CN108545560B

CN108545560B - Elevator group control system with multiple elevator cars and modeling method thereof

Info

Publication number: CN108545560B
Application number: CN201810653002.9A
Authority: CN
Inventors: 王素娟; 吴小滔
Original assignee: Shanghai Polytechnic University
Current assignee: Shanghai Polytechnic University
Priority date: 2018-06-22
Filing date: 2018-06-22
Publication date: 2020-12-01
Anticipated expiration: 2038-06-22
Also published as: CN108545560A

Abstract

The invention provides an elevator group control system comprising a plurality of elevator cars, which comprises a floor stopping request button, a door opening button, a door closing button, a floor display, a running direction display, a floor request button, an elevator external running direction display, an elevator external floor display, a service request table, a single elevator controller and a group elevator controller which are arranged in each elevator. Wherein, the elevator group control system has NUM elevators and the floor height has MaxL floor; to facilitate the calculation of the scheduling algorithm, the service request table is divided into 5 regions. The modeling method comprises the step of dividing the elevator group control system into three state layers. The scheduling algorithm comprises a floor-stopping decision algorithm, a direction decision algorithm, an operation decision algorithm and a task allocation algorithm. The invention enables the multi-ladder to continuously operate through state transition; the allocation of the call signals is dynamically optimized in the running process of the elevator, so that the call signals can be allocated to the elevator which arrives at the fastest speed and has the corresponding floor stopping requirement in the elevator, and the service efficiency of an elevator group is improved.

Description

Elevator group control system with multiple elevator cars and modeling method thereof

Technical Field

The invention relates to an elevator group control system, in particular to an elevator group control system comprising a plurality of elevator cars and a modeling method thereof.

Background

The elevator group control means that an elevator group controller is used for coordinately controlling the operation of two or more elevators and providing service for the assigned elevator car of a floor calling signal so as to improve the service quality of an elevator traffic system and the capability of transporting passengers and achieve the aim of saving energy; the existing elevator group control is basically a centralized algorithm, and the group controller is responsible for providing service for a car with optimal response to call signal assignment. With the increase of the complexity of the elevator traffic system, the optimization solving work borne by the group controller becomes a bottleneck restricting the high-efficiency operation of the elevator group control system.

Disclosure of Invention

The invention aims to solve the technical problem of providing an elevator group control system containing a plurality of elevator cars and a modeling method thereof, which can improve the service efficiency of an elevator group and save energy.

In order to achieve the purpose, the technical scheme of the invention is as follows:

an elevator group control system including a plurality of elevator cars, the elevator group control system comprising:

several floor stopping request buttons, door opening button, door closing button, floor display and running direction display;

the system comprises a plurality of floor request buttons, a plurality of control buttons and a plurality of control buttons, wherein one floor only has one upward request button, the top floor only has one downward request button, and the other floors have two upward and downward request buttons;

a plurality of elevator external operation direction displays;

a plurality of elevator outer floor displays;

a service request table, which records all request signals of the whole group elevator system, including floor stop request signals inside each elevator and floor request signals outside the elevators;

the elevator control system comprises a plurality of single elevator controllers, a plurality of elevator control units and a plurality of elevator control units, wherein the single elevator controllers are used for judging whether the elevator needs to stop or not, the single elevator controllers are used for displaying the stop floor on the inner floor display and the outer floor display of the elevator, and the single elevator controllers are used for displaying the running direction of the elevator on the inner running direction display and the outer running direction display; the single-elevator controller is used for sending a task application to the group elevator controller, requesting a forward service floor request signal and receiving a decision of the group controller;

a group elevator controller, when an elevator is in a standby service state (idle), pre-distributing a floor request signal to wake up a single elevator in the standby service state; when the single-elevator controller applies for a task, a floor request signal is distributed to the single-elevator controller.

In one embodiment of the invention, the elevator is a NUM part, and the floor is a MaxL floor.

In one embodiment of the invention, the service request table is a two-dimensional array button (1to NUM +2,1to MaxL), which is divided into 5 areas, the elevator group control system has NUM elevators and the floor height has MaxL floor, and each elevator can reach each floor; assuming that the Nth elevator ascends to the m floors currently, the following steps are performed:

and a region A: the requests (including floor stopping requests and floor requests) above the Nth elevator are the elements with subscripts larger than m in the Nth column, the NUM +1 column and the NUM +2 column in the button array and represent the requests above m floors;

and a B region: the floor of m floors is requested upwards, namely the area B is button (m, NUM + 1);

and a C region: the m-layer stop request is button (m, N);

and (3) region D: the floors of m floors are requested downwards, namely the D area is button (m, NUM + 2);

and a region E: the request below the Nth elevator is an element with subscript smaller than m in the Nth column, the NUM +1 column and the NUM +2 column in the button array, and represents a request below m layers;

when the elevator descends, the elements of the area A and the area E are exchanged, and the elements of the area B and the area D are exchanged.

In one embodiment of the invention, the modeling method comprises:

the elevator group control system is divided into three state layers:

the highest layer is a group ladder state layer, and the layer divides the system state into two states of 'complete distribution' and 'incomplete distribution';

the second floor is a single-elevator state floor which divides the state of a single elevator into four states of 'waiting for service', 'ascending', 'descending' and 'stopping';

the third layer is a single-ladder state layer, and the 'parking' state of the single ladder is divided into four sub-states in the layer: "open door", "close door" and "close door";

the operation of the whole system is realized through state conversion; initially, the group ladders are in a 'matched' state, and the single ladder is in a 'waiting service' state; when the system is in one state, the system can be converted to the other state only if the conversion condition is met; whether the conversion condition is established or not is judged by calling different scheduling algorithms at different moments.

In one embodiment of the invention, the scheduling algorithm comprises a floor-stopping decision algorithm, a direction decision algorithm, a running decision algorithm and a task allocation algorithm.

In one embodiment of the invention, a floor stop decision algorithm is invoked when each elevator passes a pre-floor flag position (indicating that the elevator has entered the current floor) to determine whether a landing is required when the floor is flat.

In one embodiment of the invention, after the elevator is in a landing state, a direction decision algorithm is invoked before the door is opened to determine which direction the elevator is to preferentially travel in after the door is closed.

In one embodiment of the invention, the operation decision algorithm is: after the elevator stops at the flat floor and the door is closed, the elevator is sequentially searched to determine whether the elevator continues to move upwards or enters the stopping state again, or moves downwards or enters the state to be served.

In one embodiment of the invention, the task allocation algorithm is: each time the floor up/down button is pressed, the system pre-allocates the request to the elevator closest to "distance" based on the distance.

Through the technical scheme, the invention has the beneficial effects that:

the system completes the distribution of the floor calling signals by the single elevator controller, thereby well avoiding the defects caused by centralized control; meanwhile, the aim of improving the service efficiency of the elevator group and saving energy is fulfilled by adopting a mode of dynamically allocating call signals.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a state diagram of a group ladder system of the present invention;

FIG. 2 is a service request table according to the present invention;

FIG. 3 is a flow chart of a floor-stopping decision algorithm of the present invention;

FIG. 4 is a flow chart of a direction decision algorithm of the present invention;

FIG. 5 is a flow chart of the decision algorithm for operation of the present invention.

Detailed Description

In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

The invention discloses an elevator group control system comprising a plurality of elevator cars, which comprises the following parts: the elevator control system comprises M floor stopping request buttons (corresponding to 1-M floors), a door opening button, a door closing button, a floor display, a running direction display, 2 x (M-1) floor request buttons, N elevator external running direction displays, N elevator external floor displays, a service request table, N single-elevator controllers and a group elevator controller, wherein the M floor stopping request buttons, the door opening button, the door closing button, the floor display, the running direction display, the 2 x (M-1) floor request buttons, the N elevator external running direction displays, the N elevator external floor displays, the service request table.

Each stop layer request button is pressed to send a stop layer request signal.

Wherein, the floor 1 has only one upward request button, the floor M has only one downward request button, and the rest floors have two upward and downward request buttons, so the number of the floor request buttons is 2 x (M-1). A floor level may have multiple up buttons and multiple down buttons, but all up buttons are in parallel and all down buttons are in parallel, so that it can be seen in signal that there is only one up button and one down button on a floor. Each floor request button, when pressed, will issue a floor request signal.

Since the elevator running direction displays of each floor of each elevator are consistent, N elevator running direction displays are arranged for N elevators.

Since the elevator floor display outside each floor of each elevator is identical, N elevator outside floor displays are provided for N elevators here.

The service request table records all request signals of the whole group elevator system, including floor stop request signals inside each elevator and floor request signals outside the elevators; wherein the stop layer request signal is indicated with a "1" for yes and a "0" for no; the floor request signal is indicated by a value other than 0, and "0" indicates none. Namely, the service request table is a two-dimensional array button (1to NUM +2,1to MaxL), and has M × (N +2) elements, and if the ith elevator has a floor-stopping request to the jth floor, the button (i, j) is 1; if there is an upward floor request at the k-th floor and the request has been allocated to the g-th elevator, then button (M +1, k) is g; if the downward floor is requested at the k +1 th floor and no elevator is allocated, the button (M +2, k +1) is N + 1; and if the upward floor button at the k +1 th floor is not pressed, the button (M +1, k +1) is equal to 0.

The functions of the single-ladder controller include the following:

firstly, when the elevator arrives at a certain floor, whether the elevator needs to stop is judged by calling a stop decision algorithm;

when the elevator stops at a certain floor, judging the running direction of the elevator after the door is closed by calling a direction decision algorithm before opening the door, and displaying the judgment result on running direction displays inside and outside the elevator;

thirdly, after the elevator is closed, whether the elevator runs or not and the running direction are determined by calling a running decision algorithm;

recording the state of the floor-stopping button in the elevator to a service request table (button). If a floor stopping button is pressed down, the corresponding position in the table is marked as '1', otherwise, the corresponding position is marked as '0', and in the running process of the elevator, a floor stopping request is responded, and the corresponding position of the request table in the elevator is restored to be '0';

displaying the floor where the elevator is currently located on a floor display, and displaying the current running direction of the elevator or the running direction of the next step on running direction displays inside and outside the elevator;

sixthly, sending a task application to the group elevator controller, requiring a forward service floor request signal, and receiving the decision of the group controller.

The functions of the group ladder controller include the following:

when an elevator is in a waiting service state (idle), pre-distributing floor request signals to wake up a single elevator in the waiting service state;

and secondly, when the single-elevator controller applies for a task, distributing a floor request signal to the single-elevator controller.

Assuming that the elevator group system has NUM elevators and the floor height has MaxL floors, each elevator can reach each floor. Building a two-dimensional array button (MaxL, NUM +2) for storing elevator group car internal and external request signals, wherein 1-NUM columns respectively store NUM elevator car internal floor stopping requests, if the L-th elevator has a floor stopping request signal on the m-th floor, the button (m, L) is 1, otherwise the button (m, L) is 0; a NUM +1 th list is used for indicating whether an upward request signal is sent outside the car and the number of the elevator allocated to the upward request signal, if the m-th layer has no upward request signal, the button (m, NUM +1) is 0, if the m-th layer has an upward request signal and is allocated to the L-th elevator to respond, the button (m, NUM +1) is L, if the upward request signal is not allocated to any elevator, the button (m, NUM +1) is NUM + 1; similarly, the NUM +2 th list indicates whether there is a down request signal outside the car and the elevator number assigned thereto, if there is no down request signal at the mth floor, the button (m, NUM +2) is 0, if there is a down request signal at the mth floor and assigned to the lth elevator response, the button (m, NUM +2) is L, and if the down request signal is not assigned to any elevator, the button (m, NUM +2) is NUM + 1.

Referring to fig. 2, in order to facilitate the writing of the scheduling algorithm, the service request table is divided into 5 areas, and assuming that the nth elevator currently ascends to the m floors:

and a C region: the m-layer stop request is button (m, N);

Referring to fig. 1, the modeling method of the present invention includes:

the elevator group control system is divided into three state layers:

the operation of the whole system is realized through state conversion; initially, the group ladders are in a 'matched' state, and the single ladder is in a 'waiting service' state; when the system is in one state, it can only transition to the other state if the transition conditions are met (see table 1); whether the transition condition is satisfied is determined by invoking different scheduling algorithms at different times (see table 2).

TABLE 1 State transition Condition Table

TABLE 2 invocation times and decision goals for different algorithms

The scheduling algorithm comprises a floor-stopping decision algorithm, a direction decision algorithm, an operation decision algorithm and a task allocation algorithm.

Referring to fig. 3, the floor-stopping decision algorithm: when each elevator passes through the position of the pre-floor mark (indicating that the elevator enters the current floor), a floor stopping decision is called to judge whether the elevator needs to stop when the floor is leveled. If the elevator ascends to reach the highest floor or descends to the bottom floor, stopping the floor, otherwise, sequentially searching according to the CBA area sequence in the button array, and judging whether the elevator needs to stop the floor.

Assuming that the Nth elevator currently goes upwards to enter m floors, if a request is sent in the C area, namely, a floor stop request of m floors exists in the Nth elevator car, and button (m, N) is equal to 1, the elevator stops certainly, and meanwhile, the uplink request of m floors is distributed to the elevator, namely, the button (m, NUM +1) is equal to N. If the area C has no request, looking up the area B, if the uplink request signal of the floor is already allocated to the elevator or not allocated, namely, the button (m, NUM +1) is equal to N/NUM +1, the elevator stops certainly, and simultaneously the uplink request of the floor m is allocated to the elevator, namely, the button (m, NUM +1) is equal to N. If the area B does not have a signal meeting the requirement, searching an area A, searching an nth column of a task allocation table from m +1 layers layer by layer upwards, if an in-car floor-stopping request signal exists, stopping the floor, but allocating an uplink request of the floor to the elevator, if the floor-stopping request does not exist above the m +1 layer of the nth column, searching whether the uplink request which is allocated to the elevator or not allocated exists above the m +1 layer of the NUM +1 column, if so, stopping the floor, but allocating the uplink request of the floor to the elevator; if no floor stopping request exists above the m +1 floor of the NUM +1 column, searching whether a downlink request which is allocated to the elevator or not allocated exists above the m +1 floor of the NUM +2 column, if so, stopping the floor, but allocating the downlink request of the floor to the elevator; if the zone A does not find a signal meeting the requirement, the elevator stops at a certain floor, and if the zone D has a signal, namely button (m, NUM +2) ≠ 0, the descending request of the floor is allocated to the elevator.

Referring to fig. 4, the direction decision algorithm: after the elevator leveling enters the stop state, a direction decision algorithm is called before the door is opened to determine that the elevator preferentially runs in the direction after the door is closed. If the elevator is going to go up to the highest floor or go down to the bottom floor, the original direction is changed, otherwise, the BA areas in the button array are searched in sequence to judge whether the elevator continues to run in the original direction or reverses after the door is closed.

Referring to fig. 5, the operation decision algorithm is: after the elevator stops at the flat floor and the door is closed, the elevator is sequentially searched to determine whether the elevator continues to move upwards or enters the stopping state again, or moves downwards or enters the state to be served.

The task allocation algorithm is as follows: each time the floor up/down button is pressed, the system pre-allocates the request to the elevator closest to "distance" based on the distance. Here "distance" is defined as in Table 3. If the minimum value of the calculated distance is 100, the elevator is not allocated, namely NUM +1 is filled into the corresponding position in the task allocation table.

Description of the drawings: the factor is any given value and is given by actual conditions;

TABLE 3 definition of distances

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An elevator group control system including a plurality of elevator cars, the elevator group control system comprising:

a plurality of elevator external operation direction displays;

a plurality of elevator outer floor displays;

a group elevator controller, when an elevator is in a waiting service state, pre-distributing the floor request signal to wake up a single elevator in the waiting service state; when the single-elevator controller applies for a task, a floor request signal is distributed to the single-elevator controller;

the service request table records all request signals of the whole group elevator system, including floor stop request signals inside each elevator and floor request signals outside the elevators; wherein the stop layer request signal is indicated with a "1" for yes and a "0" for no; the floor request signal is represented by non-0 indicating presence and "0" indicating absence; namely, the service request table is a two-dimensional array button (1to NUM +2,1to MaxL), which has M × (N +2) elements in total, and if the ith elevator has a floor-stopping request to the jth floor, the button (i, j) is 1; if there is an upward floor request at the k-th floor and the request has been allocated to the g-th elevator, then button (M +1, k) is g; if the downward floor is requested at the k +1 th floor and no elevator is allocated, the button (M +2, k +1) is N + 1; if the upward floor button at the k +1 th floor is not pressed, the button (M +1, k +1) is 0;

the elevator has NUM parts, and floors are MaxL floors.

2. The group control system of claim 1, wherein the service request list is a two-dimensional array button (1to NUM +2,1to MaxL) divided into 5 zones, wherein the group control system has a total of NUM elevators and a total of MaxL floors, and each elevator can reach each floor; assuming that the Nth elevator ascends to the m floors currently, the following steps are performed:

and a region A: the request above the Nth elevator is the request above m layers represented by the elements with subscripts larger than m in the Nth column, the NUM +1 column and the NUM +2 column in the button array;

and a C region: the m-layer stop request is button (m, N);

3. The elevator group control system of claim 1, comprising a plurality of elevator cars, wherein the elevator group control system is implemented using a modeling method comprising:

the elevator group control system is divided into three state layers:

the operation of the whole system is realized through state conversion; initially, the group ladders are in a 'matched' state, and the single ladder is in a 'waiting service' state; when the system is in one state, the system can be converted to the other state only if the conversion condition is met; whether the conversion condition is established or not is judged by calling different scheduling algorithms at different moments;

4. The group control system of claim 3, wherein each elevator car passes a pre-floor index position and calls a stop decision algorithm to determine if a stop is needed for a flat floor.

5. The group control system of claim 3, wherein after the elevator is in a flat landing state, a direction decision algorithm is invoked before the door is opened to determine which direction the elevator is to preferentially travel in when the door is closed.

6. The group control system of claim 3, wherein the operation decision algorithm is: after the elevator stops at the flat floor and the door is closed, the elevator is sequentially searched to determine whether the elevator continues to move upwards or enters the stopping state again, or moves downwards or enters the state to be served.

7. A group control system according to claim 3, wherein the task allocation algorithm is: each time the floor up/down button is pressed, the system pre-allocates the request to the elevator closest to "distance" based on the distance.