CN113979267A - Elevator control method, elevator control device, elevator controller and storage medium - Google Patents

Elevator control method, elevator control device, elevator controller and storage medium Download PDF

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Publication number
CN113979267A
CN113979267A CN202111246548.0A CN202111246548A CN113979267A CN 113979267 A CN113979267 A CN 113979267A CN 202111246548 A CN202111246548 A CN 202111246548A CN 113979267 A CN113979267 A CN 113979267A
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elevator
equivalent model
equation
car
horizontal motion
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CN113979267B (en
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李志武
李基源
陈锐
胡欣
伍乃骐
穆罕穆德·卡拉杰
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Hitachi Building Technology Guangzhou Co Ltd
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Hitachi Building Technology Guangzhou Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/02—Cages, i.e. cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B11/00—Main component parts of lifts in, or associated with, buildings or other structures
    • B66B11/04—Driving gear ; Details thereof, e.g. seals
    • B66B11/08—Driving gear ; Details thereof, e.g. seals with hoisting rope or cable operated by frictional engagement with a winding drum or sheave
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B7/00—Other common features of elevators
    • B66B7/02—Guideways; Guides

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Civil Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Cage And Drive Apparatuses For Elevators (AREA)
  • Elevator Control (AREA)

Abstract

The embodiment of the invention discloses an elevator control method, an elevator control device, an elevator controller and a storage medium, wherein the elevator control method comprises the following steps: obtaining the structural characteristics of an elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics; establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model; setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation; controlling the elevator with the sliding mode controller to control horizontal vibration of the elevator. The embodiment of the invention realizes that the elevator horizontal motion equivalent model is established according to the structural characteristics of the elevator, the sliding mode controller is arranged according to the elevator horizontal motion equivalent model to control the elevator, other parts are not required to be added, the cost is low, the characteristics of good control effect and high robustness of the sliding mode controller can be utilized, the horizontal vibration of the elevator can be effectively and reliably controlled, and the convenience and the comfort degree of taking the elevator by elevator passengers are improved.

Description

Elevator control method, elevator control device, elevator controller and storage medium
Technical Field
The embodiment of the invention relates to the technical field of elevators, in particular to an elevator control method, an elevator control device, an elevator controller and a storage medium.
Background
Because the development of city center is exponential growth, the current city has all selected vertical expansion, and the tower building and the continuous progress of super large building technology are built at present, and the elevator becomes the main transportation equipment of high-rise building, and the riding experience of elevator is vital.
At present, in order to reduce the vibration of an elevator in the horizontal direction, one way is to suppress the horizontal vibration of the elevator by adding hardware such as magnetic levitation, another way is to minimize external excitation acting on the elevator system, and another way is to control the vibration of the traction ropes, which not only increases the number of components, but also has insignificant effect and low robustness.
Disclosure of Invention
The embodiment of the invention provides an elevator control method, an elevator control device, an elevator controller and a storage medium, and aims to solve the problems of high cost, poor effect and low robustness of the existing method for inhibiting horizontal vibration of an elevator.
In a first aspect, an embodiment of the present invention provides an elevator control method, including:
obtaining the structural characteristics of an elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation;
controlling the elevator with the sliding mode controller to control horizontal vibration of the elevator.
Optionally, the elevator includes a car, suspension systems located on both sides of the car, a guide rail adapted to the suspension systems, and a traction cable located on the top of the car, the structural feature of the elevator is obtained, and based on the structural feature, an equivalent model of the horizontal motion of the elevator is established, including:
acquiring the connection structure characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
simplifying the structure of the car, the suspension system, the guide rail and the traction cable;
and establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structure characteristics and the simplified elevator car, the simplified suspension system, the simplified guide rail and the simplified traction steel rope.
Optionally, the establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model includes:
performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a kinetic equation of the elevator horizontal motion equivalent model;
and solving the kinetic equation by using a Lagrange equation to obtain a nonlinear differential equation of the elevator.
Optionally, the performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to establish a dynamic equation of the elevator horizontal motion equivalent model includes:
carrying out Newton mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to obtain the interaction force among the guide rail, the suspension system and the car;
the potential energy equation for establishing the equivalent model of the elevator horizontal motion based on the interaction force is as follows:
Figure BDA0003321212530000021
the kinetic energy equation for establishing the equivalent model of the horizontal motion of the elevator based on the interaction force is as follows:
Figure BDA0003321212530000031
in the above formula, V is the potential energy of the equivalent model of the horizontal motion of the elevator in the horizontal direction, k1Is the stiffness coefficient of the guide rail, k2Is the stiffness coefficient, k, of the suspension systemlAnd knlRespectively the stiffness coefficient k of the traction steel cable3Linear and non-linear components of kl＝0，Y、YL、YRRespectively the displacement of the car, the left suspension system and the right suspension system in the horizontal direction, YLBAnd YRBRespectively external excitation, Y, acting on the guide railLB＝YRB＝F0 sin(ωt)，F0And ω is the amplitude and frequency of the external excitation, m, respectivelyeqAnd MeqThe masses of the suspension system and the car, respectively, V is potential energy and T is kinetic energy.
Optionally, the solving the kinetic equation using lagrangian equations to obtain a nonlinear differential equation of the elevator comprises:
the lagrangian is calculated as follows:
L＝T-V；
determining the Lagrangian equation as:
Figure BDA0003321212530000032
in the above formula, L is lagrange operator, i is 1, 2, 3, q1＝YL，q2＝Y，q3＝YR，FiIs a broad term of force in which,
Figure BDA0003321212530000033
b and c are suspension systems, respectivelyAnd the damping coefficient of the car;
solving the Lagrange operator by using the Lagrange equation to obtain a nonlinear differential equation as follows:
Figure BDA0003321212530000034
Figure BDA0003321212530000035
Figure BDA0003321212530000036
in the above formula, B is a constant.
Optionally, the sliding mode controller configured to suppress horizontal vibration of the elevator according to the nonlinear differential equation includes:
dimensionless variables are set as follows:
Figure BDA0003321212530000041
τ＝ω0t，YPis a normal number;
determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
Figure BDA0003321212530000042
in the above formula, x1＝y1Is the displacement of the left suspension system,
Figure BDA0003321212530000043
speed of the left suspension system, x3＝y3Is a displacement of the car or the like,
Figure BDA0003321212530000044
being carsSpeed, x5＝y5Is the displacement of the right suspension system,
Figure BDA0003321212530000045
the speed of the right suspension system is,
Figure BDA0003321212530000046
Figure BDA0003321212530000047
constructing a sliding mode surface of the sliding mode controller according to the state space of the elevator is as follows:
Figure BDA0003321212530000048
wherein C is a constant.
Optionally, the controlling the elevator with the sliding mode controller includes:
obtaining an external stimulus acting on the elevator by a sensor;
inputting the external excitation into the sliding mode surface to solve the control quantity u as follows
u＝argmin(S)
And controlling the rotating speed of a motor for driving the elevator to vertically move by using the control quantity u.
In a second aspect, an embodiment of the present invention provides an elevator control apparatus, including:
the elevator horizontal motion equivalent model establishing module is used for acquiring the structural characteristics of the elevator and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
the equation establishing module is used for establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
a controller setting module for setting a sliding mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
and the control module is used for controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
Optionally, the elevator includes a car, suspension systems located on both sides of the car, a guide rail adapted to the suspension systems, and a traction cable located on top of the car, and the elevator horizontal motion equivalent model building module includes:
the connection structure characteristic acquisition submodule is used for acquiring connection structure characteristics of the car, the suspension system, the guide rail and the traction steel cable in the horizontal direction;
a simplification submodule for simplifying the structures of the car, the suspension system, the guide rail and the traction cable;
and the elevator horizontal motion equivalent model establishing submodule is used for establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connecting structure characteristics, the simplified car, the simplified suspension system, the simplified guide rail and the simplified traction steel rope.
Optionally, the equation building block comprises:
the dynamic equation establishing submodule is used for performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction and establishing a dynamic equation of the elevator horizontal motion equivalent model;
and the equation solving submodule is used for solving the kinetic equation by using a Lagrange equation to obtain a nonlinear differential equation of the elevator.
Optionally, the kinetic equation establishing submodule includes:
the acting force analysis unit is used for carrying out Newton mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to obtain the interaction force among the guide rail, the suspension system and the elevator car;
the potential energy equation establishing unit is used for establishing a potential energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
Figure BDA0003321212530000061
the kinetic energy equation establishing unit is used for establishing a kinetic energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
Figure BDA0003321212530000062
in the above formula, V is the potential energy of the equivalent model of the horizontal motion of the elevator in the horizontal direction, k1Is the stiffness coefficient of the guide rail, k2Is the stiffness coefficient, k, of the suspension systemlAnd knlRespectively the stiffness coefficient k of the traction steel cable3Linear and non-linear components of kl＝0，Y、YL、YRRespectively the displacement of the car, the left suspension system and the right suspension system in the horizontal direction, YLBAnd YRBRespectively external excitation, Y, acting on the guide railLB＝YRB＝F0 sin(ωt)，F0And ω is the amplitude and frequency of the external excitation, m, respectivelyeqAnd MeqThe masses of the suspension system and the car, respectively, V is potential energy and T is kinetic energy.
Optionally, the equation solving submodule includes:
a Lagrangian calculation unit for calculating the Lagrangian as follows:
L＝T-V；
a Lagrangian equation determination unit for determining that the Lagrangian equation is:
Figure BDA0003321212530000071
in the above formula, L is lagrange operator, i is 1, 2, 3, q1＝YL，q2＝Y，q3＝YR，FiIs a broad term of force in which,
Figure BDA0003321212530000072
b and c are damping coefficients of the suspension system and the car respectively;
the lagrangian equation solving unit is used for solving the lagrangian operator by using the lagrangian equation to obtain a nonlinear differential equation as follows:
Figure BDA0003321212530000073
Figure BDA0003321212530000074
Figure BDA0003321212530000075
in the above formula, B is a constant.
Optionally, the controller setting module includes:
and the variable setting submodule is used for setting the dimensionless variables as follows:
Figure BDA0003321212530000076
τ＝ω0t，YPis a normal number;
a state space determination submodule for determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
Figure BDA0003321212530000077
in the above formula, x1＝y1Is the displacement of the left suspension system,
Figure BDA0003321212530000078
speed of the left suspension system, x3＝y3Is a displacement of the car or the like,
Figure BDA0003321212530000079
is the speed of the car，x5＝y5Is the displacement of the right suspension system,
Figure BDA00033212125300000710
the speed of the right suspension system is,
Figure BDA00033212125300000711
Figure BDA0003321212530000081
the sliding mode surface construction submodule is used for constructing a sliding mode surface of the sliding mode controller according to the state space of the elevator, and comprises the following steps:
Figure BDA0003321212530000082
wherein C is a constant.
Optionally, the control module comprises:
an external excitation acquisition submodule for acquiring an external excitation acting on the elevator through a sensor;
a control quantity solving submodule for inputting the external excitation into the sliding mode surface to solve the control quantity u as follows
u＝argmin(S)
And the motor control submodule is used for controlling the rotating speed of a motor for driving the elevator to vertically move by adopting the control quantity u.
In a third aspect, an embodiment of the present invention further provides an elevator controller, where the elevator controller includes:
one or more processors;
a memory for storing one or more computer programs;
when executed by the one or more processors, cause the one or more processors to implement the elevator control method of any of the first aspects.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the elevator control method according to any one of the first aspect.
According to the embodiment of the invention, by acquiring the structural characteristics of the elevator, establishing the elevator horizontal motion equivalent model based on the structural characteristics, further establishing the nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model, setting the sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation, and controlling the elevator by adopting the sliding mode controller, the elevator horizontal motion equivalent model is established according to the structural characteristics of the elevator, and the sliding mode controller is arranged according to the elevator horizontal motion equivalent model to control the elevator, other parts are not required to be added, the cost is low, the characteristics of good control effect and high robustness of the sliding mode controller can be utilized, the horizontal vibration of the elevator can be effectively and reliably controlled, and the convenience and the comfort degree of elevator passengers taking the elevator are improved.
Drawings
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present invention;
fig. 2A is a flowchart of an elevator control method according to a second embodiment of the present invention;
fig. 2B is a schematic structural view of an elevator according to an embodiment of the present invention;
fig. 2C is a horizontal movement equivalent model of the elevator in the embodiment of the present invention;
fig. 3 is a schematic structural diagram of an elevator control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an elevator controller according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present invention, where the embodiment of the present invention is applicable to controlling an elevator to reduce horizontal vibration of the elevator, the method may be executed by an elevator control device, the elevator control device may be implemented by software and/or hardware, the elevator control device may be configured in an elevator controller, and the method specifically includes the following steps:
s101, obtaining structural characteristics of the elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics.
The elevator to which embodiments of the invention refer can be a vertically hoisting elevator, which is usually provided with a car, suspension systems on both sides of the car, guide rails fitted to the suspension systems and hoisting ropes on top of the car.
Wherein the car is a box structure for carrying passengers, the suspension system can be a system for damping vibration, the guide rail can be a limiting part for enabling the car to move vertically, and the traction steel rope is driven by a motor to provide traction force for the car to ascend.
The structural feature of the elevator may refer to a connection structural feature between components related to horizontal vibrations of the car, and in one example, the structural feature of the elevator may be a connection structure between a guide rail and an external excitation, between a guide rail and a suspension system, between a suspension system and a car, between a hoisting rope and a horizontal plane. The structural characteristics of the elevator can be obtained by extracting the electronic image file of the elevator after image recognition, or can be obtained by receiving structural information input by a person on equipment.
The elevator horizontal motion equivalent model can be a simplified diagram of an elevator, the simplified diagram comprises components related to the elevator horizontal motion, connection structure characteristics of the components, attribute parameters of the components and the like, and after the structural characteristics of the elevator are obtained, the components represented by the structural characteristics can be simplified, and the connection structure is added between the components, so that the elevator horizontal motion equivalent model can be obtained.
And S102, establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model.
In an alternative embodiment, the connections between the components in the elevator horizontal motion equivalent model can be rigidized, the connections between the suspension system and the guide rail can be simplified into springs, the connections between the suspension system and the car can be simplified into springs, and the like, then the elevator horizontal motion equivalent model is subjected to mechanical analysis in the horizontal direction, and a kinetic equation in the horizontal direction is constructed according to the mechanical balance principle, specifically, after the parts are rigidized, potential energy exists among the components in an interaction manner, kinetic energy also exists in the motion of the components in the horizontal direction, and then a potential energy equation and a kinetic energy equation in the horizontal direction can be constructed to serve as the kinetic equation of the elevator horizontal motion equivalent model.
After the kinetic equation is obtained, the difference value between the kinetic energy equation and the potential energy equation can be calculated to obtain a Lagrange operator, then the Lagrange equation is determined, the Lagrange equation is adopted to solve the kinetic equation, and then the nonlinear differential equation of the elevator can be obtained, wherein the nonlinear differential equation expresses the nonlinear mechanical balance of each component in the elevator horizontal motion equivalent model in the horizontal direction.
S103, arranging a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation.
Sliding Mode Control (SMC), also called variable structure control, is essentially a special class of nonlinear control, and the nonlinearity appears as a discontinuity in control. The sliding mode control is different from other controls in that the structure of the system is not fixed, but can be purposefully and continuously changed according to the current state (such as deviation, derivatives of various orders and the like) of the system in a dynamic process, so that the system is forced to move according to the state track of a preset sliding mode, and the sliding mode can be designed and is independent of object parameters and disturbance, so that the sliding mode control has the advantages of quick response, insensitive corresponding parameter change and disturbance, no need of on-line identification of the system, simple physical implementation and the like.
Specifically, in the embodiment of the present invention, after the nonlinear differential equation of the elevator is obtained, the horizontal displacement of the components in the elevator horizontal motion equivalent model can be dimensionless as variables, the state space of the elevator, which describes the horizontal motion state of each component in the elevator horizontal motion equivalent model, is determined according to the variables and the nonlinear differential equation, and then the sliding mode surface of the sliding mode controller is established with the aim of minimizing the horizontal displacement and the horizontal acceleration of the car.
And S104, controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
In practice, the suppression of horizontal vibration of the elevator is actually the suppression of horizontal displacement and horizontal acceleration of the car during vertical movement of the elevator, i.e. the car is controlled to have minimum horizontal displacement and minimum acceleration during movement. Specifically, in the embodiment of the present invention, after the external excitation acting on the elevator is obtained, the external excitation is input into the sliding mode controller, the sliding mode surface of the sliding mode controller is used as a target solution control amount to minimize the horizontal displacement and the horizontal acceleration of the car, and the speed and the acceleration of the car in the vertical direction are controlled by the control amount, that is, the rotating speed of the driving motor driving the car to move in the vertical direction is controlled.
According to the embodiment of the invention, by acquiring the structural characteristics of the elevator, establishing the elevator horizontal motion equivalent model based on the structural characteristics, further establishing the nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model, setting the sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation, and controlling the elevator by adopting the sliding mode controller, the elevator horizontal motion equivalent model is established according to the structural characteristics of the elevator, and the sliding mode controller is arranged according to the elevator horizontal motion equivalent model to control the elevator, other parts are not required to be added, the cost is low, the characteristics of good control effect and high robustness of the sliding mode controller can be utilized, the horizontal vibration of the elevator can be effectively and reliably controlled, and the convenience and the comfort degree of elevator passengers for taking are improved.
Example two
Fig. 2A is a flowchart of an elevator control method according to a second embodiment of the present invention, which is optimized based on the first embodiment of the present invention, and the method specifically includes the following steps:
s201, obtaining the connection structure characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction.
Fig. 2B shows a schematic structural view of an elevator according to an embodiment of the present invention, in which the elevator includes a car 10, suspension systems 20 provided at both sides of the car 10, guide rails 30 fitted to the suspension systems 20 at both sides, and a traction rope 40 provided at the top of the car, and an external excitation 50 is applied to the guide rails 30.
Based on the above-described elevator structure, the structural connection characteristics between the car 10, the suspension system 20, the guide rail 30, the hoisting ropes 40, the external excitation 50 can be obtained, it can be determined that, for example, there is an elastic connection between the car and the suspension system, there is a direct elastic connection between the suspension system and the guide rail, there is a rigid connection between the external excitation and the guide rail, etc., and the stiffness coefficient between the elastic connections, etc., can be obtained.
S202, simplifying the structures of the car, the suspension system, the guide rail, and the hoisting rope.
The constructional simplification can be taken to mean that the elevator components are represented by simple graphical elements, as shown in fig. 2C for the simplified car, suspension system, guide rails and hoisting ropes, in fig. 2C the mass of the car is MeqLeft and right suspension system mass meqIn the horizontal direction, the displacement of the left and right guide rails is YLBAnd YRBThe displacements of the left and right suspension systems are YLAnd YRThe displacement of the cage is Y, and the rigidity coefficient between the suspension systems on the left side and the right side and the guide rail is k1Damping coefficient is b, and rigidity coefficient between suspension systems on two sides and the car is k2C is damping coefficient, k is stiffness coefficient component of the traction steel cable in horizontal direction when the elevator car moves horizontally and inclines3。
S203, establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structure characteristics, the simplified car, the simplified suspension system, the simplified guide rail and the simplified traction steel rope.
Between the components of the simplified elevator, an equivalent model of the horizontal motion of the elevator can be established by combining the connection structure characteristics. Fig. 2B shows an example of an equivalent model of the horizontal movement of an elevator, and of course, different elevator structures have different equivalent models in practical application, and the equivalent model in fig. 2B is only used as one example in the embodiment of the present invention.
S204, performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a kinetic equation of the elevator horizontal motion equivalent model.
In the optional embodiment of the invention, the equivalent model of the horizontal motion of the elevator can be subjected to Newton mechanical analysis in the horizontal direction to obtain the interaction force among the guide rail, the suspension system and the car, and a dynamic equation is established according to the mechanical balance of the interaction force.
As shown in fig. 2B, the potential energy equation for the equivalent model of elevator horizontal motion can be established based on the interaction force as follows:
Figure BDA0003321212530000141
in the above-mentioned formula,
Figure BDA0003321212530000142
is the potential energy between the left suspension system and the left guide rail,
Figure BDA0003321212530000143
is the potential energy between the right suspension system and the right guide rail,
Figure BDA0003321212530000144
is the potential energy between the car and the left suspension system,
Figure BDA0003321212530000145
is the potential energy between the car and the right suspension system, klY+knlY3The potential energy of the traction steel rope in the horizontal direction when the elevator car moves horizontally.
In the above formula, V is the potential energy of the equivalent model of the horizontal motion of the elevator in the horizontal direction, k1Is the stiffness coefficient of the guide rail, k2Is the stiffness coefficient, k, of the suspension systemlAnd knlRespectively the stiffness coefficient k of the traction steel cable3Linear and non-linear components of kl＝0，Y、YL、YRRespectively the displacement of the car, the left suspension system and the right suspension system in the horizontal direction, YLBAnd YRBRespectively external excitation, Y, acting on the guide railLB＝YRB＝F0 sin(ωt)，F0And ω is the amplitude and frequency of the external excitation, respectively.
When the elevator car moves horizontally and each part on the elevator has kinetic energy, the kinetic energy equation of the elevator horizontal motion equivalent model can be established based on the interaction force as follows:
Figure BDA0003321212530000146
in the above-mentioned formula,
Figure BDA0003321212530000151
is the kinetic energy when the left suspension system moves horizontally,
Figure BDA0003321212530000152
is the kinetic energy when the right suspension system moves horizontally,
Figure BDA0003321212530000153
is the kinetic energy of the car when moving horizontally, meqAnd MeqThe masses of the suspension system and the car, respectively, and T is the kinetic energy.
S205, solving the dynamic equation by using a Lagrange equation to obtain a nonlinear differential equation of the elevator.
In an alternative embodiment of the present invention, the lagrangian operator can be calculated by the following formula:
L＝T-V；
in the above formula, L is lagrangian, T is kinetic energy, and V is potential energy.
The lagrange equation is further determined to be:
Figure BDA0003321212530000154
in the above formula, L is lagrange operator, i is 1, 2, 3, q1＝YL，q2＝Y，q3＝YR，FiIs a broad term of force in which,
Figure BDA0003321212530000155
b and c are the damping coefficients of the suspension system and the car, respectively, with points on the letter Y representing the derivative, one point representing the first derivative and two points representing the second derivative.
Solving the Lagrange operator by using the Lagrange equation to obtain a nonlinear differential equation, namely respectively using q1，q2，q3After derivation and differentiation are performed on the Lagrange operator L, the following nonlinear differential equation is obtained:
Figure BDA0003321212530000156
Figure BDA0003321212530000157
Figure BDA0003321212530000158
b in the above formula is a constant, and the three nonlinear differential equations respectively represent the mechanical balance in the horizontal direction of the left suspension system, the car, and the right suspension system.
S206, setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation.
Specifically, first, dimensionless variables are set as follows:
Figure BDA0003321212530000161
τ＝ω0t，YPis a normal number.
Secondly, determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
Figure BDA0003321212530000162
in the above formula, x1＝y1Is the displacement of the left suspension system,
Figure BDA0003321212530000163
speed of the left suspension system, x3＝y3Is a displacement of the car or the like,
Figure BDA0003321212530000164
is the speed of the car, x5＝y5Is the displacement of the right suspension system,
Figure BDA0003321212530000165
the speed of the right suspension system, u the control quantity,
Figure BDA0003321212530000166
Figure BDA0003321212530000167
Figure BDA0003321212530000168
ω0for the natural frequency of the guide rail, τ ═ ω0t, ω is the frequency of the external excitation.
And finally, constructing a sliding mode surface of the sliding mode controller according to the state space of the elevator:
Figure BDA0003321212530000169
wherein C is a constant, x3＝y3Is a displacement of the car or the like,
Figure BDA00033212125300001610
x containing the controlled variable u can be solved by the above formula3And
Figure BDA00033212125300001611
for example by:
Figure BDA00033212125300001612
solved to obtain
Figure BDA00033212125300001613
Then:
Figure BDA00033212125300001614
Figure BDA0003321212530000171
in the above formula (2), x obtained by solving may be further used3Replaces x in the second term of equation (2)3And obtaining a final expression of S.
S207, obtaining external excitation acting on the elevator through a sensor.
In an embodiment of the invention, sensors may be arranged on the guide rails to detect external excitations which may act on disturbing forces on the guide rails, such as vibrations caused by the passage of the vehicle, vibrations of the machine equipment, etc.
And S208, inputting the external excitation into the sliding mode surface to solve the control quantity.
In the above formula (2), α4Involving the amplitude of the external excitation, omega, beta1And beta2Both including the frequency of the external excitation, if, for the elevator car, the displacement x of the car3And acceleration
Figure BDA0003321212530000172
If the minimum value indicates that the vibration of the car is minimum, the control amount u when the sliding mode surface is minimized can be obtained as the final control amount.
u＝argmin(S)
The above solution may be iteratively solved by using a coordinate gradient descent method or a nonlinear optimization method to solve u when S is minimum, which may be initialized, a gradient regarding u, that is, Δ S (u), and a partial derivative, where u1 ═ u- α × Δ S (u), α is a step size, for each parameter of S, and u1 is waited into equation (2) to solve S until S is smaller than a preset threshold, for example, when S is infinity close to 0, the displacement x of the car is x3And acceleration
Figure BDA0003321212530000173
Near 0, the horizontal vibration of the car is minimal.
And S209, controlling the rotating speed of a motor for driving the elevator to vertically move by using the control quantity u.
After obtaining the control quantity u, it is the car that controls the up and down movement of the car, i.e. controls the speed and acceleration of the up and down movement of the car, specifically controls the rotation speed of the driving motor that drives the traction ropes on the top of the car, in one example, the control quantity u can be used to determine the voltage and current of the motor, for example, the driving voltage and driving current corresponding to the control quantity u are looked up in a preset control quantity-voltage current mapping table to drive the motor to rotate with the driving voltage and driving current, so that the state of the car is switched to a sliding mode surface, i.e. the horizontal displacement and horizontal acceleration of the car at the sliding mode surface are minimum, i.e. the horizontal vibration of the car is minimized.
According to the embodiment of the invention, by acquiring the structural characteristics of the elevator, establishing the elevator horizontal motion equivalent model based on the structural characteristics, further establishing the nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model, setting the sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation, and controlling the elevator by adopting the sliding mode controller, the elevator horizontal motion equivalent model is established according to the structural characteristics of the elevator, and the sliding mode controller is arranged according to the elevator horizontal motion equivalent model to control the elevator, other parts are not required to be added, the cost is low, the characteristics of good control effect and high robustness of the sliding mode controller can be utilized, the horizontal vibration of the elevator can be effectively and reliably controlled, and the convenience and the comfort degree of elevator passengers taking the elevator are improved.
EXAMPLE III
Fig. 3 is a schematic structural diagram of an elevator control device according to a third embodiment of the present invention, where the elevator control device specifically includes the following modules:
the elevator horizontal motion equivalent model establishing module 301 is used for acquiring the structural characteristics of the elevator and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
an equation establishing module 302 for establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
a controller setting module 303, configured to set a sliding mode controller for suppressing horizontal vibration of the elevator according to the nonlinear differential equation;
a control module 304 for controlling the elevator with the sliding mode controller to control horizontal vibration of the elevator.
Optionally, the elevator comprises a car, suspension systems located on both sides of the car, guide rails adapted to the suspension systems, and a traction cable located on top of the car, and the elevator horizontal motion equivalent model building module 301 comprises:
the connection structure characteristic acquisition submodule is used for acquiring connection structure characteristics of the car, the suspension system, the guide rail and the traction steel cable in the horizontal direction;
a simplification submodule for simplifying the structures of the car, the suspension system, the guide rail and the traction cable;
and the elevator horizontal motion equivalent model establishing submodule is used for establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connecting structure characteristics, the simplified car, the simplified suspension system, the simplified guide rail and the simplified traction steel rope.
Optionally, the equation establishing module 302 includes:
the dynamic equation establishing submodule is used for performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction and establishing a dynamic equation of the elevator horizontal motion equivalent model;
and the equation solving submodule is used for solving the kinetic equation by using a Lagrange equation to obtain a nonlinear differential equation of the elevator.
Optionally, the kinetic equation establishing submodule includes:
the acting force analysis unit is used for carrying out Newton mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to obtain the interaction force among the guide rail, the suspension system and the elevator car;
the potential energy equation establishing unit is used for establishing a potential energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
Figure BDA0003321212530000191
the kinetic energy equation establishing unit is used for establishing a kinetic energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
Figure BDA0003321212530000201
in the above formula, V is the potential energy of the equivalent model of the horizontal motion of the elevator in the horizontal direction, k1Is the stiffness coefficient of the guide rail, k2Is the stiffness coefficient, k, of the suspension systemlAnd knlRespectively the stiffness coefficient k of the traction steel cable3Linear division ofQuantity and non-linear component, kl＝0，Y、YL、YRRespectively the displacement of the car, the left suspension system and the right suspension system in the horizontal direction, YLBAnd YRBRespectively external excitation, Y, acting on the guide railLB＝YRB＝F0 sin(ωt)，F0And ω is the amplitude and frequency of the external excitation, m, respectivelyeqAnd MeqThe masses of the suspension system and the car, respectively, V is potential energy and T is kinetic energy.
Optionally, the equation solving submodule includes:
a Lagrangian calculation unit for calculating the Lagrangian as follows:
L＝T-V；
a Lagrangian equation determination unit for determining that the Lagrangian equation is:
Figure BDA0003321212530000202
in the above formula, L is lagrange operator, i is 1, 2, 3, q1＝YL，q2＝Y，q3＝YR，FiIs a broad term of force in which,
Figure BDA0003321212530000203
b and c are damping coefficients of the suspension system and the car respectively;
the lagrangian equation solving unit is used for solving the lagrangian operator by using the lagrangian equation to obtain a nonlinear differential equation as follows:
Figure BDA0003321212530000204
Figure BDA0003321212530000205
Figure BDA0003321212530000206
in the above formula, B is a constant.
Optionally, the controller setting module 303 includes:
and the variable setting submodule is used for setting the dimensionless variables as follows:
Figure BDA0003321212530000211
τ＝ω0t，YPis a normal number;
a state space determination submodule for determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
Figure BDA0003321212530000212
in the above formula, x1＝y1Is the displacement of the left suspension system,
Figure BDA0003321212530000213
speed of the left suspension system, x3＝y3Is a displacement of the car or the like,
Figure BDA0003321212530000214
is the speed of the car, x5＝y5Is the displacement of the right suspension system,
Figure BDA0003321212530000218
the speed of the right suspension system is,
Figure BDA0003321212530000215
Figure BDA0003321212530000216
the sliding mode surface construction submodule is used for constructing a sliding mode surface of the sliding mode controller according to the state space of the elevator, and comprises the following steps:
Figure BDA0003321212530000217
wherein C is a constant.
Optionally, the control module 304 includes:
an external excitation acquisition submodule for acquiring an external excitation acting on the elevator through a sensor;
a control quantity solving submodule for inputting the external excitation into the sliding mode surface to solve the control quantity u as follows
u＝argmin(S)
And the motor control submodule is used for controlling the rotating speed of a motor for driving the elevator to vertically move by adopting the control quantity u.
The elevator control device provided by the embodiment of the invention can execute the elevator control method provided by the first embodiment or the second embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an elevator controller according to a fourth embodiment of the present invention. As shown in fig. 4, the elevator controller includes a processor 400, a memory 401, a communication module 402, an input device 403, and an output device 404; the number of the processors 400 in the electronics may be one or more, and one processor 400 is taken as an example in fig. 4; the processor 400, the memory 401, the communication module 402, the input device 403 and the output device 404 in the elevator controller may be connected by a bus or in another way, which is exemplified in fig. 4 by a bus connection.
The memory 401 is used as a computer-readable storage medium for storing software programs, computer-executable programs, and modules corresponding to the elevator control method according to the embodiment of the present invention (e.g., an elevator horizontal motion equivalent model building module 301, an equation building module 302, a controller setting module 303, and a control module 304 in the elevator control apparatus shown in fig. 3). The processor 400 executes various functional applications and data processing of the elevator controller by running software programs, instructions, and modules stored in the memory 401, that is, implements the elevator control method described above.
The memory 401 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the elevator controller, and the like. Further, the memory 401 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 401 may further include memory located remotely from the processor 400, which may be connected to the elevator controller over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
And the communication module 402 is used for establishing connection with the display screen and realizing data interaction with the display screen.
The input device 403 may be used to receive entered numerical or character information and generate key signal inputs related to user settings and function control of the elevator controller, and may also be a sensor or the like for acquiring external stimuli.
The output device 404 may include an audio device such as a speaker.
It should be noted that the specific composition of the input device 403 and the output device 404 can be set according to actual situations.
The processor 400 executes various functional applications of the device and data processing by running software programs, instructions, and modules stored in the memory 401, that is, implements the elevator control method described above.
The elevator controller provided by the embodiment of the invention can execute the elevator control method provided by the embodiment of the invention, and particularly has corresponding functions and beneficial effects.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements an elevator control method, and the method includes:
obtaining the structural characteristics of an elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation;
controlling the elevator with the sliding mode controller to control horizontal vibration of the elevator.
Of course, the computer-readable storage medium provided by the embodiment of the present invention, the computer program thereof is not limited to the operation of the method described above, and can also execute the relevant operation in the elevator control method provided by any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, and the computer software product may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes instructions for causing an elevator controller to execute the elevator control method according to the embodiments of the present invention.
It should be noted that in the above embodiment of the elevator control apparatus, the units and modules included in the above embodiment are merely divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An elevator control method, comprising:
obtaining the structural characteristics of an elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation;
controlling the elevator with the sliding mode controller to control horizontal vibration of the elevator.
2. The elevator control method according to claim 1, wherein the elevator comprises a car, suspension systems on both sides of the car, guide rails fitted with the suspension systems, and traction ropes on top of the car, and the obtaining of the structural characteristics of the elevator and the building of the elevator horizontal motion equivalent model based on the structural characteristics comprises:
acquiring the connection structure characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
simplifying the structure of the car, the suspension system, the guide rail and the traction cable;
and establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structure characteristics and the simplified elevator car, the simplified suspension system, the simplified guide rail and the simplified traction steel rope.
3. The elevator control method according to claim 2, wherein the establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model includes:
performing mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a kinetic equation of the elevator horizontal motion equivalent model;
and solving the kinetic equation by using a Lagrange equation to obtain a nonlinear differential equation of the elevator.
4. The elevator control method according to claim 3, wherein the performing a mechanical analysis in a horizontal direction on the elevator horizontal motion equivalent model to establish a dynamic equation of the elevator horizontal motion equivalent model comprises:
carrying out Newton mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to obtain the interaction force among the guide rail, the suspension system and the car;
the potential energy equation for establishing the equivalent model of the elevator horizontal motion based on the interaction force is as follows:
Figure FDA0003321212520000021
the kinetic energy equation for establishing the equivalent model of the horizontal motion of the elevator based on the interaction force is as follows:
Figure FDA0003321212520000022
in the above formula, V is the potential energy of the equivalent model of the horizontal motion of the elevator in the horizontal direction, k1Is the stiffness coefficient of the guide rail, k2Is the stiffness coefficient, k, of the suspension systemlAnd knlRespectively the stiffness coefficient k of the traction steel cable3Linear component of (A) andnon-linear component, kl＝0，Y、YL、YRRespectively the displacement of the car, the left suspension system and the right suspension system in the horizontal direction, YLBAnd YRBRespectively external excitation, Y, acting on the guide railLB＝YRB＝F0sin(ωt)，F0And ω is the amplitude and frequency of the external excitation, m, respectivelyeqAnd MeqThe masses of the suspension system and the car, respectively, V is potential energy and T is kinetic energy.
5. The elevator control method of claim 3, wherein solving the kinetic equation using a Lagrangian equation to obtain a nonlinear differential equation for the elevator comprises:
the lagrangian is calculated as follows:
L＝T-V；
determining the Lagrangian equation as:
Figure FDA0003321212520000023
in the above formula, L is lagrange operator, i is 1, 2, 3, q1＝YL，q2＝Y，q3＝YR，FiIs a broad term of force in which,
Figure FDA0003321212520000024
b and c are damping coefficients of the suspension system and the car respectively;
solving the Lagrange operator by using the Lagrange equation to obtain a nonlinear differential equation as follows:
Figure FDA0003321212520000031
Figure FDA0003321212520000032
Figure FDA0003321212520000033
in the above formula, B is a constant.
6. The elevator control method according to claim 4, wherein the setting of the sliding-mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation includes:
dimensionless variables are set as follows:
Figure FDA0003321212520000034
τ＝ω0t，YPis a normal number;
determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
Figure FDA0003321212520000035
in the above formula, x1＝y1Is the displacement of the left suspension system,
Figure FDA0003321212520000036
speed of the left suspension system, x3＝y3Is a displacement of the car or the like,
Figure FDA0003321212520000037
is the speed of the car, x5＝y5Is the displacement of the right suspension system,
Figure FDA0003321212520000038
the speed of the right suspension system is,
Figure FDA0003321212520000039
Figure FDA00033212125200000310
Figure FDA00033212125200000311
ω0for the natural frequency of the guide rail, τ ═ ω0t, ω is the frequency of the external excitation;
constructing a sliding mode surface of the sliding mode controller according to the state space of the elevator is as follows:
Figure FDA00033212125200000312
wherein C is a constant.
7. The elevator control method of claim 5, wherein said controlling the elevator with the sliding mode controller comprises:
obtaining an external stimulus acting on the elevator by a sensor;
inputting the external excitation into the sliding mode surface to solve the control quantity u as follows
u＝argmin(S)
And controlling the rotating speed of a motor for driving the elevator to vertically move by using the control quantity u.
8. An elevator control apparatus, comprising:
the elevator horizontal motion equivalent model establishing module is used for acquiring the structural characteristics of the elevator and establishing an elevator horizontal motion equivalent model based on the structural characteristics;
the equation establishing module is used for establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
a controller setting module for setting a sliding mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
and the control module is used for controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
9. An elevator controller, characterized in that the elevator controller comprises:
one or more processors;
a memory for storing one or more computer programs;
when executed by the one or more processors, cause the one or more processors to implement the elevator control method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the elevator control method according to any one of claims 1-7.
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