CN110817625B - Method for reducing non-weighing starting vibration of elevator - Google Patents

Method for reducing non-weighing starting vibration of elevator Download PDF

Info

Publication number
CN110817625B
CN110817625B CN201911021889.0A CN201911021889A CN110817625B CN 110817625 B CN110817625 B CN 110817625B CN 201911021889 A CN201911021889 A CN 201911021889A CN 110817625 B CN110817625 B CN 110817625B
Authority
CN
China
Prior art keywords
speed
zero
elevator
speed servo
amplitude
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201911021889.0A
Other languages
Chinese (zh)
Other versions
CN110817625A (en
Inventor
黄维纲
陈羽波
许晨
徐佩佩
顾信鹏
秦成松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canny Elevator Co Ltd
Original Assignee
Canny Elevator Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canny Elevator Co Ltd filed Critical Canny Elevator Co Ltd
Priority to CN201911021889.0A priority Critical patent/CN110817625B/en
Publication of CN110817625A publication Critical patent/CN110817625A/en
Application granted granted Critical
Publication of CN110817625B publication Critical patent/CN110817625B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • B66B1/3407—Setting or modification of parameters of the control 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
    • B66B5/0018—Devices monitoring the operating condition of the elevator system

Abstract

The invention discloses a method for reducing the non-weighing starting vibration of an elevator, which is characterized in that when the following optional ending conditions are reached, the zero-speed servo process of the non-weighing starting is immediately ended: and the zero-speed servo time is reached, and in the zero-speed servo process, the amplitude of the compensation torque Tq exceeds the amplitude of the preset torque Tq0 or the speed Vr of the elevator car exceeds the preset speed V0 and the like. The method of the invention sets various ways for controlling the exit of the zero-speed servo process, has reasonable selection and setting, effectively inhibits the vibration caused by factors such as overlarge PI value during the zero-speed servo, finishes the zero-speed servo process before the elevator vibrates as much as possible, and improves the elevator riding experience of passengers. Meanwhile, in a further scheme, corresponding end conditions of moment reaching end or speed reaching end are displayed, so that debugging personnel is prompted to adjust the direction in which zero-speed servo is possibly larger or smaller, the parameter debugging without weighing starting is more convenient, and the debugging difficulty of the elevator starting parameters is reduced.

Description

Method for reducing non-weighing starting vibration of elevator
Technical Field
The invention relates to the technical field of elevator control, in particular to an elevator starting control method without a weighing device.
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.
Currently, there are generally two methods for maintaining the balance of an elevator system prior to operation: one is to add an analog weighing sensor to the elevator so that the control system detects the load condition of the elevator before the elevator is released, thereby giving a compensating moment before the 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; in the method of using an encoder, a PI algorithm of a control system is usually used, during zero-speed servo, in order to reduce the amplitude of backward slip of an elevator, a PI value of a speed loop is very large, an excessively large PI value makes the system unstable, an inappropriate setting value often accompanies vibration of a car, and the vibration is often reflected as an occasional phenomenon because the PI value of the control system is in a critical state, namely, a debugger adjusts the PI parameter of the elevator to the critical state, but the debugger does not find the vibration to occur during debugging, and a passenger frequently encounters abnormal vibration in the starting process when taking the elevator, which seriously affects the passenger experience of taking the elevator.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned disadvantages and drawbacks of the prior art, and providing a method for reducing non-weighing starting vibration of an elevator to improve passenger riding experience.
The technical purpose is realized by the following technical scheme:
the utility model provides a method for reducing elevator does not have vibration of weighing start-up, utilizes the encoder to obtain the speed and the positional information of elevator hauler rotor, and during no weighing start-up, elevator control system gets into zero-speed servo process, carries out unbalanced moment compensation to the elevator through the real-time feedback of encoder, its characterized in that, when following arbitrary termination condition reaches, finishes no zero-speed servo process of weighing start-up immediately:
A. the zero-speed servo time reaches the preset time;
B. in the zero-speed servo process, the amplitude (which refers to an absolute value and does not include a positive direction and a negative direction, the same applies below) of the compensation torque Tq exceeds the amplitude of a preset torque Tq 0;
C. during zero speed servo the speed Vr of the elevator car exceeds the preset speed V0.
On the basis of the technical scheme, the further improved or preferable scheme further comprises the following steps:
the zero-speed servo process without weight start is also immediately ended when the following end conditions are reached:
D. in the zero-speed servo process, the compensation torque Tq does not exceed the amplitude of the preset torque Tq0, but the amplitude of the Tq once exceeds the preset torque amplitude Tq0 which is 0.25 times, and when the compensation torque Tq falls back to the axis 0, the zero-speed servo process without weighing starting is immediately finished.
The zero-speed servo process without weight start is also immediately ended when the following end conditions are reached:
E. in the zero-speed servo process, the compensation torque Tq does not exceed the preset torque amplitude Tq0, but the amplitude (absolute value) of the Tq exceeds the preset torque amplitude Tq0 which is 0.5 times, and when the fall amplitude of the compensation torque Tq exceeds the maximum amplitude which is reached once by half, the zero-speed servo process without weighing starting is immediately finished.
The zero-speed servo process without weight start is also immediately ended when the following end conditions are reached:
F. in the zero-speed servo process, the initial direction of the speed of the elevator car and the maximum speed Vmax of the direction are recorded, and when the speed of the elevator car is converted into the reverse direction and exceeds the Vmax value, the zero-speed process control without weighing starting is immediately finished.
Among the above termination conditions:
preferably, the unbalance moment Tq1 of the elevator counterweight and the empty car is set, the unbalance moment of the elevator counterweight and the 110% full car is Tq2, and the preset moment Tq0 is between Tq1 and Tq2 and is equal to Tq1 or Tq 2. .
Preferably, the preset speed V0 is set to 2% to 5%, and may be set to 3% of the rated speed of the elevator.
When the compensating moment Tq meets the end condition, the output state of the control system is displayed, the end condition that the starting is caused by the compensating moment Tq is displayed, debugging personnel is prompted, and the PI value of the zero-speed servo of the system can be adjusted too large.
When the speed Vr of the elevator car exceeds the preset speed V0, the control system outputs a state display to display that the starting is due to the end condition of the speed, and prompts a debugging person that the PI value of the zero-speed servo of the system is possibly adjusted too small.
And when the speed Vr of the elevator car meets the ending condition F, the control system outputs a state display to display that the starting is the ending condition due to the fact that the reverse speed reaches, and prompts a debugging person, and the PI value of the zero-speed servo of the system can be adjusted too large.
Has the advantages that:
the method for reducing the non-weighing starting vibration of the elevator is provided with various ways for controlling the zero-speed servo process to exit, is reasonable in selection and setting, effectively inhibits the vibration caused by factors such as overlarge PI value during the zero-speed servo process, ends the zero-speed servo process before the elevator vibrates as much as possible, and improves the elevator riding experience of passengers. Meanwhile, in a further scheme, corresponding end conditions of moment reaching end or speed reaching end are displayed, so that debugging personnel is prompted to adjust the direction in which zero-speed servo is possibly larger or smaller, the parameter debugging without weighing starting is more convenient, and the debugging difficulty of the elevator starting parameters is reduced.
Drawings
Fig. 1 is a timing diagram of the no-weight start-up logic of an elevator.
Fig. 2 is a schematic diagram of elevator vector control.
Fig. 3 is a torque compensation curve for normal parameters.
Fig. 4 is a torque compensation curve with overshoot.
Fig. 5 is a graph of the oscillation of the torque compensation.
Detailed Description
In order to clarify the technical solution of the present invention, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. In this context, the magnitude of the moment is an absolute value and does not include positive and negative directions.
Fig. 1 is a timing diagram of the elevator no-weight starting logic, when the elevator obtains a starting command and a time T1 is set, a motor contactor KMY is actuated to prepare for energizing a motor; at the time of T2, enabling the ENL to act by the frequency converter, outputting by the frequency converter, controlling the speed of the motor according to the vector control principle and loading torque; at the time of T3, a contracting brake contactor KMB acts, an elevator contracting brake is released, at the moment, the car and the counterweight can cause the back slip of the elevator due to unbalanced force, at the moment, the frequency converter is in a zero-speed servo stage, once the frequency converter detects the back slip of the elevator, the moment can be rapidly compensated in the opposite direction of the back slip, finally, the output moment of the motor and the unbalanced moment of the motor reach balance, and the motion of the car is restrained. And the zero-speed servo time is ended at the T4 moment, and the elevator normally loads the running curve.
Obviously, in the above starting logic process, a zero-speed servo process is performed between T2 and T4, and in this process, at the time T3 when the brake is opened, the car generates a certain movement, during this time, the maximum speed of the car moving in the unbalanced weight direction is set as Vmax, and the area included by the speed curve is the moving distance S0 of the car. As shown in fig. 1, the output torque Tq of the frequency converter is gradually compensated for the unbalanced torque of the elevator by the control action of the zero-speed servo in this process. In the whole control process, if the process from the back slipping to the stopping of the elevator can be completed within a quick time range, such as within 0.2-0.3 s, the human body does not feel uncomfortable.
Fig. 2 is a vector control schematic diagram of an elevator, and related components include a speed setting module 1, a speed loop PI controller 2, an encoder ENC3, a current loop PI controller 4, a motor VVVF controller 5, a magnetic flux control module 6, a motor 7, and the like, wherein iq is an output torque current command value of the speed loop PI controller 2, and id is an output excitation current set value of the magnetic flux control module 6. The output Uq and Ud of the current loop PI controller 4 enter a motor VVVVF controller 5 to realize the control of a motor 7.
In the starting zero-speed servo process, the speed setting module 1 sets according to the zero speed, the rotating speed Vr of the detection motor 7 is compared with the output value Vs of the speed setting module 1, and a speed error value e is setvSince speed gives Vs 0, therefore:
ev＝Vs-Vr＝-Vr
the speed error value is input to the speed loop PI controller 2 through feedback control, and the speed loop PI controller 2 outputs iq:
Figure BDA0002247480770000051
wherein Kp、KiP value and I value of a speed loop PI controller, and feedback speed VrThe integral of (a) is the car displacement Sr。
It is clear from the above equation that the resulting unbalance torque of the elevator is determined in the specific load situation, and to compensate for this unbalance torque, the torque current command value of the motor
Figure BDA0002247480770000061
It was also established that in order to make the start even, i.e. to keep the elevator speed Vr and the car displacement Sr as small as possible during the zero-speed servo, i.e. to suppress as quickly as possible the back-slipping caused by unbalanced moments between the car load and the counterweight, the value P, I during the zero-speed servo is very large, e.g. the P value is about 2 times the P value parameter of normal operation, and the I value is about 16 times or even more the I value parameter of normal operation. Thus, the feedback control can compensate the motor torque according to the back slip as soon as possible.
However, according to the classical control theory, the larger the gain of the PI regulator is, the more unstable the system may be, the output oscillation and divergence may be formed, and finally the feedback control may fail. Fig. 3 to 5 show the output torque current value of the control system under different PI values, the PI gain of fig. 3 is minimum, and the torque compensation gradually and slowly rises; the PI gain of fig. 4 is medium, the output has a large overshoot, but can be stabilized at an output amplitude finally; the PI gain of fig. 5 is too large, the system has already diverged, and the peak value of the oscillation becomes larger and larger, indicating that the feedback control has failed.
Meanwhile, in an actual control system, the factors of interference cannot be ignored. A PI value which is theoretically in a critical state can normally converge its output, but since the input signal is disturbed, the PI value is large, which is very easy to cause the output to oscillate and cannot converge. This is reflected in that during the no-weight starting of the elevator, a debugger has adjusted the elevator, and does not find the starting discomfort, but because the PI value is in a critical state, the system is easily interfered by input feedback, and after the elevator is handed to a user for use, abnormal conditions such as starting vibration and the like sometimes occur.
Therefore, a pair of contradictions occurs in the zero-speed servo process, if the PI value of the zero-speed servo is too small, the back slip of the elevator cannot be quickly inhibited, and if the PI value of the zero-speed servo is too large, the elevator is easy to vibrate, the comfort is influenced, the proper PI gain of the zero-speed servo is suitable, and the method is very important in debugging without weighing starting.
Generally, in system design, designers know that the zero-speed servo is easy to oscillate, and design a parameter T0 called zero-speed servo time, when the zero-speed servo time is reached, the zero-speed servo is stopped, and the normal operation curve of the elevator is loaded at the time T4. The zero-speed servo time T0 must be longer than the brake release time, and the holding of the zero-speed servo process after the brake release is enough to compensate the unbalanced moment, but the time is as short as possible, otherwise, the holding at a larger PI value for an excessively long time is difficult to obtain system stability. On one hand, if the zero-speed servo time T0 is too small and is less than the release time of the band-type brake, the zero-speed servo process does not actually exist, and the overlong zero-speed servo time causes system oscillation. In the field of elevators, the brake release time is related to different hosts, different designs and even individuals, so that the brake release time of a specific elevator is difficult to determine in advance, is 0.5-1 s and is larger than the expected elevator slip suppression time, and becomes a non-negligible parameter in the debugging process. The comprehensive adjustment of a plurality of parameters such as the PI parameter and the band-type brake release time T0 makes the difficulty of adjusting the elevator to be in the proper parameter greater for a debugger.
Under the background, the invention adds more ways for exiting the zero-speed servo process, and immediately ends the zero-speed servo process without weighing starting when the control system judges that the following optional ending conditions are reached:
A. the zero-speed servo time T0 reaches a preset time;
B. in the zero-speed servo process, the compensated torque exceeds a preset torque amplitude Tq 0;
C. during zero speed servo, the speed of the elevator car exceeds the preset speed V0.
Wherein:
the condition a is the ending mode of the conventional zero-speed servo process at present, and is not described in detail.
The condition B is a moment quitting condition, under the normal condition, the influence of friction force and the factors of the back-sliding efficiency of the elevator are considered, and the moment Tq for restraining the back-sliding of the elevator is as follows:
Tq＝(Tun-Tf)*η
in the above formula, TunMoment generated for unbalanced forces, TfThe moment for generating friction force eta is the inverse efficiency from the elevator car to the motor, and considering that the inverse efficiency is a coefficient less than 1, therefore, under the full load condition, the starting compensation moment Tq for restraining the back sliding of the elevator does not exceed the unbalanced moment Tq1 when the elevator is in an empty car state, and considering that the overload switch of the elevator is required to be operated before the overload of 10 percent in the elevator standard, namely, the actual overload of the elevator cannot exceed the rated load of 10 percent, the preset moment Tq0 of the invention is the unbalanced moment Tq1 of the elevator counterweight and the empty car and the unbalanced moment Tq2 of the elevator counterweight and the 110 percent full car, once the compensation moment of the system exceeds the set value, the compensated moment is proved to be excessive, and the excessive condition is very large possibility that the excessive condition is zeroIf the PI value during the speed servo is too large, the moment compensation of the elevator goes to the unconverged situation of fig. 5, which may cause more vibration if the zero-speed servo process is continued.
The condition C is a speed exit condition, and in the zero-speed servo process, when the backward speed exceeds the preset speed value V0, for example, in this embodiment, 3% of the rated speed of the elevator is selected as the V0 value, and when the speed exceeds the rated speed, a human body can have a significant feeling on starting, this indicates that the zero-speed servo cannot quickly suppress the backward speed of the elevator, and when the PI gain of the zero-speed servo is too small, the backward speed is too large.
When any one of the above conditions is reached, the zero speed servo process is immediately ended, and the improper parameters are not allowed to continue to operate, so that the subsequent oscillation of the elevator is avoided. Meanwhile, according to various different zero-speed servo finishing conditions, the system displays results and prompts the results to elevator debugging personnel, so that the debugging personnel can know the further adjusting direction, and the debugging process is simplified.
The values Tq0 and V0 are relatively limited regardless of the torque end condition or the speed end condition, and when the PI value is improperly set, the above conditions are easily satisfied when the imbalance force to be compensated is large, such as when the car is empty or when the car is full. However, when the car load is near the counterweight, the moment theoretically required to be compensated is small, and before the moment or speed condition is met, the moment compensation has already undergone multiple oscillations as shown in fig. 5, so the invention combines the judgment of the oscillations and adds the following ending condition for ending the no-weight starting zero-speed servo process:
D. in the zero-speed servo process, the amplitude of the compensation torque Tq does not exceed the amplitude of the preset torque Tq0, but the amplitude (absolute value) of the Tq once exceeds the amplitude of 0.25 times of the preset torque Tq0, when the compensation torque Tq is about to fall back to the opposite direction, or falls back to the axis 0, and the Tq is 0, the zero-speed servo process without the weighing start is immediately finished.
E. During the zero-speed servo process, the compensation torque Tq does not exceed the value of the preset torque Tq0, but the amplitude T of the Tqqmax(Absolute value) ever exceeds 0.5 times the preset torqueAmplitude of Tq0, fall-back amplitude DeltaT of compensation torque TqqExceeds TqmaxHalf of that, the zero-speed servo process without weight start is immediately ended.
F. In the zero-speed servo process, the initial direction of the speed of the elevator car and the maximum speed Vmax of the direction are recorded, and when the speed of the elevator car is converted into the reverse direction and exceeds the Vmax value, the zero-speed servo process without weighing starting is immediately finished.
The above-mentioned judgement all is because the too big moment or the speed of leading to of PI value in the zero-speed servo process vibrates, according to above-mentioned rule, can discover promptly when the initial stage of this kind of vibration to end the zero-speed servo process, can not lead to the vibration process in later stage, can restrain this kind of accidental vibration like this under any load condition.
Meanwhile, once the conditions of moment ending or speed ending are met, the output state of the control system is displayed, the ending conditions and information such as too large/too small possibly adjusted PI gain in the zero-speed servo process are directly or indirectly provided for debugging personnel through a display screen or an indicator light, and the like, so that the debugging personnel are prompted to reduce or increase corresponding gain, and the debugging difficulty is reduced. The term "directly" refers to that there is a complete text description, and "indirectly" refers to that a fixed signal prompt representing fixed information is agreed in advance, for example, the corresponding indicator light is controlled to be turned on or off.
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 (3)

1. The utility model provides a method for reducing elevator does not have vibration of weighing start-up, utilizes the encoder to obtain the speed and the positional information of elevator hauler rotor, and during no weighing start-up, elevator control system gets into zero-speed servo process, carries out unbalanced moment compensation to the elevator through the real-time feedback of encoder, its characterized in that, when following arbitrary termination condition reaches, finishes no zero-speed servo process of weighing start-up immediately:
B. in the zero-speed servo process, the amplitude of the compensation torque Tq exceeds the amplitude of the preset torque Tq 0;
the moment Tq for restraining the back slip of the elevator is set as follows:
Tq＝(Tnn-Tf)*η
in the above formula, TunMoment generated for unbalanced forces, TfMoment generated by friction force, eta is inverse efficiency from the elevator car to the motor;
calculating an unbalanced moment Tq1 of the elevator counterweight and the empty car, and an unbalanced moment Tq2 of the elevator counterweight and the 110% full car, wherein the value of a preset moment Tq0 is between Tq1 and Tq 2;
D. in the zero-speed servo process, the compensating torque Tq does not exceed the amplitude of the preset torque Tq0, but the amplitude of the Tq once exceeds 0.25 times of the amplitude of the preset torque Tq0, and when the compensating torque Tq falls back to the axis 0, the zero-speed servo process without weighing starting is immediately finished;
E. in the zero-speed servo process, the compensation torque Tq does not exceed a preset torque amplitude Tq0, but the amplitude of the Tq exceeds a preset torque amplitude Tq0 which is 0.5 times, and when the fall amplitude of the compensation torque Tq exceeds the maximum amplitude which is reached once by half, the zero-speed servo process without weighing starting is immediately finished;
F. in the zero-speed servo process, the initial direction of the speed of the elevator car and the maximum speed Vmax of the direction are recorded, and when the speed of the elevator car is converted into the reverse direction and exceeds the Vmax value, the zero-speed process control without weighing starting is immediately finished.
2. The method for reducing the non-weighing starting vibration of the elevator as claimed in claim 1, characterized in that when the compensating moment Tq meets the end condition, the control system outputs a state display showing that the starting is due to the end condition reached by the compensating moment Tq and prompts a debugging person that the PI value of the zero-speed servo of the system may be adjusted too large.
3. The method for reducing the vibration of the non-weighing starting of the elevator as claimed in claim 1, characterized in that when the speed Vr of the elevator car meets the ending condition F, the control system outputs a status display to display that the starting is due to the ending condition reached by the reverse speed and to prompt the debugging personnel that the PI value of the zero-speed servo of the system may be adjusted too large.
CN201911021889.0A 2019-10-25 2019-10-25 Method for reducing non-weighing starting vibration of elevator Active CN110817625B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911021889.0A CN110817625B (en) 2019-10-25 2019-10-25 Method for reducing non-weighing starting vibration of elevator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911021889.0A CN110817625B (en) 2019-10-25 2019-10-25 Method for reducing non-weighing starting vibration of elevator

Publications (2)

Publication Number Publication Date
CN110817625A CN110817625A (en) 2020-02-21
CN110817625B true CN110817625B (en) 2022-03-08

Family

ID=69550786

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911021889.0A Active CN110817625B (en) 2019-10-25 2019-10-25 Method for reducing non-weighing starting vibration of elevator

Country Status (1)

Country Link
CN (1) CN110817625B (en)

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH479479A (en) * 1967-08-08 1969-10-15 Inventio Ag Method for controlling a high-speed elevator and apparatus implementing this method
JPH0780646B2 (en) * 1988-03-18 1995-08-30 株式会社日立製作所 Elevator control equipment
CN100515899C (en) * 2004-03-30 2009-07-22 三菱电机株式会社 Elevator control device
CN101585460A (en) * 2009-04-17 2009-11-25 康力电梯股份有限公司 Speed control based elevator system
DE102011101860A1 (en) * 2011-05-12 2012-11-15 Thyssenkrupp Aufzugswerke Gmbh Method and device for controlling an elevator installation
CN103241604B (en) * 2013-05-09 2015-05-06 日立电梯（中国）有限公司 Method for controlling starting of elevator without aid of weighing device
FI124903B (en) * 2013-11-01 2015-03-13 Kone Corp Elevator as well as a method for using the elevator control system to monitor the load on the car and / or to determine the load situation
CN104370171B (en) * 2014-11-24 2016-04-27 哈尔滨工业大学 Elevator permanent-magnet traction system is without LOAD CELLS starting torque control method
EP3048074B1 (en) * 2015-01-26 2022-01-05 KONE Corporation Method of eliminating a jerk arising by accelerating an elevator car
CN105060037B (en) * 2015-08-10 2017-03-22 上海新时达电气股份有限公司 Brake control method and system
CN105217403B (en) * 2015-11-20 2018-01-02 深圳市英威腾电气股份有限公司 A kind of guard method of lifting device band-type brake failure and system
CN105668358B (en) * 2016-03-09 2018-05-15 上海贝思特控制技术有限公司 The special nothing of elevator is weighed staring torque backoff algorithm
CN109305612B (en) * 2017-07-28 2020-09-18 上海三菱电梯有限公司 Elevator starting control device
CN109560724B (en) * 2018-12-21 2021-05-28 珠海格力智能装备有限公司 Servo motor control method and device and servo motor control system
CN110002298B (en) * 2019-04-09 2021-09-14 深圳市海浦蒙特科技有限公司 Elevator starting control method and system

Also Published As

Publication number Publication date
CN110817625A (en) 2020-02-21

Similar Documents

Publication Publication Date Title
KR101039195B1 (en) Elevator device
KR100947695B1 (en) Elevator device
JPH0692558A (en) Device for controlling start of motion of elevator to reduce rocking thereof at start and excessive acceleration thereof
CN110002298B (en) Elevator starting control method and system
US4995478A (en) Start compensation device for elevators
KR101657020B1 (en) Elevator control apparatus, and elevator control method
EP2238066A1 (en) Movement control of an elevator system
JPWO2008099470A1 (en) Elevator equipment
JP5036147B2 (en) Elevator speed control device, speed control method, and speed control program
JPH09188480A (en) Speed controller for compensating vibration of elevator
CN110510465B (en) Forced drive elevator starting control method and system
JP2017149552A (en) Elevator and rescue operation method
CN110803600B (en) Method for compensating starting torque of special weighing-sensor-free elevator
CN110817625B (en) Method for reducing non-weighing starting vibration of elevator
JP2007217101A (en) Start compensating device of elevator
JPH0812206A (en) Control device for elevator
JP4727234B2 (en) Elevator equipment
JP5746373B2 (en) Elevator control device and control method thereof
CN111776899A (en) Starting control method and system for elevator without weighing
JPH0772060B2 (en) Elevator start compensation device
JP2003095546A (en) Control device of elevator
JPH1160089A (en) Method and device for adjusting drive
FI96300C (en) Control device for elevator floors
JPWO2021186680A5 (en)
JPH0550435B2 (en)

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant