An elevator control method, an elevator control device, and a storage medium

Abstract

The embodiment of the application discloses an elevator control method, an elevator control device and a storage medium, and is used in the technical field of elevator control. In the embodiment of the application, the given frequency of the motor in the elevator control system is acquired; the speed type speed loop is constructed based on the given frequency and the feedback frequency detected by the encoder in the elevator control system; the given position pulse of the elevator is converted from the given frequency, and the position type speed loop is constructed based on the given position pulse and the feedback position pulse detected by the encoder in the elevator; the speed loop of the elevator control system is switched and mapped between the speed type speed loop and the position type speed loop based on the current control state adopted by the speed loop of the elevator control system; the actual position pulse of the elevator can follow the given position pulse of the elevator, the given running curve of the elevator can be matched with the actual running curve, and the leveling precision of the elevator is improved.

Description

Technical Field

[0001] This application relates to the field of elevator control technology, and in particular to an elevator control method, an elevator control device, and a storage medium. Background Technology

[0002] An elevator control system consists of an elevator controller, frequency converter, safety circuit, motor drive circuit, and floor call control, among other components. The elevator control system is the core of elevator operation. Functionally, it includes automatic door closing control, direction control, safety protection control, and deceleration control. The performance of the elevator control system directly affects the quality of elevator operation and plays a crucial role in the entire elevator system.

[0003] In elevator control systems, the commonly used closed-loop vector control system includes a speed loop control, which typically employs proportional-integral (PI) control. In the elevator control system, the encoder is used to detect the motor speed and feeds the detected speed back to the speed loop. The speed loop outputs torque current based on the given speed and the feedback speed, and controls the motor's operating state through the torque current so that the motor can drag the elevator.

[0004] When the motor is running at low speed, the encoder may have accuracy issues, resulting in deviations in the detected feedback speed. This causes a discrepancy between the actual running speed of the motor and the given speed, which can easily lead to a difference between the elevator's given running curve and the actual running curve, affecting the elevator's leveling accuracy. Summary of the Invention

[0005] This application provides an elevator control method, an elevator control device, and a storage medium, which can match the given elevator operating curve with the actual operating curve, thereby improving the elevator's leveling accuracy.

[0006] This application provides an elevator control method, including:

[0007] Obtain the given frequency of the motor in the elevator control system;

[0008] Based on the given frequency and the feedback frequency obtained by the encoder of the elevator control system from the motor, a speed loop is constructed.

[0009] The given frequency is converted into a given position pulse for the elevator. Based on the given position pulse and the feedback position pulse detected by the encoder, a position-based speed loop is constructed.

[0010] Based on the current control state adopted by the speed loop of the elevator control system, the speed loop of the elevator control system is mapped and switched between the speed-type speed loop and the position-type speed loop.

[0011] Furthermore, the construction of the speed loop based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system from the motor detection includes:

[0012] Obtain the frequency deviation between the given frequency and the feedback frequency;

[0013] The frequency deviation is proportionally gained to obtain a first proportional current, and the frequency deviation is integrally gained to obtain a first integral current.

[0014] The torque current output by the speed-type speed loop is obtained by adding the first proportional current to the first integral current.

[0015] Furthermore, the step of converting the given frequency into a given position pulse for the elevator includes:

[0016] Obtain the pulse at the preset given position within the preset pulse interval duration at the given frequency;

[0017] The elevator's given position pulse is obtained based on the preset given position pulse and the previous given position pulse before the preset pulse interval duration.

[0018] Furthermore, obtaining the preset given position pulse at the given frequency within the preset pulse interval duration includes:

[0019] Based on the preset pulse formula: ▲P*=(4×Wr*×T×En)÷Np, the preset given position pulse ▲P* is obtained, where Wr* is the given frequency, T is the preset pulse interval duration, Np is the number of pole pairs of the motor, and En is the number of pulse lines of the encoder.

[0020] Furthermore, the construction of the position-based velocity loop based on the given position pulse and the feedback position pulse detected by the encoder on the elevator includes:

[0021] The second proportional current is obtained by proportionally gaining the frequency deviation between the given frequency and the feedback frequency.

[0022] The pulse deviations of the given position pulse and the feedback position pulse are integrated and gained to obtain the second integral current;

[0023] The torque current output by the position-type speed loop is obtained by adding the second proportional current to the second integral current.

[0024] Furthermore, based on the current control state adopted by the speed loop of the elevator control system, the mapping and switching of the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop includes:

[0025] When the current control state changes from the preset current control state to the non-preset current control state, the speed loop of the elevator control system is switched from the speed-type speed loop to the position-type speed loop, and the given position pulse in the position-type speed loop is updated to the current actual position pulse plus the position compensation deviation; wherein, the position compensation deviation is obtained by dividing the first integral current in the speed-type speed loop by the corresponding integral coefficient;

[0026] When the current control state changes from a non-preset current control state to a preset current control state, the speed loop of the elevator control system is switched from the position-type speed loop to the speed-type speed loop, and the second integral current in the position-type speed loop is used as the first integral current in the speed-type speed loop.

[0027] Furthermore, when the integral coefficient in the positional velocity loop changes, the method further includes:

[0028] Based on the current actual position pulse and the integral compensation deviation, the given position pulse in the position-type velocity loop is adjusted; wherein, the integral compensation deviation = (P*-P)*KINew / KIOld, P* is the given position pulse, P is the feedback position pulse, KINew is the changed integral coefficient, and KIOld is the original integral coefficient.

[0029] This application also provides an elevator control device, including:

[0030] The acquisition unit is used to acquire the given frequency of the motor in the elevator control system;

[0031] The first construction unit is used to construct a speed loop based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system from the motor detection.

[0032] The second construction unit is used to convert the given frequency into a given position pulse of the motor, and construct a position-type speed loop based on the given position pulse and the feedback position pulse detected by the encoder on the motor.

[0033] The switching unit is used to switch the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop based on the current control state adopted by the speed loop of the elevator control system.

[0034] This application also provides an elevator control device, including:

[0035] Central processing unit, memory, input / output interface, wired or wireless network interface, power supply;

[0036] The memory is either a short-term storage memory or a persistent storage memory;

[0037] The central processing unit is configured to communicate with the memory and execute instructions in the memory on a control plane functional entity to perform the methods described above.

[0038] This application also provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the method described above.

[0039] As can be seen from the above technical solutions, the embodiments of this application have the following advantages:

[0040] In this embodiment, the given frequency of the motor in the elevator control system is obtained; a speed-type speed loop is constructed based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system; the given frequency is converted into a given position pulse of the elevator; a position-type speed loop is constructed based on the given position pulse and the feedback position pulse obtained by the encoder; based on the current control state adopted by the speed loop of the elevator control system, the speed loop of the elevator control system is mapped and switched between a speed-type speed loop and a position-type speed loop; regardless of whether the speed loop of the elevator control system is a speed-type speed loop or a position-type speed loop, it is ensured that the actual position pulse of the elevator can follow the given position pulse of the elevator, so that the given running curve of the elevator matches the actual running curve, thereby improving the leveling accuracy of the elevator. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, 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 recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0042] Figure 1 This is a flowchart of an elevator control system disclosed in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of a velocity-type velocity ring disclosed in an embodiment of this application;

[0044] Figure 3 This is a schematic diagram of a position-type velocity loop disclosed in an embodiment of this application;

[0045] Figure 4This is a schematic diagram of an elevator control device disclosed in an embodiment of this application;

[0046] Figure 5 This is a schematic diagram of another elevator control device disclosed in an embodiment of this application. Detailed Implementation

[0047] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0048] In the description of the embodiments of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0049] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0050] In elevator control systems, closed-loop vector control systems typically include a speed loop control, which generally employs proportional-integral (PI) control. In this system, an encoder detects the motor speed and feeds it back to the speed loop. The speed loop outputs torque current based on the given speed and the feedback speed, controlling the motor's operating state to propel the elevator. However, when the motor is running at low speed, encoder inaccuracies may occur, leading to deviations in the detected feedback speed. This causes a discrepancy between the actual and given motor speeds, resulting in a difference between the given and actual elevator operating curves and affecting the elevator's leveling accuracy. Therefore, this application provides an elevator control method that matches the given and actual elevator operating curves, improving leveling accuracy. Figure 1As shown, the specific steps are as follows:

[0051] 101. Obtain the given frequency of the motor in the elevator control system.

[0052] In an elevator control system, the elevator is driven by a motor. In this embodiment, the elevator control device can obtain the given frequency of the motor in the elevator control system. The given frequency of the motor reflects the given speed of the motor, that is, the speed that the motor wants to reach. The relationship between the speed of the motor and the frequency is: n = 60f / p, where n is the speed of the motor, f is the frequency, and p is the number of pole pairs of the rotating magnetic field of the motor.

[0053] 102. Based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system from the motor detection, construct a speed loop.

[0054] The elevator control device can construct a speed loop based on a given frequency and the feedback frequency obtained by the encoder in the elevator control system from the motor detection. It can be understood that in the elevator control system, the encoder is used to detect the motor and encode the motor's feedback frequency. This speed loop includes a proportional-integral part and can be called a speed PI controller. This speed loop can adjust the output torque current based on the input given frequency and the feedback frequency.

[0055] The structure of the velocity-type velocity ring is as follows: Figure 2 As shown, the frequency deviation of the given frequency Wr* and the feedback frequency Wr can be obtained. In the first part, the frequency deviation can be proportionally gained by multiplying the frequency deviation by the proportional coefficient KP to obtain the first proportional current IT_KP1. In the second part, the frequency deviation can be integrally gained by multiplying the frequency deviation by the integral coefficient KI and then integrating to obtain the first integral current IT_KI1. The first proportional current IT_KP1 and the first integral current IT_KI1 are added together to obtain the torque current IT* output by the speed loop.

[0056] 103. Convert the given frequency into a given position pulse for the elevator. Based on the given position pulse and the feedback position pulse obtained by the encoder from the elevator, construct a position-based speed loop.

[0057] In this embodiment, the elevator control device can convert a given frequency into a given position pulse for the elevator. Based on the given position pulse and the feedback position pulse detected by the encoder, a position-based speed loop is constructed. The position-based speed loop includes a given position module, which can count the given position pulses of a given frequency over a certain period of time. By accumulating these given position pulses, the given position pulse of the elevator is obtained. Then, based on the given position pulse and the feedback position pulse detected by the encoder, the position-based speed loop is constructed. It is understood that the given position pulse and feedback position pulse mentioned in this embodiment are corresponding position pulse signals; that is, the given position pulse can be called the given position signal, and the feedback position pulse can be called the feedback position signal.

[0058] The structure of the position-type velocity ring is as follows: Figure 3 As shown, in the first part, the frequency deviation between the given frequency Wr* and the feedback frequency Wr can be proportionally gained by multiplying the frequency deviation by the proportional coefficient KP to obtain the second proportional current IT_KP2. In the second part, the given frequency Wr* can be input to the given position module, which converts the given frequency Wr* into the elevator's given position pulse P*. The pulse deviation between the given position pulse P* and the feedback position pulse P is integrally gained by multiplying the pulse deviation by the integral coefficient KI to obtain the second integral current IT_KI2. The second proportional current IT_KP2 and the second integral current IT_KI2 are added to obtain the torque current IT* output by the position-type speed loop.

[0059] The process of converting a given frequency into a given position pulse for the elevator in the given position module includes: acquiring a preset given position pulse ▲P* within a preset pulse interval T at a given frequency Wr*; where the preset pulse interval T is the time interval between two given position pulses; and obtaining the given position pulse P* for the elevator based on the preset given position pulse ▲P* and the previous given position pulse Pold* before the preset pulse interval T, i.e., P* = POld* + ▲P*. The given frequency Wr* is the current given frequency, and the corresponding given position pulse P* for the elevator is the given position pulse at the current moment. The initial value of the given position pulse P* is the current feedback position pulse P, and the calculation formula for the feedback position pulse P is: P = Pold + ▲P, where Pold is the previous feedback position pulse, and ▲P is the pulse change over the preset pulse interval T.

[0060] Specifically, obtaining the preset given position pulse at a given frequency within a preset pulse interval duration can be achieved by: based on the preset pulse formula: ▲P*=(4×Wr*×T×En)÷Np, the preset given position pulse ▲P* is obtained, where Wr* is the given frequency, T is the preset pulse interval duration, Np is the number of pole pairs of the motor, and En is the number of pulse lines of the encoder.

[0061] 104. Based on the current control state adopted by the speed loop of the elevator control system, the speed loop of the elevator control system is mapped and switched between the speed-type speed loop and the position-type speed loop.

[0062] In this embodiment, the elevator control system needs to determine the speed loop to be used in the elevator control system based on the current control state adopted by the speed loop of the elevator control system, and map and switch the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop. That is, when switching the speed loop, the parameters in the speed loop before the switch need to be mapped to the speed loop after the switch to achieve a smooth switching of the speed loop.

[0063] The current control state includes a preset current control state and a non-preset current control state. The preset current control state directly controls the current of the speed loop. For example, when starting with weighing compensation, an initial value is directly given to the speed loop integrator based on the weighed weight; or during brake force testing, the current of the speed loop integrator is directly increased or decreased; or it is in a shutdown current-removal working mode. Specific details are not limited here. The non-preset current control state does not directly control the current of the speed loop. When the current control state is the preset current control state, the speed loop in the elevator control system adopts a speed-type speed loop; when the current control state is the non-preset current control state, the speed loop in the elevator control system adopts a position-type speed loop.

[0064] Specifically, when the current control state changes from a preset current control state to a non-preset current control state, the speed loop of the elevator control system is switched from a speed-type speed loop to a position-type speed loop. The given position pulse in the position-type speed loop is updated to the current actual position pulse plus the position compensation deviation. In other words, the integrator content of the speed-type speed loop is converted into the current actual position pulse plus the position compensation deviation. The position compensation deviation is obtained by dividing the first integral current in the speed-type speed loop by the corresponding integral coefficient, i.e., position compensation deviation = IT_KI1 / KI. When the current control state changes from a non-preset current control state to a preset current control state, the speed loop of the elevator control system is switched from a position-type speed loop to a speed-type speed loop. The second integral current in the position-type speed loop is used as the first integral current in the speed-type speed loop. In other words, the second integral current corresponding to the position deviation in the position-type speed loop is saved to the integrator content of the speed-type speed loop, IT_KI1 = IT_KI2. After the speed loop switch, the torque current is output using the switched speed loop to control the motor's operating state.

[0065] In this embodiment, the given frequency of the motor in the elevator control system is obtained; a speed-type speed loop is constructed based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system; the given frequency is converted into a given position pulse of the elevator; a position-type speed loop is constructed based on the given position pulse and the feedback position pulse obtained by the encoder; based on the current control state adopted by the speed loop of the elevator control system, the speed loop of the elevator control system is mapped and switched between a speed-type speed loop and a position-type speed loop; regardless of whether the speed loop of the elevator control system is a speed-type speed loop or a position-type speed loop, it is ensured that the actual position pulse of the elevator can follow the given position pulse of the elevator, so that the given running curve of the elevator matches the actual running curve, thereby improving the leveling accuracy of the elevator.

[0066] Furthermore, if the integral coefficient of the integrator in the position-type speed loop changes without intervention, it can easily lead to a sudden change in the torque current output by the speed loop. Therefore, when the integral coefficient changes, the given position pulse in the position-type speed loop needs to be updated; that is, the given position pulse in the position-type speed loop is adjusted based on the current actual position pulse and the integral compensation deviation; where, the integral compensation deviation = (P*-P)*KINew / KIOld, P* is the given position pulse, P is the feedback position pulse, KINew is the changed integral coefficient, and KIOld is the integral coefficient before the change.

[0067] This application also provides an elevator control device, such as... Figure 4 As shown, it includes:

[0068] The acquisition unit 401 is used to acquire the given frequency of the motor in the elevator control system;

[0069] The first construction unit 402 is used to construct a speed loop based on the given frequency and the feedback frequency obtained by the encoder in the elevator control system from the motor detection.

[0070] The second building unit 403 is used to convert the given frequency into a given position pulse of the motor, and build a position-type speed loop based on the given position pulse and the feedback position pulse detected by the encoder on the motor.

[0071] The switching unit 404 is used to switch the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop based on the current control state adopted by the speed loop of the elevator control system.

[0072] This application embodiment also provides an elevator control device 500, such as... Figure 5 As shown, the elevator control device 500 of this application embodiment may include one or more central processing units (CPUs) 501 and a memory 502, wherein the memory 502 stores one or more application programs or data.

[0073] The memory 502 can be volatile or persistent storage. The program stored in the memory 502 can include one or more modules, each module including a series of instruction operations on the electronic device. Furthermore, the central processing unit 501 can be configured to communicate with the memory 502 and execute the series of instruction operations stored in the memory 502 on the elevator control device 500.

[0074] The elevator control device 500 may also include one or more power supplies 505, one or more wired or wireless network interfaces 504, one or more input / output interfaces 503, and / or one or more operating systems, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0075] The central processing unit 501 can perform the operations performed by the first aspect or any specific method embodiment of the first aspect, which will not be described in detail here.

[0076] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0077] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0078] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0079] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0080] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. An elevator control method, characterized by, include: Obtain the given frequency of the motor in the elevator control system; Based on the given frequency and the feedback frequency detected by the encoder of the elevator control system, a speed-type speed loop is constructed; wherein, constructing the speed-type speed loop includes: obtaining the frequency deviation between the given frequency and the feedback frequency; performing a proportional gain on the frequency deviation to obtain a first proportional current, performing an integral gain on the frequency deviation to obtain a first integral current; and adding the first proportional current and the first integral current to obtain the torque current output by the speed-type speed loop. The given frequency is converted into a given position pulse for the elevator. Based on the given position pulse and the feedback position pulse detected by the encoder, a position-type speed loop is constructed. The construction of the position-type speed loop includes: proportionally gaining the frequency deviation between the given frequency and the feedback frequency to obtain a second proportional current; integrally gaining the pulse deviation between the given position pulse and the feedback position pulse to obtain a second integral current; and adding the second proportional current and the second integral current to obtain the torque current output by the position-type speed loop. Based on the current control state adopted by the speed loop of the elevator control system, the speed loop of the elevator control system is mapped and switched between the speed-type speed loop and the position-type speed loop.

2. The elevator control method according to claim 1, characterized by, The step of converting the given frequency into a given position pulse for the elevator includes: Obtain the pulse at the preset given position within the preset pulse interval duration at the given frequency; The elevator's given position pulse is obtained based on the preset given position pulse and the previous given position pulse before the preset pulse interval duration.

3. The elevator control method according to claim 2, characterized by, The step of obtaining the given frequency at a given position pulse within a preset pulse interval includes: Based on the preset pulse formula: ▲P*=(4×Wr*×T×En)÷Np, the preset given position pulse ▲P* is obtained, where Wr* is the given frequency, T is the preset pulse interval duration, Np is the number of pole pairs of the motor, and En is the number of pulse lines of the encoder.

4. The elevator control method according to claim 1, characterized in that, Based on the current control state adopted by the speed loop of the elevator control system, the mapping and switching of the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop includes: When the current control state changes from a preset current control state to a non-preset current control state, the speed loop of the elevator control system is switched from the speed-type speed loop to the position-type speed loop, and the given position pulse in the position-type speed loop is updated to the current actual position pulse plus the position compensation deviation; wherein, the position compensation deviation is obtained by dividing the first integral current in the speed-type speed loop by the corresponding integral coefficient; when the current control state changes from a non-preset current control state to a preset current control state, the speed loop of the elevator control system is switched from the position-type speed loop to the speed-type speed loop, and the second integral current in the position-type speed loop is used as the first integral current in the speed-type speed loop.

5. The elevator control method according to claim 1, characterized in that, When the integral coefficient in the positional velocity loop changes, the method further includes: Based on the current actual position pulse and the integral compensation deviation, the given position pulse in the position-type velocity loop is adjusted; wherein, the integral compensation deviation = (P*-P)*KINew / KIOld, P* is the given position pulse, P is the feedback position pulse, KINew is the changed integral coefficient, and KIOld is the original integral coefficient.

6. An elevator control device, characterized in that, include: The acquisition unit is used to acquire the given frequency of the motor in the elevator control system; The first construction unit is used to construct a speed-type speed loop based on the given frequency and the feedback frequency detected by the encoder of the elevator control system on the motor; wherein, constructing the speed-type speed loop includes: obtaining the frequency deviation between the given frequency and the feedback frequency; performing a proportional gain on the frequency deviation to obtain a first proportional current, performing an integral gain on the frequency deviation to obtain a first integral current; and adding the first proportional current and the first integral current to obtain the torque current output by the speed-type speed loop. The second construction unit is used to convert the given frequency into a given position pulse of the motor, and construct a position-type speed loop based on the given position pulse and the feedback position pulse detected by the encoder on the motor; wherein, constructing the position-type speed loop includes: proportionally gaining the frequency deviation between the given frequency and the feedback frequency to obtain a second proportional current; integrally gaining the pulse deviation between the given position pulse and the feedback position pulse to obtain a second integral current; and adding the second proportional current and the second integral current to obtain the torque current output by the position-type speed loop; The switching unit is used to switch the speed loop of the elevator control system between the speed-type speed loop and the position-type speed loop based on the current control state adopted by the speed loop of the elevator control system.

7. An elevator control device, characterized in that, include: Central processing unit, memory, input / output interface, wired or wireless network interface, power supply; The memory is either a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory on a control plane functional entity to perform the method described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 5.

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