CN110498308A - A kind of elevator operation control method and system - Google Patents
A kind of elevator operation control method and system Download PDFInfo
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- CN110498308A CN110498308A CN201910817578.9A CN201910817578A CN110498308A CN 110498308 A CN110498308 A CN 110498308A CN 201910817578 A CN201910817578 A CN 201910817578A CN 110498308 A CN110498308 A CN 110498308A
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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
-
- 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
- B66B1/3446—Data transmission or communication within the control system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The present invention relates to elevator control technology fields, and in particular to a kind of elevator operation control method and system, wherein method includes: to obtain the destination information of user's input, calculates the displacement S between current floor and destination；Displacement S is input in the Motion Controlling Model pre-established, corresponding speed control curve is obtained, the operation of elevator is controlled according to speed control curve.Corresponding five powers speed control curve is obtained according to the elevator operation control method of the application, according to the operation of obtained five power speed control curves control elevator, so that elevator is in the stable transition of acceleration, deceleration Duan Shineng, so that elevator operation is more stable, without significantly floating or sinking situation, comfort when passenger takes elevator is improved.
Description
Technical field
The present invention relates to elevator control technology fields, and in particular to a kind of elevator operation control method and system.
Background technique
With the raising of national life level, people propose increasingly higher demands to the comfort of elevator device, electricity
Important component of the terraced control system as elevator, while guaranteeing elevator safety, the flatness of operation and comfortable
Property receives more and more attention.Currently, elevator control system mainly improves elevator operation by optimal speed given curve
Comfort level, wherein common rate curve has step curve, parabola, S curve (parabola-straight line).Such rate curve
The features such as speed control is more smooth, it is simple to calculate, Yi Shixian, is therefore widely used in elevator control system system.
Ideal elevator speed operation curve is able to satisfy requirement of the human body to speed, acceleration and acceleration, mitigates
The discomfort of people's acceleration, deceleration generation due to starting, in braking process when taking elevator, while can guarantee that leveling parking is accurate
Reliable rate curve.In the speed operation curve of current mainstream, acceleration is straight line, adds when elevator operates in, subtracts
It cannot be seamlessly transitted when fast section, especially express elevator, passenger has the discomfort such as floating, sinking, weight, unstable.
Summary of the invention
Acceleration, deceleration section transition is unsmooth and influence the comfort of passenger when in order to solve in the prior art due to elevator operation
The technical issues of, the application provides a kind of elevator operation control method and system, it is achieved especially by following technical scheme:
A kind of elevator operation control method includes:
The destination information of user's input is obtained, the displacement S between current floor and the destination is calculated；
The displacement S is input in the Motion Controlling Model pre-established, corresponding speed control curve is obtained, according to
The speed control curve controls the operation of the elevator；
Wherein, the Motion Controlling Model is five power curve algorithm models, and the Motion Controlling Model is preset with maximum
Speed V and peak acceleration A.
Wherein, the five power curves algorithm model are as follows: S (t)=at5+bt4+ct3+dt2+et+f
Wherein a, b, c, d, e, f are constant, and t is the time, and s (t) is displacement.
Wherein, described that the displacement S is input in the Motion Controlling Model pre-established, obtain corresponding speed control
Curve, comprising:
Judge whether the displacement S is greater than preset critical displacement S1, the motion state of the elevator is if otherwise determining
Retarded motion after first accelerating, and the elevator is obtained when accelerating, the expression formula of speed curve movement are as follows:
When deceleration of elevator is run, the expression formula of speed are as follows:
If then determining that the motion state of the elevator is followed successively by accelerated motion, uniform motion and retarded motion, and defeated
When it is accelerated out, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=V
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, A indicates preset peak acceleration in the Motion Controlling Model.
Wherein, the preset maximum speed V=2m/s of the Motion Controlling Model, preset peak acceleration A=2m/s2。
A kind of Elevator operation control system, including processor and controller, the processor and controller electrical connection；
The processor is used to receive the destination information of user's input, calculates between current floor and the destination
Displacement S, and the displacement S is input in the Motion Controlling Model pre-established, obtains corresponding speed control curve；
The controller is used to control the operation of elevator according to the speed control curve；
Wherein, the Motion Controlling Model is five power curve algorithm models, and the Motion Controlling Model is preset with maximum
Speed V and peak acceleration A.
Wherein, the five power curves algorithm model are as follows: S (t)=at5+bt4+ct3+dt2+et+f
Wherein a, b, c, d, e, f are constant, and t is the time, and s (t) is displacement.
Wherein, described that the displacement S is input in the Motion Controlling Model pre-established, obtain corresponding speed control
Curve, comprising:
Judge whether the displacement S is greater than preset critical displacement S1, the motion state of the elevator is if otherwise determining
Retarded motion after first accelerating, and the elevator is obtained when accelerating, the expression formula of speed curve movement are as follows:
When deceleration of elevator is run, the expression formula of speed, acceleration and acceleration are as follows:
If then determining that the motion state of the elevator is followed successively by accelerated motion, uniform motion and retarded motion, and defeated
When it is accelerated out, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=V
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, A indicates preset peak acceleration in the Motion Controlling Model.
Wherein, the preset maximum speed V=2m/s of the Motion Controlling Model, preset peak acceleration A=2m/s2。
A kind of elevator operating control device, comprising:
Memory, for storing program；
Processor, for the program by executing the memory storage to realize method as described above.A kind of calculating
Machine readable storage medium storing program for executing, including program, described program can be executed by processor to realize method as described above.
According to the elevator operation control method and system of above-described embodiment, the destination information of user's input, meter are obtained
The displacement S between current floor and destination is calculated, the displacement S is input in the Motion Controlling Model pre-established, is obtained
Corresponding five powers speed control curve, according to the operation of obtained five power speed control curves control elevator, so that elevator
In the stable transition of acceleration, deceleration Duan Shineng, so that elevator operation is more stable, without significantly floating or sinking situation, change
It has been apt to comfort when passenger takes elevator.
Detailed description of the invention
Fig. 1 is the elevator operation control method flow chart of the embodiment of the present application；
Fig. 2 is its speed, displacement, acceleration and jerk curve figure when elevator is run；
Fig. 3 is the embodiment of the present application Elevator operation control system structural schematic diagram；
Fig. 4 is the embodiment of the present application elevator operating control device structural schematic diagram.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
Elevator control system mainly improves the comfort level of elevator operation, but existing speed by optimal speed given curve
Line traffic control of writing music curve mostly uses greatly step curve, parabola or S curve, and this kind of curve is calculated simple and easily realized, still
It cannot be seamlessly transitted in acceleration, deceleration section, especially express elevator, passenger has floating, sinking, weight, unstable etc. and do not relax
Suitable sense, elevator control method provided by the present application passes through the five power curve algorithm models pre-established, according to for input
Displacement S between destination and current floor determines the motion state of elevator, and then calculates corresponding speed curve movement
Expression formula, control system controls the movement velocity of elevator according to the expression formula, so that elevator is in the stable mistake of acceleration, deceleration Duan Shineng
Cross so that elevator operation it is more stable, without significantly float or sinking situation, improve passenger take elevator when it is comfortable
Sense.
Embodiment one:
The present embodiment provides a kind of elevator operation control methods, such as Fig. 1, this method comprises:
Step 101: obtaining the destination information of user's input, calculate the displacement between current floor and the destination
S；
Step 102: displacement S is input in the Motion Controlling Model pre-established, corresponding speed control curve is obtained,
The operation of elevator is controlled according to speed control curve, wherein the Motion Controlling Model pre-established is five power curve algorithm moulds
Type, the Motion Controlling Model are preset with maximum speed V and peak acceleration A.
Specifically, the five power curves algorithm model are as follows: S (t)=at5+bt4+ct3+dt2+ et+f, wherein a, b, c, d,
E, f is constant, and t is the time, and s (t) is displacement.
Wherein, the Motion Controlling Model in the present embodiment uses five power curve algorithm models, uses data by multiple groups
And each coefficient (i.e. above-mentioned each constant) a, b, c, d, e, f in five power curve algorithm models is calculated, and according to five powers
Curved line arithmetic model obtains velocity expression are as follows:
V (t)=5at4+4bt3+3ct2+2dt+e
The motion conditions of elevator are divided into two kinds by the Motion Controlling Model of the present embodiment, when calculating current floor and target
The displacement S of floor gap compares displacement S and preset critical displacement S1, when being displaced S less than or equal to critical displacement S1,
Motion Controlling Model then determines that this time motion state is retarded motion after first accelerating to elevator；When displacement S is greater than critical displacement
When S1, Motion Controlling Model determines that the motion state of elevator is followed successively by accelerated motion, uniform motion and retarded motion.
Wherein, after determining the motion state that elevator this time moves for first accelerated motion when retarded motion, and elevator is obtained
When accelerating, the expression formula of speed curve movement are as follows:
When deceleration of elevator is run, the expression formula of speed are as follows:
If then determining that the motion state of elevator is followed successively by accelerated motion, uniform motion and retarded motion, and export it
When accelerated motion, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=v
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, V indicates preset maximum speed in the Motion Controlling Model, and A indicates preset in Motion Controlling Model
Peak acceleration.The preset maximum speed V=2m/s of Motion Controlling Model in the present embodiment, preset peak acceleration A=2m/
s2, preset maximum speed and peak acceleration are brought into the above formulas to get corresponding speed control curve is arrived, according to upper
State speed control curve control elevator operation.S=V*t obtains the displacement that speed control curve obtains and is according to above-mentioned
Five power curves of time variable t, the acceleration of five power curves are parabola, and it is real that elevator operates in acceleration, deceleration Duan Shineng
Therefore existing smooth transition can effectively improve the controlled level of elevator by this method, when significantly improving passenger's seating elevator
Comfort.
Further, acceleration when can also obtain elevator under two kinds of motion states by above-mentioned Motion Controlling Model
Controlling curve A (t) and acceleration controlling curve J (t).Wherein, when the motion state for determining elevator this time movement is first to accelerate
After movement when retarded motion, and elevator is obtained when accelerating, speed curve movement V (t), Acceleration Control curve A (t)
It is respectively as follows: with the expression formula of acceleration controlling curve J (t)
When deceleration of elevator is run, speed curve movement V (t), Acceleration Control curve A (t) and acceleration control are bent
The expression formula of line J (t) is respectively as follows:
If then determining that the motion state of elevator is followed successively by accelerated motion, uniform motion and retarded motion, and export it
When accelerated motion, the expression of speed curve movement V (t), Acceleration Control curve A (t) and acceleration controlling curve J (t)
Formula is respectively as follows:
In retarded motion, speed curve movement V (t), Acceleration Control curve A (t) and acceleration controlling curve J
(t) expression formula is respectively as follows:
It is 15m that the displacement S between current floor and destination is obtained in the present embodiment, and preset critical displacement S1 is 25m,
Maximum speed V=2m/s preset to Motion Controlling Model, preset peak acceleration A=2m/s2, since displacement S is less than in advance
If critical displacement S1, then Motion Controlling Model determines this motion mode for retarded motion after first accelerating, and then according to above-mentioned
Motion Controlling Model obtains the controlling curve of its speed V, displacement S, acceleration A, acceleration J respectively as shown in Fig. 2, by more
Name passenger takes to obtain its feeling for taking as elevator motion stabilization, and acceleration and deceleration transition is steady, does not shake significantly, it can be seen that
The controlled level that elevator can be effectively improved by this method significantly improves comfort when passenger takes elevator.
Embodiment two:
Such as Fig. 3, the present embodiment provides a kind of Elevator operation control system, which includes processor 201 and controller
202, wherein processor 201 is connected with controller 202 by cable.
Processor 201 is used to receive the destination information of user's input, calculates the position between current floor and destination
S is moved, and displacement S is input in the Motion Controlling Model pre-established, obtains corresponding speed control curve.Wherein, it moves
Controlling model is five power curve algorithm models, and Motion Controlling Model is preset with maximum speed V and peak acceleration A.Specifically,
Five power curve algorithm models are as follows: S (t)=at5+bt4+ct3+dt2+ et+f, wherein a, b, c, d, e, f are constant, when t is
Between, s (t) is displacement.
Controller 202 is used to control the operation of elevator according to speed control curve.
Wherein, it is input in the Motion Controlling Model pre-established according to displacement S, obtains corresponding speed control curve,
Include:
Processor 201 judges whether the displacement S is greater than preset critical displacement S1, if otherwise determining the fortune of the elevator
Dynamic state is retarded motion after first accelerating, and obtains the elevator when accelerating, the expression of speed curve movement
Formula are as follows:
When deceleration of elevator is run, the expression formula of speed, acceleration and acceleration are as follows:
If then determining that the motion state of the elevator is followed successively by accelerated motion, uniform motion and retarded motion, and defeated
When it is accelerated out, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=v
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, A indicates preset peak acceleration in the Motion Controlling Model.
Motion Controlling Model preset maximum speed V=2m/s, preset peak acceleration A=2m/ in the present embodiment
s2。
Embodiment three
Such as Fig. 3, the present embodiment provides a kind of elevator operating control device, which includes memory 301 and processor
201, wherein memory 301 is for storing program；Processor 201 be used for by execute in the memory 301 program that stores with
Realize the elevator operation control method such as embodiment 1.
Example IV
It include program, the program energy in the readable storage medium storing program for executing the present embodiment provides a kind of computer readable storage medium
It is enough executed by processor to realize the elevator operation control method provided such as embodiment 1.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (10)
1. a kind of elevator operation control method characterized by comprising
The destination information of user's input is obtained, the displacement S between current floor and the destination is calculated；
The displacement S is input in the Motion Controlling Model pre-established, corresponding speed control curve is obtained, according to described
Speed control curve controls the operation of the elevator；
Wherein, the Motion Controlling Model is five power curve algorithm models, and the Motion Controlling Model is preset with maximum speed V
With peak acceleration A.
2. elevator operation control method as described in claim 1, which is characterized in that the five power curves algorithm model are as follows: S
(t)=at5+bt4+ct3+dt2+et+f
Wherein a, b, c, d, e, f are constant, and t is the time, and s (t) is displacement.
3. elevator operation control method as claimed in claim 2, which is characterized in that described to be input to the displacement S in advance
In the Motion Controlling Model of foundation, corresponding speed control curve is obtained, comprising:
Judge whether the displacement S is greater than preset critical displacement S1, the motion state of the elevator is first to add if otherwise determining
Retarded motion after speed movement, and the elevator is obtained when accelerating, the expression formula of speed curve movement are as follows:
When deceleration of elevator is run, the expression formula of speed are as follows:
If then determining that the motion state of the elevator is followed successively by accelerated motion, uniform motion and retarded motion, and export it
When accelerated motion, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=V
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, A indicates preset peak acceleration in the Motion Controlling Model.
4. elevator operation control method as claimed in claim 3, which is characterized in that the preset maximum of Motion Controlling Model
Speed V=2m/s, preset peak acceleration A=2m/s2。
5. a kind of Elevator operation control system, which is characterized in that including processor and controller, the processor and controller electricity
Connection；
The processor is used to receive the destination information of user's input, calculates the position between current floor and the destination
S is moved, and the displacement S is input in the Motion Controlling Model pre-established, obtains corresponding speed control curve；
The controller is used to control the operation of elevator according to the speed control curve；
Wherein, the Motion Controlling Model is five power curve algorithm models, and the Motion Controlling Model is preset with maximum speed V
With peak acceleration A.
6. Elevator operation control system as claimed in claim 5, which is characterized in that the five power curves algorithm model are as follows: S
(t)=at5+bt4+ct3+dt2+et+f
Wherein a, b, c, d, e, f are constant, and t is the time, and s (t) is displacement.
7. Elevator operation control system as claimed in claim 5, which is characterized in that described to be input to the displacement S in advance
In the Motion Controlling Model of foundation, corresponding speed control curve is obtained, comprising:
Judge whether the displacement S is greater than preset critical displacement S1, the motion state of the elevator is first to add if otherwise determining
Retarded motion after speed movement, and the elevator is obtained when accelerating, the expression formula of speed curve movement are as follows:
When deceleration of elevator is run, the expression formula of speed, acceleration and acceleration are as follows:
If then determining that the motion state of the elevator is followed successively by accelerated motion, uniform motion and retarded motion, and export it
When accelerated motion, the expression formula of speed curve movement are as follows:
In uniform motion, the expression formula of speed curve movement are as follows:
V (t)=V
Wherein, V indicates preset maximum speed in the Motion Controlling Model；
In retarded motion, the expression formula of speed curve movement are as follows:
Wherein, A indicates preset peak acceleration in the Motion Controlling Model.
8. Elevator operation control system as claimed in claim 7, which is characterized in that the preset maximum of Motion Controlling Model
Speed V=2m/s, preset peak acceleration A=2m/s2。
9. a kind of elevator operating control device characterized by comprising
Memory, for storing program；
Processor, for the program by executing the memory storage to realize as of any of claims 1-4
Method.
10. a kind of computer readable storage medium, which is characterized in that including program, described program can be executed by processor with
Realize such as method of any of claims 1-4.
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|---|---|---|---|
| CN201910817578.9A CN110498308B (en) | 2019-08-30 | 2019-08-30 | Elevator operation control method and system |
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|---|---|---|---|
| CN201910817578.9A CN110498308B (en) | 2019-08-30 | 2019-08-30 | Elevator operation control method and system |
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| CN110498308B CN110498308B (en) | 2021-11-30 |
Family
ID=68590855
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| CN111576967A (en) * | 2020-05-25 | 2020-08-25 | 广西云高智能停车设备有限公司 | Control method for comb centering trolley of stereo garage |
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| CN114772419A (en) * | 2022-03-23 | 2022-07-22 | 深圳市永达电子信息股份有限公司 | Elevator control system and method based on rack transmission |
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| CN114772419A (en) * | 2022-03-23 | 2022-07-22 | 深圳市永达电子信息股份有限公司 | Elevator control system and method based on rack transmission |
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|---|---|
| CN110498308B (en) | 2021-11-30 |
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