CN105668358A - Special no-weighing starting torque compensation algorithm for elevator and debugging method - Google Patents
Special no-weighing starting torque compensation algorithm for elevator and debugging method Download PDFInfo
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- CN105668358A CN105668358A CN201610134676.9A CN201610134676A CN105668358A CN 105668358 A CN105668358 A CN 105668358A CN 201610134676 A CN201610134676 A CN 201610134676A CN 105668358 A CN105668358 A CN 105668358A
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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
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3407—Setting or modification of parameters of the control system
Abstract
The invention discloses a special no-weighing starting torque compensation algorithm for an elevator and a debugging method. The algorithm comprises the following steps that 1) a first set of PI parameters is used for performing the speed ring control with a given speed as 0 on a system before switching off; 2) an elevator moving threshold is set; when the movement of the elevator does not exceed the elevator moving threshold, the first set of PI parameters is always kept until the torque compensation is finished; when the movement of the elevator exceeds the elevator moving threshold, P in the first set of PI parameters of a PI controller is increased, and I is decreased to obtain a second set of PI parameters; the speed ring control with the given speed as 0 is continued until the condition of opposite speed direction and displacement beginning direction is generated; and the second set of PI parameters is adjusted back to the original first set of PI parameters; and 3) a maximum displacement and a maximum speed in the starting torque compensation process are recorded and displayed in a control system menu.
Description
Technical field
The present invention relates to elevator drive control field, particularly the special nothing of a kind of elevator staring torque backoff algorithm of weighingAnd adjustment method.
Background technology
In vertical lift system, lift car and counterweight are stranded in traction sheave both sides by steel wire rope, generally,Varying in weight of lift car and counterweight, causes elevator in the moment of declutching, and the braking moment originally being provided by band-type brake disappears fastLose, and now apparatus for controlling elevator cannot respond fast, cause elevator to occur to slip or projection. Traditional method has two kinds, itsOne: in elevator, add simulation weighing system, make control system before elevator declutches, just detect the loading condition of elevator,Thereby before declutching, band-type brake just provides compensating torque. But this kind of method has several shortcomings: 1, generally simulate weighing system valencyLattice costliness; 2, simulate the debug difficulties of weighing, generally need multiple load conditions such as workman is fully loaded with at car respectively, semi-load, zero loadThe output quantity of lower adjustment weighing system; 3, compensation effect is unstable, owing to affected by AD sampling precision, temperature, the factor such as aging,The output accuracy that simulation is weighed changes greatly, needs regularly debugging again. Its two: use displacement proportional algorithm, open by elevatorThe displacement slipping when moving is given moment in proportion, and this kind of algorithm has following shortcoming: 1, debug difficulties, debugged in realityThe impression moving due to human body alignment in journey is not obvious, and the pause and transition in rhythm or melody sense can only experience elevator startup time, can not clearly offer an explanation outThe compensation direction of elevator; 2, band-type brake open-interval uncertainty, owing to can not predicting well in real process that band-type brake opensThe time of opening and band-type brake are opened the complete time, and therefore the time of compensation is more difficult definite.
Elevator causes and slips or the main cause of projection is that elevator starts while declutching, and larger displacement and speed change occurChange, therefore as long as in the time that elevator declutches, situation about changing according to encoder rapidly provides corresponding moment, by elevator displacement, speedDegree is suppressed in a very little scope, just can make human body sensory less than slipping or the sensation of projection, thereby improve comfortableDegree.
Summary of the invention
The object of the invention is to above-mentioned deficiency and defect for prior art, provide the special nothing of a kind of elevator to weigh and openKinetic moment backoff algorithm and adjustment method, to address the above problem.
Technical problem solved by the invention can realize by the following technical solutions:
The special nothing of elevator weigh staring torque backoff algorithm and adjustment method, is characterized in that, comprises the following steps:
1) before opening a sluice gate, using first group of PI parameter to carry out given speed to system is 0 speed ring control, described firstThe P of group PI parameter is less, and I is larger, and its adjustable range is 100～400;
2) set an elevator and move threshold value, in the time that the movement of elevator does not exceed this elevator and moves threshold value, just protect alwaysHold first group of PI parameter until torque compensation finishes; In the time being moved beyond this elevator and moving threshold value of elevator being detected, PI is controlledThe P of first group of PI parameter of device processed increases, and I reduces, and obtains second group of PI parameter, proceeds given speed and be 0 speed ringControl, until occur velocity attitude and start, after the situation of displacement opposite direction, second group of PI parameter now being recalled to originallyFirst group of PI parameter that described P is less and I is larger;
3) maximum displacement in staring torque compensation process and maximal rate are carried out to record, be presented at control systemIn menu, and provide the prompting of relevant parameter according to this parameter, the parameter that prompting user should adjust.
In a preferred embodiment of the invention, also comprise a debugging step: when debugging, first elevator is remained on to skyCarry or full load condition, when discovery speed is greater than step 3) in maximal rate time, increase the P link ginseng of second group of PI parameterNumber; When finding that displacement is greater than step 3) in maximum displacement time, adjust the I link parameter of second group of PI parameter.
In a preferred embodiment of the invention, describedly by DSP, increment type sine and cosine encoder signal is carried out to heightPrecision segmentation is calculated, and making the signal finally obtaining from coder side is a circle 218The digital quantity signal of precision.
In a preferred embodiment of the invention, be no more than-2.3～2.3mm/s of described maximal rate, described dominant bitMove and be no more than 0.1238mm.
In a preferred embodiment of the invention, elevator startup stage moment expression formula can be reduced to: F=Fa-Fb-Fc, speed expression formula is:Displacement expression formula is:When wherein S is for compensationMobile displacement, T is the whole make-up time, V0Initial velocity while startup for elevator is that 0, m is Elevator weight sensor and car when normalAnd the quality of steel wire rope and, FaFor the gravity of the generation of poor quality of car and counterweight is the load of elevator, FbFor elevator traction machineThe electromagnetic torque of output, FcFor the frictional force of whole elevator device;
The speed ring PI controller expression formula of elevator is:Wherein KpFor proportionality coefficient, TiFor the time of integration, VΔFor velocity error,
Owing to having adopted technical scheme as above, beneficial effect of the present invention is:
By using the method for two groups of PI parameters, effectively suppress system overshoot, improve the reaction speed of system, and beIn system, provide displacement and maximal rate in staring torque compensation process, prompting user adjusts the direction of parameter, has improved debuggingEfficiency.
With respect to general common algorithm, algorithm of the present invention and adjustment method, realize simply, and size of code is little, response speedDegree is fast, and robustness is good, requires the estimated time of response less demanding to band-type brake, can fully adapt to on-the-spot needs. And phaseThan the algorithm of conventional lift compensation effect, common algorithm often relies on human feeling to go to evaluate the effect of elevator torque compensation completelyReally, and elevator in the torque compensation stage because the displacement shocks of elevator own is very little, be therefore difficult to distinguish by human feelingDifference between " overcompensation " and " undercompensation ", directionality mistake while often causing debugging compensating torque algorithm. And it is of the present inventionAlgorithm, due to precise figures reference being provided in debug process, can very effectively intuitively show the situation of elevator torque compensation,The scene that and guides completes debugging fast.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existingHave the accompanying drawing of required use in technical description to be briefly described, apparently, the accompanying drawing in the following describes is only thisSome embodiment of invention, for those of ordinary skill in the art, not paying under the prerequisite of creative work, all rightObtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is the realization flow figure of an embodiment of the present invention.
Fig. 2 is the appropriate control chart of two closed loops of an embodiment of the present invention.
Fig. 3 is that the elevator of an embodiment of the present invention starts operation curve figure.
Fig. 4 is maximum displacement and the show state of maximal rate in Control-Menu system of an embodiment of the present inventionFigure.
Detailed description of the invention
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, enter belowOne step is set forth the present invention.
The judgement, the staring torque compensation size that the present invention includes the staring torque make-up time are calculated and corresponding debugging sideMethod.
The time of compensating torque: due to according to the band-type brake feature of vertical lift, elevator declutches after signal output, counterweight withAnd the gravity of car is applied to rapidly on traction sheave, therefore must provide rapidly moment in the moment of declutching, otherwise elevator is rapidDownslide backoff algorithm has also just lost meaning. In addition because band-type brake is spring mechanical structure, along with increase, the machinery of access timesThe variation of the aging and temperature of structure, this exact time declutching is a definite value not.
In conjunction with shown in Fig. 1 to Fig. 4, the special nothing of elevator weigh staring torque backoff algorithm and adjustment method,
Specifically comprise the following steps:
1) before opening a sluice gate, using first group of PI parameter (also may be defined as and maintain PI parameter) to carry out given speed to system is 0Speed ring control, the P of first group of PI parameter is less, I is larger, its adjustable range is that 100～400, first group of PI parameter makesElevator remains effect before opening a sluice gate, and avoids elevator to slip fast or projection opening a sluice gate moment, slows down the speed of elevator displacement.
2) set an elevator and move threshold value L0, in the time that the movement of elevator does not exceed this elevator and moves threshold value, just alwaysKeep first group of PI parameter until torque compensation finishes; In the time being moved beyond this elevator and moving threshold value of elevator being detected, by PIThe P of first group of PI parameter of controller increases, and I reduces, and obtains second group of PI parameter (also may be defined as zero servo PI parameter), continuesThe continuous given speed that carries out is 0 speed ring control, until occur velocity attitude and start after the situation of displacement opposite direction, by thisTime second group of PI parameter recall to original described first group of PI parameter that P is less and I is larger. The mistake of whole like this startup compensationJourney is all completed automatically by system, desalinates like this band-type brake and changes the impact on starting the make-up time, makes the whole startup make-up timeWithout accurate estimation, only need to ensure that the whole make-up time is greater than the whole time of unclamping of band-type brake.
3) maximum displacement in staring torque compensation process and maximal rate are carried out to record, be presented at control systemIn menu, and provide accordingly the prompting of relevant parameter, the parameter that prompting user should adjust.
By using the method for two groups of PI parameters, effectively suppress system overshoot, improve the reaction speed of system, and beIn system, provide displacement and maximal rate in staring torque compensation process, prompting user adjusts the direction of parameter, has improved debuggingEfficiency.
The size of compensating torque: elevator startup stage moment expression formula can be reduced to: F=Fa-Fb-Fc, speed is expressedFormula is:Displacement expression formula is:The displacement of moving when wherein S is compensation, T isThe whole make-up time, V0Initial velocity while startup for elevator is that 0, m is the matter of Elevator weight sensor and car and steel wire rope when normalAmount and, FaFor the gravity of the generation of poor quality of car and counterweight is the load of elevator, FbFor the electromagnetic force of elevator traction machine outputSquare, FcFor the frictional force of elevator whole system.
The speed ring PI controller expression formula of elevator is:Wherein KpFor proportionality coefficient, TiForThe time of integration, VΔFor velocity error, because the reference velocity of setting is 0, VΔ=V (t), thereforeGenerally F in most casesa、FbMuch larger than Fc, therefore FcCan be overlooked as 0. In the time that elevator compensating moment completes, elevatorSpeed of service V (t)=0, and F=0, therefore Fa＝FbSo,
Draw from above, in the time that elevator uses a PI to control parameter, the integral element of PI controller ginseng in the time that elevator is stablizedNumber is larger, and displacement when compensation finally completes is less; K when compensationpLarger, instantaneous velocity when compensation is less. Therefore increaseKp, reduce TiJust can effectively improve the effect that elevator starts compensating torque.
But work as KpExcessive, or TiWhen too small, the overshoot of the great increase system of meeting, causes elevator compensating excessive, outstandingIt is when elevator is during in poised state, FaVery little, now FcCan not be left in the basket completely, and elevator whole system is due to existenceA series of inertial elements such as steel wire rope, fag end spring, if system response is too fast, cause overshoot, easily make whole system produceRaw concussion, affect comfort level, and therefore this algorithm is introduced two groups of PI parameters, and one group is used for responding fast, and one group is used for stable maintenance.Can take into account like this speed, also can Reducing overshoot.
The present invention also comprises a debugging step: when debugging, first elevator is remained on to zero load or full load condition, work as discoverySpeed is greater than step 3) in maximal rate time, increase the P link parameter of second group of PI parameter; When finding that displacement is greater than step3), when maximum displacement in, adjust the I link parameter of second group of PI parameter. In actual debug process, elevator is originally experiencedTo the impact that starts compensation, relative displacement and speed are very little, and elevator has experienced acceleration～even in moving processA process of speed～deceleration, the direction that the very difficult judgement elevator of human body is moved, therefore the present invention's showing at System menuShow the demonstration that has increased maximum displacement in maximal rate in compensation process and compensation process.
The present invention is tested and is found by a large amount of calculating with a large amount of practices, and in whole start-up course, maximal rate is superCross-10～10 pulses/10ms, be i.e. no more than-2.3～2.3mm/s of maximal rate, maximum displacement is no more than 60 pulses,When large displacement is no more than 0.1238mm, comfort level is better. Therefore this information is write to actual displayed menu, and super in respective valueAfter going out scope, give operation indicating.
In order to make the debugging best results of elevator, should allow elevator in zero load or full load condition, because elevator nowSlip or projection situation the most serious, now the displacement of elevator and velocity variations are also the most obvious, convenient debugging. First adjustI link parameter, makes the maximum displacement of elevator be no more than 60 pulses, and then adjusts P link parameter, makes elevator translational speedAlso meet the requirements.
The general encoder using of elevator is Heidenhain 1387 encoders now, and its output signal is 2048 cycles of 1 circleCosine and sine signal, by special sample circuit, the cosine and sine signal in each cycle is carried out to AD sampling and segments meterCalculate, making the signal finally obtaining from coder side is a circle 218The digital quantity signal of precision. (now by popular elevator on marketTraction sheave diameter be 400mm, traction ratio is that 2:1 elevator is example, individual digit amount represents 0.0023mm. )
More than show and described general principle of the present invention, principal character and advantage of the present invention. The technology of the industryPersonnel should understand, and the present invention is not restricted to the described embodiments, and the just explanation of describing in above-described embodiment and description originallyThe principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changesChange and improve and all fall in the claimed scope of the invention. The claimed scope of the present invention by appending claims andEquivalent defines.
Claims (5)
1. weigh staring torque backoff algorithm and adjustment method of the special nothing of elevator, is characterized in that, comprises the following steps:
1) before opening a sluice gate, using first group of PI parameter to carry out given speed to system is 0 speed ring control, described first group of PIThe P of parameter is less, and I is larger, and its adjustable range is 100～400;
2) set an elevator and move threshold value, in the time that the movement of elevator does not exceed this elevator and moves threshold value, just keep the alwaysOne group of PI parameter until torque compensation finish; In the time being moved beyond this elevator and moving threshold value of elevator being detected, by PI controllerThe P of first group of PI parameter increase, I reduces, and obtains second group of PI parameter, proceeds given speed and be 0 speed ring control,Until occur velocity attitude and start after the situation of displacement opposite direction, second group of PI parameter now recalled to original describedFirst group of PI parameter that P is less and I is larger;
3) maximum displacement in staring torque compensation process and maximal rate are carried out to record, be presented at control system menuIn, and provide the prompting of relevant parameter according to this parameter, the parameter that prompting user should adjust.
2. weigh staring torque backoff algorithm and adjustment method of the special nothing of elevator as claimed in claim 1, is characterized in that, alsoComprise a debugging step: when debugging, first elevator is remained on to zero load or full load condition, when discovery speed is greater than step 3) inMaximal rate time, increase the P link parameter of second group of PI parameter; When find displacement be greater than step 3) in maximum displacementTime, adjust the I link parameter of second group of PI parameter.
3. weigh staring torque backoff algorithm and adjustment method of the special nothing of elevator as claimed in claim 1 or 2, its feature existsIn, describedly by DSP, increment type sine and cosine encoder signal is carried out to high-precision fine calculating, make finally to obtain from coder sideTo signal be a circle 218The digital quantity signal of precision.
4. weigh staring torque backoff algorithm and adjustment method of the special nothing of elevator as claimed in claim 1 or 2, its feature existsIn, be no more than-2.3～2.3mm/s of described maximal rate, described maximum displacement is no more than 0.1238mm.
5. weigh staring torque backoff algorithm and adjustment method of the special nothing of elevator as claimed in claim 1 or 2, its feature existsIn, elevator startup stage moment expression formula can be reduced to: F=Fa-Fb-Fc, speed expression formula is:Displacement expression formula is:The displacement of moving when wherein S is compensation, T is the whole make-up time, V0For elevator startsTime initial velocity, when normal, be 0, m be Elevator weight sensor and car and steel wire rope quality and, FaFor the quality of car and counterweightThe poor gravity producing is the load of elevator, FbFor the electromagnetic torque of elevator traction machine output, FcFor the friction of elevator whole systemPower;
The speed ring PI controller expression formula of elevator is:Wherein KpFor proportionality coefficient, TiFor long-pendingDivide the time, VΔFor velocity error,
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108249238A (en) * | 2018-01-11 | 2018-07-06 | 深圳市英威腾电气股份有限公司 | A kind of elevator is without detent torque compensation method, the apparatus and system of weighing |
| CN109305612A (en) * | 2017-07-28 | 2019-02-05 | 上海三菱电梯有限公司 | Elevator starts control device |
| CN109969880A (en) * | 2019-04-09 | 2019-07-05 | 深圳市海浦蒙特科技有限公司 | A kind of elevator starting control method and system |
| CN110422716A (en) * | 2019-08-07 | 2019-11-08 | 康力电梯股份有限公司 | A kind of automatic testing method of the elevator without the weighing starting time |
| CN110510465A (en) * | 2019-08-09 | 2019-11-29 | 深圳市海浦蒙特科技有限公司 | It is a kind of to drive elevator starting control method and system by force |
| CN110817625A (en) * | 2019-10-25 | 2020-02-21 | 康力电梯股份有限公司 | Method for reducing non-weighing starting vibration of elevator |
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| CN110803600B (en) * | 2019-10-25 | 2021-03-09 | 康力电梯股份有限公司 | Method for compensating starting torque of special weighing-sensor-free elevator |
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| CN110510465A (en) * | 2019-08-09 | 2019-11-29 | 深圳市海浦蒙特科技有限公司 | It is a kind of to drive elevator starting control method and system by force |
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