Elevator door opening resistance detection and drive force compensation method

Abstract

This invention discloses a method for detecting elevator door opening and closing resistance and compensating for driving force, relating to the field of elevator control technology. This invention detects changes in elevator door opening and closing resistance in real time and compensates for the door opening and closing driving force accordingly, thus preemptively offsetting the inhibitory effect of the resistance on door movement and improving the responsiveness of the door control system to speed commands. This method does not require additional hardware or signal acquisition algorithms; it only requires algorithms for processing resistance and compensation current, thus not increasing hardware costs. The detection accuracy reaches the entire elevator door travel range, and the detection range covers all floors and both opening and closing directions. The algorithm is simple, feasible, and adaptive. Preemptively offsetting the inhibitory effect of the door resistance on door movement improves the responsiveness of the door control system to speed commands. This invention helps improve the field adaptability of existing door control systems through software algorithms.

Description

Technical Field

[0001] This invention belongs to the field of elevator control technology, specifically a method for detecting elevator door opening and closing resistance and compensating for driving force. Background Technology

[0002] Elevator doors include car doors that move with the elevator car and landing doors installed at the exits of each floor's shaft. The car doors and landing doors move in tandem when the elevator opens and closes. Over time, working conditions inevitably deteriorate due to factors such as dust accumulation on the sill, falling objects, door deformation, post-production finishing of the car / landing doors, and wind resistance. This manifests as increased resistance to the elevator doors during opening and closing, causing them to require a longer time to reach the expected speed and acceleration values ​​corresponding to the pre-set opening and closing speed diagram.

[0003] Chinese invention patent application CN112777462A discloses a control method for an elevator door operator with adaptive closing resistance. This method involves adding a capacitive sensor to detect the capacitance between the two elevator doors, calculating the door's movement speed based on capacitance changes, and determining whether the closing resistance exceeds a threshold. If so, the door operator's speed is reduced and the closing torque is increased. This method requires installing hardware detection equipment on the moving part of the elevator door, increasing costs and raising installation and debugging requirements. Furthermore, the proposed solution does not provide a method for determining the threshold and the increased closing torque.

[0004] Chinese invention patent CN100564219A discloses a method for monitoring the status of an automatic door. The method involves creating a dynamic model of the door and using this model to model the door's acceleration or velocity. It calculates the error term between the measured and estimated values ​​of acceleration or velocity, minimizes this error term, calculates the frictional force applied to the door, and compares the frictional force with a reference value to deduce the door's operating state. This method involves iterative optimization of the door's dynamic model parameters, making its implementation in engineering applications quite challenging.

[0005] Chinese invention patent CN109179171A discloses a self-learning method, device, and storage medium for an elevator door mechanical system. It records the thrust-door position curve when the elevator door opens and the thrust-door position curve when the elevator door closes, and selects three linearly independent points from these two curves to calculate the initial value of the self-closing force, the self-closing force coefficient, and the frictional force. However, this method does not provide a specific method for calculating the frictional force at each position during the elevator door's movement.

[0006] Chinese invention patent CN105645237A discloses a control method and system for elevator door operators. This method involves adding a wind force detection module to automatically adjust the torque of the door operator control system based on the ambient wind speed. However, this method increases hardware costs and only applies to situations where wind resistance exists.

[0007] Chinese invention patent CN109399430A discloses an elevator landing door control method, which calculates the door opening and closing resistance based on the torque, current, and speed values ​​of the motor during the elevator car's door opening and closing process. The formula used in this method is a variation of Newton's second law, directly referencing the equivalent moment of inertia corresponding to the elevator door's mass to calculate the door opening and closing resistance. However, this method will introduce errors when the elevator door's mass changes due to subsequent finishing work after manufacturing. Summary of the Invention

[0008] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this invention proposes a method for detecting elevator door opening and closing resistance and compensating for driving force. This invention detects changes in elevator door opening and closing resistance in real time and compensates for the door opening and closing driving force in advance, thus offsetting the inhibitory effect of the resistance on door movement and improving the responsiveness of the door control system to speed commands. This method does not increase hardware costs, achieves detection accuracy across the entire elevator door travel range, covers all floors and both opening and closing directions, and features a simple, feasible, and adaptive algorithm.

[0009] To achieve the above objectives, a first aspect of the present invention provides a method for detecting elevator door opening and closing resistance and compensating for driving force, comprising:

[0010] Based on a preset door opening and closing speed graph table, door opening and closing acceleration data is obtained, and the travel point where the acceleration changes is selected as the variable acceleration point; during the elevator door movement, the door motor current is detected and converted into the driving force acting on the elevator door; the elevator door movement speed is detected and converted into the door acceleration.

[0011] Based on the driving force, door acceleration, resistance force at each acceleration point and its two adjacent points during the elevator door's travel, and the equivalent mass of the elevator door, a set of equations is constructed. The resistance force at the acceleration point is derived by combining the assumed conditions, and the resistance force between adjacent acceleration points is obtained by combining the mean value or linear interpolation method.

[0012] The resistance is converted into the corresponding door motor compensation current, and the door motor compensation current is superimposed on the original current output command of the door control system to obtain the summed current output command.

[0013] Preferably, the equation set constructed based on the driving force, door acceleration, resistance force experienced by the elevator door at each variable acceleration point and its two adjacent points on the left and right sides during the elevator door's travel, and the equivalent mass of the elevator door includes:

[0014] Mark each acceleration point during the elevator door travel as P. v P vThe left and right neighboring points are labeled as P. L and P R The assumption is that the elevator door is at point P. v P L and P R The resistance they experience is equal;

[0015] Based on Newton's second law, the system of equations is as follows: Where p0 is the variable acceleration point P v The corresponding journey; p1 is the variable acceleration point P. v Left neighboring point P L The corresponding journey; p2 is the variable acceleration point P. v Right neighbor point P R The corresponding stroke; F(p) is the driving force acting on the elevator door obtained by detecting the current of the door motor and converting it; M is the equivalent mass of the elevator door; a(p) is the door acceleration obtained by detecting the speed of the elevator door and converting it; f(p) is the resistance experienced by the elevator door at stroke P.

[0016] Preferably, the formula for calculating the resistance experienced by the elevator door at the acceleration point is:

[0017]

[0018] Where, when P v At the start of the door travel, a(p1) is 0, but p1 does not physically exist. Therefore, F(p1) at this time takes the value of the driving force F when the elevator door is in a static state. K When P v When the door travels to its end, a(p2) is 0, but p2 does not physically exist. Therefore, F(p2) at this point takes the value of the driving force F when the elevator door is in a static state. K .

[0019] Preferably, the method of obtaining the resistance experienced by the elevator door during its travel between adjacent acceleration points by combining the mean or linear interpolation method includes:

[0020] The resistance of the elevator door between adjacent acceleration points can be obtained by taking the average resistance of the two adjacent acceleration points; or by combining the current linear interpolation method with the travel distance.

[0021] Preferably, the resistance corresponding to the entire elevator door travel is obtained by combining the resistance at each variable acceleration point and the resistance between the variable acceleration points.

[0022] Preferably, the resistance detection process is performed every time the elevator door opens and closes, so that the calculated resistance reflects the current state.

[0023] Preferably, the resistance detection process is performed at each acceleration point of the elevator door.

[0024] Preferably, the resistance is filtered using a moving average method or a weighted moving average method based on several resistance tests.

[0025] Preferably, filtering is performed separately for different floors and variable acceleration points.

[0026] Preferably, the resistance at each acceleration point and the resistance of the travel between acceleration points are stored separately according to the floor and the opening / closing of the door.

[0027] Preferably, the door opening and closing speed graph includes a line or a curve.

[0028] Preferably, the variable acceleration point P V P, the left neighboring point L and the neighboring point P on the right R The minimum interval p is calculated based on the travel distance of the elevator door operator control software. T It is confirmed that the left neighboring point P is... L The corresponding journey p1 and its right neighboring point P R The specific calculation method for the corresponding trip p2 is: p1 = p0 - p T p2 = p0 + p T .

[0029] Compared with existing technologies, the beneficial effects of this invention are as follows: The elevator door opening / closing resistance detection and driving force compensation method of this invention does not require additional hardware equipment and related signal acquisition algorithms; it only requires resistance and compensation current processing algorithms, thus not increasing hardware costs. The detection accuracy reaches the entire travel of the elevator door, the detection range covers all floors and both opening and closing directions, the algorithm is simple and feasible, and has adaptive capabilities. It preemptively counteracts the inhibitory effect of door resistance on door movement, improving the door control system's responsiveness to speed commands. In summary, this invention helps improve the field adaptability of existing door control systems through software algorithms. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a schematic diagram illustrating the elevator door opening and closing resistance detection principle of the present invention;

[0032] Figure 2 This is a schematic diagram illustrating the selection of the variable acceleration point and its adjacent points on both sides in this invention;

[0033] Figure 3 This is a schematic diagram illustrating the elevator door opening and closing drive force compensation principle of the present invention. Detailed Implementation

[0034] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The first aspect of the present invention provides a method for detecting elevator door opening and closing resistance and compensating for elevator door opening and closing force, including an elevator door opening and closing resistance detection method and an elevator door opening and closing force compensation method.

[0036] Please see Figure 1 The elevator door opening and closing resistance detection method provided by the present invention includes the following steps:

[0037] Step 101, Select variable acceleration point: Calculate the door opening and closing acceleration data according to the preset door opening and closing speed graph table, and select the stroke point where the acceleration changes as the variable acceleration point. Figure 2 An example illustrates the variable acceleration point P. v and its left neighboring point P L Right neighboring point P R The selection method involves calculating the minimum interval p based on the travel distance of the elevator door operator control software. T It is confirmed that the left neighboring point P is... L The corresponding journey p1 and its right neighboring point P R The specific calculation method for the corresponding trip p2 is: p1 = p0 - p T p2 = p0 + p T .

[0038] Step 102: During the elevator door's movement, detect the door motor current I. q (p) is then converted from current to torque to driving force to obtain the driving force F(p) acting on the elevator door, where p is the stroke. The conversion process is a well-known technology and will not be described in detail.

[0039] Step 103: Simultaneously with step 101, the elevator door's velocity v(p) is detected and converted using time differentiation to obtain the door's acceleration a(p). The conversion process is a well-known technique and will not be detailed here. According to Newton's second law, F(p), a(p), the elevator door's equivalent mass M, and the resistance f(p) acting on the door satisfy Equation 1:

[0040] F(p) = M·a(p) + f(p)

[0041] Step 104, based on each variable acceleration point P during the elevator door travel... v Left neighboring point P L and the neighboring point P on the right R Given the driving force F(p) and the gate acceleration a(p), and assuming P v With neighboring point P L and P R Since the resistance is equal, we construct the first set of equations based on equation one:

[0042]

[0043] In the first system of equations, p0 is P v The corresponding itinerary, p1 is P L The corresponding itinerary, p2 is P R The corresponding travel distance, M, is the equivalent mass of the elevator door.

[0044] Step 105: Based on the derivation of the equations, the resistance f(p0) experienced by the elevator door near the variable acceleration point satisfies Equation 2:

[0045]

[0046] In Equation 2, when P v At the start of the door travel, a(p1) is 0, but p1 does not physically exist. Therefore, F(p1) at this time takes the value of the driving force F when the elevator door is in a static state. K When P v When the door travels to its end, a(p2) is 0, but p2 does not physically exist. Therefore, F(p2) at this point takes the value of the driving force F when the elevator door is in a static state. K .

[0047] Step 106: The resistance at each point of travel between two adjacent variable acceleration points is calculated by taking the average of the resistance at these two variable acceleration points, or by calculating it based on the travel using linear interpolation.

[0048] Step 107: Combine the resistance at each variable acceleration point and the resistance at various points in the travel between variable acceleration points to obtain the resistance in the entire door travel.

[0049] The detection process is performed every time the elevator door opens and closes, so that the calculated resistance reflects the current state.

[0050] The testing process was conducted at various acceleration points of the elevator door to reflect the resistance experienced by the door as comprehensively as possible throughout its entire travel.

[0051] Step 108 involves filtering the resistance based on several tests and calculations using methods such as moving average or weighted moving average to eliminate spikes and abrupt changes. Filtering is performed separately for different floors and acceleration points.

[0052] Step 109: Store the resistance at each acceleration point and the resistance at each point of travel between acceleration points separately according to floor and door opening / closing, so as to reflect the resistance changes at each floor caused by the cleanliness of the sill, the magnitude of wind resistance, and the different directions of movement.

[0053] Please see Figure 2 The present invention selects a variable acceleration point P. v and its left neighboring point P L Right neighboring point P R One embodiment involves calculating the door opening and closing acceleration data based on a preset door opening and closing speed graph table, and extracting the stroke corresponding to changes in acceleration from the data.

[0054] Figure 2 The provided door opening / closing speed graph shows the door's travel distance on the x-axis and the opening / closing speed on the y-axis. The graph is a broken line with acceleration changes at its inflection points; there are six inflection points, including the beginning and end of the line. These inflection points are designated as variable acceleration points P. v In P v Select the nearest point P on the left. L In P v Select the nearest point P on the right. R Variable acceleration point P v P L and P R The corresponding itineraries are p0, p1, and p2.

[0055] Figure 2 Only one variable acceleration point P is marked. v and its corresponding P L and P R This is used to illustrate steps 101 to 105. In actual implementation, the other turning points are also used as variable acceleration points in the calculation.

[0056] Figure 2 The given graph is a polygonal line representing the door opening and closing speed, but the selected acceleration point P is variable. v and its left neighboring point P L Right neighboring point P R The same method applies to curve-type door opening and closing speed graphs. Since the selection method is similar, no further examples will be given.

[0057] Please see Figure 3 The elevator door opening and closing drive force compensation method provided by the present invention includes the following steps:

[0058] Step 201: The resistance parameters are converted from resistance to torque to current to obtain the corresponding gate motor compensation current. Where p represents the number of steps. The conversion process is a well-known technique and will not be described in detail.

[0059] Step 202, compensate the current of the door motor. Superimposed on the original current output command of the door control system The above will generate a summary current output command. This is used to counteract the inhibitory effect of resistance on the door's movement in advance, thereby improving the door control system's responsiveness to speed commands.

[0060] The above embodiments are only used to illustrate the technical methods of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of the present invention without departing from the spirit and scope of the technical methods of the present invention.

Claims

1. A method for detecting elevator door opening and closing resistance and compensating for driving force, characterized in that, include: Based on the preset door opening and closing speed graph table, obtain the door opening and closing acceleration data and select the stroke point where the acceleration changes as the variable acceleration point; During the movement of the elevator door, the current of the door motor is detected and converted into the driving force acting on the elevator door; the speed of the elevator door movement is detected and converted into the door acceleration. Based on the driving force, door acceleration, resistance force at each acceleration point and its two adjacent points during the elevator door's travel, and the equivalent mass of the elevator door, a set of equations is constructed. The resistance force at the acceleration point is derived by combining the assumed conditions, and the resistance force between adjacent acceleration points is obtained by combining the mean value or linear interpolation method. The resistance is converted into the corresponding door motor compensation current, and the door motor compensation current is superimposed on the original current output command of the door control system to obtain the summed current output command. The method of combining the mean or linear interpolation to obtain the resistance experienced by the elevator door during its travel between adjacent acceleration points includes: The resistance of the elevator door between adjacent acceleration points can be obtained by taking the average resistance of the two adjacent acceleration points; or by combining the current linear interpolation method with the travel distance. The resistance corresponding to the entire elevator door travel is obtained by combining the resistance at each acceleration point and the resistance of the travel between acceleration points.

2. The method for detecting elevator door opening and closing resistance and compensating driving force according to claim 1, characterized in that, The equation set constructed based on the driving force, door acceleration, resistance force experienced by the elevator door at each variable acceleration point and its two adjacent points during the elevator door's travel, and the equivalent mass of the elevator door includes: Mark the acceleration points during the elevator door travel as follows: , The left and right neighboring points are marked as follows: and The assumption is that the elevator door is in , and The resistance they experience is equal; Based on Newton's second law, the system of equations is as follows: ;in, For the variable acceleration point The corresponding itinerary; For the variable acceleration point Left neighboring point The corresponding itinerary; For the variable acceleration point Right neighboring point The corresponding itinerary; To detect the current of the door motor and convert it into the driving force acting on the elevator door; The equivalent mass of the elevator door; To detect the speed of the elevator door and convert it into door acceleration; For elevator doors in travel The resistance encountered at that point.

3. The method for detecting elevator door opening and closing resistance and compensating driving force according to claim 1, characterized in that, The formula for calculating the resistance experienced by the elevator door at the acceleration point is: ； Among them, when When the door travel starts, It is 0, but It does not exist physically, therefore at this time Take the driving force when the elevator door is in a static state. ;when When the door reaches its destination, It is 0, but It does not exist physically, therefore at this time Take the driving force when the elevator door is in a static state. .

4. The method for detecting elevator door opening and closing resistance and compensating driving force according to claim 1, characterized in that, The door opening and closing speed graph includes either a line or a curve.

5. The method for detecting elevator door opening and closing resistance and compensating driving force according to claim 2, characterized in that, The variable acceleration point Left neighboring point and adjacent points on the right The minimum interval is calculated based on the travel distance of the elevator door operator control software. Confirmed, neighboring point on the left Corresponding itinerary and adjacent points on the right Corresponding itinerary The specific calculation method is as follows: ; .

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