CN111498620A - Elevator control method and device, electronic equipment and storage medium - Google Patents
Elevator control method and device, electronic equipment and storage medium Download PDFInfo
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- CN111498620A CN111498620A CN202010307782.9A CN202010307782A CN111498620A CN 111498620 A CN111498620 A CN 111498620A CN 202010307782 A CN202010307782 A CN 202010307782A CN 111498620 A CN111498620 A CN 111498620A
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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
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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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
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
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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
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3476—Load weighing or car passenger counting devices
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Abstract
The embodiment of the invention relates to the field of communication, and discloses an elevator control method, an elevator control device, electronic equipment and a storage medium. In the invention, the method comprises the following steps: obtaining a maintaining torque of the car at a zero-speed stage, wherein the maintaining torque is a critical torque for maintaining the zero-speed of the car; determining the load inertia of the car according to the maintaining moment; and determining the rotational inertia of the system according to the load inertia, and adjusting the output torque of the motor according to the rotational inertia in the subsequent operation stage. The rotational inertia of the system is accurately acquired in the zero-speed stage of elevator operation, the output torque of the motor is adjusted according to the rotational inertia of the system in the subsequent operation stage, control delay in torque adjustment according to the rotation speed difference is avoided, adjustment of the torque is more sensitive, the output torque of the motor is adjusted based on the accurate rotational inertia of the system, the accuracy of adjustment of the output torque of the motor is guaranteed, the control performance of the elevator system and the following performance of the elevator speed are improved, and the comfort level of a user for riding the elevator is guaranteed.
Description
Technical Field
The embodiment of the invention relates to the field of communication, in particular to an elevator control method, an elevator control device, electronic equipment and a storage medium.
Background
With the development of science and technology, elevators become an indispensable part of life convenience facilities, and the requirement on the comfort of the elevators is becoming higher and higher. When the elevator is running, passengers walk in the car, and load torque interference is caused by friction between the car and the guide rails, wind resistance in the hoistway, and the like. In the case of unknown or disturbed load torque, the related art adjusts the output torque by PI (proportional integral) control according to the rotation speed error, thereby reducing the influence of external disturbance on the elevator operation as much as possible.
The inventors found that at least the following problems exist in the related art: when the output torque is adjusted by adopting PI control according to the rotating speed error, the output torque cannot be adjusted accurately and quickly, and the control effect of the elevator speed following performance is poor.
Disclosure of Invention
The invention aims to provide an elevator control method, an elevator control device, electronic equipment and a storage medium, so that the output torque of a motor can be accurately and efficiently adjusted and compensated according to the system moment of inertia acquired in a zero-speed stage in an elevator running stage, the torque adjustment efficiency and accuracy are further improved, and the following performance of a speed curve and the comfort of a user during the elevator running process are ensured.
In order to solve the above technical problem, an embodiment of the present invention provides an elevator control method, including: obtaining a maintaining torque of the car at a zero-speed stage, wherein the maintaining torque is a critical torque for maintaining the zero-speed of the car; determining the load inertia of the car according to the maintaining moment; and determining the rotational inertia of the system according to the load inertia, and adjusting the output torque of the motor according to the rotational inertia in the subsequent operation stage.
An embodiment of the present invention also provides an elevator control apparatus including: the obtaining module is used for obtaining the maintaining torque of the car at a zero-speed stage, wherein the maintaining torque is a critical torque for maintaining the zero-speed of the car; the determining module is used for determining the load inertia of the car according to the maintaining moment; and the control module is used for determining the rotational inertia of the system according to the load inertia and adjusting the output torque of the motor according to the rotational inertia.
An embodiment of the present invention also provides an electronic device, including: at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the elevator control method described above.
Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, which when executed by a processor implements the above-described elevator control method.
Compared with the prior art, the embodiment of the invention can accurately acquire the rotational inertia of the system at the zero-speed stage of the elevator operation, and in the subsequent operation stage, the output torque of the motor is adjusted according to the acquired rotational inertia to carry out accurate inertia compensation on the system, by accurately acquiring the rotational inertia of the system at the zero-speed stage of the elevator operation, the adjustment of the output torque of the motor can be directly carried out at the subsequent operation stage according to the rotational inertia of the system, the control delay during the torque adjustment according to the rotational speed difference is avoided, the adjustment of the torque is more sensitive, because the rotational inertia of the system is accurately obtained and the output torque of the motor is adjusted according to the rotational inertia, the accuracy of torque adjustment is ensured, and then the control performance of the elevator system and the following performance of the speed in the running process of the elevator are improved, and the comfort level of a user for taking the elevator in the running process of the elevator is ensured.
In addition, according to the maintenance moment, the current load inertia of the car is determined, and the method comprises the following steps: acquiring friction torque when the lift car is in no load and torque corresponding to mechanical load of the system; determining the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system and the maintaining torque; and determining the load inertia of the car according to the load weight. The obtained maintaining moment, the friction moment when the car is in no load and the moment corresponding to the mechanical load of the system are calculated, so that the current load weight and inertia of the car can be accurately calculated according to the moment difference, and the accuracy of the subsequently calculated system moment of inertia is further ensured.
In addition, the moment that obtains friction torque and system machinery load when the car is unloaded and corresponds includes: acquiring the floor number of the floor where the lift car is located; and acquiring preset friction torque corresponding to the floor number and preset torque corresponding to the mechanical load of the system according to the floor number. The corresponding friction torque and the torque corresponding to the mechanical load of the system are preset for each floor, so that when the torque data in the no-load state are acquired, the corresponding torque data are acquired according to the floor number, the influence of floor change on the torque data in the no-load state of the lift car is not considered in the calculation process of the load weight and the load inertia, and the accuracy of the calculation result is further ensured.
In addition, before obtaining the preset friction torque corresponding to the floor number and the preset torque corresponding to the system mechanical load, the method further comprises the following steps: determining friction torque corresponding to each floor and torque corresponding to system mechanical load; determining the friction torque corresponding to each floor and the torque corresponding to the mechanical load of the system, specifically comprising: acquiring a first maintaining moment of a zero-speed stage when the no-load car is in an ascending state at the current floor, wherein the first maintaining moment is a critical moment for maintaining the zero-speed of the no-load car; acquiring a second maintaining moment of a zero-speed stage when the no-load car is in a descending state at the current floor, wherein the second maintaining moment is a critical moment for maintaining the zero-speed of the no-load car; determining the friction torque of the lift car when the lift car is in no load according to the difference between the first maintaining torque and the second torque; determining the moment corresponding to the mechanical load of the system when the car is in no load according to the sum of the first maintaining moment and the friction moment or the difference between the second maintaining moment and the friction moment; and binding the friction torque and the torque corresponding to the mechanical load of the system with the floor number of the current floor. By acquiring the first holding torque of the empty-load car when each floor is in an ascending state and the second holding torque of the empty-load car when each floor is in a descending state, the friction torque corresponding to each floor and the torque corresponding to the mechanical load of the system when the car is empty are calculated, and the accuracy of the obtained torque data is ensured.
In addition, according to the friction torque, the torque corresponding to the system mechanical load and the maintaining torque, the current load weight of the car is determined, and the method comprises the following steps: acquiring the motion state of the car; if the lift car is in an ascending state, determining the load weight of the lift car according to the difference between the sum of the maintaining torque and the friction torque and the torque corresponding to the mechanical load of the system; and if the car is in a descending state, determining the load weight of the car according to the difference between the sum of the friction torque and the torque corresponding to the mechanical load of the system and the maintaining torque. The operation relation among all the moments is determined by obtaining the motion state of the car, and then the load weight is determined according to the calculation result of the moment corresponding to the load weight, so that the accuracy of the obtained load weight is further ensured.
In addition, according to the friction torque, the torque corresponding to the system mechanical load and the maintaining torque, the current load weight of the car is determined, and the method comprises the following steps: the weight m of the car is calculated according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment corresponding to mechanical load of system when the lift car is in no-load, TMassage deviceThe friction moment when the lift car is in idle load, g is the gravity acceleration, and R is the radius of the traction wheel. The load weight is calculated according to the preset formula, so that the efficiency and the accuracy of obtaining the load weight are guaranteed.
In addition, according to the load weight, confirm the load inertia of car, include: calculating the load inertia J corresponding to the load of the car according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment corresponding to mechanical load of system when the lift car is in no-load, TMassage deviceThe friction moment when the lift car is in idle load, g is the gravity acceleration, and R is the radius of the traction wheel. The load inertia is calculated according to a preset calculation formula, so that the load inertia can be accurately and efficiently obtained.
Drawings
One or more embodiments are illustrated by the corresponding figures in the drawings, which are not meant to be limiting.
Fig. 1 is a flowchart of an elevator control method according to a first embodiment of the present invention;
fig. 2 is a diagrammatic illustration of the operational phases of an elevator operating process according to a first embodiment of the invention;
fig. 3 is a schematic inertia diagram of an elevator system according to a first embodiment of the invention;
fig. 4 is a flowchart of an elevator control method according to a second embodiment of the present invention;
fig. 5 is a schematic diagram of an empty car equivalent moment in a second embodiment according to the invention;
fig. 6 is a schematic diagram of an equivalent moment in an empty car up-run state according to a second embodiment of the present invention;
fig. 7 is a schematic view of an equivalent moment in a descending state of an empty car according to the second embodiment of the present invention;
fig. 8 is a schematic structural view of an elevator control apparatus according to a third embodiment of the present invention;
fig. 9 is a schematic structural diagram of an electronic device according to a fourth embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in order to provide a better understanding of the present application in various embodiments of the present invention. However, the technical solution claimed in the present application can be implemented without these technical details and various changes and modifications based on the following embodiments. The following embodiments are divided for convenience of description, and should not constitute any limitation to the specific implementation manner of the present invention, and the embodiments may be mutually incorporated and referred to without contradiction.
The first embodiment of the invention relates to an elevator control method, in the embodiment, the maintaining torque of a car is obtained in a zero-speed stage, wherein the maintaining torque is the critical torque for maintaining the zero speed of the car; determining the load inertia of the car according to the maintaining moment; the rotational inertia of the system is determined according to the load inertia, the output torque of the motor is adjusted according to the rotational inertia in the subsequent operation stage, the rotational inertia of the system is accurately acquired in the zero-speed stage of the elevator operation, the fact that the output torque of the motor can be directly adjusted according to the rotational inertia of the system in the subsequent operation stage is guaranteed, control delay in torque adjustment according to the rotation speed difference is avoided, adjustment of the torque is more sensitive, the rotational inertia of the system is accurately acquired, the output torque of the motor is adjusted according to the rotational inertia, accuracy of torque adjustment is guaranteed, control performance of the elevator system and speed following performance in the elevator operation process are improved, and comfort of a user when the elevator operates is guaranteed.
The following describes in detail the implementation of the elevator control method of the present embodiment, and the following is only provided for the sake of convenience of understanding and is not essential to the implementation of the method.
A specific flow of the elevator control method in the present embodiment is shown in fig. 1, and specifically includes the steps of:
and step 101, obtaining the maintaining torque of the car at the zero-speed stage.
Specifically, when the speed of the elevator is controlled according to the speed curve, the elevator obtains the maintaining torque of the car in the zero-speed stage, wherein the maintaining torque is the critical torque for maintaining the zero-speed of the car.
In one example, the schematic diagram of the operation stage of the elevator in the operation process is shown in fig. 2, and the operation stage is divided into 6 stages, namely a zero servo (zero speed) stage, a creeping stage, an accelerating stage, a constant speed stage, a stopping stage and a current slow-falling stage, and the functions of the stages are as follows: opening a band-type brake at a zero-speed section, operating a frequency converter and maintaining the zero speed of the output torque of a motor; the creeping section, the accelerating section, the constant speed section and the stopping section are non-zero speed sections given by a speed curve; and in the current slow-falling section, the band-type brake is closed again, and the motor carries out the current-falling stage. That is, the elevator operation can be divided into a zero-speed stage when the motor outputs electromagnetic torque but the car does not move, a motion stage when the motor outputs electromagnetic torque to make the car move according to a speed curve as much as possible, and a current slow-down stage when the motor outputs torque to maintain the car stable. Therefore, in the zero-speed stage when the car does not start to move, the electromagnetic torque output by the motor can be acquired, and the maintaining torque required for maintaining the zero-speed of the car can be determined.
And 102, determining the load inertia of the car according to the maintaining moment.
Specifically, after the current maintenance torque of the car is determined according to the electromagnetic torque output by the motor at the zero-speed stage, the load inertia of the car is determined according to the maintenance torque.
In one example, after the current maintaining moment of the car is obtained, the friction moment when the car is unloaded and the moment corresponding to the mechanical load of the system are obtained; determining the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system and the maintaining torque; and determining the load inertia of the car according to the load weight.
When the current load weight of the car is determined according to the friction torque, the torque corresponding to the mechanical load of the system and the maintaining torque, the motion state of the car is obtained firstly; if the lift car is in an ascending state, determining the load weight of the lift car according to the difference between the sum of the maintaining torque and the friction torque and the torque corresponding to the mechanical load of the system; and if the lift car is in a descending state, determining the load weight of the lift car according to the difference between the sum of the friction torque and the torque corresponding to the mechanical load of the system and the maintaining torque, and performing calculation according to the current maintaining torque and the torque data in an unloaded state to obtain the torque difference caused by the load, thereby determining the current load weight of the lift car and further determining the load inertia in the elevator system according to the load weight.
For example, the car is in a down state, and the mechanical motion equation of the motor is as follows:
wherein, TElectric machineElectromagnetic torque for motor output, JsIs the total inertia, T, of the elevator systemFriction ofIn order to obtain a friction torque,
for the angular acceleration of the traction sheave, the zero-speed stage angular velocity is 0, i.e., d ω is 0, so that at this time: t isElectric machine＝TLoad(s)+TFriction of。
Thus, TLoad(s)＝TElectric machine-TFriction ofWherein, TLoad(s)Moment T caused by loadLoad weightA moment T corresponding to the mechanical load of the system represented by the moment corresponding to the difference between the counterweight of the car and the weight of the empty car when the car is emptyLoad in the empty compartmentThe moment corresponding to the current load can be determined according to the following formula because the car is in a descending state:
Tload weight＝TElectric machine-TFriction of-TLoad in the empty compartment
After determining the moment corresponding to the load, the method can be implemented according to a moment conversion formula: t isLoad weight＝mLoad weightgR, where R is the radius of the traction sheave, g is the acceleration of gravity, and mLoad weightIs the load mass. And (3) deducing a formula for determining the load by combining a calculation formula of the moment corresponding to the load:
and then according to a conversion formula of inertia of the linear motion part: j ═ mR2Load inertia J corresponding to load partCarrierThe calculation can be made directly from the following equation:
the direction of the friction torque when the lift car is in an ascending state is equal to the friction torque when the lift car is in a descending state, the directions are opposite, the torque corresponding to the mechanical load of the system when the lift car is in an idling state, namely the torque corresponding to the difference between the weight of the lift car and the weight of the unloaded lift car is completely the same, therefore, after the torque data of the maintenance torque and the torque data of the idling of the lift car are obtained, the load weight m of the lift car can be calculated according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentThe moment corresponding to the mechanical load of the system when the lift car is in no load, SMassage deviceG is the gravity acceleration, R is the radius of the traction sheave, and Sign (T) is the friction moment when the cage is in the idle stateMassage device)＝TMassage deviceSign (T) when the car is in a down stateMassage device)＝-TMassage device。
After the load weight of the car is obtained, the load inertia J of the car can be calculated according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment corresponding to mechanical load of system when the lift car is in no-load, TMassage deviceG is the gravity acceleration, R is the radius of the traction sheave, and Sign (T) is the friction moment when the cage is in the idle stateMassage device)＝TMassage deviceSign (T) when the car is in a down stateMassage device)＝-TMassage device。
And combining the calculation formula, and accurately determining the load inertia in the elevator system according to the obtained maintenance torque and the torque data of the car in no-load.
And 103, determining the rotational inertia of the system according to the load inertia, and adjusting the output torque of the motor according to the rotational inertia in the subsequent operation stage.
Specifically, after the load inertia in the elevator system is obtained, the rotational inertia of the system is determined according to the load inertia, and the output torque of the motor is adjusted according to the rotational inertia in the subsequent operation stage, so that the speed of the elevator in the motion stage can be strictly and efficiently changed along with a given speed curve.
In one example, the system where the elevator is located is a vertical elevator system as shown in fig. 3, the car and the counterweight are in linear motion, and when the inertia of the system is calculated for the gearless permanent magnet synchronous traction machine, the inertia of the linear motion is converted into rotational inertia, and then the inertia is superposed. The inertia in the system mainly comprises: the inertia of the linear motion (car weight, hoisting rope weight, load, counterweight and compensating chain suspension weight), the moment of inertia of the traction sheave itself and the moment of inertia of the motor rotor.
Therefore, the total inertia J of the system can be calculated according to the following formulas：
Js＝JElectric machine+JDrag the+JStraight line
Wherein, JElectric machineAnd JDrag theRespectively the moment of inertia of the rotor of the motor and the moment of inertia of the traction sheave, JStraight lineIs the inertia of linear motion in an elevator system.
The moment of inertia of the motor rotor and the traction sheave can be calculated according to the following formula:
wherein m is the mass of the motor rotor or the traction sheave itself, R is the radius of the motor rotor or the traction sheave, and the mass and specification of the motor rotor and the traction sheave can be directly read in the data of the elevator system.
Inertia of linear motion JStraight lineCan be expressed directly from the inertia of the main part of the linear motion, i.e.;
Jstraight line＝JCar+JLoad weight+JCounterweight+JCompensation
Wherein, each inertia of the linear motion can be converted into the moment of inertia on the traction sheave according to the following formula in advance:
J＝mR2
wherein m is the mass of each corresponding part, R is the radius of the traction sheave, the mass of the car, the counterweight and the compensating chain can be directly read in the data of the elevator system, and the mass of the load can be obtained according to the method in step 102.
In the inertia of the straight line part, because the load of the elevator changes frequently, different loads mean that the inertia of the car side is different, and the inertia of other straight line parts does not change; the moment of inertia of the traction sheave itself and the moment of inertia of the rotor of the motor do not vary, and therefore the total inertia J of the systemsIt can also be expressed directly by the following formula:
Js＝Jfixing device+JLoad weight
Wherein, JFixing device＝JCar+JElectric machine+JCounterweight+JCompensation+JDrag the。
Therefore, the data of the elevator system is read in advance, and the fixed inertia J in the system is calculatedFixing deviceObtaining load inertia J in an elevator systemLoad weightThen, the inertia moment J is adjustedLoad weightAdding the inertia of the system to obtain the current accurate inertia J of the systems。
Obtaining inertia J of elevator systemsAnd then, according to a formula of a motor mechanical motion equation and in combination with a preset speed curve of each motion stage, adjusting the electromagnetic torque output by the motor, so that the speed of the elevator car can be changed according to the preset speed curve as much as possible.
Therefore, the embodiment provides an elevator control method, inertia corresponding to load is calculated according to the friction torque when the maintaining torque and the elevator car are in no-load and the torque corresponding to the system mechanical load represented by the difference between the elevator car counterweight and the no-load elevator car weight and the stress torque in the zero-speed running stage of the elevator, so that the total inertia of an elevator system is accurately determined, and the output torque of a motor is adjusted in the motion stage of the elevator according to the system inertia, the motor mechanical motion equation and a given speed curve, so that the torque adjustment is more efficient and accurate, the speed of the elevator car is more fitted with the given speed curve, the speed following performance and the control performance of the elevator are improved, and the comfort of a user elevator is improved.
A second embodiment of the present invention relates to an elevator control method. The second embodiment is substantially the same as the first embodiment, in the embodiment, the friction torque when the car is unloaded and the torque corresponding to the mechanical load of the system are obtained layer by layer according to the difference value of the maintenance torque of the empty car in the ascending state and the descending state in advance, and are bound with the floor number, so that the influence of the specific gravity change of the steel wire ropes and the like on the two sides of the traction sheave on the torque corresponding to the friction torque and the mechanical load of the system is avoided when the floor of the car is changed, the elevator obtains the corresponding torque data according to the floor where the elevator is located to calculate the load inertia, and the accuracy of the obtained system inertia is further ensured.
A specific flow of the elevator control method in the present embodiment is shown in fig. 4, and specifically includes the following steps:
Step 401 in this embodiment is similar to step 101 in the first embodiment, and is not described herein again.
And 402, acquiring moment data corresponding to the floor number according to the number of the floor where the car is located at present, and determining the load inertia.
Specifically, after the maintaining moment of the car is obtained at the zero-speed stage, the floor number of the floor where the car is located at present is obtained; and acquiring preset friction torque corresponding to the floor number and preset torque corresponding to the mechanical load of the system according to the floor number, and further determining the current load inertia of the elevator system.
In one example, before the elevator runs, the friction torque corresponding to each floor and the torque corresponding to the system mechanical load are predetermined, and when the friction torque corresponding to each floor and the torque corresponding to the system mechanical load are determined, the first maintenance torque of the zero-speed stage when the no-load car is in an ascending state at the current floor is obtained, wherein the first maintenance torque is the critical torque for maintaining the zero-speed of the no-load car; acquiring a second maintaining moment of a zero-speed stage when the no-load car is in a descending state at the current floor, wherein the second maintaining moment is a critical moment for maintaining the zero-speed of the no-load car; determining the friction torque of the lift car when the lift car is in no load according to the difference between the first maintaining torque and the second torque; determining the moment corresponding to the mechanical load of the system when the car is in no load according to the sum of the first maintaining moment and the friction moment or the difference between the second maintaining moment and the friction moment; and binding the friction torque and the torque corresponding to the mechanical load of the system with the floor number of the current floor.
For example, when the friction torque and the system mechanical torque of a certain floor in a vertical elevator system are obtained, the schematic diagram of the equivalent torque of an empty car is shown in fig. 5 and includes; moment T corresponding to mechanical load of system during no-load of fixed and unchangeable lift carLoad in the empty compartmentMotor output torque TeAnd a friction torque T with a direction changing with the moving direction of the carfWherein
Te＝Tload in the empty compartment+Tf
Then slowly decreasing TeUntil the cage moves upwards, the schematic diagram of the equivalent moment in the state that the empty cage goes upwards is shown in figure 6, and the output torque of the motor is the first maintenance moment Te1The friction torque is the maximum friction torque TfmIn the downward direction, Te1+Tfm＝TLoad in the empty compartment；
Then slowly increasing T againeUntil the car moves downwards, the equivalent torque diagram of the loaded car in the descending state is shown in FIG. 7, and the output torque of the motor is the second holding torque Te2The friction torque is also the maximum friction torque TfmIn an upward direction, at this time, Te2＝TLoad in the empty compartment+Tfm；
By combining the torque relationship of the uplink state and the torque relationship of the downlink state, the following results can be obtained: t ise2-Te1＝2TfmThat is to say that,
according to an equivalent moment schematic diagram of an elevator system, the directions corresponding to friction moments of the car in different motion states are combined, and the equivalent moment schematic diagram can be obtained according to a formula: t isLoad in the empty compartment＝Te2-TfmOr the formula: t isLoad in the empty compartment＝Te1+TfmAnd calculating the moment T corresponding to the mechanical load of the system represented by the difference between the weight of the lift car and the weight of the unloaded lift car to the stress moment when the lift car is unloadedLoad in the empty compartment。
And after calculating the friction torque corresponding to the floor and the torque corresponding to the mechanical load of the system according to the first maintenance torque and the second maintenance torque, binding the torque data with the floor number of the current floor, and acquiring the torque data corresponding to the rest floors, thereby presetting the torque data corresponding to the floors for each floor number.
When the load inertia is determined, according to the floor where the lift car is located at present, after the friction torque stored for the floor number in advance and the torque corresponding to the mechanical load of the system are obtained according to the floor number, the torque T corresponding to the load is calculated according to the following formulaLoad weight：
TLoad weight＝TElectric machine-TLoad in the empty compartment+Sign(TMassage device)
Wherein, when the cage is in the ascending state, Sign (T)Massage device)＝TMassage deviceSign (T) when the car is in a down stateMassage device)＝-TMassage deviceAnd then, calculating the current load inertia of the elevator system according to a corresponding formula according to the condition that the elevator car is in an ascending or descending state.
And step 403, determining the rotational inertia of the system according to the load inertia, and adjusting the output torque of the motor according to the rotational inertia in the subsequent operation stage.
Step 403 of this embodiment is similar to step 103 of the first embodiment, and will not be described again here.
Therefore, the embodiment provides an elevator control method, the load inertia of the system is accurately determined by the aid of the maintaining moment acquired at the zero-speed stage of elevator operation and by combining the friction moment corresponding to the floor where the elevator car is located and the moment corresponding to the mechanical load of the system, and the influence on the accuracy of the load inertia calculation result due to moment data change caused by floor change is not taken into consideration when the load inertia is calculated, so that the total inertia of the system is more accurately determined, the following performance of the operation speed of the elevator car is further improved when the output torque of the motor is adjusted according to a given speed curve, and elevator riding experience of a user is improved.
In addition, those skilled in the art can understand that the steps of the above methods are divided for clarity, and the implementation can be combined into one step or split into some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, and the method is within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
A third embodiment of the present invention relates to an elevator control device, as shown in fig. 8, including:
an obtaining module 801, configured to obtain a holding torque of the car at a zero-speed stage, where the holding torque is a critical torque for maintaining the zero-speed of the car.
A determining module 802 for determining a load inertia of the car based on the holding torque.
And a control module 803, configured to determine a rotational inertia of the system according to the load inertia, and adjust an output torque of the motor according to the rotational inertia.
In one example, the determining module 802 determines the current load inertia of the car based on the holding torque, including: acquiring friction torque when the lift car is in no load and torque corresponding to mechanical load of the system; determining the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system and the maintaining torque; and determining the load inertia of the car according to the load weight.
In another example, the determining module 802 takes the friction torque when the car is empty and the torque corresponding to the mechanical load of the system, and includes: acquiring the floor number of the floor where the lift car is located; and acquiring the friction torque stored for the floor number and the torque corresponding to the mechanical load of the system according to the floor number.
In another example, before obtaining the friction torque corresponding to the floor number and the torque corresponding to the system mechanical load, the determining module 802 further includes: determining friction torque corresponding to each floor and torque corresponding to system mechanical load; determining the friction torque corresponding to each floor and the torque corresponding to the mechanical load of the system, specifically comprising: acquiring a first maintaining moment of a zero-speed stage when the no-load car is in an ascending state at the current floor, wherein the first maintaining moment is a critical moment for maintaining the zero-speed of the no-load car; acquiring a second maintaining moment of a zero-speed stage when the no-load car is in a descending state at the current floor, wherein the second maintaining moment is a critical moment for maintaining the zero-speed of the no-load car; determining the friction torque of the lift car when the lift car is in no load according to the difference between the first maintaining torque and the second torque; determining the moment corresponding to the mechanical load of the system when the car is in no load according to the sum of the first maintaining moment and the friction moment or the difference between the second maintaining moment and the friction moment; and binding the friction torque and the torque corresponding to the mechanical load of the system with the floor number of the current floor.
In another example, the determining module 802 determines the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system, and the maintaining torque, including: acquiring the motion state of the car; if the lift car is in an ascending state, determining the load weight of the lift car according to the difference between the sum of the maintaining torque and the friction torque and the torque corresponding to the mechanical load of the system; and if the car is in a descending state, determining the load weight of the car according to the difference between the sum of the friction torque and the torque corresponding to the mechanical load of the system and the maintaining torque.
In another example, the determining module 802 determines the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system, and the maintaining torque, including: the weight m of the car is calculated according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment corresponding to mechanical load of system when the lift car is in no-load, TMassage deviceThe friction moment when the lift car is in idle load, g is the gravity acceleration, and R is the radius of the traction wheel.
In another example, the determining module 802 determines the load inertia of the car based on the load weight, comprising: calculating the load inertia J corresponding to the load of the car according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment corresponding to mechanical load of system when the lift car is in no-load, TMassage deviceThe friction moment when the lift car is in idle load, g is the gravity acceleration, and R is the radius of the traction wheel.
It should be understood that this embodiment is a system example corresponding to the first embodiment, and may be implemented in cooperation with the first embodiment. The related technical details mentioned in the first embodiment are still valid in this embodiment, and are not described herein again in order to reduce repetition. Accordingly, the related-art details mentioned in the present embodiment can also be applied to the first embodiment.
It should be noted that each module referred to in this embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, and may be implemented by a combination of multiple physical units. In addition, in order to highlight the innovative part of the present invention, elements that are not so closely related to solving the technical problems proposed by the present invention are not introduced in the present embodiment, but this does not indicate that other elements are not present in the present embodiment.
A fourth embodiment of the present invention relates to an electronic device, as shown in fig. 9, including at least one processor 901; and, memory 902 communicatively connected to at least one processor 901; wherein the memory 902 stores instructions executable by the at least one processor 901, the instructions being executable by the at least one processor 901 to enable the at least one processor 901 to perform the elevator control method described above.
Where the memory and processor are connected by a bus, the bus may comprise any number of interconnected buses and bridges, the buses connecting together one or more of the various circuits of the processor and the memory. The bus may also connect various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface provides an interface between the bus and the transceiver. The transceiver may be one element or a plurality of elements, such as a plurality of receivers and transmitters, providing a means for communicating with various other apparatus over a transmission medium. The data processed by the processor is transmitted over a wireless medium via an antenna, which further receives the data and transmits the data to the processor.
The processor is responsible for managing the bus and general processing and may also provide various functions including timing, peripheral interfaces, voltage regulation, power management, and other control functions. And the memory may be used to store data used by the processor in performing operations.
A fifth embodiment of the present invention relates to a computer-readable storage medium storing a computer program. The computer program realizes the above-described method embodiments when executed by a processor.
That is, as can be understood by those skilled in the art, all or part of the steps in the method for implementing the embodiments described above may be implemented by a program instructing related hardware, where the program is stored in a storage medium and includes several instructions to enable a device (which may be a single chip, a chip, or the like) or a processor (processor) to execute all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the invention, and that various changes in form and details may be made therein without departing from the spirit and scope of the invention in practice.
Claims (10)
1. An elevator control method, comprising:
obtaining a maintaining torque of the car at a zero-speed stage, wherein the maintaining torque is a critical torque for maintaining the zero-speed of the car;
determining the load inertia of the car according to the maintaining moment;
and determining the rotational inertia of the system according to the load inertia, and adjusting the output torque of the motor according to the rotational inertia in the subsequent operation stage.
2. The elevator control method of claim 1, wherein determining the current load inertia of the car based on the holding torque comprises:
acquiring friction torque when the car is in no load and torque corresponding to mechanical load of the system;
determining the current load weight of the car according to the friction torque, the torque corresponding to the mechanical load of the system and the maintaining torque;
and determining the load inertia of the car according to the load weight.
3. The elevator control method according to claim 2, wherein the obtaining of the friction torque when the car is empty and the torque corresponding to the mechanical load of the system comprises:
acquiring the floor number of the floor where the car is located;
and acquiring preset friction torque corresponding to the floor number and preset torque corresponding to the mechanical load of the system according to the floor number.
4. The elevator control method according to claim 3, further comprising, before the obtaining of the preset friction torque corresponding to the floor number and the preset torque corresponding to the system mechanical load: determining friction torque corresponding to each floor and torque corresponding to system mechanical load;
the determining of the friction torque corresponding to each floor and the torque corresponding to the mechanical load of the system comprises the following steps:
acquiring a first maintaining moment of a zero-speed stage when a no-load car is in an ascending state at a current floor, wherein the first maintaining moment is a critical moment for maintaining the zero-speed of the no-load car;
acquiring a second maintaining moment of a zero-speed stage when the no-load car is in a descending state at the current floor, wherein the second maintaining moment is a critical moment for maintaining the zero-speed of the no-load car;
determining the friction torque when the car is unloaded according to the difference between the first maintaining torque and the second torque;
determining the moment corresponding to the mechanical load of the system when the car is unloaded according to the sum of the first maintaining moment and the friction moment or the difference between the second maintaining moment and the friction moment;
and binding the friction torque and the torque corresponding to the mechanical load of the system with the floor number of the current floor.
5. The elevator control method of claim 2, wherein determining the current load weight of the car based on the friction torque, the torque corresponding to the mechanical load of the system, and the holding torque comprises:
acquiring the motion state of the car;
if the car is in an ascending state, determining the load weight of the car according to the difference between the sum of the maintaining torque and the friction torque and the torque corresponding to the mechanical load of the system;
and if the car is in a descending state, determining the load weight of the car according to the difference between the sum of the friction torque and the torque corresponding to the system mechanical load and the maintaining torque.
6. The elevator control method according to any one of claims 2 to 5, wherein the determining the current load weight of the car based on the friction torque, the torque corresponding to the system mechanical load, and the maintenance torque comprises: calculating a load weight m of the car according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment, T, corresponding to the mechanical load of the system when the car is emptyMassage deviceAnd g is the friction moment of the car when the car is in no load, g is the gravity acceleration, and R is the radius of the traction wheel.
7. The elevator control method of any of claims 2 to 5, wherein determining the load inertia of the car from the load weight comprises: calculating the load inertia J corresponding to the load of the car according to the following formulaCarrier：
Wherein, TElectric machineElectromagnetic torque, T, output for the motorLoad in the empty compartmentMoment, T, corresponding to the mechanical load of the system when the car is emptyMassage deviceAnd g is the friction moment of the car when the car is in no load, g is the gravity acceleration, and R is the radius of the traction wheel.
8. An elevator control apparatus, comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a maintaining torque of a car at a zero-speed stage, and the maintaining torque is a critical torque for maintaining the zero-speed of the car;
the determining module is used for determining the load inertia of the car according to the maintaining moment;
and the control module is used for determining the rotational inertia of the system according to the load inertia and adjusting the output torque of the motor according to the rotational inertia.
9. An electronic device, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the elevator control method of any of claims 1-7.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the elevator control method according to any one of claims 1 to 7.
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