KR0124568B1 - Speed pattern generation algorithm for parking lot equipment - Google Patents

Abstract

The speed pattern generation device of a parking equipment has an encoder which is attached to a lift driving motor to output the present lift position information; a terminal 5 for inputting information on the parking position and so on by a user; a main controller 6 for sensing the present position of the lift via the encoder, operating the high speed and low speed according to the signal input via the terminal 5, and informing a lift inverter of the present position and target position of the lift via communication; and the lift inverter 7 for generating a speed pattern to the target position by the signal of the main controller 6 and moving the lift to the target position.

Description

Speed pattern generator of parking equipment

1A is a block diagram of a conventional speed pattern generator.

FIG. 1B is a control waveform diagram of the PLC of FIG.

FIG. 1C is an equivalent circuit diagram of the acceleration setter of FIG.

FIG. 1 (d) is an output characteristic diagram of FIG.

2 is a conventional elevator acceleration and deceleration curve characteristics.

3 is an operation flowchart of a conventional speed pattern generator.

4 is a configuration diagram of a speed pattern generator of the present invention.

5 is a configuration diagram of a speed pattern generator of the present invention.

6 is a flowchart illustrating operations of each mode of FIG. 5.

7 is an acceleration / deceleration curve characteristic diagram of the present invention.

* Explanation of symbols for main parts of the drawings

5: terminal 6: main control unit

7: lift inverter

The present invention relates to a speed pattern generator using a position to be suitable for a speed pattern generation algorithm.

The speed pattern generator uses the position to control the speed of the motor and to control the position. The speed pattern generator generates the speed pattern necessary for the position control and the speed control to move from one floor to another in the elevator. This also applies to the case of position control in order to move one car to another place.

Referring to the conventional speed pattern generator with reference to the accompanying drawings, the speed pattern generator of a conventional parking facility is lifted by accepting the contacts of each floor limit switch on the hoistway as shown in FIG. Programmable Logic Controller (PLC) that applies Run Signal to the inverter and applies Control Signals (A, B, C) as shown in Figure 1 (b) to the Acceleration Set Point (Speed Pattern Generator). (1) and an acceleration setter (2) for generating a speed pattern and outputting a speed control signal to a lift inverter (Lift Inverter), and by the signals of the PLC unit (1) and the acceleration setter (2). It consists of a lift inverter 3 which moves a lift.

Here, FIG. 1 (c) shows an equivalent circuit of the acceleration setter 2 and FIG. 1 (d) shows the magnitudes of the variable resistors VR and VR2.

In addition, the control of the elevator requires the generation of a speed pattern, and the hardware configuration of the hardware consists of a main controller, a lift inverter, and a terminal.

The operation of the conventional speed pattern generator configured as described above is as follows.

First, in order to move the vehicle of the speed pattern generator of the parking facility as shown in FIG. 1 from the current position to another position, the PLC unit 1 receives a contact point for each floor limit switch on the hoistway and sends a run signal to the lift inverter 3. Together, the control signals A, B, and C are output to the acceleration setter 2.

The acceleration setter 2, which receives the control signals A, B, and C from the PLC unit 1, has a variable resistor VR1 that determines the maximum speed as shown in FIG. 1C and a variable that determines the minimum speed. Using the value of the resistor VR2, a speed pattern is generated using the Rc filter 4 reel to send a speed control signal to the lift inverter 3.

Thus, the lift inverter 3 moves to the position for the lift.

Meanwhile, the operation of the conventional speed pattern generator of an elevator will be described with reference to FIG. 2, which is a characteristic diagram of an elevator acceleration and deceleration curve, and FIG. 3, which is a flowchart of an operation thereof. (β = βo), Speed (V = o) Set the constant speed (Vo) (IS)

Here, the constant velocity Vo is a velocity when the acceleration α reaches the maximum velocity αo.

It is determined whether the acceleration α has reached the maximum speed αo, and if the acceleration α = maximum speed αo, the acceleration α is set to the maximum acceleration αo and the acceleration speed β = o is set. Acceleration α) (2S).

At this time, if the acceleration α is the maximum velocity α o, the velocity increases to the first function.

The speed (V) is smaller than the constant speed (V _CMD -Vo) from the normal running speed command value (V _CMD ), and the current speed (V) is greater than or less than the constant speed (V _CMD -Vo). In this case, the acceleration α is decreased by the acceleration (β = −βo) (3S).

When the current speed (V) reaches the normal speed command value (V _CMD ), set α = β = 0 so that the current speed (V) = normal speed command value (V _CMD ) (4S) The speed V is set to normal driving speed V _CMD until the call signal is active.

The absolute value of acceleration (| α |) is increased until the remaining distance becomes zero, and if the remaining distance is zero, the deceleration distance is calculated from the stop position and the current position, and the deceleration speed is calculated using Equation (1). do.

If the current position is the shield plate section of the stop position, set the acceleration (β) = maximum acceleration (βo) .If the current speed is less than or equal to 2m / min, keep the current speed at 2mmin and the current position is greater than the stop position. Or stops when it is equal (5S).

The speed pattern generator of the conventional parking facility configured as described above cannot stop the lift at the correct position because the PLC unit 1 moves the position of the lift by the speed control by a limit switch on the hoistway.

In addition, the speed pattern generator of the elevator has a constant acceleration time because the maximum value of the acceleration speed is constant with respect to the normal circumferential speed command value during acceleration, and the residual distance calculation, deceleration distance calculation, deceleration speed from the preceding distance during acceleration Not only is it complicated to calculate, but the maximum value of acceleration and acceleration is constant and the acceleration can be changed after the acceleration reaches the maximum acceleration. Therefore, if the normal running speed command value is smaller than the constant value, the pattern generator cannot be used. There is such a problem.

The present invention has been made to solve the above problems. It is an object of the present invention to provide a speed pattern generator capable of accurate position control.

The present invention for achieving the above object is to generate a speed pattern by using the position (Position) obtained from the encoder (encoder) attached to the motor the speed pattern generator generated by the limit switch on the existing hoistway.

Referring to the speed pattern generator of the present invention as described above in more detail with reference to the accompanying drawings as follows.

4 is a configuration diagram of the speed pattern generator of the present invention, which is attached to a lift driving motor to output current lift position information (not shown in the drawing) and a user can input information such as parking position. After calculating the high speed, the low speed, etc. according to the terminal 5 and the target lift position input through the terminal 5, input a signal from the encoder attached to the motor for lift driving. It calculates the current lift position and communicates it to the lift inverter through communication with the main control unit 6 and the signal from the main control unit 6 to create a speed pattern to the target position and speed the lift to the target position. It consists of a lift inverter (7) that creates a pattern and moves the lift to the target position.

Therefore, in the elevator, the maximum value (absolute value) besides the acceleration (α) and the acceleration (β) is set to a constant due to the problem of eccentricity. Even if the target position is able to receive the hall call signal in the middle floor, the target position can be changed.In the parking facility, the acceleration (α) is passed through a complex algorithm that calculates the remaining distance calculation, leading distance, deceleration distance, deceleration speed, etc. ) And the maximum value of the acceleration (β) (αo, βo) should be user modifiable, and it is possible to know the current starting position and the target position accurately, and the target position is not changed, so the balance calculation, leading distance, decreasing distance There is no need to compute the back.

This speed pattern generator is described with reference to FIGS. 5 to 7 as follows.

FIG. 5 is an operation flowchart of the speed pattern generator of the present invention, FIG. 6 is an operation flowchart of each mode of FIG. 5, and FIG. 7 is a mode 0 when the operating conditions are satisfied.

That is, as shown in FIG. 6 (a), the present speed V = 0, the acceleration αα = 0, and the acceleration acceleration ββ = 0.

After executing mode 0, execute mode 1.

That is, as shown in FIG. 6 (b), the acceleration speed β is made to be the maximum acceleration speed βo, and the current speed V is larger than 1/2 (V _CMD / 2) of the normal driving speed command value and the acceleration α If) is less than the maximum acceleration αo, the current speed V is stored at a constant speed Vo, and mode 3 is executed.

If the present speed (V) is less than the normal driving speed command value / 2 (V _CMD / 2) and the acceleration (α) is greater than or equal to the maximum acceleration (αo), the current speed is stored at a constant speed (Vo) and mode 2 is stored. Perform.

Mode 2 sets the acceleration (β) to 0 as shown in FIG. 6 (c) (if the normal driving speed command value-constant speed) (V _CMD -Vo) is less than or equal to the current speed (V), mode 3 Perform.

Mode 3 sets the acceleration (β) to the negative maximum acceleration value (-βo) as shown in FIG. 6 (d), and when the acceleration (α) becomes 0 (α = 0) (current position-starting position) Store at a certain position (Po), set the acceleration (α = 0) and plasticity (β = 0) and execute the mode.

Mode 4 sets the acceleration (β) to minus maximum acceleration (-βo) when (current position-starting position) is larger than (target position-constant position (Po)) as shown in FIG. Perform

In mode 5, as shown in FIG. 6 (f), if the present speed V is greater than (normal speed command value / 2) (V _CMD / 2) and the acceleration (α) is less than or equal to the negative maximum acceleration (-α0) Mode 6 is executed, and mode 7 is performed if the present speed V is less than or equal to (normal running speed command value / 2) (V _CMD / 2).

Mode 6 sets the acceleration α to the negative maximum acceleration (−α 0) and the acceleration acceleration β to 0, as shown in FIG. 6 (g), and the current speed V is smaller than the constant speed Vo. If it is, perform mode 7.

Mode 7 sets the acceleration (β) to the maximum acceleration (βo), as shown in Figure 6 (h) and stops the operation (V = 0) if the current position is greater than or equal to the target position.

Therefore, it is possible to set the maximum acceleration αo and the maximum acceleration βo normal running speed to any value.

In the speed pattern generator according to the present invention as described above, the main controller can accurately know the current position on the hoistway, and the vehicle stops precisely at the designated position of the main controller, thereby increasing the stability of the parking equipment and improving the speed pattern. It does not need an acceleration generator because it occurs in the inverter, and the user can adjust the acceleration time by changing the maximum acceleration value (αo) so that the speed pattern can be generated even if the normal running speed command value has any value. Has the effect of.

Claims (1)

An encoder attached to a lift driving motor of a parking facility to obtain a position of the lift, a terminal 5 for inputting a desired number of floors by the user, a current position of the lift is sensed through the encoder, and the terminal 5 The main control unit 6 for calculating the high speed, low speed according to the signal input through the high speed, low speed, the current lift position, the target lift position to inform the lift inverter through communication, and the main control unit ( Speed pattern device of the parking facility, characterized in that it comprises a lift inverter (7) to make a speed pattern to the target position by the signal of 6), and to operate the lift to the target position