A high-precision floor control method

Abstract

The application 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 of an elevator after entering a target floor; setting an elevator light-load threshold and a heavy-load threshold, and acquiring an actual running distance of the elevator after entering the target floor under light-load / heavy-load conditions; calculating position deviations of the elevator under light-load / heavy-load conditions according to the ideal running distance and the actual running distance of the elevator after entering the target floor under light-load / heavy-load conditions; storing the position deviations of the elevator under light-load conditions and the position deviations of the elevator under heavy-load conditions in a memory; acquiring a running condition of the elevator, and compensating corresponding position deviations in the memory according to the running condition, so as to adjust a target running distance of the elevator after entering the target floor. The high-precision leveling control method provided by the application adjusts the running distance of a magnetic plate entering a target floor based on load, and improves the leveling control effect of a passenger elevator with large lifting height on different loads of the same floor.

Description

Technical Field

[0001] This invention relates to the field of elevator leveling control technology, and in particular to a high-precision leveling control method. Background Technology

[0002] In traditional technology, to improve the accuracy of elevator leveling, the elevator control system can correct the distance by controlling the elevator to run at a low speed during the deceleration process, near the stop, to overcome the deviation in running distance caused by speed tracking error or wire rope slippage. This deviation is caused by the difference between the predicted position and the actual position of the elevator car. However, in passenger elevators with large lifting heights, due to the large system inertia, the leveling control accuracy within the standard range is quite challenging. When the elevator load is large, speed tracking error is difficult to overcome. Summary of the Invention

[0003] This invention provides a high-precision leveling control method that adjusts the running distance of the magnetic plate entering the target floor based on the load, thereby improving the leveling control effect on the same floor with different loads in passenger elevators with high lift heights.

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

[0005] Obtain the ideal travel distance of the elevator after entering the destination floor; wherein, the ideal travel distance is half the length of the magnetic shielding plate;

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

[0007] The positional deviation of the elevator under light load is calculated based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under light load conditions.

[0008] The positional deviation of the elevator under heavy load is calculated based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions.

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

[0010] The elevator's operating status is obtained, and the corresponding positional deviation in the memory is compensated based on the operating status to adjust the target operating distance after the elevator enters the destination floor.

[0011] Furthermore, in the step of obtaining the ideal running distance of the elevator after entering 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 at the exact center of the elevator in the vertical direction;

[0012] The ideal operating distance is the distance from the moment the leveling sensor signal is received to the ideal center position.

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

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

[0015] Under light load conditions, the elevator travels upwards once in a fast mode, and the first actual travel distance S21 is recorded.

[0016] Under light load conditions, the elevator travels down one speed cycle and records the second actual travel distance S22.

[0017] Under heavy load conditions, the elevator travels upwards once, and the first actual travel distance S23 is recorded.

[0018] Under heavy load conditions, the elevator travels down once in a fast mode, and the second actual travel distance S24 is recorded.

[0019] Furthermore, the actual running distance is obtained by converting the encoder pulse signal increment, and the steps are as follows:

[0020] Obtain the resolution of the sine and cosine encoders, and calculate the number of pulses captured by the QEP unit of the DSP for one revolution of the motor 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 floor to stopping;

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

[0023] Furthermore, in the step of calculating the positional deviation of the elevator under light load conditions based on 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 as follows:

[0024] ΔS1=S21-S1

[0025] ΔS2=S22-S1

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

[0027] Furthermore, in the step of calculating the positional deviation of the elevator under heavy load based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load, the calculation formula is as follows:

[0028] ΔS3=S23-S1

[0029] ΔS4=S24-S1

[0030] Where S1 is the ideal running distance of the elevator after entering the destination floor, ΔS3 is the upward running position deviation of the elevator under heavy load, and ΔS4 is the downward running position deviation of the elevator under heavy load.

[0031] Furthermore, the step of acquiring the elevator's operating status and compensating for the corresponding positional deviation in the memory based on the operating status to adjust the target operating distance of the elevator after entering the destination floor includes:

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

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

[0034] When the elevator is traveling upwards under heavy load, the target travel 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 under neither light load nor heavy load conditions, the target running distance S15 = S1 after entering the destination floor.

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

[0038] The acquisition module is used to acquire the ideal running distance of the elevator after entering the destination floor; wherein, the ideal running distance is half the length of the magnetic shielding plate;

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

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

[0041] The second calculation module is used to calculate the position deviation of the elevator under heavy load based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load.

[0042] The storage module is used to store the position deviation of the elevator under light load and the position deviation of the elevator under heavy load into the memory;

[0043] The compensation module is used to acquire the elevator's operating status and compensate for the corresponding positional deviation in the memory based on the operating status, so as to adjust the target running distance of the elevator after entering the destination floor.

[0044] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0045] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

[0046] The beneficial effects of this invention are as follows:

[0047] This invention obtains the ideal travel distance of an elevator after entering the target floor, sets heavy load and light load thresholds for the elevator, and obtains the actual travel distance of the elevator after entering the target floor under light / heavy load conditions. Based on the ideal travel distance and the actual travel distance under light / heavy load conditions, the positional deviation of the elevator under light / heavy load conditions is calculated and stored in a memory. Finally, by obtaining the elevator's operating status and compensating for the corresponding positional deviation in the memory, the target travel distance of the elevator after entering the target floor is adjusted. This invention allows the elevator to adjust the travel distance of the magnetic plate entering the target floor based on the load, improving the leveling control effect on the same floor with different loads on passenger elevators with high lift heights. Attached Figure Description

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

[0049] Figure 2 This is a schematic diagram showing the distance between the elevator and the magnetic shielding plate during the elevator's ascent, according to an embodiment of the present invention.

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

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

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

[0053] Figure 6 This 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 objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0055] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

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

[0057] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0058] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0059] This invention proposes a method for adjusting the running distance of the magnetic shielding plate entering the target floor based on load. This method provides excellent leveling control for different loads on the same floor in passenger elevators with large lifting heights. To achieve the above objective, this invention adopts the following technical solution:

[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 the length of the magnetic shielding 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, it first detects a leveling sensor signal and then runs to the final position; wherein, the leveling sensor is located at the exact center of the elevator in the vertical direction; the ideal running distance is: the distance from the initial detection of the leveling sensor signal to the ideal center position, that is:

[0063] The ideal leveling position for a normal elevator is in the exact center of the magnetic shield, such as... Figure 2 In state ④ shown, the length of the magnetic shielding plate is known to be S. When the elevator enters the final destination floor, it will first detect the leveling sensor signal. The distance from the start of the leveling signal to the target center position, i.e., the ideal running distance, is S1, and S1 = 0.5S.

[0064] Speed ​​tracking error can cause deviations in running distance, resulting in the actual running distance S2 > S1 or S2 < S1 during the final stage with leveling signal.

[0065] The actual distance S2 traveled by the elevator after entering the magnetic shielding plate on the target floor is recorded by the encoder pulse count. This distance is compared with the ideal travel distance S1 (half the length of the magnetic shielding plate, i.e., 0.5S) to determine the position deviation. That is, the actual distance S2 can be obtained by converting the encoder pulse signal increment, and the position deviation ΔS = S2 - S1 can be obtained.

[0066] S2. Set the light load threshold and heavy load threshold for 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.

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

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

[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 (without load), the elevator travels upwards once and the first actual travel distance S21 is recorded.

[0072] S203. Under light load (no load) conditions, the elevator travels down once at high speed, and the second actual travel distance S22 is recorded.

[0073] S204. When the elevator is under heavy load (full load), the elevator express car travels upward once, and the first actual travel distance S23 is recorded.

[0074] S205. When the elevator is under heavy load (full load), the elevator travels down once in a fast mode, and the second actual travel distance S24 is recorded.

[0075] By learning the positional deviations under the above four working conditions, and setting heavy-load and light-load thresholds, the target running distance deviation ΔS for entering the target layer magnetic shielding plate is obtained, such as... Figure 3 The position deviation curve shown is illustrated. V_ref represents the reference speed, V_fd represents the actual feedback speed, and the shaded area represents the position deviation of the speed following. The corresponding position deviation ΔS diagram is shown. The integral of V_ref is S1, and the integral of V_fd is S2.

[0076] The distance deviations of the four operating conditions entering the magnetic shielding plate 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 converting the encoder pulse signal increment, and the steps are as follows:

[0082] 1) Obtain the resolution of the sine and cosine encoders, and calculate the number of pulses captured by the QEP unit of the DSP for one revolution of the motor based on the resolution;

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

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

[0085] For example, for a sine and cosine encoder with a resolution of 2048, the QEP unit of the DSP will capture 8192 pulses per revolution of the motor. The 8192 pulses correspond to the circumference D of the motor. If the pulse increment from the elevator entering the floor to stopping is P, then S2 = D × (P / 8192).

[0086] S3. Calculate the elevator's position deviation under light load conditions based on 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:

[0087] ΔS1=S21-S1

[0088] ΔS2=S22-S1

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

[0090] S4. Calculate the position deviation of the elevator under heavy load based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load conditions; the calculation formula is:

[0091] ΔS3=S23-S1

[0092] ΔS4=S24-S1

[0093] Where S1 is the ideal running distance of the elevator after entering the destination floor, ΔS3 is the upward running position deviation of the elevator under heavy load, and ΔS4 is the downward running position deviation of the elevator under heavy load.

[0094] S5. Store the position deviation of the elevator under light load and the position deviation of the elevator under heavy load into the memory.

[0095] After obtaining the position deviation, the position deviation for four operating conditions is learned, namely:

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

[0097] ② When the elevator is descending under light load, the deviation value of the light load descent is stored in the memory;

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

[0099] ④ When the elevator is descending under heavy load, the deviation value of the descending under heavy load is stored in the memory.

[0100] S6. Obtain the elevator's operating status and compensate for the corresponding position deviation in the memory based on the operating status to adjust the target operating distance of the elevator after entering the destination floor.

[0101] In one embodiment, such as Figure 4 The speed curve shown represents the final travel distance after the elevator reaches zero at the leveling sensor during the deceleration phase. After learning the position deviation through step S5, the position deviation in the memory is compensated for in the next elevator operation, thereby adjusting the target travel distance to reach the magnetic shielding plate of the destination floor. Specifically, step S6 includes:

[0102] S601. When the elevator is traveling upwards under light load, the target travel 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 is traveling upwards under heavy load, the target travel 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 under neither light load nor heavy load conditions, the target running distance S15 = S1 after entering the destination floor.

[0107] For example: the learned positional deviation is stored in memory, and when encountering corresponding working conditions, the final running distance to the target layer magnetic shielding plate is compensated.

[0108] (1) When the elevator is going up, the load is <20% when it is lightly loaded. The final target running distance is S11=S1+ΔS1;

[0109] (2) When the elevator is descending, the load is less than 20%, which is considered light load operation. The final target running distance is S12 = S1 + ΔS2.

[0110] (3) When the elevator is going up and the load is >80%, it is considered heavy-load operation. The final target running distance is S13 = S1 + ΔS3.

[0111] (4) When the elevator is descending and the load is >80%, it is considered heavy-load operation. The final target running distance is S14 = S1 + ΔS4.

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

[0113] This invention obtains the ideal travel distance of an elevator after entering the target floor, sets heavy load and light load thresholds for the elevator, and obtains the actual travel distance of the elevator after entering the target floor under light / heavy load conditions. Based on the ideal travel distance and the actual travel distance under light / heavy load conditions, the positional deviation of the elevator under light / heavy load conditions is calculated and stored in a memory. Finally, by obtaining the elevator's operating status and compensating for the corresponding positional deviation in the memory, the target travel distance of the elevator after entering the target floor is adjusted. This invention allows the elevator to adjust the travel distance of the magnetic plate entering the target floor based on the load, improving the leveling control effect on the same floor with different loads on passenger elevators with high lift heights.

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

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

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

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

[0118] The second calculation module 4 is used to calculate the position deviation of the elevator under heavy load based on the ideal running distance and the actual running distance of the elevator after entering the destination floor under heavy load.

[0119] Storage module 5 is used to store the position deviation of the elevator under light load and the position deviation of the elevator under heavy load into the memory;

[0120] The compensation module 6 is used to acquire the elevator's operating status and compensate for the corresponding position deviation in the memory based on the operating status, so as to adjust the target running 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 first detects the leveling sensor signal and then moves to the final position; wherein, the leveling sensor is set at the exact center of the elevator in the vertical direction;

[0122] The ideal operating distance is the distance from the moment the leveling sensor signal is received to the ideal center position.

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

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

[0125] The first recording unit is used to record the first actual travel distance S21 when the elevator travels upward once under light load conditions.

[0126] The second recording unit is used to record the second actual running distance S22 when the elevator travels down once in a lightly loaded condition.

[0127] The third recording unit is used to record the first actual running distance S23 when the elevator travels upward once under heavy load conditions.

[0128] The fourth recording unit is used to record the second actual travel distance S24 when the elevator travels down once under heavy load conditions.

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

[0130] Obtain the resolution of the sine and cosine encoders, and calculate the number of pulses captured by the QEP unit of the DSP for one revolution of the motor 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 floor to stopping;

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

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

[0134] ΔS1=S21-S1

[0135] ΔS2=S22-S1

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

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

[0138] ΔS3=S23-S1

[0139] ΔS4=S24-S1

[0140] Where S1 is the ideal running distance of the elevator after entering the destination floor, ΔS3 is the upward running position deviation of the elevator under heavy load, and ΔS4 is the downward running position deviation of the elevator under heavy load.

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

[0142] The first compensation unit is used to determine the target running distance S11 after entering the destination floor when the elevator is going up under light load: 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 conditions: 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 is going up under heavy load: S13=S1+ΔS3;

[0145] The fourth compensation unit is used to determine the target running distance S14 after entering the destination floor when the elevator is descending under heavy load: 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 under neither light load nor heavy load conditions.

[0147] Each of the above modules and units is used to perform the corresponding steps in the high-precision leveling control method. The specific implementation method is as 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 may be a server, and its internal structure may be as follows: Figure 6 As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The database stores all data required for the high-precision leveling control method. The network interface allows communication with external terminals via a network connection. The computer program is executed by the processor to implement the high-precision leveling control method.

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

[0150] An embodiment of this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements any of the above-described high-precision leveling control methods.

[0151] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media provided in this application and 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), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0152] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0153] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A high-precision level control method, characterized by, The application relates to an elevator position deviation compensation method and device. When the elevator enters a destination floor, a floor leveling sensor signal is detected first, then the elevator runs to a final position to obtain an ideal running distance of the elevator after entering the destination floor; wherein the floor leveling sensor is arranged at the middle of the vertical direction of the elevator, and the ideal running distance is half of the length of a magnetic separation plate, that is, the distance from the start of the floor leveling sensor signal to the ideal center position; A light load threshold and a heavy load threshold of the elevator are set, an actual running distance of the elevator after entering the destination floor in a light load condition is obtained, and an actual running distance of the elevator after entering the destination floor in a heavy load condition is obtained; A position deviation of the elevator in the light load condition is calculated according to the ideal running distance and the actual running distance of the elevator after entering the destination floor in the light load condition; A position deviation of the elevator in the heavy load condition is calculated according to the ideal running distance and the actual running distance of the elevator after entering the destination floor in the heavy load condition; The position deviation of the elevator in the light load condition and the position deviation of the elevator in the heavy load condition are stored in a memory; The running condition of the elevator is obtained, and the corresponding position deviation in the memory is compensated according to the running condition to adjust the target running distance of the elevator after entering the destination floor.

2. The high-precision leveling control method according to claim 1, characterized by, 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 in the light load condition, and obtaining the actual running distance of the elevator after entering the destination floor in the heavy load condition, comprise: The heavy load threshold range of the elevator is set as being greater than a first set load, and the light load threshold range of the elevator is set as being less than a second set load; In the light load condition of the elevator, the elevator runs up once, and a first actual running distance S21 is recorded; In the light load condition of the elevator, the elevator runs down once, and a second actual running distance S22 is recorded; In the heavy load condition of the elevator, the elevator runs up once, and a first actual running distance S23 is recorded; In the heavy load condition of the elevator, the elevator runs down once, and a second actual running distance S24 is recorded.

3. The high-precision leveling control method according to claim 2, characterized by, The actual running distance is obtained by increment conversion of an encoder pulse signal, and the steps are as follows: The resolution of a cosine encoder is obtained, and the number of pulses captured by a QEP unit of a DSP when the motor rotates one round is calculated according to the resolution; The motor circumference D corresponding to the number of pulses is determined, and the pulse increment P of the elevator from entering the floor leveling to stopping is obtained; 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=Dx(P / 8192).

4. The high-precision leveling control method according to claim 2, characterized by, In the step of calculating the position deviation of the elevator in the light load condition according to the ideal running distance and the actual running distance of the elevator after entering the destination floor in the light load condition, the calculation formula is as follows: Delta S1=S21-S1 Delta S2=S22-S1 Wherein, S1 is the ideal running distance of the elevator after entering the destination floor, Delta S1 is the up running position deviation of the elevator in the light load condition, and Delta S2 is the down running position deviation of the elevator in the light load condition.

5. The high-precision leveling control method according to claim 4, characterized by, In the step of calculating the position deviation of the elevator in the heavy load condition according to the ideal running distance and the actual running distance of the elevator after entering the destination floor in the heavy load condition, the calculation formula is as follows: Delta S3=S23-S1 ΔS4=S24-S1 Wherein, S1 is the ideal running distance after the elevator enters the destination floor, ΔS3 is the uplink running position deviation under the heavy load condition of the elevator, and ΔS4 is the downlink running position deviation under the heavy load condition of the elevator.

6. The high-precision leveling control method according to claim 5, characterized by, The step of obtaining the running condition of the elevator and compensating the corresponding position deviation in the memory according to the running condition to adjust the target running distance after the elevator enters the destination floor comprises: When the elevator runs in the light load condition and goes up, the target running distance S11 after entering the destination floor is S11=S1+ΔS1. When the elevator runs in the light load condition and goes down, the target running distance S12 after entering the destination floor is S12=S1+ΔS2. When the elevator runs in the heavy load condition and goes up, the target running distance S13 after entering the destination floor is S13=S1+ΔS3. When the elevator runs in the heavy load condition and goes down, the target running distance S14 after entering the destination floor is S14=S1+ΔS4. When the elevator does not run in the light load condition or the heavy load condition, the target running distance S15 after entering the destination floor is S15=S1.

7. A high-precision level control device, characterized by comprising: Comprise: The acquisition module is used for detecting the level sensor signal when the elevator enters the destination floor, and then running to the final position to obtain the ideal running distance after the elevator enters the destination floor; wherein, the level sensor is arranged at the middle of the vertical direction of the elevator, and the ideal running distance is half of the length of the isolation plate, that is, the distance from the start of the level sensor signal to the ideal center position; The setting module is used for setting the light load threshold and the heavy load threshold, and obtaining the actual running distance after the elevator enters the destination floor in the light load condition and obtaining the actual running distance after the elevator enters the destination floor in the heavy load condition; The first calculation module is used for calculating the position deviation in the light load condition of the elevator according to the ideal running distance and the actual running distance after the elevator enters the destination floor in the light load condition; The second calculation module is used for calculating the position deviation in the heavy load condition of the elevator according to the ideal running distance and the actual running distance after the elevator enters the destination floor in the heavy load condition; The storage module is used for storing the position deviation in the light load condition of the elevator and the position deviation in the heavy load condition of the elevator into the memory; The compensation module is used for obtaining the running condition of the elevator and compensating the corresponding position deviation in the memory according to the running condition to adjust the target running distance after the elevator enters the destination floor.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to realize the steps of the method in any one of claims 1 to 6.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to realize the steps of the method in any one of claims 1 to 6.

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