CN113979267B - Elevator control method, device, elevator controller and storage medium - Google Patents

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

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Publication number
CN113979267B
CN113979267B CN202111246548.0A CN202111246548A CN113979267B CN 113979267 B CN113979267 B CN 113979267B CN 202111246548 A CN202111246548 A CN 202111246548A CN 113979267 B CN113979267 B CN 113979267B
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elevator
equivalent model
car
suspension system
equation
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CN113979267A (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: acquiring 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 suppressing the horizontal vibration of the elevator according to the nonlinear differential equation; and controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator. The embodiment of the invention realizes the establishment of the elevator horizontal motion equivalent model according to the structural characteristics of the elevator, and the control of the elevator by arranging the sliding mode controller according to the elevator horizontal motion equivalent model, so that other components 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 level of taking the elevator by passengers of the elevator are improved.

Description

Elevator control method, 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
The development of the city center is exponentially increased, so that the existing city is vertically expanded, the building of a tower and the continuous progress of the ultra-large building technology are realized, the elevator becomes the main transportation equipment of the high-rise building, and the riding experience of the elevator is important.
Currently, in order to reduce the vibration of the elevator in the horizontal direction, one way is to suppress the horizontal vibration of the elevator by adding hardware devices such as magnetic levitation, the other way is to minimize the external excitation acting on the elevator system, and the other way is to control the vibration of the traction ropes, which not only increases the components, but also has insignificant effects 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, which are used for solving the problems of high cost, poor effect and low robustness of the existing method for inhibiting the horizontal vibration of an elevator.
In a first aspect, an embodiment of the present invention provides an elevator control method, including:
acquiring 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 suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
and controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
Optionally, the elevator includes the car, is located the suspension system of car both sides, with suspension system adaptation guide rail and be located the traction cable at car top, obtain the structural feature of elevator to based on structural feature establishes elevator horizontal motion equivalent model, includes:
acquiring connection structural characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
simplifying the structures of the car, the suspension system, the guide rail, and the traction rope;
and establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator car, the suspension system, the guide rail and the traction steel rope.
Optionally, the building a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model includes:
Carrying out mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a dynamics equation of the elevator horizontal motion equivalent model;
and solving the dynamics 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, and establishing a dynamics 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 interaction force among the guide rail, the suspension system and the lift car;
the potential energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
the kinetic energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
in the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components of (a)，k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω is the amplitude and frequency, m, of the external excitation, respectively eq And M eq The mass of the suspension system and the car respectively, V is potential energy, and T is kinetic energy.
Optionally, the solving the dynamics equation by using the lagrangian equation to obtain a nonlinear differential equation of the elevator includes:
the lagrangian is calculated as follows:
L＝T-V；
the Lagrangian equation is determined as:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively;
solving the Lagrangian operator by using the Lagrangian equation to obtain a nonlinear differential equation as follows:
in the above formula, B is a constant.
Optionally, the sliding mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation comprises:
the dimensionless variables are set as follows:
τ＝ω 0 t，Y P is a positive constant;
determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
in the above formula, x 1 ＝y 1 For the displacement of the left suspension system,for the speed of left suspension system x 3 ＝y 3 For displacement of the car->For speed of car x 5 ＝y 5 For displacement of the right suspension system>For the speed of the right suspension system +.>
The sliding mode surface of the sliding mode controller is constructed according to the state space of the elevator:
wherein C is a constant.
Optionally, the controlling the elevator with the sliding mode controller includes:
obtaining an external excitation acting on the elevator by means of 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 driving the elevator to vertically move by adopting 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 building module is used for obtaining structural characteristics of an elevator and building an elevator horizontal motion equivalent model based on the structural characteristics;
the equation building module is used for building a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
a controller setting module for setting a slip-form 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 the car, is located the suspension system of car both sides, with suspension system adaptation's guide rail and be located the traction cable wire at car top, elevator horizontal motion equivalent model establishment module includes:
The connection structural feature acquisition submodule is used for acquiring connection structural features of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
a simplifying sub-module for simplifying the structures of the car, the suspension system, the guide rail and the traction steel rope;
and the elevator horizontal motion equivalent model building sub-module is used for building an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator car, the suspension system, the guide rail and the traction steel rope.
Optionally, the equation setup module includes:
the dynamics equation building sub-module is used for carrying out mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction and building a dynamics equation of the elevator horizontal motion equivalent model;
and the equation solving sub-module is used for solving the dynamics equation by utilizing the 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 interaction force among the guide rail, the suspension system and the lift car;
The potential energy equation building unit is used for building the potential energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
the kinetic energy equation building unit is used for building the kinetic energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
in the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components, k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω is the amplitude and frequency, m, of the external excitation, respectively eq And M eq The mass of the suspension system and the car respectively, V is potential energy, and T is kinetic energy.
Optionally, the equation solving submodule includes:
the Lagrange operator calculation unit is used for calculating the Lagrange operator as follows:
L＝T-V；
the Lagrange equation determining unit is used for determining that the Lagrange equation is:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively;
The Lagrange equation solving unit is used for solving the Lagrange operator by using the Lagrange equation to obtain a nonlinear differential equation as follows:
in the above formula, B is a constant.
Optionally, the controller setting module includes:
the variable setting submodule is used for setting dimensionless variables as follows:
τ＝ω 0 t，Y P is a positive constant;
a state space determining sub-module for determining a state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
in the above formula, x 1 ＝y 1 For the displacement of the left suspension system,for the speed of left suspension system x 3 ＝y 3 For displacement of the car->For speed of car x 5 ＝y 5 For displacement of the right suspension system>For the speed of the right suspension system +.>
The sliding mode surface construction submodule is used for constructing the sliding mode surface of the sliding mode controller according to the state space of the elevator, and the sliding mode surface is as follows:
wherein C is a constant.
Optionally, the control module includes:
an external excitation acquisition sub-module for acquiring external excitation acting on the elevator by a sensor;
a control quantity solving sub-module 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 sub-module 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, including:
one or more processors;
a memory for storing one or more computer programs;
the 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, embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the elevator control method according to any one of the first aspects.
According to the embodiment of the invention, the structural characteristics of the elevator are obtained, the elevator horizontal motion equivalent model is built based on the structural characteristics, the nonlinear differential equation of the elevator is built based on the elevator horizontal motion equivalent model, the sliding mode controller for inhibiting the elevator horizontal vibration is arranged according to the nonlinear differential equation, the elevator is controlled by adopting the sliding mode controller, the elevator horizontal motion equivalent model is built according to the structural characteristics of the elevator, the elevator is controlled by arranging the sliding mode controller according to the elevator horizontal motion equivalent model, 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 level of taking the elevator by passengers are improved.
Drawings
Fig. 1 is a flowchart of an elevator control method according to a first 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 diagram of an elevator according to an embodiment of the present invention;
fig. 2C is a horizontal motion equivalent model of an elevator in an embodiment of the invention;
fig. 3 is a schematic structural view of an elevator control device 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 invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of an elevator control method according to an embodiment of the present invention, where the method is applicable to controlling an elevator to reduce horizontal vibration of the elevator, and the method may be performed by an elevator control device, which may be implemented by software and/or hardware, and the elevator control device may be configured in an elevator controller, and the method specifically includes the steps of:
S101, acquiring structural characteristics of an elevator, and establishing an elevator horizontal motion equivalent model based on the structural characteristics.
The elevator to which the embodiments of the invention are directed may be a vertical lift elevator, which is typically provided with a car, suspension systems on both sides of the car, guide rails fitted to the suspension systems, and traction ropes on the top of the car.
The elevator car is a box structure for carrying passengers, the suspension system can be a system for damping, the guide rail can be a limiting component for enabling the elevator car to move vertically, and the traction steel rope is driven by a motor to provide traction force for the elevator car to ascend.
The structural feature of the elevator may refer to a connection structural feature between components related to horizontal vibration of the car, and in one example, the structural feature of the elevator may be a connection structure between the guide rail and the external excitation, between the guide rail and the suspension system, between the suspension system and the car, and between the traction ropes and the horizontal plane. The structural characteristics of the elevator can be obtained by extracting the electronic image of the elevator after image recognition, or can be obtained after a receiving person inputs structural information on equipment.
The elevator horizontal motion equivalent model can be a simplified diagram of an elevator, wherein the simplified diagram comprises related parts for horizontal motion of the elevator, connection structural features of the related parts, attribute parameters of the related parts and the like, and after the structural features of the elevator are acquired, the parts represented by the structural features can be simplified, and the connection structures are added between the parts to obtain the elevator horizontal motion equivalent model.
S102, establishing a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model.
In an alternative embodiment, the connection between each component in the elevator horizontal motion equivalent model can be rigidized, the connection between the suspension system and the guide rail is simplified into a spring, the connection between the suspension system and the car is simplified into a spring and the like, then the elevator horizontal motion equivalent model is subjected to mechanical analysis in the horizontal direction, a dynamic equation in the horizontal direction is constructed according to the mechanical balance principle, specifically, potential energy exists in interaction between each component after rigidized, kinetic energy exists in the horizontal direction when each component moves, and then a potential energy equation and a kinetic energy equation in the horizontal direction can be constructed as the dynamic equation of the elevator horizontal motion equivalent model.
After the dynamic equation is obtained, a difference value between the kinetic equation and the potential energy equation can be calculated to obtain a Lagrange operator, then the Lagrange equation is determined, and the dynamic equation is solved by adopting the Lagrange equation to obtain a nonlinear differential equation of the elevator, wherein the nonlinear differential equation expresses nonlinear mechanical balance of each component in the elevator horizontal motion equivalent model in the horizontal direction.
And S103, setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation.
Sliding mode control (sliding mode control, SMC), also called variable structure control, is essentially a special type of nonlinear control, and nonlinearities appear as discontinuities in the 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 in the dynamic process according to the current state (such as deviation, derivative of the deviation and the like) of the system, so that the system is forced to move according to the state track of a preset sliding mode.
In particular, in the embodiment of the invention, after a nonlinear differential equation of an elevator is obtained, the horizontal displacement of a component in a horizontal motion equivalent model of the elevator can be dimensionless as a variable, a state space of the elevator is determined according to the variable and the nonlinear differential equation, the state space describes the horizontal motion state of each component in the horizontal motion equivalent model of the elevator, and then a sliding mode surface of a sliding mode controller is established with the aim of minimizing the horizontal displacement and the horizontal acceleration of a car.
And S104, controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
In practical applications, suppressing the horizontal vibration of the elevator is actually suppressing the horizontal displacement and horizontal acceleration of the car during the vertical movement of the elevator, i.e. controlling the car to have a minimum horizontal displacement and minimum acceleration during the movement. Specifically, in the embodiment of the invention, after external excitation acting on an elevator is obtained, the external excitation is input into a sliding mode controller, a sliding mode surface of the sliding mode controller is taken as a target to minimize horizontal displacement and horizontal acceleration of the elevator car, and a control quantity is solved, and the speed and the acceleration of the elevator car in the vertical direction are controlled by the control quantity, namely, the rotating speed of a driving motor for driving the elevator car to move in the vertical direction is controlled.
According to the embodiment of the invention, the structural characteristics of the elevator are obtained, the elevator horizontal motion equivalent model is built based on the structural characteristics, the nonlinear differential equation of the elevator is built based on the elevator horizontal motion equivalent model, the sliding mode controller for inhibiting the elevator horizontal vibration is arranged according to the nonlinear differential equation, the elevator is controlled by adopting the sliding mode controller, the elevator horizontal motion equivalent model is built according to the structural characteristics of the elevator, the elevator is controlled by arranging the sliding mode controller according to the elevator horizontal motion equivalent model, 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 level of elevator passengers in the elevator 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, and specifically includes the following steps:
and S201, acquiring the connection structural characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction.
Fig. 2B is a schematic view showing the structure of an elevator according to an embodiment of the present invention, in which an elevator includes a car 10, suspension systems 20 located at both sides of the car 10, guide rails 30 fitted with the suspension systems 20 at both sides, and traction ropes 40 located at the top of the car, and an external stimulus 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 traction ropes 40, the external stimulus 50 can be obtained, and illustratively, it can be determined that there is an elastic connection between the car and the suspension system, that the suspension system is directly in elastic connection with the guide rail, that there is a rigid connection between the external stimulus and the guide rail, and the like, and that the rigidity coefficient between the elastic connections, and the like, can be obtained.
And S202, simplifying the structures of the car, the suspension system, the guide rail and the traction steel rope.
The structural simplification may be referred to as representing the elevator components with simple elements, as shown in fig. 2C for the car, suspension system, guide rail and traction ropes after the simplification, in fig. 2C the mass of the car is M eq The mass of the suspension system on the left side and the right side is m eq In the horizontal direction, the displacement of the left and right guide rails is Y LB And Y RB The displacement of the suspension systems at the left side and the right side is Y L And Y R The displacement of the lift car is Y, and the rigidity coefficient between the suspension systems at the left side and the right side and the guide rail is k 1 The damping coefficient is b, the rigidity coefficient between the suspension systems at two sides and the car is k 2 The damping coefficient is c, and the rigidity coefficient component of the traction steel rope in the horizontal direction when the car moves horizontally and tilts is k 3 。
And S203, building an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator car, the suspension system, the guide rail and the traction steel rope.
Between the various parts of the simplified elevator, an equivalent model of the horizontal movement of the elevator can be established in combination with the characteristics of the connecting structure. As shown in fig. 2B, an example of an equivalent model of the horizontal motion of the elevator is shown, of course, in practical applications, different elevator structures have different equivalent models, and the equivalent model in fig. 2B is merely one example of the equivalent models according to the embodiment of the invention.
S204, carrying out mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a dynamics equation of the elevator horizontal motion equivalent model.
In an alternative embodiment of the invention, newton mechanical analysis in the horizontal direction can be performed on the elevator horizontal motion equivalent model to obtain the interaction force among the guide rail, the suspension system and the car, and a dynamics equation is established according to the mechanical balance of the interaction force.
As shown in fig. 2B, the potential energy equation that can establish the elevator horizontal motion equivalent model based on the interaction force is as follows:
in the above-mentioned formula(s),for potential energy between left suspension system and left rail,/for the left side suspension system and left rail>For potential energy between the right suspension system and the right rail,/->Is the potential energy between the car and the left suspension system,is the potential energy between the car and the right suspension system, k l Y+k nl Y 3 Is the potential energy of the traction steel rope in the horizontal direction when the car moves horizontally.
In the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components, k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω are the amplitude and frequency of the external stimulus, respectively.
When the elevator car moves horizontally, each part on the elevator also has kinetic energy, and then a kinetic energy equation of an elevator horizontal motion equivalent model can be established based on the interaction force as follows:
in the above-mentioned formula(s),for the kinetic energy of the left suspension system when moving horizontally, < > >For the kinetic energy of the right suspension system when moving horizontally, < >>Is the kinetic energy m of the horizontal movement of the lift car eq And M eq The mass of the suspension system and the car respectively, and T is the kinetic energy.
S205, solving the dynamics equation by utilizing a Lagrange equation to obtain a nonlinear differential equation of the elevator.
In an alternative embodiment of the invention, the Lagrangian operator may be calculated by the following formula:
L＝T-V；
in the formula, L is a Lagrangian operator, T is kinetic energy, and V is potential energy.
Further determining the Lagrangian equation is:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively, the point on the letter Y represents the derivative, one point represents the first derivative, and two points represent the second derivative.
Solving the Lagrangian equation by using the Lagrangian equation to obtain a nonlinear differential equation, namely respectively using q 1 ，q 2 ，q 3 The lagrangian L is derived and differentiated to obtain the following nonlinear differential equation:
b is a constant in the above formula, and the above three nonlinear differential equations represent the mechanical balance of the left suspension system, the car, and the right suspension system in the horizontal direction, respectively.
S206, setting a sliding mode controller for inhibiting the horizontal vibration of the elevator according to the nonlinear differential equation.
Specifically, the dimensionless variables are set first as follows:
τ＝ω 0 t，Y P is a positive constant.
Secondly, the state space of the elevator is determined according to the dimensionless variable and the nonlinear differential equation as follows:
in the above formula, x 1 ＝y 1 For the left suspension systemThe motion is carried out,for the speed of left suspension system x 3 ＝y 3 For displacement of the car->For speed of car x 5 ＝y 5 For the displacement of the right suspension system,
for the speed of the right suspension system u is the control quantity,/-, etc>
ω 0 For natural frequency of the rail, τ=ω 0 t, ω is the frequency of the external excitation.
Finally, constructing a sliding mode surface of a sliding mode controller according to the state space of the elevator, wherein the sliding mode surface is as follows:
wherein C is a constant, x 3 ＝y 3 For the displacement of the car,the value of x containing the control quantity u can be solved by the above formula 3 And->For example by:
solving to obtain
Then:
in the above formula (2), x obtained by solving can be further used 3 The expression of (2) replaces x in the second term of equation (2) 3 The final expression of S is obtained.
S207, external excitation acting on the elevator is obtained by means of a sensor.
In embodiments of the present invention, sensors may be provided on the rail to detect external stimuli that may act on the rail as disturbance forces, such as vibrations caused by the passage of a vehicle, vibrations of machine equipment, etc.
S208, inputting the external excitation into the sliding mode surface to solve the control quantity.
In the above formula (2), α 4 Comprising the amplitude, omega, beta, of the external excitation 1 And beta 2 All comprising the frequency of the external excitation, if the displacement x of the car is for an elevator car 3 And accelerationIf the minimum value indicates that the vibration of the car is minimum, the control amount u at which the slip-form surface is minimized can be obtained as the final control amount.
u＝argmin(S)
The solution can be carried out by adopting a coordinate gradient descent method or a nonlinear optimization method when S is minimumFor iterative solution, taking a nonlinear optimization method as an example, u can be initialized first, a gradient about u, i.e., Δs (u), can be found for each parameter of S, and the partial derivative, further u1=u—α×Δs (u), α being the step size, and u1 is taken into equation (2) to solve for S until S is less than a preset threshold, e.g., when S is infinitely close to 0, the displacement x of the car 3 And accelerationClose to 0, the horizontal vibration of the car is minimal.
S209, controlling the rotating speed of a motor driving the elevator to vertically move by adopting the control quantity u.
After the control amount u is obtained, it is possible for the car to control the up-and-down movement of the car, i.e., to control the speed and acceleration of the up-and-down movement of the car, and in particular, to control the rotational speed of the driving motor driving the traction ropes at the top of the car, and in one example, the control amount u may be used to determine the voltage and current of the motor, for example, by searching a preset control amount-voltage-current map for the driving voltage and driving current corresponding to the control amount u, so that the driving voltage and driving current drive the motor to rotate, so that the state of the car is switched to the slip plane, i.e., the horizontal displacement and horizontal acceleration of the car at the time of the slip plane are minimized, i.e., the horizontal vibration of the car is minimized.
According to the embodiment of the invention, the structural characteristics of the elevator are obtained, the elevator horizontal motion equivalent model is built based on the structural characteristics, the nonlinear differential equation of the elevator is built based on the elevator horizontal motion equivalent model, the sliding mode controller for inhibiting the elevator horizontal vibration is arranged according to the nonlinear differential equation, the elevator is controlled by adopting the sliding mode controller, the elevator horizontal motion equivalent model is built according to the structural characteristics of the elevator, the elevator is controlled by arranging the sliding mode controller according to the elevator horizontal motion equivalent model, 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 level of taking the elevator by passengers 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 may specifically include the following modules:
the elevator horizontal motion equivalent model building module 301 is configured to obtain structural features of an elevator, and build an elevator horizontal motion equivalent model based on the structural features;
an equation establishing module 302, configured to establish a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model;
A controller setting module 303 for setting a slip mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
and the control module 304 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 comprises a car, suspension systems located at two sides of the car, guide rails adapted to the suspension systems and traction ropes located at the top of the car, and the elevator horizontal motion equivalent model building module 301 comprises:
the connection structural feature acquisition submodule is used for acquiring connection structural features of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
a simplifying sub-module for simplifying the structures of the car, the suspension system, the guide rail and the traction steel rope;
and the elevator horizontal motion equivalent model building sub-module is used for building an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator car, the suspension system, the guide rail and the traction steel rope.
Optionally, the equation setup module 302 includes:
The dynamics equation building sub-module is used for carrying out mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction and building a dynamics equation of the elevator horizontal motion equivalent model;
and the equation solving sub-module is used for solving the dynamics equation by utilizing the 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 interaction force among the guide rail, the suspension system and the lift car;
the potential energy equation building unit is used for building the potential energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
the kinetic energy equation building unit is used for building the kinetic energy equation of the elevator horizontal motion equivalent model based on the interaction force as follows:
in the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components, k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω is the amplitude and frequency, m, of the external excitation, respectively eq And M eq The mass of the suspension system and the car respectively, V is potential energy, and T is kinetic energy.
Optionally, the equation solving submodule includes:
the Lagrange operator calculation unit is used for calculating the Lagrange operator as follows:
L＝T-V；
the Lagrange equation determining unit is used for determining that the Lagrange equation is:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively;
the Lagrange equation solving unit is used for solving the Lagrange operator by using the Lagrange equation to obtain a nonlinear differential equation as follows:
in the above formula, B is a constant.
Optionally, the controller setting module 303 includes:
the variable setting submodule is used for setting dimensionless variables as follows:
τ＝ω 0 t，Y P is a positive constant;
a state space determining sub-module for determining a state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
In the above formula, x 1 ＝y 1 For the displacement of the left suspension system,for the speed of left suspension system x 3 ＝y 3 For displacement of the car->For speed of car x 5 ＝y 5 For displacement of the right suspension system>For the speed of the right suspension system +.>
The sliding mode surface construction submodule is used for constructing the sliding mode surface of the sliding mode controller according to the state space of the elevator, and the sliding mode surface is as follows:
wherein C is a constant.
Optionally, the control module 304 includes:
an external excitation acquisition sub-module for acquiring external excitation acting on the elevator by a sensor;
a control quantity solving sub-module 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 sub-module 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 IV
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 processors 400 in the electronic device 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 means 403 and the output means 404 in the elevator controller may be connected by a bus or other means, in fig. 4 by way of example.
The memory 401 is used as a computer readable storage medium for storing a software program, a computer executable program, and modules corresponding to the elevator control method according to the embodiment of the present invention (e.g., an elevator horizontal motion equivalent model establishing module 301, an equation establishing module 302, a controller setting module 303, and a control module 304 in the elevator control apparatus shown in fig. 3). The processor 400 performs various functional applications and data processing of the elevator controller, i.e., implements the elevator control method described above, by running software programs, instructions and modules stored in the memory 401.
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, at least one application program required for functions; the storage data area may store data created from the use of the elevator controller, etc. In addition, 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, memory 401 may further include memory remotely located with respect to processor 400, which may be connected to the elevator controller via 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 numeric or character information and to generate key signal inputs related to user settings and function control of the elevator controller, as well as sensors for obtaining external stimuli, etc.
The output 404 may include an audio device such as a speaker.
The specific composition of the input device 403 and the output device 404 may be set according to the actual situation.
The processor 400 performs various functional applications of the apparatus and data processing, i.e., implements the above-described elevator control method, by running software programs, instructions and modules stored in the memory 401.
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
A fifth embodiment of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements an elevator control method, the method comprising:
acquiring 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 suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
and controlling the elevator by adopting the sliding mode controller so as to control the horizontal vibration of the elevator.
Of course, the computer-readable storage medium provided by the embodiments of the present invention, the computer program thereof is not limited to the method operations described above, but may also perform the relevant operations in the elevator control method provided by any of the embodiments of the present invention.
From the above description of embodiments, it will be clear to a person skilled in the art that the present invention may be implemented by means of software and necessary general purpose hardware, but of course also by means of hardware, although in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, etc., comprising several instructions for causing an elevator controller to perform the elevator control method according to the embodiments of the present invention.
It should be noted that, in the above-described embodiment of the elevator control device, each unit and module included are only divided according to the functional logic, but are not limited to the above-described division, as long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (6)

1. An elevator control method, comprising:
acquiring 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 suppressing the horizontal vibration of the elevator according to the nonlinear differential equation;
controlling the elevator by adopting the sliding mode controller to control the horizontal vibration of the elevator;
the sliding mode controller is used for solving the control quantity according to external excitation; the elevator includes the car, is located the suspension of car both sides, with the guide rail of suspension adaptation and be located the traction cable wire at car top, acquire the structural feature of elevator to based on structural feature establishes elevator horizontal motion equivalent model, includes:
acquiring connection structural characteristics of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
simplifying the structures of the car, the suspension system, the guide rail, and the traction rope;
establishing an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator horizontal motion equivalent model of the elevator, the simplified elevator car, the simplified elevator suspension system, the simplified elevator guide rail and the simplified elevator traction steel rope;
the building of the nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model comprises the following steps:
Carrying out mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction, and establishing a dynamics equation of the elevator horizontal motion equivalent model;
solving the dynamics equation by utilizing a Lagrange equation to obtain a nonlinear differential equation of the elevator;
the mechanical analysis in the horizontal direction is carried out on the elevator horizontal motion equivalent model, and a dynamics equation of the elevator horizontal motion equivalent model is established, which comprises the following steps:
carrying out Newton mechanical analysis on the elevator horizontal motion equivalent model in the horizontal direction to obtain interaction force among the guide rail, the suspension system and the lift car;
the potential energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
the kinetic energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
in the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components, k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω is the amplitude and frequency, m, of the external excitation, respectively eq And M eq The mass of the suspension system and the mass of the lift car are respectively, V is potential energy, and T is kinetic energy;
the solving the dynamics equation by using the Lagrangian equation to obtain a nonlinear differential equation of the elevator comprises:
the lagrangian is calculated as follows:
L＝T-V；
the Lagrangian equation is determined as:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively;
solving the Lagrangian operator by using the Lagrangian equation to obtain a nonlinear differential equation as follows:
in the above formula, B is a constant.
2. The elevator control method according to claim 1, characterized in that the setting of the sliding mode controller for suppressing the horizontal vibration of the elevator according to the nonlinear differential equation comprises:
the dimensionless variables are set as follows:
τ＝ω 0 t，Y P is a positive constant;
determining the state space of the elevator according to the dimensionless variable and the nonlinear differential equation as follows:
in the above formula, x 1 ＝y 1 For the displacement of the left suspension system,for the speed of left suspension system x 3 ＝y 3 For displacement of the car->For speed of car x 5 ＝y 5 For displacement of the right suspension system>For the speed of the right suspension system +.>
ω 0 For natural frequency of the rail, τ=ω 0 t, ω is the frequency of the external excitation;
the sliding mode surface of the sliding mode controller is constructed according to the state space of the elevator:
wherein C is a constant.
3. The elevator control method of claim 1, wherein the controlling the elevator with the slip-form controller comprises:
obtaining an external excitation acting on the elevator by means of 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 driving the elevator to vertically move by adopting the control quantity u.
4. An elevator control apparatus, comprising:
the elevator horizontal motion equivalent model building module is used for obtaining structural characteristics of an elevator and building an elevator horizontal motion equivalent model based on the structural characteristics; the elevator comprises a car, suspension systems positioned on two sides of the car, guide rails matched with the suspension systems and traction steel ropes positioned on the top of the car, wherein the elevator horizontal movement equivalent model building module comprises:
The connection structural feature acquisition submodule is used for acquiring connection structural features of the car, the suspension system, the guide rail and the traction steel rope in the horizontal direction;
a simplifying sub-module for simplifying the structures of the car, the suspension system, the guide rail and the traction steel rope;
the elevator horizontal motion equivalent model building sub-module is used for building an elevator horizontal motion equivalent model of the elevator in the horizontal direction according to the connection structural characteristics and the simplified elevator car, the suspension system, the guide rail and the traction steel rope;
the equation building module is used for building a nonlinear differential equation of the elevator based on the elevator horizontal motion equivalent model; wherein the building of the nonlinear differential equation of the elevator based on 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 interaction force among the guide rail, the suspension system and the lift car;
the potential energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
the kinetic energy equation of the elevator horizontal motion equivalent model is established based on the interaction force as follows:
In the formula, V is potential energy of an elevator horizontal motion equivalent model in the horizontal direction, and k 1 Is the rigidity coefficient of the guide rail, k 2 For the stiffness coefficient of the suspension system, k l And k nl Rigidity coefficients k of traction ropes respectively 3 Linear and nonlinear components, k l ＝0，Y、Y L 、Y R The displacement of the car, the left suspension system and the right suspension system in the horizontal direction respectively, Y LB And Y RB External excitation acting on the guide rail, Y LB ＝Y RB ＝F 0 sin(ωt)，F 0 And ω is the amplitude and frequency, m, of the external excitation, respectively eq And M eq The mass of the suspension system and the mass of the lift car are respectively, V is potential energy, and T is kinetic energy;
the lagrangian is calculated as follows:
L＝T-V；
the Lagrangian equation is determined as:
in the above formula, L is a lagrangian, i=1, 2,3, q 1 ＝Y L ，q 2 ＝Y，q 3 ＝Y R ，F i Is a broad sense of force, wherein,b and c are damping coefficients of the suspension system and the car, respectively;
solving the Lagrangian operator by using the Lagrangian equation to obtain a nonlinear differential equation as follows:
b in the formula is a constant;
a controller setting module for setting a slip-form 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, wherein the sliding mode controller is used for solving the control quantity according to external excitation.
5. An elevator controller, characterized in that the elevator controller comprises:
one or more processors;
a memory for storing one or more computer programs;
the 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 1-3.
6. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the elevator control method according to any one of claims 1-3.
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