CN109969880A - A kind of elevator starting control method and system - Google Patents
A kind of elevator starting control method and system Download PDFInfo
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- CN109969880A CN109969880A CN201910281630.3A CN201910281630A CN109969880A CN 109969880 A CN109969880 A CN 109969880A CN 201910281630 A CN201910281630 A CN 201910281630A CN 109969880 A CN109969880 A CN 109969880A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/304—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with starting torque control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
- B66B11/04—Driving gear ; Details thereof, e.g. seals
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
Abstract
The present invention relates to elevator control technology fields, start control method and system more particularly to a kind of elevator, wherein method includes: to be compensated using the first pi regulator to motor torque: whether it is more than preset first threshold that detection elevator is mobile after elevator internal contracting brake opening, if then compensating using the second pi regulator motor torque, while increasing the PI adjustment parameter of the first pi regulator and the second pi regulator；Otherwise the PI adjustment parameter for keeping the first pi regulator current compensates until start-up course terminates motor torque；During the second pi regulator compensates motor torque, whether detection elevator shakes, if then reducing the PI adjustment parameter of the first pi regulator and the second pi regulator.It can be detected and be adjusted for different loading conditions in elevator start-up course by elevator control method provided by the present application and system, guaranteed that elevator starts Shi Junneng under any loading condition and is rapidly achieved stable state, improve the comfort of passenger.
Description
Technical field
The present invention relates to elevator control technology fields, and in particular to a kind of elevator starting control method and system.
Background technique
Elevator is in starting moment, due to varying in weight for lift car side and Elevator weight sensor side, opens wink in elevator internal contracting brake
Between, due to the relationship of weight difference, lift car has the car slipping of a distance, and passenger's is comfortable when this will cause elevator operation
Sense is deteriorated, and influences ride experience.
In order to solve the problems, such as car slipping, an analog quantity weighing device is generally added in existing elevator control system, in elevator
Before operation, the weight of carriage is measured by weighing sensor, and an initial torque is then exported by parameter adjustment, it should
Torque is applied on motor before band-type brake opening, so as to the influence of customer service car slipping.However this scheme is in addition to increasing system cost
Outside, due to the precision problem of weighing device, it is difficult to ensure that the consistency of starting effect.
Recently as sine and cosine encoder in the extensive use of elevator, the realization of analog quantity weighing device is not had to now
Weighing compensation, but the compensation calculation of staring torque is realized using certain algorithm.However, this algorithm has one to ask at present
Topic is exactly the effect for being difficult to obtain a balance between elevator balanced load and elevator no-load, elevator cars with full load, i.e. the good electricity of debugging
Terraced unloaded, fully loaded starting effect, but it is ineffective to balance elevator starting when carrying；Debug what elevator started in balanced load
Comfort, then elevator starts ineffective under unloaded, full load conditions, influences the comfort of passenger's seating.
Summary of the invention
The present invention provides a kind of elevator starting control method and system, it is therefore intended that solves elevator and starts under different loads
When, start the problem of effect cannot be considered in terms of.
A kind of elevator starts control method, includes:
Motor torque is compensated according to given speed and current feedback speed using the first pi regulator；
Whether it is more than preset first threshold that detection elevator is mobile after elevator internal contracting brake opening, if then using the 2nd PI tune
It saves angle of the device according to the current angle of encoder and previous compensation when to compensate motor torque, and/or increases described the
The PI adjustment parameter of one pi regulator；Otherwise the PI adjustment parameter for keeping first pi regulator current carries out motor torque
Compensation, until start-up course terminates；
During being compensated using the second pi regulator to motor torque, whether detection elevator shakes, if
Then reduce the PI adjustment parameter of first pi regulator and/or the second pi regulator.
Wherein, angle when the previous compensation of the encoder is once to compensate to motor torque before the second pi regulator
When angle；
Second pi regulator is for the first time when compensating motor torque, and angle when previous compensation is before band-type brake is opened
The angle of encoder.
Wherein, described that motor torque is compensated according to given speed and current feedback speed using the first pi regulator
It include: before elevator internal contracting brake opening, using the first pi regulator according to given speed and current feedback speed, with preset first
PI adjustment parameter carries out PI adjusting, exports the first regulated quantity to adjust the torque current of motor；
The angle that the second pi regulator is used according to the current angle of encoder and previous compensation when is to motor torque
It compensates, and/or increases the PI adjustment parameter of first pi regulator, comprising: using the second pi regulator according to coding
Angle when the current angle of device and previous compensation carries out PI adjusting with preset 2nd PI adjustment parameter, and output second is adjusted
Amount；The PI adjustment parameter of the first pi regulator is switched to the 2nd PI adjustment parameter simultaneously, obtains the output of the first pi regulator
First regulated quantity；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the second PI tune
It saves parameter and is greater than the first PI adjustment parameter；
Whether the detection elevator shakes, if then reducing first pi regulator and/or the second pi regulator
PI adjustment parameter include: if detect elevator occur concussion if by the PI of the first pi regulator and the second pi regulator adjust join
Number is switched to the 4th PI adjustment parameter, obtain the output of the first pi regulator the first regulated quantity and the output of the second pi regulator the
Two regulated quantitys；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the 4th PI is adjusted
Parameter is less than the first PI adjustment parameter.
Further, further includes:
During compensating using the second pi regulator to motor torque, detect whether the elevator reaches stable shape
State obtains if the PI adjustment parameter of first pi regulator and the second pi regulator is then switched to the 3rd PI adjustment parameter
Second regulated quantity of the first regulated quantity exported to the first pi regulator and the output of the second pi regulator；It is adjusted according to described first
Amount adjusts the torque current of motor with the second regulated quantity；Wherein the third PI adjustment parameter is less than the first PI adjustment parameter
And it is greater than the 4th PI adjustment parameter.
Further, further includes:
If after the PI adjustment parameter of the first pi regulator and the second pi regulator is switched to the 4th PI adjustment parameter, warp
It still detects that elevator shakes after spending preset 4th period, then switches the PI adjustment parameter of first pi regulator
For the 5th PI adjustment parameter, while cancelling compensation of second pi regulator to motor torque, the 5th PI adjustment parameter is less than
The 4th PI adjustment parameter.
Wherein, whether the detection elevator reaches stable state, comprising:
The change information of motor torque electric current and the change information of encoder pulse signal are obtained in real time, judge the torque
Whether the change information of electric current and the change information of encoder pulse signal meet following either conditions, and elevator is determined if meeting
Reach stable state；
Condition 1: when detect inceptive direction be encoder pulse increase and number of pulses from increase to reduce, or when inspection
Measure inceptive direction be encoder pulse reduce and encoder pulse from be reduced to increase；
Condition 2: motor encoder number of pulses remains unchanged in preset first time period；
Condition 3: the motor torque electric current changes within the scope of second threshold in preset second time period；
Condition 4: elevator from starting bring into operation third preset time period after the motor operating current be less than third threshold value
Electric current.
Wherein, whether the detection elevator shakes, comprising:
Judge whether current of electric at least meets following either conditions, determines that elevator shakes if meeting；
Condition A: being more than preset first fluctuation range when detecting the torque current to fluctuate in positive and negative range；
Condition B: when detect the torque current from large to small and amplitude of variation be more than preset amplitude；
Condition C: being more than preset second fluctuation model when detecting that three-phase output electric current changes and fluctuated in positive and negative range
It encloses.
A kind of elevator starting control system, the controller include torque compensation module and concussion detection module；
The torque compensation module is used for using the first pi regulator according to given speed and current feedback speed to motor
Torque compensates；And whether detection elevator is mobile more than preset first threshold after elevator internal contracting brake opening, if then using
Angle when second pi regulator is according to the current angle of encoder and previous compensation compensates motor torque, and/or increases
The PI adjustment parameter of big first pi regulator；Otherwise the PI adjustment parameter for keeping first pi regulator current is to motor
Torque compensates, until start-up course terminates；
The concussion detection module is used for during being compensated using the second pi regulator to motor torque, detection electricity
Whether ladder shakes, if then exporting the signal of expression elevator concussion to the torque compensation module；
The torque compensation module is also used to after the signal for receiving the expression elevator concussion, reduces the first PI
The PI adjustment parameter of adjuster and/or the second pi regulator.
Wherein, the torque compensation module is also used to record the angle of encoder when compensating every time to motor torque；
The torque compensation module is also used to record the angle of encoder before band-type brake is opened as the first time to motor torque
Previous angle when compensation carries out.
Wherein, described that motor torque is compensated according to given speed and current feedback speed using the first pi regulator
It include: before elevator internal contracting brake opening, using the first pi regulator according to given speed and current feedback speed, with preset first
PI adjustment parameter carries out PI adjusting, exports the first regulated quantity to adjust the torque current of motor；
The angle that the second pi regulator is used according to the current angle of encoder and previous compensation when is to motor torque
It compensates, and/or increases the PI adjustment parameter of first pi regulator, comprising: using the second pi regulator according to coding
Angle when the current angle of device and previous compensation carries out PI adjusting with preset 2nd PI adjustment parameter, and output second is adjusted
Amount；The PI adjustment parameter of the first pi regulator is switched to the 2nd PI adjustment parameter simultaneously, obtains the output of the first pi regulator
First regulated quantity；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the second PI tune
It saves parameter and is greater than the first PI adjustment parameter；
The torque compensation module is also used to after the signal for receiving the expression elevator concussion, reduces the first PI
The PI adjustment parameter of adjuster and/or the second pi regulator includes: that torque compensation module receives the expression elevator and shakes
The PI adjustment parameter of first pi regulator and the second pi regulator is then switched to the 4th PI adjustment parameter, obtains first by signal
First regulated quantity of pi regulator output and the second regulated quantity of the second pi regulator output；According to first regulated quantity and the
The torque current of two regulated quantitys adjusting motor；Wherein the 4th PI adjustment parameter is less than the first PI adjustment parameter.
Wherein, the controller further includes stable detection module, and the stable detection module is used to use the 2nd PI tune
During section device compensates motor torque, detect whether the elevator reaches stable state, if then mending to the torque
It repays module and exports a stabilization signal；
The torque compensation module is also used to first pi regulator and the 2nd PI after receiving the stabilization signal
The PI adjustment parameter of adjuster is switched to the 3rd PI adjustment parameter, obtains the first regulated quantity and second of the first pi regulator output
Second regulated quantity of pi regulator output；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Its
Described in the 3rd PI adjustment parameter be less than the first PI adjustment parameter and be greater than the 4th PI adjustment parameter.
Wherein, if the torque compensation module is also used to the PI of the first pi regulator and the second pi regulator adjusting ginseng
After number is switched to the 4th PI adjustment parameter, the letter of the expression elevator concussion is still received after preset 4th period
Number, then the 5th PI adjustment parameter is set by the PI adjustment parameter of first pi regulator, while cancelling the second pi regulator
Compensation to motor torque, the 5th PI adjustment parameter are less than the 4th PI adjustment parameter.
Wherein, whether the detection elevator reaches stable state, comprising:
The change information of motor torque electric current and the change information of encoder pulse signal are obtained in real time, judge the torque
Whether the change information of electric current and the change information of encoder pulse signal meet following either conditions, confirm elevator if meeting
Reach stable state；
Condition 1: when detect inceptive direction be encoder pulse increase and number of pulses from increase to reduce, or when inspection
Measure inceptive direction be encoder pulse reduce and encoder pulse from be reduced to increase；
Condition 2: motor encoder number of pulses remains unchanged in preset first time period；
Condition 3: the motor torque electric current changes within the scope of second threshold in preset second time period；
Condition 4: elevator from starting bring into operation third preset time period after the motor operating current be less than third threshold value
Electric current.
Wherein, whether the detection elevator shakes, comprising:
Judge whether current of electric at least meets following either conditions, confirms that elevator shakes if meeting；
Condition A: being more than preset first fluctuation range when detecting the torque current to fluctuate in positive and negative range；
Condition B: when detect the torque current from large to small and amplitude of variation be more than preset amplitude；
Condition C: being more than preset second fluctuation model when detecting that three-phase output electric current changes and fluctuated in positive and negative range
It encloses.
According to the elevator starting control method and system of above-described embodiment, if detecting that elevator moves after elevator internal contracting brake opening
When moving more than preset first threshold, then when using the second pi regulator according to the current angle of encoder and previous compensation simultaneously
Angle motor torque is compensated, and increase the PI adjustment parameter of the first pi regulator, it is enough to guarantee traction motor
Biggish torque is quickly exported, prevents elevator from generating car slipping phenomenon.In addition, detecting that elevator reaches stable state or generation
Reduce current PI adjustment parameter when concussion, inhibits elevator to shake with this, avoid and draw since PI adjustment parameter is excessive
Play elevator concussion.Elevator control method or system through this embodiment can be born in elevator start-up course for different
It carries situation to be detected and adjusted, guarantees that elevator starts Shi Junneng under any loading condition and is rapidly achieved stable state, mention
The high comfort of passenger.
Detailed description of the invention
Fig. 1 is that the elevator of the embodiment of the present application starts control method flow chart；
Fig. 2 is that the elevator of the embodiment of the present application starts Control system architecture block diagram；
Fig. 3 is motor torque current compensation loop schematic diagram provided by the embodiments of the present application.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
It is herein component institute serialization number itself, such as " first ", " second " etc., is only used for distinguishing described object,
Without any sequence or art-recognized meanings.
In the prior art in control elevator start-up course, general using fixed PI adjustment parameter, some engineers exist
Elevator no-load passes through debugging in the state of being fully loaded with, and obtains the PI adjustment parameter after guaranteeing elevator smooth starting, there are also part engineerings
Teacher is to obtain the PI adjustment parameter by debugging in the case where elevator balanced load.But the elevator balanced load the case where
The lower PI adjustment parameter debugged, when elevator may not lead to by force car slipping due to PI adjustment parameter in the case where fully loaded, unloaded
The generation of phenomenon；Likewise, in PI adjustment parameter that is unloaded, having been debugged under full load conditions, when elevator is in the state of equilibrium load
May be too strong due to PI adjustment parameter when lower starting, cause elevator to shake, above situation influences passenger and takes elevator
Comfort.
The control method and system that the application proposes, loading condition when PI adjustment parameter starts according to elevator can be real-time
It adjusts and changes, can be rapidly achieved the state of stable equilibrium when guaranteeing that elevator starts under any load, applicability is stronger.
Specifically, before elevator internal contracting brake is opened using the first pi regulator according to given speed and current feedback speed to motor torque into
Row compensation；Detection elevator is mobile after elevator internal contracting brake opening when being more than preset first threshold, using the second pi regulator according to
Angle when the current angle of encoder and previous compensation compensates motor torque, while increasing the first pi regulator and the
The PI adjustment parameter of two pi regulators prevents elevator from generating car slipping phenomenon to ensure that motor can quickly export biggish torque.
In addition, then reduce the first pi regulator and the current PI adjustment parameter of the second pi regulator when detecting that elevator shakes,
Inhibit elevator to shake by reducing current PI adjustment parameter, avoids and cause elevator to shake since PI adjustment parameter is excessive
It swings.It is described in detail below in conjunction with technical solution of the specific embodiment to the application.
Embodiment 1:
The present embodiment provides a kind of elevators to start control method, such as Fig. 1, comprising the following steps:
Step 101: motor torque being compensated according to given speed and current feedback speed using the first pi regulator；
Step 102: whether it is more than preset first threshold that detection elevator is mobile after elevator internal contracting brake opening, if then using
Angle when second pi regulator is according to the current angle of encoder and previous compensation compensates motor torque, increases simultaneously
The PI adjustment parameter of first pi regulator；Otherwise the PI adjustment parameter for keeping the first pi regulator current mends motor torque
It repays, until start-up course terminates；
Step 103: during being compensated using the second pi regulator to motor torque, whether detection elevator shakes
It swings, if then reducing the PI adjustment parameter of the first pi regulator and the second pi regulator.
Wherein, turning for motor is obtained by the sine and cosine encoder being mounted on traction motor in real time in the present embodiment
Speed, and the rotary speed information at the motor current time that will acquire feeds back to control system, while can also pass through record encoder
The code value of output, i.e. angle variable quantity detect the moving distance of elevator.In the present embodiment in step 101, embraced every time in elevator
Lock all restores default setting before opening, i.e., sets preset one group of PI adjustment parameter for the adjustment parameter of the first pi regulator,
This group of PI adjustment parameter adjusts ginseng in equilibrium state and PI when shaking as obtained by preparatory multiple measurement, greater than elevator
Number, so that traction motor can quickly export biggish torque current, Jin Erti when elevator starts under most of loading conditions
For enough torque, to avoid car slipping.Using the current feedback speed of given speed and encoder as the first PI in the present embodiment
The input of adjuster, the first regulated quantity by the output of the first pi regulator as the torque current of motor, is come with this to motor
Torque compensates, so that elevator reaches stable state as early as possible, wherein the size of PI adjustment parameter determines motor torque tune
The speed of section.In the present embodiment, given speed and current feedback speed refer both to the revolving speed of motor, and current feedback speed is by just
Cosine encoder obtains, given speed zero.
Wherein, in a step 102, whether it is more than preset first threshold that real-time detection elevator is mobile after elevator internal contracting brake opening
Value illustrates the adjusting speed of electric power torque if detect that elevator movement is more than preset first threshold in some detection cycle
Degree is too slow, is not able to satisfy the compensation of the required torque of elevator, and such as Fig. 3 then starts the second pi regulator simultaneously to motor simultaneously
Torque compensates, and angle when angle and previous compensation which is currently exported with encoder is input, will
Its output quantity is used as the second regulated quantity of torque current simultaneously, and the output of the first pi regulator and the second pi regulator first is adjusted
Section amount is added as current motor torque current with the second regulated quantity, is compensated with realizing to motor torque.Wherein, the 2nd PI
The PI adjustment parameter of adjuster initial preset is generally higher than the PI adjustment parameter of the first pi regulator initial preset.
In the present embodiment, in order to adjust the torque that motor exports faster, when detection is examined in some detection cycle
When measuring elevator movement more than preset first threshold, the PI adjustment parameter of the first pi regulator is gone back while increasing, so as to electricity
The adjusting of machine power square is quicker, so that the automatic of elevator, counterweight and traction system reach equilibrium state as early as possible, elevator is avoided to send out
Raw car slipping phenomenon.In other embodiments, the PI adjustment parameter of the first pi regulator can also remain unchanged, and only increase by the 2nd PI
Adjuster simultaneously compensates motor torque, wherein the PI adjustment parameter of the second pi regulator should be not less than the first pi regulator
PI adjustment parameter.
If it is more than preset first threshold that it is mobile that the elevator within some period is not detected in elevator start-up course, say
The current adjustment speed of bright motor torque and the size of motor torque can guarantee elevator balanced, then the first PI of holding adjusting substantially
The current PI adjustment parameter of device terminates until start-up course.
Wherein, in the present embodiment is set as to the period of the mobile detection cycle of elevator and torque compensation carrier frequency week
Phase, carrier frequency is 8K in the present embodiment, and the carrier frequency period is 125us, i.e., detection cycle and torque compensation are 125us,
And two cycle synchronisations, i.e., whether it is more than first threshold that elevator of detection is mobile when completing every time to torque compensation, this
First threshold is set as 0.1mm in embodiment, i.e., elevator internal contracting brake opening after, using the first pi regulator to motor torque into
In row compensation process, elevator of each carrier frequency cycle detection with respect to previous moment amount of movement whether more than 0.1mm, if
It is mobile more than first threshold more than elevator is then thought.Wherein, pass through the volume of encoder angle in one cycle in the present embodiment
Code amount calculates the amount of movement of elevator in one cycle.In addition, sine and cosine encoder when also record elevator internal contracting brake opens preceding
Original reference angle ThetaOld is rotated using the original reference angle ThetaOld as calculating in a cycle inner encoder
Reference quantity when amount, the amount of movement of the elevator in a cycle is calculated with this.
Wherein, using the second pi regulator according to the angle at encoder current time and the angle of previous moment to motor
When torque compensates, the angle of encoder is preceding once to motor torque progress when inputting the previous compensation of the second pi regulator
The angle for compensating moment encoder, when being compensated to motor torque first time, before the encoder of the second pi regulator input
Angle when secondary compensation is original reference angle ThetaOld.In the present embodiment, the first pi regulator and the second pi regulator
It is identical to the compensation frequency of motor torque and be consistent.
Wherein, also real during being compensated using the first pi regulator and the second pi regulator to electric power torque
It applies whether example detection elevator shakes, illustrates current first pi regulator and the 2nd PI tune if detecting that concussion occurs for elevator
The PI adjustment parameter setting for saving device is excessive, and motor torque variation is too fast, then needs to reduce current PI adjustment parameter, to inhibit electricity
Otherwise ladder concussion keeps the first pi regulator and the current adjustment parameter of the second pi regulator until start-up course terminates.
Wherein, same group is set as to the adjustment parameter of the PI of the first pi regulator and the second pi regulator in the present embodiment
PI adjustment parameter can also only increase or reduce in other embodiments the adjustment parameter of wherein some pi regulator, lead to
The sum of the first regulated quantity and second regulated quantity of the first pi regulator and the second pi regulator conduct motor torque electric current is crossed, pair
Motor torque is compensated accordingly.
Specifically, five groups of PI adjustment parameters are provided in the present embodiment, before elevator internal contracting brake opening, by the first pi regulator
Adjustment parameter be preset as the first PI adjustment parameter, using the first pi regulator according to given speed and current feedback speed, with
Preset first PI adjustment parameter carries out PI adjusting, exports the first regulated quantity to adjust the torque current of motor.It is opened in band-type brake
Afterwards, when detecting that within some period, elevator is mobile and being more than preset first threshold, while by the first pi regulator and second
The PI adjustment parameter of pi regulator is switched to the 2nd PI adjustment parameter, using the second pi regulator angle current according to encoder
With angle when previous compensation, PI adjusting is carried out with the 2nd PI adjustment parameter, exports the second regulated quantity, wherein PI in the present embodiment
The first regulated quantity and the second regulated quantity of adjuster output are current value, which is added with the second regulated quantity
Torque current of the current value arrived as motor realizes the compensation to motor torque.2nd PI adjustment parameter is greater than the first PI
Adjustment parameter exports enough torque in the short time, prevents elevator car slipping so that the adjusting to motor torque is quicker.
Further, when using the first pi regulator and the second pi regulator to compensate process to motor torque at the same time
In, when detection elevator shakes, then illustrate that the adjustment parameter of setting is excessive, at this time by the first pi regulator and the 2nd PI tune
The PI adjustment parameter of section device is switched to the 4th PI adjustment parameter, obtains the first regulated quantity and the 2nd PI of the first pi regulator output
First regulated quantity, is added with the second regulated quantity the torque current as motor by the second regulated quantity of adjuster output.Wherein
Four PI adjustment parameters are far smaller than the first PI adjustment parameter, can quickly reduce the compensation speed of torque, avoid motor torque
Change it is too fast, with this inhibit concussion generation.
Further, if being adjusted setting the 4th PI for the PI adjustment parameter of the first pi regulator and the second pi regulator
It after parameter, still detects that elevator shakes after preset 4th period, illustrates that currently used 4th PI adjusts ginseng
Number is still excessive, and motor torque variation is still too fast, then sets the 5th PI for the PI adjustment parameter of the first pi regulator and adjust
Parameter, while cancelling the second pi regulator and motor torque is compensated, the first regulated quantity of the first pi regulator output is obtained,
Using the first regulated quantity as the torque current of motor, the 5th PI adjustment parameter can preferably press down less than the 4th PI adjustment parameter
Elevator concussion processed.Wherein, preset 4th period is 0.2s in the present embodiment.
Further, also real during the first pi regulator and the second pi regulator compensate motor torque
When detection elevator whether reach stable state, if reach stablize if illustrate the torque of current motor output substantially with load it is flat
First pi regulator and the 2nd the PI adjustment parameter adjusted are then switched to the 3rd PI adjustment parameter, obtain the first PI adjusting by weighing apparatus
First regulated quantity of device output and the second regulated quantity of the second pi regulator output, the first regulated quantity is added with the second regulated quantity
As the torque current of motor, the 3rd PI adjustment parameter, which is far smaller than the first PI adjustment parameter and is greater than the 4th PI, adjusts ginseng
Number can guarantee and avoid causing elevator to shake since control parameter is too strong while motor exports certain torque.
It, can also be by the first pi regulator and the second pi regulator initial preset in addition, in other embodiments
PI adjustment parameter is increased and is reduced to change PI adjustment parameter, wherein corresponding to different testing results, is increased or is reduced
Amplitude it is different, such as the amplitude slightly dot of then reduction when elevator is in stable state is detected, when detecting elevator
When concussion then the amplitude of reduction just it is big a bit, depending on the specific amplitude for reducing or increasing is tested according to the actual situation, at this time not
It repeats again.
Wherein, it detects whether elevator reaches stable state by the following method in the present embodiment: obtaining motor torque in real time
The change information of electric current and the change information of encoder pulse signal judge the change information and encoder arteries and veins of the torque current
Whether the change information for rushing signal meets following either conditions, indicates that elevator reaches stable state if meeting；
Condition 1: when detect inceptive direction be encoder pulse increase and number of pulses from increase to reduce, or when inspection
Measure inceptive direction be encoder pulse reduce and encoder pulse from be reduced to increase；Wherein, reach when motor is motionless
Stable state, code device signal number of pulses will not change at this time, wherein motor is likely to be breached a kind of performance of stable state
Just to have started number of pulses and having increased, after stabilization, the position of motor may turn round one when motor is moved to a direction
Under at this time performance be exactly number of pulses reduce, as in condition 1 when detect inceptive direction be encoder pulse increase and arteries and veins
Rush quantity from increase to reduce.One kind that motor is likely to be breached stable state is shown as, when motor is moved to a direction, just
Start number of pulses to reduce, but number of pulses situation of change is from increase is reduced to, i.e., working as in condition 1 detects initial side
To for encoder pulse reduction and encoder pulse from be reduced to increase, when one of both of these case occurs in encoder pulse number
Shi Jun thinks that elevator reaches stable state.
Condition 2: motor encoder number of pulses remains unchanged in preset first time period；Wherein preset first when
Between section be 0.1s.
Condition 3: motor torque electric current changes within the scope of second threshold in preset second time period；Wherein, this reality
It applies second time period in example and is preset as 0.1s, second threshold range is ± 5% rated torque current of Rated motor torque current.
Condition 4: elevator from starting bring into operation third preset time period after motor operating current be less than third threshold current,
Wherein running current includes torque current and exciting current two parts, and third preset time is 0.5s, and third threshold current is electricity
5 the percent of machine rated torque current.
Wherein, it detects whether elevator shakes by the following method in the present embodiment: judging current of electric whether at least
Meet following either conditions, indicates that elevator shakes if meeting；
Condition A: being more than preset first fluctuation range when detecting torque current to fluctuate in positive and negative range；Wherein, in advance
If the first fluctuation range be Rated motor torque current ± Rated motor torque current 5 percent, i.e., torque current is in volume
Determine fluctuation in positive and negative 5 percent range of torque current；
Condition B: when detect torque current from large to small and amplitude of variation be more than preset amplitude；Wherein, the present embodiment
In preset amplitude range be Rated motor torque current 10；
Condition C: being more than preset second fluctuation model when detecting that three-phase output electric current changes and fluctuated in positive and negative range
It encloses, wherein three-phase output electric current includes motor energization current and torque current, and second fluctuation range is motor in the present embodiment
Between positive and negative 5 the percent of rated torque current.
The detection elevator that the present embodiment provides above only is in stable state and occurs to shake more excellent method, in other realities
Applying in example can also be judged using other methods or physical quantity, no longer be enumerated one by one herein.
Wherein, the present embodiment provides a kind of new torque compensation method, such as Fig. 3, if detecting after elevator internal contracting brake is opened
Elevator is mobile when being less than first threshold, then keeps current speed ring to the compensation of motor torque and current PI is maintained to adjust
Parameter constant.When detecting elevator movement more than preset first threshold, then torque is carried out by speed ring existing
It is increased on the basis of compensation through position ring, that is, angle is as the 2nd PI when passing through encoder current angular and preceding single compensation
The input of adjuster passes it through the output after PI is adjusted and is added as motor torque electric current, can be with by two pi regulators
The input current of motor is adjusted faster, and then adjusts the output torque of motor, so that elevator device reaches stable equilibrium as early as possible
State, avoid that car slipping or reforming phenomena occurs.
The elevator control method of the present embodiment can be detected in elevator start-up course for different loading conditions
And adjusting, guarantee that elevator starts Shi Junneng under any loading condition and is rapidly achieved stable state, car slipping or shake will not occur
Phenomenon is swung, the comfort of passenger is improved.
Embodiment 2
Elevator includes at least carriage, guidance system, traction system 21, weight balancing system, electric drive system.Wherein,
The major function of guidance system is the freedom of movement for limiting carriage and counterweight, go up and down carriage and counterweight can only along guide rail
Movement.The major function of traction system 21 is output and transmitting power, runs elevator.Traction system is mainly by traction motor
211, traction steel-cable, directive wheel, diversion sheave composition.The major function of weight balancing system is relative equilibrium car weight,
The weight difference between carriage and counterweight can be made to be maintained within limit in elevator work, guarantee that the traction-driven of elevator is normal；This is
System is mainly made of counterweight and weight compensation means.The function of electric drive system is to provide power, carries out elevator speed control.
Electric drive system is by hoisting motor, power supply system, speed feedback device, the composition such as motor speed control device.
The present embodiment provides a kind of elevators to start control system, which is mainly used for right in elevator start-up course
The control of traction motor torque, so that the more suitable state to be rapidly achieved equalising torque of the adjusting of motor torque, keeps away
Exempt from there is a phenomenon where car slipping or shakes.The control system is illustrated the control of traction system emphatically in the present embodiment.
Such as Fig. 2, the control system of the present embodiment includes controller 20, the motor of controller 20 and elevator traction system 21
211 are connected by cable, are provided with sine and cosine encoder 212 in the shaft of motor 211, and the revolving speed for obtaining motor 211 is believed
Breath and rotational angle information feed back to controller 20, and rotary speed information that controller 20 detect according to encoder 212, given speed are believed
Breath, rotational angle information use PI to adjust to realize the control to the torque current of motor, and then realization exports motor 211
So that elevator reaches the state of equalising torque as early as possible during startup car slipping or concussion do not occur for the compensation of torque, improve
The comfort of seating.
Wherein, controller includes torque compensation module 201 and concussion detection module 203, the concussion detection module 203 and power
Square compensating module 201 is connected by cable.Torque compensation module 201 is used to use the first pi regulator when elevator internal contracting brake is opened
Motor torque is compensated according to given speed and current feedback speed；And detection elevator movement is after elevator internal contracting brake opening
No is more than preset first threshold, when using the second pi regulator according to the current angle of encoder and previous compensation if being more than
Angle motor torque is compensated, increase the first pi regulator PI adjustment parameter；Otherwise the first pi regulator is kept to work as
Preceding PI adjusting compensates motor torque, and parameter terminates until start-up course.
Wherein, the torque compensation module 201 of the present embodiment includes the first pi regulator and the second pi regulator, is respectively used to
Torque compensation is carried out to motor 211 according to speed and location information.The sine and cosine encoder 212 being mounted on motor 211 is used to
The revolving speed of motor 211 is obtained in real time, and the rotary speed information at 211 current time of motor that will acquire feeds back to the torque of controller 20
Compensating module 201, while torque compensation module 201 is also in real time by obtaining the code value of the output of encoder, i.e. angle variable quantity
The moving distance of elevator is detected, when detecting that elevator is mobile to be more than preset first threshold after elevator internal contracting brake is opened, explanation
The adjustment speed of electric power torque is too slow, and car slipping phenomenon may occur for elevator, and torque compensation module 201 then starts the 2nd PI adjusting
Device simultaneously compensates motor torque, while the first pi regulator of increase makes so that the adjusting to motor torque is quicker
It obtains the automatic of elevator, counterweight and traction system and reaches equilibrium state as early as possible, avoid elevator that car slipping phenomenon occurs.
Wherein, detection elevator is mobile when being more than preset first threshold, and torque compensation module 201 is by given speed and coding
Input of the current feedback speed of device as the first pi regulator, the torque electricity by the output of the first pi regulator as motor
Stream, while starting the second pi regulator and motor torque is compensated simultaneously, torque compensation module 201 is by current encoder 212
For angle when the angle of output and previous compensation as the second pi regulator to input, the amount of outputting it is used as torque current simultaneously
Input, the input quantity by the output superposition of the first pi regulator and the second pi regulator as current motor torque current, with
Realization compensates motor torque.
Wherein, record encoder 212 is worked as when torque compensation module 201 is also used to compensate completion to motor torque every time
The angle at preceding moment, and using the angle at the current time as preceding single compensation hour angle when compensating motor torque next time
Degree.Torque compensation module 201 is also used to record the angle of encoder 212 before band-type brake is opened as the first time to motor torque compensation
When preceding single compensation when angle.
If torque compensation module 201 is not detected the elevator movement within some period and is more than in elevator start-up course
Preset first threshold then illustrates that the size of the current adjustment speed of motor torque and motor torque can guarantee that elevator is flat substantially
Weighing apparatus, then the PI adjustment parameter that torque compensation module 201 keeps the first pi regulator current is until start-up course terminates.
Wherein, concussion detection module 203 is used for during the second pi regulator compensates motor torque, is examined in real time
Survey whether elevator shakes, if then exporting the signal of expression elevator concussion to torque compensation module 201.Torque compensation
Module 201 is also used to after receiving the signal for indicating elevator concussion that concussion detection module 203 is sent, and is reduced the first PI and is adjusted
Otherwise the PI adjustment parameter of device and the second pi regulator keeps the first pi regulator and the current PI of the second pi regulator to adjust ginseng
Number terminates until start-up course.
Wherein, illustrate current first pi regulator and second if concussion detection module 203 detects that concussion occurs for elevator
The PI adjustment parameter setting of pi regulator is excessive, and motor torque variation is too fast, then needs to reduce current PI adjustment parameter, with suppression
Elevator concussion processed shakes detection module 203 at this time and then exports the signal that an expression elevator shakes to torque compensation module 201,
Otherwise keep the first pi regulator and the current adjustment parameter of the second pi regulator until start-up course terminates.
Five groups of PI adjustment parameters are previously provided in the present embodiment, before elevator internal contracting brake opening, torque compensation module 201 will
The adjustment parameter of first pi regulator is preset as the first PI adjustment parameter, carries out PI adjusting with preset first PI adjustment parameter,
The first regulated quantity is exported to adjust the torque current of motor.After band-type brake opening, when detecting that within some period, elevator is mobile
When more than preset first threshold, start angle of second pi regulator according to the current angle of encoder and previous compensation when,
PI adjusting is carried out with preset 2nd PI adjustment parameter, exports the second regulated quantity, while the PI of the first pi regulator being adjusted and is joined
Number is set as the 2nd PI adjustment parameter, and the 2nd PI adjustment parameter is greater than the first PI adjustment parameter, will obtain the first regulated quantity and
Second regulated quantity is added the torque current as motor, so that the adjusting to motor torque is quicker, exports in the short time
Enough torque prevents elevator car slipping.
Wherein, such as Fig. 3, PI of the torque compensation module 201 to the first pi regulator and the second pi regulator in the present embodiment
The switching of adjustment parameter keep synchronizing, and same group of PI adjustment parameter is set by its adjustment parameter, in other embodiments
In can also only increase or reduce the adjustment parameter of wherein some pi regulator, pass through the first pi regulator and the 2nd PI tune
It saves the sum of output quantity of device and is used as motor torque electric current, compensated accordingly motor torque.
Further, when using the first pi regulator and the second pi regulator to compensate process to motor torque at the same time
In, when the concussion detection elevator of detection module 203 shakes, then illustrate that the adjustment parameter of setting is excessive, at this time torque compensation mould
The PI adjustment parameter of first pi regulator and the second pi regulator is switched to the 4th PI adjustment parameter by block 201, and the 4th PI is adjusted
Parameter is far smaller than the first PI adjustment parameter, obtains the first regulated quantity and the output of the second pi regulator of the first pi regulator output
The second regulated quantity, the first regulated quantity is added with the second regulated quantity to the torque current as motor, can quickly be subtracted in this way
The compensation speed of small torque avoids motor torque variation too fast, successively inhibits the generation of concussion.
Further, if being adjusted the PI adjustment parameter of the first pi regulator and the second pi regulator is switched to the 4th PI
After parameter, detection module 203 is shaken after preset 4th period still can detect that elevator shakes, i.e. torque compensation mould
Block 201 still receives the signal for indicating elevator concussion, then the PI adjustment parameter of the first pi regulator is switched to the 5th PI and adjusted
Parameter, while cancelling compensation of second pi regulator to motor torque, the first regulated quantity of the first pi regulator output is obtained, it will
Torque current of first regulated quantity as motor, the 5th PI adjustment parameter can preferably inhibit less than the 4th PI adjustment parameter
Elevator concussion.Wherein, preset 4th period is 0.2s in the present embodiment.
Further, the present embodiment controller further includes stable detection module 102, which is used for
During second pi regulator compensates motor torque, whether detection elevator reaches stable state, if then mending to torque
It repays module 101 and exports a stabilization signal.Torque compensation module 101 is in the stabilization signal for receiving the transmission of stable detection module 102
The PI adjustment parameter of the first pi regulator and the second pi regulator is switched to the 3rd PI adjustment parameter afterwards, obtains the first PI adjusting
First regulated quantity of device output and the second regulated quantity of the second pi regulator output, the first regulated quantity is added with the second regulated quantity
As the torque current of motor, the 3rd PI adjustment parameter is far smaller than the first PI adjustment parameter and is greater than the 4th PI adjustment parameter,
It can guarantee in this way and avoid causing elevator to shake since control parameter is too strong while motor 211 exports certain torque.
Wherein, whether preset detection elevator reaches sentencing for stable state in the stable detection module 202 in the present embodiment
In the method and torque compensation module 201 that whether preset detection elevator shakes in disconnected method, concussion detection module 203
The preset method compensated to 211 torque current of motor is identical and in embodiment 1, and details are not described herein again.
The elevator starting control system provided through this embodiment, passes through torque compensation module 101, stable detection module
202 in real time can detect the state of elevator after elevator internal contracting brake opening with concussion detection module 203, according to different shapes
State uses different torque compensation strategy and PI adjustment parameter, guarantees quickly reach when elevator starts under any loading condition
To the state of equalising torque, avoid occurring car slipping and or reforming phenomena, improve the comfort of seating.
Claims (10)
1. a kind of elevator starts control method characterized by comprising
Motor torque is compensated according to given speed and current feedback speed using the first pi regulator；
Whether it is more than preset first threshold that detection elevator is mobile after elevator internal contracting brake opening, if then using the second pi regulator
Angle when according to the current angle of encoder and previous compensation compensates motor torque, and/or increases the first PI
The PI adjustment parameter of adjuster；Otherwise the PI adjustment parameter for keeping first pi regulator current mends motor torque
It repays, until start-up course terminates；
During being compensated using the second pi regulator to motor torque, whether detection elevator shakes, if then subtracting
The PI adjustment parameter of small first pi regulator and/or the second pi regulator.
2. control method as described in claim 1, which is characterized in that angle when the previous compensation of the encoder is the 2nd PI
Angle when once being compensated to motor torque before adjuster；
Second pi regulator is for the first time when compensating motor torque, and angle when previous compensation is coding before band-type brake is opened
The angle of device.
3. control method as described in claim 1, which is characterized in that
Described compensated according to given speed and current feedback speed to motor torque using the first pi regulator includes: in electricity
Before terraced band-type brake is opened, using the first pi regulator according to given speed and current feedback speed, is adjusted and joined with preset first PI
Number carries out PI adjusting, exports the first regulated quantity to adjust the torque current of motor；
It is described that angle of second pi regulator according to the current angle of encoder and previous compensation when is used to carry out motor torque
Compensation, and/or increase the PI adjustment parameter of first pi regulator, comprising: worked as using the second pi regulator according to encoder
Angle when preceding angle and previous compensation carries out PI adjusting with preset 2nd PI adjustment parameter, exports the second regulated quantity；Together
When the PI adjustment parameter of the first pi regulator is switched to the 2nd PI adjustment parameter, obtain the output of the first pi regulator first is adjusted
Section amount；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the second PI adjustment parameter
Greater than the first PI adjustment parameter；
Whether the detection elevator shakes, if then reducing the PI of first pi regulator and/or the second pi regulator
Adjustment parameter includes: to cut the PI adjustment parameter of the first pi regulator and the second pi regulator if detecting that concussion occurs for elevator
It is changed to the 4th PI adjustment parameter, the first regulated quantity of the first pi regulator output is obtained and the second of the second pi regulator output is adjusted
Section amount；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the 4th PI adjustment parameter
Less than the first PI adjustment parameter.
4. control method as claimed in claim 3, which is characterized in that further include:
During compensating using the second pi regulator to motor torque, detect whether the elevator reaches stable state,
If the PI adjustment parameter of first pi regulator and the second pi regulator is then switched to the 3rd PI adjustment parameter, is obtained
First regulated quantity of one pi regulator output and the second regulated quantity of the second pi regulator output；According to first regulated quantity with
The torque current of second regulated quantity adjusting motor；Wherein the third PI adjustment parameter is less than the first PI adjustment parameter and big
In the 4th PI adjustment parameter.
5. control method as claimed in claim 3, which is characterized in that further include:
If after the PI adjustment parameter of the first pi regulator and the second pi regulator is switched to the 4th PI adjustment parameter, by pre-
If the 4th period after still detect that elevator shakes, then the PI adjustment parameter of first pi regulator is switched to
Five PI adjustment parameters, while cancelling compensation of second pi regulator to motor torque, the 5th PI adjustment parameter is less than described
4th PI adjustment parameter.
6. a kind of elevator starts control system, including controller, which is characterized in that the controller include torque compensation module and
Shake detection module；
The torque compensation module is used for using the first pi regulator according to given speed and current feedback speed to motor torque
It compensates；And whether detection elevator is mobile more than preset first threshold after elevator internal contracting brake opening, if then using second
Angle when pi regulator is according to the current angle of encoder and previous compensation compensates motor torque, and/or increases institute
State the PI adjustment parameter of the first pi regulator；Otherwise the PI adjustment parameter for keeping first pi regulator current is to motor torque
It compensates, until start-up course terminates；
The concussion detection module is used for during being compensated using the second pi regulator to motor torque, and detection elevator is
It is no to shake, if then exporting a signal for indicating elevator concussion to the torque compensation module；
The torque compensation module is also used to after the signal for receiving the expression elevator concussion, is reduced the first PI and is adjusted
The PI adjustment parameter of device and/or the second pi regulator.
7. control system as claimed in claim 6, which is characterized in that angle when the previous compensation of the encoder is the 2nd PI
Angle when once being compensated to motor torque before adjuster；
Second pi regulator is for the first time when compensating motor torque, and angle when previous compensation is coding before band-type brake is opened
The angle of device.
8. control system as claimed in claim 7, which is characterized in that
Described compensated according to given speed and current feedback speed to motor torque using the first pi regulator includes: in electricity
Before terraced band-type brake is opened, using the first pi regulator according to given speed and current feedback speed, is adjusted and joined with preset first PI
Number carries out PI adjusting, exports the first regulated quantity to adjust the torque current of motor；
It is described that angle of second pi regulator according to the current angle of encoder and previous compensation when is used to carry out motor torque
Compensation, and/or increase the PI adjustment parameter of first pi regulator, comprising: worked as using the second pi regulator according to encoder
Angle when preceding angle and previous compensation carries out PI adjusting with preset 2nd PI adjustment parameter, exports the second regulated quantity；Together
When the PI adjustment parameter of the first pi regulator is switched to the 2nd PI adjustment parameter, obtain the output of the first pi regulator first is adjusted
Section amount；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein the second PI adjustment parameter
Greater than the first PI adjustment parameter；
The torque compensation module is also used to after the signal for receiving the expression elevator concussion, is reduced the first PI and is adjusted
The PI adjustment parameter of device and/or the second pi regulator includes: the signal that torque compensation module receives the expression elevator concussion,
The PI adjustment parameter of the first pi regulator and the second pi regulator is then switched to the 4th PI adjustment parameter, obtains the first PI adjusting
First regulated quantity of device output and the second regulated quantity of the second pi regulator output；It is adjusted according to first regulated quantity with second
Amount adjusts the torque current of motor；Wherein the 4th PI adjustment parameter is less than the first PI adjustment parameter.
9. control system as claimed in claim 8, which is characterized in that the controller further includes stable detection module, described
Stable detection module is used to detect whether the elevator reaches during compensating motor torque using the second pi regulator
To stable state, if then exporting a stabilization signal to the torque compensation module；
The torque compensation module is also used to adjust first pi regulator and the 2nd PI after receiving the stabilization signal
The PI adjustment parameter of device is switched to the 3rd PI adjustment parameter, obtains the first regulated quantity and the 2nd PI tune of the first pi regulator output
Save the second regulated quantity of device output；The torque current of motor is adjusted according to first regulated quantity and the second regulated quantity；Wherein institute
The 3rd PI adjustment parameter is stated less than the first PI adjustment parameter and is greater than the 4th PI adjustment parameter.
10. control system as claimed in claim 9, which is characterized in that if the torque compensation module is also used to by first
After the PI adjustment parameter of pi regulator and the second pi regulator is switched to the 4th PI adjustment parameter, by preset 4th period
The signal for still receiving the expression elevator concussion afterwards, then set the 5th PI for the PI adjustment parameter of first pi regulator
Adjustment parameter, while cancelling compensation of second pi regulator to motor torque, the 5th PI adjustment parameter is less than the described 4th
PI adjustment parameter.
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