CN109095301A - A kind of elevator control method, device, equipment and medium - Google Patents
A kind of elevator control method, device, equipment and medium Download PDFInfo
- Publication number
- CN109095301A CN109095301A CN201811115857.2A CN201811115857A CN109095301A CN 109095301 A CN109095301 A CN 109095301A CN 201811115857 A CN201811115857 A CN 201811115857A CN 109095301 A CN109095301 A CN 109095301A
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- China
- Prior art keywords
- rotary inertia
- elevator
- load
- lift car
- motor shaft
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
Abstract
The invention discloses a kind of elevator control method, device, equipment and storage mediums.This method comprises: obtaining the weight information of lift car；According to the weight information, the rotary inertia on motor shaft is determined；According to the rotary inertia on the motor shaft, the speed ring PI parameter of electric life controller is adjusted；According to speed ring PI parameter adjusted, the operating status of the elevator is controlled.The technical solution of the embodiment of the present invention can automatically adjust the parameter of electric life controller according to elevator car loading, improve the operational effect of lift car.
Description
Technical field
The present embodiments relate to PID control technical field more particularly to a kind of elevator control method, device, equipment and
Medium.
Background technique
With the development of PID (Proportion-Integral-Derivative, proportional-integral-differential) control technology,
PID controller has many advantages, such as that such as structure is simple, calculation amount is small, is easily achieved and strong robustness, is widely used in smelting
Gold, chemical industry, electrically and mechanically etc. in various industrial stokeholds.
Currently, the speed ring PI (Proportional- in PID control technology has also been introduced in elevator variable frequency driving process
Integral, proportional, integral) controller controls elevator.Specifically, the parameter of current velocity Huo existing speed ring PI controller is logical
The Field adjustment experience accumulated by engineer is often needed to determine.In elevator variable frequency driving, speed ring PI parameter is solid
Fixed, i.e., lift car is all to carry out speed regulating control using identical speed ring PI parameter under different load conditions, is caused
Lift car is difficult to reach ideal operational effect under different load conditions, influences the comfort level that passenger takes elevator.
Summary of the invention
The embodiment of the present invention provides a kind of elevator control method, device, equipment and medium, with according to elevator car loading from
The parameter of dynamic adjustment speed ring PI controller, improves the operational effect of lift car.
In a first aspect, the embodiment of the invention provides a kind of elevator control methods, this method comprises:
Obtain the weight information of lift car；
According to the weight information, the rotary inertia on motor shaft is determined；
According to the rotary inertia on the motor shaft, the speed ring PI parameter of electric life controller is adjusted；
According to speed ring PI parameter adjusted, the operating status of the elevator is controlled.
Second aspect, the embodiment of the invention also provides a kind of elevator control gear, which includes:
Weight information obtains module, for obtaining the weight information of lift car；
Rotary inertia determining module, for determining the rotary inertia on motor shaft according to the weight information；
Parameter adjustment module, for adjusting the speed of electric life controller according to the rotary inertia on the motor shaft
Spend ring PI parameter；
Elevator controlling module, for being controlled to the operating status of the elevator according to speed ring PI parameter adjusted
System.
The third aspect, the embodiment of the invention also provides a kind of equipment, are applied to elevator control system, which includes:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processing
Device realizes the elevator control method as described in any embodiment of that present invention.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the elevator control method as described in any embodiment of that present invention when the program is executed by processor.
The embodiment of the present invention determines the rotary inertia on motor shaft by the weight information of acquisition lift car in real time, into
And the speed ring PI parameter of electric life controller is adjusted in real time, to realize to the real-time control of elevator operation, solve elevator
Carriage is difficult to the problem of reaching ideal operational effect under different load conditions, can automatically adjust electricity according to elevator car loading
The parameter of terraced controller improves the comfort level that passenger takes elevator.
Detailed description of the invention
Fig. 1 is a kind of flow chart for elevator control method that the embodiment of the present invention one provides；
Fig. 2 is the flow chart of another elevator control method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of structural schematic diagram for elevator control gear that the embodiment of the present invention three provides；
Fig. 4 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for elevator control method that the embodiment of the present invention one provides, and the present embodiment is applicable to base
In speed ring PI controller controls elevator the case where, this method can be filled by elevator controlling provided in an embodiment of the present invention
It sets or equipment executes, the mode which can be used software and/or hardware realizes.As shown in Figure 1, specifically including following step
It is rapid:
S101 obtains the weight information of lift car.
Wherein, the weight information of lift car can be information relevant to elevator loading, such as can be lift car and works as
The weight that the preceding moment is born is also possible to the load-carrying percentage information at lift car current time.Wherein, load-carrying percentage is believed
Breath can be the percentage that the weight that elevator current time is born accounts for full load weight.
Optionally, in embodiments of the present invention, it when obtaining the weight information of lift car, can be directly by elevator
The Weighing module of setting obtains the weight that lift car is born in real time, the Weighing module that is also possible to that no setting is required, transports in elevator
During row, the load-carrying percentage information of the lift car is obtained, for example, other data when by detection elevator operation
(such as compensating torque), to calculate the load-carrying percentage information of lift car.
Optionally, under static state, waiting Passengen passes in and out elevator, therefore when elevator starts operation every time, may
There is the case where elevator car loading changes, and in running process of elevator, lift car is closed, and Please Remain Seated During Performance, is carried
Weight does not change usually, therefore, when obtaining the weight information of lift car, obtains one when can be starting operation each time
Secondary this starts the weight information of corresponding lift car.
It should be noted that the weight information in the embodiment of the present invention is not limited to the weight that lift car current time born
Amount and load-carrying percentage, can also be that other are relevant to elevator loading, and it is used finally to calculate the rotation on motor shaft
The information of amount, to this embodiment of the present invention without limiting.
S102 determines the rotary inertia on motor shaft according to weight information.
Wherein, motor shaft is support rotary components, transmitting torque and determines rotational components to the relative position of stator
Axis.Rotary inertia on motor shaft can be lift car in the current state of operation, inertia when around the shaft rotation of motor
Measurement.Optionally, the motor in the embodiment of the present invention can be elevator hoisting motor, other being also possible on elevator are used for
Drive the motor of elevator variable frequency movement.
Optionally, according to weight information, when determining the rotary inertia on motor shaft, if weight information is that lift car is current
The weight that moment is born then can be system according to the calculation formula of preset rotary inertia, when current according to lift car
Born weight is carved, come rotary inertia when calculating the operation of current time elevator on motor shaft.
If elevator is that can not accurately measure the weight that lift car current time born without weighing elevator, then can be
First allow lift car in operation is started under light condition (being the state of 0% load i.e. in lift car), system is according to pre- imputation
Method calculates the unloaded rotary inertia J corresponded on motor shaft at this time_empty, then allow lift car in full load condition (elevator car again
Be the state of 100% load in compartment) under start operation, system calculates expiring on corresponding motor shaft at this time according to preset algorithm
Inertia J is moved in idling_full, finally further according to weight information (such as live load percentage wp), according to formula J_cal=J_empty+
(J_full-J_empty)×wpIt calculates elevator and is currently up the rotary inertia on the motor shaft under operating status.
Need to illustrate when, the application determines that the method for rotary inertia when elevator is currently up operation on motor shaft is unlimited
In both the above, any method that the rotary inertia on motor shaft is determined according to weight information can be, according to load-carrying
The difference of information can be used different algorithmic formulas and carry out the rotary inertia being calculated on motor shaft, the embodiment of the present invention pair
This is without limiting.
S103 adjusts the speed ring PI parameter of electric life controller according to the rotary inertia on motor shaft.
Wherein, speed ring PI parameter includes at least proportionality coefficient kapWith integral coefficient kip, it is to adjust elevator variable frequency driving
Two important parameters.Electric life controller can be the control unit of control electric operation, can be the master control list of elevator
Member is also possible to a certain sub-control unit, and optionally, the electric life controller of the present embodiment can be speed ring PI controller.Speed
The formula for spending ring PI parameter is as follows:
Wherein, kapFor the proportionality coefficient in speed ring PI parameter, kipFor the integral coefficient in speed ring PI parameter, J_calFor
Elevator is currently up the rotary inertia on the motor shaft under operating status,Open-loop cut-off frequency, K it is expected for speed ringtFor electricity
Machine torque constant.
Specifically, in embodiments of the present invention, elevator is currently up under operating status in above-mentioned speed ring PI parameter equation
Motor shaft on rotary inertia J_calIt is not fixed and invariable, but with the starting of each lift car operation calculating pair
Rotation rotary inertia J on the motor shaft answered_cal, and by the rotary inertia J on the motor shaft being calculated each time_cal, substitute into
The formula of above-mentioned speed ring PI parameter constantly adjusts speed ring PI parameter (the i.e. proportionality coefficient k of electric life controllerapAnd integration system
Number kip)。
Proportionality coefficient k it should be noted that the embodiment of the present invention is not limited to only to regulate the speed in ring PI parameterapWith
Integral coefficient kip, related algorithm formula can also be used, according to its in elevator car loading information calculating speed ring PI parameter
His parameter value, and then achieve the effect that ring PI parameter of regulating the speed.To this application without limiting.
S104 controls the operating status of elevator according to speed ring PI parameter adjusted.
Illustratively, when being controlled by speed ring PI controller elevator operation, usually adjustment speed
Relevant speed ring PI parameter in ring PI controller, to reach the control to the operating status of elevator.In the embodiment of the present application,
The starting of operation each time for lift car, can calculate corresponding speed ring PI parameter, can be based on transporting each time
Corresponding parameter in speed ring PI parameter adjustment electric life controller (such as speed ring PI controller) that row starting is calculated, in turn
The control to the operating status of elevator is completed by electric life controller.
Optionally, the embodiment of the present invention is applicable to durface mounted permanent magnet synchronous motor (Permanent Magnetic
Synchronous Machine, PMSM) model, it can be and carry out under following at least four precondition: (1) ignoring iron
Core saturation；(2) disregard vortex and magnetic hystersis loss；(3) undamped winding, permanent magnet disregard damping action on rotor；(4) phase winding
Middle induced electromotive force waveform is sine wave.Optionally, in order to improve the accuracy to elevator controlling, be also possible to consider with up to
Lack four preconditions and the elevator control method in conjunction with described in the embodiment of the present invention to realize the control to elevator, specific feelings
Condition can according to actual needs depending on, to this without limit.
The embodiment of the invention provides a kind of elevator control methods, by obtaining the weight information of lift car in real time, really
Determine the rotary inertia on motor shaft, and then adjust the speed ring PI parameter of electric life controller in real time, shape is run to elevator to realize
The real-time control of state solves the problems, such as that lift car is difficult to reach ideal operational effect, Ke Yiyi under different load conditions
According to the parameter of elevator car loading automatic adjustment electric life controller, the comfort level that passenger takes elevator is improved.
Embodiment two
Fig. 2 is the flow chart of another elevator control method provided by Embodiment 2 of the present invention, and the present embodiment is with aforementioned reality
Based on applying example, provide a preferred embodiment, suitable for without weighing elevator control the case where, such as by obtain elevator
The load-carrying percentage information of carriage determines the rotary inertia on motor shaft, and then realizes the control to elevator operation.
It should be noted that the present embodiment is applicable to durface mounted permanent magnet synchronous motor (Permanent Magnetic
Synchronous Machine, PMSM) model, next the PMSM model is illustrated.Supposed premise condition: (1) ignore
Core sataration；(2), disregard vortex and magnetic hystersis loss；(3), undamped winding, permanent magnet disregard damping action on rotor；(4),
Induced electromotive force waveform is sine wave in phase winding.Inductance L for the PMSM model, on d axisdEqual to the inductance L on q axisqDeng
In inductance L, using the electric current i on d axisdControlled equal to 0, then under d-q synchronous rotating frame PMSM voltage equation are as follows:
Wherein, uqFor q shaft voltage, udFor d shaft voltage, iqFor q shaft current,It is q shaft current to the derivative of time, ψfFor
Permanent magnet flux linkage, R are stator winding resistance, and L is stator winding inductance, ωeFor the angular rate of motor.
Torque equation are as follows:
Wherein, TeFor motor electromagnetic torque, P is number of pole-pairs, ψfFor permanent magnet flux linkage, iqFor q shaft current, KtIt is normal for torque
Number.
Run equation are as follows:
Wherein, ωmFor motor mechanical angular speed (wherein,),For the mechanical angle velocity versus time of motor
Derivative, KtFor torque constant, J is rotary inertia on motor shaft, and B is coefficient of friction, TLFor load torque.
Formula (1)-(3) are subjected to Laplace transform, obtain PMSM speed ring Gc_pmsm(s) and electric current loop Gs_pmsm(s)
Decoupled Model are as follows:
Wherein, iqIt (s) is frequency domain q shaft current, uqIt (s) is frequency domain q shaft voltage, s is frequency-domain function variable, and L is stator winding
Inductance, R are stator winding resistance.
Wherein, ωmIt (s) is the mechanical angular speed of frequency domain motor, KtFor torque constant, iqIt (s) is frequency domain q shaft current, Te
It (s) is the torque of frequency domain motor electromagnetic, s is frequency-domain function variable, and J is the rotary inertia on motor shaft, and B is coefficient of friction.
Specifically, as shown in Fig. 2, the elevator control method includes:
S201 obtains the starting with full load compensating torque, No Load Start compensating torque and operation compensating torque of lift car.
Illustratively, in the embodiment of the present application, starting with full load compensating torque, the No Load Start compensation of lift car are obtained
Torque and operation compensating torque, can be the inspection travel that elevator is carried out after elevator installation, first allow lift car is interior to keep
No Load Start, system calculates No Load Start compensating torque automatically, and the No Load Start compensating torque being calculated is arranged to electricity
In the first pre-set code (such as function code F707) of terraced frequency conversion drive function；Then, it pushes away after addition is fully loaded in carriage and starts in electricity,
System calculates starting with full load compensating torque automatically, and the starting with full load compensating torque being calculated is arranged to elevator variable frequency function
The second pre-set code (such as function code S706) in；Finally, system can be according to without weighing electricity in elevator each normal use
Its corresponding operation compensating torque is calculated automatically after terraced carriage starting.
S202 determines elevator car according to starting with full load compensating torque, No Load Start compensating torque and operation compensating torque
The load-carrying percentage information in compartment.
Illustratively, in the embodiment of the present application, it when determining the load-carrying percentage information of lift car, can be according to such as
Lower formula calculates the load-carrying ratio w under elevator current motion statep:
Wherein, M_calFor starting compensating torque corresponding under elevator current state, M_emptyIt is corresponding under elevator no-load state
Starting compensating torque, M_fullFor starting compensating torque corresponding under elevator cars with full load state.
Specifically, the operation each time for lift car starts, can be from the code of elevator variable frequency driving function
Function code F707 No Load Start compensating torque and function code F706 starting with full load compensating torque are obtained, and calculates current operation starting
Operation compensating torque；Then the load-carrying ratio w under above-mentioned formula calculating elevator current motion state is substituted intop。
S203 obtains fully loaded rotary inertia and unloaded rotary inertia on motor shaft.
Illustratively, the method for obtaining the fully loaded rotary inertia on motor shaft and unloaded rotary inertia can be, and divide in advance
Not Kong Zhi the operation of lift car starting with full load and No Load Start operation, and respectively when lift car is fully loaded and unloaded, according to pre-
If algorithmic formula calculates separately the fully loaded rotary inertia on motor shaft corresponding when zero load of lift car.Optionally, Ke Yi
It precalculates after obtaining fully loaded rotary inertia and unloaded rotary inertia, respectively by fully loaded rotary inertia and unloaded rotary inertia difference
Be correspondingly arranged in the pre-set code of elevator variable frequency driving function, execute S203 obtain lift car fully loaded rotary inertia and
When unloaded rotary inertia, obtained directly from the pre-set code of elevator variable frequency driving function.
S204 is determined and is turned on motor shaft according to fully loaded rotary inertia, unloaded rotary inertia and load-carrying percentage information
Dynamic inertia.
Illustratively, the present embodiment can be when determining the rotary inertia on motor shaft and calculate institute according to following formula
It states elevator and currently runs rotary inertia J on the motor shaft of starting_cal:
J_cal=J_empty+(J_full-J_empty)×wp；
Wherein, J_emptyFor the unloaded rotary inertia on corresponding motor shaft under lift car light condition, J_fullFor elevator
Fully loaded rotary inertia under carriage full load condition on corresponding motor shaft, wpFor the load-carrying ratio under elevator current operating conditions.
Specifically, by the unloaded rotary inertia under the lift car light condition obtained in S303 on corresponding motor shaft
J_emptyAnd the fully loaded rotary inertia J under lift car full load condition on corresponding motor shaft_full, above-mentioned formula is substituted into, is calculated
Elevator currently runs the rotary inertia J on the motor shaft of starting_cal。
S205 adjusts the speed ring PI parameter of electric life controller according to the rotary inertia on motor shaft.
S206 controls the operating status of elevator according to speed ring PI parameter adjusted.
The embodiment of the invention provides a kind of elevator control methods, are based on PMSM model, by obtaining starting with full load, zero load
Compensating torque when starting and being currently up operation, determines the load-carrying percentage of lift car, in conjunction with the fully loaded of acquisition and
Unloaded rotary inertia and fully loaded rotary inertia on motor shaft under light condition, when calculating is currently up operation on motor shaft
Rotary inertia, and then the speed ring PI parameter of electric life controller is adjusted in real time, to realize the real-time control to elevator operation.
For without weighing elevator, the parameter for automatically adjusting electric life controller according to elevator car loading also may be implemented, improve elevator car
The operational effect in compartment.
Embodiment three
Fig. 3 is a kind of structural schematic diagram for elevator control gear that the embodiment of the present invention three provides, and the device is executable originally
Elevator control method provided by invention any embodiment has the corresponding functional module of execution method and beneficial effect.Such as Fig. 3
Shown, which includes:
Weight information obtains module 301, for obtaining the weight information of lift car；
Rotary inertia determining module 302, for determining the rotary inertia on motor shaft according to the weight information；
Parameter adjustment module 303, for adjusting the speed ring of electric life controller according to the rotary inertia on the motor shaft
PI parameter；
Elevator controlling module 304, for being carried out to the operating status of the elevator according to speed ring PI parameter adjusted
Control.
Elevator control gear provided in an embodiment of the present invention determines electricity by obtaining the weight information of lift car in real time
Rotary inertia on arbor, and then the speed ring PI parameter of electric life controller is adjusted in real time, to realize to elevator operation
Real-time control solves the problems, such as that lift car is difficult to reach ideal operational effect under different load conditions, can be according to electricity
The parameter of terraced car weight automatic adjustment electric life controller, improves the comfort level that passenger takes elevator.
Further, above-mentioned rotary inertia determining module 302 includes:
Rotary inertia acquiring unit, for obtaining the fully loaded rotary inertia on the motor shaft and unloaded rotary inertia；
Rotary inertia determination unit, for according to the fully loaded rotary inertia, the unloaded rotary inertia and the load
Weight information, determines the rotary inertia on the motor shaft of the elevator.
Further, above-mentioned weight information obtains module 301 and is specifically used for:
In running process of elevator, the load-carrying percentage information of the lift car is obtained.
Further, above-mentioned weight information obtains module 301 and specifically includes:
Compensating torque acquiring unit, for obtaining starting with full load compensating torque, the No Load Start compensation of the lift car
Torque and operation compensating torque；
Load-carrying determination unit, for according to the starting with full load compensating torque, the No Load Start compensating torque and institute
Operation compensating torque is stated, determines the load-carrying percentage information of the lift car.
It is worth noting that, included each unit and module are only pressed in the embodiment of above-mentioned elevator control gear
It is divided, but is not limited to the above division according to function logic, as long as corresponding functions can be realized；For example,
The device can only include obtaining module and processing module, obtain the acquisition that module realizes elevator car loading information；Handle mould
Block is for realizing correlation functions such as the determination of rotary inertia, the adjustment of parameter and elevator controllings.In addition, the tool of each functional unit
Body title is also only for convenience of distinguishing each other, the protection scope being not intended to restrict the invention.
Example IV
Fig. 4 is a kind of structural schematic diagram for equipment that the embodiment of the present invention four provides.Fig. 4, which is shown, to be suitable for being used to realizing this
The block diagram of the example devices 40 of invention embodiment.The equipment 40 that Fig. 4 is shown is only an example, should not be to of the invention real
The function and use scope for applying example bring any restrictions.As shown in figure 4, the equipment 40 is showed in the form of universal computing device,
The equipment 40 can be applied to elevator control system.The component of the equipment 40 can include but is not limited to: one or more processing
Device or processing unit 401, system storage 402 connect different system components (including system storage 402 and processing unit
401) bus 403.
Bus 403 indicates one of a few class bus structures or a variety of, including memory bus or Memory Controller,
Peripheral bus, graphics acceleration port, processor or the local bus using any bus structures in a variety of bus structures.It lifts
For example, these architectures include but is not limited to industry standard architecture (ISA) bus, microchannel architecture (MAC)
Bus, enhanced isa bus, Video Electronics Standards Association (VESA) local bus and peripheral component interconnection (PCI) bus.
Equipment 40 typically comprises a variety of computer system readable media.These media can be it is any can be by equipment 40
The usable medium of access, including volatile and non-volatile media, moveable and immovable medium.
System storage 402 may include the computer system readable media of form of volatile memory, such as deposit at random
Access to memory (RAM) 404 and/or cache memory 405.Equipment 40 may further include other removable/not removable
Dynamic, volatile/non-volatile computer system storage medium.Only as an example, storage system 406 can be used for read and write can not
Mobile, non-volatile magnetic media (Fig. 4 do not show, commonly referred to as " hard disk drive ").Although not shown in fig 4, Ke Yiti
For the disc driver for being read and write to removable non-volatile magnetic disk (such as " floppy disk "), and to moving non-volatile light
The CD drive of disk (such as CD-ROM, DVD-ROM or other optical mediums) read-write.In these cases, each driver
It can be connected by one or more data media interfaces with bus 403.System storage 402 may include at least one journey
Sequence product, the program product have one group of (for example, at least one) program module, these program modules are configured to perform this hair
The function of bright each embodiment.
Program/utility 408 with one group of (at least one) program module 407, can store and deposit in such as system
In reservoir 402, such program module 407 includes but is not limited to operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.Program mould
Block 407 usually executes function and/or method in embodiment described in the invention.
Equipment 40 can also be logical with one or more external equipments 406 (such as keyboard, sensing equipment, display 410 etc.)
Letter, can also be enabled a user to one or more equipment interact with the equipment communicate, and/or with enable the equipment 40 with
One or more of the other any equipment (such as network interface card, modem etc.) communication for calculating equipment and being communicated.It is this logical
Letter can be carried out by input/output (I/O) interface 411.Also, equipment 40 can also pass through network adapter 412 and one
Or multiple networks (such as local area network (LAN), wide area network (WAN) and/or public network, such as internet) communication.Such as Fig. 4 institute
Show, network adapter 412 is communicated by bus 403 with other modules of equipment 40.It should be understood that although not shown in the drawings, can
Other hardware and/or software module are used with bonding apparatus 40, including but not limited to: microcode, device driver, redundancy processing
Unit, external disk drive array, RAID system, tape drive and data backup storage system etc..
Processing unit 401 by the program that is stored in system storage 402 of operation, thereby executing various function application with
And data processing, such as realize elevator control method provided by the embodiment of the present invention.
Embodiment five
The embodiment of the present invention five additionally provides a kind of computer readable storage medium, is stored thereon with computer program, should
Program can realize elevator control method described in above-described embodiment when being executed by processor.
The computer storage medium of the embodiment of the present invention, can be using any of one or more computer-readable media
Combination.Computer-readable medium can be computer-readable signal media or computer readable storage medium.It is computer-readable
Storage medium for example may be-but not limited to-the system of electricity, magnetic, optical, electromagnetic, infrared ray or semiconductor, device or
Device, or any above combination.The more specific example (non exhaustive list) of computer readable storage medium includes: tool
There are electrical connection, the portable computer diskette, hard disk, random access memory (RAM), read-only memory of one or more conducting wires
(ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read-only memory (CD-
ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.In this document, computer-readable storage
Medium can be any tangible medium for including or store program, which can be commanded execution system, device or device
Using or it is in connection.
Computer-readable signal media may include in a base band or as carrier wave a part propagate data-signal,
Wherein carry computer-readable program code.The data-signal of this propagation can take various forms, including but unlimited
In electromagnetic signal, optical signal or above-mentioned any appropriate combination.Computer-readable signal media can also be that computer can
Any computer-readable medium other than storage medium is read, which can send, propagates or transmit and be used for
By the use of instruction execution system, device or device or program in connection.
The program code for including on computer-readable medium can transmit with any suitable medium, including --- but it is unlimited
In wireless, electric wire, optical cable, RF etc. or above-mentioned any appropriate combination.
The computer for executing operation of the present invention can be write with one or more programming languages or combinations thereof
Program code, described program design language include object oriented program language-such as Java, Smalltalk, C++,
Further include conventional procedural programming language-such as " C " language or similar programming language.Program code can be with
It fully executes, partly execute on the user computer on the user computer, being executed as an independent software package, portion
Divide and partially executes or executed on a remote computer or server completely on the remote computer on the user computer.?
Be related in the situation of remote computer, remote computer can pass through the network of any kind --- including local area network (LAN) or
Wide area network (WAN)-be connected to subscriber computer, or, it may be connected to outer computer (such as mentioned using Internet service
It is connected for quotient by internet).
Above-described embodiment serial number is for illustration only, does not represent the advantages or disadvantages of the embodiments.
Will be appreciated by those skilled in the art that each module of the above-mentioned embodiment of the present invention or each operation can be used and lead to
Computing device realizes that they can be concentrated on single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computer installation can be performed, so as to storing them
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or operation be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
The combination of hardware and software.
All the embodiments in this specification are described in a progressive manner, the highlights of each of the examples are with
The difference of other embodiments, the same or similar part between each embodiment may refer to each other.
The above description is only a preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For, the invention can have various changes and changes.All any modifications made within the spirit and principles of the present invention are equal
Replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of elevator control method characterized by comprising
Obtain the weight information of lift car；
According to the weight information, the rotary inertia on motor shaft is determined；
According to the rotary inertia on the motor shaft, the speed ring PI parameter of electric life controller is adjusted；
According to speed ring PI parameter adjusted, the operating status of the elevator is controlled.
2. determining on motor shaft the method according to claim 1, wherein described according to the weight information
Rotary inertia, comprising:
Obtain the fully loaded rotary inertia and unloaded rotary inertia on the motor shaft；
According to the fully loaded rotary inertia, the unloaded rotary inertia and the weight information, determine on the motor shaft
Rotary inertia.
3. the method according to claim 1, wherein the weight information for obtaining lift car, comprising:
In running process of elevator, the load-carrying percentage information of the lift car is obtained.
4. according to the method described in claim 3, it is characterized in that, the load-carrying percentage letter for obtaining the lift car
Breath, comprising:
Obtain the starting with full load compensating torque, No Load Start compensating torque and operation compensating torque of the lift car；
According to the starting with full load compensating torque, the No Load Start compensating torque and the operation compensating torque, institute is determined
State the load-carrying percentage information of lift car.
5. a kind of elevator control gear characterized by comprising
Weight information obtains module, for obtaining the weight information of lift car；
Rotary inertia determining module, for determining the rotary inertia on motor shaft according to the weight information；
Parameter adjustment module, for adjusting the speed ring PI parameter of electric life controller according to the rotary inertia on the motor shaft；
Elevator controlling module, for controlling the operating status of the elevator according to speed ring PI parameter adjusted.
6. device according to claim 5, which is characterized in that the rotary inertia determining module includes:
Rotary inertia acquiring unit, for obtaining the fully loaded rotary inertia on the motor shaft and unloaded rotary inertia；
Rotary inertia determination unit, for being believed according to the fully loaded rotary inertia, the unloaded rotary inertia and the load-carrying
Breath, determines the rotary inertia on the motor shaft.
7. device according to claim 5, which is characterized in that the weight information obtains module and is specifically used for:
In running process of elevator, the load-carrying percentage information of the lift car is obtained.
8. device according to claim 7, which is characterized in that the weight information obtains module and specifically includes:
Compensating torque acquiring unit, for obtaining starting with full load compensating torque, the No Load Start compensating torque of the lift car
And operation compensating torque；
Load-carrying determination unit, for according to the starting with full load compensating torque, the No Load Start compensating torque and the fortune
Row compensating torque determines the load-carrying percentage information of the lift car.
9. a kind of equipment, which is characterized in that be applied to elevator control system, comprising:
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors, so that one or more of processors are real
The now elevator control method as described in any in claim 1-4.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The elevator control method as described in any in claim 1-4 is realized when execution.
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| CN201811115857.2A CN109095301B (en) | 2018-09-25 | 2018-09-25 | Elevator control method, device, equipment and medium |
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| CN201811115857.2A CN109095301B (en) | 2018-09-25 | 2018-09-25 | Elevator control method, device, equipment and medium |
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| CN109969880A (en) * | 2019-04-09 | 2019-07-05 | 深圳市海浦蒙特科技有限公司 | A kind of elevator starting control method and system |
| CN110510465A (en) * | 2019-08-09 | 2019-11-29 | 深圳市海浦蒙特科技有限公司 | It is a kind of to drive elevator starting control method and system by force |
| CN110606421A (en) * | 2019-09-27 | 2019-12-24 | 日立楼宇技术（广州）有限公司 | Correction method of elevator load data and related equipment |
| CN111498620A (en) * | 2020-04-17 | 2020-08-07 | 上海辛格林纳新时达电机有限公司 | Elevator control method and device, electronic equipment and storage medium |
| CN111824876A (en) * | 2020-08-10 | 2020-10-27 | 苏州汇川技术有限公司 | Method and device for controlling vibration of elevator and readable storage medium |
| CN112960501A (en) * | 2021-02-23 | 2021-06-15 | 杭州优迈科技有限公司 | Elevator operation control method and device and electronic equipment |
| CN116354196A (en) * | 2023-03-17 | 2023-06-30 | 江苏西德电梯有限公司 | Elevator group control management system based on data analysis |
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| CN111824876A (en) * | 2020-08-10 | 2020-10-27 | 苏州汇川技术有限公司 | Method and device for controlling vibration of elevator and readable storage medium |
| CN112960501A (en) * | 2021-02-23 | 2021-06-15 | 杭州优迈科技有限公司 | Elevator operation control method and device and electronic equipment |
| CN116354196A (en) * | 2023-03-17 | 2023-06-30 | 江苏西德电梯有限公司 | Elevator group control management system based on data analysis |
| CN116354196B (en) * | 2023-03-17 | 2023-09-22 | 江苏西德电梯有限公司 | Elevator group control management system based on data analysis |
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