CN109095301B - An elevator control method, device, equipment and medium - Google Patents

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

An elevator control method, device, equipment and medium

technical field

Embodiments of the present invention relate to the technical field of PID control, and in particular, to an elevator control method, device, device, and medium.

Background technique

With the development of PID (Proportion-Integral-Derivative, proportional-integral-derivative) control technology, PID controllers have the advantages of simple structure, small calculation, easy implementation and strong robustness, and are widely used in metallurgy, chemical industry , electric power and machinery and other industrial process control.

At present, the speed loop PI (Proportional-Integral, proportional-integral) controller in the PID control technology is also introduced in the elevator variable frequency drive process to control the elevator. Specifically, the parameters of the existing speed loop PI controller usually need to be determined by the on-site adjustment experience accumulated by engineers. In the elevator variable frequency drive, the speed loop PI parameter is fixed, that is, the elevator car adopts the same speed loop PI parameter for speed control under different load conditions, which makes it difficult for the elevator car to achieve the ideal under different load conditions. The operating effect of the elevator will affect the comfort of passengers taking the elevator.

SUMMARY OF THE INVENTION

The embodiments of the present invention provide an elevator control method, device, equipment and medium, so as to automatically adjust the parameters of the speed loop PI controller according to the load of the elevator car, so as to improve the running effect of the elevator car.

In a first aspect, an embodiment of the present invention provides an elevator control method, the method comprising:

Obtain the load information of the elevator car;

Determine the moment of inertia on the motor shaft according to the load information;

According to the moment of inertia on the motor shaft, adjust the speed loop PI parameter of the elevator controller;

According to the adjusted speed loop PI parameters, the running state of the elevator is controlled.

In a second aspect, an embodiment of the present invention also provides an elevator control device, the device comprising:

The load information acquisition module is used to obtain the load information of the elevator car;

a moment of inertia determination module, used for determining the moment of inertia on the motor shaft according to the load information;

The parameter adjustment module is used to adjust the speed of the elevator controller according to the moment of inertia on the motor shaft

Degree loop PI parameters;

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, the embodiment of the present invention also provides a device, which is applied to an elevator control system, and the device includes:

one or more processors;

a storage device 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 implement the elevator control method according to any embodiment of the present invention.

In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the elevator control method according to any embodiment of the present invention.

The embodiment of the present invention obtains the load information of the elevator car in real time, determines the moment of inertia on the motor shaft, and then adjusts the speed loop PI parameter of the elevator controller in real time, so as to realize the real-time control of the running state of the elevator, and solve the problem that the elevator car is difficult to To achieve the ideal running effect under different load conditions, the parameters of the elevator controller can be automatically adjusted according to the elevator car load, which improves the comfort of passengers riding the elevator.

Description of drawings

Fig. 1 is a flow chart of an elevator control method provided in Embodiment 1 of the present invention;

2 is a flowchart of another elevator control method provided by Embodiment 2 of the present invention;

3 is a schematic structural diagram of an elevator control device provided in Embodiment 3 of the present invention;

FIG. 4 is a schematic structural diagram of a device provided in Embodiment 4 of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, the drawings only show some but not all structures related to the present invention.

Example 1

1 is a flowchart of an elevator control method provided in Embodiment 1 of the present invention. This embodiment can be applied to the situation in which the elevator is controlled based on the speed loop PI controller. The method can be provided by the elevator control device provided by the embodiment of the present invention. or equipment, and the apparatus may be implemented in software and/or hardware. As shown in Figure 1, it specifically includes the following steps:

S101, acquiring load information of an elevator car.

The load information of the elevator car may be information related to the elevator load, such as the weight borne by the elevator car at the current moment, or the load percentage information of the elevator car at the current moment. The load percentage information may be the percentage of the weight borne by the elevator at the current moment to the weight at full load.

Optionally, in this embodiment of the present invention, when acquiring the load information of the elevator car, the weight borne by the elevator car may be obtained in real time directly through the weighing module set on the elevator, or it may be without setting the weighing module. During the operation of the elevator, 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 compensation torque) when the elevator is running.

Optionally, the elevator is in a stationary state, waiting for passengers to enter and exit, so each time the elevator starts to run, the load of the elevator car may change, and during the elevator operation, the elevator car is closed, and entry and exit are prohibited. The load usually does not change. Therefore, when obtaining the load information of the elevator car, the load information of the elevator car corresponding to the current start can be obtained every time the operation is started.

It should be noted that the load information in the embodiment of the present invention is not limited to the weight and load percentage borne by the elevator car at the current moment, but may also be other information related to the elevator load, and can finally calculate the moment of inertia on the motor shaft. information, which is not limited in this embodiment of the present invention.

S102, according to the load information, determine the moment of inertia on the motor shaft.

Among them, the motor shaft is the shaft that supports the rotating parts, transmits the torque and determines the relative position of the rotating parts to the stator. The moment of inertia on the motor shaft may be a measure of the inertia of the elevator car when it rotates around the shaft of the motor in the current running state. Optionally, the motor in the embodiment of the present invention may be an elevator traction motor, or may be other motors on the elevator for driving the elevator to move with variable frequency.

Optionally, when determining the moment of inertia on the motor shaft according to the load information, if the load information is the weight borne by the elevator car at the current moment, it can be the calculation formula of the system according to the preset moment of inertia, according to the current moment of the elevator car. Calculate the moment of inertia on the motor shaft when the elevator is running at the current moment.

If the elevator is a non-weighing elevator and the weight of the elevator car at the current moment cannot be accurately measured, then the elevator car can be started to run in a no-load state (that is, a state of 0% load in the elevator car). , the system calculates the no-load moment of inertia J _{_empty} on the corresponding motor shaft according to the preset algorithm, and then starts the elevator car in a fully loaded state (100% load in the elevator car). Let the algorithm calculate the full load moment of inertia J _{_full} on the corresponding motor shaft at this time, and finally according to the load information (such as the current load percentage w _p ), according to the formula J _{_cal} = J _{_empty} + (J _{_full} -J _{_empty} )×w _p Calculate the moment of inertia on the motor shaft when the elevator is currently running.

When it needs to be explained, the method for determining the moment of inertia on the motor shaft when the elevator is currently running is not limited to the above two, it can be any method for determining the moment of inertia on the motor shaft according to the load information, according to the load information. Different, different algorithm formulas may be used to obtain the moment of inertia on the motor shaft, which is not limited in this embodiment of the present invention.

S103, according to the moment of inertia on the motor shaft, adjust the speed loop PI parameter of the elevator controller.

Among them, the speed loop PI parameters at least include proportional coefficient k _ap and integral coefficient k _ip , which are two important parameters for adjusting the variable frequency drive of the elevator. The elevator controller may be a control unit that controls the operation of electrical appliances, a general control unit of the elevator, or a sub-control unit. Optionally, the elevator controller in this embodiment may be a speed loop PI controller. The formula of the speed loop PI parameter is as follows:

为速度环期望开环截止频率，K_t为电机转矩常数。Among them, k _ap is the proportional coefficient in the speed loop PI parameter, k _ip is the integral coefficient in the speed loop PI parameter, J _{_cal} is the moment of inertia on the motor shaft under the current starting and running state of the elevator,

is the desired open-loop cut-off frequency of the speed loop, and K _t is the motor torque constant.

Specifically, in the embodiment of the present invention, the moment of inertia _{J_cal} on the motor shaft under the current start-up operation state of the elevator in the above-mentioned speed loop PI parameter formula is not fixed, but with each start of the elevator car Run and calculate the moment of inertia J _{_cal on the corresponding motor shaft, and substitute the moment of inertia J _cal on} the motor shaft obtained by each calculation into the above formula of the speed loop PI parameters, and continuously adjust the speed loop PI parameters of the elevator controller ( That is, the proportional coefficient k _ap and the integral coefficient k _ip ).

It should be noted that the embodiment of the present invention is not limited to only adjusting the proportional coefficient k _ap and the integral coefficient k _ip in the speed loop PI parameters, and can also use related algorithm formulas to calculate the speed loop PI parameters according to the elevator car load information. and other parameter values, so as to achieve the effect of adjusting the PI parameters of the speed loop. This application is not limited.

S104, control the running state of the elevator according to the adjusted speed loop PI parameter.

Exemplarily, when the running state of the elevator is controlled by the speed loop PI controller, the related speed loop PI parameters in the speed loop PI controller are usually adjusted, so as to achieve the control of the running state of the elevator. In the embodiment of the present application, for each running start of the elevator car, the corresponding speed loop PI parameter can be calculated, and the elevator controller (such as the speed loop PI control) can be adjusted based on the speed loop PI parameter calculated for each running start. the corresponding parameters in the controller), and then complete the control of the running state of the elevator through the elevator controller.

Optionally, the embodiment of the present invention can be applied to a surface-mounted permanent magnet synchronous machine (Permanent Magnetic Synchronous Machine, PMSM) model, which can be performed under at least the following four preconditions: (1) iron core saturation is ignored; (2) ) does not count eddy current and hysteresis loss; (3) there is no damping winding on the rotor, and the permanent magnet does not count the damping effect; (4) the waveform of the induced electromotive force in the phase winding is a sine wave. Optionally, in order to improve the accuracy of the elevator control, it is also possible to consider the above at least four preconditions and combine the elevator control method described in the embodiment of the present invention to realize the control of the elevator. The specific situation can be determined according to actual needs. is not limited.

The embodiment of the present invention provides an elevator control method. By acquiring the load information of the elevator car in real time, the moment of inertia on the motor shaft is determined, and then the speed loop PI parameter of the elevator controller is adjusted in real time, so as to realize the real-time monitoring of the elevator running state. The control solves the problem that the elevator car is difficult to achieve the ideal running effect under different load conditions. The parameters of the elevator controller can be automatically adjusted according to the elevator car load, which improves the comfort of passengers riding the elevator.

Embodiment 2

Fig. 2 is a flowchart of another elevator control method provided by the second embodiment of the present invention. This embodiment is based on the foregoing embodiment, and provides a preferred example, which is suitable for the control of elevators without weighing, such as By obtaining the load percentage information of the elevator car, the moment of inertia on the motor shaft is determined, thereby realizing the control of the elevator running state.

It should be noted that this embodiment is applicable to a surface-mounted permanent magnet synchronous machine (Permanent Magnetic Synchronous Machine, PMSM) model, and the PMSM model will be described next. Assumed preconditions: (1) ignore core saturation; (2), ignore eddy current and hysteresis loss; (3), no damping winding on the rotor, no damping effect of permanent magnet; (4), the induced electromotive force waveform in the phase winding is sine wave. For this PMSM model, the inductance L _d on the d axis is equal to the inductance L q on the q axis, and the inductance L _q is equal to the inductance L, and the current id on the _d axis is equal to 0 for control, then the voltage equation of the PMSM in the dq synchronous rotating coordinate system is:

为q轴电流对时间的导数，ψ_f为永磁体磁链，R为定子绕组电阻，L为定子绕组电感，ω_e为电机的电角速度。Among them, u _q is the q-axis voltage, _ud is the d-axis voltage, i _q is the q-axis current,

is the derivative of the q-axis current with respect to time, ψ _f is the permanent magnet flux linkage, R is the stator winding resistance, L is the stator winding inductance, and ω _e is the electrical angular velocity of the motor.

The torque equation is:

Among them, Te is the electromagnetic torque of the motor, P is the number of pole pairs, ψ _f is the permanent magnet flux linkage, _{i q} is the q-axis current, and K _t is the torque constant.

The running equation is:

)，

为电机的机械角速度对时间的导数，K_t为转矩常数，J为电机轴上转动惯量，B为摩擦系数，T_L为负载转矩。where ω _m is the mechanical angular velocity of the motor (where,

),

is the derivative of the mechanical angular velocity of the motor to time, K _t is the torque constant, J is the moment of inertia on the motor shaft, B is the friction coefficient, and T _L is the load torque.

Laplace transform of formulas (1)-(3), the decoupling model of PMSM velocity loop G _{c_pmsm} (s) and current loop G _{s_pmsm} (s) is obtained as:

Among them, i _q (s) is the q-axis current in the frequency domain, u _q (s) is the q-axis voltage in the frequency domain, s is the function variable in the frequency domain, L is the stator winding inductance, and R is the stator winding resistance.

Among them, ω _m (s) is the mechanical angular velocity of the frequency domain motor, K _t is the torque constant, i _q (s) is the q-axis current in the frequency domain, T _e (s) is the electromagnetic torque of the frequency domain motor, and s is the frequency Domain function variable, J is the moment of inertia on the motor shaft, and B is the friction coefficient.

Specifically, as shown in Figure 2, the elevator control method includes:

S201 , acquiring the full-load starting compensation torque, the no-load starting compensation torque, and the running compensation torque of the elevator car.

Exemplarily, in this embodiment of the present application, to obtain the full-load start-up compensation torque, no-load start-up compensation torque, and running compensation torque of the elevator car, it may be to carry out the maintenance operation of the elevator after the elevator is installed, and first keep the elevator car in the elevator car. No-load starting, the system automatically calculates the no-load starting compensation torque, and sets the calculated no-load starting compensation torque to the first preset code (such as function code F707) of the elevator variable frequency drive function; then, in the electric push car After adding full load, the system automatically calculates the full-load start-up compensation torque, and sets the calculated full-load start-up compensation torque into the second preset code (such as function code S706) of the elevator frequency conversion function; , the system will automatically calculate the corresponding running compensation torque after the unweighted elevator car starts.

S202: Determine 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.

Exemplarily, in this embodiment of the present application, when determining the load percentage information of the elevator car, the load percentage w _p under the current motion state of the elevator may be calculated according to the following formula:

Wherein, _{M_cal} is the corresponding starting compensation torque in the current state of the elevator, _{M_empty} is the corresponding starting compensation torque in the elevator no-load state, and _{M_full} is the corresponding starting compensation torque in the elevator full-load state.

Specifically, for each running start of the elevator car, the function code F707 no-load start compensation torque and function code F706 full load start compensation torque can be obtained from the code of the elevator variable frequency drive function, and the running compensation torque of the current running start can be calculated. ; Then substitute the above formula to calculate the load ratio w _p under the current motion state of the elevator.

S203, acquiring the full-load moment of inertia and the no-load moment of inertia on the motor shaft.

Exemplarily, the method for obtaining the full-load moment of inertia and the no-load moment of inertia on the motor shaft may be to pre-control the full-load start-up operation and the no-load start-up operation of the elevator car respectively, and when the elevator car is fully loaded and no-load respectively, according to The preset algorithm formula calculates the corresponding moment of inertia on the motor shaft when the elevator car is fully loaded and unloaded. Optionally, after the full-load moment of inertia and the no-load moment of inertia are pre-calculated, the full-load moment of inertia and the no-load moment of inertia can be set in the preset codes of the elevator variable frequency drive function, respectively, and then execute S203 to obtain the elevator car. When the full load moment of inertia and no-load moment of inertia are obtained, they can be obtained directly from the preset code of the elevator variable frequency drive function.

S204: Determine the rotational inertia on the motor shaft according to the full-load rotational inertia, no-load rotational inertia, and load percentage information.

Exemplarily, when determining the moment of inertia on the motor shaft in this embodiment, the moment of inertia J _{_cal} on the motor shaft when the elevator is currently running and started may be calculated according to the following formula:

J _{_cal} =J _{_empty} +(J _{_full} -J _{_empty} )×w _p ;

Among them, _{J_empty} is the no-load moment of inertia on the corresponding motor shaft under the no-load state of the elevator car, _{J_full} is the full-load moment of inertia on the corresponding motor shaft under the elevator car's full-load state, and w _p is the current running state of the elevator load ratio.

Specifically, the no-load moment of inertia J _{_empty} on the corresponding motor shaft of the elevator car in the no-load state obtained in S303 and the full-load moment of inertia J _{_full} on the corresponding motor shaft in the full-load state of the elevator car are substituted into the above formula, Calculate the moment of inertia J _{_cal} on the motor shaft that the elevator is currently running on.

S205, adjust the speed loop PI parameter of the elevator controller according to the moment of inertia on the motor shaft.

S206, control the running state of the elevator according to the adjusted speed loop PI parameter.

The embodiment of the present invention provides an elevator control method. Based on the PMSM model, the load percentage of the elevator car is determined by obtaining the compensation torque at full-load start-up, no-load start-up and current start-up operation, and then combined with the obtained full-load and no-load states. The no-load moment of inertia and full-load moment of inertia on the motor shaft are calculated, and the moment of inertia on the motor shaft is calculated at the current start-up operation, and then the PI parameters of the speed loop of the elevator controller are adjusted in real time to realize the real-time control of the elevator running state. For elevators without weighing, it is also possible to automatically adjust the parameters of the elevator controller according to the load of the elevator car, so as to improve the running effect of the elevator car.

Embodiment 3

3 is a schematic structural diagram of an elevator control device provided in Embodiment 3 of the present invention. The device can execute the elevator control method provided by any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. As shown in Figure 3, the device includes:

The load information acquisition module 301 is used to obtain the load information of the elevator car;

a moment of inertia determination module 302, configured to determine the moment of inertia on the motor shaft according to the load information;

The parameter adjustment module 303 is used to adjust the speed loop PI parameter of the elevator controller according to the moment of inertia on the motor shaft;

The elevator control module 304 is configured to control the running state of the elevator according to the adjusted speed loop PI parameter.

The elevator control device provided by the embodiment of the present invention determines the moment of inertia on the motor shaft by acquiring the load information of the elevator car in real time, and then adjusts the speed loop PI parameter of the elevator controller in real time, so as to realize the real-time control of the running state of the elevator, It solves the problem that the elevator car is difficult to achieve the ideal running effect under different load conditions, and can automatically adjust the parameters of the elevator controller according to the elevator car load, which improves the comfort of passengers riding the elevator.

Further, the above-mentioned moment of inertia determination module 302 includes:

a moment of inertia acquisition unit, used for acquiring the full-load moment of inertia and the no-load moment of inertia on the motor shaft;

A moment of inertia determination unit, configured to determine the moment of inertia on the motor shaft of the elevator according to the full-load moment of inertia, the no-load moment of inertia and the load information.

Further, the above-mentioned load information acquisition module 301 is specifically used for:

During the operation of the elevator, the load percentage information of the elevator car is obtained.

Further, the above-mentioned load information acquisition module 301 specifically includes:

a compensation torque acquisition unit, configured to acquire the full-load start-up compensation torque, no-load start-up compensation torque and running compensation torque of the elevator car;

A load determination unit, configured to determine the load percentage information of the elevator car according to the full-load start-up compensation torque, the no-load start-up compensation torque, and the running compensation torque.

It is worth noting that, in the above-mentioned embodiment of the elevator control device, the included units and modules are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be realized; for example, this The device may only include an acquisition module and a processing module, and the acquisition module realizes the acquisition of elevator car load information; the processing module is used to realize related functions such as determination of moment of inertia, adjustment of parameters, and elevator control. In addition, the specific names of the functional units are only for the convenience of distinguishing from each other, and are not used to limit the protection scope of the present invention.

Embodiment 4

FIG. 4 is a schematic structural diagram of a device according to Embodiment 4 of the present invention. Figure 4 shows a block diagram of an exemplary apparatus 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 impose any limitation on the function and scope of use of the embodiments of the present invention. As shown in FIG. 4, the device 40 takes the form of a general-purpose computing device that can be applied to an elevator control system. Components of the device 40 may include, but are not limited to, one or more processors or processing units 401, a system memory 402, and a bus 403 connecting different system components (including the system memory 402 and the processing unit 401).

Bus 403 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. By way of example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect ( PCI) bus.

Device 40 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by device 40, including volatile and non-volatile media, removable and non-removable media.

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/non-volatile computer system storage media. For example only, storage system 406 may be used to read and write to non-removable, non-volatile magnetic media (not shown in FIG. 4, commonly referred to as a "hard disk drive"). Although not shown in Figure 4, a disk drive may be provided for reading and writing to removable non-volatile magnetic disks (eg "floppy disks"), and removable non-volatile optical disks (eg CD-ROM, DVD-ROM) or other optical media) to read and write optical drives. In these cases, each drive may be connected to bus 403 through one or more data media interfaces. System memory 402 may include at least one program product having a set (eg, at least one) of program modules configured to perform the functions of various embodiments of the present invention.

A program/utility 408 having a set (at least one) of program modules 407, which 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 programs Data, each or some combination of these examples may include an implementation of a network environment. Program modules 407 generally perform the functions and/or methods in the described embodiments of the present invention.

Device 40 may also communicate with one or more external devices 406 (eg, keyboard, pointing device, display 410, etc.), may also communicate with one or more devices that enable a user to interact with the device, and/or communicate with the device 40 communicates with any device (eg, network card, modem, etc.) capable of communicating with one or more other computing devices. Such communication may take place through input/output (I/O) interface 411 . Also, the device 40 may also communicate with one or more networks (eg, a local area network (LAN), a wide area network (WAN), and/or a public network such as the Internet) through a network adapter 412 . As shown in FIG. 4 , network adapter 412 communicates with other modules of device 40 via bus 403 . It should be understood that, although not shown, other hardware and/or software modules may be used in conjunction with device 40, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and Data backup storage system, etc.

The processing unit 401 executes various functional applications and data processing by running the program stored in the system memory 402, for example, to implement the elevator control method provided by the embodiment of the present invention.

Embodiment 5

Embodiment 5 of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the elevator control method described in the foregoing embodiments can be implemented.

The computer storage medium in the embodiments of the present invention may adopt any combination of one or more computer-readable mediums. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or a combination of any of the above. More specific examples (a non-exhaustive list) of computer readable storage media include: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read only memory (ROM), Erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this document, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

A computer-readable signal medium may include a propagated data signal in baseband or as part of a carrier wave, with computer-readable program code embodied thereon. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device .

Program code embodied on a computer readable medium may be transmitted using any suitable 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 of the present invention may be written in one or more programming languages, including object-oriented programming languages—such as Java, Smalltalk, C++, but also conventional Procedural programming language - such as "C" language or similar programming language. 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 kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (eg, using an Internet service provider through Internet connection).

The above-mentioned serial numbers of the embodiments are only for description, and do not represent the advantages and disadvantages of the embodiments.

Those skilled in the art should understand that each module or each operation of the above-mentioned embodiments of the present invention may be implemented by a general-purpose computing device, and they may be centralized on a single computing device or distributed on a network composed of multiple computing devices , optionally, they can be implemented with program codes executable by a computer device, so that they can be stored in a storage device and executed by the computing device, or they can be separately made into individual integrated circuit modules, or a plurality of them can be Multiple modules or operations are fabricated as a single integrated circuit module to implement. As such, the present invention is not limited to any specific combination of hardware and software.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments may be referred to each other.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within 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.

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