CN109305612B - Elevator starting control device - Google Patents

Abstract

The invention discloses an elevator starting control device, wherein a speed controller of the elevator starting control device is used for controlling the starting of an elevator according to a speed command value v of an elevator driving motor_refAnd velocity feedback value v_bkOutputting a first torque command value T₁(ii) a The speed change suppressor is based on the speed feedback value v_bkOutputting a second torque command value T required for suppressing a change in the speed feedback value₂(ii) a The torque command value calculator calculates the torque command value T according to the first torque command value₁And a second torque command value T₂Calculating and outputting torque command value T of elevator driving motor_ref(ii) a The current controller is used for controlling the current according to the torque command value T of the elevator driving motor_refAnd outputting a stator voltage command value of the elevator driving motor, thereby realizing the control of the elevator driving motor. The elevator starting control device can realize starting control without a weighing device, and has the advantages of simple structure, low cost, convenient control and high reliability.

Description

Elevator starting control device

Technical Field

The invention relates to an elevator control technology, in particular to an elevator starting control device.

Background

In a traction type elevator, an elevator car and a counterweight are suspended on both sides of a traction sheave by flexible bodies such as cables or steel belts. In general, the weights of the car and the counterweight are different, and the torques acting on the traction sheave are naturally different, and the difference is the unbalanced torque. At the moment when the elevator is started and the brake is released, the brake moment disappears, and the traction sheave rotates under the action of unbalanced torque, so that the phenomenon of 'car slipping' occurs.

In order to avoid the occurrence of 'car slipping', a weighing device can be arranged in the elevator, the actual load in the elevator car is detected in advance by the weighing device, and the unbalanced torque of the elevator is calculated according to the actual load. Thus, as long as the controller controls the elevator driving motor to generate a compensating torque having the same magnitude and the opposite direction to the unbalanced torque before releasing the brake, the compensating torque can offset the unbalanced torque, and the traction sheave can still be kept stationary when the brake is released, thereby eliminating the phenomenon of 'car slipping'. However, this method increases the number of system components and the complexity of the structure, which leads to an increase in cost and also to a decrease in system reliability, and particularly, when a weighing apparatus has a large weighing error due to AD sampling accuracy, temperature, aging, and the like, a "car-slipping" phenomenon still occurs.

In addition to the method of providing weighing devices in an elevator, a specially designed elevator starting control method without weighing devices can be used to realize the 'sliding' starting of the elevator. The Chinese invention patent (patent number: 201310169227.4, granted publication number: CN103241604B) realizes the start of the elevator without a weighing device by matching a torque command of a frequency converter with a current command of a band-type brake. However, this method has increased complexity due to the need for coordinated control of the frequency converter and the band-type brake. The Chinese invention patent (patent number: 201310444642.6, granted publication number: CN103449268B) utilizes a sine-cosine encoder to obtain the current position of a motor rotor, further calculates the backward sliding distance, the speed and the acceleration of the motor according to the position, and finally calculates the compensation torque by a fuzzy theory. The method involves a plurality of threshold parameters, and the domain of discourse, fuzzy variable word set, membership function, fuzzy inference rule and the like required by post-compensation need to be determined, which is very tedious. The Chinese patent application (application number: 201610134676.9) realizes the start of the elevator without a weighing device by determining whether to increase the P gain and simultaneously reduce the I gain and recover the PI gain parameter according to the relationship between the movement and the threshold value when the elevator is started. However, in the method, two sets of PI parameters exist only in the starting stage of the elevator, and the speed in the starting stage has two directions, which can affect the riding comfort of the elevator.

Disclosure of Invention

The invention aims to provide an elevator starting control device, which can realize starting control without a weighing device, and has the advantages of simple structure, low cost, convenient control and high reliability.

In order to solve the above technical problem, the present invention provides an elevator start control device, including:

a speed controller for controlling the speed of the elevator based on the speed command value v of the elevator drive motor_refAnd velocity feedback value v_bkOutputting a first torque command value T₁；

A speed change suppressor according to the speed feedback value v_bkOutputting a second torque command value T required for suppressing a change in the speed feedback value₂；

A torque command value calculator for calculating a torque command value T based on the first torque command value T₁And the second torque command value T₂Calculating and outputting torque command value T of elevator driving motor_ref；

A current controller for controlling the current according to the torque command value T of the elevator drive motor_refAnd outputting a stator voltage command value of the elevator driving motor, thereby realizing the control of the elevator driving motor.

Preferably, the velocity feedback value v_bkThe method is based on the rotation of a rotor or a traction wheel of an elevator driving motor by a detection device, or the actual speed of the elevator driving motor obtained by processing the detection result of the detection of the position of a car, or the estimated speed of the elevator driving motor obtained by an estimation method according to the related information of the speed regulation control of the elevator driving motor.

Preferably, the differential value v of the velocity feedback value_{bk_dot}Is a differential value of the velocity feedback value calculated according to:

wherein, β₁＞0、β₂> 0 and R > 0 are design parameters, x₂Is a velocity feedback value v_bkDifferential value v of_{bk_dot}。

Preferably, the torque command value calculator outputs the torque command value T of the elevator driving motor according to the following rule_ref：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, then according to (1), otherwise according to (2):

(1) when v is_bk>0 and v_{bk_dot}>At 0, T_ref＝T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T_ref＝T_max(ii) a If condition v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (2) is followed;

(2)T_ref＝T₁；

wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Preferably, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂(ii) a The speed controller and the speed change suppressor output a first torque command value T according to the following rule₁Second torque command value T₂：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, according to (one), otherwise according to (two):

when v is_bk>0 and v_{bk_dot}>At 0, T₁≡0，T₂＝-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₁≡0，T₂＝-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then follow (two);

(II) the speed controller normally outputs a first torque command value T₁Second torque command value T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Preferably, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂The speed change suppressor outputs the second torque command value T according to the following rule₂：

If at the differential value v of the velocity feedback value_{bk_dot}First one ofAnd in the non-zero interval and/or at least one subsequent non-zero interval, according to (I), otherwise according to (II):

(I) when v is_bk>0 and v_{bk_dot}>At 0, T₂＝T₁-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₂＝T₁-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (II) is followed;

(II) second moment command value T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Preferably, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂The speed variation suppressor outputs a second torque command value T₂The rule is as follows:

if at the differential value v of the velocity feedback value_{bk_dot}And/or within at least one subsequent non-zero interval of (a)₂＝f(v_{bk_dot}) Wherein f (·) is a monotonically continuously increasing function, and satisfies: when v is_{bk_dot}Time → 0, f (v)_{bk_dot}) → 0 and T_min≤f(v_{bk_dot})≤T_max(ii) a Otherwise, T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Preferably, the function f (v) is monotonically continuously increasing_{bk_dot}) As a linear function: f (v)_{bk_dot})＝α·v_{bk_dot}Wherein α is a design parameter.

Preferably, the design parameter α is determined as follows:

when v is_bk>0 and v_{bk_dot}>At 0, α ═ T_min|/v_{bk_dot_max}；

When v is_bk<0 and v_{bk_dot}<At 0 time，α＝T_max/|v_{bk_dot_min}|；

Wherein v is_{bk_dot_max}Is the differential value v of the velocity feedback value_{bk_dot}Maximum value of (d); v. of_{bk_dot_min}Is the differential value v of the velocity feedback value_{bk_dot}Is measured.

Preferably, the first torque command value T participating in the subtraction of the torque command value calculator₁Second torque command value T₂The method is determined according to the following rule:

differential value v at velocity feedback value_{bk_dot}And/or within the first non-zero interval and/or the subsequent at least one non-zero interval,

when v is_bk>0 and v_{bk_dot}>At 0, if T₁-T₂＜T_minThen T is₂＝T₁-T_min(ii) a If T is₁-T₂If greater than 0, then T₂＝T₁；

When v is_bk<0 and v_{bk_dot}<At 0, if T₁-T₂＞T_maxThen T is₂＝T₁-T_max(ii) a If T is₁-T₂If < 0, then T₂＝T₁。

The elevator starting control device can realize starting control without a weighing device, and has the advantages of simple structure, low cost, convenient control and high reliability.

Drawings

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

Fig. 1 is a schematic view showing a configuration of an elevator starting control apparatus according to the present invention.

Detailed Description

The technical solutions in the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Example one

As shown in fig. 1, the elevator starting control device includes a speed controller, a speed change suppressor, a torque command value calculator, and a current controller;

the speed controller is used for controlling the speed of the elevator drive motor according to the speed command value v_refAnd velocity feedback value v_bkOutputting a first torque command value T₁；

The speed change suppressor is used for suppressing the speed change according to the speed feedback value v_bkOutputting a second torque command value T required for suppressing a change in the speed feedback value₂；

The torque command value calculator is used for calculating the first torque command value T₁And the second torque command value T₂Calculating and outputting torque command value T of elevator driving motor_ref；

The current controller is used for controlling the current according to the torque command value T of the elevator driving motor_refAnd outputting a stator voltage command value of the elevator driving motor, thereby realizing the control of the elevator driving motor.

The elevator start control device of the first embodiment can realize start control without a weighing device, and has the advantages of simple structure, low cost, convenience and quickness in control and high reliability.

Example two

Elevator starting control device, speed controller and speed change suppressor based on first embodiment_bkThe actual speed (usually, angular speed, which is subsequently referred to as a direct detection method) of the elevator driving motor can be obtained by processing a detection result of detecting the position of the car based on the rotation of the elevator driving motor rotor or the traction sheave of the detection device; or the elevator drive obtained by the estimation method according to the related information of the speed regulation control of the elevator drive motorThe estimated speed of the motor (subsequently referred to as indirect estimation).

The speed controller and the current controller may be any type of feedback controller, such as a commonly used PI controller, adaptive controller, intelligent controller, etc.

Preferably, the speed controller and the current controller are both PI controllers based on error feedback.

Velocity feedback value v_bkDifferential value v of_{bk_dot}Can be obtained by adopting various methods, such as: for velocity feedback value v_bkFor the differentiator, there are various ways to implement it, such as:

wherein, β₁＞0、β₂> 0 and R > 0 are design parameters, x₂I.e. the velocity feedback value v_bkDifferential value v of_{bk_dot}。

When the speed feedback value of the elevator driving motor is obtained by adopting a direct detection method, after the displacement or the angular displacement of the elevator driving motor is obtained, the speed feedback value v can be obtained by using the formula (1)_bk。

EXAMPLE III

Based on the elevator starting control device of the first embodiment, the torque command value calculator outputs the torque command value T of the elevator driving motor according to the following rule_ref：

If at the differential value v of the velocity feedback value_{bk_dot}And/or at least one subsequent non-zero interval is according to (1), otherwise according to (2):

(1) when v is_bk>0 and v_{bk_dot}>At 0, T_ref＝T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T_ref＝T_max(ii) a If condition v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (2) is followed;

(2)T_ref＝T₁；

wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Example four

In the elevator starting control apparatus according to the first embodiment, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂(ii) a The speed controller and the speed change suppressor output a first torque command value T according to the following rule₁Second torque command value T₂：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, according to (one), otherwise according to (two):

when v is_bk>0 and v_{bk_dot}>At 0, T₁≡0，T₂＝-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₁≡0，T₂＝-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then follow (two);

(II) the speed controller normally outputs a first torque command value T₁Second torque command value T₂≡0。

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

EXAMPLE five

In the elevator starting control apparatus according to the first embodiment, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂The speed change suppressor outputs the second torque command value T according to the following rule₂：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, then(I) Otherwise, according to (II):

(I) when v is_bk>0 and v_{bk_dot}>At 0, T₂＝T₁-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₂＝T₁-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (II) is followed;

(II) second moment command value T₂≡0。

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

EXAMPLE six

In the elevator starting control apparatus according to the first embodiment, the torque command value calculator is a subtractor that uses the first torque command value T₁Subtracting the second torque command value T₂The speed variation suppressor outputs a second torque command value T₂The rule is as follows:

if at the differential value v of the velocity feedback value_{bk_dot}And/or within at least one subsequent non-zero interval of (a)₂＝f(v_{bk_dot}) Wherein f (·) is a monotonically continuously increasing function, and satisfies: when v is_{bk_dot}Time → 0, f (v)_{bk_dot}) → 0 and T_min≤f(v_{bk_dot})≤T_max(ii) a Otherwise, T₂≡0。

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

Monotonically continuously increasing function f (v)_{bk_dot}) The form of (a) is various.

EXAMPLE seven

Based on the elevator starting control device of the sixth embodiment, the function f (v) is monotonically and continuously increased_{bk_dot}) As a linear function: f (v)_{bk_dot})＝α·v_{bk_dot}Wherein α is a design parameter.

The design parameter α can be determined by an empirical method, a trial and error method, or by a method related to a control theory, or by calculation according to the following formula:

when v is_bk>0 and v_{bk_dot}>At 0, α ═ T_min|/v_{bk_dot_max}；

When v is_bk<0 and v_{bk_dot}<When 0, α ═ T_max/|v_{bk_dot_min}|；

Wherein v is_{bk_dot_max}Is the differential value v of the velocity feedback value_{bk_dot}Maximum value of (d); v. of_{bk_dot_min}Is the differential value v of the velocity feedback value_{bk_dot}Is measured.

Example eight

Elevator starting control device according to the seventh embodiment, the first torque command value T participating in the subtraction by the torque command value calculator₁Second torque command value T₂The method is determined according to the following rule:

differential value v at velocity feedback value_{bk_dot}And/or within the first non-zero interval and/or the subsequent at least one non-zero interval,

when v is_bk>0 and v_{bk_dot}>At 0, if T₁-T₂＜T_minThen T is₂＝T₁-T_min(ii) a If T is₁-T₂If greater than 0, then T₂＝T₁；

When v is_bk<0 and v_{bk_dot}<At 0, if T₁-T₂＞T_maxThen T is₂＝T₁-T_max(ii) a If T is₁-T₂If < 0, then T₂＝T₁。

Example eight Elevator Start-Up control device to ensure output T of Torque command calculator_refAt its T_minAnd T_maxIn between, the clipping processing is performed.

The above are merely preferred embodiments of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (6)

1. An elevator starting control device, comprising:

a speed controller for controlling the speed of the elevator based on the speed command value v of the elevator drive motor_refAnd velocity feedback value v_bkOutputting a first torque command value T₁；

A speed change suppressor according to the speed feedback value v_bkOutputting a second torque command value T required for suppressing a change in the speed feedback value₂；

A torque command value calculator for calculating a torque command value T based on the first torque command value T₁And the second torque command value T₂Calculating and outputting torque command value T of elevator driving motor_ref；

A current controller for controlling the current according to the torque command value T of the elevator drive motor_refOutputting a stator voltage command value of the elevator driving motor, thereby realizing the control of the elevator driving motor;

the torque command value calculator outputs the torque command value T of the elevator driving motor according to the following rule_ref：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, then according to (1), otherwise according to (2):

(1) when v is_bk>0 and v_{bk_dot}>At 0, T_ref＝T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T_ref＝T_max(ii) a If condition v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (2) is followed;

(2)T_ref＝T₁；

wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator driving motor; alternatively, the first and second electrodes may be,

the torque command value calculator is a subtracter and uses the first torque command value T₁Subtracting the second torque command value T₂(ii) a The speed controller and the speed change suppressor output a first torque command value T according to the following rule₁Second torque command value T₂：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, according to (one), otherwise according to (two):

when v is_bk>0 and v_{bk_dot}>At 0, T₁≡0，T₂＝-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₁≡0，T₂＝-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (2) is followed;

(II) the speed controller normally outputs a first torque command value T₁Second torque command value T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator driving motor; alternatively, the first and second electrodes may be,

the torque command value calculator is a subtracter and uses the first torque command value T₁Subtracting the second torque command value T₂The speed change suppressor outputs the second torque command value T according to the following rule₂：

If at the differential value v of the velocity feedback value_{bk_dot}Within the first non-zero interval and/or at least one subsequent non-zero interval, according to (I), otherwise according to (II):

(I) when v is_bk>0 and v_{bk_dot}>At 0, T₂＝T₁-T_min(ii) a When v is_bk<0 and v_{bk_dot}<At 0, T₂＝T₁-T_max(ii) a If v is_bk>0 and v_{bk_dot}>0, and v_bk<0 and v_{bk_dot}<If none of 0 is true, then (II) is followed;

(II) second moment command value T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator driving motor; alternatively, the first and second electrodes may be,

the torque command value calculator is a subtracter using the first torque command value T₁Subtracting the second torque command value T₂The speed variation suppressor outputs a second torque command value T₂The rule is as follows:

if at the differential value v of the velocity feedback value_{bk_dot}And/or within at least one subsequent non-zero interval of (a)₂＝f(v_{bk_dot}) Wherein f (·) is a monotonically continuously increasing function, and satisfies: when v is_{bk_dot}Time → 0, f (v)_{bk_dot}) → 0 and T_min≤f(v_{bk_dot})≤T_max(ii) a Otherwise, T₂≡0；

Wherein, T_maxIs the maximum allowable torque value, T, of the elevator drive motor_minIs the minimum allowable torque value of the elevator drive motor.

2. Elevator starting control device according to claim 1, characterized in that the speed feedback value v_bkThe method is based on the rotation of a rotor or a traction wheel of an elevator driving motor by a detection device, or the actual speed of the elevator driving motor obtained by processing the detection result of the detection of the position of a car, or the estimated speed of the elevator driving motor obtained by an estimation method according to the related information of the speed regulation control of the elevator driving motor.

3. The elevator starting control device according to claim 1, wherein the differential value v of the velocity feedback value_{bk_dot}Is a differential value of the velocity feedback value calculated according to:

wherein, β₁＞0、β₂> 0 and R > 0 are design parameters, x₂Is a velocity feedback value v_bkDifferential value ofv_{bk_dot}。

4. Elevator starting control device according to claim 1, characterized in that the function f (v) increases monotonically and continuously_{bk_dot}) As a linear function: f (v)_{bk_dot})＝α·v_{bk_dot}Wherein α is a design parameter.

5. The elevator starting control apparatus according to claim 4, wherein the design parameter α is determined as follows:

when v is_bk>0 and v_{bk_dot}>At 0, α ═ T_min|/v_{bk_dot_max}；

When v is_bk<0 and v_{bk_dot}<When 0, α ═ T_max/|v_{bk_dot_min}|；

Wherein v is_{bk_dot_max}Is the differential value v of the velocity feedback value_{bk_dot}Maximum value of (d); v. of_{bk_dot_min}Is the differential value v of the velocity feedback value_{bk_dot}Is measured.

6. The elevator startup control device according to claim 1, characterized in that the first torque command value T participating in the subtraction of the torque command value calculator₁Second torque command value T₂The method is determined according to the following rule:

differential value v at velocity feedback value_{bk_dot}And/or within the first non-zero interval and/or the subsequent at least one non-zero interval,

when v is_bk>0 and v_{bk_dot}>At 0, if T₁-T₂＜T_minThen T is₂＝T₁-T_min(ii) a If T is₁-T₂If greater than 0, then T₂＝T₁；

When v is_bk<0 and v_{bk_dot}<At 0, if T₁-T₂＞T_maxThen T is₂＝T₁-T_max(ii) a If T is₁-T₂If < 0, then T₂＝T₁。

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