Dynamic deviation correction method and system for elevator based on speed loop control state
By installing photoelectric switches and detection boards on the hoist, combined with speed loop and current loop control, the motor current is adjusted in real time, solving the problems of untimely and inaccurate hoist correction, and realizing stable transportation and efficient operation of the hoist.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- HUZHOU RIGOR TECH
- Filing Date
- 2024-12-17
- Publication Date
- 2026-06-26
AI Technical Summary
Existing hoists suffer from problems with untimely and inaccurate correction during transportation, affecting work efficiency and safety.
By installing leveling photoelectric switches and multiple leveling detection plates on the hoist car, sinking information and motor speed are collected in real time. Dynamic correction is performed using dual control of speed loop and current loop to adjust the phase current and attitude of the motor.
This has enabled stable operation of the hoist, reduced swaying and deviation, improved operating efficiency and safety, and enhanced system stability and user satisfaction.
Smart Images
Figure CN122276546A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of data processing, and in particular to a method and system for dynamic correction of a hoist under speed loop control. Background Technology
[0002] A hoist is a large mechanical device that transports goods by changing potential energy. It uses a power machine to drive a flexible steel wire rope and the goods being transported to move up and down to complete the transportation process. During operation, the hoist needs to be equipped with a correction device to effectively prevent the conveyor chain from deviating during operation, thus affecting the working efficiency of the hoist.
[0003] Therefore, there is a need to provide a dynamic correction method and system for hoists based on speed loop control to improve the real-time performance and accuracy of hoist correction. Summary of the Invention
[0004] This invention provides a dynamic correction method for a hoist based on speed loop control, comprising: acquiring the hoist car's descent information during the process of goods entering the hoist car, and performing dynamic correction of the hoist's descent based on the descent information; collecting the real-time motor speed of the hoist during the transport of goods, and adjusting the phase current of the hoist motor based on the real-time motor speed and a preset motor speed; and acquiring the hoist car's lifting information during the process of goods leaving the hoist car, and performing dynamic correction of the hoist's lifting based on the lifting information.
[0005] Furthermore, acquiring the sinking information of the hoist car includes: installing a leveling photoelectric switch on the hoist car; installing multiple leveling detection plates at different heights along the hoist track; acquiring the sinking information of the hoist car through the leveling photoelectric switch and one of the leveling detection plates, wherein the sinking information of the hoist car includes electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the hoist car.
[0006] Furthermore, based on the sinking information, dynamic correction of the hoist sinking is performed, including: determining whether to perform dynamic correction of the hoist sinking based on the sinking information; if it is determined to perform dynamic correction of the hoist sinking, obtaining the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car, and performing dynamic correction of the hoist sinking based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car.
[0007] Furthermore, based on the sinking information, determining whether to perform dynamic correction of the hoist's sinking includes: calculating the likelihood of the hoist's car sinking based on the electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the hoist's car; and determining whether to perform dynamic correction of the hoist's sinking based on the sinking likelihood.
[0008] Furthermore, obtaining the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car includes: setting up multiple position detection photoelectric switches along the elevator track; determining the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car based on the electrical signals output by the multiple position detection photoelectric switches at multiple consecutive time points during the process of goods entering the elevator car.
[0009] Furthermore, based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car, dynamic correction of the hoist's descent is performed, including: determining the correction direction based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car; determining the correction distance based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car; and performing dynamic correction of the hoist's descent based on the correction direction and correction distance.
[0010] Furthermore, determining the correction direction based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car includes: determining the relative orientation information of the elevator car based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car; and determining the correction direction based on the relative position information of the elevator car.
[0011] Furthermore, determining the correction distance based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car includes: determining the relative distance information of the elevator car based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car; and determining the correction distance based on the relative distance information of the elevator car.
[0012] Further, the real-time motor speed of the hoist is acquired, including: obtaining the real-time motor speed of the hoist through an encoder; adjusting the phase current of the hoist motor according to the real-time motor speed and a preset motor speed, including: calculating the speed error according to the real-time motor speed and the preset motor speed; performing PI regulation in the speed loop based on the speed error and outputting a setpoint value; obtaining the current error in the current loop based on the setpoint value and the feedback value; and performing PID regulation in the current loop based on the current error and outputting the phase current of each phase of the hoist motor.
[0013] This invention provides a dynamic correction system for a hoist under speed loop control. Applying the aforementioned dynamic correction method for a hoist under speed loop control, the system includes: a data acquisition module comprising multiple position detection units and a speed detection unit. One of the position detection units is used to acquire the hoist car's descent information during the entry of goods into the hoist car, and another is used to acquire the hoist car's elevation information during the exit of goods from the hoist car. The speed detection unit is used to acquire the real-time motor speed of the hoist during goods transportation. A dynamic correction module is used to perform dynamic correction of the hoist's descent based on the descent information during the entry of goods into the hoist car. The dynamic correction module is also used to adjust the phase current of the hoist motor based on the real-time motor speed and a preset motor speed during goods transportation. Furthermore, the dynamic correction module is used to perform dynamic correction of the hoist's elevation based on the elevation information during the exit of goods from the hoist car.
[0014] Compared with existing technologies, the dynamic correction method and system for hoists based on speed loop control provided by this invention has at least the following advantages: Dynamic alignment correction during cargo entry and exit from the elevator car ensures stable operation of the hoist, reducing safety hazards caused by swaying or deviation. Real-time adjustment of the motor's phase current ensures stable motor speed, preventing potential dangers such as overspeeding or stalling. Dynamic alignment correction reduces downtime caused by car deviation, improving overall hoist efficiency. Precise control of motor speed and phase current enables faster and smoother cargo transport. Dual control via speed and current loops allows for precise monitoring and adjustment of the hoist's operating status, enhancing overall system stability. Real-time data acquisition and processing enable rapid response to anomalies, ensuring stable hoist operation. Stable operation and precise cargo delivery increase user trust and satisfaction, reducing delays and losses due to malfunctions and improving the overall user experience. Attached Figure Description
[0015] This specification will be further described by way of exemplary embodiments, which will be described in detail with reference to the accompanying drawings. These embodiments are not limiting; in these embodiments, the same reference numerals denote the same structures, wherein:
[0016] Figure 1 This is a flowchart illustrating a dynamic correction method for a hoist under speed loop control, based on some embodiments of this specification. Figure 2 This is a schematic diagram illustrating the principle of dynamic correction of the hoist during sinking, as shown in some embodiments of this specification. Figure 3 This is a schematic diagram illustrating the principle of dynamic correction of a hoist during cargo transportation, based on some embodiments of this specification. Figure 4 This is a schematic diagram of a dynamic correction system for a hoist under speed loop control, as shown in some embodiments of this specification. Detailed Implementation
[0017] To more clearly illustrate the technical solutions of the embodiments in this specification, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are merely some examples or embodiments of this specification. For those skilled in the art, these drawings can be applied to other similar scenarios without creative effort. Unless obvious from the context or otherwise specified, the same reference numerals in the drawings represent the same structures or operations.
[0018] Figure 1 This is a flowchart illustrating a dynamic correction method for a hoist under speed loop control, based on some embodiments of this specification. Figure 1 As shown, the dynamic correction method for the hoist under speed loop control can include the following steps.
[0019] Step 110: During the process of goods entering the elevator car, obtain the sinking information of the elevator car, and perform dynamic correction of the elevator sinking based on the sinking information.
[0020] In some embodiments, obtaining the sinking information of the hoist car includes: Install leveling photoelectric switches on the elevator car; Multiple leveling detection plates are set at different heights along the hoist's track; The sinking information of the hoist car is obtained through a leveling photoelectric switch and a leveling detection plate. The sinking information of the hoist car includes electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the hoist car.
[0021] Specifically, the leveling photoelectric switch uses photoelectric principles to detect the position of the hoist car. The leveling photoelectric switch includes an infrared transmitter and an infrared receiver. When the hoist car is moving, if it has not yet reached the leveling position, the infrared transmitter emits infrared light, which the infrared receiver can receive. However, when the hoist car reaches the leveling position, a leveling detection plate is triggered, which blocks the infrared light, thus preventing the infrared receiver from receiving it.
[0022] In some embodiments, dynamic correction of the hoist's descent is performed based on the descent information, including: Based on the sinking information, determine whether to perform dynamic correction of the hoist's sinking. If it is determined that the hoist should be lowered dynamically, the real-time position of the hoist car at multiple consecutive time points during the process of the goods entering the hoist car is obtained, and the hoist is lowered dynamically based on the real-time position of the hoist car at multiple consecutive time points during the process of the goods entering the hoist car.
[0023] In some embodiments, determining whether to perform dynamic correction of the hoist's descent based on the sinking information includes: The possibility of the elevator car sinking is calculated based on the electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the elevator car. Based on the likelihood of sinking, determine whether to perform dynamic correction by sinking the hoist.
[0024] As an example only, when the infrared receiver of the leveling photoelectric switch receives infrared light emitted by the infrared transmitter, the leveling photoelectric switch outputs a high level. Using "1" to represent a high level and "0" to represent a low level, a judgment sequence can be generated based on the electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the elevator car. For example, (0, 0, 1, 0, 1, 1, 1, 1), where each element of the sequence represents the electrical signal output by the leveling photoelectric switch at a given time point. The mean and variance of all elements in the sequence can be calculated to obtain the sequence mean and variance. When the sequence mean is greater than a preset sequence mean threshold and the sequence variance is less than a preset sequence variance threshold, it is determined that the probability of the elevator car sinking is greater than a preset sinking probability threshold, i.e., dynamic correction of elevator sinking is required.
[0025] In some embodiments, acquiring the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car includes: Multiple photoelectric switches are installed at various locations along the hoist's track. The real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car is determined by detecting the electrical signals output by photoelectric switches at multiple locations during the process of goods entering the hoist car.
[0026] Specifically, when the hoist car is at a certain height, it blocks the infrared transmitter of the position detection photoelectric switch at that height, so that the infrared receiver of the position detection photoelectric switch at that height cannot receive the infrared light emitted by the infrared transmitter of the position detection photoelectric switch at that height, thereby realizing position detection.
[0027] As an example only, a machine learning model can be used to determine the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car by detecting the electrical signals output by the photoelectric switch at multiple locations during the process of goods entering the hoist car. The machine learning model can be a convolutional neural network model.
[0028] In some embodiments, dynamic correction of the elevator's descent is performed based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, including: The correction direction is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. The correction distance is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. Dynamic correction of the hoist's descent is carried out based on the correction direction and correction distance.
[0029] In some embodiments, determining the correction direction based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car includes: The relative orientation information of the elevator car is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. The direction of correction is determined based on the relative position information of the hoist car.
[0030] Specifically, based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, it is determined whether the height of the elevator car is decreasing. If so, the correction direction is determined to be upward.
[0031] In some embodiments, determining the correction distance based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car includes: The relative distance information of the elevator car is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. The correction distance is determined based on the relative distance information between the elevator car and the hoist car.
[0032] Specifically, the height difference between the current position of the hoist car and the preset position corresponding to the leveling detection plate can be determined based on the real-time position of the hoist car at multiple consecutive time points during the process of goods entering the hoist car. This height difference serves as the relative distance information and is used as the correction distance. Based on the correction direction, the phase sequence of the hoist motor voltage is determined to determine the magnetic field of the stator winding, thereby determining the direction of rotor operation as the correction direction, driving the hoist car's lifting and lowering motion.
[0033] For example only, Figure 2 This is a schematic diagram illustrating the principle of dynamic correction of the hoist's downward movement, as shown in some embodiments of this specification. Figure 2 As shown, the force on the elevator car during the loading and unloading process is not instantaneous. As goods enter the elevator car, the chain of the elevator car continues to bear the load simultaneously, causing the elevator car to continuously descend. Therefore, after the elevator car reaches its destination (i.e., the preset position corresponding to the leveling detection plate), the elevator motor remains powered, keeping it in a zero-speed hovering state during the loading process. When the height of the leveling photoelectric switch on the side of the elevator car is misaligned with the height of the leveling detection plate, a correction command will be issued via high-frequency pulses. At this time, the elevator's ascent and the car's descent caused by chain tension cancel each other out, achieving a visually hovering state.
[0034] Step 120: During cargo transportation, collect the real-time motor speed of the hoist, and adjust the phase current of the hoist motor according to the real-time motor speed and the preset motor speed.
[0035] Specifically, the real-time motor speed of the hoist is obtained through an encoder.
[0036] In some embodiments, adjusting the phase current of the hoist motor based on the real-time motor speed and a preset motor speed includes: Calculate the speed error based on the real-time motor speed and the preset motor speed; Based on the speed error, PI regulation is performed within the speed loop. The P regulation is used to quickly counteract the influence of interference, while the I regulation is used to eliminate the residual and output the setpoint. The current loop obtains the current error based on the given value and the feedback value; Based on the current error, PID regulation is performed within the current loop to output the phase current of each phase of the hoist motor.
[0037] Understandably, during operation, the electric motor pulls the car along the guide rail via a mechanical chain. The motor model pre-calculated by the driver will deviate from the actual operation. Such deviations are related to chain friction, the flatness of the track installation, the tightness of the guide wheels, and the verticality of the column. These issues will directly affect the actual operating results of the motor, causing discrepancies between the actual operation and the motor model.
[0038] Figure 3 This is a schematic diagram illustrating the principle of dynamic correction of a hoist during cargo transportation, based on some embodiments of this specification. Figure 3 As shown, in order to enable the hoist to pull heavy-load goods at low frequency and complete low-speed correction and hovering, a closed-loop control logic is introduced. The actual motion state is read through the closed-loop control, and speed feedback is achieved through an encoder connected to the motor tail. During cargo transportation, after the motor model, calculated by the current loop, outputs a normal current, the encoder at the motor tail detects whether the motor speed has reached the preset motor speed. The speed loop feedback comes from the encoder feedback value processed by the "speed calculator." The difference between the "preset motor speed" value and the "speed loop feedback" value is adjusted by PI in the speed loop. P adjustment quickly cancels out interference, while I adjustment eliminates residuals. The result is output to the current loop input of the driver, and then fed back to the current loop via a Hall signal inside the driver. The current loop then performs PID adjustment on the difference between the setpoint calculated by the motor model and the feedback value, outputting the result to the phase current of each phase of the motor. By adjusting the relationship between current and torque, generally speaking, the greater the current, the greater the output torque. Therefore, when the preset speed is not reached, the current output is increased, and when the speed exceeds the set speed, the current output is reduced. Stable operation at low speed is achieved through high-frequency detection and correction.
[0039] Step 130: During the process of the goods leaving the elevator car, obtain the lifting information of the elevator car, and perform dynamic correction of the elevator lifting based on the lifting information.
[0040] Understandably, as goods move out of the elevator car, the weight of the cargo decreases, reducing the force on the chain and causing the car to rise. When the height of the leveling photoelectric switch on the side of the elevator car misaligns with the height of the leveling detection plate, a repeated command is issued to correct the downward deviation. Sensors monitor the relative position of the car in real time, providing a reverse movement to counteract the elastic deformation caused by the chain. The principle and method of dynamic deviation correction during elevator lifting are the same as those for dynamic deviation correction during elevator lowering, and will not be elaborated here.
[0041] Figure 4This is a schematic diagram of a dynamic correction system for a hoist under speed loop control, as shown in some embodiments of this specification. Figure 4 As shown, the hoist dynamic correction system based on speed loop control can include a data acquisition module and a dynamic correction module.
[0042] The data acquisition module may include multiple position detection units and a speed detection unit. One of the multiple position detection units is used to obtain the sinking information of the elevator car when the goods enter the elevator car, and another of the multiple position detection units is used to obtain the lifting information of the elevator car when the goods leave the elevator car. The speed detection unit is used to collect the real-time motor speed of the elevator during the transportation of goods.
[0043] The dynamic correction module can be used to dynamically correct the descent of the hoist based on the sinking information during the process of goods entering the hoist car.
[0044] The dynamic correction module can also be used to adjust the phase current of the hoist motor based on the real-time motor speed and the preset motor speed during cargo transportation.
[0045] The dynamic correction module can also be used to dynamically correct the lifting of the hoist based on the lifting information during the process of goods leaving the hoist car.
[0046] The hoist dynamic correction system based on speed loop control can be used to execute the hoist dynamic correction method based on speed loop control. For more details on the hoist dynamic correction system based on speed loop control, please refer to the relevant description of the hoist dynamic correction method based on speed loop control, which will not be repeated here.
[0047] Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments described herein. Other variations may also fall within the scope of this specification. Therefore, alternative configurations of the embodiments described herein are intended to be illustrative rather than limiting, and should be considered consistent with the teachings of this specification. Accordingly, the embodiments described herein are not limited to those explicitly introduced and described herein.
Claims
1. A dynamic deviation correction method for an elevator based on a speed loop control state, characterized by, include: During the process of goods entering the elevator car, the sinking information of the elevator car is obtained, and the elevator sinking dynamic correction is performed based on the sinking information; During cargo transportation, the real-time motor speed of the hoist is collected, and the phase current of the hoist motor is adjusted according to the real-time motor speed and the preset motor speed. During the process of goods leaving the elevator car, the lifting information of the elevator car is acquired, and the elevator is dynamically corrected based on the lifting information.
2. The dynamic deviation correction method of the hoist in the speed loop control state according to claim 1, characterized in that, Obtain information on the descent of the hoist car, including: A leveling photoelectric switch is installed on the car of the hoist; Multiple leveling detection plates at different heights are set along the track of the hoist; The sinking information of the elevator car is obtained through the leveling photoelectric switch and the leveling detection plate. The sinking information of the elevator car includes electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the elevator car.
3. The dynamic deviation correction method of the hoist in the speed loop control state according to claim 2, characterized in that, Based on the sinking information, dynamic correction of the hoist's sinking is performed, including: Based on the sinking information, determine whether to perform dynamic correction of the hoist's sinking. If it is determined that dynamic correction of the elevator's downward movement is required, the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car is obtained, and dynamic correction of the elevator's downward movement is performed based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car.
4. The dynamic deviation correction method of the hoist based on the speed loop control state according to claim 3, characterized in that, Based on the sinking information, determine whether to perform dynamic correction of the hoist's sinking, including: The possibility of the elevator car sinking is calculated based on the electrical signals output by the leveling photoelectric switch at multiple consecutive time points during the process of goods entering the elevator car. Based on the stated possibility of sinking, determine whether to perform dynamic correction of the hoist's sinking.
5. The dynamic deviation correction method of the hoist based on the speed loop control state according to claim 4, characterized in that, Acquire the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, including: Multiple position detection photoelectric switches are installed along the track of the hoist; Based on the electrical signals output by the multiple position detection photoelectric switches at multiple consecutive time points during the process of goods entering the elevator car, the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car is determined.
6. The dynamic deviation correction method of the hoist based on the speed loop control state according to claim 5, characterized in that, Based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, dynamic correction of the elevator's descent is performed, including: The correction direction is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car; The correction distance is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car; Based on the stated correction direction and correction distance, dynamic correction of the hoist's descent is performed.
7. The dynamic deviation correction method of the hoist based on the speed loop control state according to claim 6, characterized in that, The correction direction is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, including: The relative orientation information of the elevator car is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. The correction direction is determined based on the relative position information of the elevator car.
8. The dynamic deviation correction method of the elevator in the speed loop control state according to claim 6, characterized in that, The correction distance is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car, including: The relative distance information of the elevator car is determined based on the real-time position of the elevator car at multiple consecutive time points during the process of goods entering the elevator car. The correction distance is determined based on the relative distance information between the elevator car and the hoist car.
9. The hoist dynamic deviation correction method based on the speed loop control state according to any one of claims 1-8, characterized in that, The real-time motor speed of the hoist is collected, including: The real-time motor speed of the hoist is obtained through an encoder; Adjusting the phase current of the hoist motor based on the real-time motor speed and the preset motor speed includes: Calculate the speed error based on the real-time motor speed and the preset motor speed; Based on the speed error, PI regulation is performed within the speed loop to output a given value; The current loop obtains the current error based on the given value and the feedback value; Based on the current error, PID regulation is performed within the current loop to output the phase current of each phase of the hoist motor.
10. A dynamic correction system for a hoist under speed loop control, characterized in that, The method for dynamic correction of a hoist under speed loop control as described in any one of claims 1-9 includes: The data acquisition module includes multiple position detection units and a speed detection unit. One of the multiple position detection units is used to obtain the sinking information of the elevator car during the process of goods entering the elevator car, and another of the multiple position detection units is used to obtain the lifting information of the elevator car during the process of goods leaving the elevator car. The speed detection unit is used to collect the real-time motor speed of the elevator during the transportation of goods. The dynamic correction module is used to dynamically correct the descent of the hoist based on the descent information during the process of goods entering the hoist car. The dynamic correction module is also used to adjust the phase current of the hoist motor according to the real-time motor speed and the preset motor speed during cargo transportation. The dynamic correction module is also used to perform dynamic correction of the lifting of the hoist based on the lifting information during the process of the goods leaving the hoist car.