CN108249238A - A kind of elevator is without detent torque compensation method, the apparatus and system of weighing - Google Patents
A kind of elevator is without detent torque compensation method, the apparatus and system of weighing Download PDFInfo
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- CN108249238A CN108249238A CN201810028112.6A CN201810028112A CN108249238A CN 108249238 A CN108249238 A CN 108249238A CN 201810028112 A CN201810028112 A CN 201810028112A CN 108249238 A CN108249238 A CN 108249238A
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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
- B66B1/304—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 with starting torque control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
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- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The embodiment of the invention discloses a kind of elevator without detent torque compensation method, the apparatus and system of weighing, wherein the method includes being obtained to segment revised counted number of pulses CNT according to the first preset rules when opening a sluice gate；Pulse is carried out according to the second preset rules and the counted number of pulses CNT to test the speed, corresponding feedback speed is calculated；It is determined according to third preset rules and regulate the speed ring adjustment parameter and electric current loop adjustment parameter；Corresponding compensated torque value is determined according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed.Adjustable way of the embodiment of the present invention is simple and reliable, not only can more accurately export compensation torque, and without additionally increasing hardware cost and debugging complexity, and the effect automatically adjusted is more preferable.
Description
Technical field
The present invention relates to electronic technology field more particularly to a kind of elevator without detent torque compensation method of weighing, device and
System.
Background technology
Permanent magnetic synchronous traction machine can open a sluice gate envelope star car slipping rescue etc. in elevator with its high efficiency, small size at present
Advantage be widely used, now to elevator start comfort level requirement it is also higher and higher, wherein just include start open a sluice gate torque
Compensation.As described in Figure 1, driving control system sends out operation order to elevator start and stop flow, is first attracted contactor KM, drive control system
After system detects that contactor is attracted feedback, start output motor driving, then issue and open band-type brake order, driving control system inspection
After the feedback signal for measuring band-type brake opening, start to speed, elevator Accelerating running gets up, and reaches deceleration point and reduces speed now, reduces to
Zero-speed flat bed, band-type brake embrace motor, are then turned off contactor KM.
Since lift car side and counterweight-side weight are often unbalanced, elevator is to lean on band-type brake by motor locking when stopping
Ensureing not car slipping, operation will open band-type brake when starting, during band-type brake is opened, since there is weight difference on both sides, this weight difference
Control system output driving power during open band-type brake is just needed to balance, it otherwise will be to the side car slipping of weight.Previous electricity
It is mainly to be put down by acquiring load cell signal come torque when realizing that elevator startup is opened a sluice gate that ladder, which starts compensated torque when opening a sluice gate,
Weighing apparatus, this mode one are the increase in the cost of system, cause compensated torque inaccurate second is that load cell signal is unstable, lead
It is bad to cause to start effect, third, inconvenient debugging, needs to carry back and forth threshold value is set to pouring weight, such as application No. is
The method that CN201310169356.3 is shown；Also have and carry out detent torque compensation using no weighing sensor, such as application number
For the technical solution disclosed in CN201310169227.4, band-type brake size of current is also detected and controlled, complex system,
Cost can also increase；Also just like application No. is disclosed in CN201310444642.6 without weighing sensor self-adapting start torque
Compensation method uses fuzzy control after position, speed and acceleration and compensates torque calculation, method by measuring
It realizes more complicated.
Invention content
An embodiment of the present invention provides a kind of elevator without detent torque compensation method, the apparatus and system of weighing, adjusting side
Formula is simple and reliable, not only can more accurately export compensation torque, without additionally increasing hardware cost and debugging complexity, and certainly
The dynamic effect adjusted is more preferable.
In a first aspect, an embodiment of the present invention provides a kind of elevators without detent torque compensation method of weighing, including,
It is obtained according to the first preset rules and segments revised counted number of pulses CNT；
Pulse is carried out according to the second preset rules and the counted number of pulses CNT to test the speed, it is corresponding anti-to be calculated
Present speed；
It is determined according to third preset rules and regulate the speed ring adjustment parameter and electric current loop adjustment parameter；
Determine that corresponding torque is mended according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed
Repay value.
Further, inceptive impulse count value CNT1 is determined by sine and cosine encoder；
Intermediate pulse count value CNT2 after subdivision is determined according to the first formula, first formula is
Wherein, SinA is the sinusoidal increment signal of sine and cosine encoder, and SinB is that the cosine incremental of sine and cosine encoder is believed
Number, N is preset subdivision number, and N rounding numerical value；
Revised counted number of pulses CNT is determined according to the second formula and the intermediate pulse count value CNT2, it is described
Second formula is
CNT=(CNT1-M) * N+CNT2；
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
Further, second preset rules include any one of M methods, T methods and M/T methods.
Further, the timing since when opening a sluice gate obtains current switching-off time value；
Judge whether the current switching-off time value is more than the first pre-set threshold value；
If the current switching-off time value is not more than the first pre-set threshold value, preset speed ring compensating parameter is adjusted to
The speed ring adjustment parameter and preset electric current loop compensating parameter is adjusted to the electric current loop adjustment parameter.
Further, if the current switching-off time value be more than the first pre-set threshold value, judge it is described currently when opening a sluice gate
Between be worth whether be more than the second pre-set threshold value, wherein, second pre-set threshold value be more than first pre-set threshold value；
If the current switching-off time value is more than the second pre-set threshold value, preset speed ring normal parameter is adjusted to institute
It states speed ring adjustment parameter and preset electric current loop normal parameter is adjusted to the electric current loop adjustment parameter；
If the current switching-off time is not more than the second pre-set threshold value so that the speed ring adjustment parameter is preset
Straight line or curve transition switching are carried out between speed ring compensating parameter and preset speed ring normal parameter and causes the electricity
Stream ring adjustment parameter carries out straight line or curve mistake between preset electric current loop compensating parameter and preset electric current loop normal parameter
Cross switching.
Second aspect, the embodiment of the present invention additionally provide a kind of device, which includes,
Acquiring unit segments revised counted number of pulses CNT for being obtained according to the first preset rules；
Test the speed unit, tests the speed for carrying out pulse according to the second preset rules and the counted number of pulses CNT, to calculate
Obtain corresponding feedback speed；
Adjustment unit, for determined and regulated the speed according to third preset rules ring adjustment parameter and electric current loop adjusting ginseng
Number；
Processing unit, for true according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed
Fixed corresponding compensated torque value.
Further, it is determined that unit, inceptive impulse count value CNT1 is determined for passing through sine and cosine encoder；
Subdivision unit, for determining the intermediate pulse count value CNT2 after subdivision according to the first formula, described first is public
Formula is
Wherein, SinA is the sinusoidal increment signal of sine and cosine encoder, and SinB is that the cosine incremental of sine and cosine encoder is believed
Number, N is preset subdivision number, and N rounding numerical value；
Amending unit, for determining revised pulsimeter according to the second formula and the intermediate pulse count value CNT2
Numerical value CNT, second formula are
CNT=(CNT1-M) * N+CNT2；
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
Further, timing unit for the timing since when opening a sluice gate, obtains current switching-off time value；
First judging unit, for judging whether the current switching-off time value is more than the first pre-set threshold value；
The first adjustment unit, if for the current switching-off time value no more than the first pre-set threshold value, by preset speed
Degree ring compensating parameter is adjusted to the speed ring adjustment parameter and preset electric current loop compensating parameter is adjusted to the electric current
Ring adjustment parameter.
Further, second judgment unit if being more than the first pre-set threshold value for the current switching-off time value, judges
Whether the current switching-off time value is more than the second pre-set threshold value, wherein, it is pre- that second pre-set threshold value is more than described first
If threshold values；
Second adjustment unit, if being more than the second pre-set threshold value for the current switching-off time value, by preset speed
Ring normal parameter is adjusted to the speed ring adjustment parameter and preset electric current loop normal parameter is adjusted to the electric current loop
Adjustment parameter；
Third adjustment unit, if being not more than the second pre-set threshold value for the current switching-off time so that the speed
Ring adjustment parameter carries out straight line or curve transition between preset speed ring compensating parameter and preset speed ring normal parameter
Switching and cause the electric current loop adjustment parameter preset electric current loop compensating parameter and preset electric current loop normal parameter it
Between carry out straight line or curve transition switching.
The third aspect, the embodiment of the present invention additionally provide a kind of system, including processor, memory and two close cycles vector
Control circuit module, the two close cycles vector control circuit module include encoder, the memory and two close cycles vector control
Circuit module processed is connected with the processor, wherein, the encoder increases for generating sinusoidal increment signal and cosine
Signal is measured, for storing application code, the processor is configured for running the application program generation memory
Code, to perform the method for above-mentioned first aspect.
The compensation adjustment mode of the embodiment of the present invention is simple and reliable, and pulse shape modification is carried out by pulse count value, so as to
It measures corresponding feedback speed, and not only can more accurately export compensation by the feedback speed and turn come calculating torque offset
Square, without additionally increasing hardware cost and debugging complexity, and the effect automatically adjusted is more preferable.
Description of the drawings
Technical solution in order to illustrate the embodiments of the present invention more clearly, below will be to needed in embodiment description
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is some embodiments of the present invention, general for this field
For logical technical staff, without creative efforts, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 is elevator startup structure schematic diagram；
Fig. 2 is a kind of schematic flow diagram of the elevator provided in an embodiment of the present invention without detent torque compensation method of weighing；
Fig. 2 a are the signal flow graphs of sine and cosine encoder in the embodiment of the present invention；
Fig. 2 b are the structure diagrams of the two close cycles vector control circuit module in the embodiment of the present invention；
Fig. 2 c are the parameter switching schematic diagrames in the embodiment of the present invention；
Fig. 3 is the schematic flow diagram of the sub-step of step S101 in the embodiment of the present invention；
Fig. 4 is the schematic flow diagram of the sub-step of step S103 in the embodiment of the present invention；
Fig. 5 is a kind of schematic block diagram of device provided in an embodiment of the present invention；
Fig. 6 is the schematic block diagram of the subelement of acquiring unit 101 in the embodiment of the present invention；
Fig. 7 is the schematic block diagram of the subelement of processing unit 103 in the embodiment of the present invention；
Fig. 8 is a kind of schematic block diagram for system that another embodiment of the present invention provides.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained without making creative work
Example, shall fall within the protection scope of the present invention.
It should be appreciated that ought use in this specification and in the appended claims, term " comprising " and "comprising" instruction
Described feature, entirety, step, operation, the presence of element and/or component, but one or more of the other feature, whole is not precluded
Body, step, operation, element, component and/or its presence or addition gathered.
It is also understood that the term used in this description of the invention is merely for the sake of the mesh for describing specific embodiment
And be not intended to limit the present invention.As description of the invention and it is used in the attached claims, unless on
Other situations are hereafter clearly indicated, otherwise " one " of singulative, "one" and "the" are intended to include plural form.
It will be further appreciated that the term "and/or" used in description of the invention and the appended claims is
Refer to any combinations and all possible combinations of one or more of the associated item listed, and including these combinations.
As used in this specification and in the appended claims, term " if " can be according to context quilt
Be construed to " when ... " or " once " or " in response to determining " or " in response to detecting ".
Referring to Fig. 2, by a kind of signal of the elevator that the embodiment of the present invention provides without detent torque compensation method of weighing
Flow chart, the elevator permanent-magnet synchro traction machine system detent torque that the embodiment of the present invention is suitable for frequency conversion drive are compensated, are being started
Compensation level of torque can be adjusted automatically and accurately when opening band-type brake, to ensure permanent magnetic synchronous traction machine (hereinafter abbreviation motor)
More convenient it can steadily realize automatic regulation function.Method as depicted may include step S101~S104, specific as follows：
Step S101 is obtained according to the first preset rules and is segmented revised counted number of pulses CNT.
In embodiments of the present invention, the encoder with sine and cosine increment signal type can be used, and passes through coding
The sinusoidal increment signal SinA and cosine incremental signals SinB of device output, then according to sinusoidal increment signal SinA and cosine incremental
Signal SinB obtains a pulse signal total amount, after being finely divided amendment to the pulse signal total amount, it is possible to obtain most
Whole counted number of pulses CNT, can be more accurate wherein correcting obtained counted number of pulses CNT by subdivision.As further
Embodiment, as shown in figure 3, step S101 can include step S201~S203.
Step S201 determines inceptive impulse count value CNT1 by sine and cosine encoder.
In embodiments of the present invention, as shown in Figure 2 a, which is sine and cosine encoder, wherein the sine and cosine encodes
The signal of device output can obtain the inceptive impulse count value of quadruple after signal shaping modulate circuit carries out conditioning amplification
CNT1, by obtaining the inceptive impulse count value CNT1 of the quadruple, to obtain the counted number of pulses after subdivision correcting process
CNT.Specifically, SinA and SinB is the sinusoidal signal of phase difference 90, there is a signal period in each pulse of encoder, just
The AD conversion interface of string signal whereabouts driving control system, to sample the real-time sampling value for obtaining SinA, SinB by AD.And A,
The pwm signal that B is SinA and SinB is 50% by the duty ratio that signal shaping modulate circuit shaping conditions out, pwm signal
The pulse counter module for leading to driving control system is removed, to differ 90 degree of pwm signal by A, B the two phases come at the beginning of obtaining
Initial pulse count value CNT1.
Step S202 determines the intermediate pulse count value CNT2 after subdivision according to the first formula, and first formula is such as
Under
Wherein, SinA is the sinusoidal increment signal of sine and cosine encoder, and SinB is that the cosine incremental of sine and cosine encoder is believed
Number, N is preset subdivision number, and N rounding numerical value.
Under normal circumstances, the inceptive impulse count value CNT1 of quadruple obtained by two pwm signals of A, B in Fig. 2 a
When being tested the speed, most conference generates the error of a pulse, and particularly when the rotating speed of motor is near zero-speed, range rate error is more
Greatly, exactly speed just changes near zero-speed when starting, and a pulse reaction is exactly pi/2 in sinusoidal signal.If it is considered that
One sine wave period, then angle corresponds to 0~2 π, and step-by-step counting is 0~3.It therefore theoretically can be by 0~3 pulse
The distance between carry out standardization with 0~3 subdivision, subdivision number N be precision, can determine according to actual needs, when thin
When portioning number N values are bigger, subdivision result is more accurate.Therefore the intermediate pulse count value CNT2 in the range of 0~2 π can lead to
The first formula is crossed to be calculated.
Step S203 determines revised counted number of pulses according to the second formula and the intermediate pulse count value CNT2
CNT, second formula are as follows：
CNT=(CNT1-M) * N+CNT2
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
In embodiments of the present invention, it in order to obtain more accurately counted number of pulses, needs through the second formula to centre
Counted number of pulses CNT2 is modified, in order to subsequently carry out the higher speed measurement treatment of accuracy.Under normal circumstances, motor is 0
Only it is that cannot measure accurate displacement and speed by inceptive impulse count value CNT1 as~pi/2 during the minute movement of minizone
Degree can not even measure displacement and speed, but the counted number of pulses CNT obtained later is corrected using subdivision can measure pair
The displacement answered or speed, and obtained displacement or speed can more precisely.
Step S102 carries out pulse according to the second preset rules and the counted number of pulses CNT and tests the speed, to be calculated
Corresponding feedback speed.
In embodiments of the present invention, arteries and veins can be carried out according to second preset rules and the counted number of pulses CNT
Punching is tested the speed, so as to obtain one and the corresponding more accurately feedback speeds of the counted number of pulses CNT.
As further embodiment, second preset rules can include any in M methods, T methods and M/T methods
Kind.
By segmenting the counted number of pulses CNT obtained after amendment, appointing in M methods, T methods and M/T methods can be passed through
A kind of method is tested the speed accordingly, and wherein M methods, T methods and M/T methods are existing speed-measuring method, therefore is implemented in the present invention
It is no longer repeated in example.
Step S103, determines and regulate the speed ring adjustment parameter and electric current loop adjustment parameter according to third preset rules.
In embodiments of the present invention, by the adjustment to speed ring adjustment parameter and electric current loop adjustment parameter, can make
Elevator operation it is safer, people's a bit imperceptible elevator in car has rollback generation, and then elevator can be according to setting
Rate curve is run.
Specifically, as shown in Figure 2 b, the embodiment of the present invention can be applied in two close cycles vector control circuit module, described
Two close cycles vector control circuit module includes velocity loop regulator ASR and electric current loop adjuster ACR, in order to accelerate the phase of motor
Speed is answered, velocity loop regulator ASR and electric current loop adjuster ACR are required to stronger adjustment parameter, but adjustment parameter is too
It is big that hyperharmonic motor can be caused to shake again.Under normal circumstances, when motor is zero-speed and is opened a sluice gate, the time that motor rotation needs is very
It is short, therefore require the adjusting of entire circuit module and response all very fast, very strong adjustment parameter is needed at this time, to ensure having carefully
Small slip when movable property is given birth to rapidly supplements torque up, and when after compensation when motor normal operation, adjustment parameter will then weaken
To ensure comfort level.
As further embodiment, as shown in figure 4, step S103 can include step S301~S303.
Step S301, the timing since when opening a sluice gate obtain current switching-off time value.
As shown in figs. 2 b and 2 c, the switching of velocity loop regulator ASR and the corresponding adjustment parameters of electric current loop adjuster ACR can
Using using the time as switching benchmark.Open a sluice gate timing order is since sending out, at this time at the time of for t0, by the t1 periods
It keeps starting required corresponding compensating parameter, is then gradually switched to corresponding normal parameter in transit time section t2.
That is start the switching between compensating parameter and normal parameter to calculate with chronomere, only within the compensation time
Compensating parameter is just more effective.
Step S302, judges whether the current switching-off time value is more than the first pre-set threshold value.
In embodiments of the present invention, in order to determine whether the current switching-off time value is located at such as the t1 times in Fig. 2 c
In section, need to judge whether the current switching-off time value is more than the first pre-set threshold value at this time.
If the current switching-off time value is not more than the first pre-set threshold value, preset speed ring is compensated by step S303
Parameter adjustment is adjusted to the electric current loop adjusting ginseng for the speed ring adjustment parameter and by preset electric current loop compensating parameter
Number.
In embodiments of the present invention, if the current switching-off time value is not more than the first pre-set threshold value, then then show
The current switching-off time value was located in the t1 periods, and velocity loop regulator ASR and electric current loop adjuster ACR are required at this time
Parameter compensation is carried out, preset speed ring compensating parameter can be adjusted to the speed ring adjustment parameter at this time and is incited somebody to action pre-
If electric current loop compensating parameter be adjusted to the electric current loop adjustment parameter, so as to meet motor drive elevator smooth working will
It asks.
As further embodiment, step S103 can also include the following steps S304~S306.
Step S304, if the current switching-off time value be more than the first pre-set threshold value, judge it is described currently when opening a sluice gate
Between be worth whether be more than the second pre-set threshold value, wherein, second pre-set threshold value be more than first pre-set threshold value.
In embodiments of the present invention, it if the current switching-off time value is more than the first pre-set threshold value, needs to judge at this time
Whether the current switching-off time is located in transit time t2, that is, judges whether the current switching-off time value is more than second
Pre-set threshold value.Simultaneously, it is to be ensured that second pre-set threshold value is more than first pre-set threshold value.Certainly, described second is default
Threshold values and first pre-set threshold value can accordingly be set according to actual conditions.
If the current switching-off time value is more than the second pre-set threshold value, preset speed ring is normally joined by step S305
Number is adjusted to the speed ring adjustment parameter and preset electric current loop normal parameter is adjusted to the electric current loop adjusting ginseng
Number.
In embodiments of the present invention, if the current switching-off time value is more than the second pre-set threshold value, show motor
Through entering normal working condition, at this time in order to ensure elevator can the smooth working under the drive of motor, need speed
The adjustment parameter of ring adjuster ASR and electric current loop adjuster ACR are updated to normal parameter.
Step S306, if the current switching-off time is not more than the second pre-set threshold value so that the speed ring adjusts ginseng
Number between preset speed ring compensating parameter and preset speed ring normal parameter carry out straight lines or curve transition switching and
So that the electric current loop adjustment parameter carries out directly between preset electric current loop compensating parameter and preset electric current loop normal parameter
Line or curve transition switching.
In embodiments of the present invention, as shown in Figure 2 c, if the current switching-off time is not more than the second pre-set threshold value,
Show that the current switching-off time value is located in transit time section t2, and can start compensating parameter in transit time section t2
Straight transitions switching is carried out between normal parameter, it is of course also possible to be to carry out other switchings such as curve transition, so as to keep away
Exempt from regulator parameter mutation to cause to shake.Specifically, it is to be mended by the speed ring adjustment parameter in preset speed ring
It repays and straight line or curve transition switching is carried out between parameter and preset speed ring normal parameter and causes the electric current loop tune
Section parameter carries out straight line between preset electric current loop compensating parameter and preset electric current loop normal parameter or curve transition is cut
It changes, so as to fulfill the steady switching between compensating parameter and normal parameter, avoids starting between compensating parameter and normal parameter
The unstability of entire circuit caused by gradient difference is excessive realizes steady switching, improve the stabilization of entire circuit working state
Property.
Step S104 determines phase according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed
The compensated torque value answered.
It in embodiments of the present invention, can be according to the speed ring adjustment parameter, electric current loop adjustment parameter and described anti-
Feedback speed determines corresponding compensated torque value.
For example, can be in two close cycles vector controlled electricity in method provided in an embodiment of the present invention as shown in figs. 2 b and 2 c
Implement on the basis of the module of road.Wherein, under two-phase rotating coordinate system,For closed-loop control speed preset value, ω is subdivision
The feedback speed measured,For torque current set-point, itFor torque current feedback value,For exciting current set-point, imTo encourage
Magnetic current feedback values, utVoltage, u are adjusted for T axismVoltage is adjusted for m axis.Wherein velocity loop regulator ASR and electric current loop adjuster
ACR can be pi regulator either PID regulator, can be selected pi regulator in the embodiment of the present invention, and encoder then can be with
Using the encoder for having sine and cosine increment signal, such as sine and cosine encoder or Endat absolute value encoders, in the embodiment of the present invention
Then select for sine and cosine encoder.
When elevator starts and runs, driving control system starts timing after the signal that declutches is sent out to band-type brake, starts mend at this time
Repay beginning, driving control system elder generation zero-speed gives, using compensation speed ring PI parameters and compensation electric current loop PI parameters, at this time
Motor is embraced by band-type brake, and feedback speed is also zero, and given speed is consistent with feedback speed, and motor does not have output torque.Work as band-type brake
It is electric after, band-type brake starts to declutch, and at this moment due to the weight difference of motor both sides, motor has very faint rotation, this turn
It is dynamic then can by velocity checking circuits by encoder feedback to subdivision speed measuring module, subdivision speed measuring module it is according to embodiments of the present invention
The method measures rollback speed, i.e. feedback speed, and the feedback speed of motor is then just produced with zero-speed given speed at this time
Velocity deviation, the velocity deviation compensate PI parameter regulations by speed ring, it can be deduced that torque current givesTorque current is given
Definite valueWith torque current feedback value itPI parameter regulations are compensated by electric current loop, the rapid output torque of motor can control to balance
The torque difference of motor both sides.
Wherein, subdivision speed measuring module can timely detected, and pass through two close cycles in the movement within a pulse
Torque is replenished in time into for adjusting, and governing speed is fast；When band-type brake is opened completely, electricity is made by the compensating torque of control system
The torque of machine both sides reaches new balance, and at this moment compensation terminates, and switches to normal speed ring PI adjustment parameters and normal at once
Electric current loop PI adjustment parameters.Therefore adjustment parameter carries out appropriate change setting after opening a sluice gate, and can make one in car at all
Imperceptible elevator has rollback generation, and subsequent elevator can also be run according to the rate curve of setting.
In short, the compensation adjustment mode of the embodiment of the present invention is simple and reliable, pulse shape modification is carried out by pulse count value,
So as to measure corresponding feedback speed, and benefit not only can more accurately be exported come calculating torque offset by the feedback speed
Torque is repaid, without additionally increasing hardware cost and debugging complexity, and the effect automatically adjusted is more preferable.
Referring to Fig. 5, the schematic block diagram of a kind of device provided by the embodiment of the present invention.Device 100 as depicted
For corresponding to a kind of elevator in the embodiments of the present invention without detent torque compensation method of weighing, described device 100 includes obtaining
Take unit 101, the unit 102 that tests the speed, adjustment unit 103 and processing unit 104.
The acquiring unit 101 segments revised counted number of pulses CNT for being obtained according to the first preset rules.
In embodiments of the present invention, the encoder with sine and cosine increment signal type can be used, and passes through coding
The sinusoidal increment signal SinA and cosine incremental signals SinB of device output, then according to sinusoidal increment signal SinA and cosine incremental
Signal SinB obtains a pulse signal total amount, after being finely divided amendment to the pulse signal total amount, it is possible to obtain most
Whole counted number of pulses CNT, can be more accurate wherein correcting obtained counted number of pulses CNT by subdivision.
As further embodiment, as shown in fig. 6, the acquiring unit 101 can include determining that unit 201, subdivision
Unit 202 and amending unit 203.
The determination unit 201 determines inceptive impulse count value CNT1 for passing through sine and cosine encoder.
In embodiments of the present invention, as shown in Figure 2 a, which is sine and cosine encoder, wherein the sine and cosine encodes
The signal of device output can obtain the inceptive impulse count value of quadruple after signal shaping modulate circuit carries out conditioning amplification
CNT1, by obtaining the inceptive impulse count value CNT1 of the quadruple, to obtain the counted number of pulses after subdivision correcting process
CNT.Specifically, SinA and SinB is the sinusoidal signal of phase difference 90, there is a signal period in each pulse of encoder, just
The AD conversion interface of string signal whereabouts driving control system, to sample the real-time sampling value for obtaining SinA, SinB by AD.And A,
The pwm signal that B is SinA and SinB is 50% by the duty ratio that signal shaping modulate circuit shaping conditions out, pwm signal
The pulse counter module for leading to driving control system is removed, to differ 90 degree of pwm signal by A, B the two phases come at the beginning of obtaining
Initial pulse count value CNT1.
The subdivision unit 202, it is described for determining the intermediate pulse count value CNT2 after subdivision according to the first formula
First formula is as follows
Wherein, SinA is the sinusoidal increment signal of sine and cosine encoder, and SinB is that the cosine incremental of sine and cosine encoder is believed
Number, N is preset subdivision number, and N rounding numerical value.
Under normal circumstances, it is tested the speed using the counting of AB signal pulses, the inceptive impulse count value of quadruple can be obtained
CNT1, while most conference generates the error of a pulse, particularly when the rotating speed of motor is near zero-speed, range rate error is more
Greatly, exactly speed just changes near zero-speed when starting, and a pulse reaction is exactly pi/2 in sinusoidal signal.If it is considered that
One sine wave period, then angle corresponds to 0~2 π, and step-by-step counting is 0~3.It therefore theoretically can be by 0~3 pulse
The distance between carry out standardization with 0~3 subdivision, subdivision number N be precision, can determine according to actual needs, when thin
When portioning number N values are bigger, subdivision result is more accurate.Therefore the intermediate pulse count value CNT2 in the range of 0~2 π can lead to
The first formula is crossed to be calculated.
The amending unit 203, after determining amendment according to the second formula and the intermediate pulse count value CNT2
Counted number of pulses CNT, second formula is as follows：
CNT=(CNT1-M) * N+CNT2
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
In embodiments of the present invention, it in order to obtain more accurately counted number of pulses, needs through the second formula to centre
Counted number of pulses CNT2 is modified, in order to subsequently carry out the higher speed measurement treatment of accuracy.Under normal circumstances, motor is 0
Only it is that cannot measure accurate displacement and speed by inceptive impulse count value CNT1 as~pi/2 during the minute movement of minizone
Degree can not even measure displacement and speed, but the counted number of pulses CNT obtained later is corrected using subdivision can measure pair
The displacement answered or speed, and obtained displacement or speed can more precisely.
The unit 102 that tests the speed, for carrying out pulse survey according to the second preset rules and the counted number of pulses CNT
Speed, corresponding feedback speed is calculated.
In embodiments of the present invention, arteries and veins can be carried out according to second preset rules and the counted number of pulses CNT
Punching is tested the speed, so as to obtain one and the corresponding more accurately feedback speeds of the counted number of pulses CNT.
As further embodiment, second preset rules can include any in M methods, T methods and M/T methods
Kind.
By segmenting the counted number of pulses CNT obtained after amendment, appointing in M methods, T methods and M/T methods can be passed through
A kind of method is tested the speed accordingly, and wherein M methods, T methods and M/T methods are existing speed-measuring method, therefore is implemented in the present invention
It is no longer repeated in example.
The adjustment unit 103, for determined and regulated the speed according to third preset rules ring adjustment parameter and electric current
Ring adjustment parameter.
In embodiments of the present invention, by the adjustment to speed ring adjustment parameter and electric current loop adjustment parameter, can make
Elevator operation it is safer, people's a bit imperceptible elevator in car has rollback generation, and then elevator can be according to setting
Rate curve is run.
Specifically, as shown in Figure 2 b, the embodiment of the present invention can be applied in two close cycles vector control circuit module, described
Two close cycles vector control circuit module includes velocity loop regulator ASR and electric current loop adjuster ACR, in order to accelerate the phase of motor
Speed is answered, velocity loop regulator ASR and electric current loop adjuster ACR are required to stronger adjustment parameter, but adjustment parameter is too
It is big that hyperharmonic motor can be caused to shake again.Under normal circumstances, when motor is zero-speed and is opened a sluice gate, the time that motor rotation needs is very
It is short, therefore require the adjusting of entire circuit module and response all very fast, very strong adjustment parameter is needed at this time, to ensure having carefully
Small slip when movable property is given birth to rapidly supplements torque up, and when after compensation when motor normal operation, adjustment parameter will then weaken
To ensure comfort level.
As further embodiment, as shown in fig. 7, the adjustment unit 103 judges including timing unit 301, first
Unit 302 and the first adjustment unit 303.
The timing unit 301 for the timing since when opening a sluice gate, obtains current switching-off time value.
As shown in figs. 2 b and 2 c, the switching of velocity loop regulator ASR and the corresponding adjustment parameters of electric current loop adjuster ACR can
Using using the time as switching benchmark.Open a sluice gate timing order is since sending out, at this time at the time of for t0, by the t1 periods
It keeps starting required corresponding compensating parameter, is then gradually switched to corresponding normal parameter in transit time section t2.
That is start the switching between compensating parameter and normal parameter to calculate with chronomere, only within the compensation time
Compensating parameter is just more effective.
First judging unit 302, for judging whether the current switching-off time value is more than the first pre-set threshold value.
In embodiments of the present invention, in order to determine whether the current switching-off time value is located at such as the t1 times in Fig. 2 c
In section, need to judge whether the current switching-off time value is more than the first pre-set threshold value at this time.
The first adjustment unit 303, if for the current switching-off time value no more than the first pre-set threshold value, it will be pre-
If speed ring compensating parameter be adjusted to the speed ring adjustment parameter and preset electric current loop compensating parameter be adjusted to institute
State electric current loop adjustment parameter.
In embodiments of the present invention, if the current switching-off time value is not more than the first pre-set threshold value, then then show
The current switching-off time value was located in the t1 periods, and velocity loop regulator ASR and electric current loop adjuster ACR are required at this time
Parameter compensation is carried out, preset speed ring compensating parameter can be adjusted to the speed ring adjustment parameter at this time and is incited somebody to action pre-
If electric current loop compensating parameter be adjusted to the electric current loop adjustment parameter, so as to meet motor drive elevator smooth working will
It asks.
As further embodiment, the adjustment unit 103 can also include second judgment unit 304, second and adjust
Whole unit 305 and third adjustment unit 306.
Second judgment unit 304 if being more than the first pre-set threshold value for the current switching-off time value, judges described work as
Whether preceding switching-off time value is more than the second pre-set threshold value, and second pre-set threshold value is more than first pre-set threshold value.
In embodiments of the present invention, it if the current switching-off time value is more than the first pre-set threshold value, needs to judge at this time
Whether the current switching-off time is located in transit time t2, that is, judges whether the current switching-off time value is more than second
Pre-set threshold value.Simultaneously, it is to be ensured that second pre-set threshold value is more than first pre-set threshold value.Certainly, described second is default
Threshold values and first pre-set threshold value can accordingly be set according to actual conditions.
Second adjustment unit 305, if being more than the second pre-set threshold value for the current switching-off time value, by preset speed
Degree ring normal parameter is adjusted to the speed ring adjustment parameter and preset electric current loop normal parameter is adjusted to the electric current
Ring adjustment parameter.
In embodiments of the present invention, if the current switching-off time value is more than the second pre-set threshold value, show motor
Through entering normal working condition, at this time in order to ensure elevator can the smooth working under the drive of motor, need speed
The adjustment parameter of ring adjuster ASR and electric current loop adjuster ACR are updated to normal parameter.
Third adjustment unit 306, if being not more than the second pre-set threshold value for the current switching-off time so that the speed
Degree ring adjustment parameter carries out straight line or curve mistake between preset speed ring compensating parameter and preset speed ring normal parameter
It crosses switching and causes the electric current loop adjustment parameter in preset electric current loop compensating parameter and preset electric current loop normal parameter
Between carry out straight line or curve transition switching.
In embodiments of the present invention, as shown in Figure 2 c, if the current switching-off time is not more than the second pre-set threshold value,
Show that the current switching-off time value is located in transit time section t2, and can start compensating parameter in transit time section t2
Straight transitions switching is carried out between normal parameter, it is of course also possible to be to carry out other switchings such as curve transition, so as to keep away
Exempt from regulator parameter mutation to cause to shake.Specifically, it is to be mended by the speed ring adjustment parameter in preset speed ring
It repays and straight line or curve transition switching is carried out between parameter and preset speed ring normal parameter and causes the electric current loop tune
Section parameter carries out straight line between preset electric current loop compensating parameter and preset electric current loop normal parameter or curve transition is cut
It changes, so as to fulfill the steady switching between compensating parameter and normal parameter, avoids starting between compensating parameter and normal parameter
The unstability of entire circuit caused by gradient difference is excessive realizes steady switching, improve the stabilization of entire circuit working state
Property.
The processing unit 104, for according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback
Speed determines corresponding compensated torque value.
It in embodiments of the present invention, can be according to the speed ring adjustment parameter, electric current loop adjustment parameter and described anti-
Feedback speed determines corresponding compensated torque value.
For example, can be in two close cycles vector controlled electricity in method provided in an embodiment of the present invention as shown in figs. 2 b and 2 c
Implement on the basis of the module of road.Wherein, under two-phase rotating coordinate system,For closed-loop control speed preset value, ω is subdivision
The feedback speed measured,For torque current set-point, itFor torque current feedback value,For exciting current set-point, imTo encourage
Magnetic current feedback values, utVoltage, u are adjusted for T axismVoltage is adjusted for m axis.Wherein velocity loop regulator ASR and electric current loop adjuster
ACR can be pi regulator either PID regulator, can be selected pi regulator in the embodiment of the present invention, and encoder then can be with
Using the encoder for having sine and cosine increment signal, such as sine and cosine encoder or Endat absolute value encoders, in the embodiment of the present invention
Then select for sine and cosine encoder.
When elevator starts and runs, driving control system starts timing after the signal that declutches is sent out to band-type brake, starts mend at this time
Repay beginning, driving control system elder generation zero-speed gives, using compensation speed ring PI parameters and compensation electric current loop PI parameters, at this time
Motor is embraced by band-type brake, and feedback speed is also 0, and given speed is consistent with feedback speed, and motor does not have output torque.When band-type brake obtains
After electricity, band-type brake starts to declutch, and at this moment due to the weight difference of motor both sides, motor has very faint rotation, this rotation
Then subdivision speed measuring module, subdivision speed measuring module institute according to embodiments of the present invention can be given by encoder feedback by velocity checking circuits
The method stated measures rollback speed, i.e. feedback speed, and the feedback speed of motor then just produces speed with zero-speed given speed at this time
Deviation is spent, which compensates PI parameter regulations by speed ring, it can be deduced that torque current givesTorque current gives
ValueWith torque current feedback value itPI parameter regulations are compensated by electric current loop, the rapid output torque of motor can control to balance electricity
The torque difference of machine both sides.
Wherein, subdivision speed measuring module can timely detected, and pass through two close cycles in the movement within a pulse
Torque is replenished in time into for adjusting, and governing speed is fast；When band-type brake is opened completely, electricity is made by the compensating torque of control system
The torque of machine both sides reaches new balance, and at this moment compensation terminates, and switches to normal speed ring PI adjustment parameters and normal at once
Electric current loop PI adjustment parameters.Therefore adjustment parameter carries out appropriate change setting after opening a sluice gate, and can make one in car at all
Imperceptible elevator has rollback generation, and subsequent elevator can also be run according to the rate curve of setting.
As shown in figure 8, the embodiment of the present invention additionally provides a kind of system, the system 800 includes processor 801, storage
Device 802 and two close cycles vector control circuit module 803, the two close cycles vector control circuit module 803 include encoder, institute
It states memory 802 and two close cycles vector control circuit module 803 is connected with the processor 801, wherein, the coding
For device for generating sinusoidal increment signal and cosine incremental signals, the memory 802 is described for storing application code
Processor 801 is configured for running the application code, to perform the method that above-described embodiment is provided.
It should be appreciated that in embodiments of the present invention, alleged processor 801 can be central processing unit (Central
Processing Unit, CPU), which can also be other general processors, digital signal processor (Digital
Signal Processor, DSP), application-specific integrated circuit (Application Specific Integrated Circuit,
ASIC), ready-made programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic
Device, discrete gate or transistor logic, discrete hardware components etc..General processor can be microprocessor or this at
It can also be any conventional processor etc. to manage device.
The memory 802 can include read-only memory and random access memory, and to processor 801 provide instruction and
Data.The a part of of memory 802 can also include nonvolatile RAM.For example, memory 802 can also be deposited
Store up the information of device type.
In the specific implementation, processor 801 and two close cycles vector control circuit module described in the embodiment of the present invention
803 can perform the realization described in the embodiment of method of the elevator provided in an embodiment of the present invention without detent torque compensation of weighing
Mode also can perform the realization method of the described device of the embodiment of the present invention, and details are not described herein.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, it can also
It is that each unit is individually physically present or two or more units integrate in a unit.It is above-mentioned integrated
The form that hardware had both may be used in unit is realized, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is independent product sale or uses
When, it can be stored in a computer readable storage medium.Based on such understanding, technical scheme of the present invention substantially or
Person say the part contribute to the prior art or the technical solution all or part can in the form of software product body
Reveal and, which is stored in a storage medium, including some instructions with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) performs the whole of each embodiment the method for the present invention
Or part steps.And aforementioned storage medium includes：USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in various equivalent modifications or replace
It changes, these modifications or substitutions should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with right
It is required that protection domain subject to.
Claims (10)
1. a kind of elevator is without detent torque compensation method of weighing, which is characterized in that including：
It is obtained according to the first preset rules and segments revised counted number of pulses CNT；
Pulse is carried out according to the second preset rules and the counted number of pulses CNT to test the speed, corresponding feedback speed is calculated
Degree；
It is determined according to third preset rules and regulate the speed ring adjustment parameter and electric current loop adjustment parameter；
Corresponding compensated torque is determined according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed
Value.
2. according to the method described in claim 1, segment revised pulse it is characterized in that, being obtained according to the first preset rules
Count value CNT, including：
Inceptive impulse count value CNT1 is determined by sine and cosine encoder；
Intermediate pulse count value CNT2 after subdivision is determined according to the first formula, first formula is
Wherein, sinusoidal increment signals of the SinA for sine and cosine encoder, cosine incremental signals of the SinB for sine and cosine encoder, N
For preset subdivision number, and N rounding numerical value；
Revised counted number of pulses CNT is determined according to the second formula and the intermediate pulse count value CNT2, described second
Formula is
CNT=(CNT1-M) * N+CNT2；
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
3. according to the method described in claim 1, it is characterized in that, second preset rules include M methods, T methods and M/T methods
Any one of.
4. according to the method described in claim 1, it is characterized in that, described determine and ring of regulating the speed according to third preset rules
Adjustment parameter and electric current loop adjustment parameter, including：
The timing since when opening a sluice gate obtains current switching-off time value；
Judge whether the current switching-off time value is more than the first pre-set threshold value；
If the current switching-off time value is not more than the first pre-set threshold value, preset speed ring compensating parameter is adjusted to described
Speed ring adjustment parameter and preset electric current loop compensating parameter is adjusted to the electric current loop adjustment parameter.
5. according to the method described in claim 4, it is characterized in that, the method further includes：
If the current switching-off time value is more than the first pre-set threshold value, judge the current switching-off time value whether more than the
Two pre-set threshold values, wherein, second pre-set threshold value is more than first pre-set threshold value；
If the current switching-off time value is more than the second pre-set threshold value, preset speed ring normal parameter is adjusted to the speed
It spends ring adjustment parameter and preset electric current loop normal parameter is adjusted to the electric current loop adjustment parameter；
If the current switching-off time is not more than the second pre-set threshold value so that the speed ring adjustment parameter is in preset speed
Straight line or curve transition switching are carried out between ring compensating parameter and preset speed ring normal parameter and causes the electric current loop
Adjustment parameter carries out straight line between preset electric current loop compensating parameter and preset electric current loop normal parameter or curve transition is cut
It changes.
6. a kind of device, which is characterized in that described device includes：
Acquiring unit segments revised counted number of pulses CNT for being obtained according to the first preset rules；
Test the speed unit, tests the speed for carrying out pulse according to the second preset rules and the counted number of pulses CNT, to be calculated
Corresponding feedback speed；
Adjustment unit, for determined and regulated the speed according to third preset rules ring adjustment parameter and electric current loop adjustment parameter；
Processing unit, for determining phase according to the speed ring adjustment parameter, electric current loop adjustment parameter and the feedback speed
The compensated torque value answered.
7. device according to claim 6, which is characterized in that the acquiring unit includes：
Determination unit determines inceptive impulse count value CNT1 for passing through sine and cosine encoder；
Subdivision unit, for determining the intermediate pulse count value CNT2 after subdivision according to the first formula, first formula is
Wherein, sinusoidal increment signals of the SinA for sine and cosine encoder, cosine incremental signals of the SinB for sine and cosine encoder, N
For preset subdivision number, and N rounding numerical value；
Amending unit, for determining revised counted number of pulses according to the second formula and the intermediate pulse count value CNT2
CNT, second formula are
CNT=(CNT1-M) * N+CNT2；
Wherein, M=CNT%4, i.e. M are the remainder that CNT1 divided by 4 is obtained.
8. device according to claim 6, which is characterized in that the adjustment unit includes：
Timing unit for the timing since when opening a sluice gate, obtains current switching-off time value；
First judging unit, for judging whether the current switching-off time value is more than the first pre-set threshold value；
The first adjustment unit, if for the current switching-off time value no more than the first pre-set threshold value, by preset speed ring
Compensating parameter is adjusted to the speed ring adjustment parameter and preset electric current loop compensating parameter is adjusted to the electric current loop tune
Save parameter.
9. device according to claim 8, which is characterized in that the adjustment unit further includes：
Second judgment unit if being more than the first pre-set threshold value for the current switching-off time value, judges described current open
Whether lock time value is more than the second pre-set threshold value, wherein, second pre-set threshold value is more than first pre-set threshold value；
Second adjustment unit, if being more than the second pre-set threshold value for the current switching-off time value, by preset speed ring just
Normal parameter adjustment is adjusted to the electric current loop adjusting for the speed ring adjustment parameter and by preset electric current loop normal parameter
Parameter；
Third adjustment unit, if being not more than the second pre-set threshold value for the current switching-off time so that the speed ring tune
Section parameter carries out straight line or curve transition switching between preset speed ring compensating parameter and preset speed ring normal parameter,
And cause the electric current loop adjustment parameter between preset electric current loop compensating parameter and preset electric current loop normal parameter into
Row straight line or curve transition switching.
10. a kind of system, which is characterized in that described double including processor, memory and two close cycles vector control circuit module
Closed-loop vector control circuit module includes encoder, the memory and two close cycles vector control circuit module with the place
Reason device is connected, wherein, for generating sinusoidal increment signal and cosine incremental signals, the memory is used for the encoder
Application code is stored, the processor is for running the application code, to perform such as any one of claim 1-5
The method.
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| CN115043279A (en) * | 2022-07-19 | 2022-09-13 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
| CN115043279B (en) * | 2022-07-19 | 2023-01-06 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
| CN115432527A (en) * | 2022-09-30 | 2022-12-06 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Control method and device of lifting system and lifting system |
| CN115432527B (en) * | 2022-09-30 | 2024-04-05 | 深圳市中金岭南有色金属股份有限公司凡口铅锌矿 | Control method and device of lifting system and lifting system |
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