CN115043279B - Torque compensation control method for starting elevator - Google Patents
Torque compensation control method for starting elevator Download PDFInfo
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- CN115043279B CN115043279B CN202210851432.8A CN202210851432A CN115043279B CN 115043279 B CN115043279 B CN 115043279B CN 202210851432 A CN202210851432 A CN 202210851432A CN 115043279 B CN115043279 B CN 115043279B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/304—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with starting torque control
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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
- B66B11/04—Driving gear ; Details thereof, e.g. seals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0037—Performance analysers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Civil Engineering (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Elevator Control (AREA)
Abstract
The invention discloses a torque compensation control method for starting an elevator, and relates to the technical field of elevator control. When the elevator is started, acquiring weight data of an elevator cage, and providing a pre-torque for a traction machine according to the weight data; the pre-torque is the preset number times of the weighing torque required to be compensated when the elevator cage is started in the weight data; and acquiring traction sheave rotation data, acquiring a compensation torque according to the traction sheave rotation data, and providing the compensation torque for the traction machine to compensate the pre-torque. Through the mode that starts compensation and start compensation without weighing with weighing and combine together, can start at the elevator, when the band-type brake is opened and is braked, use earlier and weigh and start the compensation, reduce the produced noise of impact in the twinkling of an eye to the hauler, start the compensation and carry out accurate compensation using not weighing, overcome the great defect of weighing data deviation that starts the compensation and bring of weighing, can make the car operate steadily at the start-up in-process, be favorable to improving whole travelling comfort.
Description
Technical Field
The invention relates to the technical field of elevator control, in particular to a moment compensation control method for starting an elevator.
Background
With the rapid entrance of elevators into the daily life of modern society, the riding comfort of elevators is more and more concerned by people. When the elevator brake is opened and the elevator is started, the weight difference between the counterweight and the car (generally, the weight difference is different every time) is caused by the different number of passengers in the car, so that the phenomenon that the car jumps (the same as the running direction) or the car slides backwards at the starting brake in a moment due to moment imbalance is easily caused. Such impact of car bounce or back-slip can cause discomfort to elevator occupants at elevator start-up. Therefore, the traction machine is required to provide a pre-torque before the brake is opened to offset the weight difference between the counterweight and the car. The methods commonly used today are weight start compensation and no weight start compensation.
Wherein, the starting without weighing provides moment compensation for the elevator, generally, the elevator control system calculates and outputs proper moment according to the feedback of related variables, thereby achieving the effect of stable starting. But the defects are that when the elevator is started and the band-type brake is opened, the main machine is easy to generate larger noise, and the impact amplitude caused by starting is larger. And the weighing starting compensation has the defect of large deviation of weighing data.
Disclosure of Invention
The present invention is directed to solve the above problems of the background art, and provides a torque compensation control method for elevator starting.
The purpose of the invention can be realized by the following technical scheme:
the embodiment of the invention provides a torque compensation control method for starting an elevator, which comprises the following steps:
when an elevator is started, obtaining weight data of an elevator cage, and providing a pre-torque for a traction machine according to the weight data; the pre-torque is the preset number times of the weighing torque required to be compensated when the elevator cage is started in the weight data;
and acquiring traction sheave rotation data, acquiring compensation torque according to the traction sheave rotation data, and providing the compensation torque for the traction machine to compensate the pre-torque.
Optionally, when the elevator is started, obtaining weight data of the elevator car, and providing a pre-torque to the traction machine according to the weight data comprises:
when the elevator is started, a signal output after the weighing is carried out by the weighing device is transmitted to the frequency converter, and the frequency converter obtains a measuring current to be output;
the frequency converter outputs actual current to the traction machine according to the measured current to be output; the actual current is a preset number of times of the measured current;
and adjusting the output pre-torque of the tractor before the brake is opened.
Optionally, the weighing device is any one of a rope end weighing device, a platform electronic weighing device and a platform mechanical weighing device.
Optionally, the elevator is equipped with a sine and cosine encoder;
the method for obtaining the rotation data of the traction sheave and obtaining the compensation torque according to the rotation data of the traction sheave comprises the following steps:
detecting the change condition of the analog semaphore of the sine and cosine encoder so as to acquire the rotation data of the traction sheave;
and according to the time point output by the sine and cosine encoder, performing algorithm processing and analysis on the detected analog signal, and calculating insufficient torque to serve as compensation torque.
Optionally, the elevator is fitted with an incremental encoder;
acquiring traction sheave rotation data, acquiring compensation torque according to the traction sheave rotation data, providing the compensation torque for the traction machine, and compensating the pre-torque comprises the following steps:
determining an initial rotor position when the traction machine is static;
determining the initial rotation direction of a traction sheave when the elevator is started according to the initial rotor position;
on the basis of the pre-torque, carrying out multiple progressive compensation on the traction machine according to the rotation direction and the differential torque until the traction sheave is kept static; the difference moment is the difference between the weighing moment and the pre-moment.
Optionally, the initial rotor position comprises a magnetic pole and a magnetic pole position of the initial rotor;
determining an initial rotor position when the machine is stationary includes:
inputting a high-frequency sinusoidal voltage signal to the traction machine to detect the position of a magnetic pole;
and voltage pulse vectors are input in the positive direction and the negative direction of the traction machine to identify magnetic poles.
Optionally, the gradually compensating the traction machine for a plurality of times according to the rotation direction and the differential moment until the traction sheave is kept stationary comprises:
on the basis of the pre-torque, compensating the differential torque to the opposite direction of the initial rotation direction, and performing multiple progressive compensation on the traction machine:
wherein L is n Compensation torque for nth compensation, L n-1 Compensation torque for the (n-1) th compensation, L 0 And F (n) is the direction of the compensation moment, F (n) is-1 when the current rotation direction of the traction sheave is the same as the initial rotation direction, F (n) is 1 when the current rotation direction of the traction sheave is opposite to the initial rotation direction, and F (n) is 0 when the traction sheave is kept static.
Optionally, the gradually compensating the traction machine for a plurality of times according to the rotation direction and the differential moment until the traction sheave is kept stationary comprises:
on the basis of the pre-torque, sequentially increasing compensation torque in the opposite direction of the initial rotation direction by taking the difference torque of preset multiples as a step length, and performing multiple progressive compensation on the traction machine;
reducing the current compensating moment by the difference moment of half preset times until the current compensating moment enables the current rotating direction to be opposite to the initial rotating direction for the first time;
the machine enters a speed closed loop regulation in a zero servo control mode until the traction sheave remains stationary.
Based on the moment compensation control method for starting the elevator provided by the embodiment of the invention, when the elevator is started, the weight data of the elevator cage is obtained, and the pre-moment is provided for the traction machine according to the weight data; the pre-moment is the preset number times of the weighing moment required to be compensated when the elevator cage is started in the weight data; and acquiring rotation data of the traction sheave, acquiring compensation torque according to the rotation data of the traction sheave, and providing the compensation torque for the traction machine to compensate the pre-torque. Through the mode that starts compensation and no weighing and start compensation and combine together, can start when stopping at elevator start, band-type brake open, use earlier to weigh and start compensation, reduce the produced noise of the impact in the twinkling of an eye to the hauler, start compensation and carry out accurate compensation using no weighing, overcome the great defect of weighing data deviation that the compensation brought of starting of weighing, can make the car operate steadily at the start-up in-process, be favorable to improving whole travelling comfort.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of an elevator startup torque compensation control method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a moment compensation control method for starting an elevator. Referring to fig. 1, fig. 1 is a flowchart of a torque compensation control method for starting an elevator according to an embodiment of the present invention, where the method may include the following steps:
s101, when the elevator is started, weight data of an elevator cage are obtained, and pre-torque is provided for a traction machine according to the weight data.
S102, obtaining traction sheave rotation data, obtaining a compensation torque according to the traction sheave rotation data, providing the compensation torque for the traction machine, and compensating the pre-torque.
The pre-torque is a multiple of the pre-set number of weighing torques to be compensated for when the elevator car is started in the weight data.
According to the torque compensation control method for starting the elevator, provided by the embodiment of the invention, by combining weighing starting compensation and non-weighing starting compensation, the weighing starting compensation is firstly used when the elevator is started and the band-type brake is opened, so that the noise generated by instant impact on a tractor is reduced, the non-weighing starting compensation is used for accurate compensation, the defect of large weighing data deviation caused by the weighing starting compensation is overcome, the lift car can stably run in the starting process, and the overall comfort is favorably improved.
In one implementation, the preset number multiple may be set by a technician according to actual conditions, and is not limited herein. The predetermined number times may be set to 70% -80% in general.
In one embodiment, step S101 may include:
when an elevator is started, a signal output by a weighing device after weighing is transmitted to a frequency converter, and the frequency converter obtains a measuring current to be output;
step two, the frequency converter outputs actual current to the tractor according to the measuring current to be output; the actual current is a preset number times of the measured current;
and step three, adjusting the output pre-torque of the traction machine before the brake is opened.
In an implementation mode, when an elevator is started, a weighing device of a car senses the weight of the car, converts the weight of the car into an analog signal through an analog-to-digital converter, inputs the analog signal into a frequency converter, and outputs a corresponding preset current according to the input analog signal by the frequency converter. And transmitting the actual current to the tractor, and adjusting the output pre-torque of the tractor before the brake is opened. Typically, the actual current is 70% -80% of the corresponding predetermined current (i.e., the predetermined torque output is 70% -80% of the weighing torque).
In one embodiment, the weighing device is any one of a rope end weighing device, a platform electronic weighing device and a platform mechanical weighing device.
In one embodiment, the elevator is equipped with a sine and cosine encoder;
the method for obtaining the rotation data of the traction sheave and obtaining the compensation torque according to the rotation data of the traction sheave comprises the following steps:
step one, detecting the change condition of the analog semaphore of the sine and cosine encoder, thereby obtaining the rotation data of the traction sheave.
And step two, according to the time point output by the sine and cosine encoder, performing algorithm processing and analysis on the detected analog signal, and calculating insufficient torque to serve as compensation torque.
In one implementation, the sin-cos encoder is a high-precision encoder that can overcome the resolution limitations of conventional rotary encoders and digital encoders. Because the precision of the sine and cosine encoder is high, the motor moves slightly, the frequency converter can quickly detect the signal voltage fed back by the sine and cosine encoder, and the torque compensation is carried out according to the signal voltage, so that the low-speed servo performance and the uniform rotation performance of the elevator are ensured.
In one embodiment, the elevator is equipped with an incremental encoder; step S102 includes:
step one, determining an initial rotor position when the traction machine is static.
And step two, determining the initial rotation direction of the traction sheave when the elevator is started according to the initial rotor position.
And step three, on the basis of the pre-torque, gradually compensating the traction machine for multiple times according to the rotation direction and the differential torque until the traction sheave keeps static.
The difference moment is the difference between the weighing moment and the pre-moment.
In one embodiment, the initial rotor position comprises a magnetic pole and a magnetic pole position of the initial rotor;
determining an initial rotor position when the machine is stationary includes:
step one, inputting a high-frequency sinusoidal voltage signal to a traction machine to detect the position of a magnetic pole.
And step two, inputting voltage pulse vectors in the positive direction and the negative direction of the tractor to identify the magnetic poles.
In one embodiment, the gradually compensating the traction machine a plurality of times until the traction sheave remains stationary according to the rotation direction and the differential torque includes:
on the basis of the pre-torque, compensating the differential torque to the opposite direction of the initial rotation direction, and gradually compensating the traction machine for multiple times:
wherein L is n Compensation torque for nth compensation, L n-1 Compensating moment for the (n-1) th compensation, L 0 For the differential moment, F (n) is the direction of the compensating moment, F (n) is-1 when the current rotation direction of the traction sheave is the same as the initial rotation direction, F (n) is 1 when the current rotation direction of the traction sheave is opposite to the initial rotation direction, and F (n) is 0 when the traction sheave remains stationary.
In one implementation, let L m As friction torque, L f Is a load moment of L y Pre-torque, if L n +L y <L m +L f If the torque generated by the tractor is smaller than the sum of the load torque and the friction torque, the motor rotates reversely. If L is n +L y >L m +L f If the torque generated by the tractor is larger than the sum of the load torque and the friction torque, the motor rotates forwards. If L is n +L y ＝L m +L f The moment generated by the hoisting machine is equal to the sum of the load moment and the friction moment and the elevator car can remain stationary.
L n The traction sheave is adjusted according to the rotation direction of the motor, before the elevator is started, the traction sheave is locked by a brake, and the output torque of the motor is zero. After the brake is released, the traction sheave outputs L y If L is y Less than the total load moment (sum of load moment and friction moment), the cage will fall down and move towards L y Direction compensation L n . If L is y If the total load moment is greater than the total load moment, the elevator cage can jump to L y Compensation in the opposite direction L n . If L is y Equal to the total load moment, the elevator car remains stationary without adjustment compensation.
Suppose L y Less than the total load moment, then toward L y Direction compensation L n ＝L 0 If total compensation torque (L) n +L y ) Still less than the total load torque, add half of the increment to the previous torque set point and adjust L n Is 1.5L 0 . Then, according to the relationship between the total compensation torque and the total load torque, there are three possibilities:
(1) If the lift car is still falling, half of the last increment is added to the previous torque set point, i.e. L n ＝1.5L 0 +0.5L 0 ×0.5＝1.75L 0 。
(2) The lift car is tripped and then one half of the final decrement, i.e. L, is subtracted from the previous torque set value n ＝1.5L 0 -0.5L 0 ×0.5＝1.25L 0 。
(3) The lift car remains stationary, i.e. the total compensating moment equals the total loading moment, without further adjustment.
Therefore, the subsequent adjustment of the output torque is performed according to the strategy and the rotation direction of the motor. Each motor torque increment is calculated by adding or subtracting one half of the last increment or decrement to or from the previous torque compensation value.
In one embodiment, progressively compensating the traction machine a plurality of times based on the rotational direction and the differential torque until the traction sheave remains stationary comprises:
step one, on the basis of the pre-torque, sequentially increasing the compensation torque in the direction opposite to the initial rotation direction by taking the difference torque of the preset multiple as a step length, and performing multiple progressive compensation on the traction machine.
And step two, reducing the current compensation torque by a difference torque of half preset times until the current compensation torque enables the current rotation direction to be opposite to the initial rotation direction for the first time.
And step three, the traction machine enters the speed closed-loop regulation of the zero servo control mode until the traction sheave keeps static.
In one implementation, let L 0 The preset multiple is beta, which is the difference moment. After the brake is released, the direction of the compensating moment is determined according to the rotating direction of the traction sheave, and moment compensation is carried out. If the elevator cage falls, will beta L 0 As a compensation moment; if the elevator car is still falling, the compensating moment continues to increase by beta L 0 Until the direction of movement of the elevator car changes. Once the lift car has taken off the jump, the current compensation torque is subtracted by beta L 0 2; the machine then enters a speed closed loop regulation in zero servo control mode, eliminating the need for torque compensation. When the subtraction of the electromagnetic torque (sum of the pre-torque and the compensation torque) and the load torque reaches the range of twice of the friction torque, the traction machine is in a balanced state.
If beta.L 0 Too small, the more steps that need to be adjusted, the greater the sliding distance. If beta.L 0 If too large, the adjustment required for the speed loop increases and the sliding distance may be significant. Beta is set by the skilled person as a function of the circumstances and is not restricted here, for example, it can generally take a value between 0.4 and 0.6.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (8)
1. A method for torque compensation control of elevator starting, the method comprising:
when an elevator is started, obtaining weight data of an elevator cage, and providing a pre-torque for a traction machine according to the weight data; the pre-torque is the preset number times of the weighing torque required to be compensated when the elevator cage is started in the weight data;
and acquiring traction sheave rotation data, acquiring compensation torque according to the traction sheave rotation data, and providing the compensation torque for the traction machine to compensate the pre-torque.
2. The torque compensation control method for starting the elevator according to claim 1, wherein the weight data of the elevator car is obtained when the elevator is started, and the providing of the pre-torque to the traction machine according to the weight data comprises:
when the elevator is started, a signal output after the weighing is carried out by the weighing device is transmitted to the frequency converter, and the frequency converter obtains a measuring current to be output;
the frequency converter outputs actual current to the traction machine according to the measured current to be output; the actual current is a preset number of times of the measured current;
and adjusting the output pre-torque of the tractor before the brake is opened.
3. The torque compensation control method for the starting of the elevator according to claim 2, wherein the weighing device is any one of a rope head weighing device, a platform electronic weighing device and a platform mechanical weighing device.
4. The torque compensation control method for the starting of the elevator according to claim 1, wherein the elevator is provided with sine and cosine encoders;
the method for obtaining the rotation data of the traction sheave and obtaining the compensation torque according to the rotation data of the traction sheave comprises the following steps:
detecting the change condition of the analog semaphore of the sine and cosine encoder so as to obtain the rotation data of the traction sheave;
and according to the time point output by the sine and cosine encoder, performing algorithm processing and analysis on the detected analog signal, and calculating insufficient torque to serve as compensation torque.
5. A method of torque compensation control of elevator starting according to claim 1, characterized in that the elevator is equipped with an incremental encoder;
acquiring traction sheave rotation data, acquiring compensation torque according to the traction sheave rotation data, providing the compensation torque for the traction machine, and compensating the pre-torque comprises the following steps:
determining an initial rotor position when the traction machine is static;
determining the initial rotation direction of a traction sheave when the elevator is started according to the initial rotor position;
on the basis of the pre-torque, gradually compensating the traction machine for multiple times according to the rotation direction and the differential torque until the traction sheave is kept static; the difference moment is the difference between the weighing moment and the pre-moment.
6. The method of claim 5, wherein the initial rotor position comprises a magnetic pole and a magnetic pole position of the initial rotor;
determining the initial rotor position when the machine is stationary includes:
inputting a high-frequency sinusoidal voltage signal to the traction machine to detect the position of a magnetic pole;
and voltage pulse vectors are input in the positive direction and the negative direction of the traction machine to identify the magnetic poles.
7. The torque compensation control method for starting of an elevator according to claim 5, wherein the gradually compensating the traction machine a plurality of times until the traction sheave is kept stationary according to the rotation direction and the differential torque comprises:
on the basis of the pre-torque, compensating the differential torque to the direction opposite to the initial rotation direction, and performing multiple progressive compensation on the traction machine:
wherein L is n Compensation torque for nth compensation, L n-1 Compensation torque for the (n-1) th compensation, L 0 And F (n) is the direction of the compensation moment, F (n) is-1 when the current rotation direction of the traction sheave is the same as the initial rotation direction, F (n) is 1 when the current rotation direction of the traction sheave is opposite to the initial rotation direction, and F (n) is 0 when the traction sheave is kept static.
8. The torque compensation control method for starting of an elevator according to claim 5, wherein the gradually compensating the traction machine a plurality of times until the traction sheave is kept stationary according to the rotation direction and the differential torque comprises:
on the basis of the pre-torque, sequentially increasing compensation torque in the opposite direction of the initial rotation direction by taking the difference torque of preset multiples as a step length, and performing multiple progressive compensation on the traction machine;
reducing the current compensating moment by the difference moment of half preset times until the current compensating moment enables the current rotating direction to be opposite to the initial rotating direction for the first time;
the traction machine enters a speed closed loop regulation in a zero servo control mode until the traction sheave is kept static.
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