors one, speed sensors two with conditioning module.Described lift car is connected with two towing machines, speed sensor two.Described upper computer is connected with dsp chip by CAN module, realizes two way communication, can also carry out control and real-time display system operation result to system simultaneously.Acquisition of signal and conditioning module are for receiving the output valve of each sensor.
The voltage received, electric current, speed signal are nursed one's health by described acquisition of signal and conditioning module, it is made to reach the input range of dsp chip, dsp chip passes through the current signal of driver module and the speed signal of towing machine of feedback, to System Implementation closed loop control, improve the precision of towing machine speeds control.
As shown in Figure 2, the present invention realizes the whole control of system by dsp chip, and dsp chip interior separation is velocity curve computing module, rate control module, compensating module, current control module.Desired speed signal (i.e. given speed value) is sent to velocity curve computing module by CAN by upper computer, the elevator car speed information that velocity curve computing module speed sensor two returns, as calculated, the speed given curve obtained is sent to rate control module, the velocity information of two towing machines that rate control module is obtained by two speed sensors one, according to the velocity amplitude of speed given curve and two towing machine reality, obtain its current controling signal to two current control module.The location information of two, the towing machine that compensating module is obtained by two speed sensors one, obtains its current compensation control signal to two current control module; The current controling signal of current control module comprehensive speed control module, compensating module and two current sensors two, controls two driver modules, and then dragging two towing machines synchronously operate.Two jointly drag lift car and operate, and then realize the synchronous velocity control of this system.
Two towing machines act on car simultaneously, improve the running velocity of car, decrease waiting time.Even if single towing machine fault, control system still can utilize normal towing machine to continue to drag cage operation by closed loop control, reduce risk during single towing machine et out of order, improve the emergency capability of elevator, thus improve the safety performance of elevator entirety.Towing machine module can also be increased and decreased according to actual needs, energy-conserving and environment-protective.
As shown in Figure 3, be diagram of circuit of the present invention, concrete steps are as follows:
1st step, system initialization, comprises the control signal initialization of driver module and sets up the relevant setting of communication to upper computer, upper computer by CAN by desired speed signal (i.e. given speed value);
2nd step, detects the speed of lift car, and in conjunction with desired speed signal (i.e. given speed value), computation speed given curve;
3rd step, read velocity amplitude V1, V2 of two towing machines, and the velocity contrast E0 calculated between two towing machines gives current control module;
4th step, speed controller calculates the given value of current controller according to given speed curve and towing machine speed gauge;
5th step, reads current value A1, the A2 measured by two current sensors two;
6th step, current controller, according to the compensation value E0 of current value A1, A2 of recording and compensatory control, calculates new control current value;
7th step, judges whether current value and magnitude of voltage cross the border, if cross the border, reports an error and asks upper computer again to provide desired speed signal, if do not cross the border, return second step, realize closed loop control, adjust in real time to upper computer.
Many towing machines dragging structure is adopted in the present invention, the population size of elevator device is increased by the quantity increasing towing machine, reduce towing machine R&D costs, and can when single towing machine et out of order, other towing machines can work on, reduce risk during single towing machine et out of order, improve the emergency capability of elevator, thus improve the safety and reliability of whole elevator device.Multiple towing machine acts on same car simultaneously, can effectively improve cage operation speed, saves wait time.
The present invention utilizes closed loop control system to construct various Digital Control module, implements Digital Control, thus obtains high-precision servocontrol, thus realize the speed sync between many towing machines to drived control.Construct speeds control ring, current regulator, add real-time speed monitoring and compensation tache, improve the reliability of many towing machines control system.Towing machine branch road can be increased and decreased at any time according to condition of loading, energy-efficient.
Claims (8)
1. the synchronous control system of towing machine more than, is characterized in that, comprises power module, sensor assembly one, monitored control system, control system, some towing machine modules and car;
Described power module and monitored control system are connected with described control system respectively, and described towing machine module is connected respectively with described control system and described car;
Described sensor assembly one is located on described power module, and is connected with described control system.
2. one many towing machines synchronous control system according to claim 1, it is characterized in that, described power module comprises source of AC and rectification module, and described source of AC is connected with described rectification module, and described rectification module connects described control system.
3. one many towing machines synchronous control system according to claim 2, is characterized in that, described sensor assembly one comprises current sensor one and voltage sensor one;
Described current sensor one is placed on the mouth of described rectification module, and is connected with described control system;
Described voltage sensor one is placed on the mouth of described rectification module, and is connected with described control system.
4. one many towing machines synchronous control system according to claim 3, is characterized in that, described control system comprises dsp chip, bus module, acquisition of signal and conditioning module and signal isolation and amplifier module;
Described bus module is connected with described dsp chip, described monitored control system by bus module and described dsp chip interconnected, realize two way communication;
Described acquisition of signal is connected with described dsp chip with conditioning module, realizes acquisition of signal and conversion;
Described signal output module is connected with described dsp chip, realizes signal and exports.
5. one many towing machines synchronous control system according to claim 4, is characterized in that, described acquisition of signal and conditioning module comprise the filter circuit of pressure-stabilizing, bias voltage circuit and the ratio Circuit tuning that are connected in turn.
6. one many towing machines synchronous control system according to claim 5, is characterized in that, towing machine module described in each comprises towing machine, sensor assembly two and towing machine driver module,
Described towing machine driver module connects described signal isolation and amplifier module and towing machine respectively;
Described sensor assembly two comprises current sensor two and speed sensor one, and described current sensor two to be placed on described towing machine driver module and to be connected with conditioning module with described acquisition of signal,
The rotating shaft that described speed sensor one is placed in described towing machine is connected with conditioning module with described acquisition of signal.
7. one many towing machines synchronous control system according to claim 6, it is characterized in that, described car is provided with speed sensor two, and described speed sensor two is connected with conditioning module with described acquisition of signal.
8. the method for work of a kind of many towing machines synchronous control system according to claim 7, is characterized in that, work as follows:
1) control system initialization, the communication of simultaneously setting up between dsp chip with upper computer is connected;
2) memory device carried is divided into velocity curve computing module, rate control module and current control module three districts by dsp chip in advance;
3) given speed curve is obtained;
3.1) upper computer sends to constant speed angle value to dsp chip by bus module;
3.1) velocity information that in dsp chip, acquisition of signal and conditioning module picking rate sensor two transmit also is passed to velocity curve computing module;
3.2) velocity curve computing module calculates given speed curve according to velocity information and given speed value;
4) given speed curve is started to rate control module;
5) current controling signal is obtained;
6) current signal of current control module combination current control signal and current sensor two, sends drive singal, controls towing machine driver module, drags towing machine running;
7) drive singal compensation is carried out;
7.1) read the velocity amplitude that each speed sensor one transmits, calculate the velocity contrast of each velocity amplitude
7.2) velocity contrast is sent to current control module
7.1) the current value information that current sensor two transmits is read;
7.2) current control module is according to the current value read and velocity contrast and drive singal, calculates new drive singal;
7.3) judge Current Voltage whether out-of-bounds, if out-of-bounds, report an error and the given speed value that please look for novelty to upper computer, if not out-of-bounds, return step 7.1), complete.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610131488.0A CN105523452A (en) | 2016-03-09 | 2016-03-09 | Multi-tractor synchronous control system and operation method thereof |
| PCT/CN2016/076714 WO2017152432A1 (en) | 2016-03-09 | 2016-03-18 | Multi-tractor synchronous control system and working method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610131488.0A CN105523452A (en) | 2016-03-09 | 2016-03-09 | Multi-tractor synchronous control system and operation method thereof |
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| CN105523452A true CN105523452A (en) | 2016-04-27 |
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| CN201610131488.0A Pending CN105523452A (en) | 2016-03-09 | 2016-03-09 | Multi-tractor synchronous control system and operation method thereof |
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| Country | Link |
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| CN (1) | CN105523452A (en) |
| WO (1) | WO2017152432A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408514A (en) * | 2018-03-14 | 2018-08-17 | 南京理工大学 | A kind of multi-connected machine team control type elevator scheduling method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113501469B (en) * | 2021-08-03 | 2023-03-24 | 浙江理工大学 | Parallel double-forklift synchronous control method |
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| CN103744439A (en) * | 2014-01-21 | 2014-04-23 | 南京理工大学 | Multi-motor anti-backlash drive control system |
| CN104843567A (en) * | 2015-05-19 | 2015-08-19 | 上海德圣米高电梯有限公司 | Synchronous control system for double traction machines of lift |
| CN104860173A (en) * | 2015-05-19 | 2015-08-26 | 上海德圣米高电梯有限公司 | Synchronous control system for four tractors of elevator |
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| WO2017152432A1 (en) | 2017-09-14 |
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Application publication date: 20160427 |