CN110316629A - Elevator meausring apparatus auto-correction method - Google Patents
Elevator meausring apparatus auto-correction method Download PDFInfo
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- CN110316629A CN110316629A CN201810303853.0A CN201810303853A CN110316629A CN 110316629 A CN110316629 A CN 110316629A CN 201810303853 A CN201810303853 A CN 201810303853A CN 110316629 A CN110316629 A CN 110316629A
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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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- 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
- B66B5/0037—Performance analysers
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Abstract
The invention discloses a kind of elevator meausring apparatus auto-correction method, the weighing value and torque current value that meausring apparatus exports when being started according to elevator correct the parameter for participating in sharing part of the load torque calculation by adaptive filter algorithm.When elevator is again started up after the completion of parameters revision, torque control unit assumed (specified) load component torque on the basis of revised parameter makes traction motor that torque be generated accurately to compensate the unbalanced moments after band-type brake is opened between carriage and counterweight in advance.Algorithm of the present invention can be good at realizing the correction of parameter, and operand is small, and adaptable.
Description
Technical field
The present invention relates to elevators fields, and in particular to a kind of elevator meausring apparatus auto-correction method.
Background technique
Current elevator is commonly configured with load in elevator car for the starting performance obtained and the judgement to overload etc.
Meausring apparatus applies corresponding sharing part of the load torque, embraces elevator traction machine in elevator starting according to the loading condition of elevator
Lift car stress is in a basic balance when lock is opened, to improve the riding comfort of the starting of elevator.In the case, weighing
The accuracy and reliability of device has higher requirement.If meausring apparatus is inaccurate, it will cause starting comfort and be deteriorated, even
It is dangerous can not to judge that overload condition causes.
A kind of elevator weighing is disclosed in existing patent CN201210128982.3 " elevator weighing value diagnoses modification method "
Value diagnosis modification method, the weighing value and torque current value that meausring apparatus exports when being started according to elevator carry to correct participation automatically
The parameter of lotus component torque calculation.When elevator is again started up after the completion of parameters revision, torque control unit is in revised parameter
On the basis of assumed (specified) load component torque, make traction motor generate in advance torque come accurately compensate band-type brake open after carriage and counterweight
Between unbalanced moments.For theoretically, which can overcome the components such as meausring apparatus and traction machine to change really
When influence that sharing part of the load torque calculation is generated, but several embodiments for providing of the patent exist as data screening conditions are tight
Lattice, or need to store mass data or the big disadvantage of operand, and not can solve essence caused by frictional force and data acquisition errors
The problem of degree decline, biggish deviation can be even generated in some cases.
Summary of the invention
The present invention is precisely in order to solving the above problems and proposing, it is intended that providing a kind of adaptable operand
Small method realizes the correction of elevator starting sharing part of the load torque calculation parameters of formula.
If attached drawing 1 be sef-adapting filter be used for parameter identification when general structure schematic diagram, wherein n be discrete time or
The number of iterations, x (n) are input signal, and the output signal of sef-adapting filter is y (n), and d (n) is the desired signal or ginseng of definition
Signal is examined, error signal e (n) is calculated by d (n)-y (n).Error signal is via corresponding adaptive algorithm to adaptive filter
The coefficient of wave device is adjusted, so that the performance function of error is minimum.
Above structure can be applied to elevator meausring apparatus auto-correction method, wherein sef-adapting filter function is set
Meter, which is that patent CN201210128982.3 " elevator weighing value diagnoses modification method " is described, calculates starting sharing part of the load torque
Function f (), the object that adaptive algorithm is adjusted are the value of each coefficient in function f ().
It in the ideal case, is linear corresponding relation between elevator starting sharing part of the load torque and weighing value, therefore can structure
Make the function f () of most basic calculating starting sharing part of the load torque are as follows:
Y (n)=klxl(n)+k0x0(n) (1)
Output signal y (n) corresponding starting sharing part of the load torque value WGH, the output W, x0 that x1 corresponds to weighing value take fixed value
L, then above-mentioned formula becomes:
WGH=k1*W+k0 (2)
In this way, starting sharing part of the load torque value WGH can be calculated by the output W of weighing value when the starting of each elevator.It will
Torque current value IQS when actual zero-speed maintains when this time of elevator starts is as desired output d (n), so that it may calculate
Error e (n) when this time starts:
E (n)=IQS-WGH (3)
Then according to above-mentioned error by selected adaptive algorithm to coefficient k1And k0It is modified.Adoptable system
Number correction algorithms have LMS (Least mean squares), RLS (Recursive least squares) and on its basis
The various adaptive filter algorithms developed, wherein more appropriate algorithm is NLMS (Normalized least mean
Squares the operand of) algorithm, NLMS algorithm is relatively small, and stability is good, and convergence rate is also very fast.For adaptive
Filtering algorithm has lot of documents and is introduced, and the present invention repeats no more this.
Above-mentioned coefficient makeover process is carried out when in this way, starting by each elevator, after the amendment of certain number, is
Number k1And k0It will be adjusted to make the situation of the performance function minimum of error e (n), the sharing part of the load torque calculation of elevator starting at this time is public
Formula will become from angle of statistics most preferably, so as to improve the starting comfort of elevator in the case of various different loads.Meanwhile from
Adaptive filtering algorithm adjust above-mentioned coefficient can voluntarily, such elevator with the variation of elevator meausring apparatus or motor characteristic
Starting comfort will not due to terraced meausring apparatus or motor characteristic variation and big variation occurs.Come from physical meaning
It says, for the formula (2) constructed, coefficient k1The gain of weighing value to starting sharing part of the load torque, coefficient k are corresponded to0It is corresponding
Biasing.
Coefficient there are two containing in the formula (2) of the calculating starting sharing part of the load torque of above-mentioned construction, has only corresponded to weighing value
Gain and biasing, and elevator running can also be made due to the difference of floor position even if in the case where identical weighing value,
Required starting sharing part of the load torque is different.In this regard, a coefficient k can be increased2, which corresponds to elevator position,
The calculation formula for calculating starting sharing part of the load torque can be constructed are as follows:
Y (n)=k2x2(n)+klxl(n)+k0x0(n) (4)
Wherein, x2Corresponding elevator position, can both take actual height value, can also take number of floor levels, remaining input
It is identical as aforementioned formula.In this way, output valve W in addition to using weighing value also uses location information in the starting of each elevator
To calculate starting sharing part of the load torque value WGH.In this way, torque current value when actual zero-speed maintains when elevator starts every time
The error of IQS and above-mentioned WGH will be used to correct three coefficients: k2、k1And k0.After the amendment of certain number, coefficient k2、k1
And k0It will be adjusted to make the situation of the performance function minimum of error e (n).Due to being provided when calculating and starting sharing part of the load torque value
More relevant informations, it is smaller that above-mentioned error compares the case where elevator weighing value is used only, to further improve electricity
The starting comfort of ladder.
In general, the relevant information provided when calculating and starting sharing part of the load torque value is more, the calculated result of institute
It can be more accurate.To further, be constructed by providing more information and calculate starting sharing part of the load torque
Function f ().For example, for certain elevators, due to the shadow of wirerope accumulation tension and stiction when last operation stops
It rings, so that the output that last traffic direction also influences weighing value to a certain extent in this case will be last
Traffic direction be also used as relevant information be put into calculate starting sharing part of the load torque function in, can obtain and more accurately open
Dynamic loading component torque.In this regard, the calculation formula for calculating starting sharing part of the load torque can be constructed are as follows:
WGH=k3*dirb+k2*pos+kl*W+k0 (5)
Wherein, dirb is last traffic direction, the value of dirb according to uplink or downlink difference value be 1 with-
1.Coefficient k3The traffic direction of corresponding elevator last time.And even if starting sharing part of the load torque of the last traffic direction to this time
Influence is had no, the result for the algorithm that the present invention uses also only makes the corresponding coefficient of last traffic direction be essentially 0, thus right
The calculating of starting sharing part of the load torque will not adversely affect.But it should be noted that increasing relevant information carries starting
The number of coefficients of lotus component torque calculation formula increases, and can also result in the increase of operand.Consider from practical standpoint, it should be
Coefficient few as far as possible is chosen in the case where meeting computational accuracy.
In addition, in order to avoid the above-mentioned meausring apparatus auto-correction method using adaptive filter algorithm makes in initial investment
The situation that used time causes error calculated larger due to initial coefficients inaccuracy can first use the original starting load of elevator
Component torque calculation method, i.e. every time amendment basicly stable in each term coefficient for the calculation formula that adaptive filter method obtains
Afterwards in the case where the varying less of coefficient, then the starting sharing part of the load that the calculated result of adaptive filter method is used as elevator turned
Square.Alternatively, can also judge the error of the calculated result of each elevator runtime adaptable filtering method, when each fortune
Error when row all very little when, then the calculated result of adaptive filter method is used as to the starting sharing part of the load torque of elevator.
Further, since the use of elevator has the unloaded and underloading situation frequency of occurrences high under normal circumstances, and it is heavily loaded and full
The case where load the low feature of the frequency of occurrences, in this way, for adaptive filter algorithm, main input value, that is, weighing value W meeting
It concentrates near base point, this will lead to the amendment to coefficient so that calculated result of the calculation formula near these points is compared with subject to
Really, error calculated may be larger when the weighing value of these separate points.It, can will be different in order to cope with this problem
The weighing value of load is divided into multiple sections, for example every 10% load is used as a section, and when elevator is started every time fall in it is each
Weighing value in a section is counted, and when carrying out the amendment of coefficient, is repaired in the case of weighing value counts more to coefficient
It is just smaller, and to count few situation larger to the amendment of coefficient for symmetrical magnitude.
What weighing value, zero-speed when what the present invention can achieve has the beneficial effect that by starting each elevator maintained turns
Square current value and other relevant informations such as position, last elevator the constructions such as traffic direction start sharing part of the load torque value
Calculation formula carries out the coefficient correction of the calculation formula using adaptive filter algorithm, can realize that elevator weighs dress well
The zero offset capability set, operand is small, call data storage is low and adaptable.
Detailed description of the invention
Fig. 1 is general structure schematic diagram when sef-adapting filter is used for parameter identification.
Fig. 2 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention one.
Fig. 3 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention two.
Fig. 4 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention three.
Fig. 5 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention four.
Fig. 6 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention five.
Fig. 7 is the elevator meausring apparatus auto-correction method flow diagram of the embodiment of the present invention six.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
Embodiment one
Fig. 2 is elevator meausring apparatus auto-correction method flow diagram of the invention, and implementation process includes following step
It is rapid:
Step 1: when elevator stops, current weighing value W is acquired.
Step 2: according to formula W GH=k1*W+k0Calculate starting sharing part of the load torque WGH.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH is calculated.
Step 5: coefficient k is updated using adaptive filter algorithm1And k0。
Embodiment two
It on the basis of example 1, can be by the position before increase elevator starting, more accurately to carry out starting load
The calculating of lotus component torque, steps are as follows for implementation process:
Step 1: when elevator stops, current weighing value W and elevator position pos are acquired.
Step 2: according to formula W GH=k2*pos+k1*W+k0Calculate starting sharing part of the load torque WGH.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH is calculated.
Step 5: coefficient k is updated using adaptive filter algorithm2、k1And k0。
Embodiment three
It, can be into order to cope with the influence of elevator last time traffic direction in some cases to elevator starting sharing part of the load torque
One step increases the last traffic direction of elevator, and implementation steps are as follows at this time:
Step 1: when elevator stops, current weighing value W, elevator position pos and the traffic direction of last time are acquired
Dirb, wherein the value of dirb is 1 and -1 according to uplink or downlink difference value.
Step 2: according to formula W GH=k3*dirb+k2*pos+k1*W+k0Calculate starting sharing part of the load torque WGH.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH is calculated.
Step 5: coefficient k is updated using adaptive filter algorithm3、k2、k1And k0。
Example IV
In order to avoid the above-mentioned meausring apparatus auto-correction method using adaptive filter algorithm in initial use due to
The situation that initial coefficients inaccuracy causes error calculated larger, can be in each of the calculation formula that adaptive filter method obtains
In the basicly stable situation of term coefficient, then the starting sharing part of the load torque by the calculated result of adaptive filter method as elevator.
It is as follows that implementation steps are listed based on embodiment one:
Step 1: when elevator stops, current weighing value W is acquired.
Step 2: according to formula W GH '=k1*W+k0It calculates with reference to starting sharing part of the load torque WGH ', it is steady meeting coefficient
Start sharing part of the load torque WGH=WGH ' in the case where fixed condition, otherwise WGH is using former methodical calculated result.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH ' is calculated.
Step 5: coefficient k is updated using adaptive filter algorithm1And k0。
Step 6: if this time coefficient k1And k0Within the specified range and meet this compared to previous index variation value
Part continuously reaches predetermined number of times, then judgement factor stable condition meets.
Likewise, same judgement can be increased on the basis of embodiment two, embodiment three.
Embodiment five
Judged by the error of the calculated result to each elevator runtime adaptable filtering method, works as each run
When error all very little when, then the calculated result of adaptive filter method is used as to the starting sharing part of the load torque of elevator, can be with
Play the role of identical with example IV.It is as follows that implementation steps are listed based on embodiment one:
Step 1: when elevator stops, current weighing value W is acquired.
Step 2: according to formula W GH '=k1*W+k0It calculates with reference to starting sharing part of the load torque WGH ', is meeting stablizing bar
Start sharing part of the load torque WGH=WGH ' in the case where part, otherwise WGH is using former methodical calculated result.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH ' is calculated.
Step 5: coefficient k is updated using adaptive filter algorithm1And k0。
Step 6: it is continuously reached if this time starting sharing part of the load torque error e (n) within the specified range and meeting the condition
To predetermined number of times, then judge that stable condition meets.
Likewise, same judgement can be increased on the basis of embodiment two, embodiment three.
Embodiment six
In order to cope with elevator using problem unloaded and that the underloading situation frequency of occurrences is high, by by the weighing of different loads
Value is divided into multiple sections, for example every 10% load is used as a section, and while starting every time to elevator falls in each section
Weighing value is counted.And when carrying out the amendment of coefficient, it is smaller to the amendment of coefficient in the case of weighing value counts more, and
It is larger to the amendment of coefficient that symmetrical magnitude counts few situation.It is as follows that implementation steps are listed based on embodiment one:
Step 1: when elevator stops, acquiring current weighing value W, and is an area according to 10% load by weighing value W
Between counted.
Such as: CNT (N) indicates W in the count value in the section according to 10% load partition, and N is 0~9, respectively corresponds load
The case where belonging to 0~10%, 10~20% ... ..., 90~100%.Assuming that current W is 25%, then the value of CNT (2) will add
One.
Step 2: according to formula W GH=k1*W+k0Calculate starting sharing part of the load torque WGH.
Step 3: start the zero-speed maintenance stage in elevator, acquire current torque current value IQS.
Step 4: this time starting sharing part of the load torque error e (n)=IQS-WGH is calculated.
Step 5: selecting suitable method, so that when CNT (N) value proportion where current W is smaller, to accidentally
Poor e (n) amplifies, and when CNT (N) value proportion where current W is larger, error e (n) is reduced, thus
Reach and reduce the higher load value of the frequency of occurrences to the update weight of coefficient, and increases the less load value of the frequency of occurrences to coefficient
Update weight purpose.
Such as: in the case that W is 25%, to error e (n) multiplied by following value:
k(1-CNT(2)/sum(CNT(N)))
Wherein, CNT (2) indicates that load W falls in 20~30% number, and sum (CNT (N)) expression is recorded all
The ratio for loading the total number of starts of section Zhan that present load is fallen into can be obtained in the number of starts, CNT (2)/sum (CNT (N))
Example, ratio show that more greatly the frequency occurred is higher.K be used for make up error multiplied by one no more than 1 value caused by coefficient is repaired
The problem of just becoming smaller, can value according to the actual situation.K=2 can be taken in simple terms.
Step 6: coefficient k is updated using adaptive filter algorithm1And k0。
Likewise, same judgement can be increased on the basis of embodiment two is to embodiment five.
Claims (9)
1. a kind of elevator meausring apparatus auto-correction method, wherein the elevator includes traction motor, rectifier, inverter, turns
Square control device, driving mechanism, meausring apparatus, current sensor and encoder, above-mentioned torque control unit generate torque current
Instruction value gives the driving mechanism, drives the operating of the traction motor by the inverter by the driving mechanism；
It is characterized in that, the weighing value that meausring apparatus exports when being started according to elevator, torque current value turn to correct the sharing part of the load
The coefficient of square calculation formula, and coefficient modification method is adaptive filter algorithm.
2. elevator meausring apparatus auto-correction method according to claim 1, it is characterised in that: the sef-adapting filter
Algorithm is RLS algorithm.
3. elevator meausring apparatus auto-correction method according to claim 1, it is characterised in that: the sef-adapting filter
Algorithm is LMS or NLMS algorithm.
4. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 3, it is characterised in that: starting carries
Lotus component torque calculation formula is WGH=k1*W+k0, wherein WGH is starting sharing part of the load torque, and W is elevator meausring apparatus
Output, coefficient k1Gain of the corresponding weighing value to starting sharing part of the load torque, the corresponding biasing of coefficient k 0, to coefficient k1And k0Repair
Just use adaptive filter algorithm.
5. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 3, it is characterised in that: starting carries
Lotus component torque calculation formula is WGH=k2*pos+k1*W+k0, wherein WGH is starting sharing part of the load torque, and pos is elevator institute
In position, the elevator position is elevator relative to the number of floor levels where the height value or elevator on ground, and W claims for elevator
Measure the output of device, coefficient k1Gain of the corresponding weighing value to starting sharing part of the load torque, coefficient k0Corresponding biasing, coefficient k2It is right
Elevator position is answered, to coefficient k2、k1And k0Amendment use adaptive filter algorithm.
6. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 3, it is characterised in that: starting carries
Lotus component torque calculation formula is WGH=k3*dirb+k2*pos+k1*W+k0, wherein WGH is starting sharing part of the load torque,
Dirb is the traffic direction of elevator last time, and pos is elevator position, and the elevator position is elevator relative to ground
Height value or elevator where number of floor levels, W be elevator meausring apparatus output, coefficient k1Weighing value is corresponded to starting load
The gain of component torque, coefficient k0Corresponding biasing, coefficient k2Corresponding elevator position, to coefficient k3、k2、k1And k0Amendment adopt
Use adaptive filter algorithm.
7. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 3, it is characterised in that: using
The variation of each term coefficient for the starting sharing part of the load torque calculation formula that adaptive filter method obtains coefficient after each amendment
Amount within the specified range and meets after the condition continuously reaches predetermined number of times, then the starting that will be obtained using adaptive filter method
Sharing part of the load torque is used as the starting load torque component of elevator, is then opened before this using the elevator that original calculation method obtains
Dynamic loading torque component.
8. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 6, it is characterised in that: using
The error for the starting sharing part of the load torque that adaptive filter method obtains within the specified range and meets the condition and continuously reaches finger
After determining number, then the starting load torque point by the starting sharing part of the load torque obtained using adaptive filter method as elevator
Amount, the elevator starting load torque component then obtained before this using original calculation method.
9. according to claim 1 to elevator meausring apparatus auto-correction method described in one of 6, it is characterised in that: will be different
The weighing value of load is divided into multiple sections, and the weighing value that while starting every time to elevator falls in each section counts.?
It is smaller to the amendment of coefficient in the case of weighing value counts more when carrying out the amendment of coefficient, and symmetrical magnitude counts few feelings
Condition is big to the amendment of coefficient.
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| CN201810303853.0A CN110316629B (en) | 2018-03-30 | 2018-03-30 | Automatic correction method for elevator weighing device |
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| CN201810303853.0A CN110316629B (en) | 2018-03-30 | 2018-03-30 | Automatic correction method for elevator weighing device |
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| CN110316629B CN110316629B (en) | 2021-10-08 |
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| CN111783028A (en) * | 2020-06-29 | 2020-10-16 | 重庆电子工程职业学院 | Data screening compensation algorithm |
| CN111807169A (en) * | 2020-06-02 | 2020-10-23 | 康力电梯股份有限公司 | Real-time monitoring method for load rate of elevator |
| CN112792139A (en) * | 2020-11-26 | 2021-05-14 | 广州城建职业学院 | Control method for preventing heavy-load fault of double-core-rod transmission motor |
| CN113860105A (en) * | 2021-09-27 | 2021-12-31 | 上海三菱电梯有限公司 | Method for correcting output characteristics of elevator weighing device |
| CN115477210A (en) * | 2022-09-16 | 2022-12-16 | 广州广日电梯工业有限公司 | Traction type elevator balancing method, traction type elevator balancing device and traction type elevator |
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