Elevator starting torque calculation method and elevator
By installing acceleration sensors inside the elevator car to obtain vertical acceleration data to determine the number of passengers entering and exiting, calculating changes in the elevator car load and optimizing the starting torque, the problem of starting comfort caused by load changes in elevators without weighing devices is solved, resulting in a more comfortable elevator riding experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI MITSUBISHI ELEVATOR CO LTD
- Filing Date
- 2023-03-16
- Publication Date
- 2026-06-05
AI Technical Summary
In elevator systems without weighing devices, existing technologies cannot effectively detect changes in elevator car load, resulting in poor start-up comfort, especially when load changes are significant, leading to a decrease in passenger comfort.
By installing acceleration sensors, vertical acceleration data during elevator car stops is obtained to determine the number of passengers entering and exiting, estimate changes in car load, calculate elevator starting torque based on load changes, and optimize starting torque output by combining floor-specific starting torque correction coefficients.
It achieves a function similar to a weighing device in elevators without a weighing device, optimizes the starting torque output, and improves passenger comfort and the smoothness of starting.
Smart Images
Figure CN116281474B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of elevators, and more specifically to a method for calculating elevator starting torque and an elevator. Background Technology
[0002] Currently, there are generally two methods for controlling elevator starting torque: compensated current starting with a weighing device and compensated current starting without a weighing device. Elevators with weighing devices can compensate for the starting torque before starting using the weighing value obtained from the weighing device, which can achieve a higher level of starting comfort. To save costs, some elevators have eliminated the weighing device; some adjust the PI parameter to quickly adjust the starting torque, such as in published patent documents CN201911022047.7 and CN201610134676.9; some use the average acceleration value of the car at the moment the elevator brake is released to compensate for the starting torque, such as in published patent document CN202110984478.2; and some use a pre-torque method for appropriate compensation, such as in published patent document CN202111655143.2. All of the above methods are compensation measures taken before obtaining information on changes in the car load.
[0003] In elevator systems without weighing devices, the existing methods for compensating starting torque cannot detect changes in the elevator car load before the elevator starts. If the starting torque is only fed back by the direction and displacement of the elevator car, it will have a significant impact on the comfort of the elevator ride. This is because the response speed of this feedback loop is slow, especially when the elevator load changes significantly, the passenger comfort will drop sharply.
[0004] Therefore, how to further improve the starting comfort of elevator systems without weighing devices is a technical problem that the industry needs to solve. Summary of the Invention
[0005] The summary of this invention introduces a series of simplified concepts, all of which are simplifications of existing technologies in the field, and will be further explained in detail in the detailed description section. This summary is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.
[0006] To solve the above-mentioned technical problems, the present invention provides a method for calculating elevator starting torque, comprising the following steps:
[0007] Step S1: Estimate the load inside the elevator car before it stops based on the torque current of the elevator traction machine during elevator car operation.
[0008] Step S2: Obtain the vertical acceleration data of the elevator car while the elevator is stopped at a floor, extract the feature values of the vertical acceleration data, and determine the number of passengers entering and exiting the elevator car.
[0009] Step S3: Estimate the change in elevator car load based on the number of passengers entering and exiting the elevator car or vertical acceleration data.
[0010] Step S4: Determine the load inside the elevator car before it starts, based on the load inside the car before it stops and the change in the elevator car load.
[0011] Step S5: Calculate the elevator starting torque based on the load inside the elevator car before it starts.
[0012] Preferably, in step S2, the method for determining the number of passengers entering and exiting the elevator car is: the number of passengers entering and exiting the elevator car = the count of passengers entering the car - the count of passengers leaving the car.
[0013] Preferably, the passenger entry count and passenger exit count are obtained by using data features from an acceleration sensor to determine the number of passengers entering and exiting the car, including the following steps: Step S21: Obtain the vertical acceleration data of the elevator car while it is stopped at a floor; Step S22: Perform smoothing filtering on the vertical acceleration data to obtain a smoothed acceleration signal. Step S23: Set a threshold Thr for the smoothed acceleration signal according to different floors, and identify whether there is a peak value in the feature signal that is greater than the threshold Thr. If so, determine that a passenger has entered or exited the car; Step S24: Take The absolute value of the peak value is used to determine the peak comparison base value as follows: if the difference between the peak value before the highest peak and the highest peak is within 10%, then the previous peak value is determined as the peak comparison base value Pr; otherwise, the highest peak value is used as the peak comparison base value Pr. Step S25: if the difference between the peak comparison base value Pr and the previous peak value is less than Pr×1 / 3, then it is determined that the passenger has left the car; if the difference between the peak comparison base value Pr and the previous peak value is less than Pr×0.6, then it is determined that the passenger has entered the car. The number of passengers leaving the car is counted to obtain the passenger leaving the car count value, and the number of passengers entering the car is counted to obtain the passenger entering the car count value.
[0014] Preferably, the threshold Thr is set differently for different floors; the farther the floor is from the elevator traction machine, the larger the threshold Thr is set.
[0015] Preferably, in step S3, the change in elevator car load = passenger standard weight * number of passengers entering and exiting the elevator car.
[0016] Preferably, in step S3, the change in elevator car load =
[0017] ,in
[0018] The sum of the maximum peak accelerations generated by each passenger entering the elevator car.
[0019] KL is the sum of the peak maximum accelerations generated by each passenger leaving the elevator car, and is the correction factor for the elevator car load at different floors.
[0020] Preferably, in step S4, the load inside the elevator car before starting = the load inside the elevator car before stopping + the change in elevator car load.
[0021] Preferably, the elevator starting torque calculation method further includes step S6, where each floor has a preset starting torque correction coefficient a. i When the elevator starts, the starting torque is adjusted according to the starting torque correction coefficient corresponding to the floor to be started.
[0022] Preferably, the starting torque correction coefficient for each floor is corrected based on the direction and magnitude of the actual vertical acceleration of the elevator car each time the elevator starts on that floor.
[0023] Preferably, the correction method for the starting torque correction coefficient is as follows: when the direction and magnitude of the actual vertical acceleration of the elevator car when the elevator starts conform to the preset acceleration curve for the elevator car's start-up operation, the original starting torque correction coefficient is maintained; if it does not conform, when the actual vertical acceleration direction is opposite to the target running direction, the starting torque correction coefficient is increased; when the actual vertical acceleration direction is consistent with the target running direction, but the magnitude exceeds the preset acceleration, the starting torque correction coefficient is decreased.
[0024] The present invention also provides an elevator, including a car, a counterweight, a traction machine, a control cabinet and several floors, wherein an acceleration sensor is installed on the side of the car and the acceleration sensor communicates with the control cabinet.
[0025] While the elevator is stopped at a floor, the acceleration sensor measures the vertical acceleration data of the car. The control cabinet calculates the load inside the car before the elevator car starts based on the vertical acceleration data, and calculates the elevator starting torque based on the load inside the car before the elevator car starts.
[0026] The elevator starting torque is calculated according to the aforementioned elevator starting torque calculation method.
[0027] Compared with the prior art, this invention obtains the load change inside the elevator car before the elevator car starts, and realizes a function equivalent to a weighing device in an elevator without a weighing device, thus optimizing the output of the starting torque and providing passengers with a comfortable riding experience. Attached Figure Description
[0028] The accompanying drawings are intended to illustrate the general characteristics of the methods, structures, and / or materials used in specific exemplary embodiments of the invention, supplementing the description in the specification. However, the drawings are schematic diagrams not drawn to scale and may not accurately reflect the precise structural or performance characteristics of any of the given embodiments. The drawings should not be construed as limiting or restricting the range of numerical values or properties covered by exemplary embodiments of the invention. The invention will now be described in further detail with reference to the accompanying drawings and specific embodiments:
[0029] Figure 1 This is a schematic diagram of the elevator system structure related to Example 1;
[0030] Figure 2 This is a schematic diagram illustrating the steps of calculating the elevator starting torque in Example 1; Figure 3 This is a schematic diagram of the acceleration signal of the elevator car after smoothing and filtering in Example 1. Detailed Implementation
[0031] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can fully understand other advantages and technical effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific embodiments, and the details in this specification can also be applied based on different viewpoints, with various modifications or changes made without departing from the overall design concept of the invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. The following exemplary embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the specific embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary embodiments to those skilled in the art. Example
[0032] The elevator system related to this embodiment, such as Figure 1 As shown, an acceleration sensor is installed on the side of the elevator car. The acceleration sensor can communicate with the elevator control cabinet (wired or wireless communication), and the control cabinet controls the traction machine. The acceleration sensor can be installed on the top or bottom of the elevator car.
[0033] like Figure 2 As shown, this embodiment provides a method for calculating elevator starting torque, including the following steps:
[0034] Step S1: Estimate the load inside the elevator car before it stops based on the torque current of the elevator traction machine during elevator car operation.
[0035] Step S2: Obtain the vertical acceleration data of the elevator car while the elevator is stopped at a floor, extract the feature values of the vertical acceleration data, and determine the number of passengers entering and exiting the elevator car.
[0036] Step S3: Estimate the change in elevator car load based on the number of passengers entering and exiting the elevator car or vertical acceleration data.
[0037] Step S4: Determine the load inside the elevator car before it starts, based on the load inside the car before it stops and the change in the elevator car load.
[0038] Step S5: Calculate the elevator starting torque based on the load inside the elevator car before it starts.
[0039] In step S1, the load inside the elevator car before it stops is estimated by the elevator control cabinet based on the measured torque and current of the elevator traction machine.
[0040] Step S2 is calculated by the control cabinet or sensor side. Specifically, it involves acquiring the vertical acceleration data of the elevator while it is stopped at a floor. This can be done by taking the elevator car's vertical acceleration data from the moment the doors open to the moment they close at the floor, and then extracting the feature values of the vertical acceleration data (the acceleration sensor readings when passengers enter or exit the car have distinct characteristics). This yields:
[0041] The number of passengers entering and exiting the elevator car = the number of passengers entering the car - the number of passengers leaving the car.
[0042] For example, the count of passengers entering the car and the count of passengers leaving the car can be obtained using the following method.
[0043] Step S21: Obtain the vertical acceleration data of the elevator car while the elevator is stopped at a floor.
[0044] Step S22: Perform smoothing filtering on the vertical acceleration data to obtain a smoothed acceleration signal. ,like Figure 3 As shown.
[0045] Step S23: Set a threshold Thr for the smooth acceleration signal according to different floors, identify whether there is a peak value greater than the threshold Thr in the feature signal, and if so, determine that a passenger has entered or exited the car.
[0046] Step S24: Take The absolute value of the peak value is used to determine the peak comparison base value as follows:
[0047] If the difference between the previous peak and the highest peak is within 10%, then the previous peak is determined as the peak comparison base value Pr; otherwise, the highest peak is used as the peak comparison base value Pr.
[0048] Step S25: If the difference between the peak comparison base value Pr and the previous peak value is less than Pr×1 / 3, it is determined that the passenger has left the car. If the difference between the peak comparison base value Pr and the previous peak value is greater than Pr×0.4, it is determined that the passenger has entered the car. The number of passengers leaving the car is counted to obtain the passenger departure count. The number of passengers entering the car is counted to obtain the passenger entry count.
[0049] Because the steel cable is shorter closer to the elevator traction machine (e.g., on higher floors), the acceleration sensor readings are relatively lower when passengers enter and exit the car; conversely, the steel cable is longer further away from the traction machine (e.g., on lower floors), resulting in relatively higher acceleration sensor readings. Therefore, the threshold for triggering the characteristic waveform needs to be adjusted appropriately. That is, the threshold Thr should be different for different floors; the farther the floor is from the elevator traction machine, the higher the Thr threshold should be.
[0050] Elevator car load variation = Passenger standard weight * Number of passengers entering and exiting the elevator car.
[0051] Passenger standard weight can be obtained through national standards, such as 75 kg per person.
[0052] The second method is to estimate the change in elevator car load using the following formula: Change in elevator car load = ,in,
[0053] The sum of the maximum peak accelerations generated by each passenger entering the elevator car.
[0054] The sum of the maximum peak accelerations generated by each passenger leaving the elevator car
[0055] KL: Correction factor for elevator car load on different floors.
[0056] The higher the floor where the elevator car is located, the larger the KL value. The second method uses the peak value of the maximum acceleration to correct for differences in passenger weight, while also correcting for the influence of the elevator car's position on the maximum acceleration value, thus achieving a more accurate calculation of elevator car load changes.
[0057] Step S4 is completed by the control device on the control cabinet side, and the specific method is as follows:
[0058] The load inside the elevator car before it starts = the load inside the elevator car before it stops + the change in the elevator car load;
[0059] Step S5 is completed by the control device on the control cabinet side. Since the load inside the elevator car before starting is obtained, it is equivalent to realizing the function of the weighing device, optimizing the output of the starting torque, and giving passengers a comfortable riding experience.
[0060] Example 2
[0061] Based on Example 1, the elevator starting torque calculation method provided in this example further includes:
[0062] Step S6: Each floor has a preset starting torque correction coefficient a. i When the elevator starts, the starting torque is adjusted according to the starting torque correction coefficient corresponding to the floor to be started.
[0063] The initial value of the starting torque correction coefficient is set to 1. Then, the starting torque correction coefficient for each floor is adjusted based on the direction and magnitude of the elevator car's actual vertical acceleration each time the elevator starts (going up or down) on that floor. After correction, the starting torque correction coefficients for each floor can be different. The starting torque correction coefficient for the same floor can also be divided into an upward starting torque correction coefficient and a downward starting torque correction coefficient, and the upward and downward starting torque correction coefficients for the same floor can also be different. This achieves precise compensation.
[0064] The specific method for correcting the starting torque correction coefficient is as follows: when the direction and magnitude of the elevator car's vertical acceleration during elevator startup conform to the preset acceleration curve for elevator car startup, the compensation value is considered appropriate. If not, when the direction of acceleration during elevator startup is opposite to the target running direction, the torque in the target direction needs to be increased; when the direction of acceleration during elevator startup is the same as the target running direction and exceeds the preset acceleration, the torque in the target direction needs to be decreased. The increased or decreased torque value can be converted into a correction coefficient, which serves as the starting torque correction coefficient for the next elevator startup on the same floor under similar load conditions. This correction method can form a self-learning process for the starting torque correction coefficient. To achieve more accurate compensation, the starting torque correction coefficient varies for different car load ranges on a given floor. Therefore, the starting torque correction coefficient for a given floor is actually a curve related to the car load range.
[0065] This embodiment uses the detected value of the actual starting acceleration of the elevator car to evaluate the estimated starting torque, thereby correcting the starting torque value for the next start on that floor. This forms an automatic correction and automatic learning process, which can significantly improve the comfort of elevator car starting.
[0066] Example 3
[0067] This embodiment provides an elevator, including a car, counterweight, traction machine, control cabinet, and several floors.
[0068] An acceleration sensor is installed on the side of the elevator car. The acceleration sensor communicates with the control cabinet, which controls the traction machine. The acceleration sensor is installed on the top or bottom of the elevator car.
[0069] While the elevator is stopped at a floor, the acceleration sensor measures the vertical acceleration data of the car. The control cabinet calculates the load inside the car before the elevator car starts based on the vertical acceleration data, and calculates the elevator starting torque based on the load inside the car before the elevator car starts.
[0070] The elevator starts with torque according to the method described in Example 1 or Example 2 above.
[0071] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It will also be understood that, unless explicitly defined herein, terms such as those defined in a general dictionary shall be interpreted as having the meaning consistent with their meaning in the relevant field context, and not as having an idealized or overly formal meaning.
[0072] The present invention has been described in detail above through specific embodiments and examples, but these are not intended to limit the invention. Many modifications and improvements can be made by those skilled in the art without departing from the principles of the invention, and these should also be considered within the scope of protection of the present invention.
Claims
1. A method for calculating elevator starting torque, characterized in that, Includes the following steps: Step S1: Estimate the load inside the elevator car before it stops based on the torque current of the elevator traction machine during elevator car operation. Step S2: Obtain the vertical acceleration data of the elevator car while the elevator is stopped at a floor, extract the feature values of the vertical acceleration data, and determine the number of passengers entering / exiting the elevator car. Step S3: Estimate the change in elevator car load based on the number of passengers entering and exiting the elevator car or vertical acceleration data. Step S4: Determine the load inside the elevator car before it starts, based on the load inside the car before it stops and the change in the elevator car load. Step S5: Calculate the elevator starting torque based on the load inside the elevator car before it starts.
2. The elevator starting torque calculation method according to claim 1, characterized in that: In step S2, the method for determining the number of passengers entering and exiting the elevator car is: the number of passengers entering and exiting the elevator car = the count of passengers entering the car - the count of passengers leaving the car.
3. The elevator starting torque calculation method according to claim 2, characterized in that, The counts of passengers entering and leaving the car are obtained by using data features from an accelerometer to determine the number of passengers entering and leaving the car, including the following steps: Step S21: Obtain the vertical acceleration data of the elevator car while the elevator is stopped at a floor; Step S22: Perform smoothing filtering on the vertical acceleration data to obtain the smoothed acceleration signal a. smooth ; Step S23: Set a threshold Thr for the smooth acceleration signal according to different floors, identify whether there is a peak value greater than the threshold Thr in the feature signal, and if so, determine that a passenger has entered or exited the car. Step S24: Take a smooth The absolute value of the peak value is used to determine the peak comparison base value as follows: If the difference between the previous peak and the highest peak is within 10%, then the previous peak is determined as the peak comparison base value Pr; otherwise, the highest peak is used as the peak comparison base value Pr. Step S25: If the difference between the peak comparison base value Pr and the previous peak value is less than Pr × 1 / 3, it is determined that the car has left the car; if the difference between the peak comparison base value Pr and the previous peak value is greater than Pr × 0.4, it is determined that the car has entered the car. The number of passengers leaving the car is counted to obtain the passenger departure count; the number of passengers entering the car is counted to obtain the passenger entry count.
4. The elevator starting torque calculation method according to claim 3, characterized in that, The threshold Thr is set differently for different floors; the farther the floor is from the elevator traction machine, the larger the threshold Thr is set.
5. The elevator starting torque calculation method according to claim 1, characterized in that, In step S3, the change in elevator car load = standard passenger weight * (number of passengers entering the elevator car - number of passengers leaving the elevator car).
6. The elevator starting torque calculation method according to claim 1, characterized in that, In step S3 in The sum of the maximum peak accelerations generated by each passenger entering the elevator car. KL is the sum of the peak maximum accelerations generated by each passenger leaving the elevator car, and is the correction factor for the elevator car load at different floors.
7. The elevator starting torque calculation method according to claim 1, characterized in that, In step S4, the load inside the elevator car before starting = the load inside the elevator car before stopping + the change in elevator car load.
8. The elevator starting torque calculation method according to claim 1, characterized in that, The elevator starting torque calculation method further includes step S6, where a starting torque correction coefficient a is preset for each floor. i When the elevator starts, the starting torque is adjusted according to the starting torque correction coefficient corresponding to the floor to be started.
9. The elevator starting torque calculation method according to claim 8, characterized in that, The starting torque correction factor for each floor is adjusted based on the direction and magnitude of the actual vertical acceleration of the elevator car each time the elevator starts on that floor.
10. The elevator starting torque calculation method according to claim 9, characterized in that, The correction method for the starting torque correction coefficient is as follows: When the elevator car starts, if the direction and magnitude of the actual vertical acceleration of the elevator car match the preset acceleration curve for the elevator car's start-up and operation, the original starting torque correction coefficient is maintained. If the conditions are not met, the starting torque correction coefficient is increased when the actual vertical acceleration direction is opposite to the target running direction, and decreased when the actual vertical acceleration direction is the same as the target running direction but the magnitude exceeds the preset acceleration.
11. An elevator, comprising a car, a counterweight, a traction machine, a control cabinet, and several floors, characterized in that: An acceleration sensor is installed on the side of the car, and the acceleration sensor communicates with the control cabinet. While the elevator is stopped at a floor, the acceleration sensor measures the vertical acceleration data of the car. The control cabinet calculates the load inside the car before the elevator car starts based on the vertical acceleration data, and calculates the elevator starting torque based on the load inside the car before the elevator car starts. The elevator starting torque is calculated according to the elevator starting torque calculation method described in any one of claims 1 to 10.