Door Knife Control Method, Device and Electronic Equipment for Elevator Door Machine System

Abstract

The present invention provides a method, device and electronic equipment for controlling a door knife of an elevator door machine system. Among them, the method includes: obtaining the actual position of the door knife of the elevator door machine system, and determining the fusion position of the door knife based on the actual position; determining the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife; determining the position interval of the door knife based on the fusion position of the door knife; determining the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider; and controlling the movement of the door knife based on the compensation speed. In this way, the movement speed of the door knife can be increased on the premise of ensuring safety through speed feedforward compensation, the opening and closing modes of the door knife of the door machine system are improved, and the operation efficiency of the door knife is improved.

Description

Technical Field

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

[0002] As an important part of the elevator door machine system, the operation state of the door knife system directly affects the safe operation of the elevator. The two main components in the door knife system are the car door knife and the landing door knife. Among them, the opening sequence of the car door knife and the landing door knife is determined by the set spring stiffness.

[0003] Since the elastic restoring force of the car door knife on the car door side is smaller than that of the landing door knife, the car door knife is opened first. When the door knife runs to the limit position, it cannot continue to move, and the landing door knife begins to gradually open. During the opening process of these two door knives, there are two very obvious contact areas. The first is when the car door knife runs to the limit position, and the second is when the landing door knife runs to the limit position. Both of these positions will cause serious collision problems.

[0004] However, in the existing elevator door machine system, in order to avoid the collision problem between the car door knife and the landing door knife during opening and closing, the main solution adopted is to operate at a low speed. Although this can reduce the impact caused by the collision, it brings the problem of poor user experience. Moreover, the door machine system operating at a low speed also has low fault sensitivity and cannot identify faults with high sensitivity. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a method, device and electronic device for controlling a door knife of an elevator door machine system to improve the moving speed of the door knife on the premise of ensuring safety through the method of speed feedforward compensation, improve the opening and closing methods of the door knife of the door machine system, and improve the operating efficiency of the door knife.

[0006] In the first aspect, an embodiment of the present invention provides a method for controlling a door knife of an elevator door machine system, the method including: obtaining the actual position of the door knife of the elevator door machine system, determining the fusion position of the door knife based on the actual position; determining the acceleration of the slider connected to the door knife based on the pre-set corresponding relationship between force and time and the fusion position of the door knife; determining the position interval of the door knife based on the fusion position of the door knife; determining the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider; controlling the movement of the door knife based on the compensation speed.

[0007] In an optional embodiment of the present application, the step of obtaining the actual position of the door knife of the elevator door machine system and determining the fusion position of the door knife based on the actual position includes: obtaining the actual position of the door knife fed back by the encoder of the elevator door machine system; performing weighted processing on the pre-set reference speed and the actual position to obtain the fusion position of the door knife.

[0008] In an alternative embodiment of the present application, the step of determining the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife includes: inputting the fusion position of the door knife into a pre-set observer model, and the observer model performs discrete processing on the fusion position of the door knife in a forward difference format based on the pre-set correspondence between force and time, and outputs the acceleration of the slider connected to the door knife.

[0009] In an alternative embodiment of the present application, the position intervals of the door knife include: the non-collision area for opening and closing the car door, the collision area for opening and closing the car door, the non-collision area for opening and closing the landing door, and the collision area for opening and closing the landing door.

[0010] In an alternative embodiment of the present application, the step of determining the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider includes: determining the speed compensation relationship corresponding to the position interval of the door knife; and determining the compensation speed of the door knife based on the speed compensation relationship and the acceleration of the slider.

[0011] In an alternative embodiment of the present application, the method further includes: determining whether a failure occurs in the elevator door machine system based on the fusion position of the door knife and the acceleration of the slider; if a failure occurs in the elevator door machine system, generating a failure message and uploading the failure message.

[0012] In a second aspect, an embodiment of the present invention further provides a door knife control device for an elevator door machine system, the device includes: a door knife fusion position determination module, configured to obtain the actual position of the door knife of the elevator door machine system, and determine the fusion position of the door knife based on a pre-set reference speed and the actual position; a slider acceleration determination module, configured to determine the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife; a door knife position interval determination module, configured to determine the position interval of the door knife based on the fusion position of the door knife; a door knife compensation speed determination module, configured to determine the compensation speed of the door knife based on the speed compensation relationship corresponding to the position interval of the door knife and the acceleration of the slider; and a door knife movement control module, configured to control the movement of the door knife based on the compensation speed.

[0013] In an alternative embodiment of the present application, the device further includes: a failure processing module, configured to determine whether a failure occurs in the elevator door machine system based on the fusion position of the door knife and the acceleration of the slider; if a failure occurs in the elevator door machine system, generating a failure message and uploading the failure message.

[0014] In a 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 door knife control method for the elevator door machine system described above.

[0015] Fourthly, an embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions, which, when called and executed by a processor, cause the processor to implement the door knife control method of the elevator door machine system as described above.

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

[0017] The embodiments of the present invention provide a door knife control method, device and electronic device for an elevator door machine system, which determine the fusion position of the door knife based on the actual position of the door knife of the elevator door machine system; determine the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife; determine the position interval of the door knife based on the fusion position of the door knife; determine the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider; and control the movement of the door knife based on the compensation speed. In this way, the movement speed of the door knife can be increased on the premise of ensuring safety through speed feedforward compensation, the opening and closing modes of the door knife of the door machine system are improved, and the operation efficiency of the door knife is improved.

[0018] Other features and advantages of the present disclosure will be described in the following specification, or can be inferred or determined without doubt from the specification, 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 preferred embodiments are given in conjunction with the accompanying drawings and described in detail 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 following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

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

[0022] Figure 2 It is a schematic diagram of the opening and closing control of a door knife provided by an embodiment of the present invention;

[0023] Figure 3 It is a schematic diagram of the feedforward control of a door knife provided by an embodiment of the present invention;

[0024] Figure 4Flow chart of another method for controlling the door knife of an elevator door machine system provided by an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of calculating the in-place opening and closing of a door knife provided by an embodiment of the present invention;

[0026] Figure 6 Schematic diagram of setting a reference speed provided by an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of calculating speed compensation provided by an embodiment of the present invention;

[0028] Figure 8 Schematic diagram of the structure of a door knife control device for an elevator door machine system provided by an embodiment of the present invention;

[0029] Figure 9 Schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. Detailed implementation manners

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Apparently, 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 shall fall within the protection scope of the present invention.

[0031] Currently, as an important component in the elevator door machine system, the operation state of the door knife system directly affects the safe operation of the elevator. The two main components in the door knife system are the car door knife and the landing door knife. Among them, the opening sequence of the car door knife and the landing door knife is determined by the set spring stiffness.

[0032] Since the elastic restoring force of the car door side door knife is smaller than that of the landing door knife, the car door knife is opened first. When the door knife reaches the limit position during operation and cannot continue to move, the landing door knife begins to gradually open. During the opening process of these two door knives, there are two very obvious contact areas. The first is when the car door knife reaches the limit position, and the second is when the landing door knife reaches the limit position. These two positions will cause serious collision problems.

[0033] However, in the existing elevator door machine system, in order to avoid the collision problem between the car door knife and the landing door knife during opening and closing, the main solution adopted is to operate at a low speed. Although this can reduce the impact caused by the collision, it brings the problem of poor user experience. Moreover, the door machine system operating at a low speed will also result in low fault sensitivity and cannot highly sensitively identify faults.

[0034] In summary, the existing elevator door machine system has problems such as long opening and closing processes of the door knife, strong jerks, and ineffective recognition of door knife failures. Based on this, a door knife control method, device, and electronic device for an elevator door machine system provided by an embodiment of the present invention specifically provide a method for opening, closing, and fault determination of the door knife of the door machine system based on feedforward compensation.

[0035] In this method, for problems such as long opening and closing processes of the door knife and strong jerks in the existing elevator door machine system, an efficient operation plan for opening and closing the door knife of the elevator door system can be provided; for the problem that door knife failures cannot be effectively recognized in the existing elevator door machine system, a high-sensitivity fault recognition plan can be provided.

[0036] To facilitate the understanding of this embodiment, first, a door knife control method for an elevator door machine system disclosed in an embodiment of the present invention will be introduced in detail.

[0037] Embodiment 1:

[0038] An embodiment of the present invention provides a door knife control method for an elevator door machine system. Refer to Figure 1 the flowchart of a door knife control method for an elevator door machine system shown. The door knife control method for the elevator door machine system includes the following steps:

[0039] Step S102, obtain the actual position of the door knife of the elevator door machine system, and determine the fusion position of the door knife based on the actual position.

[0040] The door knife is an opening and closing device for the elevator car door, mainly responsible for the mechanism of opening and closing the elevator car door and the landing door. When the door knife receives the elevator opening and closing signals, the elevator door machine system can control the opening motor, convert the torque generated by the motor into a force in a specific direction, and open or close the elevator car door and the landing door through the door knife.

[0041] Refer to Figure 2 the schematic diagram of the opening and closing control of a door knife shown. Among them, x set (t), v set (t) respectively represent the preset operating position and operating speed of the elevator door machine system that change with time. gain represents the compensation gain of the above-mentioned preset operating position and operating speed. represents the control update period. 1 / s represents the integration process. ZOH represents the signal sampling process. driver represents the driving execution process of the elevator door machine system. d represents the position parameter of the component (the following number represents the serial number), l represents the geometric length of the component, m represents the mass of the component, k represents the spring stiffness, c represents the damping coefficient, w represents the rotational speed, θ represents the angle, and F represents the external force received by the door knife from the door ball.

[0042] As Figure 2As shown, in this embodiment, the running position and running speed of the preset elevator door machine system can be used as inputs, and the running parameters of the door knife can be determined through feedforward compensation, and then the door knife can be driven to move.

[0043] See Figure 3 As shown in the schematic diagram of a feedforward control of a door knife, in this embodiment, a reference speed can be preset in advance, and then the opening and closing detection of the door knife (i.e., determining the position interval of the door knife) can be performed, and then the feedforward speed compensation can be performed, and finally the S acceleration and deceleration switching can be performed. Among them, S acceleration and deceleration means that the change of speed with displacement during the operation of the door machine system is fitted in the form of a polynomial, and the shape is similar to a lying S shape.

[0044] For example, in this embodiment, the fusion position of the door knife can be determined first through the reference speed (i.e., Figure 2 v in set (t)) and the actual position (which can be collected by an encoder)

[0045] Step S104, based on the pre-set correspondence between force and time and the fusion position of the door knife, determine the acceleration of the slider connected to the door knife.

[0046] After determining the fusion position This embodiment can also determine the acceleration a of the slider connected to the door knife. Among them, the correspondence between force and time Fe * can be preset, and according to the correspondence between force and time Fe * and the fusion position of the door knife determine the acceleration a of the slider connected to the door knife.

[0047] Step S106, based on the fusion position of the door knife, determine the position interval of the door knife.

[0048] This embodiment can also determine the position interval where the door knife is currently located. Among them, the position interval of the door knife in this embodiment includes: the non-collision area for opening and closing the car door, the collision area for opening and closing the car door, the non-collision area for opening and closing the landing door, and the collision area for opening and closing the landing door. Therefore, the position interval where the door knife is currently located can be determined according to the fusion position of the door knife determine the position interval where the door knife is currently located.

[0049] Step S108, based on the position interval of the door knife and the acceleration of the slider, determine the compensation speed of the door knife.

[0050] In this embodiment, a corresponding speed compensation relationship can be preset for each position interval. Therefore, after determining the position interval of the door knife, this embodiment can obtain the corresponding speed compensation relationship for this position interval, and then determine the compensation speed of the door knife according to the above speed compensation relationship and the acceleration of the slider.

[0051] Step S110, control the movement of the door knife based on the compensation speed.

[0052] The compensation speed of the door knife is generally greater than the current moving speed of the door knife. Therefore, in this embodiment, the movement of the door knife can be controlled based on the compensation speed, thereby increasing the moving speed of the door knife.

[0053] The embodiment of the present invention provides a method for controlling a door knife of an elevator door machine system. The fusion position of the door knife is determined based on the actual position of the door knife of the elevator door machine system; the acceleration of the slider connected to the door knife is determined based on the pre-set correspondence between force and time and the fusion position of the door knife; the position interval of the door knife is determined based on the fusion position of the door knife; the compensation speed of the door knife is determined based on the position interval of the door knife and the acceleration of the slider; and the movement of the door knife is controlled based on the compensation speed. In this way, the moving speed of the door knife can be increased on the premise of ensuring safety through the method of speed feed-forward compensation, the opening and closing modes of the door knife of the door machine system are improved, and the operating efficiency of the door knife is increased.

[0054] Embodiment 2:

[0055] This embodiment provides another method for controlling a door knife of an elevator door machine system. This method is implemented on the basis of the above embodiment, as Figure 4 shown in the flowchart of another method for controlling a door knife of an elevator door machine system. The method for controlling a door knife of the elevator door machine system in this embodiment includes the following steps:

[0056] Step S402, obtain the actual position of the door knife of the elevator door machine system, and determine the fusion position of the door knife based on the actual position.

[0057] Specifically, in this embodiment, the actual position of the door knife fed back by the encoder of the elevator door machine system can be obtained; the pre-set reference speed and the actual position are weighted to obtain the fusion position of the door knife.

[0058] In this embodiment, based on the reference speed v ref and the actual position x of the door knife fed back by the encoder fdb After weighted fusion, the fusion position of the door knife is obtained The calculation method of the fusion is as follows:

[0059]

[0060] See Figure 5 shown in a schematic diagram of calculating the opening and closing in place of a door knife. Among them, v ref represents the set reference speed value and Figure 2 in which v set is the same; x fdbRepresents the fused position of the actual feedback running door knife (i.e., the actual position of the door knife); 1 / s represents integrating the input, α represents the correction gain after integration; Σ represents summation, which is the data fusion process; β represents the correction gain for the actual feedback position; (α + β) / n represents correcting the fused value, and the calculated output is the fused position of the door knife Fe* represents the set reference force-time curve.

[0061] For Figure 5 the linearization part in represents the observed acceleration value; represents the observed velocity value; represents the observed fused position of the door knife; I represents the equivalent mass after simplifying the door system; F fdb * represents the force acting on the door knife after conversion from the sampled motor current value; c represents the damping coefficient, used to estimate the magnitude of the damping force; K represents the spring stiffness, used to estimate the restoring force of the return spring on the door knife; xr ef represents the set reference running position.

[0062] In addition, Figure 5 On in represents the situation where the elevator door machine system receives the door opening and closing commands; mux represents the acceleration of the slider; the combined judgment process of the fused position of the door knife adj T represents the set switching time; 1 / s represents integrating the input, and combined with Tadj to judge the running stage of the door machine.

[0063] In addition, for the setting of the reference speed vref, reference can be made to Figure 6 the schematic diagram of a setting of a reference speed shown in fdb x represents the actual position of the door knife fed back by the door machine system; Fe* represents the set reference force-time curve; x offset represents the intermediate process interval for switching between different motion zones during the operation of the door knife; k b represents the correction gain of the compensation speed; Z -1 represents the value of the previous cycle of the output input sequence, similar to the ZOH process of signal sampling; k a represents the compensation gain of the previous control cycle; the result of tr is obtained from Figure 5 v0 represents the default set creep speed; v upper represents the maximum set running speed; v lower represents the minimum set running speed; limit represents restricting the output speed between the maximum and minimum values; v ref represents the set speed value after compensation calculation.

[0064] Step S404: Determine the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife.

[0065] Specifically, in this embodiment, the fusion position of the door knife can be input into a pre-set observer model. The observer model performs a forward difference format discretization on the fusion position of the door knife based on the pre-set correspondence between force and time, and outputs the acceleration of the slider connected to the door knife.

[0066] As Figure 5 shown, the above observer model can be a linear observer model. The linear observer model can predict the acceleration value a of the slider based on the correspondence between force and time Fe* and the fusion position of the door knife. The calculation method for acceleration prediction can be discretized using the following forward difference format: where n represents the serial number of the sampling point.

[0067]

[0068] Step S406: Determine the position interval of the door knife based on the fusion position of the door knife.

[0069] In this embodiment, the position interval of the door knife can be determined based on the door opening / closing instruction and the fusion position of the door knife. Among them, the position interval of the door knife includes: the non-collision area for car door opening / closing, the collision area for car door opening / closing, the non-collision area for landing door opening / closing, and the collision area for landing door opening / closing. Among them, the position interval of the door knife can be determined through the following formula:

[0070]

[0071] where Z represents the type of the interval, area1 represents the non-collision area for car door opening / closing, area2 represents the collision area for car door opening / closing, area3 represents the non-collision area for landing door opening / closing, area4 represents the collision area for door opening / closing, represents the fusion position of the door knife, x0 represents the displacement of the car door during normal operation, x1 represents the displacement of the landing door during normal operation, and ε represents the correction width of the collision interval.

[0072] In this embodiment, in addition to compensating for the speed, it is also possible to determine whether a fault occurs. For example: in this embodiment, it is possible to determine whether a fault occurs in the elevator door machine system based on the fusion position of the door knife and the acceleration of the slider; if a fault occurs in the elevator door machine system, a fault message is generated and the fault message is uploaded. Among them, the specific judgment process can be:

[0073] (1) When the fusion position of the door knife is within the calibrated car door opening / closing interval and the observed acceleration value does not exceed the set range, it is determined that the door machine is operating within the car door opening / closing interval.

[0074] ​When the fusion position of the door knife is within the calibrated opening and closing range of the car door, but there is a difference between the observed acceleration value and the set value, it is determined that the running process is at the collision point within the opening and closing range of the car door, that is, the opening and closing of the car door knife is in place; when the position exceeds the opening and closing range of the car door, but there is an obvious difference in acceleration, it is considered that a failure has occurred in the car door and it cannot operate properly, and the program reports the failure. For example: If a failure occurs in the elevator door machine system, a failure message is generated and uploaded.

[0075] (2) When the fusion position of the door knife is within the opening and closing range of the landing door and the observed acceleration value does not exceed the set range, it is considered that the door machine is operating within the opening and closing range of the landing door.

[0076] When the fusion position of the door knife is within the opening and closing range of the landing door, but there is a difference between the observed acceleration value and the set acceleration value, it can be considered that the running process is at the collision point within the opening and closing range of the landing door, and the opening and closing process of the entire door knife is successfully completed, and the process of opening the door in the next stage can be carried out; when the position exceeds the opening and closing range of the landing door and there is no obvious difference in the observed acceleration and the variance difference is small, it is considered that a failure has occurred during the operation of the landing door and there is a problem with the opening of the landing door knife, and the program reports the failure. For example: If a failure occurs in the elevator door machine system, a failure message is generated and uploaded.

[0077] Therefore, the above method provided in this embodiment can timely determine whether a failure occurs, generate and report the failure information, can timely remind the maintenance personnel to perform necessary maintenance, can improve the service life of the elevator, and reduce the probability of failure. In addition, for the processed signals in the operation stages of the landing door and the car door, considering the disturbance problem of the hardware circuit, this embodiment can perform high-frequency filtering to filter out the high-frequency noise signals.

[0078] Step S408, determine the speed compensation relationship corresponding to the position interval of the door knife; determine the compensation speed of the door knife based on the speed compensation relationship and the acceleration of the slider.

[0079] In this embodiment, a corresponding speed compensation relationship can be set in advance for each position interval, the speed compensation relationship corresponding to the position interval of the door knife is determined, and then the compensation speed of the door knife is determined based on the speed compensation relationship and the acceleration of the slider.

[0080] See Figure 7 As shown in a schematic diagram of a speed compensation calculation, when in the non-collision area of the car door opening and closing, the calculation method of the compensated speed (i.e., the speed compensation relationship) can be:

[0081]

[0082] When in the collision area of the car door opening and closing, in order to reduce the kinetic energy of the collision, the system starts to decelerate, and the process of speed reduction (i.e., the speed compensation relationship) can be:

[0083] v(n)=a·v(n - 1)+(1 - a)v0(n).

[0084] When in the non - collision area of the landing door opening and closing, the calculation method of the compensated speed (i.e., the speed compensation relationship) can be:

[0085]

[0086] When in the collision area of the landing door opening and closing, the system starts to decelerate proportionally to prepare for the movement process of cutting into the S - curve. The process of speed reduction (i.e., the speed compensation relationship) can be:

[0087] v(n)=a·v(n - 1)+(1 - a)v1(n).

[0088] After the door knife is opened or closed, the operation control of the S - curve can start to be switched.

[0089] Step S410, controlling the movement of the door knife based on the compensated speed.

[0090] The above - mentioned method provided by the embodiments of the present invention can address problems such as long opening and closing processes and strong jerks in the existing elevator door machine system for the door knife, and provide an efficient operation scheme for the opening and closing of the door knife in the elevator door system. By means of speed feed - forward compensation, the movement speed of the door knife is increased on the premise of ensuring safety, the opening and closing methods of the door knife in the door machine system are improved, and the operation efficiency of the door knife is increased. It can also address the problem that the door knife failure in the existing elevator door machine system cannot be effectively identified, provide a high - sensitivity fault identification scheme, timely determine whether a fault occurs, generate and report fault information, which can timely remind maintenance personnel to perform necessary maintenance, improve the service life of the elevator, and reduce the probability of failure.

[0091] Embodiment Three:

[0092] Corresponding to the above - mentioned method embodiment, the embodiments of the present invention provide a door knife control device for an elevator door machine system. Refer to Figure 8 the structural schematic diagram of a door knife control device for an elevator door machine system shown in

[0093] A door knife fusion position determination module 81, configured to obtain the actual position of the door knife of the elevator door machine system and determine the fusion position of the door knife based on the actual position;

[0094] A slider acceleration determination module 82, configured to determine the acceleration of the slider connected to the door knife based on the pre - set corresponding relationship between force and time and the fusion position of the door knife;

[0095] A door knife position interval determination module 83, configured to determine the position interval of the door knife based on the fusion position of the door knife;

[0096] A door knife compensation speed determination module 84, configured to determine the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider;

[0097] A door knife movement control module 85, configured to control the movement of the door knife based on the compensation speed.

[0098] An embodiment of the present invention provides a door knife control device for an elevator door machine system, which determines the fusion position of the door knife based on the actual position of the door knife of the elevator door machine system; determines the acceleration of the slider connected to the door knife based on the pre-set correspondence between force and time and the fusion position of the door knife; determines the position interval of the door knife based on the fusion position of the door knife; determines the compensation speed of the door knife based on the position interval of the door knife and the acceleration of the slider; and controls the movement of the door knife based on the compensation speed. In this way, the movement speed of the door knife can be increased by means of speed feed-forward compensation while ensuring safety, the opening and closing modes of the door knife of the door machine system are improved, and the operating efficiency of the door knife is improved.

[0099] The above-mentioned door knife fusion position determination module is configured to obtain the actual position of the door knife fed back by the encoder of the elevator door machine system; perform weighted processing on the pre-set reference speed and the actual position to obtain the fusion position of the door knife.

[0100] The above-mentioned slider acceleration determination module is configured to input the fusion position of the door knife into a pre-set observer model, and the observer model performs discrete processing on the fusion position of the door knife in a forward difference format based on the pre-set correspondence between force and time, and outputs the acceleration of the slider connected to the door knife.

[0101] The above-mentioned position interval of the door knife includes: a non-collision area for opening and closing the car door, a collision area for opening and closing the car door, a non-collision area for opening and closing the landing door, and a collision area for opening and closing the landing door.

[0102] The above-mentioned door knife compensation speed determination module is configured to determine the speed compensation relationship corresponding to the position interval of the door knife; determine the compensation speed of the door knife based on the speed compensation relationship and the acceleration of the slider.

[0103] The above-mentioned device further includes: a fault processing module, configured to determine whether a fault occurs in the elevator door machine system based on the fusion position of the door knife and the acceleration of the slider; if a fault occurs in the elevator door machine system, generate a fault message and upload the fault message.

[0104] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working process of the above-described door knife control device of the elevator door machine system can refer to the corresponding process in the embodiment of the door knife control method of the foregoing elevator door machine system, which will not be elaborated herein.

[0105] Embodiment 4:

[0106] An embodiment of the present invention further provides an electronic device for running the door knife control method of the above elevator door machine system; see Figure 9 the structural schematic diagram of an electronic device shown in the figure. 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 door knife control method of the above elevator door machine system.

[0107] Furthermore, Figure 9 the electronic device shown in the figure 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.

[0108] Among them, the memory 100 may include a high-speed random access memory (RAM, Random Access Memory), and may also include a non-volatile memory, such as at least one disk memory. Through at least one communication interface 103 (which can be wired or wireless), a communication connection is established between this system network element and at least one other network element, 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 or an EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of simplicity of representation, Figure 9 only a bidirectional arrow is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0109] The processor 101 may be an integrated circuit chip with the ability to process signals. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 101 or the instructions in the form of software. The above-mentioned processor 101 may be a general-purpose processor, including a central processing unit (CPU for short), a network processor (NP for short), etc.; it may 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 may be a microprocessor or the processor may 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 the hardware decoding processor, or executed and completed by a combination of the hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a 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.

[0110] The embodiments of the present invention also provide a computer-readable storage medium. The computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are called and executed by the processor, the computer-executable instructions cause the processor to implement the above-mentioned door knife control method of the elevator door machine system. For the specific implementation, reference can be made to the method embodiments, and details are not described herein again.

[0111] The door knife control method, device, and electronic device of the elevator door machine system provided by the embodiments of the present invention include a computer-readable storage medium storing program codes. 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 details are not described herein again.

[0112] 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 details are not described herein again.

[0113] In addition, in the description of the embodiments of the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", and "coupled" shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be a direct connection or an indirect connection through an intermediate medium, and it may be the communication inside two components. 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 circumstances.

[0114] If the above-mentioned functions are realized in the form of software functional units and sold or used as independent products, they 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 this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may 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 various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0115] 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", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0116] 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 technical field of the present invention can still modify the technical solutions described in the foregoing embodiments, or can easily think 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 by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A method for controlling a door knife of an elevator door machine system, characterized in that, The method includes: Obtaining the actual position of the door knife feedback by the encoder of the elevator door machine system; performing weighted processing on a preset reference speed and the actual position to obtain the fusion position of the door knife; Inputting the fusion position of the door knife into a preset observer model, and the observer model performs forward difference format discretization processing on the fusion position of the door knife based on the corresponding relationship between the preset force and time, and outputs the acceleration of the slider connected to the door knife; Determining the position interval of the door knife based on the fusion position of the door knife; Determining the speed compensation relationship corresponding to the position interval of the door knife; determining the compensation speed of the door knife based on the speed compensation relationship and the acceleration of the slider; Controlling the movement of the door knife based on the compensation speed.

2. The method according to claim 1, wherein The position interval of the door knife includes: a non-collision area for opening and closing the car door, a collision area for opening and closing the car door, a non-collision area for opening and closing the landing door, and a collision area for opening and closing the landing door.

3. The method according to claim 1, characterized in that, The method further includes: Determining whether the elevator door machine system fails based on the fusion position of the door knife and the acceleration of the slider; If the elevator door machine system fails, generating a fault message and uploading the fault message.

4. A door knife control device for an elevator door machine system, characterized in that, The device includes: A door knife fusion position determination module, configured to obtain the actual position of the door knife feedback by the encoder of the elevator door machine system; perform weighted processing on a preset reference speed and the actual position to obtain the fusion position of the door knife; A slider acceleration determination module, configured to input the fusion position of the door knife into a preset observer model, and the observer model performs forward difference format discretization processing on the fusion position of the door knife based on the corresponding relationship between the preset force and time, and outputs the acceleration of the slider connected to the door knife; A door knife position interval determination module, configured to determine the position interval of the door knife based on the fusion position of the door knife; A door knife compensation speed determination module, configured to determine the speed compensation relationship corresponding to the position interval of the door knife; determine the compensation speed of the door knife based on the speed compensation relationship and the acceleration of the slider; A door knife movement control module, configured to control the movement of the door knife based on the compensation speed.

5. The device according to claim 4, characterized in that, The device further includes: a fault processing module, configured to determine whether the elevator door machine system fails based on the fusion position of the door knife and the acceleration of the slider; if the elevator door machine system fails, generating a fault message and uploading the fault message.

6. An electronic device, characterized in that, 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 door knife control method of the elevator door machine system according to any one of claims 1 to 3.

7. 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 a processor, the computer executable instructions cause the processor to implement the door knife control method of the elevator door machine system according to any one of claims 1 to 3.

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