CN110803600A - Method for compensating starting torque of special weighing-sensor-free elevator - Google Patents
Method for compensating starting torque of special weighing-sensor-free elevator Download PDFInfo
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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
- B66B11/02—Cages, i.e. cars
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Abstract
The invention discloses a method for compensating the starting torque of a special weighing-sensor-free elevator, which is characterized by comprising the following steps: after the elevator is opened, the control system enters a non-weighing starting compensation algorithm, a preset PI parameter which is larger than the conventional operation is adopted as an adjusting parameter of a motor speed ring at the moment, and when the elevator slips due to unbalanced force, the initial displacement direction is recorded; and setting a displacement threshold value and a speed threshold value, and compensating the unbalanced moment in the direction opposite to the movement direction of the elevator when the displacement amplitude of the elevator exceeds the displacement threshold value or the speed threshold value so as to prevent the elevator from moving in the direction as soon as possible. Because the displacement threshold value and the speed threshold value are small, the pre-compensation torque can be generated quickly, the range of the PI controller to be compensated is reduced, the starting comfort is better, and in the non-weighing starting process, once the elevator moves opposite to the initial movement, the I value of the starting is properly reduced, and the possibility of starting vibration is reduced.
Description
Technical Field
The invention relates to the technical field of elevator control, in particular to an elevator starting control method without a weighing sensor.
Background
In an elevator system, an elevator car and a counterweight are suspended on a traction sheave of a traction machine by a wire rope. The counterweight and car loads are generally not equal. Before the elevator runs, when a band-type brake device on a traction wheel is opened, unbalanced torque can be generated on the traction wheel by a counterweight and a car, so that the elevator slides, and the comfort of taking the elevator is influenced. In order to keep the cage static when the brake is opened, the traction machine should output an electromagnetic torque equal to the load torque to maintain the balance of the system, the speed of the motor is always set to 0 in the process of maintaining the balance of the system, after the cage and the counterweight are balanced, the zero speed setting stage is finished, the motor starts to run according to a given speed curve, and the cage runs under the dragging of the traction machine.
At present, two methods are generally used for maintaining the balance of an elevator system before operation, namely, adding an analog weighing sensor into the elevator, so that a control system detects the load condition of the elevator before the elevator is released, and then a compensation moment is given before a band-type brake is released. Therefore, after the brake device is opened, the elevator car and the counterweight are in a balanced state, and backward slipping does not occur; the other method adopts an encoder to acquire the speed and position information of the tractor rotor without adopting a weighing sensor, controls the speed of the tractor, enables the elevator system to reach a balanced state in a short time under the conditions of fast enough system response and high enough feedback precision, and has small enough displacement without influencing the elevator riding comfort.
The method for installing the weighing sensor not only increases the cost of the system, but also increases the workload of debugging and reduces the reliability of the system; however, it is still a great challenge to adopt the encoder mode and the conventional PI control algorithm to balance the elevator in a short time, and the displacement is small enough and can be adapted to the main machines and encoders of all specifications.
In the field of elevator control, how to further improve the non-weighing starting performance is the direction of research of many enterprises, for example, the technical scheme disclosed in patent application publication No. CN201110040673.6 loads the compensation torque by the variation of the displacement of the encoder, but the rapidity is still difficult to guarantee; the technical solution disclosed in patent application No. CN201310169227.4 also needs to detect and control the magnitude of the brake current, which complicates the system and increases the cost; the non-weighing sensor self-adaptive starting torque compensation method disclosed in patent application No. CN201310444642.6 is characterized in that compensation torque calculation is carried out by utilizing fuzzy control after the position, the speed and the acceleration are measured, and the method is relatively complex to realize; the no-weight starting schemes disclosed in patent application nos. CN201610134676.9 and CN201810028112.6 are all essentially a PI parameter-variable adjusting method, and perform torque compensation by feedback results, so that the unbalanced torque range to be compensated is wide, rapid compensation is difficult to achieve in extreme cases, and the human body still can feel backward sliding during starting.
Disclosure of Invention
The invention aims to provide a compensation method of the special non-weighing starting moment for the elevator, aiming at the defects of the prior art, and the compensation method can rapidly balance the back slip caused by the unbalanced moment between the car and the counterweight of the elevator due to the brake release.
In order to achieve the technical purpose, the technical scheme provided by the invention is as follows:
the first scheme is as follows:
a special weighing sensor-free starting torque compensation method for an elevator is disclosed, wherein a motor of the elevator adopts a sine and cosine encoder to measure the rotating speed and the position of a rotor, and the method is characterized by comprising the following steps:
to prevent malfunction, the initial displacement direction is determined in any one of the following ways:
3.1) setting a first displacement threshold Value1 and a first Speed threshold Value Speed1, and when the displacement amplitude of the elevator exceeds the first displacement threshold Value1, the elevator has a Speed which continuously exceeds the first Speed threshold Value Speed1 upwards or downwards, and the displacement and the Speed directions are consistent, determining the current displacement direction of the elevator as an initial displacement direction;
3.2) setting a second displacement threshold Value2, wherein the Value is larger than the first displacement threshold Value1, and when the amplitude Value of the elevator displacement exceeds the second displacement threshold Value2, determining the current displacement direction of the elevator as the initial displacement direction;
3.3) setting a second Speed threshold Speed2 which is larger than the first Speed threshold Speed1, and determining the current displacement direction of the elevator as the initial displacement direction when the elevator has the Speed which continuously exceeds the second Speed threshold Speed2 upwards or downwards;
and 4, step 4: compensating the motor for a preset torque Tq0 in the direction opposite to the initial displacement direction according to the initial displacement direction so as to prevent the elevator from moving in the direction as soon as possible;
and 5, before the elevator moves in the direction opposite to the initial displacement direction judged in the step 3, the preset PI parameters P0 and I0 in the step 2 are always in effect, when the elevator moves in the direction opposite to the initial displacement direction, the moment compensation is indicated to be excessive, and the I gain in the PI parameters is reduced from I0 to I1 so as to reduce the position overshoot.
Preferably, the value of the P0 is 2 times of the P3 value parameter, and the value of the I0 is not less than 16 times of the I3 value parameter;
further, for all the situations that the displacement amplitude exceeds the displacement threshold or the elevator speed exceeds the speed threshold, filtering for filtering interference or multiple confirmation processing are required.
Preferably, the Value of the first displacement threshold Value1 is an elevator displacement distance corresponding to 1/4-1/2 sine or cosine waves before the sine and cosine encoder outputs subdivision, and the Value of the first Speed threshold Value Speed1 is 2-5 mm/s.
Preferably, the value of the second Speed valve Speed2 is 1.5-3 times.
Preferably, the compensated preset torque Tq0 is: 1/3-1/2 times of unbalanced moment Tq1 of the elevator counterweight and the empty car.
Preferably, the reduced I1 gain is 1/2-1/4 of the I0 gain.
Scheme II:
a special weighing sensor-free starting torque compensation method for an elevator is characterized in that a photoelectric pulse encoder is adopted for measuring the rotating speed and the position of a rotor of an elevator motor, and the method comprises the following steps:
the initial displacement direction is determined as follows:
setting a third displacement threshold Value3, and when the displacement amplitude of the elevator exceeds the third displacement threshold Value3, determining the current displacement direction of the elevator as the initial displacement direction;
and 6, when the reverse displacement of the elevator is finished, the elevator has forward vibration in the same direction as the initial displacement once again, and the displacement of the forward vibration exceeds a third displacement threshold Value3, so that the feedback system is vibrated, and the I gain is reduced to I2 again to reduce the vibration.
Preferably, the value of the P0 is 2 times of the P3 value parameter, and the value of the I0 is not less than 16 times of the I3 value parameter.
Preferably, the Value of the third displacement threshold Value3 is an elevator displacement distance corresponding to a complete waveform output by the pulse encoder.
Further, during the starting process, the sampling of the position of the encoder is performed with a filtering process: and ensuring that the variation of each sampling value of the encoder does not exceed 1 under the condition that the elevator is at the maximum back-sliding speed, and otherwise, discarding the sampling value according to interference processing.
Preferably, the compensation preset torque Tq0 is: 1/3-1/2 times of unbalanced moment Tq1 of the elevator counterweight and the empty car.
Preferably, the reduced I1 gain is 1/2 of I0 gain, and the reduced I2 gain is 1/4 of I0 gain.
Has the advantages that:
the method for compensating the starting moment of the special weighing-free sensor for the elevator can quickly generate the pre-compensation moment, so that the range of the subsequent PI controller needing compensation is reduced, the starting comfortable sensation is better, and meanwhile, in the process of weighing-free starting, once the elevator moves opposite to the initial movement, the I value of the starting is properly reduced, and the possibility of starting vibration can be reduced.
Drawings
FIG. 1 is a flow chart of the present invention;
fig. 2 is a vector control schematic of the elevator of the present invention;
fig. 3 is a schematic illustration of an elevator imbalance moment.
Detailed Description
In order to clarify the technical solution and working process of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example 1:
when the special weighing-sensor-free starting torque compensation method for the elevator adopts the sine and cosine encoder to measure the rotating speed and the position of the motor rotor, the implementation process comprises the following steps:
to prevent malfunction, the initial displacement direction may be determined in any of the following ways:
3.1) setting a first displacement threshold Value1 and a first Speed threshold Value Speed1, and when the displacement amplitude of the elevator exceeds the first displacement threshold Value1, the elevator has a Speed which continuously exceeds the first Speed threshold Value Speed1 upwards or downwards, and the displacement and the Speed directions are consistent, determining the current displacement direction of the elevator as an initial displacement direction;
3.2) setting a second displacement threshold Value2, wherein the Value is larger than the first displacement threshold Value1, and when the amplitude Value of the elevator displacement exceeds the second displacement threshold Value2, determining the current displacement direction of the elevator as the initial displacement direction;
3.3) setting a second Speed threshold Speed2 which is larger than the first Speed threshold Speed1, and determining the current displacement direction of the elevator as the initial displacement direction when the elevator has the Speed which continuously exceeds the second Speed threshold Speed2 upwards or downwards;
and 4, step 4: compensating the motor for a preset torque Tq0 in the direction opposite to the initial displacement direction according to the initial displacement direction so as to prevent the elevator from moving in the direction as soon as possible;
and 5, before the elevator moves in the direction opposite to the initial displacement direction judged in the step 3, the preset PI parameters P0 and I0 in the step 2 are always in effect, when the elevator moves in the direction opposite to the initial displacement direction, the moment compensation is indicated to be excessive, and the I gain in the PI parameters is reduced from I0 to I1 so as to reduce the position overshoot.
Fig. 2 is a vector control schematic diagram of an elevator, components and parameters related in the diagram include a speed setting module 1, a speed loop PI controller 2 and an output torque current command value iq thereof, a non-weighing torque compensation presetting module 3 and an output Tq0 thereof, iq and Tq0 are used as torque current set values of a current loop PI controller 4 together, a magnetic flux control 6 and an output exciting current set value id thereof are connected with the current loop PI controller 4, the outputs Uq and Ud enter a motor VVVF controller 5 to realize control of a motor 7, and an encoder 8 can measure the position and the speed of an elevator car.
In the process of weighing-free starting of the elevator, the speed given 1 is given according to the zero speed, and the speed error value e is obtained by comparing the rotating speed Vr of the detected motor with the speed given VsvWhereas during the no-weight start-up compensation, the speed is given Vs as 0, so:
ev＝Vs-Vr＝-Vr
the speed error is input to the speed loop PI controller 2 through feedback control to realize the compensation output iq of the motor torque current:
wherein Kp、KiP values and of the speed loop controller, respectivelyValue of I, feedback speed VrThe integral of (a) is the car displacement Sr。
Therefore, in order to suppress the back-slipping caused by unbalanced moment between the car load and the counterweight as soon as possible, the P0 and I0 values of the no-weight-start compensation algorithm in the step 2 are very large, for example, the P0 value is 2 times of the P3 value of the smooth running of the elevator, and the I0 value is about 16 times or more of the I3 value of the smooth running. Thus, the feedback control can compensate the motor torque as soon as possible according to the backward slip amplitude.
According to the total amount of both sides of the traction sheave shown in fig. 3, which are the car side of the car weight M + the car load L and the counterweight side of the counterweight weight M, respectively, since the car load varies between 0 and L, where L is the rated load, it is impossible to always balance between them, if the balance coefficient of the elevator is 0.5:
M＝m+0.5*L
when the car load is no-load, the two sides of the traction sheave have unbalanced force 0.5L which drags the car upwards, when the car load is full, the two sides of the traction sheave have unbalanced force 0.5L which drags the car downwards, the unbalanced force acts on the traction sheave with radius R to generate unbalanced moment Tq, and the unbalanced moment of the car no-load is counted:
Tq1＝0.5*L*R
thus, if the upward moment of the car is taken as the positive direction, the unbalanced moment of the elevator may be between-Tq 1 and Tq1, and Tq1 is a large moment.
However, such torque compensation by the feedback method is required to be based on rollback, the magnitude of rollback depends on the magnitude of the PI parameter, and obviously, the larger the PI parameter value, the faster the torque compensation can be performed, and the smaller the rollback is, but an excessively large PI value may cause instability of the control system, and may cause starting vibration and poor comfort. And because the load in the car is uncertain, and the car may be unloaded or fully loaded, the unbalanced moment to be compensated may reach the rated moment of the motor, and the large unbalanced moment is compensated in a short time with as little rollback as possible, which is very difficult, and this often causes difficulty in debugging the conventional feedback control parameters, and meanwhile, for some extreme cases, the feedback control cannot completely compensate the moment, and the elevator still has obvious feeling when being started.
According to the principle of the elevator starting reverse slipping, if the reverse slipping is caused by unbalanced weight, if the direction of the unbalance is judged at the initial stage of the reverse slipping of the elevator, and if the PI controller action is very small, the constant moment Tq0 is compensated in advance, the action of the moment compensation can be accelerated very quickly. For example, in this embodiment, a value of 0.5 times Tq1 is loaded in the reverse direction of rollback. Because the load in the car is uncertain, the preset loading value Tq1/2 can not completely compensate unbalanced force, the unbalanced force can be compensated excessively or insufficiently, but the remained compensation function is given to the speed loop PI controller, and because the preset compensation is added, the remained compensation torque value of the PI controller is greatly reduced.
The invention determines the preset moment compensation direction by detecting the initial displacement direction of the back slip, thereby improving the reaction speed of the system. In order to improve the response speed of the system as much as possible, the initial displacement direction is expected to be detected as soon as possible, and therefore the invention restricts the threshold value when judging the initial displacement direction:
the first displacement threshold Value1 is a tiny Value, which is the elevator displacement corresponding to the situation that the elevator can be judged to slide backward in a certain direction because of no counterweight, when a sine-cosine encoder outputs 1/4 sine or cosine waves before subdivision, taking a 2048 waveform sine-cosine encoder as an example, the elevator 2:1 winding method, the diameter of a traction sheave is 400mm, the displacement is equivalent to the situation that the elevator moves by 0.076mm, and the displacement does not cause any sense of a human body; the second displacement threshold Value2 is a Value exceeding the first displacement threshold Value1, and the Value is the displacement of the elevator corresponding to 2 sine or cosine waves before the sine and cosine encoder outputs subdivision, and the displacement is equivalent to that the elevator moves by 0.3 mm; the first Speed valve value Speed1 is a tiny value, and the target is to accurately judge the backward sliding direction of the elevator after removing interference factors, for example, the value is 2.5 mm/s; the second Speed threshold Speed2 is a value exceeding the first Speed threshold Speed1, for example, 5 mm/s.
However, the detection of such a small displacement or speed is interfered by various factors, such as an error of a/D sampling of a sine and cosine encoder causes a malfunction, so that the direction of the initial displacement is determined incorrectly, the direction of the torque compensation is incorrect, and the starting comfort is deteriorated. Therefore, for all the situations that the displacement amplitude exceeds the displacement threshold or the elevator speed exceeds the speed threshold, filtering for filtering interference or multiple confirmation processing are required. In this embodiment, the position of the elevator is detected once every 100us, the speed of the elevator is also calculated once every 100us, the speed is calculated as an average value within 1ms which is 10 times of average, and for the first displacement threshold value and the first speed threshold value, 500us need to be continuously detected for confirmation; for the second displacement threshold and the second velocity threshold, 2ms is continuously detected for confirmation.
When the elevator moves in the direction opposite to the initial displacement direction, indicating that the moment compensation is too large, the I gain is reduced to I1 so as to reduce the position overshoot, wherein I1 is 1/2-1/4 of I0 so as to reduce the possibility of the subsequent oscillation of the speed loop PI controller.
Example 2:
the method for compensating the starting torque of the special weighing sensor-free elevator adopts the photoelectric pulse encoder to measure the rotating speed and the position of a rotor, and the implementation process comprises the following steps:
the initial displacement direction is determined as follows:
setting a third displacement threshold Value3, and when the displacement amplitude of the elevator exceeds the third displacement threshold Value3, determining the current displacement direction of the elevator as the initial displacement direction;
and 6, when the reverse displacement of the elevator is finished, the elevator has forward vibration in the same direction as the initial displacement, the displacement of the forward vibration exceeds a third displacement threshold Value3, the feedback system is indicated to vibrate, and the I gain is reduced to I2 again to reduce the vibration.
The steps are the same as most steps of a sine and cosine encoder, however, because the precision of the photoelectric pulse encoder is smaller than that of the sine and cosine encoder, the distance and the speed measured by the pulse encoder have larger errors, particularly the speed is calculated, because the initial back-sliding distance is very small, only a few pulse quantities are discrete, and the continuous speed value is difficult to calculate, when the initial displacement direction is calculated, the photoelectric pulse encoder only uses the threshold value of the displacement distance and does not use the speed threshold value for calculation. In this embodiment, in order to correctly confirm the initial displacement direction, the third displacement threshold Value3 is the elevator displacement distance corresponding to a complete waveform output by the pulse encoder, and the counter of the pulse encoder after 4 times is 4. Taking an asynchronous machine elevator as an example, the rope winding ratio is 2:1, the reduction ratio is 26.5, the diameter of a traction sheave is 650mm, and an encoder 1024 plus/r, the displacement of 1 pulse is equivalent to 0.0376mm of elevator movement, and the displacement does not cause any sense of human body.
Similarly, for guaranteeing the accuracy of the backward sliding direction generated by the car for the first time, the filtering processing is carried out on the sampling of the position of the encoder in the starting process, the sampling principle is that the initial backward sliding speed is limited when the car is started, the variation of the encoder at each time is very small, the sampling is carried out at a sampling frequency which is fast enough, the variation of the sampling value of the encoder at each time under the condition of the maximum backward sliding speed is guaranteed not to exceed 1, and otherwise, the sampling value is discarded according to the interference processing. In this embodiment, the number of encoder pulses is read every 100us, and the number of encoders is 1024P/r for a motor with a rated rotation speed 1440r/min, even at the rated rotation speed of the motor, the variation of the encoder per 100us is:
1440/60*1024*4/10000＝9.8bit
obviously, at the initial stage of opening the band-type brake, the initial back-sliding speed is low, and the speed cannot be accelerated to exceed the rated speed of the elevator by 5% within hundreds of ms, so theoretically, the back-sliding speed cannot generate a variation exceeding 1bit per 100us, and if the back-sliding speed exceeds 1bit, the sampled variation value is discarded according to interference processing, so that the accuracy of operation is ensured.
Once the initial movement direction is determined, a predetermined torque is applied immediately in the reverse direction of the backward sliding, for example, in the present exemplary embodiment, a value of 0.5 times Tq1 is applied in the reverse direction of the backward sliding. Because the load in the car is uncertain, the preset loading value Tq1/2 can not completely compensate unbalanced force, the unbalanced force can be compensated excessively or insufficiently, but the remained compensation function is given to the speed loop PI controller, and because the preset compensation is added, the remained compensation torque value of the PI controller is greatly reduced.
When the elevator moves in the direction opposite to the initial displacement, indicating that the torque compensation is too large, the I gain is reduced to I1 to reduce the overshoot, I1 being 1/2 of I0 to reduce the possibility of subsequent speed loop PI controller oscillations.
When the reverse displacement of the elevator is finished, the elevator vibrates in the positive direction in the same direction as the initial displacement, the displacement of the positive vibration exceeds a third displacement threshold Value3, the feedback system is indicated to vibrate, and the I gain is reduced to I2 again to reduce the vibration. I2 is 1/4 of I0 to reduce the likelihood of subsequent speed loop PI controller oscillations.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the foregoing description only for the purpose of illustrating the principles of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims, specification, and equivalents thereof.
Claims (10)
1. A special weighing sensor-free starting torque compensation method for an elevator is disclosed, wherein a motor of the elevator adopts a sine and cosine encoder to measure the rotating speed and the position of a rotor, and the method is characterized by comprising the following steps:
step 1, before the elevator is opened, recording the position state Pos0 of the current elevator according to the sampling value of an encoder;
step 2, after the elevator is switched off, the control system enters a no-weighing starting compensation algorithm, the system command speed is stabilized at zero speed, preset PI parameters are adopted as adjusting parameters of a motor speed ring, the preset PI parameters are respectively marked as P0 and I0, the PI parameters of the elevator in a stable operation stage are marked as P3 and I3, the value of P0 is 1-3 times of the value of P3, and the value of I0 is not less than 10 times of the value of I3;
step 3, when the current position state P of the elevatornowWhen the initial position state Pos0 of the elevator is inconsistent, recording the initial displacement direction of the elevator;
to prevent malfunction, the initial displacement direction is determined in any one of the following ways:
3.1) setting a first displacement threshold Value1 and a first Speed threshold Value Speed1, and when the displacement amplitude of the elevator exceeds the first displacement threshold Value1, the elevator has a Speed which continuously exceeds the first Speed threshold Value Speed1 upwards or downwards, and the displacement and the Speed directions are consistent, determining the current displacement direction of the elevator as an initial displacement direction;
3.2) setting a second displacement threshold Value2, wherein the Value is larger than the first displacement threshold Value1, and when the amplitude Value of the elevator displacement exceeds the second displacement threshold Value2, determining the current displacement direction of the elevator as the initial displacement direction;
3.3) setting a second Speed threshold Speed2 which is larger than the first Speed threshold Speed1, and determining the current displacement direction of the elevator as the initial displacement direction when the elevator has the Speed which continuously exceeds the second Speed threshold Speed2 upwards or downwards;
and 4, step 4: compensating the motor for a preset torque Tq0 in the direction opposite to the initial displacement direction according to the initial displacement direction so as to prevent the elevator from moving in the direction as soon as possible;
and 5, before the elevator moves in the direction opposite to the initial displacement direction judged in the step 3, the preset PI parameters P0 and I0 in the step 2 are always in effect, when the elevator moves in the direction opposite to the initial displacement direction, the moment compensation is indicated to be excessive, and the I gain in the PI parameters is reduced from I0 to I1 so as to reduce the position overshoot.
2. The method for compensating the starting moment of the elevator without the weighing sensor as claimed in claim 1, wherein the first displacement threshold Value1 takes the Value of the elevator displacement distance corresponding to 1/4-1/2 sine or cosine waves before the sine and cosine encoder outputs subdivision, and the first Speed threshold Value Speed1 takes the Value of 2-5 mm/s.
3. The method for compensating the starting moment of the weighing sensor-free special for the elevator as claimed in claim 1 or 2, wherein the Value of the two displacement thresholds Value2 is the displacement distance of the elevator corresponding to 2 sine waves or cosine waves before the sine and cosine encoder outputs subdivision.
4. The method for compensating the starting torque of the elevator without the load cell as recited in claim 1 or 2, wherein the value of the second Speed valve Speed2 is 1.5-3 times.
5. The elevator-specific load cell-free startup torque compensation method according to claim 1 or 2, characterized in that the compensated preset torque Tq0 is: 1/3-1/2 times of unbalanced moment Tq1 of the elevator counterweight and the empty car; the reduced I1 gain is 1/2-1/4 of the I0 gain.
6. A special weighing sensor-free starting torque compensation method for an elevator is characterized in that a photoelectric pulse encoder is adopted for measuring the rotating speed and the position of a rotor of an elevator motor, and the method comprises the following steps:
step 1, before the elevator is opened, recording the position state Pos0 of the current elevator according to the sampling value of an encoder;
step 2, after the elevator is switched off, the control system enters a no-weighing starting compensation algorithm, at the moment, preset PI parameters are adopted as adjusting parameters of a motor speed ring, the preset PI parameters are respectively marked as P0 and I0, the PI parameters of the elevator in a stable operation stage are marked as P3 and I3, the value of P0 is 1-3 times of the value of P3, and the value of I0 is not less than 10 times of the value of I3;
step 3, when the current position state P of the elevatornowWhen the initial position state Pos0 of the elevator is inconsistent, recording the initial displacement direction of the elevator;
the initial displacement direction is determined as follows:
setting a third displacement threshold Value3, and when the displacement amplitude of the elevator exceeds the third displacement threshold Value3, determining the current displacement direction of the elevator as the initial displacement direction;
step 4, according to the initial displacement direction, compensating a preset torque Tq0 towards the direction opposite to the direction of the motor so as to prevent the elevator from moving towards the direction as soon as possible;
step 5, before the elevator moves in the direction opposite to the initial displacement determined in the step 3, the preset PI parameters P0 and I0 in the step 2 are always in effect, the displacement Value of the elevator is continuously recorded, when the elevator reaches the maximum back-sliding displacement Value Pmax, if the elevator moves in the direction opposite to the initial displacement direction and is compared with the Pmax, the amplitude of the opposite movement displacement exceeds the third displacement threshold Value3, which indicates that the torque compensation is too large, and at the moment, the I gain in the PI parameters is reduced from I0 to I1 so as to reduce the position overshoot;
and 6, when the reverse displacement of the elevator is finished, the elevator has forward vibration in the same direction as the initial displacement once again, and the displacement of the forward vibration exceeds a third displacement threshold Value3, so that the feedback system is vibrated, and the I gain is reduced to I2 again to reduce the vibration.
7. The method for compensating the starting torque without the load cell for the elevator as recited in claim 6, wherein the third displacement threshold Value3 is a Value corresponding to an elevator displacement distance corresponding to a complete waveform output by the pulse encoder.
8. The method for compensating the starting torque of the special weighing sensor-free elevator as claimed in claim 6, wherein the sampling of the position of the encoder during the starting process is performed by filtering: and ensuring that the variation of each sampling value of the encoder does not exceed 1 under the condition that the elevator is at the maximum back-sliding speed, and otherwise, discarding the sampling value according to interference processing.
9. The method for compensating the starting torque of the elevator without the load cell according to claim 6, wherein the compensation preset torque Tq0 is: 1/3-1/2 times of unbalanced moment Tq1 of the elevator counterweight and the empty car.
10. The method for compensating the starting torque of the special load cell of the elevator as claimed in claim 6, wherein the reduced I1 gain is 1/2 of the I0 gain, and the reduced I2 gain is 1/4 of the I0 gain.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111776899A (en) * | 2020-08-10 | 2020-10-16 | 苏州汇川技术有限公司 | Starting control method and system for elevator without weighing |
| CN113697621A (en) * | 2021-08-25 | 2021-11-26 | 杭州优迈科技有限公司 | Elevator starting control method, device and system and electronic device |
| CN114274142A (en) * | 2021-12-17 | 2022-04-05 | 北京航空航天大学杭州创新研究院 | Robot control method and related device |
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| CN111776899A (en) * | 2020-08-10 | 2020-10-16 | 苏州汇川技术有限公司 | Starting control method and system for elevator without weighing |
| CN113697621A (en) * | 2021-08-25 | 2021-11-26 | 杭州优迈科技有限公司 | Elevator starting control method, device and system and electronic device |
| CN114274142A (en) * | 2021-12-17 | 2022-04-05 | 北京航空航天大学杭州创新研究院 | Robot control method and related device |
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| CN110803600B (en) | 2021-03-09 |
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