Non-load cell start-up method, control system, electronic device, and storage medium
By acquiring the motor output current and the reverse pulse feedback from the encoder when the elevator starts, the torque compensation is dynamically adjusted, which solves the problem of unstable elevator startup, and achieves efficient and stable elevator operation and improves the user experience.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HITACHI BUILDING TECH GUANGZHOU CO LTD
- Filing Date
- 2023-11-13
- Publication Date
- 2026-06-05
Smart Images
Figure CN117864883B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of elevator operation technology, and in particular to a sensorless start-up method, control system, electronic equipment, and storage medium. Background Technology
[0002] Intelligent elevators are a key component of intelligent buildings, providing many conveniences for people's lives.
[0003] Currently, the following two methods are used to maintain the balance of the elevator system before operation:
[0004] The first method involves installing a load cell inside the elevator car on the traction machine. This load cell converts the car's weight into an electrical signal, which is then collected by the elevator's control system for electronic weighing. An encoder is also included. When the control system receives the start-up command (elevator start), it performs torque compensation based on the car's weight to prevent the car from sliding backward. However, installing load cells increases system costs, and the rubber of the load cells is susceptible to environmental factors such as temperature, leading to inaccurate weighing and affecting the elevator's starting performance.
[0005] The second method involves using an encoder installed on the traction machine. The reverse slip pulse fed back by the encoder during startup is processed by the control system to indirectly calculate the car's weight (or the weight inside the car). When the control system receives the gate opening command (elevator start), it performs torque compensation based on the car's weight to prevent the elevator car from slipping backward. Typically, a preset startup compensation time is used, and the traction machine completes torque compensation within this time. After the startup compensation time ends, the elevator starts and enters accelerated operation.
[0006] In existing elevator control systems, the start-up compensation time is generally set to a fixed value. Since the car's reverse movement involves a certain process, the control system gradually compensates for torque during this process. If the start-up compensation time is set too short, insufficient compensation torque will result in reverse movement during startup. Therefore, a fixed duration that sufficiently meets the torque compensation requirements under the elevator's current operating conditions is typically set as the start-up compensation time. This start-up compensation time can be set at the elevator's factory using the function parameter table, and its specific duration is related to the brake characteristics.
[0007] However, the elevator's operation can vary each time, meaning the actual required start-up compensation time may be longer or shorter. If the start-up compensation time is set too long relative to the current operating condition, it can easily lead to motor vibration after the brake is fully released, affecting the user's elevator experience. Summary of the Invention
[0008] In order to overcome the above-mentioned shortcomings and defects of the prior art, the present invention provides a sensorless start-up method, which can quickly balance the elevator car sliding backward due to the opening of the brake without the need to install a weighing sensor.
[0009] In a first aspect, the present invention provides a sensorless start-up method for elevators, characterized by comprising:
[0010] When the elevator starts, a gate opening command is issued to obtain the motor's output current and record the reverse pulses fed back by the encoder.
[0011] Determine the preset first compensation torque corresponding to the reverse pulse;
[0012] After controlling the traction machine to output the first compensating torque, the traction machine is then controlled to output the second compensating torque according to the reverse slip pulse;
[0013] When outputting the second compensation torque, it is determined whether the elevator has started successfully based on the output current;
[0014] If so, control the elevator to enter the acceleration phase.
[0015] Secondly, the present invention provides a control system, comprising:
[0016] The reverse pulse acquisition module is used to issue a gate opening command when the elevator starts, acquire the motor's output current, and record the reverse pulse fed back by the encoder.
[0017] The first compensation torque determination module is used to determine the preset first compensation torque corresponding to the reverse pulse;
[0018] The second compensation torque output module is used to control the traction machine to output the second compensation torque according to the reverse pulse after controlling the traction machine to output the first compensation torque;
[0019] The start-up completion judgment module is used to determine whether the elevator has started successfully based on the output current when the second compensation torque is output; if so, the contents of the acceleration operation module are executed.
[0020] The acceleration module is used to control the elevator to enter the acceleration phase.
[0021] Thirdly, the present invention provides an electronic device, the electronic device comprising:
[0022] At least one processor; and
[0023] A memory communicatively connected to the at least one processor; wherein,
[0024] 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 sensorless start-up method of the first aspect of the present invention.
[0025] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the sensorless start-up method described in the first aspect of the present invention.
[0026] This invention provides a sensorless start-up method for elevators. When starting the elevator, a gate opening command is issued, the output current of the motor is acquired, and the reverse slip pulse fed back by the encoder is recorded. A preset first compensation torque corresponding to the reverse slip pulse is determined. After controlling the traction machine to output the first compensation torque, the traction machine is then controlled to output a second compensation torque according to the reverse slip pulse. When outputting the second compensation torque, it is determined whether the elevator has started successfully based on the output current. If so, the elevator is controlled to enter the acceleration operation phase.
[0027] First, the direction of the elevator slide and the load inside the car are determined by the pattern of the reverse pulse, eliminating the need to install a weighing sensor inside the car, reducing costs, and avoiding the situation where the rubber of the weighing sensor is easily affected by environmental factors such as temperature, which can affect the elevator's starting performance.
[0028] Secondly, after pre-outputting the preset first compensation torque, the traction machine is then controlled to output the second compensation torque based on the slip pulse. The consumption time of the second compensation torque can be compressed into a very short time. Furthermore, the first compensation torque corresponds to the slip direction and the load inside the car, meaning it closely approximates the actual load inside the car, further reducing the consumption time of the second compensation torque. In summary, compared to existing technologies, this reduces the overall torque compensation process time, decreases elevator waiting time, and improves elevator operating efficiency.
[0029] Third, the motor's output current reflects the elevator's running state. Therefore, it's possible to determine whether the elevator has stopped running based on the output current, i.e., whether the torque compensation process is complete and whether the elevator has finished starting. This solution performs torque compensation and determines the elevator's start-up completion based on real-time operating conditions. Compared to the fixed start-up compensation time of existing technologies, it can instantly determine the elevator's start-up completion, minimizing elevator waiting time and improving elevator operating efficiency. During the period from elevator start-up to the acceleration phase, the car is prone to vibration. Therefore, controlling the elevator to enter the acceleration phase immediately after start-up can prevent the elevator from continuing to stop after the brake is fully released, thus avoiding motor vibration and improving the user's riding experience.
[0030] 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
[0031] 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.
[0032] Figure 1 This is a flowchart of a sensorless startup method provided in Embodiment 1 of the present invention;
[0033] Figure 2 This is a time comparison diagram during the elevator start-up compensation process provided in Embodiment 1 of the present invention;
[0034] Figure 3 This is a flowchart of a sensorless startup method provided in Embodiment 2 of the present invention;
[0035] Figure 4 This is a graph showing the output current of a motor and the running speed of an elevator, provided in Embodiment 2 of the present invention.
[0036] Figure 5 This is a schematic diagram of the structure of a control system provided in Embodiment 3 of the present invention;
[0037] Figure 6 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of the present invention. Detailed Implementation
[0038] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely 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.
[0039] Example 1
[0040] Figure 1 This is a flowchart of a sensorless start-up method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where there is no weighing sensor for start-up. This method can be executed by the elevator's control system, which can be implemented in hardware and / or software and can be configured in electronic equipment. Figure 1 As shown, the sensorless start-up method includes:
[0041] S101. When the elevator starts, issue a gate opening command, obtain the motor output current and record the reverse pulse fed back by the encoder.
[0042] When the elevator starts, it means at the initial moment of the elevator's start-up, before the start-up process is complete.
[0043] During elevator operation, the braking device, along with other protective devices, works together to ensure a reliable and stable stop. When the braking device is closed, the elevator cannot move; when the braking device is open, the elevator can move. The braking device is mounted on the traction sheave.
[0044] The elevator car and counterweight are suspended from the traction sheave of the traction machine by steel wire ropes. The loads on the counterweight and the car are generally unequal. Before the elevator starts operating, when the brake on the traction sheave is released, an unbalanced torque is generated on the traction sheave between the counterweight load M and the car m (including the car body and the load inside the car), causing the car to slip and affecting passenger comfort. To keep the car stationary when the brake is released, the traction machine should output an electromagnetic torque (i.e., a compensating torque) equal in magnitude to the torque of the counterweight load M to maintain system balance. The time it takes for the traction machine to output the compensating torque is called the start-up compensation time.
[0045] The elevator's start-up compensation time can be set at the factory using the function parameter table. The specific time is related to the brake characteristics. In existing technology, considering that if the start-up time is set too short, the compensation torque will be insufficient. In this case, the car will move to the heavier side due to the counterweight's balancing effect, resulting in a backward pull phenomenon, i.e., the car will slide backward when starting the elevator. Assuming the actual torque compensation time is 300-500ms, the preset start-up compensation time is generally about 1 second to fully ensure that the torque compensation action is completed.
[0046] When the elevator starts, the elevator control system issues a brake release command. To prevent the elevator from sliding backward after the brake is released, torque compensation is performed in steps S101-S104.
[0047] The encoder is located on the motor. An encoder is a device used to measure rotation angle, converting it into an electrical signal. This electrical signal includes an output current signal. The traction machine uses these electrical signals to control the motor's rotation, that is, by controlling the motor's rotation, it controls the magnitude and direction of the compensating torque. The encoder can be one of the following: photoelectric encoder, sine / cosine encoder, or communication-type absolute encoder.
[0048] S102. Determine the preset first compensation torque corresponding to the reverse pulse.
[0049] The correspondence between the magnitude of the reverse slip pulse and the magnitude of the first compensation torque can be obtained based on the elevator's historical operating data. For example, if an encoder is installed simultaneously, reverse slip pulses can be collected, and the compensation torque data can be recorded as the first compensation torque to obtain the correspondence between the reverse slip pulse and the first compensation torque. Alternatively, an objective function can be generated based on the relationship between the magnitude of the reverse slip pulse and the magnitude of the first compensation torque, so that the magnitude of the first compensation torque can be obtained from the reverse slip pulse when it is known. It should also be noted that the reverse slip pulse has positive and negative attributes, which are related to the direction of the elevator slide.
[0050] It is known that the weight of the car body (the weight of the car when it is empty) is relatively fixed. Therefore, the load inside the car is a variable factor that affects the overall weight of the car. The reverse slip pulse is related to the overall weight of the car. Thus, the reverse slip pulse is related to the load inside the car, and the first compensation torque is also related to the load inside the car.
[0051] In an optional embodiment, determining the preset first compensation torque corresponding to the reverse slip pulse includes: determining the load range corresponding to the reverse slip pulse in a preset association table; and determining the first compensation torque corresponding to the load range in the preset association table.
[0052] It should be noted that the association table can be obtained based on the elevator's historical operating data. The elevator used to create the association table is the same elevator as the current elevator to ensure the availability of the data in the association table.
[0053] S103. After controlling the traction machine to output the first compensation torque, control the traction machine to output the second compensation torque according to the reverse slip pulse.
[0054] After determining the first compensation torque, the traction machine is pre-controlled to output the first compensation torque. There may be an error between the first compensation torque and the actual compensation torque required by the elevator. If only the first compensation torque is used for compensation, additional torque compensation may be needed. In this case, the control system needs to calculate and determine the second compensation torque, i.e., perform secondary torque compensation. Specifically, the control system can determine whether additional compensation torque is needed. If so, it outputs additional compensation torque based on the reverse pulse; this additional compensation torque is the second compensation torque. It should be noted that the first compensation torque may be too large or too small; the second compensation torque can be used for torque "correction" to ensure that the torque compensation meets the actual requirements.
[0055] Since the car reversing is usually a continuous process, the output of the second compensating torque by the traction machine is also usually a continuous process. Furthermore, the reversing pulse is continuously output, meaning the reversing pulse is updated in real time.
[0056] S104. When outputting the second compensation torque, determine whether the elevator has started completely based on the output current.
[0057] If so, execute S105.
[0058] As described above, the output of the second compensation torque by the traction machine is usually a continuous process. To pinpoint the end of torque compensation and quickly initiate the elevator into the acceleration phase, the output current is used to determine whether the elevator has completed its startup when the second compensation torque is output. Specifically, the motor's output current reflects the magnitude of the output torque, i.e., the degree of elevator car slippage. For example, when the elevator's output current changes little, it indicates that the elevator car is currently in a stable state, and therefore, the startup status can be determined based on the output current.
[0059] S105, Control the elevator to enter the acceleration operation phase.
[0060] Once the elevator has started, it can be immediately controlled to enter the acceleration phase.
[0061] To clearly illustrate the difference between the sensorless start-up method of the present invention (hereinafter referred to as "the method") and the existing sensorless start-up technology (hereinafter referred to as "the prior art"), the following is a detailed explanation. Figure 2 Please provide an explanation. Figure 2 This is a time comparison chart of the elevator startup compensation process.
[0062] like Figure 2 As shown, in the prior art, T1 is the period of time before the control system issues the brake opening command. The weight of the car is determined by the pulses fed back by the encoder. During the time period T2 after T1, the control system controls the traction machine to quickly output a compensating torque based on the reverse slip pulses fed back by the encoder, achieving a torque balance starting effect after brake release. Since a fixed starting compensation time is preset, for example, 1 second, from the moment the brake opening command is issued (i.e., ... Figure 2 The timing starts from 0 (the time in the equation), and the entire start-up compensation time is 1 second, which is the total duration of T1, T2, and T3. Since the specific completion time of compensation cannot be determined in the current technology, T3 can be defined as the waiting time. In the actual elevator operation, the time taken for T1+T2 may be 300-500ms, so the time taken for T3 is 500-700ms. Therefore, the total time taken for T3 is relatively long. During the period from issuing the brake release command to the elevator actually accelerating and starting, the car is most likely to oscillate during the T3 period because the brake has been fully released at this time, and only a small torque is needed to easily generate oscillation. When the time taken for T3 is long, the car is prone to shaking, which affects the user's elevator experience.
[0063] like Figure 2As shown, in this method, T1' is the period before the elevator control system issues the brake release command. The weight of the load inside the car or the weight of the car itself is determined by the pulses fed back from the encoder, and the corresponding first compensation torque is determined. During the time period T2' after T1', the control system controls the traction machine to output the first compensation torque. Then, based on the reverse slip pulses fed back from the encoder, the control system continues to control the traction machine to output compensation torque, achieving a torque balance starting effect after brake release. Because the traction machine outputs a certain compensation torque in advance, the subsequent reverse slip pulses of the car are reduced, slowing down the rapid torque output process of the elevator traction machine and effectively reducing the electromagnetic noise of the traction machine. During the time period T3', the output current of the motor is used to determine whether torque compensation is complete. If so, the elevator is immediately controlled to enter the acceleration phase. T3' is only used for judgment, so T3' can be defined as the time to judge whether the torque compensation is completed. It usually takes about ten to tens of milliseconds, which is very short (far less than T3). After T3', the elevator enters the acceleration phase. The duration of car shaking is very short and can be ignored, which can greatly improve the user's elevator experience.
[0064] Therefore, this method has the following main advantages compared to existing technologies:
[0065] First, in existing technologies, during the T2 time period, the elevator control system rapidly outputs a compensating torque to overcome reverse slippage, often resulting in a rather harsh electromagnetic noise emanating from the traction machine, affecting the passenger experience. In this method, however, during the T2' time period, the traction machine pre-outputs a first compensating torque, reducing subsequent reverse slippage pulses in the car and slowing down the rapid torque output process of the elevator traction machine. This effectively reduces the electromagnetic noise of the traction machine, thus reducing noise and improving the user's riding experience. This method is particularly suitable for scenarios with low-noise requirements, such as machine-room-less elevators and home elevators.
[0066] Secondly, in this method, the first compensation torque corresponds to the reverse slip pulse, which in turn corresponds to the load weight inside the car. Therefore, the first compensation torque is a compensation torque that is more in line with the actual operating requirements of the elevator. As a result, the time taken to output the elevator compensation torque (second compensation torque) will be shorter, which may make T2' less than T2. Moreover, T3' is usually much smaller than T3. When T1' equals T1, (T1+T2+T3) is greater than (T1'+T2'+T3'). That is, the total torque compensation time of this method is shorter, which enables the elevator to quickly complete the start-up balance and enter the acceleration operation stage, reducing the elevator waiting time and improving the elevator operating efficiency.
[0067] Third, this method compensates for the torque during the elevator startup process based on the actual operation of the elevator, without the need to pre-set a fixed startup compensation time, making elevator scheduling more flexible.
[0068] This invention provides a sensorless start-up method. After issuing a gate opening command, the method acquires the motor output current and records the reverse slip pulse fed back by the encoder; determines the preset first compensation torque corresponding to the reverse slip pulse; after controlling the traction machine to output the first compensation torque, it then controls the traction machine to output a second compensation torque based on the reverse slip pulse; when outputting the second compensation torque, it determines whether the elevator has started successfully based on the output current; if so, it controls the elevator to enter the acceleration operation phase.
[0069] First, by determining the direction of the elevator slide and the load inside the car through the pattern of the reverse slip pulse, the need for a weighing sensor inside the car is eliminated, reducing costs and avoiding the impact of temperature and other environmental factors on the elevator's starting performance caused by the rubber of the weighing sensor. Second, after pre-outputting a preset first compensation torque, the traction machine is controlled to output a second compensation torque based on the slip pulse. The consumption time of the second compensation torque can be compressed to a very short time. Furthermore, the first compensation torque corresponds to the direction of the slide and the load inside the car, meaning it closely approximates the actual load situation inside the car, further reducing the consumption time of the second compensation torque. In summary, compared to existing technologies, the overall torque compensation process time can be reduced, elevator waiting time can be decreased, and elevator operating efficiency can be improved. Third, the motor's output current reflects the elevator's slide state, allowing for the determination of whether the elevator has stopped sliding, i.e., whether the torque compensation process is complete and whether the elevator has started. This solution performs torque compensation and determines the elevator's start-up completion based on real-time operating conditions. Compared to the fixed start-up compensation time of existing technologies, the elevator's start-up completion can be determined instantly, minimizing elevator waiting time and improving elevator operating efficiency. During the period from the start of the elevator to the acceleration phase, the elevator car is more prone to vibration. Therefore, controlling the elevator to enter the acceleration phase immediately after the start of the elevator can prevent the elevator from continuing to stop after the brake is fully released, which would cause motor vibration and improve the user's elevator experience.
[0070] Example 2
[0071] Figure 3 This is a flowchart of a sensorless start-up method provided in Embodiment 2 of the present invention. This embodiment optimizes Embodiment 1 as described above. Figure 3 As shown, the sensorless start-up method includes:
[0072] S301. When the elevator starts, issue a gate opening command, obtain the motor output current and record the reverse pulse fed back by the encoder.
[0073] S301 is the same as S101 in Embodiment 1, and S101 can be referred to for details.
[0074] S302. Determine the load range corresponding to the reverse pulse in the preset association table.
[0075] S303. Determine the first compensation torque corresponding to the load range in the preset association table.
[0076] The associated tables are obtained in the following ways:
[0077] Multiple load ranges are set, ranging from 0%M to 100%M, where M is the maximum load capacity of the elevator car. For each load range, a load with a weight within that range is placed inside the car. The reverse slip pulses fed back by the encoder are recorded, obtaining the first correlation between the load range and the reverse slip pulses. The total compensation torque output by the traction machine is used as the first compensation torque, obtaining the second correlation between the load range and the first compensation torque. The first and second correlations are recorded in a table, resulting in a correlation table. Here, the total compensation torque is the sum of all compensation torques output by the traction machine during this startup. However, in actual applications, the first compensation torque is a reference value, and the second compensation torque needs to be calculated for additional compensation based on the actual situation.
[0078] Here, it's only necessary to determine the correlation between the reverse pulse, the load range, and the first compensation torque. The specific load weight used to determine this correlation doesn't need to be fixed, as the weight of the load inside the car varies greatly. Determining a first compensation torque for every weight value is impractical. Therefore, as long as the load weight is within the load range, it represents that load range. Making the first compensation torque correspond to the actual load conditions inside the car reduces the error between the first compensation torque and the actual required compensation torque.
[0079] It should be noted that the first compensation torque is set based on the sum of the car's weight and the weight inside the car. However, since the car's weight is relatively fixed, it does not need to be specifically mentioned when setting the correlation. Furthermore, the method for determining the magnitude of the first compensation torque is the same regardless of whether the elevator is moving upwards or downwards. The direction of the first compensation torque is opposite to the direction of the car's reverse movement, to prevent the car from moving in that direction.
[0080] Specifically, the load range can be set according to actual needs. For example, it can be set to [0M, 25%M], (25%M, 50%M], (50%M, 75%M], (75%M, 100%M], with corresponding first compensation torques of Tq1, Tq2, Tq3, Tq4, and Tq5, respectively. When the load range is detected to be (25%M, 50%M) by the reverse pulse, the first compensation torque is determined to be Tq2.
[0081] In an optional example, for each load range, placing a load with a weight within the load range inside the car includes: for each load range, placing a load with a weight equal to the maximum value of the load range inside the car.
[0082] In another alternative example, for each load range, placing a load with a weight within the load range inside the car includes: for each load range, placing a load with a weight equal to the average value of the load range inside the car.
[0083] S304. After controlling the traction machine to output the first compensation torque, control the traction machine to output the second compensation torque according to the reverse slip pulse.
[0084] S304 is the same as S103 in Example 1, and S103 can be referred to for details.
[0085] S305. When outputting the second compensation torque, determine whether the absolute value of the increment of the output current within a preset time period is less than the preset increment.
[0086] If the absolute value of the output current increment within the preset time period is less than the preset increment, then S306 is executed. The preset increment tends to be 0.
[0087] Figure 4 This is a graph showing the relationship between motor output current and elevator running speed, such as... Figure 4 As shown, LI represents the U-phase and V-phase current curves in the motor's output current, and LS represents the elevator's running speed curve. In stage t1, the elevator controller determines the reverse direction and load range based on the reverse pulses fed back from the encoder, and determines the first compensation torque corresponding to the reverse direction and load range. At this time, the traction sheave has not yet output compensation torque, and the current is 0. In stage t2, the elevator controller controls the traction machine to output the first compensation torque in advance, and then continues to calculate and output the second compensation torque based on the reverse pulses. The current first changes significantly (increases or decreases) and then changes slightly. Stage t3 is used to determine whether torque compensation is complete. Before stage t3 begins, compensation is already complete, and the current change is very small. Figure 4 It can be seen that the current curve in stage t3 tends to be a straight line and is in a stable state. Therefore, the absolute value of the output current increment within the preset time will be very small. The absolute value of the current increment is less than the preset increment, and the preset increment tends to be 0. In stages t1, t2, and t3, the elevator has not yet started and the elevator speed is 0. After stage t3, the elevator begins to accelerate and the speed increases from 0.
[0088] The preset duration can be a very short time, such as 10-50ms.
[0089] S306. Confirm that the elevator has started.
[0090] When the absolute value of the increase in output current within a preset time period is less than the preset increment, it indicates that the motor no longer outputs current or the output current is very small, which means that the torque compensation is completed. At this time, it can be determined that the elevator has started.
[0091] In one optional embodiment, when the control system issues the gate opening command, the current time can be recorded as time 0, and the reverse pulses fed back by the encoder can be recorded during the t1 stage. Within a set time window, the number of reverse pulses fed back by the encoder is recorded using a sliding filter to determine whether the motor is at the end of the t2 time period. After determining that it is at the end of the t2 time period, the current time t is recorded, that is, the value at time t is the sum of t1 and t2, to obtain the gate opening time of the current main unit. Then, by learning multiple times and taking the maximum value of the gate opening time, the optimal start compensation time is obtained. Therefore, the elevator start-up can be determined t time after the gate opening command is issued.
[0092] S307. Control the elevator to enter the acceleration operation phase.
[0093] Once the elevator has started, it can be immediately controlled to enter the acceleration phase.
[0094] This embodiment determines the correlation between the reverse slip pulse, the load range, and the first compensation torque. Therefore, given the reverse slip pulse, the corresponding first compensation torque can be determined more accurately, and it corresponds to the actual car load. This reduces the error between the first compensation torque and the actual required compensation torque, and also shortens the time for outputting the second compensation torque. Furthermore, by determining whether the elevator has completed starting based on the current increment within a preset time, the moment the elevator completes starting can be judged in real time, allowing for timely control of the elevator to enter the acceleration start-up phase without waiting. This improves elevator operating efficiency, reduces elevator vibration, and enhances the user's riding experience.
[0095] Example 3
[0096] Figure 5 This is a schematic diagram of a control system provided in Embodiment 3 of the present invention. Figure 5 As shown, the control system includes:
[0097] The reverse pulse acquisition module 501 is used to issue a gate opening command when the elevator starts, acquire the motor output current and record the reverse pulse fed back by the encoder;
[0098] The first compensation torque determination module 502 is used to determine the preset first compensation torque corresponding to the reverse pulse;
[0099] The second compensation torque output module 503 is used to control the traction machine to output the second compensation torque according to the reverse pulse after controlling the traction machine to output the first compensation torque;
[0100] The start-up completion judgment module 504 is used to determine whether the elevator has started successfully based on the output current when the second compensation torque is output; if so, the contents of the acceleration operation module 505 are executed.
[0101] The acceleration module 505 is used to control the elevator to enter the acceleration phase.
[0102] In an optional embodiment, the first compensation torque determination module 502 includes:
[0103] The load range determination submodule is used to determine the load range corresponding to the reverse pulse in a preset association table;
[0104] The first compensation torque determination submodule is used to determine the first compensation torque corresponding to the load range in the preset association table.
[0105] In an optional embodiment, the control system further includes an association table acquisition module, the association table acquisition module comprising:
[0106] The load range setting submodule is used to set multiple different load ranges, the load range being between 0%M and 100%M, where M is the maximum load capacity of the elevator car.
[0107] The load placement submodule is used to place the load with a weight within the load range into the car for each of the load ranges.
[0108] The first correlation recording submodule is used to record the reverse pulses fed back by the encoder to obtain the first correlation between the load range and the reverse pulses.
[0109] The second correlation record submodule is used to take the total compensation torque output by the traction machine as the first compensation torque to obtain the second correlation between the load range and the first compensation torque.
[0110] The associated table retrieval submodule is used to record the first association relationship and the second association relationship in a table to obtain the associated table.
[0111] In an optional embodiment, the load placement submodule includes:
[0112] A load placement unit is used to place a load with a weight equal to the maximum value of the load range inside the car for each load range.
[0113] In an optional embodiment, the start-up completion determination module 504 includes:
[0114] The current increment judgment submodule is used to determine whether the absolute value of the increment of the output current within a preset time period is less than a preset increment when the second compensation torque is output, and the preset increment tends to 0; if so, the contents of the start-up completion determination module are executed.
[0115] The start-up completion confirmation module is used to confirm that the elevator has started successfully.
[0116] In an optional embodiment, the reverse slip pulse has positive and negative attributes, which are related to the direction of the slip.
[0117] In an optional embodiment, the encoder is one of an optical encoder, a sine / cosine encoder, or a communication-type absolute encoder.
[0118] The control system provided in the embodiments of the present invention can execute the sensorless start-up method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.
[0119] Example 4
[0120] Figure 6 A schematic diagram of an electronic device 40 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 electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, and other similar computing devices. 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.
[0121] like Figure 6 As shown, the electronic device 40 includes at least one processor 41 and a memory, such as a read-only memory (ROM) 42 or a random access memory (RAM) 43, communicatively connected to the at least one processor 41. The memory stores computer programs executable by the at least one processor. The processor 41 can perform various appropriate actions and processes based on the computer program stored in the ROM 42 or loaded into the RAM 43 from storage unit 48. The RAM 43 may also store various programs and data required for the operation of the electronic device 40. The processor 41, ROM 42, and RAM 43 are interconnected via a bus 44. An input / output (I / O) interface 45 is also connected to the bus 44.
[0122] Multiple components in electronic device 40 are connected to I / O interface 45, including: input unit 46, such as keyboard, mouse, etc.; output unit 47, such as various types of monitors, speakers, etc.; storage unit 48, such as disk, optical disk, etc.; and communication unit 49, such as network card, modem, wireless transceiver, etc. Communication unit 49 allows electronic device 40 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.
[0123] Processor 41 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 41 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 41 performs the various methods and processes described above, such as the sensorless startup method.
[0124] In some embodiments, the load cell-free startup method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 48. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 40 via ROM 42 and / or communication unit 49. When the computer program is loaded into RAM 43 and executed by processor 41, one or more steps of the load cell-free startup method described above may be performed. Alternatively, in other embodiments, processor 41 may be configured to perform the load cell-free startup method by any other suitable means (e.g., by means of firmware).
[0125] 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), complex 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.
[0126] 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.
[0127] 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.
[0128] 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).
[0129] 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.
[0130] 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.
[0131] 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.
[0132] 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 sensorless start-up method, applied to the control system of an elevator, characterized in that, include: When the elevator starts, a gate opening command is issued to obtain the motor's output current and record the reverse pulses fed back by the encoder; Determine the preset first compensation torque corresponding to the reverse pulse; After controlling the traction machine to output the first compensating torque, the traction machine is then controlled to output the second compensating torque according to the reverse slip pulse; When outputting the second compensation torque, it is determined whether the elevator has started successfully based on the output current; If so, control the elevator to enter the acceleration phase; The determination of the preset first compensation torque corresponding to the reverse pulse includes: Determine the load range corresponding to the reverse pulse in the preset association table; The first compensation torque corresponding to the load range is determined in the preset association table.
2. The method as described in claim 1, characterized in that, The associated table is obtained through the following method: Multiple different load ranges are set, with the load range ranging from 0%M to 100%M, where M is the maximum load capacity of the elevator car. For each of the aforementioned load ranges, a load with a weight within that load range is placed inside the car. Record the reverse pulses fed back by the encoder to obtain the first correlation between the load range and the reverse pulses; The total compensation torque output by the traction machine is used as the first compensation torque to obtain a second correlation between the load range and the first compensation torque; the total compensation torque is the sum of all compensation torques output by the traction machine during this start-up. Record the first association and the second association in a table to obtain the association table.
3. The method as described in claim 2, characterized in that, For each of the aforementioned load ranges, placing a load with a weight within that load range inside the car includes: For each load range, a load with a weight equal to the maximum value of the load range is placed inside the car.
4. The method as described in claim 1, characterized in that, When outputting the second compensation torque, determining whether the elevator has completed starting based on the output current includes: When outputting the second compensation torque, it is determined whether the absolute value of the increment of the output current within a preset time period is less than a preset increment, and the preset increment tends to 0; If so, confirm that the elevator has started.
5. The method according to any one of claims 1-4, characterized in that, The reverse slip pulse has positive and negative attributes, and these attributes are related to the direction of the slip.
6. The method according to any one of claims 1-4, characterized in that, The encoder is one of the following: photoelectric encoder, sine / cosine encoder, or communication-type absolute encoder.
7. A control system, characterized in that, include: The reverse pulse acquisition module is used to issue a gate opening command when the elevator starts, acquire the motor's output current, and record the reverse pulse fed back by the encoder. The first compensation torque determination module is used to determine the preset first compensation torque corresponding to the reverse pulse; The second compensation torque output module is used to control the traction machine to output the second compensation torque according to the reverse pulse after controlling the traction machine to output the first compensation torque; The start-up completion judgment module is used to determine whether the elevator has started successfully based on the output current when the second compensation torque is output. If so, execute the contents of the accelerated execution module; The acceleration operation module is used to control the elevator to enter the acceleration operation phase; The control system is used to execute the sensorless start-up method according to any one of claims 1-6.
8. An electronic device, characterized in that, 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 sensorless start-up method according to any one of claims 1-6.
9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the sensorless start-up method of any one of claims 1-6.