CN116861572A - Torque feedforward self-adaption method based on rotational inertia of elevator system - Google Patents
Torque feedforward self-adaption method based on rotational inertia of elevator system Download PDFInfo
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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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
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- G—PHYSICS
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Abstract
The invention relates to a torque feedforward self-adaption method based on the rotational inertia of an elevator system, which comprises the steps of firstly judging whether the self-learning of the rotational inertia of the elevator system is finished, if the self-learning of the rotational inertia of the elevator system is finished, reading load information, calculating the rotational inertia of the system according to the read load information by a Newton interpolation method, and then calculating acceleration feedforward torque as a feedforward current controller; if the self-learning of the inertia of the elevator system is not finished, the elevator car runs up and down in idle and full load, and the intermediate-order torque current in the idle and full load up and down processes of the elevator car is captured; and calculating the moment of inertia of the no-load system and the moment of inertia of the full-load system to perform self-learning. According to the load information of the elevator system under the actual working condition, the self-adaptive control of the inertia change of the elevator system caused by the load change is realized by the feedforward control, the load of feedback control is reduced, and the low-bandwidth feedback control configuration is realized.
Description
Technical Field
The invention relates to the technical field of elevators, in particular to a torque feedforward self-adaption method based on rotational inertia of an elevator system.
Background
The feedforward control gives the torque control quantity needed by the system according to the Dynamic Equation (Dynamic Equation) of the load and traction system, and the feedback control carries out deviation correction control when the deviation between the actual system and the reference value is obtained based on the sensor measurement. Accurate feedforward control can reduce the burden of feedback, and low-bandwidth feedback control configuration is realized.
The existing feedforward control cannot realize the self-adaptive control of the system inertia change caused by the load change, namely the feedforward control cannot realize the real-time performance of tracking the load, so that a feedforward torque signal has a certain deviation from an actually required torque signal, more feedback control is needed to realize the following of the speed and the current, and the weight occupied by the feedback signal is increased.
As shown in fig. 1, the elevator traction system is composed of two parts, one part is a rotating system and the other part is a linear system. The elevator traction machine (home machine) is provided with a car system (car) and a counterweight system (counter weight) at both sides, and is connected with a guide wheel (guide wheel) 2 through a traction sheave (home machine) 1, a movable pulley (movable pulley) is arranged on the car 3 and the counterweight system 4 according to an unnecessary hanging Ratio (roping Ratio), and the car 3 rolls or slides on a guide rail (guide rail) through guide wheels and guide shoes (guide shoes). The revolving frame here refers to various gear trains in the elevator traction system, and the linear frame refers to the car system and the counterweight system.
In summary, in order to simplify the calculation, the elevator system is a multi-shaft system, and in general, the problem on each shaft is studied in detail to make the motion relation of other shaft systems equivalent to the shaft side of the tractor, and an actual multi-shaft dragging system is simplified into a single-shaft rotation dragging system, wherein the principle of load torque conversion is to convert the power components before and after the conversion.
For rotational movement, power = torque x angular velocity. Considering the transmission efficiency of the transmission mechanism, the loss of the transmission mechanism is borne by the motor to obtain
T g Ω g ＝T L Ω L η c
Wherein T is g For the actual load torque of the working mechanism, T L Conversion of working mechanism to traction machineTorque on shaft, Ω g For the actual angular velocity of the working mechanism, Ω L For dragging the angular velocity eta of the wheel c The transmission efficiency of the transmission mechanism is the product eta of the transmission efficiency of each stage 1 η 2 …。
From the above, a reduced load torque can be obtained as
Wherein the method comprises the steps ofIs the transmission speed ratio of the transmission mechanism. Wherein n is L The rotation speed measured by the rotation shaft of the equivalent traction machine is n g Is the rotating speed of each level of rotating mechanism. For a traveling block, the transmission speed ratio is 2, known in the elevator industry as the traction ratio.
For elevator systems, load torque T L In practice, it refers to the unbalanced torque (Unbalanced Torque) of the car and counterweight system, and, in particular,
when lifting the car upward, the loss direction of the transmission mechanism is downward in the car driven by the movable pulley, and the load is applied to the shaft side of the tractor
Here, theMeans that the movable pulley saves half lifting force, m, compared with the fixed pulley car Is the mass of the car, g is the gravitational acceleration, R car Is the radius of the movable pulley at the side of the car, omega car Is the angular velocity of a movable pulley at the car side, T L_car For converting the car-side lifting torque into the traction sheave-side load torque, +.>For the upward transmission efficiency of the lift car (comprising the bearing loss of the gear train and the friction loss of the traction steel wire rope and the gear train)
Wherein the method comprises the steps ofThe speed ratio of the elevator car return rope wheel to the traction sheave.
For a counter-weight driven by a movable pulley, the running direction is downward, the loss direction of the transmission mechanism is upward, and the load is applied to the transmission mechanism side, so that the counter-weight driven by the movable pulley has the following characteristics
Here, theMeans that the movable pulley saves half lifting force, m, compared with the fixed pulley cwt Is the weight of the counterweight, R cwt To the radius of the counterweight side movable pulley omega cwt For the angular velocity of the movable pulley on the counterweight side, T L_cwt For converting the heavy-side lowering torque into the traction sheave-side load torque, +.>To obtain the downward transmission efficiency of the counterweight (comprising the bearing loss of the gear train and the friction loss of the traction steel wire rope and the same gear train)
Wherein, the liquid crystal display device comprises a liquid crystal display device,is the rotation speed ratio of the counterweight return rope wheel and the traction sheave.
When the car is released in the downward direction, the direction of loss of the transmission mechanism is downward in the car driven by the movable pulley, and the load is applied to the transmission mechanism side
Obtaining
Wherein the method comprises the steps ofFor the speed ratio of the car return sheave and traction sheave, < >>The downward transmission efficiency of the car (comprising the bearing loss of the gear train and the friction loss of the traction steel wire rope and the gear train).
For a counter-weight driven by a movable pulley, the running direction is upward, the loss direction of the transmission mechanism is downward, and the load is applied to the shaft side of the tractor, and the load is
Obtaining
Wherein the method comprises the steps ofFor the rotation speed ratio of the counterweight return sheave and traction sheave, < > for the counterweight return sheave and traction sheave>For counterweight up-drive efficiency (including bearing loss and traction of the trainFriction loss of wire rope and train).
For the turbine worm type forced-drive elevator, because of no counterweight, eta can also embody the self-locking function of the turbine worm mechanism, in particular,
when the car is moving upward, the power loss p of the transmission mechanism is borne by the traction side due to loss c =traction machine power-load power,
from the above, the load torque converted from the car side to the traction sheave side is obtained,
obtaining
When the car descends, the power loss p of the transmission mechanism is borne by the transmission mechanism side due to loss c The load power-traction machine power,
from the above, the load torque converted from the car side to the traction sheave side is obtained,
obtaining
For the cage, the loss of the transmission mechanism can be considered as unchanged when the cage is lifted and lowered, and the cage can be obtained
Push out
If it isThen->Indicating that the load power is insufficient to overcome the loss of the transmission mechanism, the traction machine is also required to provide power, i.e. if the traction machine is not pushing, the weight is not going down, which is the transmission
Self-locking action of the moving mechanism.
In summary, the load torque value equivalent to the traction sheave side is
T L ＝±T L_car ±T L_cwt
The inertia (Moment of lnertia) (or flywheel moment moment of flywheel) is a measure of the inertia of a Rigid Body (Rigid Body) when it rotates around a rotating shaft, and is a representation of the mechanical inertia of a moving object, and the conversion principle is to ensure that the kinetic energy is unchanged before and after conversion. Including the conversion of straight line systems and rotating systems.
First, the moment of inertia calculation of the rotating system is introduced, the rotating parts comprise a counterweight wheel, a car bottom wheel and a traction sheave which are regarded as discs with evenly distributed mass,
by definition of the moment of inertia,
J＝∫r 2 dm
the disk is considered to be composed of a plurality of small circular rings, and the minute dm is selected
Wherein sigma is density, R is infinitesimal radius, s is infinitesimal area, R is disk radius
Thereby, a product is obtained
Wherein J is CWT Is the moment of inertia of the counterweight wheel, M CWT Is the mass of the counterweight wheel, R CWT Is the radius of the counterweight wheel; j (J) CAR Is the rotational inertia of the bottom wheel of the car, M CAR Is the mass of the bottom wheel of the car, R CAR Is the radius of the bottom wheel of the car; j (J) HOST Is the rotational inertia of the traction sheave, M HOST Is the mass of the traction sheave, R HOST Is the radius of the traction sheave.
Adding the three materials to obtain the rotational inertia of the rotary system
J Rotate ＝J CWT +J CAR +J HOST
And introducing linear system moment of inertia calculation. For the rotary system, the kinetic energy isFor the straight line system, the kinetic energy is +.>Equal to each other, can obtain
Due to
v＝ΩR
Obtaining
J′＝mR 2
This relationship can also be derived by the parallel axis theorem (parallel axis theorem)
J′＝J+mR 2
Wherein J is the rotational inertia of the original rotating shaft, and J' is the rotational inertia of the new rotating shaft obtained after the original rotating shaft is translated by R distance. Regarding a linear member as a particle, j=0, soCan be obtained
m＝(P+Q+P-kQ+W r1 +W r2 +0.5×W r3 )/λ
Wherein P is the dead weight of the car, Q is the rated load, k is the balance coefficient, W r1 Is the weight of the steel wire rope, W r2 Is the compensation chain weight, W r3 Is the weight of the trailing cable, lambda is the traction ratio
The total moment of inertia of the system is the sum of the moment of inertia of the rotation system and the linear system, namely
J System ＝J Rotate +J′
The friction forces on the equivalent traction side of the elevator traction system are mainly manifested on the guide shoes in relation to the positive pressure that it receives perpendicular to the guide rail side. And the positive pressure is related to the unbalanced loading of the car. When the unbalanced load of the car is constant, it is considered that the sliding friction force is kept constant.
When the vehicle is in idle running, in the constant-speed running stage, the stress condition of the system is shown as figure 2, wherein f unbalanced Refers to the unbalanced forces, f, of the system riction Is the dynamic friction force, T e Is electromagnetic torque
Because the weight of the counterweight side is heavier than that of the car, unbalanced torque of the system is upward, the direction of dynamic friction force is opposite to the moving direction, the direction is downward, and the direction of electromagnetic torque is downward according to Newton's first law.
When the car runs down under no load, in the constant-speed running stage, the stress condition of the system is shown in fig. 3, because the weight of the counterweight side is heavier than that of the car, the unbalanced torque of the system is upward, the direction of the dynamic friction force is opposite to the moving direction, the direction is upward, and the direction of the electromagnetic torque is downward according to Newton's first law. In particular, since the directions of the friction forces in the idle uplink and the downlink are opposite, one is used as a boosting force and the other is used as a resistance force with respect to the electromagnetic torque, the electromagnetic torque used in the idle downlink is larger than that in the idle uplink.
When the car is fully loaded and is in an ascending state, in a uniform running stage, the stress condition of the system is shown in fig. 4, because the weight of the counterweight side is lighter than that of the car, the unbalanced torque of the system is downward, the direction of the dynamic friction force is opposite to the moving direction, the direction is downward, and the direction of the electromagnetic torque is upward according to Newton's first law.
When the car is fully loaded and descending, in the constant-speed running stage, the stress condition of the system is shown in fig. 5, because the weight of the counterweight side is lighter than that of the car, the unbalanced torque of the system is downward, the direction of the dynamic friction force is opposite to the moving direction, the direction is upward, and the direction of the electromagnetic torque is upward according to Newton's first law.
When the load of the lift car is 50%, assuming that the balance coefficient of the elevator system (namely, unbalanced mass at two sides of the traction sheave/rated load is 100%) is 50%, uniform running can be realized only by overcoming very small friction resistance, when the lift car is in acceleration and deceleration running, the unbalanced torque at the moment can be considered to be 0, and when the friction torque is ignored, the lift car can be obtained
Due to
T e ＝K it I
Wherein I is torque current, K it As a function of the torque/current coefficient,
obtaining
When the load is not 50%, the unbalanced torque T is calculated to be taken into consideration unbanlanced Drag equation is
The number of the addition and the subtraction is determined according to different loads and different acceleration and deceleration conditions. For example, when the car is accelerating in the no-load ascending direction, the car is lighter than the heavy and the unbalanced torque is upward, so the electromagnetic torque is downward, the frictional resistance is downward, and if the direction is positive, the sign before the electromagnetic torque is negative and the sign before the unbalanced torque is positive.
Based on the above analysis, the specific symbol values are shown in the following table (all with the running direction as positive direction)
The feedforward torque is T obtained by the drag equation em
Taking no-load uplink acceleration as an example, the value actually required to be compensated is
Wherein the method comprises the steps ofAs unbalanced torque current, the direction is downward; />The static bias compensation quantity is downward, and the value is slightly smaller than the unbalanced torque current; />Is a dynamic compensation amount related to acceleration. Acceleration feedforward compensation and PI regulation are carried out on dynamic compensation quantity, and static bias is carried outThe compensation is controlled by PI-regulators and weighing precompensation.
Taking the actual measurement of the disc traction machine system as an example, an image of no-load ascending is shown in fig. 6, and a positive value in fig. 6 indicates an upward direction and a negative value indicates a downward direction.
It can be obtained that the acceleration dynamics compensation is upward in the acceleration phase direction and downward in the deceleration phase direction.
As can be seen from fig. 6, the torque current is downward at no load up, the static bias compensation torque current is downward at constant speed, and the unbalanced torque current is downward. The torque current is unbalanced torque current in static state, and is vector superposition of static bias compensation torque current and acceleration feedforward dynamic compensation current in dynamic operation.
Taking no-load downlink acceleration as an example, the value actually required to be compensated is
Wherein the method comprises the steps ofAs unbalanced torque current, the direction is downward; />The static bias compensation quantity is downward, and the value is slightly larger than the unbalanced torque current; />Is a dynamic compensation amount related to acceleration. And (3) performing acceleration feedforward compensation and PI adjustment on the dynamic compensation quantity, wherein the static bias compensation is controlled by a PI regulator and weighing precompensation.
Taking the actual measurement of the disc traction machine system as an example, the image of the empty descending is shown in fig. 7, and in fig. 7, a positive value indicates an upward direction and a negative value indicates a downward direction.
It can be obtained that the acceleration feedforward dynamics compensation is downward in the acceleration phase direction and upward in the deceleration phase direction.
As can be seen from fig. 7, the torque current is downward at no load down, the static bias compensation torque current is downward at constant speed, and the unbalanced torque current is downward. The torque current is unbalanced torque current in static state, and is vector superposition of static bias compensation torque current and acceleration feedforward dynamic compensation current in dynamic operation.
Taking full-load uplink acceleration as an example, the value actually required to be compensated is
Wherein the method comprises the steps ofUnbalanced torque current, directed upwards; />The static bias compensation quantity is upward, and the value is slightly larger than the unbalanced torque current; />Is a dynamic compensation amount related to acceleration. And (3) performing acceleration feedforward compensation and PI adjustment on the dynamic compensation quantity, wherein the static bias compensation is controlled by a PI regulator and weighing precompensation.
Taking the actual measured disc traction machine system as an example, the full-load uplink image is shown in fig. 8, in which positive values in fig. 8 indicate the upward direction and negative values indicate the downward direction
It can be obtained that the acceleration feedforward dynamics compensation is upward in the acceleration phase direction and downward in the deceleration phase direction.
As can be seen from fig. 8, the torque current is upward at full load, the static bias compensation torque current is upward at constant speed, and the unbalanced torque current is upward. The torque current is unbalanced torque current in static state, and is vector superposition of static bias compensation torque current and acceleration feedforward dynamic compensation current in dynamic operation.
Taking full-load downlink acceleration as an example, the value actually required to be compensated is
Wherein the method comprises the steps ofUnbalanced torque current, directed upwards; />The static bias compensation quantity is upward, and the value is slightly smaller than the unbalanced torque current; />Is a dynamic compensation amount related to acceleration. And (3) performing acceleration feedforward compensation and PI adjustment on the dynamic compensation quantity, wherein the static bias compensation is controlled by a PI regulator and weighing precompensation.
Taking the actual measured disc traction machine system as an example, the full-load descending image is shown in fig. 9, wherein in fig. 9, a positive value indicates an upward direction, and a negative value indicates a downward direction
It can be obtained that the acceleration feedforward dynamics compensation is downward in the acceleration phase direction and upward in the deceleration phase direction.
As can be seen from fig. 9, the torque current is upward at full load, the static bias compensation torque current is upward at constant speed, and the unbalanced torque current is upward. The torque current is unbalanced torque current in static state, and is vector superposition of static bias compensation torque current and acceleration feedforward dynamic compensation current in dynamic operation.
As can be seen from the above examples, the elevator system is actually four-quadrant controlled, as shown in fig. 10 (electromagnetic torque-angular velocity diagram), the first quadrant being in an electric state, consuming electric energy, corresponding to full-load up-travel; the second quadrant is in a power generation state, generates electric energy and corresponds to full-load descending; the third quadrant is in an electric state, consumes electric energy and corresponds to no-load descending; the fourth quadrant is the power generation state, produces the electric energy, and the corresponding no-load goes upward.
Moment of inertia J of system System The test can be obtained according to the load by the calculation method described above, or can be obtained by experimental test, and the experimental method is described below.
An applicable model for defining ARX (autoregressive for AutoRegressive eXogenous out-of-band inputs) using the least squares method with recursion (Recursive least squares) to solve for the moment of inertia (Moment of Inertia) of the system is:
a(z)y k ＝b(z)u k +e k
wherein e k Is Gaussian white noise disturbance, namely, the mean value is 0, the independent distribution is the same, and the variance is sigma 2 . Finishing the transferred items
y k ＝(1-a(z))y k +b(z)u k +e k
Defining a predictive model as
Wherein z is a time-shift operator, the process is a differential equation, and the matrix is formed by arrangement
The matrix contains the history information and,
the evaluation equation (cost Function) is designed as the sum of squares of the real system and the prediction model errors,
the objective is to find θ that minimizes the evaluation equation
Expressed in matrix form as
f(θ)＝ε T ε＝(y-Φθ) T (y-Φθ)
＝y T y-y T Φθ-θ T Φ T y+θ T Φ T Φθ
＝y T y-2θ T Φ T y +θ T Φ T Φθ
The simplification is as follows:
wherein h=2Φ T Phi (Hessian Matrix/covariance Matrix, autocorrelation Auto-correlation Matrix), f= -2 phi T y (Cross correlation matrix Cross-correlation matrix)
The partial derivative of f to theta is calculated, and when the optimal coefficient is the partial derivative of 0,
obtaining
Hessian matrix phi T The calculation and inversion of phi are computationally time consuming, so a RecUrsive Method (RecUrse Method) is proposed to calculate the parameter matrix θ
Design of a recursive matrixWherein the method comprises the steps of
At time t, before the parameter matrix is updated,
so that the number of the parts to be processed,
the following matrix is used to update the information at time t-1- > t
Recursive updating method for designing two matrixes
Autocorrelation matrix
Cross correlation matrix
Thus (2)
Solving the inverse of the autocorrelation matrix P uses a small matrix inversion theory (Small Matrix Inversion Lemma) that states that the inverse of a high dimensional matrix a is known, and when the a matrix produces a very small change (either of dimensions well below a or below a), the inverse of the matrix after a small change can be found from the known inverse of a.
(A+BCD) -1 ＝A -1 -A -1 B(C -1 +DA -1 B) -1 DA -1 Provided that the rank (rank) of BCD is small
According to this index, let P (t) =a+bcd, a=p -1 (t-1)，C＝1，/>
Then
In view of the above-mentioned, it is desirable,
the flow of the recursive algorithm is as follows:
A. initialization of
Initialization requires setting an initial value P of an autocorrelation matrix 0 The method comprises the steps of carrying out a first treatment on the surface of the θ can be estimated according to the actual
B. Updating prediction errors
C. Calculating an autocorrelation matrix
Wherein lambda is forgetting factor, and the value range is 0.9-1
D. Updating parameters
E. Enter the next cycle
The specific application of the recursive method is briefly described below
And when the vehicle runs on the idle load, recording the average torque at the time of uniform acceleration of the middle step and the average torque at the time of uniform speed of the middle step.
When the vehicle runs down under no load, the average torque (same position and uniform acceleration as the vehicle runs up) recorded in the middle-order uniform acceleration is recorded, namely the condition that
Wherein T is e_up_empty Is the average torque during no-load ascending middle-order uniform acceleration, T e_dn_empty Is the average torque during no-load descending middle-order uniform acceleration
Subtracting the two to obtain
Capturing the average torque at the constant speed of no-load ascending, including
f riction ＝f unbalanced -T e_up_const
Wherein T is e_up_const Average torque at constant speed in no-load uplink
For elevator traction system, no-load ascending
Wherein T is e Is electromagnetic torque, T L Is unbalanced torque, f is frictional resistance, ω k Is the current angular velocity omega k-1 Is the angular velocity of the last state, T s Is the sampling time.
Is arranged to obtain
Corresponding to
v＝ay+bu
Wherein the method comprises the steps of
a＝1；
According to standard linear system equation
Corresponding to
Then calculating according to the flow of the recursion algorithm, converging after a certain times to obtain coefficient matrix xi k And obtaining the rotational inertia of the system when the load is unloaded.
At full load, the average torque at the time of intermediate-order uniform acceleration and the average torque at the time of intermediate-order uniform velocity are recorded
At full load, the average torque at intermediate level of uniform acceleration is recorded
Namely meet the following requirements
Wherein T is e_up Is the average torque during full-load ascending middle-order uniform acceleration, T e_dn Is the average torque during full-load descending middle-order uniform acceleration
Subtracting the two to obtain
Capturing the average torque at the uniform speed of full load uplink
f riction ＝T e_up_const -f unbalanced
Wherein T is e_up_const Average torque at uniform speed for full load
For elevator traction system, when fully loaded
Wherein T is e Is electromagnetic torque, T L Is unbalanced torque, f is frictional resistance, ω k Is the current angular velocity omega k-1 Is the upper-state angular velocity, T s Is the sampling time.
Is arranged to obtain
Corresponding to
y＝ay+bu
Wherein the method comprises the steps of
a＝1；
According to standard linear system equation
Corresponding to
Then calculating according to the flow of the recursion algorithm, converging after a certain times to obtain coefficient matrix xi k The moment of inertia of the system at full load is obtained.
The references of the invention are:
(1) Li Junyuan et al, "electric traction foundation", china university of science and technology Press, 1999;
(2) Chen Min, et al, physics, higher education touch pad, 2012;
(3) Li Danyun and the like, and Chinese patent grant publication No. CNl09586645B applied by China university of geology (Wuhan), and a permanent magnet synchronous motor inertia identification method and equipment.
Disclosure of Invention
The invention aims to provide a torque feedforward self-adaptive method based on the rotational inertia of an elevator system, which performs self-learning according to the change of the rotational inertia of the system caused by the change of the load, and obtains the dynamic change of the rotational inertia of the system for compensating acceleration dynamic torque current, aiming at the problem that the conventional feedforward control cannot realize the real-time performance of tracking the load and can cause a certain deviation between a feedforward torque signal and an actually required torque signal. The current obtained at this time is the torque current to be fed forward to the system.
In order to achieve the object of the invention, the torque feedforward adaptive method based on the rotational inertia of the elevator system comprises the following steps:
step one: judging whether the self-learning of the moment of inertia of the elevator system is finished, and if the self-learning of the moment of inertia of the elevator system is finished, entering a step nine; if the self-learning of the inertia of the elevator system is not completed, entering a second step;
step two: the elevator car is unloaded, moves upwards, and captures the intermediate-order torque current in the process of unloading and ascending the elevator car;
step three: the elevator car is unloaded and moves downwards, and the intermediate-order torque current in the process of unloading and descending the elevator car is captured;
step four: calculating the moment of inertia of the no-load system or obtaining the moment of inertia of the no-load system through experimental test according to the intermediate-order torque current in the no-load ascending process of the cage captured in the second step and the intermediate-order torque current in the no-load descending process of the cage captured in the third step;
step five: the elevator car is fully loaded and moves upwards, and the intermediate-order torque current in the fully loaded and ascending process of the elevator car is captured;
step six: the elevator car fully loads and moves downwards, and the intermediate-order torque current in the fully loaded and descending process of the elevator car is captured;
step seven: calculating the moment of inertia of the full-load system or obtaining the moment of inertia of the full-load system through experimental test according to the intermediate-order torque current in the full-load ascending process of the elevator car captured in the fifth step and the intermediate-order torque current in the full-load descending process of the elevator car captured in the sixth step;
step eight: returning to the first step after the self-learning of the rotational inertia of the elevator system is completed;
step nine: reading load information;
step ten: calculating the moment of inertia of the system according to Newton interpolation based on the load information read in the step nine;
step eleven: and (3) calculating acceleration feedforward torque as a feedforward current controller according to the system moment of inertia calculated in the step (ten).
In a preferred embodiment of the invention, the steps one to eight are repeated until the self-learning of the moment of inertia of the elevator system is completed.
In a preferred embodiment of the present invention, the intermediate-stage torque current is a torque current of an intermediate-stage constant-speed running section of the car.
By adopting the technical scheme, the invention enables the feedforward control to realize the self-adaptive control of the inertia change of the elevator system caused by the load change according to the load information of the elevator system under the actual working condition, reduces the load of the feedback control and realizes the low-bandwidth feedback control configuration.
Drawings
Fig. 1 is a schematic diagram of the operating principle of an elevator system.
Fig. 2 is a schematic diagram of the stress situation of the elevator system during the constant speed operation when the car is in idle running.
Fig. 3 is a schematic diagram of the stress situation of the elevator system during the constant speed operation when the car is in idle running.
Fig. 4 is a schematic diagram of the stress situation of the elevator system during the constant speed operation when the car is fully loaded.
Fig. 5 is a schematic diagram of the load situation of the elevator system during the constant speed operation when the car is fully loaded.
Fig. 6 is a schematic diagram of the empty car traveling upward using the actual measured disc traction machine system as an example.
Fig. 7 is a schematic diagram showing the empty car descending using the actual-measured disc traction machine system as an example.
Fig. 8 is a schematic diagram of a fully loaded car traveling up taking a measured disc traction machine system as an example.
Fig. 9 is a schematic diagram of a fully loaded car descending using an example of a measured disc traction machine system.
Fig. 10 is a four-quadrant control schematic of an elevator system.
Fig. 11 is a flow chart of the torque feedforward adaptive method based on the rotational inertia of the elevator system of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
Referring to fig. 11, the torque feedforward adaptive method based on the rotational inertia of the elevator system of the present invention includes the steps of:
step one: judging whether the self-learning of the moment of inertia of the elevator system is finished, and if the self-learning of the moment of inertia of the elevator system is finished, entering a step nine; if the self-learning of the inertia of the elevator system is not completed, entering a second step;
step two: the elevator car is unloaded, moves upwards, and captures the intermediate-order torque current in the process of unloading and ascending the elevator car;
step three: the elevator car is unloaded and moves downwards, and the intermediate-order torque current in the process of unloading and descending the elevator car is captured;
step four: calculating the moment of inertia of the no-load system or obtaining the moment of inertia of the no-load system through experimental test according to the intermediate-order torque current in the no-load ascending process of the cage captured in the second step and the intermediate-order torque current in the no-load descending process of the cage captured in the third step;
step five: the elevator car is fully loaded and moves upwards, and the intermediate-order torque current in the fully loaded and ascending process of the elevator car is captured;
step six: the elevator car fully loads and moves downwards, and the intermediate-order torque current in the fully loaded and descending process of the elevator car is captured;
step seven: calculating the moment of inertia of the full-load system or obtaining the moment of inertia of the full-load system through experimental test according to the intermediate-order torque current in the full-load ascending process of the elevator car captured in the fifth step and the intermediate-order torque current in the full-load descending process of the elevator car captured in the sixth step;
step eight: returning to the first step after the self-learning of the rotational inertia of the elevator system is completed;
step nine: reading load information;
step ten: calculating the moment of inertia of the system according to Newton interpolation based on the load information read in the step nine;
step eleven: and (3) calculating acceleration feedforward torque as a feedforward current controller according to the system moment of inertia calculated in the step (ten).
And repeating the steps one to eight until the self-learning of the rotational inertia of the elevator system is completed.
The intermediate-stage torque current is the torque current of the intermediate-stage constant-speed running section of the car.
Claims (3)
1. A torque feedforward adaptive method based on rotational inertia of an elevator system, comprising the steps of:
step one: judging whether the self-learning of the moment of inertia of the elevator system is finished, and if the self-learning of the moment of inertia of the elevator system is finished, entering a step nine; if the self-learning of the inertia of the elevator system is not completed, entering a second step;
step two: the elevator car is unloaded, moves upwards, and captures the intermediate-order torque current in the process of unloading and ascending the elevator car;
step three: the elevator car is unloaded and moves downwards, and the intermediate-order torque current in the process of unloading and descending the elevator car is captured;
step four: calculating the moment of inertia of the no-load system or obtaining the moment of inertia of the no-load system through experimental test according to the intermediate-order torque current in the no-load ascending process of the cage captured in the second step and the intermediate-order torque current in the no-load descending process of the cage captured in the third step;
step five: the elevator car is fully loaded and moves upwards, and the intermediate-order torque current in the fully loaded and ascending process of the elevator car is captured;
step six: the elevator car fully loads and moves downwards, and the intermediate-order torque current in the fully loaded and descending process of the elevator car is captured;
step seven: calculating the moment of inertia of the full-load system or obtaining the moment of inertia of the full-load system through experimental test according to the intermediate-order torque current in the full-load ascending process of the elevator car captured in the fifth step and the intermediate-order torque current in the full-load descending process of the elevator car captured in the sixth step;
step eight: returning to the first step after the self-learning of the rotational inertia of the elevator system is completed;
step nine: reading load information;
step ten: calculating the moment of inertia of the system according to Newton interpolation based on the load information read in the step nine;
step eleven: and (3) calculating acceleration feedforward torque as a feedforward current controller according to the system moment of inertia calculated in the step (ten).
2. A torque feedforward adaptive method based on the moment of inertia of an elevator system according to claim 1, wherein steps one through eight are repeated until the moment of inertia of the elevator system is self-learned.
3. A torque feedforward adaptive method based on the moment of inertia of an elevator system according to claim 1 or 2, wherein the intermediate-order torque current is the torque current of an intermediate-order constant speed running section of the car.
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| CN202211636128.8A CN116861572A (en) | 2022-12-19 | 2022-12-19 | Torque feedforward self-adaption method based on rotational inertia of elevator system |
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| CN202211636128.8A CN116861572A (en) | 2022-12-19 | 2022-12-19 | Torque feedforward self-adaption method based on rotational inertia of elevator system |
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