CN113697621A - Elevator starting control method, device and system and electronic device - Google Patents

Elevator starting control method, device and system and electronic device Download PDF

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Publication number
CN113697621A
CN113697621A CN202110984478.2A CN202110984478A CN113697621A CN 113697621 A CN113697621 A CN 113697621A CN 202110984478 A CN202110984478 A CN 202110984478A CN 113697621 A CN113697621 A CN 113697621A
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China
Prior art keywords
elevator
motor
time period
load weight
calculating
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CN202110984478.2A
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Chinese (zh)
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黄其福
陈良
赵银波
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Hangzhou Optimax Technology Co ltd
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Hangzhou Optimax Technology Co ltd
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Priority to CN202110984478.2A priority Critical patent/CN113697621A/en
Publication of CN113697621A publication Critical patent/CN113697621A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • 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
    • B66B1/3476—Load weighing or car passenger counting devices
    • 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
    • B66B1/3492—Position or motion detectors or driving means for the detector

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Mechanical Engineering (AREA)
  • Elevator Control (AREA)

Abstract

The application relates to a starting control method, a device, a system, an electronic device and a storage medium of an elevator, wherein the method comprises the following steps: when an elevator brake is opened, the position variation of the elevator in a first time period is obtained, the average acceleration of the elevator in the first time period is calculated according to the position variation, the load weight of the elevator is calculated according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator, the motor feedforward current corresponding to the load weight is calculated according to the load weight and the rated parameters of the elevator, and the starting torque output by the motor in the elevator is adjusted in a second time period according to the motor feedforward current corresponding to the load weight. Through the application, the problem that the controller is low in accuracy and reliability of control over the starting torque of the elevator in the related art is solved, and the technical effects of improving accuracy and reliability of control over the starting torque of the elevator are achieved.

Description

Elevator starting control method, device and system and electronic device
Technical Field
The present application relates to the field of elevator equipment technologies, and in particular, to a method, an apparatus, a system, an electronic apparatus, and a storage medium for controlling an elevator start.
Background
Along with the improvement of life of people and the popularization of elevator use, people put forward higher and higher requirements on the comfort of taking an elevator. At present, the output torque of a motor in an elevator is controlled through an elevator controller, so that the stability of a car at the starting time and the stopping time of the elevator is ensured, and the comfort of passengers is improved.
The control method of the output torque at the starting time of the elevator in the related art mainly comprises two methods: the method comprises a sensor control method based on analog quantity weighing sensor feedback and a sensorless control method based on motor encoder signal feedback. The elevator load weight is detected in real time through a car load sensor arranged in the elevator, and the controller accurately controls the motor to output the starting torque according to the load weight detected by the sensor, so that the stability of the car at the starting time of the elevator is ensured; the speed signal, the position signal and the like of the elevator are fed back by the encoder arranged on the elevator tractor, closed-loop control is carried out on the signals, further, the output torque control at the moment of starting the elevator is realized, the starting consistency of the elevator is improved, and meanwhile, the feedback signal is accurate.
However, in the former technical solution, when the sensor is used for a long time, the sensor may have changes in linearity and offset, which causes the accuracy of the data detected by the sensor to decrease, and further causes the accuracy of the start control of the elevator to decrease; on the other hand, in the sensorless control method based on encoder signal feedback, when the elevator is in a heavy load condition, the timeliness of the response of the controller is a problem which is difficult to overcome because the encoder feedback signal is relied on for starting control of the elevator, so that the reliability of the starting control of the elevator is reduced.
At present, no effective solution is provided aiming at the problem of low control accuracy and reliability of the controller for the starting torque of the elevator in the related technology.
Disclosure of Invention
The embodiment of the application provides a starting control method, a starting control device, a starting control system, an electronic device and a storage medium of an elevator, and aims to at least solve the problems that in the related art, a controller is low in accuracy and reliability of starting torque control of the elevator.
In a first aspect, an embodiment of the present application provides a start control method for an elevator, where the method includes: when an elevator brake is opened, acquiring the position variation of the elevator in a first time period, and calculating to obtain the average acceleration of the elevator in the first time period according to the position variation; calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator; and calculating to obtain motor feed-forward current corresponding to the load weight according to the load weight and rated parameters of the elevator, and adjusting the starting torque output by the motor in the elevator in a second time period according to the motor feed-forward current corresponding to the load weight.
In some embodiments, adjusting the starting torque output by the motor in the elevator in the second time period according to the feed-forward current of the motor corresponding to the load weight comprises: acquiring position data of the elevator within the second time period, which is output by a preset encoder, and calculating to obtain motor feedback current corresponding to the position data according to the position data; and adding the motor feedforward current and the motor feedback current, calculating to obtain the motor current, and adjusting the starting torque output by the motor in the second time period according to the motor current.
In some embodiments, adjusting the starting torque output by the motor during the second time period based on the motor current comprises: and carrying out PID (proportion integration differentiation) regulation on the motor current according to the position data of the elevator in the second time period, which is output by the encoder, and adjusting the starting torque output by the motor in the second time period according to the regulated motor current.
In some of these embodiments, the nominal parameters of the elevator include the weight of the car and the weight of the counterweight to which the elevator corresponds; calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator comprises the following steps: calculating the load weight in the elevator according to the corresponding car weight and counterweight weight of the elevator and the average acceleration of the elevator in the first time period; wherein the load weight is expressed as: m ═ M1+ M2 a/(g-a); wherein M is the load weight in the elevator, M1 is the car weight corresponding to the elevator, M2 is the counterweight weight corresponding to the elevator, a is the average acceleration of the elevator in the first time period, and g is the gravitational acceleration.
In some of these embodiments, the method further comprises: when an elevator brake is opened, acquiring the time variation when the elevator runs to a preset first position, and calculating to obtain the average acceleration of the elevator in the process of running to the first position according to the time variation.
In some of these embodiments, obtaining the amount of change in the position of the elevator over the first time period comprises: acquiring starting position data and end position data of the elevator in a first time period, which are output by a preset encoder; and determining the position variation of the elevator in the first time period according to the starting position data and the ending position data of the elevator in the first time period.
In a second aspect, an embodiment of the present application provides a start control device for an elevator, including: the acquiring module is used for acquiring the position variation of the elevator in a first time period when an elevator brake is opened, and calculating the average acceleration of the elevator in the first time period according to the position variation; the calculation module is used for calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator; and the output module is used for calculating the motor feedforward current corresponding to the load weight according to the load weight and the rated parameters of the elevator, and adjusting the starting torque output by the motor in the elevator in a second time period according to the motor feedforward current corresponding to the load weight.
In a third aspect, an embodiment of the present application provides a start control system for an elevator, including: the controller, the motor, the encoder and the PID regulator, wherein; the encoder is connected with the motor and is in communication connection with the PID controller, the controller is respectively in communication connection with the motor and the PID controller, and the controller is configured to execute the method for controlling the start of the elevator according to the first aspect.
In a fourth aspect, the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the computer program to execute the method for controlling the starting of an elevator according to the first aspect.
In a fifth aspect, the present application further provides a storage medium, in which a computer program is stored, where the computer program, when executed by a processor, implements the method for controlling starting of an elevator as described in the first aspect.
Compared with the prior art, the method, the device, the system, the electronic device and the storage medium for controlling the starting of the elevator provided by the embodiment of the application, when the elevator brake is opened, the position variation of the elevator in a first time period is obtained, the average acceleration of the elevator in the first time period is calculated according to the position variation, calculating the weight of the load in the elevator on the basis of the average acceleration of the elevator during the first period of time and the nominal parameters of the elevator, according to the load weight and the rated parameters of the elevator, the motor feed-forward current corresponding to the load weight is calculated and obtained, and according to the motor feed-forward current corresponding to the load weight, the starting torque output by the motor in the elevator is adjusted in the second time period, the problem that the controller in the related technology is low in accuracy and reliability of control over the starting torque of the elevator is solved, and the technical effects of improving accuracy and reliability of control over the starting torque of the elevator are achieved.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a start control system of an elevator according to an embodiment of the present application;
fig. 2 is a flowchart of a start-up control method of an elevator according to an embodiment of the present application;
fig. 3 is a graph of the change of the current of the motor when the elevator is started according to the embodiment of the application;
fig. 4 is a block diagram of a start control device of an elevator according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.
Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. Reference to "a," "an," "the," and similar words throughout this application are not to be construed as limiting in number, and may refer to the singular or the plural. The present application is directed to the use of the terms "including," "comprising," "having," and any variations thereof, which are intended to cover non-exclusive inclusions; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or elements, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.
Fig. 1 is a block diagram of a start control system of an elevator according to an embodiment of the present application, which includes, as shown in fig. 1: a controller 102, a motor 104, an encoder 106, and a PID regulator 108, wherein: the encoder 106 is connected to the motor 104 and is in communication with a PID controller 108, and the controller 102 is in communication with the motor 104 and the PID controller 108, respectively, and the controller 102 is configured to perform a method of start-up control of the elevator.
In this embodiment, the encoder 106 may be connected to the rotating shaft of the motor 104, and acquire information such as the rotating speed and the rotating angle of the motor 104, and acquire the position variation of the elevator in a period of time according to the information such as the rotating speed and the rotating angle of the motor 104, for example, the encoder 106 may acquire the starting point angle data of the motor 104 when the elevator is at the starting point position, acquire the ending point angle data of the motor 104 when the elevator is at the ending point position after the elevator runs for a period of time, convert the starting point position data of the elevator and the ending point position data of the elevator, and further calculate the position variation (i.e., displacement) of the elevator in a period of time.
In the above embodiment, the encoder 106 may also feed back real-time position data of the elevator or real-time speed data of the elevator obtained during the operation of the elevator to the PID controller 108, the PID controller 108 outputs a control signal to the controller 102 according to the real-time position data and the real-time speed data fed back by the encoder 106, and the controller 102 may adjust the motor current of the motor 104 according to the control signal, thereby controlling the starting torque output by the motor 104.
Fig. 2 is a flowchart of a start control method of an elevator according to an embodiment of the present application, as shown in fig. 2, the method including:
step S201, when the elevator brake is opened, acquiring the position variation of the elevator in a first time period, and calculating to obtain the average acceleration of the elevator in the first time period according to the position variation.
In this embodiment, the variation of the rotation angle of the motor 104 in the first time period can be obtained by the encoder 106, and the elevator in the first time period t can be obtained by conversion according to the variation of the rotation angle0Amount of change of inner position S0By the formula: a 2S0/t0 2The average acceleration a of the elevator in the first time period can be calculated.
In the above embodiment, when the elevator brake is opened, the time variation when the elevator runs to the preset first position may be obtained, and the average acceleration of the elevator in the process of running to the first position may be calculated according to the time variation.
In this embodiment, the controller 102 can preset a first position, and the distance from the initial position to the first position after the elevator is started is set as S0Then the time t taken for the elevator to run from the initial position to the first position after starting is obtained0And calculating according to the formula to obtain the elevator t0The average acceleration a over this time.
In the above embodiment, S may be adjusted0And t0The accuracy of the subsequent load weight estimation is adjusted, and the load weight estimation can be completed by acquiring one of the two conditions.
And step S202, calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator.
In this embodiment, the rated parameters of the elevator may include the car weight M1 and the counterweight weight M2 corresponding to the elevator.
In the above embodiment, calculating the weight of the load in the elevator based on the average acceleration of the elevator over the first period of time and the rated parameters of the elevator may comprise: calculating the load weight M in the elevator according to the car weight M1 and the counterweight weight M2 corresponding to the elevator and the average acceleration a of the elevator in the first time period; wherein the load weight is expressed as: m ═ M1+ M2 a/(g-a); wherein g is the acceleration of gravity.
In this embodiment, the counterweight weight M2 of the elevator satisfies M2 ═ M1+ k × M, where M is the rated load of the elevator, k is the balance coefficient, and generally k may range from 0.4 to 0.5, and the average acceleration a of the elevator in the first time period may be expressed as: and a is M g/(M1+ M2+ M), so that the load weight M is estimated to be (M1+ M2) a/(g-a).
And step S203, calculating to obtain motor feed-forward current corresponding to the load weight according to the load weight and rated parameters of the elevator, and adjusting the starting torque output by the motor 104 in the elevator in a second time period according to the motor feed-forward current corresponding to the load weight.
In this embodiment, after the load weight m of the elevator car is estimated, the motor feedforward current I required to be output to stabilize the load in the elevator car can be calculated by combining the rated parameters of the elevator0FIG. 3 is a graph showing the variation of the motor current at the start of the elevator according to the embodiment of the present application, as shown in FIG. 3, t of L20To t1Phase of (I) motor feed-forward current I0The graph during the second time period is shown schematically.
In some embodiments, adjusting the starting torque output by the motor 104 in the elevator during the second time period according to the motor feed-forward current corresponding to the load weight can be implemented by:
step 1, obtaining position data of the elevator output by a preset encoder 106 in a second time period, and calculating to obtain motor feedback current corresponding to the position data according to the position data.
And 2, adding the motor feedforward current and the motor feedback current, calculating to obtain the motor current, and adjusting the starting torque output by the motor 104 in a second time period according to the motor current.
In the present embodiment, in the start-up control feedforward control of the motor 104, the position data feedback control based on the signal of the encoder 106 is also simultaneously applied, and the motor feedback current I1The motor feed forward current I to be start-controlled is shown as curve L1 in FIG. 30And motor feedback current I1Together with the starting torque output from the motor 104, the motor current I is obtained, as shown by the curve L3 in fig. 3, and the controller 102 can control the starting torque output from the motor 104 according to the motor current I.
In the above embodiment, the encoder 106 may obtain the real-time rotation angle of the shaft of the motor 104 in the second time period, and the controller 102 may convert the real-time rotation angle of the shaft of the motor 104 to obtain the position data of the elevator in the second time period, perform PID adjustment on the motor current I, and adjust the starting torque output by the motor 104 in the second time period according to the adjusted motor current I.
In the above embodiments, t may be adjusted0To t1The time interval of (1), namely the time length of the second time period, is adjusted, the vibration intensity and the elevator displacement are finely adjusted when the elevator is started, the response of the position data feedback control based on the signal of the encoder 106 can be adjusted by adjusting the parameters of the PID regulator 108, the feedforward control and the feedback control are combined and are applied to the starting control of the elevator together, the randomness caused by signal interference can be effectively avoided, and the convergence and the stability are better, and the phase is betterCompared with the pure signal closed-loop control, the response time of the controller 102 is reduced, the current output is linear and the overshoot is small, and the accuracy and the reliability of the starting torque control of the elevator are improved.
Through the steps S201 to S203, when the elevator brake is opened, the position variation of the elevator in the first time period is obtained, the average acceleration of the elevator in the first time period is calculated according to the position variation, the load weight of the elevator is calculated according to the average acceleration of the elevator in the first time period and the rated parameter of the elevator, the motor feedforward current corresponding to the load weight is calculated according to the load weight and the rated parameter of the elevator, and the starting torque output by the motor in the elevator is adjusted in the second time period according to the motor feedforward current corresponding to the load weight. Through the application, the problem that the controller is low in accuracy and reliability of control over the starting torque of the elevator in the related art is solved, and the technical effects of improving accuracy and reliability of control over the starting torque of the elevator are achieved.
This embodiment provides a starting control device of elevator, and fig. 4 is a block diagram of the starting control device of elevator according to this embodiment of this application, and as shown in fig. 4, this device includes: the obtaining module 41 is configured to obtain a position variation of the elevator in a first time period when the elevator brake is opened, and calculate an average acceleration of the elevator in the first time period according to the position variation; the calculating module 42 is used for calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator; and the output module 43 is configured to calculate a motor feed-forward current corresponding to the load weight according to the load weight and the rated parameter of the elevator, and adjust the starting torque output by the motor in the elevator in the second time period according to the motor feed-forward current corresponding to the load weight.
In some embodiments, the output module 43 is further configured to obtain the position data of the elevator output by the preset encoder in the second time period, and calculate a motor feedback current corresponding to the position data according to the position data; and adding the motor feedforward current and the motor feedback current, calculating to obtain the motor current, and adjusting the starting torque output by the motor in a second time period according to the motor current.
In some of these embodiments, the output module 43 is further configured to perform PID adjustment of the motor current based on the position data of the elevator output by the encoder during the second time period, and to adjust the starting torque output by the motor during the second time period based on the adjusted motor current.
In some of these embodiments, the nominal parameters of the elevator include the weight of the car and the weight of the counterweight to which the elevator corresponds; the calculation module 42 is further configured to calculate the load weight in the elevator based on the car weight and the counterweight weight corresponding to the elevator, and the average acceleration of the elevator over the first time period; wherein the load weight is expressed as: m ═ M1+ M2 a/(g-a); wherein M is the load weight in the elevator, M1 is the car weight corresponding to the elevator, M2 is the counterweight weight corresponding to the elevator, a is the average acceleration of the elevator in the first time period, and g is the gravitational acceleration.
In some embodiments, the obtaining module 41 is further configured to obtain a time variation when the elevator runs to the preset first position when the elevator brake is opened, and calculate an average acceleration of the elevator in the process of running to the first position according to the time variation.
In some of these embodiments, the obtaining module 41 is further configured to obtain the starting position data and the ending position data of the preset elevator output by the encoder in the first time period; and determining the position variation of the elevator in the first time period according to the starting position data and the ending position data of the elevator in the first time period.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
The present embodiment further provides an electronic device, fig. 5 is a schematic diagram of a hardware structure of the electronic device according to an embodiment of the present application, and as shown in fig. 5, the electronic device includes a memory 504 and a processor 502, a computer program is stored in the memory 504, and the processor 502 is configured to execute the computer program to perform the steps in any of the method embodiments.
Specifically, the processor 502 may include a Central Processing Unit (CPU), or A Specific Integrated Circuit (ASIC), or may be configured to implement one or more Integrated circuits of the embodiments of the present Application.
Memory 504 may include, among other things, mass storage for data or instructions. By way of example, and not limitation, memory 504 may include a Hard Disk Drive (Hard Disk Drive, abbreviated to HDD), a floppy Disk Drive, a Solid State Drive (SSD), flash memory, an optical Disk, a magneto-optical Disk, tape, or a Universal Serial Bus (USB) Drive or a combination of two or more of these. Memory 504 may include removable or non-removable (or fixed) media, where appropriate. The memory 504 may be internal or external to the starting control of the elevator, where appropriate. In a particular embodiment, the memory 504 is a Non-Volatile (Non-Volatile) memory. In particular embodiments, Memory 504 includes Read-Only Memory (ROM) and Random Access Memory (RAM). The ROM may be mask-programmed ROM, Programmable ROM (PROM), Erasable PROM (EPROM), Electrically Erasable PROM (EEPROM), Electrically rewritable ROM (EAROM), or FLASH Memory (FLASH), or a combination of two or more of these, where appropriate. The RAM may be a Static Random-Access Memory (SRAM) or a Dynamic Random-Access Memory (DRAM), where the DRAM may be a Fast Page Mode Dynamic Random-Access Memory (FPMDRAM), an Extended data output Dynamic Random-Access Memory (EDODRAM), a Synchronous Dynamic Random-Access Memory (SDRAM), and the like.
Memory 504 may be used to store or cache various data files for processing and/or communication purposes, as well as possibly computer program instructions for execution by processor 502.
The processor 502 implements the method of start-up control of an elevator in any of the above embodiments by reading and executing computer program instructions stored in the memory 504.
Optionally, the electronic apparatus may further include a transmission device 506 and an input/output device 508, wherein the transmission device 506 is connected to the processor 502, and the input/output device 508 is connected to the processor 502.
Optionally, in this embodiment, the processor 502 may be configured to execute the following steps by a computer program:
and S1, when the elevator brake is opened, acquiring the position variation of the elevator in a first time period, and calculating the average acceleration of the elevator in the first time period according to the position variation.
And S2, calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator.
And S3, calculating to obtain the motor feed-forward current corresponding to the load weight according to the load weight and the rated parameters of the elevator, and adjusting the starting torque output by the motor in the elevator in a second time period according to the motor feed-forward current corresponding to the load weight.
It should be noted that, for specific examples in this embodiment, reference may be made to examples described in the foregoing embodiments and optional implementations, and details of this embodiment are not described herein again.
In addition, in combination with the method for controlling the starting of the elevator in the above embodiment, the embodiment of the present application may be implemented by providing a storage medium. The storage medium having stored thereon a computer program; which when executed by a processor implements the method of elevator startup control of any of the above embodiments.
It should be understood by those skilled in the art that various features of the above embodiments can be combined arbitrarily, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
The above examples are merely illustrative of several embodiments of the present application, and the description is more specific and detailed, but not to be construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims (10)

1. A method for controlling the start of an elevator, the method comprising:
when an elevator brake is opened, acquiring the position variation of the elevator in a first time period, and calculating to obtain the average acceleration of the elevator in the first time period according to the position variation;
calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator;
and calculating to obtain motor feed-forward current corresponding to the load weight according to the load weight and rated parameters of the elevator, and adjusting the starting torque output by the motor in the elevator in a second time period according to the motor feed-forward current corresponding to the load weight.
2. The method of claim 1, wherein adjusting the starting torque output by the motor in the elevator for the second period of time based on the motor feed-forward current corresponding to the load weight comprises:
acquiring position data of the elevator within the second time period, which is output by a preset encoder, and calculating to obtain motor feedback current corresponding to the position data according to the position data;
and adding the motor feedforward current and the motor feedback current, calculating to obtain the motor current, and adjusting the starting torque output by the motor in the second time period according to the motor current.
3. The method of claim 2, wherein adjusting the starting torque output by the motor during the second period of time based on the motor current comprises:
and carrying out PID (proportion integration differentiation) regulation on the motor current according to the position data of the elevator in the second time period, which is output by the encoder, and adjusting the starting torque output by the motor in the second time period according to the regulated motor current.
4. The method according to claim 1, wherein the rated parameters of the elevator include a weight of a car and a weight of a counterweight corresponding to the elevator; calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator comprises the following steps:
calculating the load weight in the elevator according to the corresponding car weight and counterweight weight of the elevator and the average acceleration of the elevator in the first time period;
wherein the load weight is expressed as: m ═ M1+ M2 a/(g-a);
wherein M is the load weight in the elevator, M1 is the car weight corresponding to the elevator, M2 is the counterweight weight corresponding to the elevator, a is the average acceleration of the elevator in the first time period, and g is the gravitational acceleration.
5. The method of start-up control of an elevator according to claim 1, characterized in that the method further comprises:
when an elevator brake is opened, acquiring the time variation when the elevator runs to a preset first position, and calculating to obtain the average acceleration of the elevator in the process of running to the first position according to the time variation.
6. The method of claim 1, wherein obtaining the amount of change in the position of the elevator over the first period of time comprises:
acquiring starting position data and end position data of the elevator in a first time period, which are output by a preset encoder;
and determining the position variation of the elevator in the first time period according to the starting position data and the ending position data of the elevator in the first time period.
7. An elevator start control apparatus, characterized in that the apparatus comprises:
the acquiring module is used for acquiring the position variation of the elevator in a first time period when an elevator brake is opened, and calculating the average acceleration of the elevator in the first time period according to the position variation;
the calculation module is used for calculating the load weight in the elevator according to the average acceleration of the elevator in the first time period and the rated parameters of the elevator;
and the output module is used for calculating the motor feedforward current corresponding to the load weight according to the load weight and the rated parameters of the elevator, and adjusting the starting torque output by the motor in the elevator in a second time period according to the motor feedforward current corresponding to the load weight.
8. An elevator startup control system, characterized in that the system comprises: the controller, the motor, the encoder and the PID regulator, wherein;
the encoder is connected with the motor and is connected with the PID regulator in a communication mode, the controller is respectively connected with the motor and the PID regulator in a communication mode, and the controller is used for executing the starting control method of the elevator according to any one of claims 1 to 6.
9. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to run the computer program to perform the method of start-up control of an elevator according to any of claims 1-6.
10. A storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program, when being executed by a processor, implements a method for start-up control of an elevator according to any one of claims 1 to 6.
CN202110984478.2A 2021-08-25 2021-08-25 Elevator starting control method, device and system and electronic device Pending CN113697621A (en)

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0812206A (en) * 1994-07-01 1996-01-16 Mitsubishi Electric Corp Control device for elevator
JPH0930743A (en) * 1995-07-14 1997-02-04 Hitachi Ltd Starting compensating device for elevator
CN1385353A (en) * 2001-11-21 2002-12-18 艾默生网络能源有限公司 Motor starting control method for elevator
JP2005132541A (en) * 2003-10-29 2005-05-26 Fuji Electric Fa Components & Systems Co Ltd Method of controlling motor for driving lift
JP2005170537A (en) * 2003-12-08 2005-06-30 Mitsubishi Electric Corp Elevator control device
JP2009113979A (en) * 2007-11-09 2009-05-28 Mitsubishi Electric Corp Control device of elevator
CN110803600A (en) * 2019-10-25 2020-02-18 康力电梯股份有限公司 Method for compensating starting torque of special weighing-sensor-free elevator
CN111731957A (en) * 2020-08-10 2020-10-02 苏州汇川技术有限公司 Method and device for compensating starting force of elevator and elevator

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0812206A (en) * 1994-07-01 1996-01-16 Mitsubishi Electric Corp Control device for elevator
JPH0930743A (en) * 1995-07-14 1997-02-04 Hitachi Ltd Starting compensating device for elevator
CN1385353A (en) * 2001-11-21 2002-12-18 艾默生网络能源有限公司 Motor starting control method for elevator
JP2005132541A (en) * 2003-10-29 2005-05-26 Fuji Electric Fa Components & Systems Co Ltd Method of controlling motor for driving lift
JP2005170537A (en) * 2003-12-08 2005-06-30 Mitsubishi Electric Corp Elevator control device
JP2009113979A (en) * 2007-11-09 2009-05-28 Mitsubishi Electric Corp Control device of elevator
CN110803600A (en) * 2019-10-25 2020-02-18 康力电梯股份有限公司 Method for compensating starting torque of special weighing-sensor-free elevator
CN111731957A (en) * 2020-08-10 2020-10-02 苏州汇川技术有限公司 Method and device for compensating starting force of elevator and elevator

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