A portal machine control method, device, equipment and storage medium

Abstract

A door machine control method, device, equipment and storage medium are disclosed. When it is detected that a car door is not in place when being opened or closed, a rotational speed instruction value of the door machine is obtained, a quadrature axis current instruction value of the door machine is calculated based on the rotational speed instruction value, it is judged whether the absolute value of the quadrature axis current instruction value is greater than a first quadrature axis current limit value, the first quadrature axis current limit value is the maximum quadrature axis current when no field weakening control is performed under the rotational speed instruction value, when the absolute value of the quadrature axis current instruction value is greater than the first quadrature axis current limit value, the direct axis current instruction value of the door machine is modified, so that the actual value of the quadrature axis current of the door machine is equal to the quadrature axis current instruction value, thereby improving the quadrature axis current, improving the torque of the door machine, increasing the output load, and ensuring that the car door can be normally opened or closed.

Description

Technical Field

[0001] This invention relates to motor control technology, and more particularly to a door operator control method, device, equipment, and storage medium. Background Technology

[0002] The door operator is a key component of the entire elevator system, and its control performance determines the elevator's safety. Currently, most door operators use low-energy, high-efficiency permanent magnet synchronous motors, with vector control as the control method. To save installation space and reduce costs, integrated door operators powered by DC power are becoming increasingly popular. Integrated door operators combine the door operator and electronic control board, resulting in a flat and compact structure that occupies less space. They also use direct DC power, eliminating the need for a rectifier circuit, thus consuming less energy and reducing costs.

[0003] Integrated door operators typically use 24V-36V DC power supplies. The DC voltage is significantly lower than that of ordinary door operators powered by 220V / 110V AC power, limiting their output voltage and consequently affecting the door system's load capacity and dynamic performance. Furthermore, when encountering situations such as wind pressure or external compression that cause significant door load, the door system may be unable to open or close properly. Summary of the Invention

[0004] This invention provides a door operator control method, device, equipment, and storage medium to increase the quadrature shaft current, thereby increasing the door operator's torque, increasing the output load, and ensuring that the car door can open or close normally.

[0005] In a first aspect, the present invention provides a door operator control method, comprising:

[0006] When the door of the car is detected to be not fully open or closed, the rotation speed command value of the door operator is obtained;

[0007] The quadrature axis current command value of the gantry crane is calculated based on the rotation speed command value;

[0008] Determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, where the first quadrature axis current limit is the maximum quadrature axis current when no field weakening control is performed under the speed command value;

[0009] When the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, the direct axis current command value of the gantry crane is modified so that the actual value of the quadrature axis current of the gantry crane is equal to the quadrature axis current command value.

[0010] Optionally, calculating the quadrature-axis current command value of the gantry crane based on the rotation speed command value includes:

[0011] Obtain the measured value of the rotational speed of the gantry crane;

[0012] The feedback control algorithm is used to calculate the speed command value and the measured speed value to obtain the quadrature axis current command value of the gantry crane.

[0013] Optionally, the formula for calculating the first quadrature-axis current limit is:

[0014]

[0015] Among them, u max This refers to the voltage limit value of the stator of the gantry crane. ψ is the speed command value. f L is the magnetic flux linkage of the permanent magnet in the gantry crane. q It is a quadrature axis inductor.

[0016] Optionally, when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, the direct-axis current command value of the gantry crane is modified so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value, including:

[0017] When the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit and less than the second quadrature axis current limit, the direct axis current value under the conditions of the quadrature axis current command value and the speed command value is calculated based on the voltage limit equation of the stator of the gantry crane as the first direct axis current value, and the direct axis current value under the conditions of the quadrature axis current command value is calculated based on the current limit equation of the stator of the gantry crane as the second direct axis current value, wherein the second quadrature axis current limit is the maximum quadrature axis current when performing field weakening control under the speed command value;

[0018] The maximum value between the first direct-axis current value and the second direct-axis current value is taken as the direct-axis current command value.

[0019] Optionally, when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, modifying the direct-axis current command value of the gantry crane so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value, further includes:

[0020] When the absolute value of the quadrature axis current command value is greater than or equal to the second quadrature axis current limit value, calculate the direct axis coordinate value of the center of the voltage limit circle under the speed command value condition;

[0021] The maximum value between the center of the voltage limit circle and the second direct-axis current value is taken as the direct-axis current command value;

[0022] Modify the quadrature axis current command value to the second quadrature axis current limit value.

[0023] Optionally, the formula for calculating the second quadrature-axis current limit is as follows:

[0024]

[0025] Among them, u max This refers to the voltage limit value of the stator of the gantry crane. L is the speed command value. q It is a quadrature axis inductor.

[0026] Optionally, the door operator control method also includes:

[0027] When the absolute value of the quadrature-axis current command value is less than or equal to the first quadrature-axis current limit, field weakening control is not performed, and the direct-axis current command value is zero.

[0028] Optionally, before obtaining the gantry crane's rotation speed command value, the following steps are also included:

[0029] Set the per-unit value of the speed command for multiple gears;

[0030] For each speed command per unit value, measure the first quadrature axis current limit at the speed corresponding to the speed command per unit value when no field weakening control is performed;

[0031] For each speed command per unit value, at the speed corresponding to the speed command per unit value, the direct axis current command value is gradually reduced, and the direct axis current when the gantry can carry the maximum load is tested as the third direct axis current value, and the quadrature axis current is used as the second quadrature axis current limit value.

[0032] Optionally, when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, the direct-axis current command value of the gantry crane is modified so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value, including:

[0033] When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit and less than the second quadrature-axis current limit, the third direct-axis current value is taken as the direct-axis current command value.

[0034] When the absolute value of the quadrature-axis current command value is greater than or equal to the second quadrature-axis current limit, the third direct-axis current value is used as the direct-axis current command value, and the quadrature-axis current command value is modified to the second quadrature-axis current limit.

[0035] Secondly, the present invention also provides a door operator control device, comprising:

[0036] The speed command value acquisition module is used to acquire the speed command value of the door operator when it is detected that the car door is not fully open or closed.

[0037] The quadrature axis current command value calculation module is used to calculate the quadrature axis current command value of the gantry crane based on the rotation speed command value;

[0038] The judgment module is used to determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit value, which is the maximum quadrature axis current when no field weakening control is performed under the speed command value.

[0039] The direct-axis current command value modification module is used to modify the direct-axis current command value of the gantry crane when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit value, so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value.

[0040] Thirdly, the present invention also provides an electronic device, comprising:

[0041] One or more processors;

[0042] Storage device for storing one or more programs;

[0043] When the one or more programs are executed by the one or more processors, the one or more processors implement the door operator control method as provided in the first aspect of the present invention.

[0044] Fourthly, the present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the door control method as provided in the first aspect of the present invention.

[0045] The door operator control method provided by this invention, when detecting that the car door is not fully open or closed, acquires the door operator's rotation speed command value, calculates the door operator's quadrature axis current command value based on the rotation speed command value, and determines whether the absolute value of the quadrature axis current command value is greater than a first quadrature axis current limit. The first quadrature axis current limit is the maximum quadrature axis current under the rotation speed command value without field weakening control. If the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, the door operator's direct axis current command value is modified so that the actual value of the door operator's quadrature axis current is equal to the quadrature axis current command value, thereby increasing the quadrature axis current, increasing the door operator's torque, increasing the output load, and ensuring that the car door can open or close normally.

[0046] 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

[0047] 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.

[0048] Figure 1 A flowchart of a door operator control method provided in an embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the control system for the gantry crane in an embodiment of the present invention;

[0050] Figure 3 This is a schematic diagram of the voltage limit circle and current limit circle of the door operator in an embodiment of the present invention;

[0051] Figure 4 A schematic diagram of a door operator control process provided in an embodiment of the present invention;

[0052] Figure 5 Another gantry crane control flowchart provided by the present invention;

[0053] Figure 6 This is a schematic diagram of the structure of a door operator control device provided in an embodiment of the present invention;

[0054] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0055] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0056] 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.

[0057] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0058] Figure 1 This is a flowchart illustrating a door operator control method provided in an embodiment of the present invention. This embodiment is applicable to situations where a DC-powered car door operator undergoes field weakening control to improve its load capacity. The method can be executed by the door operator control device provided in this embodiment, which can be implemented in software and / or hardware, and is typically configured in electronic devices, such as... Figure 1 As shown, the gantry crane control method includes the following steps:

[0059] S101. When it is detected that the car door is not fully open or closed, the rotation speed command value of the door operator is obtained.

[0060] In some embodiments of the present invention, a distance sensor or the encoder of the door operator can be used to detect whether the car door is in position when it is opening or closing. If it is detected that the car door is not in position when it is opening or closing, the rotation speed command value of the door operator is obtained. The rotation speed command value is a command with a rotation speed value issued by the main controller to control the door operator to rotate according to the rotation speed value.

[0061] In this embodiment of the invention, the door operator can be a surface-mounted permanent magnet synchronous motor or an embedded permanent magnet synchronous motor; this embodiment of the invention does not impose any limitation on it.

[0062] S102. Calculate the quadrature axis current command value of the gantry crane based on the rotation speed command value.

[0063] Figure 2 This is a schematic diagram of the control system of the gantry crane in an embodiment of the present invention, exemplarily, as shown below. Figure 2 As shown, the gantry crane's rotation speed command value is obtained. and measured rotational speed ω fb The data is then sent to the speed regulator, which uses a feedback control algorithm to adjust the speed command value. and measured rotational speed ω fb Calculations were performed to obtain the quadrature axis current command value of the gantry crane. The feedback control algorithm can be a conventional proportional-integral algorithm or other algorithms, and this embodiment of the invention does not limit it.

[0064] S103. Determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit.

[0065] In this embodiment of the invention, after obtaining the rotation speed command value of the gate machine, the maximum quadrature axis current under the rotation speed command value without field weakening control is calculated as the first quadrature axis current limit value.

[0066] Figure 3 This is a schematic diagram of the voltage limit circle and current limit circle of the door operator in an embodiment of the present invention, as shown below. Figure 3 As shown, unlike ordinary gantry cranes powered by AC power, integrated DC-powered gantry cranes have a lower DC-side voltage, resulting in a smaller voltage limit circle radius. The voltage limit circle is defined by (-ψ) f / L d The radius of the circle is smaller as the rotational speed increases. The current limiting circle is a circular trajectory centered at the origin (0, 0).

[0067] Neglecting resistance, the voltage limit equation for the stator of the gantry crane is:

[0068]

[0069] Where, ω r L is the rotational speed of the gantry crane. q For quadrature axis inductance, i q For quadrature-axis current, ψ f L is the magnetic flux linkage of the permanent magnet in the gantry crane. d For a direct-axis inductor, i d For direct-axis current, u max Let u be the stator voltage limit value. dc If the voltage is the DC bus voltage, then when using SPWM modulation, u max =u dc / 2, When using SVPWM modulation mode

[0070] When no field weakening control is performed, i d When =0, the maximum quadrature-axis current i can be obtained from equation (1). q_max With rotational speed ω r Relationship:

[0071]

[0072] The torque formula for a permanent magnet synchronous motor is:

[0073] T e =1.5ψ fi q (3)

[0074] Without field weakening control, the maximum torque T e_max With rotational speed ω r Relationship:

[0075]

[0076] Speed ​​command value Substituting into equations (2) and (3) above, we obtain the maximum quadrature-axis current under the speed command value without field weakening control:

[0077]

[0078] And the maximum torque without field weakening control at the specified speed command value:

[0079]

[0080] Thus, the first quadrature axis current limit i can be calculated in advance using the above equation (5). q_max1 . refer to Figure 3 When field weakening control is not performed, the speed command value is ω. r1 At this time, the gantry crane's maximum output load is at point A. At this point, the gantry crane's quadrature-axis current is the first quadrature-axis current limit i. q_max1 With zero direct-axis current, the maximum output torque is T. e_max1 .

[0081] In this embodiment of the invention, it is determined whether the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, that is, whether... Is it greater than i? q_max1 .

[0082] S104. Modify the direct axis current command value of the gantry crane so that the actual value of the quadrature axis current of the gantry crane is equal to the quadrature axis current command value.

[0083] When the absolute value of the quadrature-axis current command value exceeds the first quadrature-axis current limit, it indicates that without field weakening control, the actual value of the quadrature-axis current cannot reach the command value, resulting in insufficient torque and preventing the car from opening and closing normally. To address this, this invention employs field weakening control to modify the direct-axis current command value of the door operator, ensuring that the actual value of the quadrature-axis current is as close as possible to the command value. This increases the quadrature-axis current, thereby increasing the door operator's torque, expanding the output load, and ensuring the car door can open and close normally.

[0084] Specifically, the maximum quadrature-axis current for field weakening control, within the limits of current constraints, is:

[0085]

[0086] The maximum torque for field weakening control, within the current limit constraints, is:

[0087]

[0088] Speed ​​command value Substituting into equations (7) and (8) above, the maximum quadrature-axis current (i.e., the second quadrature-axis current limit) under field weakening control at the speed command value is obtained as follows:

[0089]

[0090] Under the speed command value, the maximum torque during field weakening control is:

[0091]

[0092] refer to Figure 3 When performing field weakening control, the speed command value is ω. r1 At point B, the gantry crane's maximum output load is at point B. At this point, the quadrature-axis current of the gantry crane is the first quadrature-axis current limit i. q_max2 The maximum output torque is T. e_max2 Therefore, with a fixed rotational speed command value, the dynamic performance and load capacity of the gate system are improved after implementing field weakening control.

[0093] Figure 4 This is a schematic diagram of a door operator control process provided in an embodiment of the present invention, with reference to... Figure 4 For example, in some embodiments of the present invention, the input car door position information x and rotation speed command value are received. And based on the speed command value Calculate the quadrature axis current command value Based on the car door position information x, determine whether the car door is in the open / closed position determination area (i.e., whether the door is open / closed). If the door is open / closed, there is no need for weak magnetic control. The quadrature axis current command value is obtained according to equation (13). and direct-axis current command value If the door is not fully open / closed, the speed command value is calculated according to equations (5) and (9). The first quadrature axis current limit i q_max1 Second cross-axis current limit i q_max2 Then determine the absolute value of the quadrature-axis current command value. Is it greater than the first quadrature axis current limit i? q_max1 If so, then further determine the quadrature axis current command value. Is it less than the second quadrature axis current limit i? q_max2 If so, that is At that time, the direct axis current value calculated based on the voltage limit equation of the stator of the gantry crane under the conditions of quadrature axis current command value and speed command value is used as the first direct axis current value, and the direct axis current value calculated based on the current limit equation of the stator of the gantry crane under the condition of quadrature axis current command value is used as the second direct axis current value. The second quadrature axis current limit value is the maximum quadrature axis current when performing field weakening control under the speed command value.

[0094] Specifically, referring to the voltage limit equation (1), the direct-axis current value (i.e., the first direct-axis current value) under the conditions of the quadrature-axis current command value and the speed command value is:

[0095]

[0096] The current limiting equation for the stator of the gantry crane is:

[0097]

[0098] Among them, i max This is the maximum limiting current for the stator. It should be noted that when the quadrature-axis current command value is obtained from the speed command value and feedback value through proportional-integral regulation, a limiting module will limit the quadrature-axis current command value (ensuring it remains within the current limit circle), meaning the quadrature-axis current command value meets the following conditions.

[0099] The direct-axis current value (i.e., the second direct-axis current value) calculated based on the current limiting equation of the gantry crane stator under the condition of the quadrature-axis current command value is:

[0100]

[0101] In this embodiment of the invention, the maximum value between the first direct-axis current value and the second direct-axis current value is taken as the direct-axis current command value.

[0102] refer to Figure 3 When the speed command value is ω r1 When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit and less than the second quadrature-axis current limit, field weakening is performed, and the operating point of the gantry crane is between points A and B on the voltage limit circle. At this time, the quadrature-axis current command value is not modified, and the maximum value between the first and second direct-axis current values ​​is used as the direct-axis current command value. That is, when... Then:

[0103]

[0104] refer to Figure 4 In the absolute value of the quadrature axis current command value Greater than or equal to the second quadrature axis current limit i q_max2At that time, because the quadrature-axis current of the gantry crane could not exceed the second quadrature-axis current limit i q_max2 To ensure that the quadrature-axis current is as close as possible to the quadrature-axis current command value, the maximum quadrature-axis current (i.e., the second quadrature-axis current limit i) during field weakening control at the speed command value is selected. q_max2 The quadrature-axis current command value is used as the reference value. The direct-axis coordinate of the center of the voltage limit circle under the specified speed command value is calculated.

[0105] The maximum value between the direct-axis coordinate of the center of the voltage limit circle and the second direct-axis current value is taken as the direct-axis current command, and the quadrature-axis current command value is modified to the second quadrature-axis current limit. That is, when Then:

[0106]

[0107] refer to Figure 3 When the speed command value is ω r1 The absolute value of the quadrature axis current command value Greater than or equal to the second quadrature axis current limit i q_max2 At that time, the magnetic field is weakened, and the operating point of the gantry crane is at point B on the voltage limit circle.

[0108] S105, No field weakening control is performed, and the direct axis current command value is zero.

[0109] The absolute value of the quadrature axis current command value Less than or equal to the first quadrature axis current limit i q_max1 If the current condition is met, it indicates that the gantry crane's load capacity meets the current requirements, and field weakening control is not necessary. In this case, there is no need to modify the quadrature-axis current command value or the direct-axis current command value.

[0110]

[0111] refer to Figure 2 In this invention, the field weakening control process is handled by a field weakening module. After passing through the field weakening module, the quadrature-axis current command value and the quadrature-axis current feedback value are sent to the quadrature-axis current regulator for feedback control processing to obtain the quadrature-axis voltage command value. The direct-axis current command value and the direct-axis current feedback value are sent to the direct-axis current regulator for feedback control processing to obtain the direct-axis voltage command value. quadrature axis voltage command value and direct axis voltage command value The signal is fed into an SPWM or SVPWM modulator for modulation to obtain a three-phase voltage modulation wave, which controls the power transistor to turn on and off, supplying power to the permanent magnet synchronous motor and driving the gantry crane to run at the commanded speed.

[0112] The door operator control method provided in this embodiment of the invention obtains the door operator's rotation speed command value when it detects that the car door is not fully open or closed. Based on the rotation speed command value, it calculates the quadrature axis current command value of the door operator and determines whether the absolute value of the quadrature axis current command value is greater than a first quadrature axis current limit. The first quadrature axis current limit is the maximum quadrature axis current under the rotation speed command value without field weakening control. If the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, it modifies the door operator's direct axis current command value so that the actual value of the door operator's quadrature axis current is equal to the quadrature axis current command value, thereby increasing the quadrature axis current, increasing the door operator's torque, increasing the output load, and ensuring that the car door can open or close normally.

[0113] Considering the large stator resistance and non-negligible voltage drop in some integrated gantry crane designs, using formula-based field weakening control would be computationally complex, consume significant chip resources, and result in substantial discrepancies between the calculated and actual values, leading to significant control errors. Therefore, in another embodiment of this invention, a lookup table-based field weakening control method is proposed. The details are as follows:

[0114] Multiple speed command per-unit values ​​are preset. For example, since the maximum speed of the door operator when opening and closing the door generally does not exceed the rated speed of the motor, multiple different speed command per-unit values ​​are set from 0.05 to 1.2 at intervals of 0.05. The speed command per-unit value multiplied by the rated speed is the speed command value. First, for each speed command per-unit value, the first quadrature-axis current limit is measured at the speed command value corresponding to the speed command per-unit value without field weakening control. That is, measuring i d Under the =0 control scheme, the q-axis current corresponding to the maximum load that the motor can drive. Then, for each speed command per unit value, under the corresponding speed command value, the direct-axis current command value is gradually reduced, and the direct-axis current when the gantry crane can carry the maximum load is used as the third direct-axis current value. Quadrature axis current as the second quadrature axis current limit Thus, the following table is obtained.

[0115]

[0116] Figure 5 Another gate operator control flowchart provided by the present invention, such as Figure 5 As shown, during actual operation, the car door position information x and the rotation speed command value are received as input. And based on the speed command value Calculate the quadrature axis current command value Based on the car door position information x, determine whether the car door is in the open / closed position determination area (i.e., whether the door is open / closed). If the door is open / closed, there is no need for weak magnetic control. The quadrature axis current command value is obtained according to equation (13). and direct-axis current command value If the door is not fully open / closed, the speed command value will be used. Find the speed command value in the table above. The corresponding first quadrature axis current limit Second cross-axis current limit Then determine the quadrature axis current command value. Is it greater than the first quadrature axis current limit obtained from the table? If not, it indicates that field weakening control is not required, and there is no need to modify the quadrature-axis current command value and the direct-axis current command value.

[0117]

[0118] If the quadrature current command value Greater than the measured first quadrature axis current limit Then further determine the quadrature axis current command value. Is it less than the second quadrature axis current limit obtained from the table? If so, that is When this occurs, it indicates that the gantry crane requires field weakening control to drive the load, based on the speed command value. Find the third direct-axis current value corresponding to the specified speed command value in the table above. Modify the direct-axis current command value to the third direct-axis current value. That is, in the embodiments of the present invention, when Then:

[0119]

[0120] If the quadrature current command value Greater than the measured second quadrature axis current limit This indicates that the current load exceeds the gantry crane's maximum load capacity under this speed command value. To ensure the gantry crane can operate under the highest possible load, adjustments can be made based on the speed command value. Find the third direct-axis current value corresponding to the specified speed command value in the table above. Modify the direct-axis current command value to the third direct-axis current value. Modify the quadrature axis current command value to the second quadrature axis current limit. That is when Then:

[0121]

[0122] By using a lookup table method, when performing field weakening control, the gantry crane is directly operated at the point of maximum quadrature-axis current under the speed command value (i.e., Figure 3 Point B in the diagram maximizes the load capacity of the gantry crane, further improving its load capacity. This also avoids the problems of excessive chip resources, low efficiency, and large control errors caused by the formula method used in the previous embodiments. In addition, it can also weaken the impact of inverter nonlinearity.

[0123] This invention also provides a door operator control device. Figure 6 This is a schematic diagram of the structure of a door operator control device provided in an embodiment of the present invention, as shown below. Figure 6 As shown, the gantry crane control device includes:

[0124] The speed command value acquisition module 201 is used to acquire the speed command value of the door operator when it is detected that the car door is not fully open or closed.

[0125] The quadrature axis current command value calculation module 202 is used to calculate the quadrature axis current command value of the gantry crane based on the rotation speed command value;

[0126] The judgment module 203 is used to determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit value, wherein the first quadrature axis current limit value is the maximum quadrature axis current when no field weakening control is performed under the speed command value.

[0127] The direct-axis current command value modification module 204 is used to modify the direct-axis current command value of the gantry crane when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit value, so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value.

[0128] In some embodiments of the present invention, the quadrature-axis current command value calculation module 202 includes:

[0129] The actual rotation speed acquisition submodule is used to acquire the actual rotation speed of the gantry crane;

[0130] The feedback algorithm submodule is used to calculate the speed command value and the measured speed value using a feedback control algorithm to obtain the quadrature axis current command value of the gantry crane.

[0131] In some embodiments of the present invention, the formula for calculating the first quadrature-axis current limit is as follows:

[0132]

[0133] Among them, u max This refers to the voltage limit value of the stator of the gantry crane. ψ is the speed command value. f L is the magnetic flux linkage of the permanent magnet in the gantry crane.q It is a quadrature axis inductor.

[0134] In some embodiments of the present invention, the direct-axis current command value modification module 204 includes:

[0135] The first calculation submodule is used to calculate the direct axis current value under the conditions of the quadrature axis current command value and the speed command value as the first direct axis current value based on the voltage limit equation of the stator of the gantry crane when the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit value and less than the second quadrature axis current limit value, and to calculate the direct axis current value under the conditions of the quadrature axis current command value as the second direct axis current value based on the current limit equation of the stator of the gantry crane, wherein the second quadrature axis current limit value is the maximum quadrature axis current when performing field weakening control under the speed command value;

[0136] The first value-taking submodule is used to take the maximum value between the first direct-axis current value and the second direct-axis current value as the direct-axis current command value.

[0137] In some embodiments of the present invention, the direct-axis current command value modification module 204 further includes:

[0138] The second calculation submodule is used to calculate the direct axis coordinate value of the center of the voltage limit circle under the speed command value condition when the absolute value of the cross-axis current command value is greater than or equal to the second cross-axis current limit value.

[0139] The second value-taking submodule is used to take the maximum value between the direct axis coordinate value of the center of the voltage limit circle and the second direct axis current value as the direct axis current command value;

[0140] The first modification submodule is used to modify the quadrature axis current command value to the second quadrature axis current limit value.

[0141] In some embodiments of the present invention, the formula for calculating the second quadrature-axis current limit is as follows:

[0142]

[0143] Among them, u max This refers to the voltage limit value of the stator of the gantry crane. L is the speed command value. q It is a quadrature axis inductor.

[0144] In some embodiments of the present invention, the door operator control device further includes:

[0145] The non-weakening submodule is used to not perform field weakening control when the absolute value of the quadrature axis current command value is less than or equal to the first quadrature axis current limit value, and the direct axis current command value is zero.

[0146] In some embodiments of the present invention, the door operator control device further includes:

[0147] The per-unit value setting module is used to set the per-unit values ​​of the rotation speed command for multiple gears before obtaining the rotation speed command value of the gantry crane;

[0148] The first measurement module is used to measure the first quadrature axis current limit at the rotational speed corresponding to each rotational speed command per unit value when no field weakening control is performed.

[0149] The second measurement module is used to, for each speed command per unit value, gradually reduce the direct-axis current command value at the speed corresponding to the speed command per unit value, test the direct-axis current when the gantry can carry the maximum load as the third direct-axis current value, and the quadrature-axis current as the second quadrature-axis current limit value.

[0150] In some embodiments of the present invention, the direct-axis current command value modification module 204 includes:

[0151] The third value-taking submodule is used to take the third direct-axis current value as the direct-axis current command value when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit and less than the second quadrature-axis current limit.

[0152] The fourth value-taking submodule is used to take the third direct-axis current value as the direct-axis current command value and modify the cross-axis current command value to the second cross-axis current limit value when the absolute value of the cross-axis current command value is greater than or equal to the second cross-axis current limit value.

[0153] The aforementioned door operator control device can execute the door operator control method provided in the foregoing embodiments of the present invention, and has the corresponding functional modules and beneficial effects for executing the door operator control method.

[0154] Figure 7 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0155] like Figure 7As shown, the electronic device includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0156] Multiple components in the electronic device are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the electronic device to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0157] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as door control methods.

[0158] In some embodiments, the door operator control method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded into and / or installed on an electronic device via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the door operator control method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the door operator control method by any other suitable means (e.g., by means of firmware).

[0159] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0160] 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.

[0161] 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.

[0162] 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).

[0163] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0164] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0165] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the door operator control method provided in any embodiment of this application.

[0166] In implementing the computer program product, computer program code for performing the operations of this invention can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0167] 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.

[0168] 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 gantry crane control method, characterized in that, include: When the door of the car is detected to be not fully open or closed, the rotation speed command value of the door operator is obtained; The quadrature axis current command value of the gantry crane is calculated based on the rotation speed command value; Determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, where the first quadrature axis current limit is the maximum quadrature axis current when no field weakening control is performed under the speed command value; When the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit, the direct axis current command value of the gantry crane is modified so that the actual value of the quadrature axis current of the gantry crane is equal to the quadrature axis current command value. When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, modifying the direct-axis current command value of the gantry crane so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value includes: When the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit and less than the second quadrature axis current limit, the direct axis current value under the conditions of the quadrature axis current command value and the speed command value is calculated based on the voltage limit equation of the stator of the gantry crane as the first direct axis current value, and the direct axis current value under the conditions of the quadrature axis current command value is calculated based on the current limit equation of the stator of the gantry crane as the second direct axis current value, wherein the second quadrature axis current limit is the maximum quadrature axis current when performing field weakening control under the speed command value; The maximum value between the first direct-axis current value and the second direct-axis current value is taken as the direct-axis current command value.

2. The gantry crane control method according to claim 1, characterized in that, Calculating the quadrature-axis current command value of the gantry crane based on the speed command value includes: Obtain the measured value of the rotational speed of the gantry crane; The feedback control algorithm is used to calculate the speed command value and the measured speed value to obtain the quadrature axis current command value of the gantry crane.

3. The gantry crane control method according to claim 1, characterized in that, The formula for calculating the first quadrature-axis current limit is: in, This refers to the voltage limit value of the stator of the gantry crane. This is the speed command value. The magnetic flux linkage of the permanent magnet in the gantry crane. It is a quadrature axis inductor.

4. The gantry crane control method according to claim 1, characterized in that, When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, the direct-axis current command value of the gantry crane is modified so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value, further comprising: When the absolute value of the quadrature axis current command value is greater than or equal to the second quadrature axis current limit value, calculate the direct axis coordinate value of the center of the voltage limit circle under the speed command value condition; The maximum value between the center of the voltage limit circle and the second direct-axis current value is taken as the direct-axis current command value; Modify the quadrature axis current command value to the second quadrature axis current limit value.

5. The gantry crane control method according to claim 1, characterized in that, The formula for calculating the second quadrature-axis current limit is: in, This refers to the voltage limit value of the stator of the gantry crane. This is the speed command value. It is a quadrature axis inductor.

6. The gantry crane control method according to any one of claims 1-5, characterized in that, Also includes: When the absolute value of the quadrature-axis current command value is less than or equal to the first quadrature-axis current limit, field weakening control is not performed, and the direct-axis current command value is zero.

7. The gantry crane control method according to claim 1 or 2, characterized in that, Before obtaining the gantry crane's rotation speed command value, the following steps are also included: Set the per-unit value of the speed command for multiple gears; For each speed command per unit value, measure the first quadrature axis current limit at the speed corresponding to the speed command per unit value when no field weakening control is performed; For each speed command per unit value, at the speed corresponding to the speed command per unit value, the direct axis current command value is gradually reduced, and the direct axis current when the gantry can carry the maximum load is tested as the third direct axis current value, and the quadrature axis current is used as the second quadrature axis current limit value.

8. The gantry crane control method according to claim 7, characterized in that, When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit, the direct-axis current command value of the gantry crane is modified so that the actual value of the quadrature-axis current of the gantry crane is equal to the quadrature-axis current command value, including: When the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit and less than the second quadrature-axis current limit, the third direct-axis current value is taken as the direct-axis current command value. When the absolute value of the quadrature-axis current command value is greater than or equal to the second quadrature-axis current limit, the third direct-axis current value is used as the direct-axis current command value, and the quadrature-axis current command value is modified to the second quadrature-axis current limit.

9. A gantry crane control device, characterized in that, include: The speed command value acquisition module is used to acquire the speed command value of the door operator when it is detected that the car door is not fully open or closed. The quadrature axis current command value calculation module is used to calculate the quadrature axis current command value of the gantry crane based on the rotation speed command value; The judgment module is used to determine whether the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit value, which is the maximum quadrature axis current when no field weakening control is performed under the speed command value. The direct-axis current command value modification module is used to modify the direct-axis current command value of the door operator when the absolute value of the quadrature-axis current command value is greater than the first quadrature-axis current limit value, so that the actual value of the quadrature-axis current of the door operator is equal to the quadrature-axis current command value. The direct-axis current command value modification module includes: The first calculation submodule is used to calculate the direct axis current value under the conditions of the quadrature axis current command value and the speed command value as the first direct axis current value based on the voltage limit equation of the stator of the gantry crane when the absolute value of the quadrature axis current command value is greater than the first quadrature axis current limit value and less than the second quadrature axis current limit value, and to calculate the direct axis current value under the conditions of the quadrature axis current command value as the second direct axis current value based on the current limit equation of the stator of the gantry crane, wherein the second quadrature axis current limit value is the maximum quadrature axis current when performing field weakening control under the speed command value; The first value-taking submodule is used to take the maximum value between the first direct-axis current value and the second direct-axis current value as the direct-axis current command value.

10. An electronic device, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the door operator control method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the door operator control method as described in any one of claims 1-8.

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