A mobile control method, device, apparatus and storage medium

Abstract

This invention discloses a motion control method, apparatus, device, and storage medium. The method includes: learning a gain correction coefficient for an elevator control system based on the amplitude of a current, wherein the elevator control system is used to control the operation of the elevator car; during the operation of the elevator car, acquiring the original current value of the elevator control system; correcting the original current value for static current to obtain candidate current values; aligning the amplitude of the candidate current values ​​with the gain correction coefficient to obtain a target current value; and controlling the elevator car to move vertically based on the target current value. This embodiment learns a personalized gain correction coefficient for the elevator control system, resulting in a high degree of adaptation between the gain correction coefficient and the elevator car, thereby aligning the amplitude of the target current value and reducing the difference between target current values ​​in different phases. This effectively mitigates the ripples superimposed on the current, thereby reducing the vibration generated when the elevator car moves vertically.

Description

Technical Field

[0001] This invention relates to the technical field of elevators, and more particularly to a motion control method, device, equipment, and storage medium. Background Technology

[0002] In residential buildings, office buildings, shopping malls and other buildings, multiple elevators are often installed for users to go up and down floors and move goods.

[0003] Elevators mainly move vertically in a shaft. Due to defects in design, manufacturing, and installation, elevators will experience certain vibrations in the vertical direction during operation. Summary of the Invention

[0004] This invention provides a motion control method, apparatus, device, and storage medium to solve the problem of how to mitigate the vertical vibrations generated by elevators.

[0005] According to one aspect of the present invention, a motion control method is provided, comprising:

[0006] The elevator control system learns a gain correction coefficient on the amplitude of the current, and the elevator control system is used to control the operation of the elevator car.

[0007] During the operation of the elevator car, the raw current value is collected from the elevator control system.

[0008] The original current value is corrected for static current to obtain candidate current values;

[0009] The target current value is obtained by aligning the amplitude of the candidate current value with the gain correction coefficient.

[0010] The elevator car is controlled to move vertically based on the target current value.

[0011] According to another aspect of the present invention, a motion control device is provided, comprising:

[0012] A gain correction coefficient learning module is used to learn the gain correction coefficient of the elevator control system based on the amplitude of the current. The elevator control system is used to control the operation of the elevator car.

[0013] The raw current value acquisition module is used to acquire raw current values ​​from the elevator control system during the operation of the elevator car.

[0014] The candidate current value correction module is used to correct the original current value using static current to obtain a candidate current value.

[0015] The target current value alignment module is used to align the amplitude of the candidate current value according to the gain correction coefficient to obtain the target current value;

[0016] A vertical movement control module is used to control the elevator car to move vertically based on the target current value.

[0017] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0018] At least one processor; and

[0019] A memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the motion control method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing a computer program for causing a processor to execute and implement the motion control method according to any embodiment of the present invention.

[0022] In this embodiment, a gain correction coefficient is learned for the elevator control system based on the current amplitude. The elevator control system is used to control the operation of the elevator car. During the operation of the elevator car, the original current value is collected by the elevator control system. The original current value is corrected for static current to obtain candidate current values. The amplitude of the candidate current values ​​is aligned with the gain correction coefficient to obtain the target current value. The elevator car is then controlled to move vertically based on the target current value. This embodiment learns a personalized gain correction coefficient for the elevator control system, resulting in a high degree of adaptation between the gain correction coefficient and the elevator car. This aligns the amplitude of the target current value, reduces the difference between target current values ​​in different phases, and effectively mitigates the ripple superimposed on the current, thereby reducing the vibration generated when the elevator car moves vertically.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a motion control method provided according to Embodiment 1 of the present invention;

[0026] Figure 2 This is an example diagram illustrating the amplitude difference between different phase currents according to Embodiment 1 of the present invention;

[0027] Figure 3 This is a schematic diagram of a coordinate system transformation provided in Embodiment 1 of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a mobile control device according to Embodiment 2 of the present invention;

[0029] Figure 5 This is a schematic diagram of the structure of an electronic device provided according to Embodiment 3 of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be used interchangeably where appropriate so that the embodiments of the invention described herein can cover implementations in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] Figure 1This is a flowchart of a motion control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the amplitude of current is aligned to reduce the vertical vibration of an elevator. This method can be executed by a motion control device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0034] Step 101: Learn the gain correction coefficient for the elevator control system based on the current amplitude.

[0035] Different types of buildings, especially high-rise buildings, have different transportation needs for people and goods. Therefore, different types of elevators can be deployed in buildings according to different transportation needs, such as passenger elevators, freight elevators, sightseeing elevators, etc. This embodiment does not impose any restrictions on this.

[0036] The structure of elevators also varies among different types of elevators.

[0037] In one example, the components of a certain type of elevator include the elevator control system, car, traction machine, control cabinet, speed governor, door operator, car frame, car door, counterweight guide rail, car guide rail, guide rail support, traveling cable, counterweight device, compensating chain (cable), landing door, guide device for compensating chain (cable), buffer, etc.

[0038] The elevator control system is used to control the operation of the elevator car, such as moving, opening and closing doors, alarms, etc.

[0039] In some types of elevators, the traction machine, control cabinet, speed governor, traveling cable, etc., can be omitted.

[0040] These components can be divided into different sets according to their functions, thus forming various subsystems that support the operation of the elevator. The elevator control system is connected to multiple systems of the elevator via wired means such as serial port or serial clock line (SCL). The controller monitors each system and controls the operation of each subsystem.

[0041] In one example, the system includes a door system, a frequency conversion system, a call system, and a traction system. The door system is used to control the elevator doors. The elevator car is equipped with a car door, and the elevator has hall doors in the waiting halls on each floor. The elevator doors include the car door and the hall doors of the waiting halls on each floor. The frequency conversion system is used to control the frequency converter. The call system is used to control the logic of internal call (calling the elevator from inside the car) and external call (calling the elevator from the waiting hall). The traction system is used to control the car's movement in the hoistway.

[0042] In practical applications, the elevator control system applies three-phase current to the elevator car and uses any two phases of current to drive the elevator car to move vertically in the hoistway.

[0043] For example, the three phase currents are the U-phase current, the V-phase current, and the W-phase current, respectively. The U-phase current and the V-phase current can be used to drive the elevator car to move vertically in the hoistway.

[0044] like Figure 2 As shown, if the sampling frequency of the current is f, the amplitude of the U-phase current is P. u The amplitude of the V-phase current is P v If P u and P v When they are not equal, a ripple of 2f will be superimposed when converting the U-phase current and V-phase current into torque current. The fluctuation of torque current will cause the elevator car to vibrate when it moves in the vertical direction.

[0045] In this embodiment, the elevator car can learn gain correction coefficients to align the amplitudes of different phase currents, taking into account the differences between the amplitudes of different phase currents.

[0046] In one embodiment of the present invention, step 101 may include the following steps:

[0047] Step 1011: During the elevator car test, sample current values ​​are collected from the elevator control system.

[0048] In practical applications, maintenance personnel will test the elevator car to verify whether the elevator car's performance meets the operating requirements. During this process, the current gain correction learning mode can be activated on the elevator control system to learn the gain correction coefficients used to align the amplitudes of different phase currents.

[0049] In gain correction learning mode, the elevator control system can perform AD (Analog to Digital) sampling on the three-phase current to obtain the sample current values ​​of the three phases.

[0050] In practice, when the elevator car is undergoing maintenance or routine repairs, the elevator car will lose power, which will have a significant impact on the current. Therefore, at this time, the current gain correction learning mode can be activated for the elevator car to relearn the gain correction coefficients used to align the amplitudes of different phase currents.

[0051] When the elevator car is powered on, multiple floors are randomly selected from all floors in the current building. The number of floors is a hyperparameter, such as 3. Randomly selecting multiple floors can simulate the scenario of a user calling the elevator, improve the realism of the sample current value, and thus improve the accuracy of the gain correction coefficient.

[0052] The elevator car is controlled to move vertically to each floor in a random order of multiple selected floors.

[0053] According to elevator specifications, when an elevator responds to a call and moves to a certain floor, there is a process of uniform speed movement. During uniform speed movement, the current is relatively stable.

[0054] Therefore, during the process of moving to each floor, the speed of the elevator car in the vertical direction can be detected in real time, and it can be detected whether the speed is uniform. If the elevator car moves at a uniform speed, sample current values ​​are collected from the elevator control system. At this time, multiple sample current values ​​are collected from the elevator control system, and the number of floors is equal to the number of sample current values.

[0055] Step 1012: Perform preprocessing on the sample current value to obtain the reference current value.

[0056] In this embodiment, the sample current values ​​of each phase are preprocessed accordingly to obtain the reference current values ​​of each phase, thereby improving the quality of the current.

[0057] In the specific implementation, preprocessing includes the following two items:

[0058] I. Static Current Correction

[0059] Under normal circumstances, the elevator car has a static current, which is the current when there is no signal input. This is the current consumed by the elevator car itself when it is not affected by external factors. Therefore, the static current can be corrected for the sample current values ​​of each phase to obtain the corrected current value.

[0060] If the current of the first phase (e.g., U phase) and the current of the second phase (e.g., V phase) are selected from the three-phase current, the elevator car can be driven to move vertically in the hoistway.

[0061] Therefore, the static current of the first phase (e.g., U phase) of the elevator car can be tested in advance to obtain the first static bias current value, and the static current of the second phase (e.g., V phase) can be tested to obtain the second static bias current value. The first static bias current value of the first phase (e.g., U phase) and the second static bias current value of the second phase (e.g., V phase) can be stored in the elevator controller.

[0062] When performing static current correction, the first static bias current value set for the first phase (e.g., U phase) and the second static bias current value set for the second phase (e.g., V phase) are retrieved from the elevator controller.

[0063] Subtract the first static bias current value from the sample current value of the first phase (e.g., phase U) to obtain the correction current value of the first phase (e.g., phase U).

[0064] This static current correction process can be represented as:

[0065] I` u=I u -I u0

[0066] Among them, I` u I is the correction current value for the first phase (e.g., phase U). u I is the sample current value of the first phase (e.g., phase U). u0 This is the first static bias current value.

[0067] Subtract the second static bias current value from the sample current value of the second phase (e.g., phase V) to obtain the correction current value of the second phase (e.g., phase V).

[0068] This static current correction process can be represented as:

[0069] I` v =I v -I v0

[0070] Among them, I` v I is the correction current value for the second phase (e.g., phase V). v I is the sample current value of the second phase (e.g., phase V). v0 This is the second static bias current value.

[0071] II. Current Filtering

[0072] In this embodiment, the number of floors can be counted to obtain the number of correction current values.

[0073] The average filtering is performed on the correction current value of each phase a certain number of times to obtain the reference current value of each phase. That is, the reference current value of each phase is the average value of the correction current value of each phase, which reduces the influence of the fluctuation of the correction current value of each phase and improves the accuracy of the reference current value of each phase.

[0074] Step 1013: Calculate the amplitude of the reference current value.

[0075] In this embodiment, the maximum and minimum values ​​of the reference current values ​​for each phase are extracted, and the maximum value is subtracted from the minimum value for each phase to obtain the amplitude.

[0076] Step 1014: Calculate the gain correction coefficient based on the difference between the amplitudes.

[0077] In this embodiment, the amplitudes of the reference current values ​​of each phase can be compared, and a gain correction factor for aligning the amplitudes of the reference current values ​​of each phase can be calculated based on the differences between the amplitudes of the reference current values ​​of each phase.

[0078] In a practical implementation, if the current of the first phase (e.g., phase U) is used as the alignment reference, then the ratio between the magnitude of the reference current of the first phase (e.g., phase U) and the magnitude of the reference current of the second phase (e.g., phase V) can be calculated.

[0079] The ratio is compared with a preset effective range, where the effective range is the range of fluctuation of the ratio between the amplitude of the first phase (e.g., U phase) current and the amplitude of the second phase (e.g., V phase) current when normal. The effective range is based on 1, with the first ratio (e.g., 30%) floating upward and the second ratio (e.g., 30%) floating downward based on the base point.

[0080] If the ratio is within the preset effective range, it means that the amplitude of the reference current value of the first phase (e.g., U phase) and the amplitude of the reference current value of the second phase (e.g., V phase) are both normal, and then the ratio is set as the gain correction coefficient.

[0081] Therefore, the gain correction coefficient can be expressed as:

[0082]

[0083] Among them, K i P is the gain correction factor. u P is the amplitude of the reference current value for the first phase (e.g., phase U). v This refers to the amplitude of the reference current value for the second phase (e.g., phase V).

[0084] If the ratio is outside the preset valid range, it is determined that either the amplitude of the reference current value of the first phase (e.g., U phase) or the amplitude of the reference current value of the second phase (e.g., V phase) is abnormal, and a fault may occur. At this time, an alarm operation can be executed to allow maintenance personnel to inspect the elevator.

[0085] Step 102: During the operation of the elevator car, collect the original current value of the elevator car.

[0086] During normal elevator operation, users can operate the external call panel in the waiting hall on each floor to trigger the external call signal and indicate the direction of movement. The elevator controller will then control the car to move to the current floor according to the direction of movement, open the car door, allow the user to enter the car, and close the car door. Alternatively, users can operate the internal call panel in the car to trigger the internal call signal and indicate the target floor. The elevator controller will then control the car to move to the target floor, open the car door, allow the user to exit the car, and close the car door, completing one elevator ride.

[0087] During this process, the elevator car can continuously perform AD sampling on the three-phase current to obtain the original current values ​​of the three phases. The original current value of each phase can form a sequence of phase currents.

[0088] Step 103: Correct the original current value for static current to obtain candidate current values.

[0089] Under normal circumstances, the elevator car has a static current, which is the current when there is no signal input. This is the current consumed by the elevator car itself when it is not affected by external factors. Therefore, the original current values ​​of each phase can be corrected by static current to obtain candidate current values.

[0090] If the current of the first phase (e.g., U phase) and the current of the second phase (e.g., V phase) are selected from the three-phase current, the elevator car can be driven to move vertically in the hoistway.

[0091] Therefore, the static current of the first phase (e.g., U phase) of the elevator car can be tested in advance to obtain the first static bias current value, and the static current of the second phase (e.g., V phase) can be tested to obtain the second static bias current value. The first static bias current value of the first phase (e.g., U phase) and the second static bias current value of the second phase (e.g., V phase) can be stored in the elevator controller.

[0092] When performing static current correction, the first static bias current value set for the first phase (e.g., U phase) and the second static bias current value set for the second phase (e.g., V phase) are retrieved from the elevator controller.

[0093] Subtract the first static bias current value from the original current value of the first phase (e.g., phase U) to obtain the candidate current value of the first phase (e.g., phase U).

[0094] This static current correction process can be represented as:

[0095] I` u =I u -I u0

[0096] Among them, I` u I is the candidate current value for the first phase (e.g., phase U). u I is the initial current value of the first phase (e.g., phase U). u0 This is the first static bias current value.

[0097] Subtract the second static bias current value from the original current value of the second phase (e.g., phase V) to obtain the candidate current value of the second phase (e.g., phase V).

[0098] This static current correction process can be represented as:

[0099] I` v =I v -I v0

[0100] Among them, I` vFor the candidate current value of the second phase (e.g., phase V), I v I is the initial current value of the second phase (e.g., phase V). v0 This is the second static bias current value.

[0101] Step 104: Align the amplitude of the candidate current value with the gain correction coefficient to obtain the target current value.

[0102] In this embodiment, a specification of gain correction coefficients can be generated, and the amplitude of each phase candidate current value can be aligned using the gain correction coefficients to obtain the target current value.

[0103] The so-called alignment amplitude refers to minimizing the difference between the amplitudes of the candidate current values ​​of each phase, so that the amplitudes of the candidate current values ​​of each phase are as equal as possible.

[0104] In a practical implementation, if the current of the first phase (e.g., phase U) is used as the alignment reference, then the candidate current value of the first phase (e.g., phase U) can be set as the target current value of the first phase (e.g., phase U).

[0105] Multiply the candidate current value of the second phase (e.g., phase V) by the gain correction factor to obtain the target current value of the second phase (e.g., phase V), so that the amplitude of the target current value of the second phase (e.g., phase V) is aligned with the amplitude of the target current value of the first phase (e.g., phase U).

[0106] This process can be represented as:

[0107] I`` u =I` u

[0108] I`` v =I` v K i

[0109] Among them, K i I' is the gain correction factor. u I`` is the candidate current value for the first phase (e.g., phase U). u The target current value for the first phase (e.g., phase U), I` v For the candidate current value of the second phase (e.g., phase V), I`` v This is the target current value for the second phase (e.g., phase V).

[0110] Step 105: Control the elevator car to move vertically according to the target current value.

[0111] In this embodiment, the elevator control system applies a target current value to the elevator car to control the elevator car to move in the vertical direction.

[0112] In practical implementation, different coordinate systems are introduced during the simplification of the mathematical model of an AC motor, and certain physical quantities are transformed between different coordinate systems. This is called coordinate transformation.

[0113] like Figure 3 As shown, the coordinate system in this embodiment includes:

[0114] 1. The three-phase stationary coordinate system composed of the ABC coordinate axes is called the three-phase ABC stator coordinate system (3s coordinate system), and there is an equivalent winding on each coordinate axis.

[0115] 2. A two-phase planar rectangular coordinate system (2s coordinate system) is established, in which the α axis coincides with the A axis, and the β axis leads the α axis by 90°. Similarly, there is a winding (stator shaft) on each of the two coordinate axes (αβ).

[0116] 3. It is a Cartesian coordinate system (2r coordinate system) rotating at a velocity ω. There is a winding (rotor shaft) on each of the two coordinate systems (dq, where the q axis leads the d axis by 90°).

[0117] If the three-phase stator windings of the motor can be represented using the dq coordinate system, then the dq coordinate system coincides with the rotor coordinate system. The equivalent stator windings are relatively stationary with respect to the rotor coordinate system, and the mutual inductance between the stator and rotor windings will no longer be independent of the rotor position θ, greatly simplifying the inductance matrix.

[0118] The air gap magnetic field within the electric motor is the medium for electromagnetic energy transfer; energy transfer between the stator and rotor occurs precisely through this air gap magnetic field. When different types of windings are switched, the total magnetomotive force they generate must remain constant to ensure that the energy conversion relationship of the electric motor remains unchanged.

[0119] Therefore, the Clark transformation can be performed on the target current value. The Clark transformation transforms the stationary ABC coordinate system to the stationary αβ coordinate system.

[0120] If the Clark transformation is completed, then the Park transformation is performed on the target current value to obtain the torque current value. The Park transformation transforms the stationary ABC coordinate system to the rotating dq coordinate system.

[0121] Since the target current value is aligned with the amplitude, it can effectively reduce the ripple caused by the torque current value being superimposed with twice the current sampling frequency, thereby reducing the vibration generated when the elevator car moves vertically.

[0122] The torque of the elevator traction machine is adjusted by using the torque current value. The traction machine uses this torque to drive the elevator car to move vertically, thereby controlling the vertical movement of the elevator car.

[0123] In this embodiment, a gain correction coefficient is learned for the elevator control system based on the current amplitude. The elevator control system is used to control the operation of the elevator car. During the operation of the elevator car, the original current value is collected by the elevator control system. The original current value is corrected for static current to obtain candidate current values. The amplitude of the candidate current values ​​is aligned with the gain correction coefficient to obtain the target current value. The elevator car is then controlled to move vertically based on the target current value. This embodiment learns a personalized gain correction coefficient for the elevator control system, resulting in a high degree of adaptation between the gain correction coefficient and the elevator car. This aligns the amplitude of the target current value, reduces the difference between target current values ​​in different phases, and effectively mitigates the ripple superimposed on the current, thereby reducing the vibration generated when the elevator car moves vertically.

[0124] Example 2

[0125] Figure 4 This is a schematic diagram of a mobile control device provided in Embodiment 2 of the present invention.

[0126] like Figure 4 As shown, the device includes:

[0127] Gain correction coefficient learning module 401 is used to learn the gain correction coefficient of the elevator control system on the amplitude of the current, the elevator control system being used to control the operation of the elevator car.

[0128] The raw current value acquisition module 402 is used to acquire the raw current value of the elevator control system during the operation of the elevator car.

[0129] The candidate current value correction module 403 is used to correct the original current value by static current to obtain a candidate current value.

[0130] The target current value alignment module 404 is used to align the amplitude of the candidate current value according to the gain correction coefficient to obtain the target current value;

[0131] The vertical movement control module 405 is used to control the elevator car to move vertically according to the target current value.

[0132] In one embodiment of the present invention, the gain correction coefficient learning module 401 includes:

[0133] The sample current value acquisition module is used to acquire sample current values ​​of the elevator control system during elevator car testing.

[0134] A current preprocessing module is used to preprocess the sample current value to obtain a reference current value;

[0135] An amplitude calculation module is used to calculate the amplitude of the reference current value;

[0136] The gain correction coefficient calculation module is used to calculate the gain correction coefficient based on the difference between the amplitudes.

[0137] In one embodiment of the present invention, the sample current value acquisition module includes:

[0138] The random floor selection module is used to randomly select multiple floors when the elevator car is powered on.

[0139] The floor movement control module is used to control the elevator car to move vertically to each of the floors in sequence;

[0140] The uniform speed acquisition module is used to acquire sample current values ​​from the elevator control system if the elevator car moves at a uniform speed during the process of moving to each of the floors.

[0141] In one embodiment of the present invention, the current preprocessing module includes:

[0142] The correction current value correction module is used to correct the sample current value by static current to obtain the correction current value;

[0143] The quantity statistics module is used to count the number of floors.

[0144] The mean filtering module is used to perform mean filtering on the correction current value a number of times to obtain a reference current value.

[0145] In one embodiment of the present invention, the correction current value correction module includes:

[0146] The static bias current value query module is used to query the first static bias current value set for the first phase and the second static bias current value set for the second phase, respectively.

[0147] The first correction current value generation module is used to subtract the first static bias current value from the sample current value of the first phase to obtain the correction current value of the first phase.

[0148] The second correction current value generation module is used to subtract the second static bias current value from the sample current value of the second phase to obtain the correction current value of the second phase.

[0149] In one embodiment of the present invention, the gain correction coefficient calculation module includes:

[0150] A ratio calculation module is used to calculate the ratio between the amplitude of the first phase and the amplitude of the second phase;

[0151] A ratio setting module is used to set the ratio as a gain correction coefficient if the ratio is within a preset effective range.

[0152] An anomaly determination module is used to determine that the amplitude is abnormal if the ratio is outside a preset valid range.

[0153] In one embodiment of the present invention, the candidate current value correction module 403 includes:

[0154] The static bias current value query module is used to query the first static bias current value set for the first phase and the second static bias current value set for the second phase, respectively.

[0155] The first candidate current value generation module is used to subtract the first static bias current value from the original current value of the first phase to obtain the candidate current value of the first phase.

[0156] The second candidate current value generation module is used to subtract the second static bias current value from the original current value of the second phase to obtain the candidate current value of the second phase.

[0157] In one embodiment of the present invention, the target current value alignment module 404 includes:

[0158] The first phase setting module is used to set the candidate current value of the first phase as the target current value of the first phase;

[0159] The second phase correction module is used to multiply the candidate current value of the second phase by the gain correction coefficient to obtain the target current value of the second phase, so as to align the amplitude of the target current value of the second phase with the amplitude of the target current value of the first phase.

[0160] In one embodiment of the present invention, the vertical movement control module 405 includes:

[0161] The Clarke transform module is used to perform a Clarke transform on the target current value;

[0162] The Parker transformation module is used to perform a Parker transformation on the target current value to obtain the torque current value if the Clarke transformation is completed.

[0163] A torque control movement module is used to control the elevator car to move vertically using the torque current value.

[0164] The motion control device provided in the embodiments of the present invention can execute the motion control method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the motion control method.

[0165] Example 3

[0166] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0167] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0168] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0169] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as motion control methods.

[0170] In some embodiments, the motion control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the motion control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the motion control method by any other suitable means (e.g., by means of firmware).

[0171] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0172] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0173] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0174] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0175] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0176] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0177] Example 4

[0178] This invention also provides a computer program product, which includes a computer program that, when executed by a processor, implements the motion control method provided in any embodiment of this invention.

[0179] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0180] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0181] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A mobile control method characterized by, include: The elevator control system learns a gain correction coefficient on the amplitude of the current, and the elevator control system is used to control the operation of the elevator car. During the operation of the elevator car, the raw current value is collected from the elevator control system. The original current value is corrected for static current to obtain candidate current values; The target current value is obtained by aligning the amplitude of the candidate current value with the gain correction coefficient. The elevator car is controlled to move vertically based on the target current value; The learning gain correction coefficient for the elevator control system based on the amplitude of the current includes: During the elevator car test, sample current values ​​were collected from the elevator control system. Preprocessing is performed on the sample current value to obtain the reference current value; Calculate the amplitude of the reference current value; A gain correction factor is calculated based on the difference between the amplitudes, and the gain correction factor is used to align the amplitudes of the reference current values ​​for each phase.

2. The method of claim 1, wherein, During the elevator car test, sample current values ​​are collected from the elevator control system, including: When the elevator car is powered on, multiple floors are randomly selected; The elevator car is controlled to move vertically to each of the aforementioned floors in sequence; During the process of moving to each of the floors, if the elevator car moves at a constant speed, sample current values ​​are collected from the elevator control system. The preprocessing of the sample current value to obtain the reference current value includes: The sample current value is corrected by static current to obtain the corrected current value; Count the number of floors mentioned; The reference current value is obtained by performing mean filtering on the corrected current value a number of times.

3. The method of claim 1, wherein, The calculation of the gain correction coefficient based on the difference between the amplitudes includes: Calculate the ratio between the amplitude of the first phase and the amplitude of the second phase; If the ratio is within a preset effective range, then the ratio is set as the gain correction coefficient; If the ratio is outside the preset valid range, the amplitude is determined to be abnormal.

4. The method of claim 1, wherein, The step of correcting the original current value for static current to obtain candidate current values ​​includes: Query the first static bias current value set for the first phase and the second static bias current value set for the second phase respectively; Subtract the first static bias current value from the original current value of the first phase to obtain the candidate current value of the first phase; Subtract the second static bias current value from the original current value of the second phase to obtain the candidate current value of the second phase.

5. The method of claim 3, wherein, The step of aligning the magnitude of the candidate current value with the gain correction coefficient to obtain the target current value includes: Set the candidate current value of the first phase as the target current value of the first phase; The candidate current value of the second phase is multiplied by the gain correction coefficient to obtain the target current value of the second phase, so that the amplitude of the target current value of the second phase is aligned with the amplitude of the target current value of the first phase.

6. The method according to any one of claims 1-5, characterized in that, The method of controlling the elevator car to move vertically based on the target current value includes: Perform a Clarke transform on the target current value; If the Clark transformation is completed, then the Park transformation is performed on the target current value to obtain the torque current value; The torque current value is used to control the vertical movement of the elevator car.

7. A mobile control device, characterized by include: A gain correction coefficient learning module is used to learn the gain correction coefficient of the elevator control system based on the amplitude of the current. The elevator control system is used to control the operation of the elevator car. The raw current value acquisition module is used to acquire raw current values ​​from the elevator control system during the operation of the elevator car. The candidate current value correction module is used to correct the original current value using static current to obtain a candidate current value. The target current value alignment module is used to align the amplitude of the candidate current value according to the gain correction coefficient to obtain the target current value; A vertical movement control module is used to control the elevator car to move vertically based on the target current value; The gain correction coefficient learning module includes: The sample current value acquisition module is used to acquire sample current values ​​of the elevator control system during elevator car testing. A current preprocessing module is used to preprocess the sample current value to obtain a reference current value; An amplitude calculation module is used to calculate the amplitude of the reference current value; The gain correction coefficient calculation module is used to calculate the gain correction coefficient based on the difference between the amplitudes, and the gain correction coefficient is used to align the amplitudes of the reference current values ​​of each phase.

8. An electronic device, comprising: The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the motion control method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the motion control method according to any one of claims 1-6.

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