Control Method, Device and Electronic Equipment of Elevator Door Machine System

Abstract

The present invention provides a control method, device and electronic device for an elevator door machine system, including: obtaining the expected parameters and actual operating parameters of the elevator door machine system; determining the output torque of the synchronous motor of the elevator door machine system, calculating the external environmental force of the elevator door machine system based on the output torque and actual operating parameters; determining the corrected position of the elevator door machine system based on the external environmental force, expected parameters and actual operating parameters; and controlling the operation of the elevator door machine system based on the corrected position. It can prevent safety accidents from occurring in the elevator door machine system when the light curtain and safety touch plate fail; it can accurately and timely judge the fault condition of the door machine system, thereby improving the real-time motion state monitoring ability of the elevator door machine system during operation; it can enhance the human-computer interaction ability of the elevator door machine system, reduce the wear and operating noise of the elevator, and improve the service life of the elevator operation.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator control, and in particular to a control method, device, and electronic device for an elevator door machine system. Background Art

[0002] As an important part of the elevator system, the door machine system directly affects the safety of passengers taking the elevator. In traditional elevator door machine systems, in order to ensure the safety of users taking the elevator, two safety measures are set: the first safety measure is the light curtain, and the second safety measure is the safety edge. However, the above two safety measures can only roughly judge whether the elevator pinches people or objects, and both of the above two safety measures fail in specific environments.

[0003] The traditional control methods of the door machine system mainly include two types: position control and speed control. Position control is to ensure that the position of the door is at the set position when opening and closing the door, and speed control is to ensure that the door machine system runs along the set speed curve during operation to realize the normal opening and closing of the door machine system. However, the above two control methods cannot achieve effective load prediction, and the door machine system is prone to safety accidents.

[0004] In summary, the existing elevator door machine system is prone to safety accidents when the light curtain and the safety edge fail. In addition, there are still problems in the existing elevator door machine system that it is difficult to judge whether the door machine system fails, the wear and running noise of the elevator are large, and the operating life of the elevator is short. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a control method, device, and electronic device for an elevator door machine system, which can prevent the elevator door machine system from having a safety accident when the light curtain and the safety edge fail; can accurately and timely judge the fault situation of the door machine system, so as to improve the real-time motion state monitoring ability of the elevator door machine system during operation; can enhance the human-computer interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the operating life of the elevator.

[0006] In a first aspect, an embodiment of the present invention provides a control method for an elevator door machine system, the method includes: obtaining the expected parameters of the elevator door machine system; wherein, the expected parameters include: expected position and expected speed; obtaining the actual operating parameters of the elevator door machine system; determining the output torque of the synchronous motor of the elevator door machine system; calculating the external environmental force of the elevator door machine system based on the output torque and the actual operating parameters; determining the corrected position of the elevator door machine system based on the external environmental force, the expected parameters, and the actual operating parameters; controlling the operation of the elevator door machine system based on the corrected position.

[0007] In an alternative embodiment of the present application, the above-mentioned actual operating parameters include: actual position, actual speed, and actual acceleration; the steps of obtaining the actual operating parameters of the elevator door machine system include: obtaining the actual position, actual speed, and actual acceleration of the elevator door machine system collected by the encoder of the elevator door machine system, and performing filtering processing on the actual acceleration.

[0008] In an alternative embodiment of the present application, the above-mentioned steps of determining the output torque of the synchronous motor of the elevator door machine system include: obtaining the sampled current of the synchronous motor of the elevator door machine system; determining the output torque of the synchronous motor of the elevator door machine system based on the sampled current.

[0009] In an alternative embodiment of the present application, the above-mentioned steps of calculating the external environmental force of the elevator door machine system based on the output torque and actual operating parameters include: obtaining the actual control parameters of the elevator door machine system; wherein, the actual control parameters include: actual mass parameter, actual damping coefficient, and actual stiffness parameter; determining the motor-side force of the synchronous motor based on the output torque; calculating the external environmental force of the elevator door machine system based on the motor-side force, actual position, actual speed, actual acceleration, and actual control parameters.

[0010] In an alternative embodiment of the present application, the above-mentioned steps of determining the corrected position of the elevator door machine system based on the external environmental force, desired parameters, and actual operating parameters include: determining the position difference between the desired position and the actual position, and determining the corrected acceleration of the elevator door machine system based on the preset control parameters, external environmental force, and position difference; wherein, the preset control parameters include: preset mass parameter, preset damping coefficient, and preset stiffness parameter; determining the speed difference between the desired speed and the actual speed, integrating the corrected acceleration to obtain an acceleration integral value, and determining the corrected speed of the elevator door machine system based on the acceleration integral value and the speed difference; integrating the corrected speed to obtain a speed integral value, and determining the corrected position of the elevator door machine system based on the speed value and the position difference.

[0011] In an alternative embodiment of the present application, the above-mentioned method further includes: if the position difference is greater than the preset alarm threshold, performing an alarm operation.

[0012] In an alternative embodiment of the present application, the above-mentioned steps of obtaining the desired parameters of the elevator door machine system include: responding to an opening operation or a closing operation of the motor, and obtaining the desired parameters of the elevator door machine system.

[0013] Second aspect, an embodiment of the present invention further provides a control device for an elevator door machine system. The device includes: an expected parameter acquisition module for acquiring the expected parameters of the elevator door machine system, where the expected parameters include: an expected position and an expected speed; an actual operation parameter acquisition module for acquiring the actual operation parameters of the elevator door machine system; an output torque determination module for determining the output torque of the synchronous motor of the elevator door machine system; an external environmental force calculation module for calculating the external environmental force of the elevator door machine system based on the output torque and the actual operation parameters; a corrected position determination module for determining the corrected position of the elevator door machine system based on the external environmental force, the expected parameters, and the actual operation parameters; and an elevator door machine system control module for controlling the operation of the elevator door machine system based on the corrected position.

[0014] Third aspect, an embodiment of the present invention further provides an electronic device, including a processor and a memory. The memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the above control method of the elevator door machine system.

[0015] Fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by a processor, the computer-executable instructions cause the processor to implement the above control method of the elevator door machine system.

[0016] The embodiments of the present invention bring the following beneficial effects:

[0017] The embodiments of the present invention provide a control method, device, and electronic device for an elevator door machine system, which can calculate the external environmental force received by the elevator door machine system, perform flexible control based on the external environmental force, correct the originally set position by converting the force into a corresponding displacement, thereby preventing safety accidents from occurring when the light curtain and safety touch board of the elevator door machine system fail; can accurately and timely judge the fault condition of the door machine system, thereby improving the real-time motion state monitoring ability of the elevator door machine system during operation; flexible control can enhance the human-machine interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0018] Other features and advantages of the present disclosure will be described in the following specification, or, some features and advantages can be inferred from the specification or determined without doubt, or can be known by implementing the above technologies of the present disclosure.

[0019] To make the above objects, features, and advantages of the present disclosure more obvious and understandable, the following specific embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. Description of the Drawings

[0020] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 It is a flowchart of a control method for an elevator door machine system provided by an embodiment of the present invention;

[0022] Figure 2 It is a flowchart of another control method for an elevator door machine system provided by an embodiment of the present invention;

[0023] Figure 3 It is a simplified schematic diagram of the flexible control of an elevator door machine system provided by an embodiment of the present invention;

[0024] Figure 4 It is a schematic diagram of the flexible control of an elevator door machine system provided by an embodiment of the present invention;

[0025] Figure 5 It is a schematic diagram of the operation of an elevator door machine system after being disturbed provided by an embodiment of the present invention;

[0026] Figure 6 It is a schematic diagram of the flexible control of an elevator door machine system provided by an embodiment of the present invention;

[0027] Figure 7 It is a schematic diagram of the structure of a control device for an elevator door machine system provided by an embodiment of the present invention;

[0028] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Specific Embodiments

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions of the present invention with reference to the drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0030] At present, as an important part of the elevator system, the door machine system directly affects the safety of passengers taking the elevator. In traditional elevator door machine systems, in order to ensure the safety of users taking the elevator, two safety measures are set: the first safety measure is the light curtain, and the second safety measure is the safety edge. However, the above two safety measures can only roughly judge whether the elevator pinches people or objects, and both of the above two safety measures may fail in specific environments.

[0031] The traditional control methods of the door machine system mainly include position control and speed control. Position control ensures that the position of the door is at the set position when opening and closing the door, while speed control ensures that the door machine system runs along the set speed curve during operation to achieve the normal opening and closing of the door machine system. However, neither of the above two control methods can achieve effective load prediction, and the door machine system is prone to safety accidents.

[0032] In summary, the existing elevator door machine system is prone to safety accidents when the light curtain and the safety edge fail. In addition, there are also problems in the existing elevator door machine system that it is difficult to judge whether the door machine system fails, the wear and running noise of the elevator are large, and the service life of the elevator is short.

[0033] Based on this, a control method, device and electronic device for an elevator door machine system provided by an embodiment of the present invention specifically provide a flexible control method for the elevator door machine system, which can prevent safety accidents of the elevator door machine system when the light curtain and the safety edge fail; can accurately and timely judge the fault condition of the door machine system, thereby improving the real-time motion state monitoring ability of the elevator door machine system during operation; can enhance the human-computer interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0034] For the convenience of understanding this embodiment, first, a control method for an elevator door machine system disclosed in an embodiment of the present invention will be introduced in detail.

[0035] Embodiment 1:

[0036] An embodiment of the present invention provides a control method for an elevator door machine system. Refer to Figure 1 the flowchart of a control method for an elevator door machine system shown. The control method for the elevator door machine system includes the following steps:

[0037] Step S102, obtain the expected parameters of the elevator door machine system; wherein, the expected parameters include: expected position and expected speed.

[0038] The elevator door machine system is the opening and closing device of the elevator car door. It is a mechanism responsible for opening and closing the elevator hall car door. When it receives the elevator door opening and closing signals, the elevator door machine controls the door opening motor through its own control system, converting the torque generated by the motor into a force in a specific direction to close or open the door.

[0039] In this embodiment, the expected parameters of the elevator door machine system may be preset, wherein the expected parameters may include the expected position and the corresponding expected speed of the elevator door machine system at each moment.

[0040] Step S104, obtaining actual operating parameters of the elevator door machine system.

[0041] During the operation of the elevator door machine system, this embodiment can obtain actual operating parameters of the elevator door machine system, which may include: the actual position of the elevator door machine system at each moment, the corresponding actual speed, and the corresponding actual acceleration.

[0042] Step S106, determining the output torque of the synchronous motor of the elevator door machine system.

[0043] The elevator door machine system is generally provided with a synchronous motor. In this embodiment, the sampled current of the synchronous motor of the elevator door machine system can be obtained, and the output torque of the synchronous motor of the elevator door machine system can be determined based on the sampled current.

[0044] S108, calculating the external environmental force of the elevator door machine system based on the output torque and the actual operating parameters.

[0045] In order to calculate the external environmental force of the elevator door machine system, some actual control parameters of the elevator door machine system also need to be obtained in this embodiment; wherein the actual control parameters include: actual mass parameters characterizing the mass of the door, actual damping coefficient of the movement inside the motor, and actual stiffness parameters of the spring between the door and the fixed bracket.

[0046] In this embodiment, the external environmental force received by the elevator door machine system can be calculated based on the output torque, the actual operating parameters and the actual control parameters, and then the originally set expected displacement can be corrected by the external environmental force.

[0047] Step S110, determining a correction position of the elevator door machine system based on external environmental forces, expected parameters and actual operating parameters.

[0048] After determining the external environmental force, this embodiment can construct a flexible control unit based on the above external environmental force. The flexible control unit can pre-set control parameters. The set control parameters may include: a set mass parameter characterizing the mass of the door, a set damping coefficient of the movement inside the motor, and a set stiffness parameter of the spring between the door and the fixed bracket.

[0049] In this embodiment, since a flexible control unit is provided, the door machine system can have the ability of compliant control, and the zero-force dragging is reflected in the human-machine interaction, which can enhance the human-machine interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0050] In this embodiment, based on the preset control parameters, external environmental forces, desired parameters, and actual operating parameters, the originally set desired displacement can be corrected to obtain a corrected position by converting the force into a corresponding displacement.

[0051] Step S112, control the operation of the elevator door machine system based on the corrected position.

[0052] In this embodiment, the operation of the elevator door machine system can be controlled based on the above-mentioned corrected position, so as to prevent safety accidents from occurring when the light curtain and safety touch board of the elevator door machine system fail; the torque of the synchronous motor can also be decomposed to obtain the corresponding displacement difference, so as to evaluate the operating state of the door machine system in real time, and evaluate whether the door machine system is in the normal operating range, and the fault condition of the door machine system can be accurately and timely judged, so as to improve the real-time motion state monitoring ability of the elevator door machine system during operation; and, if the displacement difference increases due to human or other reasons, the operating fault can be reported.

[0053] The embodiment of the present invention provides a control method for an elevator door machine system, which can calculate the external environmental forces received by the elevator door machine system, perform flexible control based on the external environmental forces, correct the originally set position by converting the force into a corresponding displacement, so as to prevent safety accidents from occurring when the light curtain and safety touch board of the elevator door machine system fail; the fault condition of the door machine system can be accurately and timely judged, so as to improve the real-time motion state monitoring ability of the elevator door machine system during operation; flexible control can enhance the human-machine interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0054] Embodiment Two:

[0055] This embodiment provides another control method for an elevator door machine system, which is implemented on the basis of the above embodiment, as Figure 2 shown in the flowchart of another control method for an elevator door machine system. The control method for the elevator door machine system in this embodiment includes the following steps:

[0056] Step S202, obtain the desired parameters of the elevator door machine system; wherein, the desired parameters include: desired position and desired speed.

[0057] In order to simplify the control of the elevator door machine system, this embodiment can first perform linearization processing on the elevator door machine system. See Figure 3A simplified schematic diagram of the flexible control of an elevator door machine system as shown.

[0058] Among them, k door represents the stiffness of the spring between the door and the fixed bracket; c door represents the damping coefficient between the door and the guide rail; F ext represents the external force acting on the door; represents the displacement of the actual movement of the door; M door represents the mass of the door; represents the flexible spring stiffness virtualized by the program; represents the damping coefficient virtualized by the program; x c represents the transformed movement displacement on the motor side; J motor represents the equivalent inertia on the motor side; c motor represents the damping coefficient of the movement inside the motor; T represents the equivalent acting force converted according to the set speed of the motor.

[0059] Figure 3 The simplified model of the elevator door machine system is shown. The simplified motion differential equation can be as shown in Formula (1) and Formula (2):

[0060]

[0061]

[0062] Among them, T control represents the force actually acting on the door machine system; T ext represents the external force acting on the door; represents the acceleration of the door movement; represents the speed of the door operation; represents the displacement of the door operation. T represents the equivalent acting force converted according to the set speed of the motor; represents the speed on the output side of the motor; represents the acceleration on the output side of the motor; x c represents the displacement on the motor side. Figure 3 mainly includes a simplified motor model, a flexible control model, and a simplified model of the door machine system. These model units constitute the flexible control method of the door machine system.

[0063] Among them, the flexible control can be composed of the following parts: position control, flexible control, and trajectory control. The trajectory control provides the originally set operation trajectory of the door machine system. After passing through the flexible control, the operation trajectory of the door machine system is corrected to obtain the actual operation trajectory and provided to the position controller to achieve flexible control.

[0064] See Figure 4Schematic diagram of flexible control of an elevator door machine system. Z(s) represents the voltage-pulse conversion link; LPF represents the low-pass filter; p represents the number of pole pairs of the motor; psi represents the rotor magnetic flux; Δx / Δt represents the differential operation on the input, and the differential value is output; 1 / s represents the integration on the input; e represents the difference between the actual running position and the desired position. As Figure 4 shown, in this embodiment, the position value x0(t) and the speed value of the desired control trajectory of the door machine can be obtained at the current moment

[0065] See Figure 5 Schematic diagram of the operation of an elevator door machine system after being disturbed. Among them, x max represents the maximum width that the door can open; x0 represents the minimum width that the door can close; Δx represents the displacement correction value of the door after being subjected to an external force; F ext represents the external force received; ΔT represents the duration of the external force disturbance on the door machine system; ΔF represents the external force disturbance on the door machine system; t n represents the time when the external force disturbance starts.

[0066] Step S204, obtain the actual operation parameters of the elevator door machine system.

[0067] Specifically, the actual operation parameters in this embodiment include: actual position, actual speed, and actual acceleration. In this embodiment, the actual position, actual speed, and actual acceleration of the elevator door machine system collected by the encoder of the elevator door machine system can be obtained, and the actual acceleration is filtered.

[0068] As Figure 4 shown, in this embodiment, the actual position x c (t), actual speed and actual acceleration of the door machine can be obtained by calculating the encoder pulses. Among them, the actual acceleration can be processed by extended Kalman filtering due to large signal noise.

[0069] Step S206, determine the output torque of the synchronous motor of the elevator door machine system.

[0070] Specifically, in this embodiment, the sampled current of the synchronous motor of the elevator door machine system can be obtained; the output torque of the synchronous motor of the elevator door machine system is determined based on the sampled current.

[0071] As Figure 4 shown, in this embodiment, the sampled currents i a , i b , i c of the synchronous motor can be obtained. After transformation and filtering, the output torque T of the synchronous motor can be obtained. See formula (3):

[0072]

[0073] Among them, T is the converted equivalent acting torque, that is, the output torque of the synchronous motor. After that, the position loop control parameters of the elevator door machine system can be adjusted to keep the door machine position control error within a reasonable range.

[0074] Step S208: Calculate the external environmental force of the elevator door machine system based on the output torque and actual operating parameters.

[0075] Such as Figure 4 shown, in this embodiment, the actual mass parameter m door , actual damping coefficient c door and actual stiffness parameter k door can be obtained in the form of specified motion after the door machine is installed.

[0076] Specifically, in this embodiment, the actual control parameters of the elevator door machine system can be obtained; among them, the actual control parameters include: actual mass parameter, actual damping coefficient, and actual stiffness parameter; determine the motor-side force of the synchronous motor based on the output torque; calculate the external environmental force of the elevator door machine system based on the motor-side force, actual position, actual speed, actual acceleration, and actual control parameters.

[0077] Such as Figure 4 shown, in this embodiment, the motor torque and the self-force of the door machine system can be decoupled according to the actual mass parameter m door , actual damping coefficient c door and actual stiffness parameter k door obtained in the previous steps to obtain the external environmental force F ext , which can be seen in Formulas (4) and (5):

[0078]

[0079]

[0080] Among them, F represents the corrected motor-side force of the synchronous motor; n represents the conversion coefficient of torque and force; represents the acceleration of the motor rotation; represents the speed of the motor rotation; η represents the conversion efficiency.

[0081] Step S210: Determine the corrected position of the elevator door machine system based on the external environmental force, desired parameters, and actual operating parameters.

[0082] Specifically, in this embodiment, the position difference between the desired position and the actual position can be determined, and the correction acceleration of the elevator door machine system can be determined based on the preset control parameters, the external environmental force, and the position difference. Among them, the preset control parameters include: the preset mass parameter, the preset damping coefficient, and the preset stiffness parameter. The speed difference between the desired speed and the actual speed is determined, the acceleration integral value is obtained by integrating the correction acceleration, and the correction speed of the elevator door machine system is determined based on the acceleration integral value and the speed difference. The correction speed is integrated to obtain the speed integral value, and the correction position of the elevator door machine system is determined based on the speed value and the position difference.

[0083] As Figure 4 shown, in this embodiment, the preset mass parameter m control that needs to achieve flexible control can be designed and selected, the preset damping coefficient and the preset stiffness parameter control Then, based on the given preset mass parameter m the preset damping coefficient and the preset stiffness parameter the correction acceleration the correction speed e and the correction position x that need to be corrected are obtained. Reference can be made to formulas (6)-(9):

[0084] e = x d - x c (6)

[0085]

[0086]

[0087]

[0088] where, x d represents the desired position, x c represents the actual position, and e represents the position difference between the desired position and the actual position. represents the correction acceleration; m represents the mass virtualized by the program, that is, the aforementioned preset mass parameter m control ; represents the speed value of the change in the position difference. represents the correction speed, represents the desired speed, represents the actual speed. x e represents the correction position, x d represents the desired position, and x c represents the actual position.

[0089] Step S212, control the operation of the elevator door machine system based on the correction position.

[0090] In this embodiment, the corrected position can be used as the target value for position control to perform position control, thereby preventing safety accidents from occurring in the elevator door machine system when the light curtain and safety edge fail.

[0091] Step S214: If the position difference is greater than a preset alarm threshold, perform an alarm operation.

[0092] If the position difference is greater than the preset alarm threshold, it can be considered that there is a situation where the displacement difference is caused by human or other reasons. Therefore, an alarm operation can be performed.

[0093] In addition, it should be noted that in this embodiment, when obtaining the expected parameters of the elevator door machine system, the expected parameters of the elevator door machine system can be obtained in response to an opening operation or a closing operation of the motor. Refer to Figure 6 As shown in the schematic diagram of the flexible control of an elevator door machine system, in this embodiment, the flexible control of the elevator door machine system can be performed in response to an opening operation or a closing operation, thereby performing the step of obtaining the expected parameters of the elevator door machine system.

[0094] The above method provided by this embodiment, due to the setting of the flexible control unit, can enable the door machine system to have the ability of compliant control, and the zero-force dragging can be reflected in the human-machine interaction, which can enhance the human-machine interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0095] In this embodiment, the operation of the elevator door machine system can be controlled based on the corrected position, thereby preventing safety accidents from occurring in the elevator door machine system when the light curtain and safety edge fail; the corresponding displacement difference can also be obtained by decomposing the torque of the synchronous motor, so as to evaluate the operation state of the door machine system in real time, and evaluate whether the door machine system is in the normal operation range, and the fault situation of the door machine system can be accurately and timely judged, thereby improving the real-time motion state monitoring ability of the elevator door machine system during operation; and if there is a situation where the displacement difference increases due to human or other reasons, a running fault can be reported.

[0096] Embodiment 3:

[0097] Corresponding to the above method embodiment, the embodiment of the present invention provides a control device for an elevator door machine system. Refer to Figure 7 As shown in the structural schematic diagram of a control device for an elevator door machine system, the control device for the elevator door machine system includes:

[0098] An expected parameter acquisition module 71, configured to acquire expected parameters of the elevator door machine system; wherein, the expected parameters include: an expected position and an expected speed;

[0099] An actual operation parameter acquisition module 72, configured to acquire actual operation parameters of an elevator door machine system;

[0100] An output torque determination module 73, configured to determine an output torque of a synchronous motor of the elevator door machine system;

[0101] An external environmental force calculation module 74, configured to calculate an external environmental force of the elevator door machine system based on the output torque and the actual operation parameters;

[0102] A correction position determination module 75, configured to determine a correction position of the elevator door machine system based on the external environmental force, expected parameters, and actual operation parameters;

[0103] An elevator door machine system control module 76, configured to control the operation of the elevator door machine system based on the correction position.

[0104] An embodiment of the present invention provides a control device for an elevator door machine system, which can calculate the external environmental force received by the elevator door machine system, perform flexible control based on the external environmental force, correct the originally set position by converting the force into a corresponding displacement, thereby preventing safety accidents from occurring when the light curtain and safety touch panel of the elevator door machine system fail; it can accurately and timely judge the fault condition of the door machine system, thereby improving the real-time motion state monitoring ability of the elevator door machine system during operation; flexible control can enhance the human-machine interaction ability of the elevator door machine system, reduce the wear and running noise of the elevator, and improve the service life of the elevator operation.

[0105] The above-mentioned actual operation parameters include: actual position, actual speed, and actual acceleration; the above-mentioned actual operation parameter acquisition module is configured to acquire the actual position, actual speed, and actual acceleration of the elevator door machine system collected by an encoder of the elevator door machine system, and perform filtering processing on the actual acceleration.

[0106] The above-mentioned output torque determination module is configured to acquire a sampled current of a synchronous motor of the elevator door machine system; determine an output torque of the synchronous motor of the elevator door machine system based on the sampled current.

[0107] The above-mentioned external environmental force calculation module is configured to acquire actual control parameters of the elevator door machine system; wherein, the actual control parameters include: actual mass parameter, actual damping coefficient, and actual stiffness parameter; determine a motor-side acting force of the synchronous motor based on the output torque; calculate an external environmental force of the elevator door machine system based on the motor-side acting force, actual position, actual speed, actual acceleration, and actual control parameters.

[0108] The above-mentioned correction position determination module is used to determine the position difference between the desired position and the actual position, and determine the correction acceleration of the elevator door machine system based on preset control parameters, external environmental forces, and the position difference; among them, the preset control parameters include: preset mass parameters, preset damping coefficients, and preset stiffness parameters; determine the speed difference between the desired speed and the actual speed, integrate the correction acceleration to obtain an acceleration integral value, and determine the correction speed of the elevator door machine system based on the acceleration integral value and the speed difference; integrate the correction speed to obtain a speed integral value, and determine the correction position of the elevator door machine system based on the speed value and the position difference.

[0109] The above-mentioned device further includes: an alarm operation module, which is used to perform an alarm operation if the position difference is greater than a preset alarm threshold.

[0110] The above-mentioned desired parameter acquisition module is used to respond to an opening operation or a closing operation of the motor and acquire the desired parameters of the elevator door machine system.

[0111] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the control device of the elevator door machine system described above can refer to the corresponding process in the embodiment of the control method of the elevator door machine system described above, and will not be elaborated here.

[0112] Embodiment 4:

[0113] The embodiment of the present invention further provides an electronic device for running the control method of the above-mentioned elevator door machine system; see Figure 8 As shown in the structural schematic diagram of an electronic device, the electronic device includes a memory 100 and a processor 101. Among them, the memory 100 is used to store one or more computer instructions, and the one or more computer instructions are executed by the processor 101 to implement the control method of the above-mentioned elevator door machine system.

[0114] Furthermore, Figure 8 The electronic device shown further includes a bus 102 and a communication interface 103, and the processor 101, the communication interface 103, and the memory 100 are connected through the bus 102.

[0115] Among them, the memory 100 may include high-speed random access memory (RAM), and may also include non-volatile memory, such as at least one disk memory. The communication connection between this system network element and at least one other network element is realized through at least one communication interface 103 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 102 can be an ISA bus, a PCI bus, an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of representation, Figure 8 only a bidirectional arrow is used in Figure 8 , but it does not mean that there is only one bus or one type of bus.

[0116] The processor 101 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit in the hardware of the processor 101 or by instructions in software form. The above-mentioned processor 101 can be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it can also be a digital signal processor (DSP for short), an application specific integrated circuit (ASIC for short), a field-programmable gate array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute various methods, steps and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present invention can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory 100, and the processor 101 reads the information in the memory 100 and combines its hardware to complete the steps of the method in the foregoing embodiments.

[0117] An embodiment of the present invention also provides a computer-readable storage medium storing computer-executable instructions, which, when called and executed by a processor, cause the processor to implement the control method of the above elevator door machine system. For the specific implementation, reference can be made to the method embodiment and will not be elaborated here.

[0118] The control method, device and electronic device of the elevator door machine system provided by the embodiment of the present invention include a computer-readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the methods in the foregoing method embodiments. For the specific implementation, reference can be made to the method embodiments and will not be elaborated here.

[0119] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the above-described system and / or device can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0120] In addition, in the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "installation", "connection" and "connection" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0121] If the above function is implemented in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks or optical discs that can store program codes.

[0122] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0123] Finally, it should be noted that the above-described embodiments are only specific embodiments of the present invention, used to illustrate the technical solutions of the present invention, rather than limiting it. The protection scope of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that any person skilled in the art within the technical scope disclosed by the present invention can still modify the technical solutions described in the foregoing embodiments or can easily conceive of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims

1. A control method for an elevator door machine system, characterized in that, The method includes: Obtaining the expected parameters of the elevator door machine system; wherein, the expected parameters include: expected position and expected speed; Obtaining the actual position, actual speed and actual acceleration of the elevator door machine system; Determining the output torque of the synchronous motor of the elevator door machine system; Obtaining the actual control parameters of the elevator door machine system; wherein, the actual control parameters include: actual mass parameter, actual damping coefficient and actual stiffness parameter; determining the motor-side force of the synchronous motor based on the output torque; calculating the external environmental force of the elevator door machine system based on the motor-side force, the actual position, the actual speed, the actual acceleration and the actual control parameters; Determining the position difference between the expected position and the actual position, and determining the corrected acceleration of the elevator door machine system based on the preset control parameters, the external environmental force and the position difference; wherein, the preset control parameters include: preset mass parameter, preset damping coefficient and preset stiffness parameter; determining the speed difference between the expected speed and the actual speed, integrating the corrected acceleration to obtain an acceleration integral value, and determining the corrected speed of the elevator door machine system based on the acceleration integral value and the speed difference; integrating the corrected speed to obtain a speed integral value, and determining the corrected position of the elevator door machine system based on the speed value and the position difference; Controlling the operation of the elevator door machine system based on the corrected position.

2. The method according to claim 1, wherein The step of obtaining the actual position, actual speed and actual acceleration of the elevator door machine system includes: Obtaining the actual position, actual speed and actual acceleration of the elevator door machine system collected by the encoder of the elevator door machine system, and filtering the actual acceleration.

3. The method according to claim 1, wherein The step of determining the output torque of the synchronous motor of the elevator door machine system includes: Obtaining the sampled current of the synchronous motor of the elevator door machine system; Determining the output torque of the synchronous motor of the elevator door machine system based on the sampled current.

4. The method according to claim 1, wherein The method further includes: If the position difference is greater than a preset alarm threshold, performing an alarm operation.

5. The method according to claim 1, wherein The step of obtaining the expected parameters of the elevator door machine system includes: Responding to an opening operation or a closing operation for the motor, and obtaining the expected parameters of the elevator door machine system.

6. A control device for an elevator door machine system, characterized in that, The device includes: An expected parameter obtaining module, configured to obtain the expected parameters of the elevator door machine system; wherein, the expected parameters include: expected position and expected speed; An actual operation parameter obtaining module, configured to obtain the actual position, actual speed and actual acceleration of the elevator door machine system; An output torque determining module, configured to determine the output torque of the synchronous motor of the elevator door machine system; An external environmental force calculating module, configured to obtain the actual control parameters of the elevator door machine system; wherein, the actual control parameters include: actual mass parameter, actual damping coefficient and actual stiffness parameter; determining the motor-side force of the synchronous motor based on the output torque; calculating the external environmental force of the elevator door machine system based on the motor-side force, the actual position, the actual speed, the actual acceleration and the actual control parameters; A correction position determination module is configured to determine the position difference between the desired position and the actual position, and determine the correction acceleration of the elevator door machine system based on preset control parameters, the external environmental force, and the position difference; wherein, the preset control parameters include: a preset mass parameter, a preset damping coefficient, and a preset stiffness parameter; determine the speed difference between the desired speed and the actual speed, integrate the correction acceleration to obtain an acceleration integral value, and determine the correction speed of the elevator door machine system based on the acceleration integral value and the speed difference; integrate the correction speed to obtain a speed integral value, and determine the correction position of the elevator door machine system based on the speed value and the position difference; An elevator door machine system control module is configured to control the operation of the elevator door machine system based on the correction position.

7. An electronic device, characterized in that, It includes a processor and a memory, the memory stores computer-executable instructions that can be executed by the processor, and the processor executes the computer-executable instructions to implement the control method of the elevator door machine system according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are called and executed by the processor, the computer-executable instructions cause the processor to implement the control method of the elevator door machine system according to any one of claims 1 to 5.

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