Elevator drive control system

Abstract

The application discloses an elevator drive control system, comprising: a receiving unit for receiving detection results from a position sensor of a sending unit; a predictor for predicting second detection results by using first detection results; a first controller for controlling an elevator flexible suspension by using an elevator car speed instruction corresponding to a receiving time t2 and second detection results corresponding to the receiving time t2; a second controller for controlling an elevator drive motor according to a second speed instruction corresponding to the receiving time t2 and a speed detection value of the elevator drive motor corresponding to the receiving time t2; and a third controller for controlling an elevator drive motor stator current according to a current instruction corresponding to the receiving time t2 and a stator current detection value of the elevator drive motor corresponding to the receiving time t2. The application can realize direct control of the moving speed of the elevator car without real-time moving speed of the elevator car.

Description

Technical Field

[0001] This invention relates to the field of elevator technology, and more specifically to an elevator drive control system. Background Technology

[0002] Existing elevator drive systems typically employ a dual closed-loop control method involving speed and current. In the speed loop, the connection between the drive motor rotor and the elevator car is usually treated as a rigid connection. The ratio between the linear velocity of the elevator car and the angular velocity of the drive motor rotor is calculated using factors such as the radius of the drive wheel rotating synchronously with the drive motor rotor and the elevator's winding path. This ratio is then used to convert a given elevator car speed command into a drive motor rotor angular velocity command. The speed controller then uses this rotor angular velocity command and the detected rotor angular velocity value to implement closed-loop control of the drive motor rotor's angular velocity, ensuring that the detected rotor angular velocity value tracks the rotor angular velocity command, and outputting the drive motor's torque current command. In the current loop, the current controller typically uses the torque current command output from the speed controller and the detected stator current value of the drive motor to implement closed-loop control of the drive motor's current, ensuring that the detected stator current value (which is then transformed to obtain the actual torque current value) tracks the torque current command.

[0003] In reality, speed control in elevator drive control targets the speed of the elevator car. Precise control of the car's movement speed ensures smooth operation and accurate stopping. Existing technology treats the connection between the elevator car and the drive motor rotor as a rigid connection to achieve the conversion between them. However, flexible connections between the elevator car and the drive motor rotor (such as steel ropes or belts) typically possess a certain degree of elasticity and tensile strength. Therefore, the actual tensile strength varies depending on the length and stress of the flexible connection, and slippage between the flexible connection and the drive wheel is inevitable. This introduces errors into the conversion of car position / speed to the drive motor rotor, especially for elevators with large lifting heights and heavy loads, particularly when the elevator car is far from the drive wheel. This makes the performance of traditional drive control based on the rotor angular velocity of the drive motor unsatisfactory when applied to elevators with large lifting heights and heavy loads. Therefore, in order to improve the drive control performance of elevators with large lifting heights and heavy loads, it is necessary to directly control the elevator car's speed, rather than the existing indirect control achieved by controlling the rotor angular velocity of the drive motor. To directly control the elevator car's speed, it is first necessary to directly detect the elevator car's speed. This can be achieved using elevator car absolute position detection technology, which has matured and gained wider application in recent years, as seen in published documents CN201810194044.0 and CN201580067931.6.

[0004] On the other hand, for elevators with large lifting heights, the traveling cable is very long. This poses a risk that the traveling cable might come into contact with other equipment in the hoistway during significant building swaying caused by earthquakes, strong winds, etc. Furthermore, the weight of the traveling cable becomes substantial due to the large lifting height. To address these issues, traveling cable-less technologies have emerged in this field, such as published documents CN201010154575.0, CN201980094886.1, and CN201010154575.0. However, existing traveling cable-less technologies primarily focus on solving the power supply problem of the elevator car, without addressing the information transmission problem between the elevator car and the control cabinet in the absence of a traveling cable. To address this issue, CN201880099563.7 proposes using wireless communication between the elevator car and the control cabinet to solve the information transmission problem when a traveling cable is not available. However, when using wireless communication, due to network congestion and other factors, varying degrees of information transmission delays are unavoidable. Of course, even for elevators that use wired communication instead of elevators without traveling cables, the detection results of the elevator car's moving speed will still experience transmission delays during the transmission process from the elevator car to the control cabinet due to network congestion.

[0005] Therefore, for elevators with large lifting heights, direct control of the elevator car is necessary to improve its control performance. This requires transmitting the absolute position detection results of the elevator car (detected by a device located within the car) to a control cabinet, typically located in the machine room, for the elevator drive control system within the cabinet to implement drive control, including a speed loop. However, the time delay in transmitting the car speed (or car position) detection results from the car to the control cabinet prevents the elevator drive control system from obtaining the real-time speed of the elevator car. Thus, how to achieve direct control of the elevator car's speed without obtaining its real-time speed becomes a technical problem that needs to be solved. Summary of the Invention

[0006] To solve the above-mentioned technical problems, the present invention provides an elevator drive control system, wherein the elevator car is equipped with a position sensor for detecting the vertical position of the elevator car in the shaft and a transmitting unit for transmitting the detection result of the position sensor to the elevator drive control system, the elevator drive control system comprising:

[0007] A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2.

[0008] A predictor is used to predict a second detection result using a first detection result, wherein the first detection result is the detection result of the position sensor corresponding to the transmission time t1, and the second detection result is the detection result of the position sensor corresponding to the reception time t2;

[0009] The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the receiving time t2 and the second detection result corresponding to the receiving time t2, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the receiving time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car.

[0010] The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2.

[0011] The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command.

[0012] Preferably, the mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1,θ2,θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, and θ3 is the moving speed of the second end. The second end refers to the end of the flexible suspension component located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel. The first controller takes θ3 as the control input and θ1 as the control target, and outputs the second speed command.

[0013] Preferably, the predictor uses the first detection result to predict the second detection result as follows: the predictor uses the mathematical model of the flexible suspension component, starting from t1 as the first moment, and uses θ1 and θ2 of the mathematical model of the flexible suspension component at the first moment, as well as the second control command at the first moment, to obtain θ1 and θ2 relative to the next moment relative to the first moment. This process is repeated until the next moment reaches t2, thus obtaining the detection result of the position sensor at time t2.

[0014] Preferably, the mathematical model d(θ1) / dt=f(θ1,θ2,θ3) is make θ2 = x, θ3 = v2, where v1 is the moving speed of the elevator car, v2 is the linear velocity of the drive wheel, E is the elastic modulus of the flexible suspension, s is the cross-sectional area of ​​the flexible suspension, and x is the length of the flexible suspension between the drive wheel and the car at time t1 or t2.

[0015] The present invention also provides an elevator drive control system, wherein the elevator car is equipped with a position sensor for detecting the vertical position of the elevator car in the shaft, and a transmitting unit for transmitting the detection result of the position sensor to the elevator drive control system. The elevator drive control system includes:

[0016] A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2.

[0017] The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the transmission time t1 and the detection result corresponding to the transmission time t1, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the reception time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car.

[0018] The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2.

[0019] The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command.

[0020] Preferably, the first controller is a predictive controller, which uses the mathematical model of the flexible suspension as a predictive model, and at the transmission time t1, minimizes the cost function consisting of the speed tracking error between the elevator car moving speed during the transmission delay Δt and the first speed command to obtain the speed command sequence of the second end, and uses the speed command corresponding to time t2 in the sequence as the second speed command; the second end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel.

[0021] Preferably, the prediction time domain and control time domain of the prediction controller are both not less than the transmission delay Δt.

[0022] Preferably, the mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1,θ2,θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, θ3 is the moving speed of the second end, and the first controller outputs the second speed command with θ3 as the control input and θ1 as the control target.

[0023] Preferably, the method for adjusting the basic parameter θ2 of the mathematical model is any one of the following: negative gradient algorithm, neural network learning, machine learning, or system identification.

[0024] Preferably, the mathematical model d(θ1) / dt=f(θ1,θ2,θ3) is make θ2 = x, θ3 = v2, where v1 is the moving speed of the elevator car, v2 is the linear velocity of the drive wheel, E is the elastic modulus of the flexible suspension, s is the cross-sectional area of ​​the flexible suspension, and x is the length of the flexible suspension between the drive wheel and the car at time t1 or t2.

[0025] Compared with the prior art, the present invention achieves direct control of the elevator car's speed even when the real-time speed of the elevator car is unavailable. Detailed Implementation

[0026] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can fully understand other advantages and technical effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through different specific embodiments, and the details in this specification can also be applied based on different viewpoints, with various modifications or changes made without departing from the overall design concept of the invention. It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other. The following exemplary embodiments of the present invention can be implemented in many different forms and should not be construed as being limited to the specific embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of the present invention thorough and complete, and to fully convey the technical solutions of these exemplary embodiments to those skilled in the art.

[0027] Example 1

[0028] This embodiment provides an elevator drive control system. The elevator car is equipped with a position sensor for detecting the vertical position of the elevator car in the shaft, and a transmitting unit for sending the detection results of the position sensor to the elevator drive control system. The elevator drive control system includes:

[0029] A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2.

[0030] A predictor is used to predict a second detection result using a first detection result, wherein the first detection result is the detection result of the position sensor corresponding to the transmission time t1, and the second detection result is the detection result of the position sensor corresponding to the reception time t2;

[0031] The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the receiving time t2 and the second detection result corresponding to the receiving time t2, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the receiving time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car.

[0032] The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2.

[0033] The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command.

[0034] In this embodiment, a car position sensor is installed in the elevator car to detect the position and speed of the elevator car as it moves. A transmitting unit is installed in the car to wirelessly transmit the detection results of the position sensor to a receiving unit located at the top of the shaft or in the machine room control cabinet. The receiving unit is wired to the elevator drive control system located in the elevator control cabinet, and the transmission delay between the receiving unit and the elevator drive control system is negligible. Both the transmitting and receiving units are equipped with clocks, and their clocks are synchronized.

[0035] The elevator drive control system in this embodiment aims to make the actual moving speed of the elevator car track its command pattern, that is, to minimize the error between the speed command and the speed detection value.

[0036] The mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1,θ2,θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, and θ3 is the moving speed of the second end. The second end refers to the end of the flexible suspension component located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel. The first controller takes θ3 as the control input and θ1 as the control target, and outputs the second speed command.

[0037] The predictor uses the first detection result to predict the second detection result as follows:

[0038] The predictor uses the mathematical model of the flexible suspension component, starting from t1 as the first moment, and uses θ1 and θ2 of the mathematical model of the flexible suspension component at the first moment, as well as the second control command at the first moment, to obtain θ1 and θ2 relative to the first moment. This process is repeated until the next moment reaches t2, thus obtaining the detection result of the position sensor at time t2.

[0039] More specifically, the mathematical model d(θ1) / dt=f(θ1,θ2,θ3) is make θ2 = x, θ3 = v2, where v1 is the moving speed of the elevator car, v2 is the linear velocity of the drive wheel, E is the elastic modulus of the flexible suspension, s is the cross-sectional area of ​​the flexible suspension, and x is the length of the flexible suspension between the drive wheel and the car at time t1 or t2.

[0040] The specific structure of the first controller is not limited; for example, it can be a PI controller, ADRC, adaptive control, sliding mode control, etc.

[0041] The specific structure of the second controller is the motor speed controller in traditional motor drive control.

[0042] The third controller has a traditional current loop closed-loop controller.

[0043] Example 2

[0044] Considering that the model of flexible connection—d(θ1) / dt=f(θ1,θ2,θ3)—inevitably has a certain modeling error compared to the actual flexible connection, and this model error is usually reflected in its parameter θ2, the existence of this model error will inevitably lead to errors based on velocity feedback v. fb (t2) obtains v fb During (t1), the final obtained v fb The accuracy of (t1) is negatively affected. This embodiment attempts to suppress the adverse effects of model errors.

[0045] Since model errors are typically reflected in its parameter θ2, d(θ1) / dt = f(θ1,θ2,θ3) can be considered as an adjustable parameter system. Currently, we utilize the state v at time t2. fb (t2) Determine the state v at time t1 based on the model. fb (t1), is called v fb The predicted value of (t1); when the current time continues from t1, we can obtain the state at time t1.

[0046] ——v fb The detection result of (t1) is used to calculate v. fbThe difference between the detection result (t1) and its prediction result. This difference is necessarily caused by model error. Therefore, this difference can be used to adjust the parameter θ2 in the model, so that the parameter θ2 in the model is as close as possible to its true value (i.e., the actual value determined by the physical characteristics of the flexible connection). In this way, the v caused by model error can be suppressed as much as possible. fb The difference between the detection result (t1) and its prediction result.

[0047] Regarding the adjustment method for parameter θ2, the negative gradient algorithm can be used to continuously adjust parameter θ2 to improve the accuracy of the model relative to the actual physical characteristics of the flexible connection. For details, please refer to relevant books. Alternatively, the detection results at time t1 and time t2 can be used as paired inputs and outputs of d(θ1) / dt=f(θ1,θ2,θ3). The flexible connection can be remodeled using techniques such as neural networks, machine learning, or system identification. After the accuracy of the result meets the requirements, (θ1) / dt=f(θ1,θ2,θ3) can be replaced with the new model obtained from the remodeling.

[0048] Specifically, this embodiment provides an elevator drive control system. The elevator car is equipped with a position sensor for detecting the vertical position of the elevator car in the shaft, and a sending unit for sending the detection results of the position sensor to the elevator drive control system. The elevator drive control system includes:

[0049] A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2.

[0050] The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the transmission time t1 and the detection result corresponding to the transmission time t1, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the reception time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car.

[0051] The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2.

[0052] The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command.

[0053] The first controller is a predictive controller, which uses the mathematical model of the flexible suspension as the predictive model. At the transmission time t1, it minimizes the cost function consisting of the speed tracking error between the elevator car moving speed during the transmission delay Δt and the first speed command to obtain the speed command sequence of the second end. The speed command corresponding to time t2 in the sequence is taken as the second speed command. The second end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel.

[0054] The prediction time domain and control time domain of the prediction controller are both not less than the transmission delay Δt.

[0055] The mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1,θ2,θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, and θ3 is the moving speed of the second end. The first controller takes θ3 as the control input and θ1 as the control target, and outputs the second speed command.

[0056] The mathematical model d(θ1) / dt=f(θ1,θ2,θ3) is make θ2 = x, θ3 = v2, where v1 is the moving speed of the elevator car, v2 is the linear velocity of the drive wheel, E is the elastic modulus of the flexible suspension, s is the cross-sectional area of ​​the flexible suspension, and x is the length of the flexible suspension between the drive wheel and the car at time t1 or t2.

[0057] The present invention has been described in detail above through specific embodiments and examples, but these are not intended to limit the invention. Many modifications and improvements can be made by those skilled in the art without departing from the principles of the invention, and these should also be considered within the scope of protection of the present invention.

Claims

1. An elevator drive control system, comprising a position sensor mounted on an elevator car for detecting the position and speed of the elevator car during movement, and a transmitting unit for transmitting the detection results of the position sensor to the elevator drive control system, characterized in that, The elevator drive control system includes: A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2. A predictor is used to predict a second detection result using a first detection result, wherein the first detection result is the detection result of the position sensor corresponding to the transmission time t1, and the second detection result is the detection result of the position sensor corresponding to the reception time t2; The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the receiving time t2 and the second detection result corresponding to the receiving time t2, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the receiving time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car. The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2. The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command.

2. The elevator drive control system according to claim 1, characterized in that, The mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1, θ2, θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, and θ3 is the moving speed of the second end. The second end refers to the end of the flexible suspension component located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel. The first controller takes θ3 as the control input and θ1 as the control target, and outputs the second speed command.

3. The elevator drive control system according to claim 2, characterized in that, The predictor uses the first detection result to predict the second detection result as follows: The predictor uses the mathematical model of the flexible suspension component, starting from t1 as the first moment, and uses θ1 and θ2 of the mathematical model of the flexible suspension component at the first moment, as well as the second control command at the first moment, to obtain θ1 and θ2 relative to the first moment. This process is repeated until the next moment reaches t2, thus obtaining the detection result of the position sensor at time t2.

4. The elevator drive control system according to claim 2, characterized in that, The mathematical model d(θ1) / dt=f(θ1, θ2, θ3) is Let θ1=[ , ], θ2=x, θ3= , in The speed at which the elevator car moves. Let E be the linear velocity of the drive wheel, E be the elastic modulus of the flexible suspension component, s be the cross-sectional area of ​​the flexible suspension component, and x be the length of the flexible suspension component between the drive wheel and the car at time t1 or t2.

5. An elevator drive control system, comprising a position sensor mounted on an elevator car for detecting the position and speed of the elevator car during movement, and a transmitting unit for transmitting the detection results of the position sensor to the elevator drive control system, characterized in that, The elevator drive control system includes: A receiving unit is configured to receive the detection result of the position sensor from the transmitting unit, wherein the detection result is subject to a transmission delay Δt during the transmission process between the transmitting unit's transmission time t1 and the receiving unit's reception time t2. The first controller is used to control the flexible suspension of the elevator using the elevator car speed command corresponding to the transmission time t1 and the detection result corresponding to the transmission time t1, so that the actual moving speed of the elevator car located at the first end of the flexible suspension tracks the elevator car speed command, and outputs a second speed command corresponding to the reception time t2; the first end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is closer to the elevator car. The second controller is used to control the elevator drive motor according to the second speed command corresponding to the receiving time t2 and the speed detection value of the elevator drive motor corresponding to the receiving time t2, so that the speed detection value of the elevator drive motor tracks the second speed command and outputs the current command corresponding to the receiving time t2. The third controller is used to control the stator current of the elevator drive motor according to the current command corresponding to the receiving time t2 and the stator current detection command of the elevator drive motor corresponding to the receiving time t2, so that the stator current detection value of the elevator drive motor tracks the current command. The first controller is a predictive controller, which uses the mathematical model of the flexible suspension as the predictive model. At the transmission time t1, it minimizes the cost function consisting of the speed tracking error between the elevator car moving speed during the transmission delay Δt and the first speed command to obtain the speed command sequence of the second end. The speed command corresponding to time t2 in the sequence is taken as the second speed command. The second end refers to the end of the flexible suspension located between the elevator car and the elevator drive wheel that is close to the elevator drive wheel.

6. The elevator drive control system according to claim 5, characterized in that, The prediction time domain and control time domain of the prediction controller are both not less than the transmission delay Δt.

7. The elevator drive control system according to claim 5, characterized in that, The mathematical model of the flexible suspension component, which is the controlled object of the first controller, is: d(θ1) / dt=f(θ1, θ2, θ3), where θ1 is the moving speed of the first end or the elevator car, θ2 is a basic parameter, and θ3 is the moving speed of the second end. The first controller takes θ3 as the control input and θ1 as the control target, and outputs the second speed command.

8. The elevator drive control system according to claim 7, characterized in that, The method for adjusting the basic parameter θ2 of the mathematical model is any one of the following: negative gradient algorithm, neural network learning, machine learning, or system identification.

9. The elevator drive control system according to claim 7, characterized in that, The mathematical model d(θ1) / dt=f(θ1, θ2, θ3) is Let θ1=[ , ], θ2=x, θ3= ,in The speed at which the elevator car moves. Let E be the linear velocity of the drive wheel, E be the elastic modulus of the flexible suspension component, s be the cross-sectional area of ​​the flexible suspension component, and x be the length of the flexible suspension component between the drive wheel and the car at time t1 or t2.