CN110002298B - Elevator starting control method and system - Google Patents
Elevator starting control method and system Download PDFInfo
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- CN110002298B CN110002298B CN201910282262.4A CN201910282262A CN110002298B CN 110002298 B CN110002298 B CN 110002298B CN 201910282262 A CN201910282262 A CN 201910282262A CN 110002298 B CN110002298 B CN 110002298B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Automation & Control Theory (AREA)
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- Elevator Control (AREA)
Abstract
The invention relates to the technical field of elevator control, in particular to an elevator starting control method and system, wherein the method comprises the following steps: compensating the motor torque after the elevator brake is opened; and detecting whether the motor torque reaches torque balance, if so, exiting the torque compensation mode, and starting the elevator acceleration and deceleration control mode to control the elevator to run after finishing the compensation of the motor torque of the elevator control system. According to the elevator starting control method, the moment compensation mode is adopted to carry out the moment compensation on the elevator when the elevator is started, so that the moment of the motor is balanced as soon as possible, the stability of the elevator in operation is ensured, the problem of vehicle sliding is prevented, and the riding comfort of a user is improved; meanwhile, when the motor torque is detected to reach torque balance, the compensation of the motor torque is immediately finished, and the elevator is controlled to immediately enter an acceleration and deceleration mode to start running by adopting an acceleration and deceleration control mode, so that the running efficiency is improved.
Description
Technical Field
The invention relates to the technical field of elevator control, in particular to an elevator starting control method and system.
Background
The elevator is when starting, because elevator car side and elevator are different to the weight of heavy side, opens in the twinkling of an eye at the elevator band-type brake, because the relation of weight difference, elevator car has the swift current car of one section distance, and this can cause elevator operation comfort to worsen, and the influence is taken and is experienced.
In order to solve the problem of car slipping, the existing elevator control system generally adds an analog weighing device, before the elevator runs, the weight of a car is measured by a weighing sensor, and then an initial torque is output through a series of parameters, and the torque is applied to a motor before a band-type brake is opened so as to overcome the influence of car slipping. However, this solution, besides increasing the system cost, makes it difficult to guarantee the consistency of the starting effect due to the precision problems of the weighing means.
In recent years, with the wide application of sine and cosine encoders in elevators, weighing compensation is realized without an analog weighing device, and compensation calculation of starting torque is realized by adopting a certain algorithm. However, because the control system needs a certain process to establish sufficient torque to achieve torque balance, the same control strategy is adopted for the elevator to control the elevator to start under different load conditions in the prior art, but in fact, the torque of the elevator is balanced in the process, but the elevator still needs to wait until the control strategy is executed to start running, so that the waiting time is prolonged, and the running efficiency is affected; or when the elevator load is larger, the elevator still does not reach the moment balance state after the execution is finished according to the preset control strategy, so that the phenomenon of car sliding can occur when the elevator is started.
Disclosure of Invention
The application provides an elevator dynamic control method and system, aims at ensuring that the elevator can improve the operation efficiency while stably operating, and is realized by the following technical scheme:
an elevator start control method comprising:
compensating the motor torque after the elevator brake is opened;
and detecting whether the motor torque reaches torque balance, and if so, finishing the compensation of the motor torque.
Wherein, whether the detection motor moment reaches moment balance includes:
and detecting the torque current information output by the motor and the encoder pulse change information, and if the torque current change is within a first preset range and the encoder pulse is kept unchanged in a first preset duration, indicating that the motor torque reaches torque balance.
Further, if the motor torque is not detected to reach the torque balance within the first preset torque establishing time, the compensation of the motor torque is finished.
The first preset torque establishing time is obtained by the following method:
starting the elevator in an elevator no-load state and simultaneously compensating the motor torque, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, and recording the time period from the moment compensation start to the stable state of the elevator;
the first preset moment establishing time is more than or equal to the recorded duration.
The first preset torque establishing time is obtained by the following method:
starting the elevator in a full-load state of the elevator and compensating the motor torque at the same time, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, and recording the time period from the moment compensation start to the stable state of the elevator;
the first preset moment establishing time is more than or equal to the recorded duration.
Further, after the compensation of the motor torque is finished, the method further includes: and starting an elevator acceleration and deceleration control mode to control the elevator to run.
Preferably, the first preset range of current variation is from zero to five percent of the rated torque current of the motor;
the first preset time is 0.2s, and the second preset time is 0.1 s.
An elevator start control system comprises a motor and a controller;
the controller is used for compensating the motor torque after the elevator brake is opened, detecting whether the motor torque reaches torque balance or not, and finishing the compensation of the motor torque when the motor torque reaches the torque balance.
Wherein the moment equilibrium state is detected by:
and detecting the torque current information output by the motor and the encoder pulse change information, and if the torque current change is within a first preset range and the encoder pulse is kept unchanged in a first preset duration, indicating that the motor torque reaches torque balance.
Further, the controller is further configured to finish the compensation of the motor torque if it is not detected that the motor torque reaches the torque balance within the first preset torque setup time.
The first preset torque establishing time is obtained by the following method:
starting the elevator in an elevator no-load state and simultaneously compensating the motor torque, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, and recording the time period from the moment compensation start to the stable state of the elevator;
the first preset moment establishing time is more than or equal to the recorded duration.
The first preset torque establishing time is obtained by the following method:
starting the elevator in a full-load state of the elevator and compensating the motor torque at the same time, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, and recording the time period from the moment compensation start to the stable state of the elevator;
the first preset moment establishing time is more than or equal to the recorded duration.
Further, the controller is also used for starting an elevator acceleration and deceleration control mode to control the elevator to run after the compensation of the motor torque is finished.
Preferably, the first preset range of current variation is from zero to five percent of the rated torque current of the motor;
the first preset time is 0.2s, and the second preset time is 0.1 s.
According to the elevator starting control method and the elevator starting control system, when the elevator is started, the moment compensation is carried out on the elevator, so that the moment of the motor is balanced as soon as possible, the stability of the elevator in operation is ensured, the problem of vehicle sliding is prevented, and the riding comfort is improved; meanwhile, when the fact that the torque of the motor is compensated immediately after the elevator control system is detected to reach the torque balance is detected, the elevator can be controlled to immediately enter a normal acceleration and deceleration mode to start running by adopting the acceleration and deceleration control mode, and the running efficiency is improved.
Drawings
FIG. 1 is a flow chart of an elevator starting control method according to an embodiment of the present application;
FIG. 2 is a block diagram of an elevator starting control system according to an embodiment of the present application;
fig. 3 is a schematic diagram of the change of the speed of a motor of the elevator in starting and running of the elevator of the embodiment of the application;
fig. 4 is a schematic diagram of a motor torque current compensation loop provided in an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings.
The elevator starting process generally comprises in sequence: the elevator runs in place and is closed, the door lock is closed, the elevator brake is opened, the elevator runs at zero speed, and the elevator runs at acceleration and deceleration. In the process of realizing elevator control by adopting a sine and cosine encoder, an elevator control system needs a certain time to establish enough torque to achieve torque balance, wherein the encoder is arranged on a motor rotating shaft and used for measuring the rotating speed and the rotating angle of a motor. This time is generally defined as the starting zero speed time T0, and during the time T0, the control system controls the motor output torque to reach the torque balance, however, if the time parameter T0 is too small, the control system may not output enough torque, the elevator starts running, so that the elevator slips to deteriorate the riding comfort of passengers, and if the time is set too long, the elevator needs to wait for a longer time to run, thereby reducing the running efficiency of the elevator and increasing the waiting time of passengers. Therefore, the invention starts to compensate the motor moment when the elevator is started, detects whether the elevator reaches the moment balance in real time, immediately finishes the compensation of the motor moment after the elevator reaches the balance and controls the elevator to run by adopting an acceleration and deceleration control mode, thereby ensuring that the elevator can establish enough moment to prevent sliding when being started and simultaneously improving the running efficiency of the system.
Example 1:
referring to fig. 1, the present embodiment provides an elevator starting control method, including the following steps:
step 101: compensating the motor torque after the elevator brake is opened;
step 102: and detecting whether the motor torque of the elevator reaches torque balance, and if so, finishing the compensation of the motor torque.
The moment balance establishing time of the elevator is different under different load states, generally, the moment balance establishing time is longer when the elevator load is larger, but sometimes the moment balance establishing time is longer when the elevator is unloaded according to different types and control methods of the elevator, so if a control strategy is adopted to control the starting process of the elevator, a car slipping phenomenon sometimes occurs because the moment of the elevator is not balanced, and sometimes the operation can be started until the control strategy is executed because the moment of the motor is balanced already. After the elevator brake is opened, the motor torque is compensated in a preset torque compensation mode, the frequency converter outputs proper torque to keep balance with the load torque, the torque current is kept unchanged after balance is achieved, and the elevator is guaranteed to be in a stable state. According to the elevator starting control method provided by the embodiment, the preset torque compensation mode is adopted to compensate the motor torque when the elevator is started according to different load states of the elevator, so that the motor torque is balanced as soon as possible to prevent slipping, meanwhile, in the torque compensation process, whether the control system of the elevator reaches the torque balance or not is detected in real time, if so, the control system immediately exits from the torque compensation mode, the normal acceleration and deceleration mode is adopted to control the elevator to run, and the running efficiency is improved. By adopting the control method of the embodiment, the time for establishing the balance according to different moments of the load is different when the elevator operates every time, and the elevator immediately starts to operate when the weight of the cage and the weight of the counterweight are relatively close, so that the waiting time is saved, the elevator stably operates without sliding, the waiting time is reduced, and the operation efficiency of the elevator is improved.
When the normal elevator reaches the load balance, the torque current keeps fluctuating in a small range, and the pulse of the encoder also basically keeps unchanged. The method for judging whether the motor torque of the elevator control system reaches the torque balance in real time in the embodiment comprises the following steps: the method comprises the steps of detecting pulse current information output by a motor and encoder pulse change information in real time, and if the torque current change is within a first preset range within a first preset duration and the encoder pulse is kept unchanged, indicating that a control system of the elevator achieves torque balance. Specifically, can count time through the Timer, start a Timer time 1 when the elevator starts and gets into the moment compensation mode, real-time detection motor output's torque current and encoder pulse change, if it is in first preset within range to detect motor output torque current change, encoder pulse keeps unchangeable simultaneously, when these two states satisfy simultaneously and duration reach first predetermined duration, think that elevator control system has reached stably, the motor has reached moment balance promptly. And the elevator immediately exits the torque compensation mode after reaching the stability, and the normal acceleration and deceleration mode is adopted to control the operation of the elevator. The first preset time is related to the compensation algorithm according to the self weight of the elevator, the torque of the motor and the self setting of a technician according to the actual situation, and the first preset time is set to be 0.2 s. The first preset range of the torque current variation is generally set to be 3% -5% of the rated torque current of the motor, and the first preset range of the torque current variation set in the embodiment is from zero to 5% of the torque current.
Further, the control method also comprises the step of exiting the torque compensation mode and finishing the compensation of the motor torque if the situation that the motor torque of the elevator control system reaches the torque balance is not detected within the first preset torque establishing time. The moment compensation mode is controlled to exit after the first preset moment establishing time, wherein the first preset moment establishing time is the longest time required by the moment balance establishing of the elevator measured in advance, and the moment compensation mode exits after the first preset moment establishing time to ensure that the motor moment of the elevator under any load reaches balance, so that the elevator is controlled to be stable in state and not to have a car slipping phenomenon when the elevator is controlled to run by adopting an acceleration and deceleration mode.
Wherein, because the longest time required for the elevator to establish moment balance may be in its empty or full load condition, the first preset moment establishment time is obtained by:
the method comprises the following steps: starting the elevator and compensating the motor torque at the same time in the full-load state of the elevator, if the torque current changes in a second preset time length are all in a first preset range and the encoder pulse is kept unchanged, considering that the motor torque reaches a stable state, recording the time length from the moment compensation start to the stable state of the elevator, and setting the first preset torque establishment time to be longer than or equal to the recorded time length.
The second method comprises the following steps: starting the elevator in an elevator no-load state and compensating the motor torque at the same time, if torque current changes are within a first preset range in a second preset time period and encoder pulses are kept unchanged, considering that the motor torque reaches a stable state, recording the time period from the moment compensation start to the stable state of the elevator, and setting the first preset torque establishment time to be longer than or equal to the recorded time period.
In other embodiments, when the first preset torque establishing time is obtained by the first method or the second method, after the elevator control system reaches the stable state for the first time, in order to ensure more accurate detection, it is further detected that the recorded time length is used as a reference for setting the first preset torque establishing time if the stable state continues to maintain a third preset time length, where the third preset time length may be set to be the same as the second preset time length.
Preferably, the present embodiment adopts method three: the method comprises the steps of starting an elevator in the no-load state and the full-load state of the elevator respectively, compensating motor torque simultaneously, recording torque balance establishment time of the elevator in the no-load state and the full-load state respectively, selecting the larger of the two torque balance establishment times as a first preset torque establishment time to ensure that the first preset torque establishment time is the maximum time required by the elevator to establish torque balance under any load condition, ensuring that the elevator can reach the torque balance state after passing through the first preset torque establishment time under any load condition, and avoiding the phenomenon of car slipping of the elevator.
Further, in other embodiments, the first preset torque setup time may also be set to be greater than the torque balance setup time, but in order to save the elevator operation efficiency, the first preset torque setup time is generally set to be equal to the torque balance setup time. Specifically, in this embodiment, a Timer2 is started while the elevator is started in an unloaded or fully loaded state, when two conditions that the torque current changes within a first preset range and the encoder pulse is kept unchanged are both satisfied, the elevator control system is considered to reach a stable state, the current time of the Timer is recorded, the Timer continues to count time, when the stable state is detected to continue for a third preset time, the motor torque is considered to be balanced, and then the recorded time of the Timer2 when the elevator control system reaches the stable state is used as the torque balance establishment time in the unloaded or fully loaded state.
Further, in order to improve the operation efficiency of the elevator, when the situation that the elevator reaches the moment balance is detected, and the elevator reaches a stable state, the control system immediately exits the moment compensation mode and starts the normal acceleration and deceleration control mode to control the elevator to normally accelerate and decelerate.
Referring TO fig. 3, the TO period is a motor torque balance establishing period, the T1 period is a normal acceleration and deceleration operation period of the elevator, when the TO period elapses, the motor torque of the elevator control system reaches a balance state through torque compensation, and then the elevator control system performs acceleration and deceleration movement under the control of the acceleration and deceleration control mode within the T1 time
Wherein, the compensation of the motor torque is completed through PI regulation. Specifically, as shown in fig. 4, for the motor torque compensation loop of this embodiment, the current feedback speed of the encoder is obtained in real time from before the elevator brake is opened, the feedback speed and the preset given speed are input through the first PI regulator, the current value input and output by the first PI regulator is used as the torque current of the motor, and the preset given speed in this embodiment is zero. The method comprises the steps of detecting whether the movement of an elevator exceeds a preset first threshold value or not in real time after an elevator brake is opened, if the movement of the elevator exceeds the preset first threshold value in a certain detection period, indicating that the adjusting speed of the electric power moment is too slow and the compensation of the required moment of the elevator cannot be met, simultaneously starting a second PI regulator to compensate the motor moment, taking the current output angle of an encoder and the previous compensation angle as input of the second PI regulator, and adding the output quantity of the second PI regulator and the output quantity of the first PI regulator to obtain the current torque current of the motor so as to compensate the motor moment. The PI adjusting parameters of the first PI adjustor and the second PI adjustor can be adjusted according to the moving amount of the elevator and the state of the elevator, for example, when the moving amount of the elevator in a certain period is detected to exceed a preset first threshold value, the adjusting speed of the power torque is too slow, the PI adjusting parameter of the first PI adjustor is increased while the second PI adjustor is started, if the PI adjusting parameter of the first PI adjustor and the second PI adjustor is set too large currently and the torque of the motor is changed too fast when the oscillation of the elevator is detected, the current PI adjusting parameter needs to be reduced to inhibit the oscillation of the elevator, otherwise, the current adjusting parameters of the first PI adjustor and the second PI adjustor are kept until the starting process is finished. The motor torque compensation is periodic, specifically, the period of the motor torque compensation is the carrier frequency period of the frequency converter, the carrier frequency of the frequency converter is 8K in the embodiment, and the carrier frequency period is 125us, so that the period of the motor torque compensation is 125 us. The motor torque can be compensated in real time through PI adjustment, so that the torque of the motor is gradually close to the self weight of the elevator, and a balance state is achieved.
According to the control method of the embodiment, the torque compensation mode is adopted to compensate the motor torque in real time according to different load states of the elevator, so that the motor torque reaches a balance state as soon as possible, the motor torque quits the torque compensation mode immediately after the motor torque reaches the balance state, and the normal acceleration and deceleration control mode is adopted to control the elevator to move, so that the stability of an elevator system is ensured, the car does not slip, and the running efficiency of the elevator is improved.
Example 2:
the elevator at least comprises a car, a guide system, a traction system, a weight balance system and an electric traction system. The main function of the guide system is to limit the freedom of movement of the car and the counterweight so that the car and the counterweight can only move up and down along the guide rails. The main function of the traction system is to output and transmit power to operate the elevator. The traction system mainly comprises a traction machine, a traction steel wire rope, a guide wheel and a diversion sheave. The weight balance system has the main function of relatively balancing the weight of the lift car, so that the weight difference between the lift car and the counterweight can be kept within a limit during the operation of the elevator, and the normal traction and transmission of the elevator are ensured; the system mainly comprises a counterweight and a weight compensation device. The electric drive system is used to provide power to control the speed of elevator. The electric dragging system consists of dragging motor, power supply system, speed feedback device, motor speed regulator, etc. Referring to fig. 2, the present embodiment provides an elevator starting control system, which includes a motor 201 and a controller 202, wherein the controller 202 is connected to the motor 201 through a cable, the motor 201 is used in a traction system for outputting power to drag an elevator car to run, and the controller 202 is mainly used for controlling the traction system and an electric traction system to implement control of an elevator.
The controller 202 comprises a torque compensation module 2021, the controller 202 is used for starting the torque compensation module 2021 to compensate the torque of the motor 201 when the elevator is started, so that the torque of the motor 201 is balanced as soon as possible, the deadweight of the elevator is equal to the torque of the motor at the moment, and the elevator is ensured to reach a stable state without slipping. And the controller 202 is also arranged to switch off the torque compensation module 2021 upon detection of the elevator reaching a torque equilibrium state, ending the compensation of the torque of the motor 201. The torque of the motor is adjusted through a frequency converter.
The method for detecting whether the elevator control system reaches the moment balance in this embodiment is the same as that in embodiment 1, and is not described here again.
The compensation of the torque of the motor 201 is completed by PI adjustment, and the specific compensation method is the same as that in embodiment 1, and is not described herein again.
Further, the controller 202 is further configured to end the compensation of the motor torque if it is not detected that the control system of the elevator reaches a torque balance within the first preset torque setup time. If the moment balance state of the elevator is not detected within the first preset moment establishing time, the moment balance establishing time of the motor is close to or equal to the first preset moment establishing time, so that the controller defaults that the moment balance establishing time of the motor is equal to the first preset moment establishing time, the moment compensation module 2021 is closed after the first preset moment establishing time from the starting of the elevator, and the moment compensation of the motor 201 is finished.
The first preset torque setup time is the longest time required for the motor 201 torque setup balance obtained through a pre-test. When the load of the elevator is close to full load, the time for establishing the torque balance of the motor 201 is longer, which is almost close to the longest time required by the torque balance of the motor 201 obtained by the pre-test, at the moment, the torque of the elevator is ensured to reach the balance after the elevator passes through the first preset torque establishing time, and the torque compensation module 2021 is closed after the first preset torque establishing time, so that the compensation of the torque of the motor 201 is finished.
The method for acquiring the first predetermined torque establishing time is the same as that in embodiment 1, and is not described herein again.
Further, the controller 202 further comprises an acceleration and deceleration control module 2022, which has the same control mode as the existing elevator acceleration and deceleration control mode and is used for controlling the elevator acceleration and deceleration operation. Wherein, when the controller 202 closes the torque compensation module 2021, the acceleration and deceleration control module 2022 is immediately started to control the elevator to perform normal acceleration and deceleration operation, so that the operation efficiency of the elevator can be improved.
According to the elevator starting control system provided by the embodiment, the torque compensation module 2021 is adopted to compensate the torque of the motor 201 in real time according to different load states of the elevator, so that the motor 201 reaches a balanced state as soon as possible, and the phenomenon of car slipping is prevented when the elevator is started; when the balance state is reached, the moment compensation module 2021 is immediately closed, and the acceleration and deceleration control module 2022 is adopted to control the motion of the elevator, so that the stability of the elevator system is ensured, the car does not slide, and the running efficiency of the elevator is improved.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (4)
1. An elevator start control method, characterized by comprising:
compensating the motor torque after the elevator brake is opened;
detecting whether the motor torque reaches torque balance, and if so, finishing the compensation of the motor torque;
if the motor torque is not detected to reach the torque balance within the first preset torque establishing time, finishing the compensation of the motor torque;
the first preset torque establishing time is obtained by the following method:
starting the elevator in an elevator no-load state and simultaneously compensating the motor torque, if the torque current changes in a second preset time length are all in a first preset range and the encoder pulse is kept unchanged, considering that the motor torque reaches a stable state, and recording the time length from the moment compensation start to the stable state of the elevator; the first preset moment establishing time is more than or equal to the recorded duration;
or the first preset torque establishing time is obtained by the following method:
starting the elevator and compensating the motor torque at the same time in the full-load state of the elevator, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, recording the time period from the moment compensation starting to the stable state of the elevator, wherein the first preset torque establishment time is more than or equal to the recorded time period.
2. The control method of claim 1, wherein said detecting whether the motor torque reaches a torque balance comprises:
and detecting the torque current information output by the motor and the encoder pulse change information, and if the torque current change is within a first preset range and the encoder pulse is kept unchanged in a first preset duration, indicating that the motor torque reaches torque balance.
3. An elevator starting control system is characterized by comprising a motor and a controller;
the controller is used for compensating the motor torque after the elevator brake is opened, detecting whether the motor torque reaches torque balance or not, and finishing the compensation of the motor torque when the motor torque reaches the torque balance;
the controller is also used for finishing the compensation of the motor torque if the motor torque is not detected to reach the torque balance within the first preset torque establishing time;
the first preset torque establishing time is obtained by the following method:
starting the elevator in an elevator no-load state and simultaneously compensating the motor torque, if the torque current changes in a second preset time length are all in a first preset range and the encoder pulse is kept unchanged, considering that the motor torque reaches a stable state, and recording the time length from the moment compensation start to the stable state of the elevator; the first preset moment establishing time is more than or equal to the recorded duration;
or the first preset torque establishing time is obtained by the following method:
starting the elevator and compensating the motor torque at the same time in the full-load state of the elevator, if the torque current changes in a first preset range and the encoder pulse is kept unchanged in a second preset time period, considering that the motor torque reaches a stable state, recording the time period from the moment compensation starting to the stable state of the elevator, wherein the first preset torque establishment time is more than or equal to the recorded time period.
4. The control system of claim 3, wherein said detecting whether the motor torque reaches a torque balance comprises:
and detecting the torque current information output by the motor and the encoder pulse change information, and if the torque current change is within a first preset range and the encoder pulse is kept unchanged in a first preset duration, indicating that the motor torque reaches torque balance.
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| CN110510465B (en) * | 2019-08-09 | 2022-02-18 | 深圳市海浦蒙特科技有限公司 | Forced drive elevator starting control method and system |
| CN110817625B (en) * | 2019-10-25 | 2022-03-08 | 康力电梯股份有限公司 | Method for reducing non-weighing starting vibration of elevator |
| CN113401760B (en) * | 2021-06-30 | 2021-12-03 | 江苏省海洋资源开发研究院(连云港) | Elevator operation fault supervision system based on big data |
| CN113960471A (en) * | 2021-09-30 | 2022-01-21 | 日立电梯（中国）有限公司 | Automatic debugging method for frequency converter |
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