CN111377342B - Automatic identification method for elevator door motor controller - Google Patents
Automatic identification method for elevator door motor controller Download PDFInfo
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- CN111377342B CN111377342B CN201811622372.2A CN201811622372A CN111377342B CN 111377342 B CN111377342 B CN 111377342B CN 201811622372 A CN201811622372 A CN 201811622372A CN 111377342 B CN111377342 B CN 111377342B
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- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000000819 phase cycle Methods 0.000 claims abstract description 15
- 238000005457 optimization Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 10
- 230000001360 synchronised effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000011038 discontinuous diafiltration by volume reduction Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B13/00—Doors, gates, or other apparatus controlling access to, or exit from, cages or lift well landings
- B66B13/02—Door or gate operation
- B66B13/14—Control systems or devices
- B66B13/143—Control systems or devices electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Abstract
The application provides an automatic identification method for an elevator door motor controller, which comprises the following steps: automatically identifying the door opening running direction and the door closing running direction of the elevator door; automatically identifying the phase sequence and the line number of the encoder according to the pulse of the encoder; the angle of the magnetic pole of the motor is automatically identified by controlling the continuous increase of the vector angle of the output voltage of the gantry crane; automatically completing self-learning of the door width; and automatically optimizing the door opening and closing operation curve. By utilizing the embodiments of the application, workers do not need to participate, the influence of human factors can be eliminated, and the identification accuracy is ensured, so that the effective installation and debugging of the door machine controller are ensured.
Description
Technical Field
The application relates to the technical field of elevators, in particular to an automatic identification method for an elevator door motor controller.
Background
The motor driven by the door machine controller in the current market comprises a direct current motor, an alternating current asynchronous motor and a permanent magnet synchronous motor. The direct current motor is gradually eliminated by the market due to large volume, complex installation mode and high failure rate. The alternating current asynchronous motor system has great progress in the aspects of volume reduction, failure rate reduction and the like, but compared with a permanent magnet synchronous motor system, the control precision and the performance of the alternating current asynchronous motor system have great difference. The permanent magnet synchronous motor door system fully utilizes the advantages of low rotating speed, large torque, high efficiency, high control precision, low noise, small vibration, low energy consumption and the like of the permanent magnet synchronous motor and the control system thereof, and gradually takes a leading position in the market.
The existing door machine controllers in the market have larger performance difference, are different particularly in the aspects of use, installation and debugging, and for field debugging, maintenance personnel can better adjust the operation curve and the effect of opening and closing the door by being familiar with various debugging parameters of the door machine controller. In the prior art, the field debugging of a gantry crane system generally requires the following steps: firstly, need to match switch door traffic direction according to the installation direction of motor, otherwise can lead to the switch door direction unusual. The method for solving the abnormal door opening and closing direction is characterized in that some door machine controllers have parameters to adjust the direction, and the problem can be solved by adjusting two phase lines of a motor. And secondly, the permanent magnet synchronous motor drive is generally provided with an ABZ pulse incremental encoder at the shaft end of the motor, the line number (the number of pulses of one rotation of the motor shaft) of the ABZ encoder is different, related parameters of the door machine controller must be set, and if the pulse line number and the phase sequence direction of the encoder are not set, the debugging is abnormal. And thirdly, identifying the included angle between the position of the magnetic pole angle 0 of the motor and the Z pulse of the encoder. And fourthly, self-learning operation of the door width. The width of the door is different, and even the door with the same width has the difference of several centimeters in actual width due to the installation difference. The self-learning parameters of each gate width need to be manually set for self-learning. Fifthly, the effect of the operation curve of the opening and closing door needs to be adjusted. Such as the door opening and closing running time, the deceleration point, the low-speed running speed, the starting low-speed running control and other parameters.
Therefore, in the installation and debugging of the door machine controller, the effective installation and debugging of the door machine system can be realized only by identifying various parameters of the door machine system. However, in the prior art, the staff is required to manually identify various parameters of the gantry crane system, the identification difficulty is high, and the identification result cannot be guaranteed to be accurate.
The prior art at least has the following technical problems: the various parameters of the gantry crane system need to be manually identified by workers, the identification difficulty is high, and the identification result cannot be guaranteed to be accurate.
Disclosure of Invention
The embodiment of the application aims to provide an automatic identification method for an elevator door motor controller, so that automatic identification of various parameters of a door motor system is realized, staff is not required to participate, influence of human factors can be eliminated, identification accuracy is guaranteed, and effective installation and debugging of the door motor controller are guaranteed.
The embodiment of the application provides an automatic identification method of an elevator door motor controller, which is realized by the following steps:
an elevator door motor controller automatic identification method, the method comprising:
automatically identifying the door opening running direction and the door closing running direction of the elevator door;
automatically identifying the phase sequence and the line number of the encoder according to the pulse of the encoder;
the angle of the magnetic pole of the motor is automatically identified by controlling the continuous increase of the vector angle of the output voltage of the gantry crane;
automatically completing self-learning of the door width;
the door switch operating curve is automatically optimized.
In a preferred embodiment, the automatically recognizing the door opening and closing direction of the elevator door includes:
the door machine controller receives a control instruction input through two door opening and closing keys and automatically acquires a torque current value when the control instruction is executed;
and automatically identifying the running direction of the door corresponding to the key according to the torque current value.
In a preferred embodiment, the automatically identifying the operation direction of the door corresponding to the key according to the torque current value includes:
comparing the magnitude of the moment current value, wherein the larger moment current value corresponds to a first control instruction, the corresponding running direction of the door is the door opening direction, and the key for inputting the first control instruction is a door opening key;
and a second control instruction corresponding to the smaller moment current value, wherein the corresponding door running direction is a door closing direction, and the key for inputting the second control instruction is a door closing key.
In a preferred embodiment, the automatically identifying the phase sequence and the number of lines of the encoder according to the pulse of the encoder includes:
the number of AB pulses of the encoder is automatically identified when the gantry crane rotates for one circle, and the number of the AB pulses is the number of lines of the encoder;
and determining the phase sequence of the encoder according to the phase relation of the AB pulse numbers.
In a preferred embodiment, the automatically recognizing the motor pole angle by controlling the continuous increase of the output voltage vector angle of the gantry crane includes:
outputting a voltage vector at 0 degree, controlling the current, and enabling the gantry crane to rotate to a position consistent with the magnetic field of the stator;
and gradually increasing the voltage vector angle to enable the gantry crane to rotate at a low speed, and automatically recording the vector angle at the moment when the Z pulse of the encoder appears to obtain the magnetic pole angle value of the motor.
In a preferred embodiment, the method for automatically completing the self-learning of the gate width comprises the following steps:
enabling the gantry crane to rotate towards one direction, gradually counting the pulse number of the encoder, and recording a first pulse number value when the motor reaches a locked-rotor state;
rotating the gantry crane to the other direction, gradually counting the pulse number of the encoder, and recording a second pulse number value when the motor reaches a locked-rotor state again;
and calculating the numerical difference between the second pulse number value and the first pulse number value to obtain encoder data corresponding to the gate width, and storing the encoder data.
In a preferred embodiment, the automatically optimizing a door switch operating curve includes:
under the conditions of setting the total operation time of the opening and closing door, starting low speed, operating high speed and finishing low speed, distributing the pulse number of each stage of the opening and closing door movement, and controlling the sum of the pulse numbers of each stage to be equal to the total number of pulses corresponding to the door width.
In a preferred embodiment, the method further comprises:
and storing the door opening running direction, the door closing running direction, the phase sequence and the line number of the encoder, the magnetic pole angle of the motor, encoder data corresponding to the door width and the door opening and closing running curve.
By utilizing the automatic identification method for the elevator door motor controller provided by the embodiment of the application, the automatic identification of each parameter of the door motor controller can be realized. Under the mode of entering the automatic identification operation, the whole automatic identification operation can be completed only by pressing a start identification start key, the influence of human factors can be eliminated without manual intervention, the identification accuracy is ensured, and the effective installation and debugging of the door machine controller are further ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic flow chart of a method for automatically identifying an elevator door motor controller according to an embodiment of the present application;
fig. 2 is a schematic diagram of the operation curve of the switch door provided in an embodiment of the present application.
Detailed Description
The embodiment of the application provides an automatic identification method for an elevator door motor controller.
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Fig. 1 is a flowchart illustrating a method for automatically identifying an elevator door controller according to an embodiment of the present application. While the present application provides apparatus structures as shown in the following examples or figures, more or fewer modular units may be included in the methods or apparatus based on conventional or non-inventive efforts. In a structure in which a necessary cause and effect relationship does not logically exist, the execution order of the steps or the block structure of the apparatus is not limited to the block structure shown in the embodiment or the drawings of the present application.
Specifically, as shown in fig. 1, an embodiment of an automatic identification method for an elevator door controller provided by the present application may include:
s1: the door opening running direction and the door closing running direction of the elevator door are automatically identified.
In this example, the automatically recognizing the door opening and closing direction of the elevator door may include:
the door machine controller receives a control instruction input through two door opening and closing keys and automatically acquires a torque current value when the control instruction is executed;
and automatically identifying the running direction of the door corresponding to the key according to the torque current value.
Specifically, in this example, the door operation direction corresponding to the key can be determined by obtaining the torque current value and comparing the torque current value with the torque current value. Specifically, the method may include:
comparing the magnitude of the moment current value, wherein the larger moment current value corresponds to a first control instruction, the corresponding running direction of the door is the door opening direction, and the key for inputting the first control instruction is a door opening key;
and a second control instruction corresponding to the smaller moment current value, wherein the corresponding door running direction is a door closing direction, and the key for inputting the second control instruction is a door closing key.
By means of the embodiment described in this example, an automatic recognition of the direction of travel of the door can be achieved.
S2: the phase sequence and the number of lines of the encoder are automatically identified according to the pulse of the encoder.
In this example, the automatically identifying the phase sequence and the number of lines of the encoder according to the pulse of the encoder includes:
the number of AB pulses of the encoder is automatically identified when the gantry crane rotates for one circle, and the number of the AB pulses is the number of lines of the encoder;
and determining the phase sequence of the encoder according to the phase relation of the AB pulse numbers.
S3: and automatically identifying the magnetic pole angle of the motor by controlling the continuous increase of the vector angle of the output voltage of the gantry crane.
In this case, the automatically recognizing the magnetic pole angle of the motor by controlling the continuous increase of the vector angle of the output voltage of the gantry crane may include:
outputting a voltage vector at 0 degree, controlling the current, and enabling the gantry crane to rotate to a position consistent with the magnetic field of the stator;
and gradually increasing the voltage vector angle to enable the gantry crane to rotate at a low speed, and automatically recording the vector angle at the moment when the Z pulse of the encoder appears to obtain the magnetic pole angle value of the motor.
And when the Z pulse of the encoder occurs, recording the obtained vector, namely the magnetic pole angle value of the motor. The process can also be automatically identified without the intervention of staff.
S4: and automatically completing the self-learning of the door width.
In this example, the learning of the gate width pulse can be automatically completed after the motor pole angle, the gate running direction, and the phase sequence and number of the encoder have been completed.
In this example, the manner of automatically completing the self-learning of the gate width may include:
enabling the gantry crane to rotate towards one direction, gradually counting the pulse number of the encoder, and recording a first pulse number value when the motor reaches a locked-rotor state;
rotating the gantry crane to the other direction, gradually counting the pulse number of the encoder, and recording a second pulse number value when the motor reaches a locked-rotor state again;
and calculating the numerical difference between the second pulse number value and the first pulse number value to obtain encoder data corresponding to the gate width, and storing the encoder data.
S5: and automatically optimizing the door opening and closing operation curve.
In this example, the automatically optimizing the door switch operation curve may include:
under the conditions of setting the total operation time of the opening and closing door, starting low speed, operating high speed and finishing low speed, distributing the pulse number of each stage of the opening and closing door movement, and controlling the sum of the pulse numbers of each stage to be equal to the total number of pulses corresponding to the door width.
Fig. 2 is a schematic diagram of the operation curve of the switch door provided in an embodiment of the present application. As shown in fig. 2, F1 represents the starting low speed of the elevator door, F2 represents the running high speed, and F3 represents the ending low speed. P1 denotes the total number of start-up acceleration pulses, P2 denotes the total number of low-speed hold pulses, P3 denotes the total number of high-speed acceleration pulses, P4 denotes the total number of high-speed sustain pulses, P5 denotes the total number of high-speed deceleration pulses, P6 denotes the total number of end low-speed sustain pulses, and P7 denotes the total number of end stop pulses.
On the premise of setting the total time T for opening and closing the door, starting the low-speed F1, operating the high-speed F2 and finishing the low-speed F3, reasonably distributing the total number of pulses from P1 to P7 in the simulation operation, and enabling P1+ P2+ P3+ P4+ P5+ P6+ P7 and the total number of pulses equal to the width of the door.
In an embodiment of the present application, the method may further include:
and storing the door opening running direction, the door closing running direction, the phase sequence and the line number of the encoder, the magnetic pole angle of the motor, encoder data corresponding to the door width and the door opening and closing running curve.
And after the automatic identification operation is finished, storing the data recorded in the process for subsequent normal operation.
By utilizing the implementation mode of the automatic identification method for the elevator door motor controller provided by the embodiment, the automatic identification of each parameter of the door motor controller can be realized. Under the mode of entering the automatic identification operation, the whole automatic identification operation can be completed only by pressing a start identification start key, the influence of human factors can be eliminated without manual intervention, the identification accuracy is ensured, and the effective installation and debugging of the door machine controller are further ensured. The application solves the problem that the door machine controller is complex to operate and use, and is convenient for users to use.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a mobile terminal, a server, or a network device) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments.
While the present application has been described with examples, those of ordinary skill in the art will appreciate that there are numerous variations and permutations of the present application without departing from the spirit of the application, and it is intended that the appended claims encompass such variations and permutations without departing from the spirit of the application.
Claims (7)
1. An automatic identification method for an elevator door motor controller is characterized in that,
the method comprises the following steps:
automatically identifying the door opening running direction and the door closing running direction of the elevator door;
automatically identifying the phase sequence and the line number of the encoder according to the pulse of the encoder;
the angle of the magnetic pole of the motor is automatically identified by controlling the continuous increase of the vector angle of the output voltage of the gantry crane;
automatically completing self-learning of the door width;
automatically optimizing a door opening and closing operation curve;
through control the continuous increase of the output voltage vector angle of door machine, automatic identification motor magnetic pole angle includes:
outputting a voltage vector at 0 degree, controlling the current, and enabling the gantry crane to rotate to a position consistent with the magnetic field of the stator;
and gradually increasing the voltage vector angle to enable the gantry crane to rotate at a low speed, and automatically recording the vector angle at the moment when the Z pulse of the encoder appears to obtain the magnetic pole angle value of the motor.
2. The automatic identification method of an elevator door motor controller of claim 1,
automatic discernment lift-cabin door open door traffic direction and close door traffic direction, include:
the door machine controller receives a control instruction input through two door opening and closing keys and automatically acquires a torque current value when the control instruction is executed;
and automatically identifying the running direction of the door corresponding to the key according to the torque current value.
3. The automatic identification method of an elevator door motor controller of claim 2,
the operation direction of the door corresponding to the key is automatically identified according to the torque current value, and the operation direction comprises the following steps:
comparing the magnitude of the moment current value, wherein the larger moment current value corresponds to a first control instruction, the corresponding running direction of the door is the door opening direction, and the key for inputting the first control instruction is a door opening key;
and a second control instruction corresponding to the smaller moment current value, wherein the corresponding door running direction is a door closing direction, and the key for inputting the second control instruction is a door closing key.
4. The automatic identification method of an elevator door motor controller of claim 1,
the automatic identification of the phase sequence and the number of lines of the encoder according to the pulse of the encoder comprises:
the number of AB pulses of the encoder is automatically identified when the gantry crane rotates for one circle, and the number of the AB pulses is the number of lines of the encoder;
and determining the phase sequence of the encoder according to the phase relation of the AB pulse numbers.
5. The automatic identification method of an elevator door motor controller of claim 1,
the method for automatically completing the door width self-learning comprises the following steps:
enabling the gantry crane to rotate towards one direction, gradually counting the pulse number of the encoder, and recording a first pulse number value when the motor reaches a locked-rotor state;
rotating the gantry crane to the other direction, gradually counting the pulse number of the encoder, and recording a second pulse number value when the motor reaches a locked-rotor state again;
and calculating the numerical difference between the second pulse number value and the first pulse number value to obtain encoder data corresponding to the gate width, and storing the encoder data.
6. The automatic identification method of an elevator door motor controller of claim 1,
the automatic optimization door switch operating curve comprises:
under the conditions of setting the total operation time of the opening and closing door, starting low speed, operating high speed and finishing low speed, distributing the pulse number of each stage of the opening and closing door movement, and controlling the sum of the pulse numbers of each stage to be equal to the total number of pulses corresponding to the door width.
7. The automatic identification method of an elevator door motor controller of claim 1,
the method further comprises the following steps:
and storing the door opening running direction, the door closing running direction, the phase sequence and the line number of the encoder, the magnetic pole angle of the motor, encoder data corresponding to the door width and the door opening and closing running curve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202210166701.7A CN114524351B (en) | 2018-12-28 | 2018-12-28 | Automatic identification method for elevator door motor controller |
| CN201811622372.2A CN111377342B (en) | 2018-12-28 | 2018-12-28 | Automatic identification method for elevator door motor controller |
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| CN201811622372.2A CN111377342B (en) | 2018-12-28 | 2018-12-28 | Automatic identification method for elevator door motor controller |
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| CN104876102A (en) * | 2015-04-28 | 2015-09-02 | 深圳市海浦蒙特科技有限公司 | System and method for door motor control based on position verification |
| JP5950705B2 (en) * | 2012-06-13 | 2016-07-13 | 三菱電機株式会社 | Elevator door apparatus and door diagnosis method |
| KR20170030668A (en) * | 2015-09-09 | 2017-03-20 | 주식회사 오디텍 | Elevator monitoring method using by multi-beam sensor |
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| CN102070064A (en) * | 2009-11-20 | 2011-05-25 | 苏州默纳克控制技术有限公司 | Elevator door motor control system and method |
| CN102205924B (en) * | 2011-06-03 | 2013-08-28 | 博朗电梯(漳州)有限公司 | Novel wireless elevator door machine control system |
| CN104355209A (en) * | 2014-11-11 | 2015-02-18 | 中山市卓梅尼控制技术有限公司 | Elevator and door machine control system thereof |
| CN107324193B (en) * | 2017-06-02 | 2020-02-14 | 苏州汇川技术有限公司 | Method and device for acquiring distance between door knives and elevator door motor driving system |
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| JP5950705B2 (en) * | 2012-06-13 | 2016-07-13 | 三菱電機株式会社 | Elevator door apparatus and door diagnosis method |
| CN106573759A (en) * | 2014-08-25 | 2017-04-19 | 三菱电机株式会社 | Elevator door opening/closing device and repair method for elevator door opening/closing device |
| CN104876102A (en) * | 2015-04-28 | 2015-09-02 | 深圳市海浦蒙特科技有限公司 | System and method for door motor control based on position verification |
| KR20170030668A (en) * | 2015-09-09 | 2017-03-20 | 주식회사 오디텍 | Elevator monitoring method using by multi-beam sensor |
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| CN114524351B (en) | 2023-08-11 |
| CN111377342A (en) | 2020-07-07 |
| CN114524351A (en) | 2022-05-24 |
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