CN105775948B - A kind of elevator starter compensation method - Google Patents
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Abstract
本发明公开了一种电梯起动补偿方法。所述电梯包括电梯控制系统、曳引机、旋转编码器、抱闸、钢丝绳、轿厢和对重;当抱闸打开后,进行如下步骤:A、电梯控制系统对曳引机给定一个幅值为0的转矩,直至旋转编码器输出反转信号,并记录给定时间td;B、电梯控制系统对曳引机给定一个与溜车方向相反的幅值为TrqA的转矩,直至旋转编码器输出反转信号,并记录给定时间tu;C、重复A步骤和B步骤n‑1次,n为转矩输出循环次数;D、依据A‑C步骤的数据计算出轿厢和对重的不平衡转矩Trqw,并对曳引机给定一个幅值为Trqw的起动补偿转矩。本发明在无需增加硬件成本的情况下,即可在普通电梯上实现高精度的起动补偿,而且安装调试方便,运行效果好,具有良好的经济效益。
The invention discloses an elevator starting compensation method. The elevator includes an elevator control system, a traction machine, a rotary encoder, a brake, a wire rope, a car and a counterweight; when the brake is opened, the following steps are performed: A. The torque value is 0, until the rotary encoder outputs the reverse signal, and record the given time t d ; B. The elevator control system gives the traction machine a torque with the amplitude TrqA opposite to the sliding direction, Until the rotary encoder outputs a reverse signal, and record the given time t u ; C. Repeat step A and step B n-1 times, n is the number of torque output cycles; D. Calculate the car according to the data of step A-C The unbalanced torque Trqw of the box and the counterweight, and a starting compensation torque whose amplitude is Trqw is given to the traction machine. The present invention can realize high-precision starting compensation on ordinary elevators without increasing hardware costs, and has convenient installation and debugging, good operation effect and good economic benefits.
Description
技术领域technical field
本发明属于电梯控制技术领域,具体涉及一种电梯起动补偿方法。The invention belongs to the technical field of elevator control, and in particular relates to an elevator starting compensation method.
背景技术Background technique
电梯在日常运行过程中,当抱闸打开、电梯起动时,轿厢会因轿厢侧和对重侧的重量不平衡而发生向上或向下溜车(倒溜或过冲)现象,从而影响乘客的乘梯舒适感,更甚者会使乘客受到惊吓。因此,在抱闸打开前,必须对曳引机给定一个起动补偿力矩,使抱闸打开时轿厢受力平衡而不会发生溜车现象,实现电梯的平稳起动。During the daily operation of the elevator, when the brake is opened and the elevator starts, the car will slide upwards or downwards (slip or overshoot) due to the weight imbalance between the car side and the counterweight side, which will affect Passengers' comfort when taking the elevator, what's more, it will frighten passengers. Therefore, before the brake is opened, a starting compensation torque must be given to the traction machine, so that the force on the car is balanced when the brake is opened, and the car does not slip, so as to realize the smooth start of the elevator.
目前电梯行业中,推定起动补偿力矩的方法主要有两种:At present, in the elevator industry, there are mainly two methods for estimating the starting compensation torque:
第一种,通过在轿厢安装称重传感器测量轿厢的当前载重,推定轿厢侧和对重侧的重量不平衡,从而计算出起动补偿力矩。但是,当轿厢内载荷分布不均匀时,称重传感器的精度便得不到保证,使起动补偿力矩出现偏差。此外,当导轨间距不均匀或轿厢载荷分布不均匀时,会发生轿厢其中一侧的导靴与导轨间发生较大的挤压而增大两者间的摩擦力,使实际所需的起动补偿力矩变大,进而影响了起动补偿效果。The first one is to measure the current load of the car by installing a load cell in the car, and estimate the weight imbalance between the car side and the counterweight side, thereby calculating the starting compensation torque. However, when the load distribution in the car is not uniform, the accuracy of the load cell cannot be guaranteed, causing deviations in the starting compensation torque. In addition, when the distance between the guide rails is uneven or the load distribution of the car is uneven, there will be a large squeeze between the guide shoes on one side of the car and the guide rails, which will increase the friction between the two, so that the actual required The starting compensation torque becomes larger, which affects the starting compensation effect.
第二种,在曳引机的转子上安装高精度编码器(如正余弦编码器),在抱闸打开时,通过PI调节器对电机进行速度控制,使其速度迅速为0。此种方法效果虽然好,但安装调试非常困难,且需要高速采样和PI控制,其微机处理速度亦需要非常快,从而使成本投入增大,经济效益较低。The second is to install a high-precision encoder (such as a sine-cosine encoder) on the rotor of the traction machine. When the brake is opened, the speed of the motor is controlled through the PI regulator to make the speed quickly reach 0. Although the effect of this method is good, it is very difficult to install and debug, and requires high-speed sampling and PI control, and its microcomputer processing speed also needs to be very fast, so that the cost input is increased and the economic benefit is low.
发明内容Contents of the invention
本发明的目的在于提供一种电梯起动补偿方法,以解决现有技术的不足之处。The object of the present invention is to provide an elevator starting compensation method to solve the deficiencies of the prior art.
为达到上述目的,本发明采用如下技术方案:To achieve the above object, the present invention adopts the following technical solutions:
一种电梯起动补偿方法,所述电梯包括电梯控制系统、曳引机、旋转编码器、抱闸、钢丝绳、轿厢和对重;当抱闸打开后,进行如下步骤:A starting compensation method for an elevator, the elevator includes an elevator control system, a traction machine, a rotary encoder, a brake, a wire rope, a car and a counterweight; when the brake is opened, the following steps are performed:
A、电梯控制系统对曳引机给定一个幅值为0的转矩,直至旋转编码器输出反转信号,并记录给定时间td;A. The elevator control system gives a torque with an amplitude of 0 to the traction machine until the rotary encoder outputs a reverse signal, and records the given time t d ;
B、电梯控制系统对曳引机给定一个与溜车方向相反的幅值为TrqA的转矩,直至旋转编码器输出反转信号,并记录给定时间tu;B. The elevator control system gives the traction machine a torque whose magnitude is TrqA opposite to the rolling direction, until the rotary encoder outputs a reverse signal, and records the given time t u ;
C、重复A步骤和B步骤n-1次,n为转矩输出循环次数;C. Repeat step A and step B n-1 times, n is the number of torque output cycles;
D、依据A-C步骤的数据计算出轿厢和对重的不平衡转矩Trqw,并对曳引机给定一个幅值为Trqw的起动补偿转矩。D. Calculate the unbalanced torque Trqw of the car and the counterweight based on the data in steps A-C, and set a starting compensation torque whose amplitude is Trqw to the traction machine.
作为优选,所述TrqA的幅值大于轿厢最大允许负载所需的匀速运行转矩幅值。Preferably, the magnitude of TrqA is greater than the magnitude of the constant speed running torque required by the maximum allowable load of the car.
作为优选,本发明是在一个脉冲范围内对曳引机进行A步骤和B步骤。但是,曳引机的来回运转的脉冲数也可以不为1。Preferably, the present invention performs A step and B step on the traction machine within a pulse range. However, the number of pulses of the reciprocating operation of the traction machine may not be 1.
作为优选,所述旋转编码器为增量式旋转编码器。Preferably, the rotary encoder is an incremental rotary encoder.
进一步,本发明可依据起动补偿转矩Trqw计算出轿厢当前称重。Further, the present invention can calculate the current weighing of the car according to the starting compensation torque Trqw.
本发明通过采用上述技术方案,在无需增加硬件成本的情况下,即可在普通电梯上实现高精度的起动补偿,而且安装调试方便,运行效果好,具有良好的经济效益。By adopting the above-mentioned technical scheme, the present invention can realize high-precision starting compensation on ordinary elevators without increasing hardware costs, and has convenient installation and debugging, good operation effect and good economic benefits.
附图说明Description of drawings
图1是本发明的实施原理图。Fig. 1 is the implementation principle diagram of the present invention.
现结合附图和实施例对本发明作进一步详细说明。The present invention will now be described in further detail in conjunction with the accompanying drawings and embodiments.
具体实施方式detailed description
现以一包括有电梯控制系统、曳引机、旋转编码器、抱闸、钢丝绳、轿厢和对重的电梯为例来说明本发明所述的一种电梯起动补偿方法。其中,该旋转编码器采用增量式旋转编码器,其输出信号包括但不限于A相和B相,并规定:当A相相位超前于B相相位时,曳引机正转、轿厢上行;当A相相位滞后于B相相位时,曳引机反转、轿厢下行。还有,该电梯处于满载起动状态,即轿厢侧比对重侧重。同时,设定n=5,TrqA的幅值为轿厢最大允许负载所需的匀速运行转矩幅值的1.5倍。Now take an elevator including an elevator control system, traction machine, rotary encoder, brake, wire rope, car and counterweight as an example to illustrate an elevator starting compensation method described in the present invention. Among them, the rotary encoder adopts an incremental rotary encoder, and its output signals include but not limited to phase A and phase B, and it is stipulated that when the phase of phase A is ahead of the phase of B, the traction machine rotates forward and the car moves upward. ; When phase A lags behind phase B, the traction machine reverses and the car goes down. In addition, the elevator is in a full-load starting state, that is, the car side is heavier than the counterweight side. At the same time, set n=5, the magnitude of TrqA is 1.5 times of the torque magnitude of the constant speed running required by the maximum allowable load of the car.
如图1所示,当抱闸打开、电梯起动后,电梯控制系统监测轿厢的溜车方向和溜车距离,并进行如下步骤:As shown in Figure 1, when the brake is opened and the elevator starts, the elevator control system monitors the car's rolling direction and rolling distance, and performs the following steps:
A、电梯控制系统对曳引机给定一个幅值为0的转矩,轿厢自由向下溜车。轿厢向下溜车使曳引机反转,控制系统通过旋转编码器首先收到B相上升沿信号,由于此时A相为低电平,因此可判断B相超前于A相;电梯控制系统收到曳引机发转、电梯下行信息后立即对曳引机给定一个与溜车方向相反的转矩TrqA,同时记录0转矩给定时间td1;A. The elevator control system gives a torque with an amplitude of 0 to the traction machine, and the car slides down freely. The car slides down to make the traction machine reverse, and the control system first receives the rising edge signal of phase B through the rotary encoder. Since phase A is at a low level at this time, it can be judged that phase B is ahead of phase A; the elevator control Immediately after the system receives the traction machine forwarding and elevator downlink information, it gives the traction machine a torque TrqA opposite to the slipping direction, and records the 0 torque given time t d1 at the same time;
B、曳引机在转矩TrqA作用下,原本的轿厢侧较重转变为对重侧较重,轿厢从向下溜车转变为上行,曳引机从反转变为正转,旋转编码器即反馈B相下降沿信号,由于此时A相为低电平,因此可判断A相超前于B相,控制器获知曳引机反转信号后即撤销转矩TrqA(即重新输出0转矩),并记录转矩TrqA给定时间tu1;此时,完成一次转矩输出循环;B. Under the action of the torque TrqA of the traction machine, the heavy weight on the car side changes to the heavy weight on the counterweight side, the car changes from sliding downward to upward, the traction machine changes from reverse to forward, and the rotary encoder The controller feeds back the falling edge signal of phase B. Since phase A is at low level at this time, it can be judged that phase A is ahead of phase B. moment), and record the given time t u1 of the torque TrqA; at this time, complete a torque output cycle;
C、由于曳引机失去转矩TrqA作用,轿厢恢复轿厢侧比对重侧较重的状态,轿厢再次向下溜车,如此再重复A步骤和B步骤4次,得到td2、td3、td4和td5,及tu2、tu3、tu4和tu5;C. Since the traction machine loses the effect of torque TrqA, the car returns to the state where the car side is heavier than the counterweight side, and the car slides downward again. Repeat steps A and B for 4 times to obtain t d2 , t d3 , t d4 and t d5 , and t u2 , t u3 , t u4 and t u5 ;
D、依据A-C步骤的数据计算出轿厢和对重的不平衡转矩Trqw,具体计算公式如下:D. Calculate the unbalanced torque Trqw of the car and the counterweight based on the data in steps A-C. The specific calculation formula is as follows:
Trqw=TrqA×[(tu1+tu2+tu3+tu4+tu5)-(td1+td2+td3+td4)]÷[tu1+tu2+tu3+tu4+tu5)+(td1+td2+td3+td4+td5)]Trqw=TrqA×[(t u1 +t u2 +t u3 +t u4 +t u5 )-(t d1 +t d2 +t d3 +t d4 )]÷[t u1 +t u2 +t u3 +t u4 + t u5 )+(t d1 +t d2 +t d3 +t d4 +t d5 )]
电梯控制系统对曳引机给定一个转矩Trqw作为起动补偿转矩,则此时轿厢侧和对重侧的受力平衡,而且,曳引机在整个补偿过程中仅在一个脉冲范围内来回转动,其有限的转幅使乘客几乎不能感知,电梯得以平稳起动,不会发生溜车现象,实现了良好的起动舒适感。此外,电梯控制系统根据该不平衡转矩Trqw即可轻易计算出轿厢的当前载重。The elevator control system gives a torque Trqw to the traction machine as the starting compensation torque, then the force on the car side and the counterweight side is balanced at this time, and the traction machine is only within one pulse range during the entire compensation process Rotating back and forth, its limited rotation makes it almost impossible for passengers to feel it, and the elevator can start smoothly without slipping, achieving a good starting comfort. In addition, the elevator control system can easily calculate the current load of the car according to the unbalanced torque Trqw.
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US20220135367A1 (en) * | 2019-03-29 | 2022-05-05 | Mitsubishi Electric Corporation | Elevator control device |
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CN108675070B (en) * | 2018-05-07 | 2021-06-11 | 永大电梯设备(中国)有限公司 | Method for realizing elevator starting compensation |
CN110002298B (en) * | 2019-04-09 | 2021-09-14 | 深圳市海浦蒙特科技有限公司 | Elevator starting control method and system |
CN110422716B (en) * | 2019-08-07 | 2021-03-23 | 康力电梯股份有限公司 | Automatic detection method for weighing-free starting time of elevator |
CN110510465B (en) * | 2019-08-09 | 2022-02-18 | 深圳市海浦蒙特科技有限公司 | Forced drive elevator starting control method and system |
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