CN110467072A - Staring torque compensation method and elevator device for elevator device - Google Patents
Staring torque compensation method and elevator device for elevator device Download PDFInfo
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- CN110467072A CN110467072A CN201810453185.XA CN201810453185A CN110467072A CN 110467072 A CN110467072 A CN 110467072A CN 201810453185 A CN201810453185 A CN 201810453185A CN 110467072 A CN110467072 A CN 110467072A
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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
-
- 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
-
- 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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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Elevator Control (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention discloses a kind of staring torque compensation method for elevator device, the elevator device includes master controller, speed control, staring torque compensator, torque controller, executing agency.Staring torque compensation method for elevator device of the invention is while reducing torque compensation calculating cycle, the stability of holding torque control, while reaching the requirement accurately calculated.The invention further relates to a kind of elevator devices.
Description
Technical field
The present invention relates to elevators fields, and in particular to a kind of staring torque compensation method for elevator device.The present invention
Further relate to a kind of elevator device.
Background technique
Elevator on startup, in order to make passenger in carriage experience comfortable, it is necessary to apply staring torque appropriate, make elevator
Mechanical system keep stress balance.In general, elevator control system obtains information from weight sensor, and calculate required starting
Torque.But in a case where, staring torque value needs additional compensation:
The output information of situation one, weight sensor has deviation, and the calculated result of staring torque is caused deviation occur.
Situation two, for the considerations of reducing cost, or simplifying elevator installation, debugging, maintenance workload, some elevators are not
Have weight sensor, and only has the switch-type sensor for certain loads in carriage (such as overload value)；Then, elevator
Control system can not accurately calculate required staring torque.
Therefore, it is necessary to which the offset to staring torque designs special calculation method.
Application No. is the patents of CN201611023843.9 (temporarily undisclosed) to disclose a kind of meter of staring torque offset
Calculation method.This method utilizes the symbolic information of speed feedback value, rapidly calculates torque compensation value；Also, calculate resulting power
Deviation between square offset and torque compensation value actually required with 0.5 is slowly most the truth of a matter, exponentially decays.Although this is specially
The method of benefit can accomplish quickly and accurately to calculate torque compensation value, but there are problems that following two:
Problem one applies additional restraint to the control bandwidth Td of torque compensation calculating cycle Ts and torque controller.
From the point of view of specific, patent requirements Ts >=Td；This causes at least one following result:
As a result one, torque compensation calculating cycle cannot reach minimum；
As a result two, the control bandwidth of torque controller must be larger；
Above-mentioned first item will lead to torque compensation as a result, the iteration cycle that i.e. torque compensation calculates cannot reach minimum
Calculating speed is limited；Although only needing less calculating cycle, so that it may acquire the torque compensation value close to desirable value, count
It is larger to calculate the period itself.Above-mentioned Section 2 as a result, i.e. torque controller control bandwidth must it is larger, will lead to Torque Control
Stability is impacted, and then the noise of elevator executing agency and vibration index is made to be deteriorated.
Problem two may calculate offset the symbol to make mistake in first effective calculating cycle of torque compensation value
(i.e. the direction of torque compensation value toward mistake is close).
Wherein, the symbol referred to according to speed feedback value " is effectively calculated ", torque compensation value is updated.Why occur described
Symbol error the case where, be because extremely small tremble may occur for elevator executing agency in the moment of elevator starting operation
It is dynamic, and the direction shaken is two-way；It is described it is " extremely small " refer to, such jitter amplitude is very small, so that speed is anti-
Feedback testing agency can not usually detect.But velocity feedback testing agency may be in output valve i.e. will be changed
Critical state；In this case, the shake of " extremely small " can also cause the response of feedback speed signal.Although its probability is non-
It is often low, but be likely to occur really.
Summary of the invention
The present invention is precisely in order to solve the above problems and propose, it is intended that providing a kind of for elevator device
Staring torque compensation method, while reducing torque compensation calculating cycle, the stability of holding torque control, while reaching essence
The requirement really calculated.
In order to solve the above technical problems, the present invention provides a kind of staring torque compensation method for elevator device, including
Following steps: step 1, defined variable DI；Step 2, by following variable assignments are as follows: CI=0；DI=ratedI*constD；Its
In, CI is the output quantity of the staring torque compensator, and ratedI is when placing payload ratings in carriage, to maintain stress balance institute
The moment values needed, constD are greater than 0 constant；Step 3 thens follow the steps two if elevator is in halted state；Otherwise, it holds
Row step 4；Step 4 thens follow the steps three if VF is equal to 0；Otherwise, step 5 is executed；Wherein, VF is executing agency's utilization
Pulsed encoder provides elevator current speed of service feedback information to the staring torque compensator；Step 5, execution have
The test of effect property；If the validity test result is not pass through, three are thened follow the steps；Otherwise, step 6 is executed；Step 6, if
VF is less than or equal to 0 multiplied by the result of CI, thens follow the steps eight；Otherwise, step 7 is executed；Step 7 executes torque test；If institute
Stating torque test result is not pass through, thens follow the steps three；Otherwise, step 8 is executed；Step 8 executes fortune if VF is greater than 0
It calculates: DI=DI/2；CI=CI-DI；Otherwise, operation: DI=DI/2 is executed；CI=CI+DI；Step 9 executes step 3.
Preferably, the method for the validity test is: since this operation of elevator, if detecting for the first time, VF is not equal to
0, then test result is not pass through；Otherwise, if detecting VF for the second time not equal to 0, if this time the symbol of VF and above-mentioned VF are first
Secondary symbol when being not equal to 0 is on the contrary, then test result is not pass through；If this time the symbol of VF and above-mentioned VF are not equal to 0 for the first time
Symbol it is identical, then test result be pass through；Otherwise, even n-th detects VF not equal to 0, then test result is to pass through.
Preferably, the method for the torque test is: reading q axle power square value of feedback, and assigns it to variable IQ；If IQ is big
In (IQS+CI-OFSI), and IQ is less than (IQS+CI+OFSI), then test result is to pass through；Otherwise, test result is not pass through；
Wherein, OFSI is greater than or equal to 0 constant.
Preferably, the value of the OFSI should meet two conditions:
Condition one, when IQ value crosses (IQS+CI) value, it is ensured that the two can be judged as it is roughly equal, without leak
Sentence；
Condition two, when IQ and IQS+CI is judged as roughly equal, deviation between the two cannot be too big, to guarantee power
The accuracy of square compensation value calculation.
Preferably, it in the condition one, according to the calculating cycle that the maximum rate of change and torque of IQ are tested, calculates
Obtain the value lower limit of OFSI.
It preferably, is that OFSI selectes the value upper limit by experiment, the value upper limit is suitable for same in the condition two
All elevators of one specification.
Invention additionally discloses a kind of elevator device, the elevator device includes master controller, speed control, staring torque
Compensator, torque controller, executing agency, the staring torque compensator is for executing staring torque described in one of 1-9
Compensation method；After the output quantity of the speed control is added with the output quantity of the staring torque compensator, refer to as torque
Order is supplied to the torque controller；The executing agency receives the torque generated from the torque controller, so that elevator
Tracking velocity instruction；It is current that the executing agency also utilizes pulsed encoder to the staring torque compensator to provide elevator
Speed of service feedback information.
Preferably, the speed control is anti-according to elevator speed feedback signal VF, speed command and weight sensor
Feedback signal, to issue torque command IQS and to follow the speed command from master controller.
Preferably, staring torque compensator receives the elevator speed feedback signal VF from executing agency and carrys out autonomous control
The instruction of device, and calculate torque compensation instruction value CI；Staring torque compensator executes calculating with cycle T s.
Technical effect of the invention includes:
First, it can quickly and accurately calculate torque compensation value.
In the case where most slow, deviation between this method torque compensation value calculated and actually required value is with 0.5
Bottom is exponentially decayed.When actually required torque compensation value is certain particular values, this method only needs several to calculate week
Phase, so that it may torque compensation value needed for exporting, such as: when actually required torque compensation value is equal to ± 0.5*ratedI*
It is most fast only to need two calculating cycles when constD, so that it may torque compensation value needed for exporting；When actually required torque compensation
It is most fast only to need three calculating cycles when value is equal to ± 0.25*ratedI*constD or ± 0.75*ratedI*constD, just
Required torque compensation value can be exported.Even if in the case where most slow, it is only necessary to less calculating cycle, so that it may so as to calculate institute
The deviation between torque compensation value and actually required value obtained decays to very small；In view of the resistance of elevator executing agency, i.e.,
Make to calculate and have certain deviation between resulting torque compensation value and actually required value, it is flat that elevator executing agency is still able to maintain stress
Weighing apparatus.
Second, there is no additional restraint to the control bandwidth of torque compensation calculating cycle and torque controller.
Due to being judged multiplied by the symbol of CI result in step 6 VF, and torque is performed in step 7
Test, so this method is not necessarily to apply additional restraint to the control bandwidth of torque compensation calculating cycle and torque controller, so that it may
In (in addition to first time) every time effective calculating cycle, it is ensured that the calculated value of compensating torque is past to be correctly oriented correction.
Third can obtain correct orientation (i.e. torque compensation calculated value in each calculating cycle of torque compensation
It is always close toward being correctly oriented).
Due to performing validity test in step 5, thus this method can in first effective calculating cycle,
Ensure that the calculated value of compensating torque is past and is correctly oriented correction.As cost, the non-zero speed feedback information that detects for the first time
It is dropped.But since the speed that torque compensation calculated value approaches desirable value is very fast, so even if having abandoned primary effectively meter
Chance is calculated, torque compensation value also can be sufficiently rapidly calculated.
Detailed description of the invention
Fig. 1 is the elevator device block diagram in the staring torque compensation method for elevator device of the invention.
Fig. 2 is staring torque compensation value calculation process in the staring torque compensation method for elevator device of the invention
Figure.
Specific embodiment
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:
It is illustrated first according to the elevator device that Fig. 1 uses the present invention.
Master controller is responsible for issuing to give an order:
Elevator operation/halt instruction；
Elevator speed instruction；
Speed control is according to elevator speed feedback signal VF, speed command, weight sensor feedback signal (if having), hair
Torque command IQS out, to follow the speed command from master controller；
Staring torque compensator receives the elevator speed feedback signal VF from executing agency and the electricity from master controller
Terraced operation/halt instruction, and calculate torque compensation instruction value CI；Staring torque compensator executes calculating with cycle T s.
Torque controller receives the sum of CI and IQS and is used as torque command, and to executing agency's output voltage, described to follow
Torque command；Torque controller is followed by certain time-delay Td to torque command；The bandwidth of torque controller is wider, then Td is got over
It is small；The bandwidth of torque controller is narrower, then Td is bigger.
Executing agency includes the components (not shown in detail) such as traction machine, elevator mechanical system, sensor:
Traction machine generates torque according to the voltage that torque controller applies, to drive elevator mechanical system；
Elevator mechanical system includes conducting parts, carriage, counterweight etc.；
Sensor includes:
Pulsed encoder: detection elevator speed VF is used for speed control and staring torque compensator；
Weight sensor: detecting the unbalanced load of elevator mechanical system, uses for speed control；Weight sensor is not
It must configure, some elevators do not have weight sensor.
Embodiment 1
Hereinafter, being described according to Fig. 2 with regard to the preferred embodiment of the present invention.Present embodiment is passed suitable for no weight
The elevator of sensor.
It is CI that resulting torque compensation value is calculated in design；Execute following steps:
Step 1, defined variable DI.
Step 2, by following variable assignments are as follows:
CI=0；
DI=ratedI；
Wherein, ratedI is moment values needed for maintaining stress balance when placing payload ratings in carriage；
Step 3 thens follow the steps two if elevator is in halted state；
Otherwise, step 4 is executed.
Step 4 thens follow the steps three if VF is equal to 0；
Otherwise, step 5 is executed.
Step 5 executes validity test；
If the validity test result is not pass through, three are thened follow the steps；
Otherwise, step 6 is executed.
Step 6 thens follow the steps eight if VF is less than or equal to 0 multiplied by the result of CI；
Otherwise, step 7 is executed.
Step 7 executes torque test；
If the torque test result is not pass through, three are thened follow the steps；
Otherwise, step 8 is executed.
Step 8 executes operation if VF is greater than 0:
DI=DI/2；
CI=CI-DI；
Otherwise, operation is executed:
DI=DI/2；
CI=CI+DI；
Step 9 executes step 3.
In above-mentioned steps five, the method for " validity test " is:
Since this operation of elevator, if detecting for the first time, VF is not equal to 0, test result are as follows: do not pass through；
Otherwise, if detecting VF for the second time not equal to 0, if when this time the symbol of VF and above-mentioned VF are not equal to 0 for the first time
Symbol is on the contrary, then test result are as follows: does not pass through；If symbol when this time symbol and the above-mentioned VF of VF is not equal to 0 for the first time is identical,
Test result are as follows: pass through；
Otherwise, even n-th detects that VF is not equal to 0 (N > 2), then test result are as follows: passes through.
In above-mentioned steps seven, the method for " the torque test " is:
Q axle power square value of feedback is read, and assigns it to variable IQ；
If IQ is greater than (IQS+CI-OFSI), and IQ is less than (IQS+CI+OFSI), then test result are as follows: passes through；
Otherwise, test result are as follows: do not pass through.
Wherein, OFSI is no less than 0 constant.
Hereinafter, being illustrated to the selection method of constant OFSI.
The purpose of above-mentioned " torque test " is to determine whether IQ is substantially equal to IQS+CI.In the ideal case, it should determine
Whether IQ is exactly equal to IQS+CI；But in engineering practice, to value of feedback carry out " exactly equal to " judgement, be do not have can
Operability.Therefore, between variable whether equal judgement, the decision criteria of " being substantially equal to " should be used.Described " substantially etc.
In " refer to, to target value downward shift certain value is determined, to form a judgement target interval；If being judged to definite value is in described
Determine in target interval, that is, thinks that the two is roughly equal.Obviously, constant OFSI is for constructing " target interval ".
When IQ and IQS+CI are judged as roughly equal, OFSI indicates maximum possible deviation between the two.The value of OFSI should meet
Two conditions:
Condition one, when IQ value crosses (IQS+CI) value from some direction (become larger or become smaller), it is ensured that the two can be determined
To be roughly equal, without failing to judge.
Condition two, when IQ and IQS+CI is judged as roughly equal, deviation between the two cannot be too big, to guarantee power
The accuracy of square compensation value calculation.
For above-mentioned condition one, the calculating cycle that can be tested according to the maximum rate of change and torque of IQ is calculated
The value lower limit of OFSI.The calculating should be that elevators field engineer can complete；It does not further spread out herein.
For above-mentioned condition two, the value upper limit can be selected for OFSI by experiment.The value upper limit is applicable to same
All elevators of specification, without being adjusted again for every elevator.
Between the value lower limit and the value upper limit, can according to rapidity that torque compensation is calculated and error it
Between preference, choose desired value.OFSI value is smaller, and the speed that torque compensation calculates is slower, and error is smaller；Vice versa.
Embodiment 2
The present embodiment is suitable for weight sensor elevator devious.
It is CI that resulting torque compensation value is calculated in design；Execute following steps:
Step 1, defined variable DI.
Step 2, by following variable assignments are as follows:
CI=0；
DI=ratedI*constD；
Wherein, ratedI is moment values needed for maintaining stress balance when placing payload ratings in carriage；ConstD is weight
The maximum possible deviation of quantity sensor accounts for the percentage of ratedI.
Step 3 thens follow the steps two if elevator is in halted state；
Otherwise, step 4 is executed.
Step 4 thens follow the steps three if VF is equal to 0；
Otherwise, step 5 is executed.
Step 5 executes validity test；
If the validity test result is not pass through, three are thened follow the steps；
Otherwise, step 6 is executed.
Step 6 thens follow the steps eight if VF is less than or equal to 0 multiplied by the result of CI；
Otherwise, step 7 is executed.
Step 7 executes torque test；
If the torque test result is not pass through, three are thened follow the steps；
Otherwise, step 8 is executed.
Step 8 executes operation if VF is greater than 0:
DI=DI/2；
CI=CI-DI；
Otherwise, operation is executed:
DI=DI/2；
CI=CI+DI；
Step 9 executes step 3.
In above-mentioned steps five, the method for " validity test " is:
Since this operation of elevator, if detecting for the first time, VF is not equal to 0, test result are as follows: do not pass through；
Otherwise, if detecting VF for the second time not equal to 0, if when this time the symbol of VF and above-mentioned VF are not equal to 0 for the first time
Symbol is on the contrary, then test result are as follows: does not pass through；If symbol when this time symbol and the above-mentioned VF of VF is not equal to 0 for the first time is identical,
Test result are as follows: pass through；
Otherwise, even n-th detects that VF is not equal to 0 (N > 2), then test result are as follows: passes through.
In above-mentioned steps seven, the method for " the torque test " is:
Q axle power square value of feedback is read, and assigns it to variable IQ；
If IQ is greater than (IQS+CI-OFSI), and IQ is less than (IQS+CI+OFSI), then test result are as follows: passes through；
Otherwise, test result are as follows: do not pass through.
Wherein, OFSI is no less than 0 constant.
Present embodiment calculate resulting CI can the deviation to weight sensor fast and accurately compensated.
Claims (9)
1. a kind of staring torque compensation method for elevator device, which comprises the following steps:
Step 1, defined variable DI；
Step 2, by following variable assignments are as follows: CI=0；DI=ratedI*constD；Wherein, CI is staring torque compensation
The output quantity of device, ratedI are when placing payload ratings in carriage, and moment values needed for maintaining stress balance, constD is greater than
0 constant；
Step 3 thens follow the steps two if elevator is in halted state；Otherwise, step 4 is executed；
Step 4 thens follow the steps three if VF is equal to 0；Otherwise, step 5 is executed；Wherein, VF is that executing agency utilizes pulsed
Encoder provides elevator current speed of service feedback information to the staring torque compensator；
Step 5 executes validity test；If the validity test result is not pass through, three are thened follow the steps；Otherwise, it executes
Step 6；
Step 6 thens follow the steps eight if VF is less than or equal to 0 multiplied by the result of CI；Otherwise, step 7 is executed；
Step 7 executes torque test；If the torque test result is not pass through, three are thened follow the steps；Otherwise, step is executed
Eight；
Step 8 executes operation: DI=DI/2 if VF is greater than 0；CI=CI-DI；Otherwise, operation: DI=DI/2 is executed；CI
=CI+DI；
Step 9 executes step 3.
2. the staring torque compensation method according to claim 1 for elevator device, which is characterized in that the validity
The method of test is: since this operation of elevator, if detecting VF for the first time not equal to 0, test result is not pass through；It is no
Then, if detecting VF for the second time not equal to 0, symbol when this time the symbol of VF and above-mentioned VF are not equal to 0 for the first time on the contrary, if
Test result is not pass through；If symbol when this time symbol and the above-mentioned VF of VF is not equal to 0 for the first time is identical, test result is logical
It crosses；Otherwise, even n-th detects VF not equal to 0, then test result is to pass through.
3. the staring torque compensation method according to claim 1 for elevator device, which is characterized in that the torque is surveyed
The method of examination is: reading q axle power square value of feedback, and assigns it to variable IQ；If IQ is greater than (IQS+CI-OFSI), and IQ is less than
(IQS+CI+OFSI), then test result is to pass through；Otherwise, test result is not pass through；Wherein, OFSI is greater than or equal to 0
Constant.
4. the staring torque compensation method according to claim 3 for elevator device, which is characterized in that the OFSI's
Value should meet two conditions:
Condition one, when IQ value crosses (IQS+CI) value, it is ensured that the two can be judged as it is roughly equal, without failing to judge；
Condition two, when IQ and IQS+CI is judged as roughly equal, deviation between the two cannot be too big, to guarantee that torque is mended
Repay the accuracy of value calculating.
5. the staring torque compensation method according to claim 4 for elevator device, which is characterized in that in the condition
In one, according to the calculating cycle that the maximum rate of change and torque of IQ are tested, the value lower limit of OFSI is calculated.
6. the staring torque compensation method according to claim 5 for elevator device, which is characterized in that in the condition
It is that OFSI selectes the value upper limit by experiment, the value upper limit is suitable for all elevators of same specification in two.
7. a kind of elevator device, which is characterized in that the elevator device includes speed control, staring torque compensator, torque
Controller, executing agency, the staring torque compensator is for executing staring torque compensation method described in one of 1-6；Institute
State speed control output quantity be added with the output quantity of the staring torque compensator after, be supplied to as torque command described
Torque controller；The executing agency receives the torque generated from the torque controller, so that elevator tracking velocity instructs；
The executing agency also utilizes pulsed encoder to provide elevator current speed of service feedback to the staring torque compensator
Information.
8. elevator device according to claim 7, which is characterized in that the speed control is according to elevator speed feedback letter
Number VF, speed command and weight sensor feedback signal, to issue torque command IQS and to follow from master controller
Speed command.
9. elevator device according to claim 8, which is characterized in that staring torque compensator is received from executing agency
Elevator speed feedback signal VF and instruction from master controller, and calculate torque compensation instruction value CI, staring torque compensator
Calculating is executed with cycle T s.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115043279A (en) * | 2022-07-19 | 2022-09-13 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
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| CN105645203A (en) * | 2014-11-13 | 2016-06-08 | 日立电梯（中国）有限公司 | Method for adjusting starting compensating moment of elevator automatically |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115043279A (en) * | 2022-07-19 | 2022-09-13 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
| CN115043279B (en) * | 2022-07-19 | 2023-01-06 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
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