CN109095301B - Elevator control method, device, equipment and medium - Google Patents
Elevator control method, device, equipment and medium Download PDFInfo
- Publication number
- CN109095301B CN109095301B CN201811115857.2A CN201811115857A CN109095301B CN 109095301 B CN109095301 B CN 109095301B CN 201811115857 A CN201811115857 A CN 201811115857A CN 109095301 B CN109095301 B CN 109095301B
- Authority
- CN
- China
- Prior art keywords
- load
- elevator
- rotational inertia
- motor shaft
- elevator car
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses an elevator control method, an elevator control device, elevator control equipment and a storage medium. The method comprises the following steps: acquiring load information of an elevator car; determining the rotational inertia on the motor shaft according to the load information; adjusting a speed loop PI parameter of an elevator controller according to the rotational inertia on the motor shaft; and controlling the running state of the elevator according to the adjusted speed loop PI parameter. According to the technical scheme of the embodiment of the invention, the parameters of the elevator controller can be automatically adjusted according to the load of the elevator car, so that the operation effect of the elevator car is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of PID control, in particular to an elevator control method, device, equipment and medium.
Background
With the development of the PID (proportional-Integral-Derivative) control technology, the PID controller has the advantages of simple structure, small calculated amount, easy implementation, strong robustness and the like, and is widely applied to various industrial process controls such as metallurgy, chemical engineering, electric power, machinery and the like.
At present, a speed loop PI (Proportional-Integral) controller in a PID control technology is also introduced into an elevator variable frequency driving process to control an elevator. In particular, the parameters of existing speed loop PI controllers typically need to be determined by relying on site tuning experience accumulated by engineers. In the variable frequency drive of the elevator, the speed ring PI parameter is fixed, namely the elevator car adopts the same speed ring PI parameter to carry out speed regulation control under different load conditions, so that the elevator car is difficult to achieve an ideal operation effect under different load conditions, and the comfort level of passengers taking the elevator is influenced.
Disclosure of Invention
The embodiment of the invention provides an elevator control method, an elevator control device, elevator control equipment and an elevator control medium, which are used for automatically adjusting parameters of a speed loop PI (proportional integral) controller according to the load of an elevator car and improving the operation effect of the elevator car.
In a first aspect, an embodiment of the present invention provides an elevator control method, including:
acquiring load information of an elevator car;
determining the rotational inertia on the motor shaft according to the load information;
adjusting a speed loop PI parameter of an elevator controller according to the rotational inertia on the motor shaft;
and controlling the running state of the elevator according to the adjusted speed loop PI parameter.
In a second aspect, an embodiment of the present invention further provides an elevator control apparatus, including:
the load information acquisition module is used for acquiring the load information of the elevator car;
the rotational inertia determining module is used for determining the rotational inertia on the motor shaft according to the load information;
a parameter adjusting module for adjusting the speed of the elevator controller according to the rotational inertia on the motor shaft
Degree ring PI parameter;
and the elevator control module is used for controlling the running state of the elevator according to the adjusted speed loop PI parameter.
In a third aspect, an embodiment of the present invention further provides an apparatus applied to an elevator control system, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement an elevator control method according to any embodiment of the present invention.
In a fourth aspect, the embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements an elevator control method according to any embodiment of the present invention.
According to the embodiment of the invention, the load information of the elevator car is acquired in real time, the rotational inertia on the motor shaft is determined, and the speed ring PI parameter of the elevator controller is further adjusted in real time, so that the real-time control of the operation state of the elevator is realized, the problem that the elevator car is difficult to achieve an ideal operation effect under different load conditions is solved, the parameter of the elevator controller can be automatically adjusted according to the load of the elevator car, and the comfort level of passengers taking the elevator is improved.
Drawings
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present invention;
fig. 2 is a flowchart of another elevator control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of an elevator control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present invention, where the embodiment is applicable to a situation where an elevator is controlled based on a speed loop PI controller, and the method can be executed by an elevator control apparatus or device according to an embodiment of the present invention, and the apparatus can be implemented in a software and/or hardware manner. As shown in fig. 1, the method specifically comprises the following steps:
and S101, acquiring the load information of the elevator car.
The load information of the elevator car may be information related to the load of the elevator, such as the weight loaded by the elevator car at the current time, or the load percentage information of the elevator car at the current time. Wherein the load percentage information may be the percentage of the weight loaded by the elevator at the present moment in time to the weight at full load.
Optionally, in the embodiment of the present invention, when obtaining the load information of the elevator car, the load information of the elevator car may be obtained directly by a weighing module arranged on the elevator in real time, or the load information of the elevator car may be obtained without a weighing module, and in the elevator operation process, the load percentage information of the elevator car is obtained, for example, the load percentage information of the elevator car is calculated by detecting other data (such as a compensation moment) in the elevator operation process.
Optionally, the elevator waits for passengers to enter and exit in a static state, so that the load of the elevator car may change when the elevator is started and operated each time, and in the operation process of the elevator, the elevator car is closed and is prohibited from entering and exiting, and the load of the elevator car is not changed generally, so that when the load information of the elevator car is obtained, the load information of the elevator car corresponding to the current start can be obtained each time when the elevator is started and operated each time.
It should be noted that the load information in the embodiment of the present invention is not limited to the weight and the load percentage loaded by the elevator car at the current time, and may be other information related to the elevator load and capable of finally calculating the rotational inertia on the motor shaft, and the embodiment of the present invention is not limited thereto.
And S102, determining the rotational inertia on the motor shaft according to the load information.
The motor shaft is the shaft that supports the rotating parts, transmits torque, and determines the relative position of the rotating parts to the stator. The moment of inertia on the motor shaft can be a measure of the inertia of the elevator car when it is rotating around the axis of rotation of the motor in the current operating state. Optionally, the motor in the embodiment of the present invention may be an elevator traction motor, or may be another motor used for driving an elevator to perform variable frequency motion on the elevator.
Optionally, when the rotational inertia on the motor shaft is determined according to the load information, if the load information is the weight borne by the elevator car at the current time, the system may calculate the rotational inertia on the motor shaft when the elevator operates at the current time according to a preset calculation formula of the rotational inertia and the weight borne by the elevator car at the current time.
If the elevator is a non-weighing elevator, the weight borne by the elevator car at the current moment cannot be accurately measured, the elevator car can be started to operate in an idle-load state (namely, the state of 0% load in the elevator car), and the system calculates the idle-load moment of inertia J on the corresponding motor shaft at the moment according to a preset algorithm_emptyThen the elevator car is started to run under the full load state (the state of 100% load in the elevator car), and the system calculates the full load moment of inertia J on the corresponding motor shaft at the moment according to a preset algorithm_fullAnd finally according to the load information (such as the current load percentage w)p) According to formula J_cal＝J_empty+(J_full-J_empty)×wpAnd calculating the rotational inertia on the motor shaft of the elevator in the current starting running state.
It should be noted that, the method for determining the rotational inertia of the motor shaft when the elevator is currently started is not limited to the above two methods, and may be any method for determining the rotational inertia of the motor shaft according to the load information, and according to the difference of the load information, different algorithm formulas may be adopted to calculate the rotational inertia of the motor shaft, which is not limited in the embodiment of the present invention.
S103, adjusting a speed loop PI parameter of the elevator controller according to the rotational inertia on the motor shaft.
Wherein the speed loop PI parameter at least comprises a proportionality coefficient kapAnd integral coefficient kipWhich are two important parameters for regulating the variable frequency drive of an elevator. The elevator controller may be a control unit for controlling the operation of an electrical appliance, may be a main control unit of an elevator, or may be a certain sub-control unit, and optionally, the elevator controller of this embodiment may be a speed loop PI controller. The formula for the speed loop PI parameter is as follows:
wherein k isapIs the proportionality coefficient, k, in the velocity loop PI parameteripIs speedIntegral coefficient in the Ring PI parameter, J_calThe moment of inertia on the motor shaft in the current starting running state of the elevator,
expecting an open loop cutoff frequency, K, for the velocity looptIs the motor torque constant.
Specifically, in the embodiment of the present invention, in the above speed loop PI parameter formula, the moment of inertia J on the motor shaft in the current starting operation state of the elevator is set_calIs not fixed, but calculates the corresponding rotational inertia J on the motor shaft along with the starting operation of each elevator car_calAnd the moment of inertia J on the motor shaft obtained by each calculation is calculated_calSubstituting the above formula of the PI parameter of the speed loop to continuously adjust the PI parameter (i.e. the proportionality coefficient k) of the speed loop of the elevator controllerapAnd integral coefficient kip)。
It should be noted that the embodiments of the present invention are not limited to adjusting only the proportionality coefficient k in the speed loop PI parameterapAnd integral coefficient kipAnd other parameter values in the speed loop PI parameter can be calculated according to the load information of the elevator car by adopting a related algorithm formula, so that the effect of adjusting the speed loop PI parameter is achieved. This application is not limited thereto.
And S104, controlling the running state of the elevator according to the adjusted speed loop PI parameter.
For example, when the operation state of the elevator is controlled by the speed loop PI controller, the relevant speed loop PI parameter in the speed loop PI controller is usually adjusted, so as to control the operation state of the elevator. In the embodiment of the application, for each operation starting of the elevator car, the corresponding speed loop PI parameter can be calculated, the corresponding parameter in the elevator controller (such as the speed loop PI controller) can be adjusted based on the speed loop PI parameter obtained by each operation starting calculation, and then the control of the operation state of the elevator is completed through the elevator controller.
Optionally, the embodiment of the present invention may be applicable to a surface-mounted Permanent Magnet Synchronous Machine (PMSM) model, and may be performed under at least four following preconditions: (1) neglecting iron core saturation; (2) eddy current and magnetic hysteresis loss are not counted; (3) the rotor is provided with no damping winding, and the damping effect of the permanent magnet is not counted; (4) the induced electromotive force waveform in the phase winding is a sine wave. Optionally, in order to improve the accuracy of elevator control, at least four of the above preconditions may be considered and the elevator control method according to the embodiment of the present invention may be combined to implement elevator control, and the specific situation may be determined according to actual needs, which is not limited herein.
The embodiment of the invention provides an elevator control method, which is characterized in that the load information of an elevator car is obtained in real time, the rotational inertia on a motor shaft is determined, and then the speed ring PI parameter of an elevator controller is adjusted in real time, so that the real-time control of the operation state of an elevator is realized, the problem that the elevator car is difficult to achieve the ideal operation effect under different load conditions is solved, the parameter of the elevator controller can be automatically adjusted according to the load of the elevator car, and the comfort level of passengers taking the elevator is improved.
Example two
Fig. 2 is a flowchart of another elevator control method according to a second embodiment of the present invention, where this embodiment provides a preferred example based on the foregoing embodiment, and is suitable for controlling an elevator without weighing, such as by obtaining information about percentage of load of an elevator car, determining a moment of inertia on a motor shaft, and further implementing control of an elevator operating state.
Note that this embodiment is applicable to a surface-mounted Permanent Magnet Synchronous Machine (PMSM) model, and the PMSM model will be described next. Assuming the preconditions: (1) neglecting iron core saturation; (2) eddy current and magnetic hysteresis loss are not counted; (3) the rotor is provided with no damping winding, and the damping effect of the permanent magnet is not counted; (4) the induced electromotive force waveform in the phase winding is a sine wave. For this PMSM model, the inductance L on the d-axisdEqual to the inductance L on the q-axisqEqual to inductance L, using current i on d-axisdAnd if the voltage is equal to 0, controlling the voltage equation of the PMSM under the d-q synchronous rotating coordinate system as follows:
wherein u isqIs the q-axis voltage, udIs d-axis voltage, iqIs the q-axis current, and is,
as the derivative of the q-axis current with respect to time, psifIs a permanent magnet flux linkage, R is stator winding resistance, L is stator winding inductance, omegaeIs the electrical angular velocity of the motor.
The torque equation is:
wherein, TeIs the electromagnetic torque of the motor, P is the pole pair number psifIs a permanent magnet flux linkage iqIs q-axis current, KtIs a torque constant.
The operating equation is:
wherein, ω ismIs the mechanical angular velocity of the motor (among others,
)，
the derivative of the mechanical angular velocity of the motor with respect to time, KtIs a torque constant, J is rotational inertia on the motor shaft, B is a coefficient of friction, TLIs the load torque.
Carrying out Laplace transformation on the formulas (1) to (3) to obtain a PMSM speed ring Gc_pmsm(s) and current loop Gs_pmsmThe decoupling model of(s) is:
wherein iq(s) is the frequency domain q-axis current, uqAnd(s) is frequency domain q-axis voltage, s is a frequency domain function variable, L is stator winding inductance, and R is stator winding resistance.
Wherein, ω ism(s) mechanical angular velocity of frequency domain motor, KtIs a torque constant, iq(s) is the frequency domain q-axis current, TeAnd(s) is the electromagnetic torque of the frequency domain motor, s is the frequency domain function variable, J is the rotational inertia on the motor shaft, and B is the friction coefficient.
Specifically, as shown in fig. 2, the elevator control method includes:
s201, acquiring full-load starting compensation torque, no-load starting compensation torque and running compensation torque of the elevator car.
For example, in the embodiment of the present application, the full load starting compensation torque, the no-load starting compensation torque, and the running compensation torque of the elevator car are obtained, and the elevator may be overhauled and run after the elevator is installed, the elevator car is firstly kept in no-load starting, the system automatically calculates the no-load starting compensation torque, and sets the calculated no-load starting compensation torque to a first preset code (for example, function code F707) of the variable frequency driving function of the elevator; then, after full load is added into the electric-driven car, the system automatically calculates full load starting compensation torque, and sets the calculated full load starting compensation torque into a second preset code (such as a function code S706) of the frequency conversion function of the elevator; and finally, when the elevator is normally used every time, the system can automatically calculate the corresponding running compensation torque according to the starting of the elevator car without weighing.
And S202, determining the load percentage information of the elevator car according to the full-load starting compensation torque, the no-load starting compensation torque and the running compensation torque.
By way of example, in the present applicationIn the embodiment, when determining the load percentage information of the elevator car, the load proportion w in the current motion state of the elevator can be calculated according to the following formulap：
Wherein M is_calFor a corresponding starting compensation moment, M, in the current state of the elevator_emptyFor a corresponding starting compensation moment, M, in the unloaded state of the elevator_fullAnd the corresponding starting compensation moment is obtained under the full-load state of the elevator.
Specifically, for each running start of the elevator car, a function code F707 no-load starting compensation torque and a function code F706 full-load starting compensation torque are obtained from codes of the elevator variable frequency drive function, and a running compensation torque of the current running start is calculated; then substituting the formula to calculate the load ratio w of the elevator in the current motion statep。
And S203, acquiring full-load rotational inertia and no-load rotational inertia on the motor shaft.
For example, the method for acquiring the full-load rotational inertia and the no-load rotational inertia on the motor shaft may be to control the full-load starting operation and the no-load starting operation of the elevator car in advance, and calculate the rotational inertia on the motor shaft corresponding to the full load and the no load of the elevator car according to a preset algorithm formula when the elevator car is full load and no load, respectively. Optionally, after the full-load rotational inertia and the no-load rotational inertia are obtained through pre-calculation, the full-load rotational inertia and the no-load rotational inertia are respectively and correspondingly set in the preset codes of the elevator variable frequency drive function, and when the full-load rotational inertia and the no-load rotational inertia of the elevator car are obtained through executing S203, the full-load rotational inertia and the no-load rotational inertia are directly obtained from the preset codes of the elevator variable frequency drive function.
And S204, determining the rotational inertia on the motor shaft according to the full-load rotational inertia, the no-load rotational inertia and the load percentage information.
For example, the present embodiment may be as follows when determining the moment of inertia on the motor shaftCalculating the moment of inertia J on the motor shaft of the current running and starting of the elevator by a formula_cal：
J_cal＝J_empty+(J_full-J_empty)×wp；
Wherein, J_emptyIs the corresponding no-load moment of inertia, J, on the motor shaft in the no-load state of the elevator car_fullIs the full-load moment of inertia, w, on the motor shaft corresponding to the full-load state of the elevator carpThe load ratio of the elevator in the current running state is obtained.
Specifically, the no-load moment of inertia J on the motor shaft corresponding to the elevator car obtained in S303 in the no-load state_emptyAnd the full-load moment of inertia J on the corresponding motor shaft under the full-load state of the elevator car_fullSubstituting the formula into the formula to calculate the moment of inertia J on the motor shaft of the current running and starting of the elevator_cal。
S205, adjusting a speed loop PI parameter of the elevator controller according to the rotational inertia on the motor shaft.
And S206, controlling the running state of the elevator according to the adjusted speed loop PI parameter.
The embodiment of the invention provides an elevator control method, which is based on a PMSM model, determines the load percentage of an elevator car by acquiring full-load starting, no-load starting and compensation torque during current starting operation, calculates the rotational inertia of a motor shaft during current starting operation by combining the acquired no-load rotational inertia and full-load rotational inertia of the motor shaft in the full-load and no-load states, and further adjusts the speed loop PI parameter of an elevator controller in real time to realize the real-time control of the elevator operation state. Aiming at the elevator without weighing, the parameters of the elevator controller can be automatically adjusted according to the load of the elevator car, and the operation effect of the elevator car is improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an elevator control device provided in a third embodiment of the present invention, which is capable of executing an elevator control method provided in any embodiment of the present invention, and has functional modules and advantageous effects corresponding to the execution method. As shown in fig. 3, the apparatus includes:
a load information acquisition module 301, configured to acquire load information of an elevator car;
a rotational inertia determining module 302, configured to determine a rotational inertia of the motor shaft according to the load information;
the parameter adjusting module 303 is configured to adjust a speed loop PI parameter of the elevator controller according to the rotational inertia of the motor shaft;
and the elevator control module 304 is used for controlling the running state of the elevator according to the adjusted speed loop PI parameter.
According to the elevator control device provided by the embodiment of the invention, the load information of the elevator car is obtained in real time, the rotational inertia on the motor shaft is determined, and then the speed ring PI parameter of the elevator controller is adjusted in real time, so that the real-time control on the operation state of the elevator is realized, the problem that the elevator car is difficult to achieve an ideal operation effect under different load conditions is solved, the parameter of the elevator controller can be automatically adjusted according to the load of the elevator car, and the comfort level of passengers taking the elevator is improved.
Further, the inertia moment determination module 302 includes:
the rotational inertia acquiring unit is used for acquiring full-load rotational inertia and no-load rotational inertia on the motor shaft;
and the rotational inertia determining unit is used for determining the rotational inertia on the motor shaft of the elevator according to the full-load rotational inertia, the no-load rotational inertia and the load information.
Further, the load information acquiring module 301 is specifically configured to:
and acquiring the load percentage information of the elevator car in the running process of the elevator.
Further, the load information acquiring module 301 specifically includes:
the compensation torque acquisition unit is used for acquiring full-load starting compensation torque, no-load starting compensation torque and running compensation torque of the elevator car;
and the load determining unit is used for determining the load percentage information of the elevator car according to the full-load starting compensation torque, the no-load starting compensation torque and the running compensation torque.
It should be noted that in the above embodiment of the elevator control apparatus, the units and modules included in the above embodiment are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; for example, the device can only comprise an acquisition module and a processing module, wherein the acquisition module realizes the acquisition of the elevator car load information; the processing module is used for realizing related functions such as determination of the moment of inertia, adjustment of parameters, elevator control and the like. In addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
Example four
Fig. 4 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention. Fig. 4 shows a block diagram of an exemplary device 40 suitable for use in implementing embodiments of the present invention. The device 40 shown in fig. 4 is only an example and should not bring any limitation to the function and scope of use of the embodiments of the present invention. As shown in fig. 4, the device 40 is in the form of a general purpose computing device, the device 40 being applicable to an elevator control system. The components of the apparatus 40 may include, but are not limited to: one or more processors or processing units 401, a system memory 402, and a bus 403 that couples the various system components (including the system memory 402 and the processing unit 401).
The system memory 402 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)404 and/or cache memory 405. Device 40 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 406 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 403 by one or more data media interfaces. System memory 402 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 408 having a set (at least one) of program modules 407 may be stored, for example, in system memory 402, such program modules 407 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 407 generally perform the functions and/or methods of the described embodiments of the invention.
The processing unit 401 executes various functional applications and data processing by running a program stored in the system memory 402, for example, to implement the elevator control method provided by the embodiment of the present invention.
EXAMPLE five
Fifth embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, can implement the elevator control method described in the above embodiments.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The above example numbers are for description only and do not represent the merits of the examples.
It will be appreciated by those of ordinary skill in the art that the modules or operations of the embodiments of the invention described above may be implemented using a general purpose computing device, which may be centralized on a single computing device or distributed across a network of computing devices, and that they may alternatively be implemented using program code executable by a computing device, such that the program code is stored in a memory device and executed by a computing device, and separately fabricated into integrated circuit modules, or fabricated into a single integrated circuit module from a plurality of modules or operations thereof. Thus, the present invention is not limited to any specific combination of hardware and software.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts in the embodiments are referred to each other.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An elevator control method, comprising:
acquiring load information of an elevator car;
determining the rotational inertia on the motor shaft according to the load information;
adjusting a speed loop PI parameter of an elevator controller according to the rotational inertia on the motor shaft;
controlling the running state of the elevator according to the adjusted speed loop PI parameter;
wherein, according to the load information, determining the moment of inertia on the motor shaft comprises:
acquiring full-load moment of inertia and no-load moment of inertia on the motor shaft;
determining the rotational inertia on the motor shaft according to the full-load rotational inertia, the no-load rotational inertia and the load information;
wherein, obtain the load information of elevator car, include:
and determining the load percentage information of the elevator car through the compensation moment in the running process of the elevator.
2. The method of claim 1, wherein the determining percent load information for the elevator car via the compensation moment comprises:
acquiring a full-load starting compensation torque, a no-load starting compensation torque and an operation compensation torque of the elevator car;
and determining the load percentage information of the elevator car according to the full-load starting compensation torque, the no-load starting compensation torque and the running compensation torque.
3. An elevator control apparatus, comprising:
the load information acquisition module is used for acquiring the load information of the elevator car;
the rotational inertia determining module is used for determining the rotational inertia on the motor shaft according to the load information;
the parameter adjusting module is used for adjusting a speed ring PI parameter of the elevator controller according to the rotational inertia on the motor shaft;
the elevator control module is used for controlling the running state of the elevator according to the adjusted speed loop PI parameter;
wherein the rotational inertia determination module includes:
the rotational inertia acquiring unit is used for acquiring full-load rotational inertia and no-load rotational inertia on the motor shaft;
the rotational inertia determining unit is used for determining the rotational inertia on the motor shaft according to the full-load rotational inertia, the no-load rotational inertia and the load information;
the load information acquisition module is specifically configured to:
and determining the load percentage information of the elevator car through the compensation moment in the running process of the elevator.
4. The apparatus according to claim 3, wherein the load information acquiring module specifically includes:
the compensation torque acquisition unit is used for acquiring full-load starting compensation torque, no-load starting compensation torque and running compensation torque of the elevator car;
and the load determining unit is used for determining the load percentage information of the elevator car according to the full-load starting compensation torque, the no-load starting compensation torque and the running compensation torque.
5. An apparatus, for use in an elevator control system, comprising:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the elevator control method of any of claims 1-2.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, carries out the elevator control method according to any one of claims 1-2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115857.2A CN109095301B (en) | 2018-09-25 | 2018-09-25 | Elevator control method, device, equipment and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115857.2A CN109095301B (en) | 2018-09-25 | 2018-09-25 | Elevator control method, device, equipment and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109095301A CN109095301A (en) | 2018-12-28 |
| CN109095301B true CN109095301B (en) | 2020-11-24 |
Family
ID=64867477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811115857.2A Active CN109095301B (en) | 2018-09-25 | 2018-09-25 | Elevator control method, device, equipment and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109095301B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110510465B (en) * | 2019-08-09 | 2022-02-18 | 深圳市海浦蒙特科技有限公司 | Forced drive elevator starting control method and system |
| 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 |
| CN111824876B (en) * | 2020-08-10 | 2023-03-24 | 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 |
| 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 |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3344087B2 (en) * | 1994-07-01 | 2002-11-11 | 三菱電機株式会社 | Elevator control device |
| FR2933249B1 (en) * | 2008-06-30 | 2010-07-30 | Schneider Toshiba Inverter | METHOD FOR ADJUSTING THE SPEED LOOP OF A SPEED DRIVE |
| JP5334985B2 (en) * | 2008-11-12 | 2013-11-06 | 三菱電機株式会社 | Elevator control device |
| WO2010143257A1 (en) * | 2009-06-08 | 2010-12-16 | 三菱電機株式会社 | Control device for elevator |
| CN104340802B (en) * | 2014-10-17 | 2016-12-07 | 南京理工大学 | A kind of elevator anti-running driving control system and driving control method |
-
2018
- 2018-09-25 CN CN201811115857.2A patent/CN109095301B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109095301A (en) | 2018-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109095301B (en) | Elevator control method, device, equipment and medium | |
| WO2014061083A1 (en) | Electric vehicle motor control device | |
| CN110995117B (en) | Motor function safety control method and device | |
| CN106537760B (en) | Motor control device and method for correcting torque constant in the same | |
| CN104009696A (en) | Interactive model reference adaptive speed and stator resistance identification method based on sliding-mode control | |
| CN115004542A (en) | Method and device for controlling an electric machine | |
| CN104104296B (en) | For the method and apparatus that mechanical resonant suppresses | |
| US9184682B2 (en) | Control of a permanent-magnet electric machine | |
| JP5074318B2 (en) | Rotor position estimation device for synchronous motor | |
| CN113131818B (en) | Hall sensor installation error identification method, device and motor control system | |
| JP2010035352A (en) | Device for estimating rotor position of synchronous electric motor | |
| Liu et al. | Speed estimation with parameters identification of PMSM based on MRAS | |
| CN116915115A (en) | Induction motor control method, device, equipment and storage medium | |
| CN113949320B (en) | Induction motor prediction control driving method and system | |
| JP2002078390A (en) | Motor controller | |
| CN110336508B (en) | PMSM stator flux linkage identification method and device | |
| Li et al. | Reactive-power-based MRAC for rotor resistance and speed estimation in bearingless induction motor drives | |
| CN112087174A (en) | Induction motor control method and device, electronic device and storage medium | |
| CN117294198B (en) | Motor flux linkage compensation method, device, storage medium and controller | |
| CN104579039B (en) | A kind of control method of permanent-magnet synchronous induction conductivity speed | |
| JP5264544B2 (en) | Control device for permanent magnet motor | |
| CN114977941B (en) | Inertia identification method, device and medium for alternating current servo system | |
| CN107612448B (en) | Disturbance-free torque compensation method for permanent magnet synchronous traction elevator system | |
| CN113497579B (en) | Operation control method, device, motor control system, motor and storage medium | |
| KR102447329B1 (en) | Method for controlling an induction motor and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |