High-precision leveling control method

Abstract

The invention relates to the technical field of elevator leveling control, and discloses a high-precision leveling control method which comprises the following steps: acquiring an ideal running distance after an elevator enters a target floor; setting a light-load threshold value and a heavy-load threshold value of the elevator, and acquiring the actual running distance of the elevator after entering the target floor under the light / heavy-load condition; the position deviation of the elevator under the light / heavy load condition is calculated according to the ideal running distance and the actual running distance after the elevator enters the target layer under the light / heavy load condition; the position deviation of the elevator under the light load condition and the position deviation of the elevator under the heavy load condition are stored in a storage; and the running situation of the elevator is obtained, and the corresponding position deviation in the storage is compensated according to the running situation, so that the target running distance after the elevator enters the target floor is adjusted. According to the high-precision leveling control method provided by the invention, the operation distance of the magnet vane entering the target floor is adjusted based on the load, and the leveling control effect on different loads on the same floor on a passenger elevator with a large lifting height is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator leveling control, and in particular to a high-precision leveling control method. Background Art

[0002] In traditional technology, in order to improve the accuracy of elevator leveling, the elevator control system can make distance corrections by controlling the elevator to run at a low speed during the deceleration process of the elevator, when it is about to stop running, so as to overcome the running distance deviation caused by speed tracking error or wire rope slippage. The deviation is caused by the gap between the predicted position and the actual position of the elevator car. However, in passenger elevators with large lifting heights, due to the large inertia of the system, it is relatively challenging to control the leveling accuracy within the standard range. When the elevator load is relatively large, the speed tracking error is difficult to overcome. Summary of the invention

[0003] The present invention provides a high-precision leveling control method, which adjusts the running distance of the magnetic isolation plate entering the target layer based on the load, thereby improving the leveling control effect of different loads on the same floor on a passenger elevator with a large lifting height.

[0004] The present invention provides a high-precision leveling control method, comprising:

[0005] Obtaining the ideal running distance of the elevator after entering the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate;

[0006] Set the light load threshold and heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under light load conditions, and obtain the actual running distance of the elevator after entering the destination floor under heavy load conditions;

[0007] Calculating the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions;

[0008] Calculating the position deviation of the elevator under heavy load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions;

[0009] The position deviation of the elevator under light load and the position deviation of the elevator under heavy load are stored in a memory;

[0010] The operation status of the elevator is obtained, and the corresponding position deviation in the memory is compensated according to the operation status to adjust the target operation distance of the elevator after entering the destination floor.

[0011] Furthermore, in the step of obtaining the ideal running distance after the elevator enters the destination floor, when the elevator enters the destination floor, the leveling sensor signal is first detected, and then the elevator runs to the final position; wherein the leveling sensor is arranged in the middle of the elevator in the vertical direction;

[0012] The ideal running distance is: the distance from the start of the leveling sensor signal to the ideal center position.

[0013] Further, the steps of setting the light load threshold and the heavy load threshold of the elevator, obtaining the actual running distance of the elevator after entering the destination floor under the light load condition, and obtaining the actual running distance of the elevator after entering the destination floor under the heavy load condition include:

[0014] Set the heavy load threshold range of the elevator: greater than the first set value load; set the light load threshold range of the elevator: less than the second set value load;

[0015] When the elevator is lightly loaded, the elevator express car runs upward once, and the first actual running distance S21 is recorded;

[0016] When the elevator is lightly loaded, the elevator express runs downward once, and the second actual running distance S22 is recorded;

[0017] When the elevator is overloaded, the elevator express car runs upward once, and the first actual running distance S23 is recorded;

[0018] When the elevator is overloaded, the elevator express runs downward once, and the second actual running distance S24 is recorded.

[0019] Furthermore, the actual running distance is obtained by incremental conversion of encoder pulse signals, and the steps are as follows:

[0020] Get the resolution of the sine-cosine encoder and calculate the number of pulses captured by the QEP unit of the DSP when the motor rotates one circle based on the resolution;

[0021] Determine the motor circumference D corresponding to the number of pulses, and obtain the pulse increment P from the elevator entering the leveling floor to stopping;

[0022] The actual running distance S2 of the elevator is calculated according to the motor circumference D, the pulse increment P and the number of pulses, and the calculation formula is: S2=D×(P / 8192).

[0023] Further, in the step of calculating the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance after the elevator enters the destination floor under light load conditions, the calculation formula is:

[0024] ΔS1=S21-S1

[0025] ΔS2=S22-S1

[0026] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS1 is the upward running position deviation of the elevator under light load conditions, and ΔS2 is the downward running position deviation of the elevator under light load conditions.

[0027] Further, in the step of calculating the position deviation of the elevator under heavy load according to the ideal running distance and the actual running distance after the elevator enters the destination floor under heavy load, the calculation formula is:

[0028] ΔS3=S23-S1

[0029] ΔS4=S24-S1

[0030] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS3 is the upward running position deviation when the elevator is overloaded, and ΔS4 is the downward running position deviation when the elevator is overloaded.

[0031] Furthermore, the step of obtaining the operation status of the elevator and compensating the corresponding position deviation in the memory according to the operation status to adjust the target operation distance of the elevator after entering the destination floor includes:

[0032] When the elevator goes up under light load, the target running distance S11 after entering the destination floor is: S11 = S1 + ΔS1;

[0033] When the elevator is traveling downward under light load, the target running distance S12 after entering the destination floor is: S12 = S1 + ΔS2;

[0034] When the elevator goes up under heavy load, the target running distance S13 after entering the destination floor is: S13 = S1 + ΔS3;

[0035] When the elevator is descending under heavy load, the target running distance S14 after entering the destination floor is: S14 = S1 + ΔS4;

[0036] When the elevator is running neither under light load nor under heavy load, the target running distance after entering the destination floor is S15=S1.

[0037] The present invention also provides a high-precision leveling control device, comprising:

[0038] An acquisition module is used to acquire an ideal running distance after the elevator enters the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate;

[0039] A setting module is used to set the light load threshold and the heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under the light load condition, and obtain the actual running distance of the elevator after entering the destination floor under the heavy load condition;

[0040] A first calculation module is used to calculate the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions;

[0041] A second calculation module is used to calculate the position deviation of the elevator under heavy load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions;

[0042] A storage module, used for storing the position deviation of the elevator under light load and the position deviation of the elevator under heavy load in a memory;

[0043] The compensation module is used to obtain the operation status of the elevator and compensate the corresponding position deviation in the memory according to the operation status to adjust the target operation distance after the elevator enters the destination floor.

[0044] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0045] The present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program implements the steps of the above method when executed by a processor.

[0046] The beneficial effects of the present invention are:

[0047] The present invention obtains the ideal running distance after the elevator enters the destination floor, sets the heavy load threshold and the light load threshold of the elevator, and obtains the actual running distance after the elevator enters the destination floor under light / heavy load conditions, and calculates the position deviation of the elevator under light / heavy load conditions according to the ideal running distance and the actual running distance after the elevator enters the destination floor under light / heavy load conditions and stores it in a memory; finally, the running condition of the elevator is obtained, and the corresponding position deviation in the memory is compensated to adjust the target running distance after the elevator enters the destination floor. The present invention adjusts the running distance of the magnetic isolation plate entering the destination floor based on the load, and improves the leveling control effect of the passenger elevator with a large lifting height for different loads on the same floor. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The figure is a schematic diagram of a method flow according to an embodiment of the present invention.

[0049] Figure 2 Schematic diagram of the distance between an elevator and a magnetic isolation plate during the ascending process according to an embodiment of the present invention.

[0050] Figure 3 It is a schematic diagram of a position deviation curve after entering the target layer magnetic isolation plate according to an embodiment of the present invention.

[0051] Figure 4 It is a schematic diagram of a running distance curve of a magnetic isolation plate entering a target layer according to an embodiment of the present invention.

[0052] Figure 5FIG. 1 is a schematic diagram of a device structure according to an embodiment of the present invention.

[0053] Figure 6 The figure is a schematic diagram of the internal structure of a computer device according to an embodiment of the present invention.

[0054] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0057] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0058] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0059] The present invention proposes a method for adjusting the running distance of the magnetic isolation plate entering the target floor based on the load, which has a good leveling control effect for different loads on the same floor on a passenger elevator with a large lifting height. To achieve the above purpose, the present invention adopts the following technical solutions:

[0060] like Figure 1 As shown, the present invention provides a high-precision leveling control method, comprising:

[0061] S1. Obtain the ideal running distance of the elevator after entering the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate.

[0062] In one embodiment, in the step of obtaining the ideal running distance after the elevator enters the destination floor, when the elevator enters the destination floor, the leveling sensor signal is first detected, and then the elevator runs to the final position; wherein the leveling sensor is arranged in the middle of the elevator in the vertical direction; the ideal running distance is: the distance from the beginning to the leveling sensor signal to the ideal center position, that is:

[0063] The ideal leveling position for a normal elevator is in the middle of the magnetic isolation plate. Figure 2 In the state ④ shown in the figure, it is known that the length of the magnetic isolation plate is S. When the elevator enters the final destination floor, it will first detect the leveling sensor signal. The target distance from the beginning of the leveling signal to the ideal center position, that is, the ideal running distance is S1, and S1=0.5S.

[0064] The speed tracking error will lead to the running distance deviation, making the actual running distance S2>S1 or S2<S1 in the final stage with leveling signal.

[0065] The actual distance S2 that the elevator runs after entering the magnetic isolation board of the destination floor is recorded by the encoder pulse number, and compared with the ideal running distance S1 (half the length of the magnetic isolation board, i.e. 0.5S), the position deviation can be obtained. That is, the actual distance S2 can be obtained by the incremental conversion of the encoder pulse signal, that is, the position deviation ΔS = S2-S1.

[0066] S2. Set the light load threshold and heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under the light load condition, and obtain the actual running distance of the elevator after entering the destination floor under the heavy load condition.

[0067] In one embodiment, the actual running distance of the elevator after entering the destination floor under heavy load is: the distance from the beginning to the leveling sensor signal to the final stop position under heavy load; the actual running distance of the elevator after entering the destination floor under light load is: the distance from the beginning to the leveling sensor signal to the final stop position under light load. Step S2 specifically includes:

[0068] S201. Set the heavy load threshold range of the elevator: greater than the first set value load; set the light load threshold range of the elevator: less than the second set value load.

[0069] Heavy load threshold range: greater than 80% load (80% is the first set value, which can be adjusted as needed and is not limited here).

[0070] Light load threshold range: less than 20% load (20% is the second set value, which can be adjusted as needed and is not limited here).

[0071] S202, when the elevator is lightly loaded (no load is added), the elevator express car runs upward once, and the first actual running distance S21 is recorded;

[0072] S203, when the elevator is lightly loaded (no load is added), the elevator express car runs downward once, and the second actual running distance S22 is recorded;

[0073] S204, when the elevator is overloaded (fully loaded), the elevator express car runs upward once, and the first actual running distance S23 is recorded;

[0074] S205. When the elevator is overloaded (fully loaded), the elevator express car runs downward once, and the second actual running distance S24 is recorded.

[0075] By learning the position deviations of the above four working conditions, setting the heavy load threshold and light load threshold, the target running distance deviation ΔS of entering the target layer magnetic isolation plate is obtained, as shown in Figure 3 In the position deviation curve shown, V_ref represents the reference speed, V_fd represents the actual feedback speed, the area of ​​the shaded part represents the position deviation of the speed following, and the corresponding position deviation ΔS schematic diagram, the integral of V_ref is S1, and the integral of V_fd is S2.

[0076] The distance deviations of entering the magnetic isolation plate under four working conditions are obtained (i.e., steps S3 and S4):

[0077] ΔS1=S21-S1;

[0078] ΔS2 = S22 - S1;

[0079] ΔS3 = S23 - S1;

[0080] ΔS4=S24-S1.

[0081] In one embodiment, the actual running distance is obtained by incremental conversion of encoder pulse signals, and the steps are as follows:

[0082] 1) Obtain the resolution of the sine-cosine encoder and calculate the number of pulses captured by the QEP unit of the DSP when the motor rotates one circle based on the resolution;

[0083] 2) Determine the motor circumference D corresponding to the number of pulses, and obtain the pulse increment P from the elevator entering the leveling floor to stopping;

[0084] 3) Calculate the actual running distance S2 of the elevator according to the motor circumference D, pulse increment P and pulse number, and the calculation formula is: S2=D×(P / 8192).

[0085] For example, for a sine-cosine encoder with a resolution of 2048, generally 8192 pulses will be captured by the QEP unit of the DSP when the motor rotates one circle. 8192 pulses correspond to the circumference D of the motor. If the elevator has a pulse increment of P from leveling to stopping, then S2 = D×(P / 8192).

[0086] S3. Calculate the position deviation of the elevator under light load condition according to the ideal running distance and the actual running distance after the elevator enters the destination floor under light load condition; the calculation formula is:

[0087] ΔS1=S21-S1

[0088] ΔS2=S22-S1

[0089] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS1 is the upward running position deviation of the elevator under light load conditions, and ΔS2 is the downward running position deviation of the elevator under light load conditions.

[0090] S4. Calculate the position deviation of the elevator under heavy load according to the ideal running distance and the actual running distance after the elevator enters the destination floor under heavy load; the calculation formula is:

[0091] ΔS3=S23-S1

[0092] ΔS4=S24-S1

[0093] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS3 is the upward running position deviation when the elevator is overloaded, and ΔS4 is the downward running position deviation when the elevator is overloaded.

[0094] S5. The position deviation of the elevator under light load and the position deviation of the elevator under heavy load are stored in a memory.

[0095] After obtaining the position deviation, learn the position deviation of four working conditions, namely:

[0096] ① When the elevator is lightly loaded and moving upward, the deviation value of the lightly loaded upward movement is stored in the memory;

[0097] ② When the elevator is lightly loaded and descending, the deviation value of the lightly loaded descent is stored in the memory;

[0098] ③When the elevator is heavily loaded and moving upward, the deviation value of the lightly loaded upward movement is stored in the memory;

[0099] ④ When the elevator is heavily loaded and descending, the deviation value of the heavily loaded descent is stored in the memory.

[0100] S6. Obtain the operation status of the elevator, and compensate the corresponding position deviation in the memory according to the operation status to adjust the target operation distance after the elevator enters the destination floor.

[0101] In one embodiment, Figure 4 The speed curve in the deceleration stage is shown, and the final running distance after encountering the leveling sensor to the speed being 0. After learning the position deviation in step S5, the position deviation in the memory is compensated to the next elevator operation, thereby adjusting the target running distance to enter the magnetic isolation plate of the target layer. That is, step S6 specifically includes:

[0102] S601. When the elevator is moving upward under light load, the target running distance S11 after entering the destination floor is: S11 = S1 + ΔS1;

[0103] S602, when the elevator is descending under light load, the target running distance S12 after entering the destination floor is: S12 = S1 + ΔS2;

[0104] S603, when the elevator goes up under heavy load, the target running distance S13 after entering the destination floor is: S13 = S1 + ΔS3;

[0105] S604, when the elevator is descending under heavy load, the target running distance S14 after entering the destination floor is: S14 = S1 + ΔS4;

[0106] S605. When the elevator is running neither under light load nor under heavy load, the target running distance after entering the destination floor is S15=S1.

[0107] For example: store the learned position deviation in the memory, and when encountering the corresponding working conditions, compensate the running distance of the magnetic plate entering the target layer:

[0108] (1) When the elevator is moving upward, if the load is less than 20%, it is considered light load operation, and the final target running distance is S11 = S1 + ΔS1;

[0109] (2) When the elevator is moving downward, if the load is less than 20%, it is considered light load operation, and the final target running distance is S12 = S1 + ΔS2;

[0110] (3) When the elevator is moving upward, if the load is greater than 80%, it is considered heavy-load operation, and the final target running distance is S13 = S1 + ΔS3;

[0111] (4) When the elevator is going down, if the load is greater than 80%, it is considered as heavy-load operation, and the final target running distance is S14 = S1 + ΔS4;

[0112] (5) When the elevator load is between 20% and 80%, no compensation is required and the target distance is S1.

[0113] The present invention obtains the ideal running distance after the elevator enters the destination floor, sets the heavy load threshold and the light load threshold of the elevator, and obtains the actual running distance after the elevator enters the destination floor under light / heavy load conditions, and calculates the position deviation of the elevator under light / heavy load conditions according to the ideal running distance and the actual running distance after the elevator enters the destination floor under light / heavy load conditions and stores it in a memory; finally, the running condition of the elevator is obtained, and the corresponding position deviation in the memory is compensated to adjust the target running distance after the elevator enters the destination floor. The present invention adjusts the running distance of the magnetic isolation plate entering the destination floor based on the load, and improves the leveling control effect of the passenger elevator with a large lifting height for different loads on the same floor.

[0114] like Figure 5 As shown, the present invention also provides a high-precision leveling control device, comprising:

[0115] Acquisition module 1, used to acquire the ideal running distance of the elevator after entering the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate;

[0116] Setting module 2, used to set the light load threshold and heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under the light load condition, and obtain the actual running distance of the elevator after entering the destination floor under the heavy load condition;

[0117] A first calculation module 3 is used to calculate the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions;

[0118] A second calculation module 4 is used to calculate the position deviation of the elevator under heavy load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions;

[0119] A storage module 5, used for storing the position deviation of the elevator under light load and the position deviation of the elevator under heavy load in a memory;

[0120] The compensation module 6 is used to obtain the operation status of the elevator and compensate the corresponding position deviation in the memory according to the operation status to adjust the target operation distance of the elevator after entering the destination floor.

[0121] In one embodiment, in the acquisition module 1, when the elevator enters the destination floor, it will first detect the leveling sensor signal and then run to the final position; wherein the leveling sensor is set in the middle of the elevator in the vertical direction;

[0122] The ideal running distance is: the distance from the start of the leveling sensor signal to the ideal center position.

[0123] In one embodiment, the setting module 2 includes:

[0124] A range setting unit is used to set a heavy load threshold range of the elevator: greater than a first set value load; set a light load threshold range of the elevator: less than a second set value load;

[0125] The first recording unit is used for recording a first actual running distance S21 when the elevator express car runs upward once under the condition of light load of the elevator;

[0126] The second recording unit is used for recording a second actual running distance S22 when the elevator express car runs downward once under the condition of light load of the elevator;

[0127] A third recording unit is used for recording a first actual running distance S23 when the elevator express car runs upward once under the condition of the elevator being overloaded;

[0128] The fourth recording unit is used for recording the second actual running distance S24 when the elevator express car runs downward once under the condition of heavy load of the elevator.

[0129] In one embodiment, the actual running distance in the setting module 2 is obtained by incremental conversion of the encoder pulse signal, and the steps are as follows:

[0130] Get the resolution of the sine-cosine encoder and calculate the number of pulses captured by the QEP unit of the DSP when the motor rotates one circle based on the resolution;

[0131] Determine the motor circumference D corresponding to the number of pulses, and obtain the pulse increment P from the elevator entering the leveling floor to stopping;

[0132] The actual running distance S2 of the elevator is calculated according to the motor circumference D, the pulse increment P and the number of pulses, and the calculation formula is: S2=D×(P / 8192).

[0133] In one embodiment, in the first calculation module 3, the calculation formula is:

[0134] ΔS1=S21-S1

[0135] ΔS2=S22-S1

[0136] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS1 is the upward running position deviation of the elevator under light load conditions, and ΔS2 is the downward running position deviation of the elevator under light load conditions.

[0137] In one embodiment, in the second calculation module 4, the calculation formula is:

[0138] ΔS3=S23-S1

[0139] ΔS4=S24-S1

[0140] Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS3 is the upward running position deviation when the elevator is overloaded, and ΔS4 is the downward running position deviation when the elevator is overloaded.

[0141] In one embodiment, the compensation module 6 comprises:

[0142] The first compensation unit is used to determine the target running distance S11 after entering the destination floor when the elevator is lightly loaded and ascending: S11 = S1 + ΔS1;

[0143] The second compensation unit is used to determine the target running distance S12 after entering the destination floor when the elevator is descending under light load: S12 = S1 + ΔS2;

[0144] The third compensation unit is used to determine the target running distance S13 after entering the destination floor when the elevator goes up under heavy load: S13 = S1 + ΔS3;

[0145] A fourth compensation unit is used to determine, when the elevator is descending under heavy load, a target running distance S14 after entering the destination floor as: S14=S1+ΔS4;

[0146] The fifth compensation unit is used to determine the target running distance S15=S1 after entering the destination floor when the elevator is running neither in a light-load situation nor in a heavy-load situation.

[0147] The above modules and units are used to execute the corresponding steps in the above high-precision leveling control method. The specific implementation method thereof is described in the above method embodiment and will not be repeated here.

[0148] like Figure 6 As shown, the present invention also provides a computer device, which can be a server, and its internal structure can be as shown in Figure 6 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed by the computer is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all data required for the process of the high-precision leveling control method. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the high-precision leveling control method is implemented.

[0149] Those skilled in the art will understand that Figure 6The structure shown in is merely a block diagram of a portion of the structure related to the present application solution and does not constitute a limitation on the computer device to which the present application solution is applied.

[0150] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, any one of the above-mentioned high-precision leveling control methods is implemented.

[0151] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media provided in this application and used in the embodiments may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0152] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0153] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-precision leveling control method, characterized in that: include: Obtaining the ideal running distance of the elevator after entering the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate; Set the light load threshold and heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under light load conditions, and obtain the actual running distance of the elevator after entering the destination floor under heavy load conditions; Calculating the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions; Calculating the position deviation of the elevator under heavy load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions; The position deviation of the elevator under light load and the position deviation of the elevator under heavy load are stored in a memory; The operation status of the elevator is obtained, and the corresponding position deviation in the memory is compensated according to the operation status to adjust the target operation distance of the elevator after entering the destination floor.

2. The high-precision leveling control method according to claim 1, characterized in that: In the step of obtaining the ideal running distance after the elevator enters the destination floor, when the elevator enters the destination floor, it will first detect the leveling sensor signal and then run to the final position; wherein the leveling sensor is set in the middle of the elevator in the vertical direction; The ideal running distance is: the distance from the start of the leveling sensor signal to the ideal center position.

3. The high-precision leveling control method according to claim 1, characterized in that: The steps of setting the light load threshold and the heavy load threshold of the elevator, obtaining the actual running distance of the elevator after entering the destination floor under the light load condition, and obtaining the actual running distance of the elevator after entering the destination floor under the heavy load condition include: Set the heavy load threshold range of the elevator: greater than the first set value load; set the light load threshold range of the elevator: less than the second set value load; When the elevator is lightly loaded, the elevator express car runs upward once, and the first actual running distance S21 is recorded; When the elevator is lightly loaded, the elevator express runs downward once, and the second actual running distance S22 is recorded; When the elevator is overloaded, the elevator express car runs upward once, and the first actual running distance S23 is recorded; When the elevator is overloaded, the elevator express runs downward once, and the second actual running distance S24 is recorded.

4. The high-precision leveling control method according to claim 3, characterized in that: The actual running distance is obtained by incremental conversion of the encoder pulse signal, and the steps are as follows: Get the resolution of the sine-cosine encoder and calculate the number of pulses captured by the QEP unit of the DSP when the motor rotates one circle based on the resolution; Determine the motor circumference D corresponding to the number of pulses, and obtain the pulse increment P from the elevator entering the leveling floor to stopping; The actual running distance S2 of the elevator is calculated according to the motor circumference D, the pulse increment P and the number of pulses, and the calculation formula is: S2=D×(P / 8192).

5. The high-precision leveling control method according to claim 3, characterized in that: In the step of calculating the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions, the calculation formula is: ΔS1=S21-S1 ΔS2=S22-S1 Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS1 is the upward running position deviation of the elevator under light load conditions, and ΔS2 is the downward running position deviation of the elevator under light load conditions.

6. The high-precision leveling control method according to claim 5, characterized in that: In the step of calculating the position deviation of the elevator under heavy load according to the ideal running distance and the actual running distance after the elevator enters the destination floor under heavy load, the calculation formula is: ΔS3=S23-S1 ΔS4=S24-S1 Among them, S1 is the ideal running distance after the elevator enters the destination floor, ΔS3 is the upward running position deviation when the elevator is overloaded, and ΔS4 is the downward running position deviation when the elevator is overloaded.

7. The high-precision leveling control method according to claim 6, characterized in that: The step of obtaining the operation status of the elevator and compensating the corresponding position deviation in the memory according to the operation status to adjust the target operation distance of the elevator after entering the destination floor includes: When the elevator goes up under light load, the target running distance S11 after entering the destination floor is: S11 = S1 + ΔS1; When the elevator is traveling downward under light load, the target running distance S12 after entering the destination floor is: S12 = S1 + ΔS2; When the elevator goes up under heavy load, the target running distance S13 after entering the destination floor is: S13 = S1 + ΔS3; When the elevator is descending under heavy load, the target running distance S14 after entering the destination floor is: S14 = S1 + ΔS4; When the elevator is running neither under light load nor under heavy load, the target running distance after entering the destination floor is S15=S1.

8. A high-precision leveling control device, characterized in that: include: An acquisition module is used to acquire an ideal running distance after the elevator enters the destination floor; wherein the ideal running distance is half of the length of the magnetic isolation plate; A setting module is used to set the light load threshold and the heavy load threshold of the elevator, and obtain the actual running distance of the elevator after entering the destination floor under the light load condition, and obtain the actual running distance of the elevator after entering the destination floor under the heavy load condition; A first calculation module is used to calculate the position deviation of the elevator under light load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions; A second calculation module is used to calculate the position deviation of the elevator under heavy load conditions according to the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions; A storage module, used for storing the position deviation of the elevator under light load and the position deviation of the elevator under heavy load in a memory; The compensation module is used to obtain the operation status of the elevator and compensate the corresponding position deviation in the memory according to the operation status to adjust the target operation distance after the elevator enters the destination floor.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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