Elevator start parameter adjustment method and device, electronic equipment and storage medium

Abstract

The application discloses an elevator starting parameter adjustment method and device, electronic equipment and a storage medium, comprising: initializing a position loop parameter for controlling the starting of an elevator car; controlling the starting of the elevator car according to the position loop parameter and obtaining the acceleration of the elevator car in the starting stage; judging whether the acceleration is less than an acceleration threshold; if yes, determining the position loop parameter as the no-weighting starting parameter of the elevator car; if no, adjusting the position loop parameter according to the acceleration and returning to the step of controlling the starting of the elevator car according to the position loop parameter and obtaining the acceleration of the elevator car in the starting stage. The position loop parameter during the starting of the elevator car is adjusted by collecting the acceleration, human body does not need to feel the displacement of the elevator car, the debugging is simpler and more convenient, and the acceleration in the starting stage is collected, whether in the starting stage can be determined through the speed of the elevator car, the starting time of the elevator brake can be accurately determined, and the accurate torque compensation time is determined.

Description

Technical Field

[0001] This invention relates to the field of elevator commissioning technology, and in particular to a method, device, electronic equipment, and storage medium for adjusting elevator starting parameters. Background Technology

[0002] In an elevator system, the elevator car and the counterweight are not equal in weight. When the elevator brake is released, an unbalanced torque will be generated on the traction sheave between the elevator car and the counterweight, causing the elevator to slide backward or lurch forward, affecting the comfort of passengers riding the elevator.

[0003] Traditional technology uses a weighing device to measure the weight of the elevator car and then performs torque balancing. However, due to the high cost and difficulty in debugging of weighing devices, as well as their declining accuracy over time and inconvenience, they have been gradually replaced by weigh-free starting methods. One method for weigh-free starting elevators uses a high-resolution encoder to collect the displacement of the car during startup, and then uses a position loop adjustment system to calculate the starting torque using a proportional product method. However, achieving weigh-free starting through an encoder has the following drawbacks:

[0004] 1. During the debugging process, because the human body does not perceive the displacement clearly, it is difficult to adjust the parameters by relying on the human body's perception.

[0005] 2. During the commissioning process, it is impossible to accurately predict the time when the brake opens and the time when the brake is fully opened. The opening time of the elevator brake is uncertain, making it difficult to determine the accurate torque compensation time. Summary of the Invention

[0006] This invention provides a method, device, electronic device, and storage medium for adjusting elevator starting parameters, in order to solve the problems of debugging difficulties and difficulty in determining accurate compensation time when using encoders to achieve weightless elevator starting.

[0007] In a first aspect, the present invention provides a method for adjusting elevator starting parameters, comprising:

[0008] Initialize the position loop parameters that control the elevator car to start;

[0009] The elevator car is started according to the position loop parameters, and the acceleration of the elevator car during the start-up phase is obtained.

[0010] Determine whether the acceleration is less than a preset acceleration threshold;

[0011] If so, the position loop parameters are determined as the weigh-free start parameters of the elevator car;

[0012] If not, adjust the position loop parameters according to the acceleration, and return to the steps of controlling the elevator car to start according to the position loop parameters and obtaining the acceleration of the elevator car during the start-up phase.

[0013] Optionally, controlling the elevator car to start based on the position loop parameters and obtaining the acceleration of the elevator car during the starting phase includes:

[0014] The compensation torque is determined based on the position loop parameters, and the elevator car is started based on the compensation torque.

[0015] The maximum acceleration of the elevator car during the start-up phase is detected by an accelerometer.

[0016] Optionally, determining the compensation torque based on the position loop parameters and controlling the elevator car to start based on the compensation torque includes:

[0017] Obtain the feedback signal from the elevator's encoder, and calculate the total change in the slip pulse based on the feedback signal;

[0018] Calculate the first product of the total change in the trolley pulse and the position loop parameter, as the compensation torque;

[0019] The compensation torque is used as the input to the elevator's current loop to control the elevator car's start-up.

[0020] Optionally, the feedback signal from the elevator's encoder is acquired, and the total change in the slip pulse is calculated based on the feedback signal, including:

[0021] Obtain the feedback signals from two consecutive elevator encoders;

[0022] Calculate the pulse change of the feedback signal between two consecutive intervals;

[0023] The total change in the slack pulse is obtained by summing the pulse changes.

[0024] Optionally, the maximum acceleration of the elevator car during the start-up phase is detected by an acceleration sensor, including:

[0025] The acceleration sensor is controlled to collect the acceleration of the elevator car according to a preset cycle;

[0026] Obtain the speed of the elevator car and determine whether the speed is greater than 0;

[0027] If so, determine the maximum acceleration from the collected accelerations;

[0028] If not, return to the step of controlling the acceleration sensor to collect the acceleration of the elevator car according to the preset cycle.

[0029] Optionally, the maximum acceleration can be determined from the collected accelerations, including:

[0030] The collected acceleration data is used to generate the acceleration curve of the elevator car during the start-up phase;

[0031] The peak value of the acceleration is determined from the acceleration curve as the maximum acceleration.

[0032] Optionally, the acceleration is the maximum acceleration, and adjusting the position loop parameters according to the acceleration includes:

[0033] Calculate the second product of the maximum acceleration and the preset adjustment coefficient;

[0034] The sum of the second product and the position loop parameter is calculated to serve as the adjusted position loop parameter.

[0035] In a second aspect, the present invention provides an elevator starting parameter adjustment device, comprising:

[0036] The position loop parameter initialization module is used to initialize the position loop parameters that control the start of the elevator car.

[0037] An acceleration acquisition module is used to control the elevator car to start according to the position loop parameters and to acquire the acceleration of the elevator car during the start-up phase.

[0038] An acceleration judgment module is used to determine whether the acceleration is less than a preset acceleration threshold. If so, the no-weighing start parameter determination module is executed; otherwise, the position loop parameter adjustment module is executed.

[0039] The weighing-free start parameter determination module is used to determine the position loop parameters as the weighing-free start parameters of the elevator car;

[0040] The position loop parameter adjustment module is used to adjust the position loop parameters according to the acceleration and return the result to the acceleration acquisition module.

[0041] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0042] At least one processor; and

[0043] A memory communicatively connected to the at least one processor; wherein,

[0044] 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 elevator start parameter adjustment method according to any of the first aspects of the present invention.

[0045] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the elevator start-up parameter adjustment method according to any of the first aspects of the present invention.

[0046] In this embodiment of the invention, when controlling the elevator car to start based on position loop parameters, the acceleration of the elevator car during the starting phase is acquired. If the acceleration is greater than an acceleration threshold, the position loop parameters are adjusted based on the acquired acceleration. The elevator car is then controlled to start again based on the position loop parameters, and the acceleration of the elevator car during the starting phase is acquired again, until the acceleration is less than the acceleration threshold. The position loop parameters when the acceleration is less than the acceleration threshold are used as the weightless starting parameters of the elevator car. By acquiring acceleration to adjust the position loop parameters during the elevator car's start-up, there is no need to rely on the human sense of the elevator car's displacement. The debugging is simple and convenient. Furthermore, the acceleration acquired is the acceleration during the elevator car's starting phase. By acquiring the elevator car's speed, it can be determined whether it is within the starting phase, and the start time of the elevator brake can be accurately determined, thereby determining the accurate torque compensation time.

[0047] 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

[0048] 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.

[0049] Figure 1 This is a flowchart of an elevator starting parameter adjustment method provided in Embodiment 1 of the present invention;

[0050] Figure 2 This is a flowchart of an elevator starting parameter adjustment method provided in Embodiment 2 of the present invention;

[0051] Figure 3 This is a flowchart illustrating an example of the elevator start-up parameter adjustment method provided by the present invention;

[0052] Figure 4 This is a schematic diagram of the structure of an elevator starting parameter adjustment device provided in Embodiment 3 of the present invention;

[0053] Figure 5 This is a schematic diagram of the structure of the electronic device provided in Embodiment 4 of the present invention. Detailed Implementation

[0054] 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.

[0055] Example 1

[0056] Figure 1 This is a flowchart of an elevator start-up parameter adjustment method provided in Embodiment 1 of the present invention. This embodiment is applicable to the debugging of elevators to determine the elevator's start-up parameters without weighing. This method can be executed by an elevator start-up parameter adjustment device, which can be implemented in hardware and / or software and can be configured in electronic equipment, such as in the elevator's main controller or main control computer. Figure 1 As shown, the elevator starting parameter adjustment method includes:

[0057] S101. Initialize the position loop parameters for controlling the start of the elevator car.

[0058] In this embodiment, the elevator car moves up and down after starting by rotating the motor. The elevator car control is essentially the control of the motor. The motor servo system can include a current loop, a speed loop, and a position loop control system. The motor servo system detects the three-phase winding current and rotor position θ of the motor through a current detection circuit and a position detection circuit. It calculates the excitation current component id and the torque current component iq through coordinate transformation. The difference Δθ between the position signal command and the actual rotor position signal is used as the input of the position controller to generate the speed signal command ω. The difference Δω between the speed signal command and the actual speed signal is used as the input of the speed controller to generate the torque current command iqr. The torque current command iqr, the excitation current command idr, and the actual current signal are processed by a current PI regulator to obtain the corresponding voltage command signal. The voltage command of the dq axis is used to generate a pulse width modulation signal for controlling the inverter through Park transformation and space vector pulse width modulation, thereby driving the motor.

[0059] This embodiment mainly involves debugging the elevator to determine the position loop parameters, so that the acceleration of the elevator car during startup is within the preset acceleration threshold, avoiding excessive acceleration during the elevator car startup phase that could cause the elevator car to slide backward or lurch, and ensuring a smooth startup of the elevator car.

[0060] The elevator car start-up refers to the time period from when the elevator car is stationary to when it begins to move upward or downward. In this embodiment, the position loop parameter P0 can be pre-initialized during debugging. The position loop parameter can be the PD parameter in the position loop control algorithm, namely the P parameter (Proportional) and the D parameter (Derivative). For details, please refer to the position loop control principle and other related technologies, which will not be elaborated here.

[0061] S102. Control the elevator car to start according to the position loop parameters, and obtain the acceleration of the elevator car during the start-up phase.

[0062] In this embodiment, after initializing the position loop parameters, the compensation torque of the motor can be determined through the initialized position loop parameters. The elevator car can be started by controlling the compensation torque. For example, the total change of the elevator car's slip pulse can be counted by the feedback signal of the encoder set on the motor spindle. The product of the total change of the slip pulse and the position loop parameters is calculated to obtain the compensation torque. The compensation torque is used as the adjustment output of the current loop to control the elevator car to start.

[0063] When controlling the elevator car to start, the acceleration of the elevator car is collected by an acceleration sensor. For example, the maximum acceleration of the elevator car during the time period from a stationary state to a speed greater than 0 is detected by the acceleration sensor.

[0064] S103. Determine whether the acceleration is less than the preset acceleration threshold.

[0065] The acceleration threshold can be the maximum acceleration that makes a person feel comfortable when the elevator car starts. For example, it can be the maximum acceleration that makes a person not feel significant weightlessness or overweight when the elevator car starts. This acceleration threshold can be determined by statistically analyzing a large amount of data from different groups of people when the elevator car starts.

[0066] After collecting the acceleration of the elevator car during the start-up phase, the acceleration can be compared with the acceleration threshold. If the acceleration is less than the acceleration threshold, S104 is executed. If the acceleration is greater than or equal to the acceleration threshold, S104 is executed.

[0067] S104. Determine the position loop parameters as the weigh-free start parameters for the elevator car.

[0068] If the acceleration is less than the acceleration threshold, it is determined that when the elevator car is started by controlling the current position loop parameters, the torque output by the motor compensates for the torque generated by the weight mismatch between the elevator car and the counterweight and can drive the elevator car to start. When the elevator car starts, it will not slide backward because the weight of the elevator car is greater than the weight of the counterweight, nor will it bulge because the weight of the counterweight is greater than the weight of the elevator car. The current position loop parameters can be used as the weightless start parameters for the elevator car.

[0069] S105. Adjust the position loop parameters according to the acceleration.

[0070] If the acceleration is greater than or equal to the acceleration threshold, it is determined that when the elevator car is started by controlling it with the current position loop parameters, the torque output by the motor cannot compensate for the torque generated by the weight mismatch between the elevator car and the counterweight. The elevator car will slide backward or bulge due to the weight mismatch between the elevator car and the counterweight. Therefore, it is necessary to continue to adjust the position loop parameters according to the acceleration and return to S102 to control the elevator car to start according to the adjusted position loop parameters until the collected acceleration is less than the acceleration threshold.

[0071] In this embodiment of the invention, when controlling the elevator car to start based on position loop parameters, the acceleration of the elevator car during the starting phase is acquired. If the acceleration is greater than an acceleration threshold, the position loop parameters are adjusted based on the acquired acceleration. The elevator car is then controlled to start again based on the position loop parameters, and the acceleration of the elevator car during the starting phase is acquired again, until the acceleration is less than the acceleration threshold. The position loop parameters when the acceleration is less than the acceleration threshold are used as the weightless starting parameters of the elevator car. By acquiring acceleration to adjust the position loop parameters during the elevator car's start-up, there is no need to rely on human perception of the elevator car's displacement. The debugging is simple and convenient. Furthermore, the acquired acceleration is the acceleration during the elevator car's starting phase. By acquiring the elevator car's speed, it can be determined whether it is within the starting phase, and the start time of the elevator brake can be accurately determined, thereby determining the accurate torque compensation time.

[0072] Example 2

[0073] Figure 2 This is a flowchart of an elevator starting parameter adjustment method provided in Embodiment 2 of the present invention. This embodiment of the present invention is an optimization based on Embodiment 1 described above, such as... Figure 2 As shown, the elevator starting parameter adjustment method includes:

[0074] S201. Initialize the position loop parameters for controlling the start of the elevator car.

[0075] This embodiment determines the position loop parameters by debugging the elevator. The elevator car start-up can refer to the motor outputting torque to drive the elevator car up or down after the elevator car is level and stationary. In this embodiment, a set of default position loop parameters P0 can be pre-initialized during debugging.

[0076] S202. Determine the compensation torque based on the position loop parameters, and control the elevator car to start based on the compensation torque.

[0077] In one embodiment, feedback signals from the elevator encoder can be acquired, and the total change in skew pulses can be statistically analyzed based on the feedback signals. The first product of the total change in skew pulses and the position loop parameters can be calculated as a compensation torque. This compensation torque is then used as the input to the elevator's current loop to control the elevator car's start-up.

[0078] For example, the feedback signals from two consecutive samples of the elevator encoder can be acquired, and the pulse change ΔP between the two consecutive samples can be calculated. The pulse change ΔP is then summed to obtain the total change in the slippage pulse S = ∑ΔP. During elevator car startup, the unequal weight distribution between the elevator car and the counterweight creates a torque imbalance on the traction sheave, causing the elevator car to slip or lurch. This displacement of the elevator car causes the encoder to rotate, outputting a feedback signal. The pulse change ΔP between the two consecutive samples can be calculated. The total change in the slippage pulse S is obtained by summing the calculated pulse change ΔP during the elevator car startup phase, and the required compensation torque T for the motor can then be calculated. set =S×P0, where the compensation torque T set As the regulating output of the current loop, it controls the motor to run and then drives the elevator car to start.

[0079] S203. The maximum acceleration of the elevator car during the start-up phase is detected by an acceleration sensor.

[0080] The elevator car's start-up phase can be the stage where the elevator car transitions from a stationary state to a moving state. When controlling the elevator car's start-up, an accelerometer can collect the elevator car's acceleration according to a preset cycle, obtain the elevator car's speed, and determine if the speed is greater than 0. If so, the maximum acceleration 'a' is determined from the collected acceleration data. kp If not, return to the step of controlling the acceleration sensor to collect the acceleration of the elevator car according to the preset cycle.

[0081] This embodiment collects the acceleration of the elevator car during the start-up phase. The elevator car's speed is collected by sensors. If the speed is less than 0, it indicates the elevator car is still in the start-up phase, and acceleration is collected again by the acceleration sensor. If the speed is greater than 0, it indicates the start-up phase has ended and the elevator car has entered the running phase. The collected acceleration data can be used to generate an acceleration curve for the elevator car during the start-up phase. The peak acceleration value is determined from this curve as the maximum acceleration 'a'. kp .

[0082] Of course, when determining the maximum acceleration a kp Alternatively, the first acceleration collected can be taken as the current maximum acceleration. Each subsequent acceleration collected is compared to the current maximum acceleration. If the collected acceleration is greater than the current maximum acceleration, the collected acceleration replaces the current maximum acceleration, until the acceleration collection is complete and the maximum acceleration 'a' is obtained. kp .

[0083] S204. Determine whether the maximum acceleration is less than the preset acceleration threshold.

[0084] The maximum acceleration a of the elevator car during the start-up phase was collected. kp Then, the maximum acceleration a can be... kp Compared with the acceleration threshold, if the maximum acceleration a kp If the acceleration is less than the acceleration threshold, then execute S205. If the maximum acceleration a kp If the acceleration threshold is greater than or equal to the acceleration value, then execute S206.

[0085] S205. Determine the position loop parameters as the weigh-free start parameters for the elevator car.

[0086] If the maximum acceleration a kp If the acceleration is less than the acceleration threshold, it is determined that when the elevator car is started by controlling the current position loop parameters, the torque output by the motor compensates for the torque caused by the weight mismatch between the elevator car and the counterweight. When the elevator car starts, it will not slide backward because the weight of the elevator car is greater than the weight of the counterweight, nor will it bulge because the weight of the counterweight is greater than the weight of the elevator car. The current position loop parameters can be used as the weightless start parameters for the elevator car.

[0087] S206. Calculate the second product of the maximum acceleration and the preset adjustment coefficient.

[0088] If the maximum acceleration a kpIf the acceleration is greater than or equal to the acceleration threshold, it indicates that when the elevator car is started using the current position loop parameters, the torque output by the motor cannot compensate for the torque generated by the imbalance between the elevator car and the counterweight. The elevator car will then slide backward or bulge due to this weight imbalance. Therefore, it is necessary to determine the maximum acceleration 'a'. kp Continue adjusting the position loop parameters.

[0089] Specifically, we can first calculate the maximum acceleration a. kp The product of K and the preset adjustment coefficient K is K×a kp .

[0090] S207. Calculate the sum of the second product and the position loop parameter to use as the adjusted position loop parameter.

[0091] Specifically, the adjusted position loop parameter P = P0 + K1 × a kp After obtaining the adjusted position loop parameters, you can return to S202 to continue controlling the elevator car to start until the maximum acceleration collected is less than the acceleration threshold.

[0092] like Figure 3 The diagram illustrates a process for determining the weigh-free start parameters of an elevator car. Initially, the position loop parameters are adjusted based on the collected peak acceleration. When the elevator car is started according to the set position loop parameters, the encoder feedback signal is collected and the slip pulse is calculated. Further, the compensation torque is calculated using the slip pulse and the set position loop parameters. This compensation torque is used as the output of the current loop PI control for torque tracking. The peak acceleration of the elevator car during the start-up phase is collected, and it is determined whether this peak acceleration is within the acceleration threshold. If so, the current position loop parameters are saved as the weigh-free start parameters; otherwise, the process returns to the step of adjusting the position loop parameters based on the collected peak acceleration.

[0093] In this embodiment, after initializing the position loop parameters, a compensation torque is determined based on the position loop parameters, and the elevator car is started according to the compensation torque. The maximum acceleration of the elevator car during the start-up phase is detected by an acceleration sensor. It is determined whether the maximum acceleration is less than a preset acceleration threshold. If so, the position loop parameters are determined as the no-weighing start parameters for the elevator car. If not, the second product of the maximum acceleration and a preset adjustment coefficient is calculated. The sum of this second product and the position loop parameters is then used as the adjusted position loop parameters. The process then returns to the step of determining the compensation torque based on the position loop parameters and controlling the elevator car start according to the compensation torque. This method adjusts the position loop parameters of the elevator car during startup by collecting the maximum acceleration during the startup phase. It does not rely on the human body's perception of the elevator car's displacement, making debugging simple and convenient. Furthermore, by collecting the maximum acceleration during the startup phase, it is possible to determine whether the elevator is in the startup phase and accurately determine the start time of the elevator brake, thereby determining the accurate torque compensation time. Moreover, by adjusting the position loop parameters through the maximum acceleration during the startup phase, the maximum acceleration can better reflect the passengers' physical experience of the elevator startup, improving the comfort performance of the elevator car during startup.

[0094] Example 3

[0095] Figure 4 This is a schematic diagram of an elevator starting parameter adjustment device provided in Embodiment 3 of the present invention. Figure 4 As shown, the elevator starting parameter adjustment device includes:

[0096] Position loop parameter initialization module 401 is used to initialize the position loop parameters that control the start of the elevator car.

[0097] The acceleration acquisition module 402 is used to control the elevator car to start according to the position loop parameters and to acquire the acceleration of the elevator car during the start-up phase.

[0098] The acceleration judgment module 403 is used to determine whether the acceleration is less than a preset acceleration threshold. If yes, the no-weighing start parameter determination module 404 is executed; if no, the position loop parameter adjustment module 405 is executed.

[0099] The weighing-free start parameter determination module 404 is used to determine the position loop parameters as the weighing-free start parameters of the elevator car;

[0100] The position loop parameter adjustment module 405 is used to adjust the position loop parameters according to the acceleration and return the result to the acceleration acquisition module 402.

[0101] Optionally, the acceleration acquisition module 402 includes:

[0102] The start control submodule is used to determine the compensation torque based on the position loop parameters, and control the elevator car to start based on the compensation torque;

[0103] The maximum acceleration detection submodule is used to detect the maximum acceleration of the elevator car during the start-up phase using an acceleration sensor.

[0104] Optionally, the startup control submodule includes:

[0105] The total change in skew pulse statistics unit is used to acquire the feedback signal from the elevator encoder and to count the total change in skew pulse based on the feedback signal.

[0106] The compensation torque calculation unit is used to calculate the first product of the total change in the slippage pulse and the position loop parameter, as the compensation torque;

[0107] The current loop input quantity determination unit is used to use the compensation torque as the input quantity of the elevator's current loop to control the elevator car to start.

[0108] Optionally, the total change in the slack line pulse statistics unit includes:

[0109] The feedback signal acquisition subunit is used to acquire the feedback signals of the elevator encoder in two consecutive steps.

[0110] The pulse change calculation subunit is used to calculate the pulse change between two consecutive feedback signals;

[0111] The pulse change accumulation subunit is used to accumulate the pulse changes to obtain the total change of the trolley pulse.

[0112] Optional, the maximum acceleration detection submodule includes:

[0113] The acceleration acquisition unit is used to control the acceleration sensor to acquire the acceleration of the elevator car according to a preset period;

[0114] The speed determination unit acquires the speed of the elevator car and determines whether the speed is greater than 0. If it is, the maximum acceleration determination unit is executed; otherwise, the unit returns to the acceleration acquisition unit.

[0115] The maximum acceleration determination unit is used to determine the maximum acceleration from the collected acceleration data.

[0116] Optionally, the maximum acceleration determination unit includes:

[0117] An acceleration curve generation subunit is used to generate the acceleration curve of the elevator car during the start-up phase using the collected acceleration.

[0118] The acceleration peak determination subunit is used to determine the peak value of the acceleration in the acceleration curve as the maximum acceleration.

[0119] Optionally, the position loop parameter adjustment module 405 includes:

[0120] The product calculation submodule is used to calculate the second product of the maximum acceleration and the preset adjustment coefficient;

[0121] The position loop parameter calculation submodule is used to calculate the sum of the second product and the position loop parameter, as the adjusted position loop parameter.

[0122] The elevator starting parameter adjustment device provided in this embodiment of the invention can execute the elevator starting parameter adjustment method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0123] Example 4

[0124] Figure 5 A schematic diagram of an electronic device 50 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.

[0125] like Figure 5 As shown, the electronic device 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, communicatively connected to the at least one processor 51. The memory stores computer programs executable by the at least one processor. The processor 51 can perform various appropriate actions and processes based on the computer program stored in the ROM 52 or loaded into the RAM 53 from storage unit 58. The RAM 53 can also store various programs and data required for the operation of the electronic device 50. The processor 51, ROM 52, and RAM 53 are interconnected via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0126] Multiple components in electronic device 50 are connected to I / O interface 55, including: input unit 56, such as keyboard, mouse, accelerometer, etc.; output unit 57, such as various types of displays, speakers, etc.; storage unit 58, such as disk, optical disk, etc.; and communication unit 59, such as network card, modem, wireless transceiver, etc. Communication unit 59 allows electronic device 50 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0127] Processor 51 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 51 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 51 performs the various methods and processes described above, such as the elevator start parameter adjustment method.

[0128] In some embodiments, the elevator start parameter adjustment method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the elevator start parameter adjustment method described above may be performed. Alternatively, in other embodiments, processor 51 may be configured to perform the elevator start parameter adjustment method by any other suitable means (e.g., by means of firmware).

[0129] 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.

[0130] 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.

[0131] 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.

[0132] 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).

[0133] 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.

[0134] 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 method for adjusting elevator starting parameters, characterized in that, include: Initialize the position loop parameters that control the elevator car to start; The elevator car is started according to the position loop parameters, and the acceleration of the elevator car during the start-up phase is obtained. Determine whether the acceleration is less than a preset acceleration threshold; If so, the position loop parameters are determined as the weigh-free start parameters of the elevator car; If not, adjust the position loop parameters according to the acceleration, and return to the steps of controlling the elevator car to start according to the position loop parameters and obtaining the acceleration of the elevator car during the start-up phase; The elevator car is started according to the position loop parameters, and the acceleration of the elevator car during the start-up phase is obtained, including: The compensation torque is determined based on the position loop parameters, and the elevator car is started based on the compensation torque. The acceleration sensor is controlled to collect the acceleration of the elevator car according to a preset cycle; Obtain the speed of the elevator car and determine whether the speed is greater than 0; If so, determine the maximum acceleration from the collected accelerations; If not, return to the step of controlling the acceleration sensor to collect the acceleration of the elevator car according to the preset cycle.

2. The elevator starting parameter adjustment method according to claim 1, characterized in that, Determining the compensation torque based on the position loop parameters, and controlling the elevator car to start based on the compensation torque, includes: Obtain the feedback signal from the elevator's encoder, and calculate the total change in the slip pulse based on the feedback signal; Calculate the first product of the total change in the trolley pulse and the position loop parameter, as the compensation torque; The compensation torque is used as the input to the elevator's current loop to control the elevator car's start-up.

3. The elevator starting parameter adjustment method according to claim 2, characterized in that, Acquire the feedback signal from the elevator's encoder, and calculate the total change in the slip pulse based on the feedback signal, including: Obtain the feedback signals from two consecutive elevator encoders; Calculate the pulse change of the feedback signal between two consecutive intervals; The total change in the slack pulse is obtained by summing the pulse changes.

4. The elevator starting parameter adjustment method according to claim 1, characterized in that, The maximum acceleration is determined from the collected accelerations, including: The collected acceleration data is used to generate the acceleration curve of the elevator car during the start-up phase; The peak value of the acceleration is determined from the acceleration curve as the maximum acceleration.

5. The elevator starting parameter adjustment method according to any one of claims 1-4, characterized in that, The acceleration is the maximum acceleration, and the position loop parameters are adjusted according to the acceleration, including: Calculate the second product of the maximum acceleration and the preset adjustment coefficient; The sum of the second product and the position loop parameter is calculated to serve as the adjusted position loop parameter.

6. An elevator starting parameter adjustment device, characterized in that, include: The position loop parameter initialization module is used to initialize the position loop parameters that control the start of the elevator car. An acceleration acquisition module is used to control the elevator car to start according to the position loop parameters and to acquire the acceleration of the elevator car during the start-up phase. An acceleration judgment module is used to determine whether the acceleration is less than a preset acceleration threshold. If so, the no-weighing start parameter determination module is executed; otherwise, the position loop parameter adjustment module is executed. The weighing-free start parameter determination module is used to determine the position loop parameters as the weighing-free start parameters of the elevator car; The position loop parameter adjustment module is used to adjust the position loop parameters according to the acceleration and return the result to the acceleration acquisition module; The acceleration acquisition module includes: The start control submodule is used to determine the compensation torque based on the position loop parameters, and control the elevator car to start based on the compensation torque; The maximum acceleration detection submodule includes: The acceleration acquisition unit is used to control the acceleration sensor to acquire the acceleration of the elevator car according to a preset period; The speed determination unit acquires the speed of the elevator car and determines whether the speed is greater than 0. If it is, the maximum acceleration determination unit is executed; otherwise, the unit returns to the acceleration acquisition unit. The maximum acceleration determination unit is used to determine the maximum acceleration from the collected accelerations.

7. 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 elevator start parameter adjustment method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the elevator start parameter adjustment method according to any one of claims 1-5.

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