CN105775948B - A kind of elevator starter compensation method - Google Patents

Abstract

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

A kind of elevator starting compensation method

technical field

The invention belongs to the technical field of elevator control, and in particular relates to an elevator starting compensation method.

Background technique

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.

At present, in the elevator industry, there are mainly two methods for estimating the starting compensation torque:

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.

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.

Contents of the invention

The object of the present invention is to provide an elevator starting compensation method to solve the deficiencies of the prior art.

To achieve the above object, the present invention adopts the following technical solutions:

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. 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. 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. Repeat step A and step B n-1 times, n is the number of torque output cycles;

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.

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.

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.

Preferably, the rotary encoder is an incremental rotary encoder.

Further, the present invention can calculate the current weighing of the car according to the starting compensation torque Trqw.

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.

Description of drawings

Fig. 1 is the implementation principle diagram of the present invention.

The present invention will now be described in further detail in conjunction with the accompanying drawings and embodiments.

detailed description

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.

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. 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. 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. 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. 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×[(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 )]

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.

Claims (5)

1. A method of compensation for starting an elevator, said elevator comprising elevator control system, traction machine, rotary encoder, brake, steel wire rope, car and counterweight, characterized in that, after the brake is opened, the following steps are carried out: 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. 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. Repeat step A and step B n-1 times, n is the number of torque output cycles; 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. 2 . The method of compensation for elevator startup according to claim 1 , wherein the magnitude of TrqA is greater than the magnitude of the constant speed running torque required by the maximum allowable load of the car. 3 . 3. A method of elevator starting compensation according to claim 1, characterized in that, the step A and the step B are performed on the hoisting machine within a pulse range. 4. A method for elevator starting compensation according to claim 1, wherein the rotary encoder is an incremental rotary encoder. 5. A method of compensation for elevator starting according to claim 1, characterized in that the current weighing of the car is calculated according to the starting compensation torque Trqw.