WO2018195852A1 - 电梯检修运行控制方法和系统 - Google Patents

电梯检修运行控制方法和系统 Download PDF

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Publication number
WO2018195852A1
WO2018195852A1 PCT/CN2017/082185 CN2017082185W WO2018195852A1 WO 2018195852 A1 WO2018195852 A1 WO 2018195852A1 CN 2017082185 W CN2017082185 W CN 2017082185W WO 2018195852 A1 WO2018195852 A1 WO 2018195852A1
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WO
WIPO (PCT)
Prior art keywords
acceleration
elevator
speed
deceleration
jerk
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PCT/CN2017/082185
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English (en)
French (fr)
Inventor
郑伟
Original Assignee
深圳市海浦蒙特科技有限公司
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Publication date
Application filed by 深圳市海浦蒙特科技有限公司 filed Critical 深圳市海浦蒙特科技有限公司
Priority to PCT/CN2017/082185 priority Critical patent/WO2018195852A1/zh
Priority to CN201780085317.1A priority patent/CN110267897B/zh
Publication of WO2018195852A1 publication Critical patent/WO2018195852A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • B66B1/40—Means for stopping the cars, cages, or skips at predetermined levels and for correct levelling at landings

Definitions

  • the invention relates to the technical field of elevator operation control, in particular to an elevator maintenance operation control method and system.
  • Elevator operation can be divided into normal operation and maintenance operation, in which the maintenance operation mainly performs slow operation (less than 0.2 m/s) maintenance operation on the elevator.
  • the acceleration and deceleration curve of the traditional elevator maintenance operation adopts a constant acceleration.
  • the disadvantage of this method is that the passenger comfort is much worse.
  • An elevator maintenance operation control method includes:
  • acceleration/deceleration running curve of the variable acceleration wherein the acceleration/deceleration running curve of the variable acceleration has less acceleration in the initial stage and the ending stage of the acceleration or deceleration than the intermediate stage; and the acceleration/deceleration running curve of the variable acceleration
  • the acceleration/deceleration distance is the same as the acceleration/deceleration distance of the constant acceleration acceleration/deceleration operation curve;
  • the elevator is controlled for maintenance according to the selected running curve.
  • An elevator maintenance operation control system includes an elevator main control board and a traction motor, wherein the elevator main control board controls a traction motor to operate, the elevator main control board includes a central processing unit and a memory, and the storage stores an elevator operation instruction.
  • the central processor executes the run instructions to implement the method described above.
  • the accelerations in the acceleration section and the deceleration section are gradually increased first, and then gradually become smaller until 0, which is a changed value.
  • the shape of the curve is S-shaped, and the acceleration at the time of starting acceleration or deceleration and at the end of acceleration or deceleration is small, so that the comfort of the passenger can be improved.
  • the acceleration/deceleration distance of the acceleration/deceleration operation curve that satisfies the constant acceleration is the same as the acceleration/deceleration distance of the acceleration/deceleration operation curve of the variable acceleration, so as to increase the running distance of the acceleration or deceleration while improving the comfort, and avoid the occurrence of the distance extension. The problem caused.
  • FIG. 1 is a flow chart of an elevator maintenance operation control method according to an embodiment
  • Figure 2a is a schematic diagram of an acceleration and deceleration operation curve of constant acceleration
  • Figure 2b is a schematic diagram of the acceleration and deceleration running curve of the variable acceleration.
  • 3a is a flow chart showing the operation control of the sampling constant acceleration when the elevator is ascending in the maintenance operation control method according to an embodiment
  • Figure 3b is a V-t running curve obtained by the process shown in Figure 3a;
  • FIG. 4 is a flow chart showing the operation control of the sampling constant acceleration when the elevator is descending in the maintenance operation control method according to an embodiment
  • FIG. 5a is a flow chart showing the operation control of the sampling variable acceleration in the elevator operation when the maintenance operation control method of the embodiment is performed;
  • Figure 5b is a V-t running curve obtained by the process shown in Figure 5a;
  • FIG. 6 is a flow chart showing the operation control of the sampling variable acceleration in the maintenance operation control method of the embodiment.
  • the elevator maintenance operation control method simultaneously provides an acceleration/deceleration operation curve of constant acceleration and an acceleration/deceleration operation curve of variable acceleration for selection, and the acceleration/deceleration distance of the constant acceleration acceleration/deceleration operation curve and the acceleration/deceleration operation curve of the variable acceleration The acceleration and deceleration distance is the same
  • the method includes the following steps S100 to S300.
  • Step S100 Acquire a curve selection instruction.
  • the curve selection command can be set or entered by the service personnel at the beginning of the inspection run.
  • Step S200 Select a corresponding running curve according to the curve selection instruction.
  • the elevator system selects the corresponding operating curve according to the curve selection command.
  • Step S300 Control the elevator to perform an inspection operation according to the selected running curve.
  • FIG. 2a is a schematic diagram of an acceleration/deceleration operation curve of a constant acceleration
  • FIG. 2b is a schematic diagram of an acceleration/deceleration operation curve of a variable acceleration.
  • the V-t curve of constant acceleration is a straight line with a fixed slope in the acceleration/deceleration section, the acceleration of the acceleration section is Aacc, and the acceleration of the deceleration section is Adec, which are constant values.
  • the V-t curve of the variable acceleration is generally a quadratic curve, and the accelerations in the acceleration section and the deceleration section are gradually increased first, and then gradually become smaller until 0, which is a varying value.
  • the shape of the curve is S-shaped, and the acceleration at the time of starting acceleration or deceleration and at the end of acceleration or deceleration is small, so that the comfort of the passenger can be improved.
  • the acceleration/deceleration distance of the acceleration/deceleration operation curve of the constant acceleration is also the same as the acceleration/deceleration distance of the acceleration/deceleration operation curve of the variable acceleration, thereby avoiding the acceleration or deceleration while improving the comfort. Run distance to avoid problems caused by extended distance.
  • the step S300 may specifically include: controlling the elevator to perform an inspection operation according to the acceleration/deceleration running curve of the constant acceleration, and controlling the elevator to perform an inspection operation according to the acceleration/deceleration running curve of the variable acceleration.
  • the acceleration and deceleration running curve of the constant acceleration is used for operational control when the elevator is ascending.
  • the operation control of the elevator ascending in the acceleration/deceleration running curve of the constant acceleration may include the following steps S311 to S314.
  • Step S311 Accelerate the elevator from zero speed to the inspection speed with a constant first acceleration, and operate at the inspection speed until it is detected that the upper forced switching signal is valid.
  • the upper forced switch is a switch disposed in the elevator shaft near the top floor position, and the elevator is forced to decelerate when the elevator is detected to reach the position. Prevent the elevator from topping.
  • Step S312 If the upper forced switch signal is valid, the elevator is operated at a smaller speed between the inspection speed and the first speed until the elevator is detected to reach or rise upward beyond the top floor leveling position; the first speed is not more than 0.1 meter. /second. In this embodiment, the first speed can be taken as 0.1 m/sec.
  • the leveling position is generally detected by a magnetic isolation plate to detect whether the elevator has reached the leveling position to determine whether to open the elevator door.
  • the flat position of the top floor is the flat level of the highest floor.
  • Step S313 If the elevator arrives or rises above the leveling position of the top floor, the elevator is operated at a smaller speed between the inspection speed and the second speed until the upper limit switch signal is detected; the second speed is not more than 0.05 m/ second. In this embodiment, the second speed can be taken as 0.05 m/sec.
  • the upper limit switch is a signal switch located in the elevator shaft to detect whether the elevator reaches the upper limit position. If it is detected that the elevator has reached the position, it must be decelerated to stop immediately, and generally it is decelerated using an acceleration greater than the normal deceleration acceleration.
  • Step S314 If the upper limit switch signal is detected, the elevator decelerates to stop.
  • the elevator Before detecting that the upper limit switch signal is valid, the elevator decelerates with the second acceleration Adec, that is, the same acceleration is used for both decelerations; after detecting that the upper limit switch signal is valid, the elevator decelerates with a multiple K of the second acceleration .
  • K is 2.
  • Fig. 3b is a V-t curve when steps S311 to S314 are performed.
  • the elevator accelerates from zero speed with a constant acceleration to the inspection speed V;
  • the elevator decelerates from the inspection speed V with a constant acceleration to the first speed V1; wherein the time t2 is the time point at which the upper forced switching signal is valid;
  • the elevator decelerates from the first speed V1 with a constant acceleration to the second speed V2; wherein the time t4 is the time point at which the top floor leveling signal is valid;
  • the elevator decelerates to stop at a constant acceleration from the second speed V2; wherein the time t6 is the time point at which the upper limit switch signal is valid.
  • the running V-t curve will be different. If the inspection speed itself is less than the first speed V1 but greater than the second speed V2, the running V-t curve is based on the graph of FIG. 3b, and does not undergo deceleration during the period from t2 to t3, but still runs at the inspection speed. Other situations and so on.
  • the constant acceleration acceleration/deceleration running curve is used for running control when the elevator is descending; as shown in FIG. 4, the running control of the elevator in the acceleration/deceleration running curve of the constant acceleration includes the following steps. S321 ⁇ S324.
  • Step S321 Accelerate the elevator from zero speed to the inspection speed with a constant first acceleration, and operate at the inspection speed until it is detected that the lower forced switching signal is valid.
  • the lower forced switch is a switch disposed in the elevator shaft near the first floor position, and the elevator is forced to decelerate when the elevator is detected to reach the position. Prevent the elevator from bottoming out.
  • Step S322 If the lower forced switch signal is valid, the elevator is operated at a smaller speed between the inspection speed and the first speed until the elevator is detected to reach or fall below the first floor leveling position; the first speed is not greater than 0.1 m / sec. In this embodiment, the first speed can be taken as 0.1 m/sec.
  • the leveling position is generally detected by a magnetic isolation plate to detect whether the elevator has reached the leveling position to determine whether to open the elevator door.
  • Step S323 If the elevator arrives or goes down to the leveling position of the first floor, the elevator is operated at a smaller speed between the inspection speed and the second speed until the lower limit switch signal is detected; the second speed is not more than 0.05. m/s. In this embodiment, the second speed can be taken as 0.05 m/sec.
  • the lower limit switch is a signal switch located in the elevator shaft to detect whether the elevator reaches the lower limit position. If it is detected that the elevator has reached the position, it must be decelerated to stop immediately, and generally it is decelerated using an acceleration greater than the normal deceleration acceleration.
  • Step S324 If the lower limit switch signal is detected, the elevator decelerates to stop.
  • the elevator decelerates at a second acceleration before detecting that the lower limit switch signal is valid; after detecting that the upper limit switch signal is valid, the elevator decelerates at a multiple K of the second acceleration.
  • K is 2.
  • the operation process of this embodiment is basically the same as the operation process of the previous embodiment, except that the operation direction is reversed, and the switch signal points that need to be decelerated are also different.
  • the different effects of gravitational acceleration should be considered separately. Steps S321 to S324 are performed to obtain the same V-t curve as steps S311 to S314.
  • the acceleration/deceleration running curve of the variable acceleration is used for operation control when the elevator is ascending.
  • the operation control of the elevator ascending in the acceleration/deceleration operation curve of the variable acceleration includes the following steps S331 to S334.
  • Step S331 Accelerating the elevator from zero speed to the inspection speed by using the first jerk and the second jerk, and operating at the inspection speed until it is detected that the upper forced switching signal is valid.
  • the first jerk is used to gradually increase the acceleration
  • the second jerk is used to gradually reduce the acceleration.
  • the upper forced switch is a switch disposed in the elevator shaft near the top floor position, and the elevator is forced to decelerate when the elevator is detected to reach the position. Prevent the elevator from topping.
  • the first jerk J1 and the second jerk J2 can be determined by the following formula:
  • the acceleration Aacc is a constant acceleration value in the acceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • Step S332 If the upper forced switch signal is valid, the elevator is operated at a speed between the inspection speed and the first speed until the elevator is detected to reach or rise upward beyond the top floor leveling position; the first speed is not more than 0.1 meter. /second. In this embodiment, the first speed can be taken as 0.1 m/sec.
  • the leveling position is generally detected by a magnetic isolation plate to detect whether the elevator has reached the leveling position to determine whether to open the elevator door.
  • the flat position of the top floor is the flat level of the highest floor.
  • the elevator operates at the inspection speed V;
  • the elevator is decelerated to the first speed V1 with the third jerk J3 and the fourth jerk J4:
  • the acceleration Adec is a constant acceleration value in the deceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • the third jerk J3 is used to gradually increase the acceleration, and the fourth jerk J4 is used to gradually reduce the acceleration.
  • Step S333 If the elevator arrives or rises above the leveling position of the top floor, the elevator is operated at a smaller speed between the inspection speed and the second speed until the upper limit switch signal is detected; the second speed is not more than 0.05 m/ second. In this embodiment, the second speed can be taken as 0.05 m/sec.
  • the upper limit switch is a signal switch located in the elevator shaft to detect whether the elevator reaches the upper limit position. If it is detected that the elevator has reached the position, it must be decelerated to stop immediately, and generally it is decelerated using an acceleration greater than the normal deceleration acceleration.
  • the elevator operates at the inspection speed V;
  • the elevator is decelerated to the second speed V2 with the fifth jerk J5 and the sixth jerk J6:
  • the acceleration Adec is a constant acceleration value in the deceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • the fifth jerk J5 is used to gradually increase the acceleration
  • the sixth jerk J6 is used to gradually reduce the acceleration.
  • Step S334 If the upper limit switch signal is detected, the elevator decelerates to stop.
  • the acceleration Adec is a constant acceleration value in the deceleration section of the acceleration/deceleration operation curve of the constant acceleration
  • K is an acceleration multiple
  • V is an inspection speed.
  • the seventh jerk J7 is used to gradually increase the acceleration
  • the eighth jerk J8 is used to gradually reduce the acceleration.
  • Fig. 5b is a V-t curve when steps S331 to S334 are performed.
  • the elevator accelerates from zero speed with the first jerk and the second jerk to the inspection speed V;
  • the elevator decelerates from the inspection speed V by the third jerk and the fourth jerk to the first speed V1; wherein the time t2 is the time point at which the upper forced switching signal is valid;
  • the elevator decelerates from the first speed V1 by the fifth jerk and the sixth jerk to the second speed V2; wherein the time t4 is the time point at which the top floor leveling signal is valid;
  • the elevator decelerates from the second speed V2 with the seventh jerk and the eighth jerk; wherein the time t6 is the time point when the upper limit switch signal is valid.
  • the running V-t curve will be different. If the inspection speed itself is less than the first speed V1 but greater than the second speed V2, the running V-t curve is based on the graph of FIG. 5b, and does not undergo deceleration during the period from t2 to t3, but still runs at the inspection speed. Other situations and so on.
  • the acceleration and deceleration running curve of the variable acceleration is used for running control when the elevator is descending.
  • the operation control of the elevator in the acceleration/deceleration operation curve of the variable acceleration includes the following steps S341 to S344.
  • Step S341 Accelerating the elevator from zero speed to the inspection speed by using the first jerk and the second jerk, and operating at the inspection speed until the lower forced switching signal is detected to be valid.
  • the first jerk is used to gradually increase the acceleration
  • the second jerk is used to gradually reduce the acceleration.
  • the lower forced switch is a switch disposed in the elevator shaft near the first floor position, and the elevator is forced to decelerate when the elevator is detected to reach the position. Prevent the elevator from bottoming out.
  • the first jerk J1 and the second jerk J2 are determined by the following formula:
  • the acceleration Aacc is a constant acceleration value in the acceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • Step S342 If the lower forced switch signal is valid, the elevator is operated at a smaller speed between the inspection speed and the first speed until the elevator is detected to reach or fall below the first floor leveling position; the first speed is not greater than 0.1 m / sec.
  • the leveling position is generally detected by a magnetic isolation plate to detect whether the elevator has reached the leveling position to determine whether to open the elevator door.
  • the elevator operates at the inspection speed V;
  • the elevator is decelerated to the first speed V1 with the third jerk J3 and the fourth jerk J4:
  • the acceleration Adec is a constant acceleration value in the deceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • the third jerk is used to gradually increase the acceleration, and the fourth jerk is used to gradually reduce the acceleration.
  • Step S343 If the elevator arrives or goes down to the leveling position of the first floor, the elevator is operated at a smaller speed between the inspection speed and the second speed until the lower limit switch signal is detected; the second speed is not more than 0.05. m/s.
  • the lower limit switch is a signal switch located in the elevator shaft to detect whether the elevator reaches the lower limit position. If it is detected that the elevator has reached the position, it must be decelerated to stop immediately, and generally it is decelerated using an acceleration greater than the normal deceleration acceleration.
  • the elevator operates at the inspection speed V;
  • the elevator is decelerated to the second speed V2 with the fifth jerk J5 and the sixth jerk J6:
  • the acceleration Adec is a constant acceleration value in the deceleration section in the acceleration/deceleration running curve of the constant acceleration, and V is an inspection speed.
  • the fifth jerk is used to gradually increase the acceleration, and the sixth jerk is used to gradually reduce the acceleration.
  • Step S344 If the lower limit switch signal is detected, the elevator decelerates to stop.
  • the acceleration Adec is a constant acceleration value in the deceleration section of the acceleration/deceleration operation curve of the constant acceleration
  • K is an acceleration multiple
  • V is an inspection speed.
  • the seventh jerk is used to gradually increase the acceleration
  • the eighth jerk is used to gradually reduce the acceleration.
  • the operation process of this embodiment is basically the same as the operation process of the previous embodiment, except that the operation direction is reversed, and the switch signal points that need to be decelerated are also different.
  • the different effects of gravitational acceleration should be considered separately. Steps S341 to S344 are performed to obtain the same V-t curve as that of steps S321 to S324.
  • an elevator inspection operation control system is also provided.
  • the control system includes an elevator main control board that controls operation of the traction motor, the elevator main control board includes a central processing unit and a memory, and the storage unit stores an elevator operation instruction, the central processing unit
  • the run instructions are executed to implement the methods of the various embodiments described above.

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  • Automation & Control Theory (AREA)
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  • Elevator Control (AREA)

Abstract

一种电梯检修运行控制方法和系统。该方法包括：提供恒定加速度的加减速运行曲线；提供变加速度的加减速运行曲线，变加速度的加减速运行曲线在加速或减速的起始阶段和结束阶段的加速度都比中间阶段的加速度小；且变加速度的加减速运行曲线的加减速距离与恒定加速度的加减速运行曲线的加减速距离相同；获取曲线选择指令；根据曲线选择指令选择恒定加速度的加减速运行曲线或变加速度的加减速运行曲线；及根据选择的运行曲线控制电梯进行检修运行。该方法和系统能够提高乘用的舒适度。

Description

电梯检修运行控制方法和系统
【技术领域】
本发明涉及电梯运行控制技术领域，特别是涉及一种电梯检修运行控制方法和系统。
【背景技术】
电梯运行可以分为正常运行以及检修运行，其中检修运行主要对电梯进行慢速（小于0.2米/秒）检修运行。传统的电梯检修运行的加减速曲线采用恒定的加速度，这种方式存在的缺点是，乘用舒适感会差很多。
【发明内容】
基于此，有必要提供一种电梯检修运行控制方法，其可以在加减速阶段采用变加速度，提升乘用舒适度。
一种电梯检修运行控制方法，包括：
提供恒定加速度的加减速运行曲线；
提供变加速度的加减速运行曲线，所述变加速度的加减速运行曲线在加速或减速的起始阶段和结束阶段的加速度都比中间阶段的加速度小；且，所述变加速度的加减速运行曲线的加减速距离与恒定加速度的加减速运行曲线的加减速距离相同；
获取曲线选择指令；
根据曲线选择指令选择恒定加速度的加减速运行曲线或变加速度的加减速运行曲线；及
根据选择的运行曲线控制电梯进行检修运行。
一种电梯检修运行控制系统，包括电梯主控板和牵引电机，所述电梯主控板控制牵引电机运行，所述电梯主控板包括中央处理器和存储器，所述存储器中存储电梯运行指令，所述中央处理器执行所述运行指令以实现上述的方法。
上述电梯检修运行控制方法和系统，在加速段和减速段的加速度都是先逐渐变大，之后逐渐变小直到0，为变化的值。该曲线的形状呈S型，在开始加速或减速时以及结束加速或减速时的加速度都较小，因而可以提高乘用的舒适度。且还满足所述恒定加速度的加减速运行曲线的加减速距离与变加速度的加减速运行曲线的加减速距离相同，避免在提高舒适性的同时增加加速或减速的运行距离，避免出现因距离延长导致的问题。
【附图说明】
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他实施例的附图。
图1为一实施例的电梯检修运行控制方法流程图；
图2a为恒定加速度的加减速运行曲线示意图；
图2b为变加速度的加减速运行曲线示意图。
图3a为一实施例的检修运行控制方法中采样恒加速度在电梯上行时的运行控制流程图；
图3b为采用图3a所示的流程得到的一种V-t运行曲线；
图4为一实施例的检修运行控制方法中采样恒加速度在电梯下行时的运行控制流程图；
图5a为一实施例的检修运行控制方法中采样变加速度在电梯上行时的运行控制流程图；
图5b为采用图5a所示的流程得到的一种V-t运行曲线；
图6为一实施例的检修运行控制方法中采样变加速度在电梯下行时的运行控制流程图。
【具体实施方式】
为使本发明的目的、特征和优点能够更为明显易懂，下面结合附图对本发明的具体实施方式做详细的说明。
图1为一实施例的电梯检修运行控制方法流程图。该电梯检修运行控制方法同时提供恒定加速度的加减速运行曲线和变加速度的加减速运行曲线供选择使用，且所述恒定加速度的加减速运行曲线的加减速距离与变加速度的加减速运行曲线的加减速距离相同。
该方法包括以下步骤S100~S300。
步骤S100：获取曲线选择指令。该曲线选择指令可以在检修运行开始时由检修人员设置或输入。
步骤S200：根据曲线选择指令选择相应的运行曲线。电梯系统根据曲线选择指令选择相应的运行曲线。
步骤S300：根据选择的运行曲线控制电梯进行检修运行。
图2a是恒定加速度的加减速运行曲线示意图；图2b是变加速度的加减速运行曲线示意图。恒定加速度的V-t曲线在加减速段为斜率固定的直线，加速段的加速度为Aacc，减速段的加速度为Adec，均为恒定值。变加速度的V-t曲线一般为二次曲线，在加速段和减速段的加速度都是先逐渐变大，之后逐渐变小直到0，为变化的值。该曲线的形状呈S型，在开始加速或减速时以及结束加速或减速时的加速度都较小，因而可以提高乘用的舒适度。
在本实施例的方法中，还要满足所述恒定加速度的加减速运行曲线的加减速距离与变加速度的加减速运行曲线的加减速距离相同，避免在提高舒适性的同时增加加速或减速的运行距离，避免出现因距离延长导致的问题。
步骤S300具体可以包括：根据所述恒定加速度的加减速运行曲线控制电梯进行检修运行、根据变加速度的加减速运行曲线控制电梯进行检修运行。
以下分别进行说明。
在一个实施例中，所述恒定加速度的加减速运行曲线用于电梯上行时的运行控制。如图3a所示，所述恒定加速度的加减速运行曲线中的电梯上行时的运行控制可以包括以下步骤S311~S314。
步骤S311：采用恒定的第一加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到上强迫开关信号有效。上强迫开关是设置在电梯井道中靠近顶楼位置的开关，由于检测电梯到达该位置时，强迫电梯减速。防止电梯冲顶。
步骤S312：若上强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向上超过顶楼平层位置；所述第一速度不大于0.1米/秒。在本实施例中，第一速度可以取0.1米/秒。平层位置一般采用隔磁板来检测，用来检测电梯是否到达平层位置，以决定是否打开电梯门。顶层的平层位置是最高一层楼的平层位置。
步骤S313：若电梯到达或向上超过顶楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测上限位开关信号；所述第二速度不大于0.05米/秒。在本实施例中，第二速度可以取0.05米/秒。上限位开关是位于电梯井道中的信号开关，用于检测电梯是否到达上限位置。若检测到电梯到达该位置，必须马上减速停车，并且一般要使用比普通的减速加速度更大的加速度来减速。
步骤S314：若检测到上限位开关信号，电梯减速停车。
在检测到上限位开关信号有效之前，电梯以第二加速度Adec减速运行，也即两处减速均采用相同的加速度；在检测到上限位开关信号有效之后，电梯以第二加速度的倍数K减速运行。一般地，K为2。
图3b为一种执行步骤S311~S314时的V-t曲线。
在0~t1时间段，电梯从零速以恒定的加速度加速到检修速度V；
在t1~t2时间段，电梯以检修速度V匀速运行；
在t2~t3时间段，电梯从检修速度V以恒定的加速度减速到第一速度V1；其中t2时刻为上强迫开关信号有效的时间点；
在t3~t4时间段，电梯以第一速度V1匀速运行；
在t4~t5时间段，电梯从第一速度V1以恒定的加速度减速到第二速度V2；其中t4时刻为顶楼平层信号有效的时间点；
在t5~t6时间段，电梯以第二速度V2匀速运行；
在t6~t7时间段，电梯从第二速度V2以恒定的加速度减速停车；其中t6时刻为上限位开关信号有效的时间点。
可以理解，在其他情况下，若设定的检修速度本身就比较小，例如小于第一速度V1或小于第二速度V2，则运行的V-t曲线会有所不同。若检修速度本身小于第一速度V1但大于第二速度V2，则运行的V-t曲线在图3b的基础上，在t2~t3时间段，不会经过减速，而仍然以检修速度运行。其他的情况依此类推。
在一个实施例中，所述恒定加速度的加减速运行曲线用于电梯下行时的运行控制；如图4所示，所述恒定加速度的加减速运行曲线中的电梯下行时的运行控制包括以下步骤S321~S324。
步骤S321：采用恒定的第一加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到下强迫开关信号有效。下强迫开关是设置在电梯井道中靠近一楼位置的开关，由于检测电梯到达该位置时，强迫电梯减速。防止电梯蹲底。
步骤S322：若下强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向下超过一楼平层位置；所述第一速度不大于0.1米/秒。在本实施例中，第一速度可以取0.1米/秒。平层位置一般采用隔磁板来检测，用来检测电梯是否到达平层位置，以决定是否打开电梯门。
步骤S323：若电梯到达或向下超过一楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测下限位开关信号；所述第二速度不大于0.05米/秒。在本实施例中，第二速度可以取0.05米/秒。下限位开关是位于电梯井道中的信号开关，用于检测电梯是否到达下限位置。若检测到电梯到达该位置，必须马上减速停车，并且一般要使用比普通的减速加速度更大的加速度来减速。
步骤S324：若检测到下限位开关信号，电梯减速停车。
在检测到下限位开关信号有效之前，电梯以第二加速度减速运行；在检测到上限位开关信号有效之后，电梯以第二加速度的倍数K减速运行。一般地，K为2。
本实施例的运行过程与上一实施例的运行过程基本相同，只是运行方向相反，在各个需要减速的开关信号点也有所不同。在获得运行所需的加速度时，分别要考虑重力加速度的不同影响。执行步骤S321~S324可以得到与执行步骤S311~S314相同的V-t曲线。
在一个实施例中，所述变加速度的加减速运行曲线用于电梯上行时的运行控制。如图5a所示，所述变加速度的加减速运行曲线中的电梯上行时的运行控制包括以下步骤S331~S334。
步骤S331：采用第一加加速度和第二加加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到上强迫开关信号有效。第一加加速度用于将加速度逐渐变大，第二加加速度用于将加速度逐渐变小。上强迫开关是设置在电梯井道中靠近顶楼位置的开关，由于检测电梯到达该位置时，强迫电梯减速。防止电梯冲顶。
在本实施例中，第一加加速度J1和第二加加速度J2可以采用以下公式确定：
J1= J2 = (4×Aacc×Aacc)÷V；
其中，加速度Aacc为所述恒定加速度的加减速运行曲线中在加速段的恒定加速度值，V为检修速度。
步骤S332：若上强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向上超过顶楼平层位置；所述第一速度不大于0.1米/秒。在本实施例中，第一速度可以取0.1米/秒。平层位置一般采用隔磁板来检测，用来检测电梯是否到达平层位置，以决定是否打开电梯门。顶层的平层位置是最高一层楼的平层位置。
在上强迫开关信号有效后：
若检修速度V不大于第一速度V1，则电梯以检修速度V运行；
若检修速度V大于第一速度V1，则电梯以第三加加速度J3和第四加加速度J4减速至第一速度V1运行：
J3=J4= (4×Adec×Adec)÷(V-V1)
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。第三加加速度J3用于将加速度逐渐变大，第四加加速度J4用于将加速度逐渐变小。
步骤S333：若电梯到达或向上超过顶楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测上限位开关信号；所述第二速度不大于0.05米/秒。在本实施例中，第二速度可以取0.05米/秒。上限位开关是位于电梯井道中的信号开关，用于检测电梯是否到达上限位置。若检测到电梯到达该位置，必须马上减速停车，并且一般要使用比普通的减速加速度更大的加速度来减速。
在电梯到达或向上超过顶楼平层位置后：
若检修速度V不大于第二速度V2，则电梯以检修速度V运行；
若检修速度V大于第二速度V2，则电梯以第五加加速度J5和第六加加速度J6减速至第二速度V2运行：
J5=J6= (4×Adec×Adec)÷(V-V2)
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。第五加加速度J5用于将加速度逐渐变大，第六加加速度J6用于将加速度逐渐变小。
步骤S334：若检测到上限位开关信号，电梯减速停车。
在电梯检测到上限位开关信号有效后，电梯以第七加加速度J7和第八加加速度J8减速至停车：
J7=J8= (4×K×Adec×K×Adec)÷V；
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，K为加速倍数，V为检修速度。第七加加速度J7用于将加速度逐渐变大，第八加加速度J8用于将加速度逐渐变小。
图5b为一种执行步骤S331~S334时的V-t曲线。
在0~t1时间段，电梯从零速以第一加加速度和第二加加速度加速到检修速度V；
在t1~t2时间段，电梯以检修速度V匀速运行；
在t2~t3时间段，电梯从检修速度V以第三加加速度和第四加加速度减速到第一速度V1；其中t2时刻为上强迫开关信号有效的时间点；
在t3~t4时间段，电梯以第一速度V1匀速运行；
在t4~t5时间段，电梯从第一速度V1以第五加加速度和第六加加速度减速到第二速度V2；其中t4时刻为顶楼平层信号有效的时间点；
在t5~t6时间段，电梯以第二速度V2匀速运行；
在t6~t7时间段，电梯从第二速度V2以第七加加速度和第八加加速度减速停车；其中t6时刻为上限位开关信号有效的时间点。
可以理解，在其他情况下，若设定的检修速度本身就比较小，例如小于第一速度V1或小于第二速度V2，则运行的V-t曲线会有所不同。若检修速度本身小于第一速度V1但大于第二速度V2，则运行的V-t曲线在图5b的基础上，在t2~t3时间段，不会经过减速，而仍然以检修速度运行。其他的情况依此类推。
在一个实施例中，所述变加速度的加减速运行曲线用于电梯下行时的运行控制。如图6所示，所述变加速度的加减速运行曲线中的电梯下行时的运行控制包括以下步骤S341~S344。
步骤S341：采用第一加加速度和第二加加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到下强迫开关信号有效。第一加加速度用于将加速度逐渐变大，第二加加速度用于将加速度逐渐变小。下强迫开关是设置在电梯井道中靠近一楼位置的开关，由于检测电梯到达该位置时，强迫电梯减速。防止电梯蹲底。
在本实施例中，第一加加速度J1和第二加加速度J2采用以下公式确定：
J1= J2 = (4×Aacc×Aacc)÷V；
其中，加速度Aacc为所述恒定加速度的加减速运行曲线中在加速段的恒定加速度值，V为检修速度。
步骤S342：若下强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向下超过一楼平层位置；所述第一速度不大于0.1米/秒。平层位置一般采用隔磁板来检测，用来检测电梯是否到达平层位置，以决定是否打开电梯门。
在下强迫开关信号有效后：
若检修速度V不大于第一速度V1，则电梯以检修速度V运行；
若检修速度V大于第一速度V1，则电梯以第三加加速度J3和第四加加速度J4减速至第一速度V1运行：
J3=J4= (4×Adec×Adec)÷(V-V1)
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。第三加加速度用于将加速度逐渐变大，第四加加速度用于将加速度逐渐变小。
步骤S343：若电梯到达或向下超过一楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测下限位开关信号；所述第二速度不大于0.05米/秒。下限位开关是位于电梯井道中的信号开关，用于检测电梯是否到达下限位置。若检测到电梯到达该位置，必须马上减速停车，并且一般要使用比普通的减速加速度更大的加速度来减速。
在电梯到达或向下超过一楼平层位置后：
若检修速度V不大于第二速度V2，则电梯以检修速度V运行；
若检修速度V大于第二速度V2，则电梯以第五加加速度J5和第六加加速度J6减速至第二速度V2运行：
J5=J6= (4×Adec×Adec)÷(V-V2)
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。第五加加速度用于将加速度逐渐变大，第六加加速度用于将加速度逐渐变小。
步骤S344：若检测到下限位开关信号，电梯减速停车。
在电梯检测到下限位开关信号有效后，电梯以第七加加速度J7和第八加加速度J8减速至停车：
J7=J8= (4×K×Adec×K×Adec)÷V；
其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，K为加速倍数，V为检修速度。第七加加速度用于将加速度逐渐变大，第八加加速度用于将加速度逐渐变小。
本实施例的运行过程与上一实施例的运行过程基本相同，只是运行方向相反，在各个需要减速的开关信号点也有所不同。在获得运行所需的加速度时，分别要考虑重力加速度的不同影响。执行步骤S341~S344可以得到与执行步骤S321~S324相同的V-t曲线。
基于相同发明构思，还提供一种电梯检修运行控制系统。
该控制系统包括电梯主控板和牵引电机，所述电梯主控板控制牵引电机运行，所述电梯主控板包括中央处理器和存储器，所述存储器中存储电梯运行指令，所述中央处理器执行所述运行指令以实现上述各个实施例的方法。
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (18)

  1. 一种电梯检修运行控制方法，包括：
    提供恒定加速度的加减速运行曲线；
    提供变加速度的加减速运行曲线，所述变加速度的加减速运行曲线在加速或减速的起始阶段和结束阶段的加速度都比中间阶段的加速度小；且，所述变加速度的加减速运行曲线的加减速距离与恒定加速度的加减速运行曲线的加减速距离相同；
    获取曲线选择指令；
    根据曲线选择指令选择恒定加速度的加减速运行曲线或变加速度的加减速运行曲线；及
    根据选择的运行曲线控制电梯进行检修运行。
  2. 根据权利要求1所述的方法，其中，所述恒定加速度的加减速运行曲线包括电梯上行时的运行控制；所述电梯上行时的运行控制包括：
    采用恒定的第一加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到上强迫开关信号有效；
    若上强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向上超过顶楼平层位置；所述第一速度不大于0.1米/秒；
    若电梯到达或向上超过顶楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测上限位开关信号；所述第二速度不大于0.05米/秒；
    若检测到上限位开关信号，电梯减速停车。
  3. 根据权利要求2所述的方法，其中，在检测到上限位开关信号有效之前，若电梯需要减速，则以第二加速度减速运行；在检测到上限位开关信号有效之后，电梯以第二加速度的倍数减速运行。
  4. 根据权利要求1所述的方法，其中，所述恒定加速度的加减速运行曲线包括电梯下行时的运行控制；所述电梯下行时的运行控制包括：
    采用恒定的第一加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到下强迫开关信号有效；
    若下强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向下超过一楼平层位置；所述第一速度不大于0.1米/秒；
    若电梯到达或向下超过一楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测到下限位开关信号；所述第二速度不大于0.05米/秒；
    若检测到下限位开关信号，电梯减速停车。
  5. 根据权利要求4所述的方法，其中，在检测到上限位开关信号有效之前，若电梯需要减速，则以第二加速度减速运行；在检测到下限位开关信号有效之后，电梯以第二加速度的倍数减速运行。
  6. 根据权利要求3或5所述的方法，其中，所述倍数为2倍。
  7. 根据权利要求1所述的方法，其中，所述变加速度的加减速运行曲线包括电梯上行时的运行控制；所述上行时的运行控制包括：
    采用第一加加速度和第二加加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到上强迫开关信号有效；
    若上强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向上超过顶楼平层位置；所述第一速度不大于0.1米/秒；
    若电梯到达或向上超过顶楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测上限位开关信号；所述第二速度不大于0.05米/秒；
    若检测到上限位开关信号，电梯减速停车。
  8. 根据权利要求7所述的方法，其中，所述第一加加速度J1和第二加加速度J2采用以下公式确定：
    J1= J2 = (4×Aacc×Aacc)÷V；
    其中，加速度Aacc为所述恒定加速度的加减速运行曲线中在加速段的恒定加速度值，V为检修速度。
  9. 根据权利要求7所述的方法，其中，在上强迫开关信号有效后：
    若检修速度V不大于第一速度V1，则电梯以检修速度V运行；
    若检修速度V大于第一速度V1，则电梯以第三加加速度J3和第四加加速度J4减速至第一速度V1运行：
    J3=J4= (4×Adec×Adec)÷(V-V1)
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。
  10. 根据权利要求7所述的方法，其中，在电梯到达或向上超过顶楼平层位置后：
    若检修速度V不大于第二速度V2，则电梯以检修速度V运行；
    若检修速度V大于第二速度V2，则电梯以第五加加速度J5和第六加加速度J6减速至第二速度V2运行：
    J5=J6= (4×Adec×Adec)÷(V-V2)
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。
  11. 根据权利要求7所述的方法，其中，还包括在电梯检测到上限位开关信号有效后，电梯以第七加加速度J7和第八加加速度J8减速至停车：
    J7=J8= (4×K×Adec×K×Adec)÷V；
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，K为加速倍数，V为检修速度。
  12. 根据权利要求1所述的方法，其中，所述变加速度的加减速运行曲线包括电梯下行时的运行控制；所述电梯下行时的运行控制包括：
    采用第一加加速度和第二加加速度将电梯从零速加速到检修速度，并以所述检修速度运行，直到检测到下强迫开关信号有效；
    若下强迫开关信号有效，则使电梯以检修速度和第一速度之间较小的一个速度运行，直到检测电梯到达或向下超过一楼平层位置；所述第一速度不大于0.1米/秒；
    若电梯到达或向下超过一楼平层位置，则使电梯以检修速度和第二速度之间较小的一个速度运行，直到检测下限位开关信号；所述第二速度不大于0.05米/秒；
    若检测到下限位开关信号，电梯减速停车。
  13. 根据权利要求12所述的方法，其中，所述第一加加速度J1和第二加加速度J2采用以下公式确定：
    J1= J2 = (4×Aacc×Aacc)÷V；
    其中，加速度Aacc为所述恒定加速度的加减速运行曲线中在加速段的恒定加速度值，V为检修速度。
  14. 根据权利要求12所述的方法，其中，在下强迫开关信号有效后：
    若检修速度V不大于第一速度V1，则电梯以检修速度V运行；
    若检修速度V大于第一速度V1，则电梯以第三加加速度J3和第四加加速度J4减速至第一速度V1运行：
    J3=J4= (4×Adec×Adec)÷(V-V1)
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。
  15. 根据权利要求12所述的方法，其中，在电梯到达或向下超过一楼平层位置后：
    若检修速度V不大于第二速度V2，则电梯以检修速度V运行；
    若检修速度V大于第二速度V2，则电梯以第五加加速度J5和第六加加速度J6减速至第二速度V2运行：
    J5=J6= (4×Adec×Adec)÷(V-V2)
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，V为检修速度。
  16. 根据权利要求12所述的方法，其中，在电梯检测到下限位开关信号有效后，电梯以第七加加速度J7和第八加加速度J8减速至停车：
    J7=J8= (4×K×Adec×K×Adec)÷V；
    其中，加速度Adec为所述恒定加速度的加减速运行曲线中在减速段的恒定加速度值，K为加速倍数，V为检修速度。
  17. 根据权利要求11或16所述的方法，其中，K=2。
  18. 一种电梯检修运行控制系统，包括电梯主控板和牵引电机，所述电梯主控板控制牵引电机运行，所述电梯主控板包括中央处理器和存储器，所述存储器中存储电梯运行指令，所述中央处理器执行所述运行指令以实现权利要求1~17任一项所述的方法。
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