Magnetic force control system and method of motor rotor magnetic sheet

Abstract

The invention provides a magnetic force control system and method for a motor rotor magnetic sheet, and relates to the technical field of automatic control, and the method comprises the steps that a state sensing unit obtains real-time state information of a target elevator; the information acquisition unit interacts with an elevator control panel to obtain a floor access plan and an elevator operation reference; the load judgment unit carries out load judgment according to the real-time state information and the floor access plan and outputs a real-time operation strategy; the motor torque demand optimization unit executes motor torque demand optimization to obtain a motor torque time sequence strategy; the exciting current calculation unit is used for reversely deducing exciting current and outputting magnetic force control time sequence information; and the control execution unit performs fault-tolerant control on the target motor rotor magnetic sheet according to the magnetic force control time sequence information. The technical problem that an existing elevator control system cannot adjust motor output configuration according to real-time loads and taking requirements, and consequently unnecessary energy consumption is caused is solved, the operation energy efficiency and the operation stability of an elevator are improved, and the service life of the motor is prolonged.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a magnetic control system and method for a motor rotor magnetic sheet. Background Art

[0002] Existing elevator control systems are usually based on static models, using preset elevator operation benchmarks and control strategies to achieve elevator floor access and load management. For example, in terms of load control, a fixed load threshold is usually set, and when the threshold is reached, the corresponding operating mode change is triggered, such as deceleration or stopping passenger transportation. In motor control, operating parameters are set based on a relatively fixed torque and speed relationship.

[0003] These control systems fail to fully consider the load changes, dynamic changes in floor demand, and fluctuations in motor performance that elevators may encounter in actual operation. On the one hand, these control algorithms usually assume that the load and floor access plan are static. When the load or riding demand changes, the operation strategy cannot be adjusted dynamically, which can easily lead to low operating efficiency or energy waste. On the other hand, due to the lack of real-time monitoring of the motor status and operating conditions, the elevator may face problems such as motor overload and vibration, which will affect the smoothness and comfort of operation. At the same time, the ability to respond to motor failures or abnormalities is weak, and there is a lack of effective fault-tolerant control measures, which may cause the elevator to stop operating or cause safety accidents when a failure occurs. Summary of the invention

[0004] The present application provides a magnetic control system and method for motor rotor magnetic sheets, which solves the technical problem in the prior art that the car-type elevator control system cannot adjust the motor output configuration according to the real-time load and riding height requirements, resulting in unnecessary energy consumption, and achieves the technical effect of improving the energy efficiency of elevator operation, while improving the stability of elevator operation and extending the service life of the motor.

[0005] In view of the above problems, on the one hand, the present application provides a magnetic control system for a motor rotor magnetic sheet, the system comprising: a state sensing unit, used to sense and acquire real-time state information of a target elevator through an elevator state sensing module, wherein the real-time state information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator; an information acquisition unit, used to interact with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark; a load determination unit, used to perform load determination based on the real-time state information and the floor access plan, and output a real-time operation strategy; a motor torque demand optimization unit, used to perform motor torque demand optimization based on the floor access plan, real-time load information and elevator operation benchmark with the real-time operation strategy as a constraint, and obtain a motor torque timing strategy; an excitation current calculation unit, used to reverse the excitation current based on the motor torque timing strategy, and output magnetic control timing information; a control execution unit, used to load the magnetic control timing information to the target motor of the target elevator, and perform fault-tolerant control of the motor rotor magnetic sheet in the target motor when executing the floor access plan.

[0006] On the other hand, the present application also provides a method for controlling the magnetic force of a motor rotor magnetic sheet, the method comprising: sensing and acquiring real-time status information of a target elevator through an elevator status sensing module, wherein the real-time status information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator; interacting with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark; performing load judgment based on the real-time status information and the floor access plan, and outputting a real-time operation strategy; using the real-time operation strategy as a constraint, performing motor torque demand optimization based on the floor access plan, real-time load information and elevator operation benchmark, and obtaining a motor torque timing strategy; reversely deducing the excitation current based on the motor torque timing strategy, and outputting magnetic control timing information; loading the magnetic control timing information into the target motor of the target elevator, and performing fault-tolerant control of the motor rotor magnetic sheet in the target motor during the execution of the floor access plan.

[0007] One or more technical solutions provided in this application have at least the following technical effects or advantages: The state perception unit obtains the real-time load information and real-time floor information of the target elevator (car elevator). These data are the basis for subsequent control decisions and provide real-time feedback for dynamic adjustments during elevator operation. The information acquisition unit interacts with the elevator control panel to obtain the floor access plan and elevator operation benchmark, providing the goal and basic operation framework of the elevator operation. The load determination unit determines the current elevator load according to the real-time state information and floor access plan, and outputs the real-time operation strategy accordingly, providing restrictions and reference information for the subsequent motor torque optimization, so as to ensure that the subsequent optimization is based on meeting the real-time demand. The motor torque demand optimization unit uses the real-time operation strategy as a constraint, optimizes the motor torque demand and formulates the motor torque timing strategy according to the floor access plan, real-time load information and elevator operation benchmark, so that the required torque can be accurately determined at different time points according to different operation requirements, avoiding unnecessary energy waste and improving the smoothness of the elevator operation. The excitation current calculation unit converts the motor torque demand into the control of the excitation current, and then obtains the magnetic control timing information to ensure that the motor is always in the best working state under different load conditions, thereby improving the overall efficiency of the elevator. By controlling the execution unit, the magnetic control timing information is applied to the target motor, and fault-tolerant control of the motor rotor magnetic sheet is achieved during the execution of the floor access plan, thereby improving the reliability of elevator operation. When a motor fails, it can still maintain operation through fault-tolerant control, ensuring that the elevator completes its mission safely and smoothly.

[0008] In summary, this application can automatically adapt to load changes and floor access requirements during elevator operation by sensing the elevator's operating status in real time and combining dynamic optimization strategies, thereby improving elevator operation efficiency and energy utilization. At the same time, by optimizing motor torque requirements and excitation current control, energy waste can be reduced and the elevator can be kept running smoothly and efficiently. In addition, by introducing a fault-tolerant control mechanism, while improving the stability of elevator operation, the reliability of elevator operation is also enhanced, so that the elevator can still ensure safe operation in the face of motor failures.

[0009] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 A schematic structural diagram of a magnetic control system for a motor rotor magnetic sheet provided in an embodiment of the present application.

[0011] Figure 2A schematic flow chart of outputting a real-time operation strategy in a magnetic control system of a motor rotor magnetic sheet provided in an embodiment of the present application.

[0012] Figure 3 A schematic flow chart of a motor torque timing strategy obtained in a magnetic control system of a motor rotor magnetic sheet provided in an embodiment of the present application.

[0013] Figure 4 A schematic flow chart of a method for controlling the magnetic force of a motor rotor magnetic sheet provided in an embodiment of the present application.

[0014] Explanation of reference numerals: state sensing unit 10 , information acquiring unit 20 , load determining unit 30 , motor torque demand optimizing unit 40 , excitation current calculating unit 50 , control executing unit 60 . DETAILED DESCRIPTION

[0015] The embodiment of the present application provides a magnetic control system and method for a motor rotor magnetic sheet, which can sense the elevator status in real time, obtain the floor access plan and the elevator operation benchmark for load determination, formulate a real-time operation strategy, and use the real-time operation strategy as a constraint to optimize the motor torque demand, obtain the motor torque timing strategy, and then reversely deduce the excitation current, determine the magnetic control timing information, and achieve fault-tolerant control of the motor rotor magnetic sheet in the target motor. The embodiment of the present application solves the technical problem that the car-type elevator control system in the prior art cannot adjust the motor output configuration according to the real-time load and riding height requirements, resulting in unnecessary energy consumption, and achieves the technical effect of improving the energy efficiency of elevator operation, while improving the stability of elevator operation and extending the service life of the motor.

[0016] Embodiment 1, as Figure 1 As shown, an embodiment of the present application provides a magnetic control system for a motor rotor magnetic sheet, the system comprising: The state sensing unit 10 is used to sense and acquire the real-time state information of the target elevator through the elevator state sensing module, wherein the real-time state information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator.

[0017] Specifically, the target elevator is any car-type elevator with a built-in elevator state sensing module, which contains a variety of sensor tools for real-time collection of elevator working state information, including load conditions, current position, running speed and other information.

[0018] The state sensing unit 10 uses the elevator state sensing module to obtain the real-time state information of the target elevator (car elevator), including the load weight inside the elevator (i.e., real-time load information) and the floor the elevator is currently located at (i.e., real-time floor information). For example, when obtaining real-time load information, a pressure sensor installed at the bottom of the car is used. When a passenger enters the car, the pressure sensor converts it into an electrical signal according to the pressure change, and the load information is obtained after signal processing. For real-time floor information, the current floor is determined by sensing the floor mark or calculating the running distance of the car through a floor position sensor installed next to the elevator car track or on the top of the car.

[0019] The state sensing unit 10 senses the real-time state information of the target elevator, providing an initial state for subsequent elevator control. All subsequent strategies or control parameters are determined based on the current elevator reference state.

[0020] The information acquisition unit 20 is used to interact with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark.

[0021] Specifically, the elevator control panel is the human-computer interaction interface of the elevator control system, which includes various control buttons and display devices. The control chip in the control panel stores data such as the floor access plan and the elevator operation benchmark. The information acquisition unit 20 is connected to the control panel through a data interface to read these data from the control chip. Among them, the floor access plan is the floor access sequence or plan that the elevator will execute. For example, if multiple passengers request different floors, the control panel will generate a reasonable floor access plan based on a preset algorithm to ensure efficient operation of the elevator. The floor access plan provides a specific target reference for subsequent control strategy formulation and optimization. The elevator operation benchmark refers to a set of reference parameters for the elevator in normal operation, including the maximum operating speed, load capacity, acceleration and deceleration rates of the elevator, etc., which limits the parameter range in subsequent control optimization.

[0022] The load determination unit 30 is used to perform load determination according to the real-time status information and the floor access plan, and output a real-time operation strategy.

[0023] Specifically, the load determination unit 30 analyzes the current load status and formulates a real-time operation strategy based on the real-time status information of the elevator (the current load of the elevator and the floor it is on) and the floor access plan. For example, if the elevator load is large (such as fully loaded), the real-time operation strategy may limit the acceleration rate of the elevator to avoid overloading the elevator motor or consuming too much energy; if the elevator load is light, the real-time operation strategy can increase the acceleration rate to reduce the running time. The real-time operation strategy clarifies the specific direction of the subsequent optimization of the motor torque demand, which may be an energy-saving mode, or ensuring the stability of the torque output.

[0024] The motor torque demand optimization unit 40 is used to perform motor torque demand optimization based on the real-time operation strategy as a constraint, according to the floor access plan, real-time load information and elevator operation benchmark, and obtain the motor torque timing strategy.

[0025] Specifically, the motor torque timing strategy is information about the change of motor torque output over time, which stipulates the torque output values ​​of the motor in different operating stages (such as starting, acceleration, deceleration, etc.), and these values ​​change dynamically.

[0026] The real-time operation strategy of the elevator will provide constraints for the change of torque, such as the current motor operation mode (energy saving, stable, high load, etc.). Changes in real-time load information and floor access plan will affect the torque required by the elevator at different time points. For example, in the starting stage, when the load of the elevator is light, the torque demand is small; but when the load is heavy, the torque demand will increase accordingly. In the acceleration stage, the motor needs to provide a gradually increasing torque to enable the elevator to increase the speed quickly; and in the deceleration stage, in order to make the elevator stop smoothly, the torque needs to be gradually reduced. The motor torque demand optimization unit 40 uses the real-time operation strategy as the optimization constraint, and dynamically adjusts the torque output of the motor according to the floor access plan (the order of the floors to be stopped), the real-time load information (the weight in the current car) and the elevator operation benchmark (rated speed, acceleration, deceleration parameters), finds the optimal change of the motor torque under the current situation, and determines the motor torque size at different operation stages of the elevator, thereby obtaining the motor torque timing strategy. This strategy will accurately specify the torque size that the motor should output at each time point to achieve efficient, stable and safe operation of the elevator.

[0027] The excitation current calculation unit 50 is used to reversely calculate the excitation current according to the motor torque timing strategy and output magnetic force control timing information.

[0028] Specifically, the magnetic control timing information is information about the change of magnetic control over time, which is divided according to the different stages of elevator operation, such as the starting stage, acceleration stage, constant speed stage, deceleration stage, etc. Each stage has different requirements for magnetic control, and this information clarifies how to control the magnetic force in each stage to ensure the normal operation of the elevator motor.

[0029] In the motor, the excitation current is the current used to excite the motor's magnetic field. The motor's excitation current determines the strength of the motor's magnetic field, which in turn affects the motor's torque output. The excitation current calculation unit 50 performs reverse calculations through the torque formula according to the motor's torque requirements at different stages (such as starting, acceleration, constant speed, and deceleration) in the motor torque timing strategy, and calculates the excitation current value at the corresponding moment. For example, in the acceleration stage, the motor torque timing strategy requires a rapid increase in torque. The excitation current calculation unit 50 calculates the excitation current value that needs to be increased based on the motor's characteristic parameters (such as the number of winding turns of the motor, the magnetic circuit structure, etc.), and then organizes the excitation current calculation results of these different stages into magnetic force control timing information to guide the control of the motor's magnetic force at different operating stages and ensure the stable operation of the elevator.

[0030] The control execution unit 60 is used to load the magnetic force control timing information into the target motor of the target elevator, and perform fault-tolerant control of the motor rotor magnetic sheets in the target motor when executing the floor access plan.

[0031] Specifically, the motor rotor magnet is the part of the rotor inside the motor that is responsible for generating the magnetic field and interacting with the stator to drive the elevator movement.

[0032] The control execution unit 60 converts the magnetic control timing information into specific motor control instructions and sends them to the motor through the motor controller. When executing the floor access plan, the target motor operates according to the control instructions and provides excitation current to meet the required torque requirements. At the same time, the control execution unit 60 monitors the status of the motor in real time. When some motor rotor magnetic pieces fail or fail, the motor's operating parameters are adjusted to compensate for the abnormalities that occur, ensuring that the elevator can continue to operate and avoiding abnormal operation of the entire elevator due to the failure of a single component. For example, when a rotor magnetic piece fails, the excitation current can be adjusted or the torque distribution method can be changed to compensate for the failure, ensuring that the elevator can continue to operate until the current floor access task is completed.

[0033] Further, such as Figure 2 As shown, the load determination unit 30 in the embodiment of the present application is also used to perform the following steps: Step P31: Extract the floor visit vector from the floor visit plan.

[0034] Step P32: Taking the floor access vector as a constraint and the real-time floor information as a starting point, traverse the floor access plan to obtain the nearest access node.

[0035] Step P33: Calculate and obtain the real-time visit itinerary based on the most recently visited node and the real-time floor information.

[0036] Step P34: Perform load matching in a sample operation strategy library according to the real-time access itinerary, real-time load information and floor access vector, and output the real-time operation strategy.

[0037] Specifically, the floor access vector is a vector pointing from the real-time floor to the target floor in the floor access plan, which contains the elevator running direction information. The nearest access node is the nearest floor to be visited after traversing the floor access plan based on the real-time floor information and satisfying the floor access vector constraints. The real-time access itinerary is the height change from the current floor to the nearest access node. The sample operation strategy library is a pre-established database that stores multiple pre-defined elevator operation strategies, which are tested and analyzed based on different combinations of different access itineraries, load information, and floor access vectors.

[0038] The load determination unit 30 extracts the order information of each floor to be visited from the floor visit plan of the elevator and generates a floor visit vector (i.e., the elevator is going up or down). Taking the real-time floor information (i.e., the floor where the elevator is currently located) as the starting point, combined with the information in the floor access vector, the floor access plan is traversed to determine the floor node that needs to be visited closest to the current floor (i.e., the nearest visited node). According to the floor gap between the current position of the elevator and the nearest visited node, the real-time visit itinerary is calculated. Then, according to the calculated real-time visit itinerary, the real-time load information (i.e., the number of passengers in the elevator and the total weight), and the information in the floor access vector, the sample operation strategy library is queried, the most appropriate real-time operation strategy is matched and output to guide the operation of the elevator and ensure that the elevator can complete the task efficiently and safely.

[0039] Further, such as Figure 3 As shown, the motor torque demand optimization unit 40 in the embodiment of the present application is also used to perform the following steps: Step P41: Divide the real-time access journey into a plurality of access stages according to the elevator operation benchmark, wherein the plurality of access stages have a plurality of journey height identifiers.

[0040] Step P42: interactively obtain the target model information of the target elevator, and perform network data calls with the target model information as a constraint to obtain multiple sample motor torques, multiple sample elevator loads, and multiple sample elevator strokes, wherein the multiple sample elevator strokes have multiple sample access vector identifiers, and the multiple sample motor torques have multiple sample control energy consumptions and multiple sample control stability identifiers.

[0041] Step P43: Use the multiple sample motor torques, multiple sample elevator loads and multiple sample elevator strokes as training data to construct a torque demand calculation model.

[0042] Step P44: Using the real-time operation strategy as the optimization constraint and the floor access vector as the navigation, the motor torque timing strategy is obtained by synchronizing the multiple travel heights and real-time load information to the torque demand calculation model for phased torque optimization.

[0043] Specifically, according to the elevator operation benchmark (such as maximum acceleration, maximum speed, etc.), the real-time access journey of the elevator from the starting floor to the target floor is divided into multiple access stages, such as the starting stage, acceleration stage, constant speed stage and deceleration stage. At the same time, the elevator operation height information corresponding to each access stage is calculated, and a travel height identification is established for each access stage.

[0044] Interact with the control system or related equipment of the target elevator to obtain the target model information of the target elevator. With this target model information as a constraint, multiple sample motor torques, multiple sample elevator loads, and multiple sample elevator travels are obtained through networked data calls. During the networked data call process, it may be connected to the elevator manufacturer's database or a dedicated elevator operation data repository. For example, if the target elevator model is a specific model of a certain brand, after connecting to the manufacturer's database, the qualified sample data is filtered out according to the relevant parameters of the model. Each sample elevator travel in the sample data is marked with a corresponding sample access vector identifier (i.e., up or down), and each sample motor torque is marked with a corresponding sample control energy consumption (power or electricity consumption) and sample control stability identifier (control stability level or score, etc.).

[0045] The collected sample motor torque, sample elevator load and sample elevator travel data are used as training data to build a torque demand calculation model using machine learning or data regression algorithms. This model can predict the optimal torque demand of the motor at different stages by inputting information such as the real-time load and travel of the elevator.

[0046] The real-time operation strategy is used as the optimization constraint, the driving direction is determined according to the floor access vector, and the trip height and real-time load information corresponding to multiple trip height identifiers are synchronized to the torque demand calculation model. Inside the model, based on these input data, the staged torque optimization is performed according to the pre-set algorithm to determine the motor torque timing strategy. This strategy clarifies the torque value that the motor should output at different times and different operating stages.

[0047] Furthermore, step P43 also includes: Step P431: Taking the first access vector and the second access vector as partitioning constraints, the multiple sample motor torques, multiple sample elevator loads and multiple sample elevator strokes are divided into a first training set and a second training set according to the multiple sample access vectors.

[0048] Step P432: Use the first training set to construct a first torque demand calculation branch, wherein the input data of the first torque demand calculation branch are the elevator load and the elevator travel, and the output results are the motor torque, control energy consumption and control stability.

[0049] Step P433: The second training set is used to construct a second torque demand calculation branch, wherein the output data and output results of the first torque demand calculation branch and the second torque demand calculation branch are consistent.

[0050] Step P434: The torque demand calculation model is constructed by connecting the first torque demand calculation branch and the second torque demand calculation branch in parallel.

[0051] Specifically, according to the direction of elevator operation, two unit vectors are set: a first access vector and a second access vector. The first access vector and the second access vector correspond to an elevator operation direction respectively. Exemplarily, the first access vector represents that the target elevator is planned to go up, and the second access vector represents that the target elevator is planned to go down. According to the matching of the vector direction of each sample access vector with the first access vector and the second access vector, the corresponding multiple sample motor torques, multiple sample elevator loads and multiple sample elevator travels are divided into a first training set and a second training set. The first training set contains sample data whose directions of multiple sample access vectors are consistent with the direction of the first access vector, and the second training set contains sample data whose directions of multiple sample access vectors are consistent with the direction of the second access vector.

[0052] A model is trained using the first training set to obtain a first torque demand calculation branch, which is used to perform motor torque demand optimization when the elevator is going up. The elevator load and elevator travel are input into the branch, and the corresponding motor torque, control energy consumption and control stability can be obtained as output results. Exemplarily, a regression model (such as decision tree regression, support vector regression or neural network) can be selected to train the first torque demand calculation branch. An initialized regression model is constructed, and the elevator load and travel in the first training set of the deep learning framework are used as input, and the motor torque, energy consumption and stability are used as output for training. During the training process, the regression model learns the relationship between load and torque, energy consumption and stability by continuously adjusting weights and parameters. Evaluation indicators such as cross-validation and mean square error (MSE) are used to optimize the model performance to ensure that it can calculate the corresponding torque, energy consumption and stability according to the elevator load and travel data when the elevator is going up.

[0053] The model is trained using the second training set to obtain the second torque demand calculation branch. This branch performs optimization of the motor torque demand when the elevator is going down. Similar to the first torque demand calculation branch, the second torque demand calculation branch receives the elevator load and elevator travel when going down as input, and outputs the corresponding motor torque, control energy consumption, and control stability. Its training process can refer to the first torque demand calculation branch.

[0054] The first torque demand calculation branch and the second torque demand calculation branch are connected in parallel to obtain a torque demand calculation model. When the torque demand needs to be calculated, the floor access vector in the input data is matched with the first access vector and the second access vector, and the appropriate torque demand calculation branch is selected for calculation, thereby improving the accuracy and adaptability of the model in calculating the torque demand in different operating scenarios.

[0055] Furthermore, step P44 also includes: Step P441: After activating the calculation branch mapping of the torque demand calculation model according to the floor access vector, the first trip height and real-time load information are synchronized to the torque demand calculation model to perform phased torque calculation to obtain the first stage torque, wherein the first stage torque has a first control energy consumption and a first control stability identifier.

[0056] Step P442: Using 1 / K of the first stroke height as a division scale, the first stroke height is divided into K first update heights.

[0057] Step P443: Synchronize the K first updated heights and real-time load information to the torque demand calculation model to perform phased torque calculation to obtain K first updated torques, wherein the K first updated torques have K first updated energy consumptions and K first updated stability identifiers.

[0058] Step P444: When the real-time operation strategy is to minimize energy consumption, the K first updated energy consumptions are added to obtain first energy consumption information.

[0059] Step P445: If the first energy consumption information is better than the first control energy consumption, the K first updated torques are used to replace the first stage torque, and 1 / 2K of the first stroke height is used as a division scale to divide the first stroke height into 2K second update heights.

[0060] Step P446: Analyze the 2K second updated heights through the torque demand calculation model to obtain 2K second updated torques and 2K second updated energy consumptions.

[0061] Step P447: Perform replacement judgment on the 2K second updated torques and the first updated torque based on the sum of the 2K second updated energy consumptions and the priority of the first energy consumption information, until multiple Nth updated torques whose energy consumption remains unchanged with height division are obtained.

[0062] Step P448: Similarly, multiple sets of updated torques for the multiple stroke heights are obtained.

[0063] Step P449: Divide and connect the multiple groups of updated torques according to the stroke height to obtain the motor torque timing strategy.

[0064] Specifically, according to the matching results of the floor access vector with the first access vector and the second access vector, the calculation branch of the corresponding torque demand calculation model is activated, and the first stroke height and real-time load information are used as input data and input into the torque demand calculation model for stage torque calculation. Among them, the first stroke height refers to the stroke height corresponding to the first access stage (first access stage) after the multiple access stages are sorted according to the operation stage in step P41. The torque demand calculation model outputs the stage torque corresponding to the first access stage, that is, the first stage torque, as well as the first control energy consumption and the first control stability indicator of the first stage torque through calculation.

[0065] The first travel height of the first access phase is refined and divided into K first update heights, where K is a positive integer and can be set according to the required control accuracy. Each first update height represents a distance unit refined during the first access phase of the elevator.

[0066] The K first updated heights and real-time load information are synchronized to the torque demand calculation model for torque calculation, and K first updated torques, K first updated energy consumptions of the K first updated torques, and K first updated stability indicators are obtained. Based on the first stage, by refining each small segment and recalculating the torque demand, energy consumption, and stability of each small segment, the operation of the elevator can be optimized more accurately.

[0067] When the real-time operation strategy is "minimizing energy consumption", the first updated energy consumptions of the K first updated torques are summed to obtain the first energy consumption information. This first energy consumption information reflects the total energy consumption of the entire first access phase and serves as a basis for whether further optimization is needed.

[0068] If the energy consumption represented by the first energy consumption information is smaller than the first control energy consumption, it means that the first energy consumption information is better than the first control energy consumption. At this time, K first updated torques are used to replace the first stage torque, and the first stroke height is further divided more finely. The division scale of the first stroke height is further refined to 1 / 2K, and 2K second updated heights after division are obtained. Similarly, the 2K second updated heights and real-time load information are synchronized to the torque demand calculation model for torque calculation, and 2K second updated torques, 2K second updated energy consumptions of the 2K second updated torques, and 2K second updated stability identifiers are obtained.

[0069] The 2K second updated energy consumptions are added to obtain the second energy consumption information, and the second energy consumption information is compared with the first energy consumption information. When the second energy consumption information is less than the first energy consumption information, the second energy consumption information is given a higher priority, and the 2K second updated torques are used to replace the K first updated torques. The above process of trip height subdivision and energy consumption comparison is repeated continuously, and the division scale is continuously reduced for further refinement until multiple Nth updated torques whose energy consumption does not change with the height division are obtained.

[0070] After the refinement of the first access stage is completed, the other access stages of the real-time access stroke are optimized in a similar manner to step P441 to step P447, and multiple groups of updated torques corresponding to multiple access stages are obtained. According to the order of stroke height division, the multiple groups of updated torques corresponding to each stroke height are connected to form a complete motor torque timing strategy. This strategy clarifies the torque value that the motor should output at different stages of the entire real-time access stroke (represented by different stroke height divisions).

[0071] The above steps divide the elevator's journey into multiple stages, each stage is refined into multiple update heights, and the optimal torque, energy consumption and stability of each stage are calculated. Finally, through continuous energy efficiency optimization and torque replacement, a motor torque timing strategy is obtained that can maximize energy efficiency and stability throughout the entire journey, effectively improving the energy efficiency of the elevator under various working conditions, reducing energy consumption, and ensuring the operation stability of the elevator.

[0072] Furthermore, the state sensing unit 10 in the embodiment of the present application is also used to perform the following steps: Step P11: Predefine load detection start criteria.

[0073] Step P12: collecting the state of the target elevator to obtain the real-time car door state and real-time displacement parameters.

[0074] Step P13: When the real-time car door state and real-time displacement parameters meet the load detection start criteria, a signal is sent through the elevator state sensing module to synchronously activate the load sensor and the floor sensor, wherein the load sensor and the floor sensor are installed in the target elevator.

[0075] Step P14: The real-time state of the target elevator is sensed by the load sensor and the floor sensor to obtain real-time load information and real-time floor information.

[0076] Step P15: The elevator status sensing module receives and associates and stores the real-time load information and the real-time floor information, and outputs the real-time status information.

[0077] Specifically, the load detection start criteria are determined according to the operation characteristics, safety requirements and relevant standards of the elevator. The load detection start criteria are used to determine whether the load detection needs to be started. For example, the car door state is set to be completely closed, and the displacement parameter of the elevator is greater than 0 (indicating that the elevator has left the starting floor, and the displacement data can be obtained through the elevator's displacement sensor) as the load detection start criteria.

[0078] The state of the target elevator is collected using relevant sensors installed on the target elevator (such as car door state sensors, displacement sensors, etc.). For the car door state, its open or closed state can be obtained through the contact sensor or photoelectric sensor on the door edge; for the displacement parameters, the displacement distance of the elevator relative to a certain reference position (such as the bottom floor) can be obtained using the displacement sensor in the elevator shaft (such as a magnetic scale or encoder, etc.), thereby obtaining the real-time car door state and real-time displacement parameters.

[0079] The collected real-time car door status and real-time displacement parameters are compared with the predefined load detection start criteria. If the criteria are met, for example, the car door is closed and the elevator has moved a certain distance, the elevator status sensing module will send an electrical signal through the control circuit inside the elevator to simultaneously activate the load sensor and floor sensor installed on the target elevator. The load sensor can be a pressure sensor installed at the bottom of the car, and the floor sensor can be a floor sensing device installed on the top of the elevator car or in the shaft.

[0080] After activation, the load sensor obtains real-time load information by measuring the pressure or weight in the car. For example, if it is a pressure sensor, the load weight in the car can be obtained based on the conversion relationship between pressure and weight. The floor sensor obtains real-time floor information based on its own sensing principle (such as sensing the magnetic field or photoelectric signal changes of the floor mark when the elevator passes by).

[0081] After the elevator state sensing module receives the real-time load information and real-time floor information transmitted by the load sensor and the floor sensor, the two types of information are stored in association. For example, the real-time load information and real-time floor information can be stored in a data structure (such as a structure or related fields in a database table) to form a comprehensive data containing real-time load and floor information, and then the comprehensive data is output as real-time state information for use by other units.

[0082] Furthermore, the control execution unit 60 of the embodiment of the present application is also used to execute the following steps: Step P61: Output multiple instantaneous magnetic force controls according to the multiple groups of updated torque reverse excitation currents.

[0083] Step P62: Smoothly splice the multiple instantaneous magnetic force controls to generate the magnetic force control timing information.

[0084] Step P63: In the process of executing the floor access plan, using the magnetic control timing information to perform magnetic control of the motor rotor magnetic plate in the target motor, the motor magnetic force monitoring is synchronously performed through the Hall effect sensor to obtain the magnetic force monitoring timing information.

[0085] Step P64: Magnetic deviation is identified by comparing the magnetic control timing information and the magnetic monitoring timing information, and fuzzy control is used to perform magnetic control compensation, thereby performing fault-tolerant control of the motor rotor magnetic sheet in the target motor.

[0086] Specifically, according to the multiple groups of updated torques obtained above, the torque formula is used for reverse calculation to obtain multiple excitation currents corresponding to different access stages. These excitation current values ​​are used as inputs for instantaneous magnetic force control to control the strength of the motor magnetic field.

[0087] According to the time sequence of the access phase, multiple instantaneous magnetic control values ​​(these values ​​are at different time points) are smoothly connected to generate magnetic control timing information to avoid unstable motor operation due to rapid changes in the motor magnetic field.

[0088] When executing the floor access plan, the control execution unit 60 uses the magnetic force control timing information to control the magnetic force of the motor rotor magnetic sheet in the target motor. At the same time, the motor magnetic force monitoring is synchronously performed through the Hall effect sensor to obtain the magnetic force monitoring timing information. The Hall effect sensor can detect the strength and direction of the magnetic field, thereby providing feedback information to ensure the accuracy of the magnetic force control.

[0089] By comparing the magnetic force control timing information and the magnetic force monitoring timing information, the control execution unit 60 can identify the magnetic force deviation. Once the deviation is found, the control execution unit 60 uses a fuzzy control algorithm to perform magnetic force control compensation to achieve fault-tolerant control of the motor rotor magnetic sheet in the target motor, thereby improving the stability and reliability of the motor operation.

[0090] In summary, the magnetic force control system of a motor rotor magnetic sheet provided in the embodiment of the present application has the following technical effects: The elevator state sensing unit 10 collects the load information and floor information of the elevator in real time, combines the floor access plan, and accurately calculates the torque demand of the motor through load judgment and the output of the real-time operation strategy. These torque demands are further optimized by the motor torque demand optimization unit 40, and the torque demand calculation model is constructed using sample data to achieve precise control of the motor torque. Then, by reverse torque, the excitation current calculation unit 50 generates the corresponding magnetic control timing information, and combines the control execution unit 60 to adjust the magnetic field strength of the motor rotor in real time. During the entire elevator operation process, the Hall effect sensor synchronously monitors the magnetic state, and by comparing the control signal with the monitoring result, the fuzzy control technology is used to compensate for the magnetic deviation to ensure the stable operation of the elevator motor. Through this series of execution steps, the embodiment of the present application can automatically adapt to load changes and floor access requirements during the elevator operation, improve the elevator's operating efficiency and operating stability, optimize energy consumption control, and ensure that the motor can still operate smoothly under non-ideal conditions through fault-tolerant control, thereby improving the overall performance and reliability of the elevator.

[0091] Embodiment 2, as Figure 4 As shown, an embodiment of the present application provides a method for controlling the magnetic force of a motor rotor magnetic sheet, the method comprising: Step S1: Real-time status information of a target elevator is sensed and acquired through an elevator status sensing module, wherein the real-time status information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator.

[0092] Step S2: Interact with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark.

[0093] Step S3: Perform load determination based on the real-time status information and the floor access plan, and output a real-time operation strategy.

[0094] Step S4: Taking the real-time operation strategy as a constraint, according to the floor access plan, real-time load information and elevator operation benchmark, perform motor torque demand optimization to obtain the motor torque timing strategy.

[0095] Step S5: reverse the excitation current according to the motor torque timing strategy, and output the magnetic force control timing information.

[0096] Step S6: reverse the excitation current according to the motor torque timing strategy and output the magnetic force control timing information.

[0097] Furthermore, step S3 of the embodiment of the present application also includes: Extract a floor access vector from the floor access plan; use the floor access vector as a constraint and the real-time floor information as a starting point to traverse the floor access plan to obtain a nearest access node; calculate a real-time access itinerary based on the nearest access node and the real-time floor information; perform load matching in a sample operation strategy library based on the real-time access itinerary, real-time load information and floor access vector, and output the real-time operation strategy.

[0098] Furthermore, step S4 of the embodiment of the present application also includes: The real-time access journey is divided into a plurality of access stages according to the elevator operation benchmark, wherein the plurality of access stages have a plurality of journey height identifiers; the target model information of the target elevator is interactively obtained, and networked data calls are performed with the target model information as a constraint to obtain a plurality of sample motor torques, a plurality of sample elevator loads and a plurality of sample elevator journeys, wherein the plurality of sample elevator journeys have a plurality of sample access vector identifiers, and the plurality of sample motor torques have a plurality of sample control energy consumptions and a plurality of sample control stability identifiers; the plurality of sample motor torques, the plurality of sample elevator loads and the plurality of sample elevator journeys are used as training data to construct a torque demand calculation model; the real-time operation strategy is used as an optimization constraint, the floor access vector is used as a navigation, and the plurality of journey heights and real-time load information are synchronized to the torque demand calculation model to perform phased torque optimization to obtain the motor torque timing strategy.

[0099] Furthermore, the plurality of sample motor torques, the plurality of sample elevator loads and the plurality of sample elevator travels are used as training data to construct a torque demand calculation model, further comprising: Taking the first access vector and the second access vector as the partitioning constraints, the multiple sample motor torques, multiple sample elevator loads and multiple sample elevator travels are divided into a first training set and a second training set according to the multiple sample access vectors; the first training set is used to construct a first torque demand calculation branch, wherein the input data of the first torque demand calculation branch are the elevator load and the elevator travel, and the output results are the motor torque, control energy consumption and control stability; the second training set is used to construct a second torque demand calculation branch, wherein the output data and output results of the first torque demand calculation branch and the second torque demand calculation branch are consistent; the construction of the torque demand calculation model is completed by connecting the first torque demand calculation branch and the second torque demand calculation branch in parallel.

[0100] Furthermore, the embodiment of the present application uses the real-time operation strategy as an optimization constraint and the floor access vector as a navigation, and synchronizes the multiple travel heights and real-time load information to the torque demand calculation model to perform phased torque optimization to obtain the motor torque timing strategy, and also includes: After activating the calculation branch mapping of the torque demand calculation model according to the floor access vector, the first trip height and the real-time load information are synchronized to the torque demand calculation model for staged torque calculation to obtain the first stage torque, wherein the first stage torque has a first control energy consumption and a first control stability identifier; 1 / K of the first trip height is used as a division scale to divide the first trip height into K first update heights; the K first update heights and the real-time load information are synchronized to the torque demand calculation model for staged torque calculation to obtain K first update torques, wherein the K first update torques have K first update energy consumptions and K first update stability identifiers; when the real-time operation strategy is to minimize energy consumption, the K first update energy consumptions are added to obtain the first energy consumption information; if the first energy consumption information is better than the first control energy consumption, the K first updated torques are used to replace the first stage torque, and 1 / 2K of the first stroke height is used as a division scale to divide the first stroke height into 2K second updated heights; the 2K second updated heights are analyzed by the torque demand calculation model to obtain 2K second updated torques and 2K second updated energy consumptions; the replacement judgment of the 2K second updated torques and the first updated torque is performed according to the sum of the 2K second updated energy consumptions and the priority of the first energy consumption information, until a plurality of Nth updated torques whose energy consumption remains unchanged with the height division are obtained; and so on, a plurality of groups of updated torques for the plurality of stroke heights are obtained; the plurality of groups of updated torques are connected according to the stroke height division to obtain the motor torque timing strategy.

[0101] Furthermore, step S1 of the embodiment of the present application further includes: Predefine load detection start criteria; collect the state of the target elevator to obtain real-time car door state and real-time displacement parameters; when the real-time car door state and real-time displacement parameters meet the load detection start criteria, send a signal through the elevator state perception module to synchronously activate the load sensor and the floor sensor, wherein the load sensor and the floor sensor are installed in the target elevator; perform real-time state perception of the target elevator through the load sensor and the floor sensor to obtain real-time load information and real-time floor information; the elevator state perception module receives and associates and stores the real-time load information and the real-time floor information, and outputs the real-time state information.

[0102] Furthermore, step S6 of the embodiment of the present application further includes: Output multiple instantaneous magnetic force controls according to the multiple groups of updated torque reverse excitation currents; smoothly splice the multiple instantaneous magnetic force controls to generate the magnetic force control timing information; in the process of using the magnetic force control timing information to perform magnetic control of the motor rotor magnetic sheet in the target motor in the execution of the floor access plan, synchronously perform motor magnetic monitoring through the Hall effect sensor to obtain magnetic force monitoring timing information; identify magnetic deviations by comparing the magnetic force control timing information and the magnetic force monitoring timing information, and use fuzzy control to perform magnetic control compensation, so as to perform fault-tolerant control of the motor rotor magnetic sheet in the target motor.

[0103] Through the above-mentioned detailed description of the magnetic control system of a motor rotor magnetic sheet in this specification, those skilled in the art can clearly know the magnetic control method of a motor rotor magnetic sheet in this embodiment. For the method disclosed in Example 2, since it corresponds to the system disclosed in Example 1 and has corresponding execution steps and beneficial effects, the relevant parts can be referred to the system part description.

[0104] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling the magnetic force of a motor rotor magnetic sheet, characterized in that: The method comprises: A state sensing unit, used to sense and acquire real-time state information of a target elevator through an elevator state sensing module, wherein the real-time state information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator; An information acquisition unit, used for interacting with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark; A load determination unit, configured to determine the load according to the real-time status information and the floor access plan, and output a real-time operation strategy; A motor torque demand optimization unit, used to perform motor torque demand optimization based on the real-time operation strategy as a constraint, according to the floor access plan, real-time load information and elevator operation benchmark, and obtain a motor torque timing strategy; An excitation current calculation unit, used to reversely calculate the excitation current according to the motor torque timing strategy and output magnetic force control timing information; A control execution unit is used to load the magnetic force control timing information into the target motor of the target elevator, and perform fault-tolerant control of the motor rotor magnetic sheet in the target motor when executing the floor access plan.

2. A method for controlling the magnetic force of a motor rotor magnetic sheet as claimed in claim 1, characterized in that: The load determination unit is further configured to perform the following steps: Extracting a floor access vector from the floor access plan; Taking the floor access vector as a constraint and the real-time floor information as a starting point, traverse the floor access plan to obtain the nearest access node; Calculate and obtain a real-time visit itinerary based on the most recently visited node and the real-time floor information; Load matching is performed in a sample operation strategy library according to the real-time access itinerary, real-time load information and floor access vector, and the real-time operation strategy is output.

3. A method for controlling the magnetic force of a motor rotor magnetic sheet as claimed in claim 2, characterized in that: The motor torque requirement optimization unit is also used to perform the following steps: Dividing the real-time access journey into a plurality of access stages according to the elevator operation benchmark, wherein the plurality of access stages have a plurality of journey height identifiers; Interactively obtain target model information of the target elevator, and perform network data call with the target model information as a constraint to obtain multiple sample motor torques, multiple sample elevator loads, and multiple sample elevator strokes, wherein the multiple sample elevator strokes have multiple sample access vector identifiers, and the multiple sample motor torques have multiple sample control energy consumptions and multiple sample control stability identifiers; Using the plurality of sample motor torques, the plurality of sample elevator loads and the plurality of sample elevator travels as training data, constructing a torque demand calculation model; The real-time operation strategy is used as the optimization constraint, the floor access vector is used as the navigation, and the multiple travel heights and real-time load information are synchronized to the torque demand calculation model to perform phased torque optimization to obtain the motor torque timing strategy.

4. A method for controlling the magnetic force of a motor rotor magnetic sheet as claimed in claim 3, characterized in that: The plurality of sample motor torques, the plurality of sample elevator loads and the plurality of sample elevator travels are used as training data to construct a torque demand calculation model, including: Taking the first access vector and the second access vector as partitioning constraints, and according to the plurality of sample access vectors, partitioning the plurality of sample motor torques, the plurality of sample elevator loads, and the plurality of sample elevator travels into a first training set and a second training set; The first training set is used to construct a first torque demand calculation branch, wherein the input data of the first torque demand calculation branch are elevator load and elevator travel, and the output results are motor torque, control energy consumption and control stability; The second training set is used to construct a second torque demand calculation branch, wherein output data and output results of the first torque demand calculation branch and the second torque demand calculation branch are consistent; The construction of the torque demand calculation model is completed by connecting the first torque demand calculation branch and the second torque demand calculation branch in parallel.

5. A method for controlling the magnetic force of a motor rotor magnetic sheet as claimed in claim 4, characterized in that: Taking the real-time operation strategy as the optimization constraint and the floor access vector as the navigation, the motor torque timing strategy is obtained by synchronizing the multiple travel heights and real-time load information to the torque demand calculation model for staged torque optimization, including: After activating the calculation branch mapping of the torque demand calculation model according to the floor access vector, synchronizing the first trip height and the real-time load information to the torque demand calculation model to perform staged torque calculation to obtain a first stage torque, wherein the first stage torque has a first control energy consumption and a first control stability identifier; Using 1 / K of the first stroke height as a division scale, dividing the first stroke height into K first update heights; Synchronizing the K first updated heights and real-time load information to the torque demand calculation model to perform phased torque calculation to obtain K first updated torques, wherein the K first updated torques have K first updated energy consumptions and K first updated stability identifiers; When the real-time operation strategy is energy consumption minimization, summing the K first updated energy consumptions to obtain first energy consumption information; If the first energy consumption information is better than the first control energy consumption, the K first updated torques are used to replace the first stage torque, and 1 / 2K of the first stroke height is used as a division scale to divide the first stroke height into 2K second updated heights; Analyzing the 2K second updated heights by the torque demand calculation model to obtain 2K second updated torques and 2K second updated energy consumptions; Performing a replacement judgment of the 2K second updated torques and the first updated torque according to the sum of the 2K second updated energy consumptions and the priority of the first energy consumption information, until obtaining a plurality of Nth updated torques whose energy consumption is unchanged with the height division; And so on, multiple groups of updated torques of the multiple stroke heights are obtained; The multiple groups of updated torques are connected according to the stroke height division to obtain the motor torque timing strategy.

6. The magnetic force control method of a motor rotor magnetic sheet according to claim 1, characterized in that: The state sensing unit is further configured to perform the following steps: Predefined load detection start criteria; Collecting the state of the target elevator to obtain the real-time car door state and real-time displacement parameters; When the real-time car door state and the real-time displacement parameter meet the load detection start criterion, a signal is sent through the elevator state sensing module to synchronously activate a load sensor and a floor sensor, wherein the load sensor and the floor sensor are installed in the target elevator; The real-time state of the target elevator is sensed by the load sensor and the floor sensor to obtain real-time load information and real-time floor information; The elevator state sensing module receives and associates and stores the real-time load information and the real-time floor information, and outputs the real-time state information.

7. A method for controlling the magnetic force of a motor rotor magnetic sheet as claimed in claim 5, characterized in that: The control execution unit is also used to execute the following steps: Outputting a plurality of instantaneous magnetic force controls according to the plurality of groups of updated torque reverse excitation currents; Smoothly splicing the multiple instantaneous magnetic force controls to generate the magnetic force control timing information; In the process of executing the floor access plan, using the magnetic force control timing information to perform magnetic force control of the motor rotor magnetic sheet in the target motor, synchronously performing motor magnetic force monitoring through a Hall effect sensor to obtain magnetic force monitoring timing information; The magnetic deviation is identified by comparing the magnetic control timing information with the magnetic monitoring timing information, and fuzzy control is used to perform magnetic control compensation, thereby performing fault-tolerant control of the motor rotor magnetic sheet in the target motor.

8. A method for controlling the magnetic force of a motor rotor magnetic sheet, characterized in that: The method is performed by a magnetic control system of a motor rotor magnetic sheet according to any one of claims 1 to 7, comprising: The real-time status information of the target elevator is sensed and acquired through the elevator status sensing module, wherein the real-time status information includes real-time load information and real-time floor information, and the target elevator is a car-type elevator; Interacting with the elevator control panel of the target elevator to obtain a floor access plan and an elevator operation benchmark; Perform load determination based on the real-time status information and the floor access plan, and output a real-time operation strategy; Taking the real-time operation strategy as a constraint, performing motor torque demand optimization according to the floor access plan, real-time load information and elevator operation benchmark, and obtaining the motor torque timing strategy; According to the motor torque timing strategy, the excitation current is reversed and the magnetic force control timing information is output; The magnetic force control timing information is loaded into the target motor of the target elevator, and fault-tolerant control of the motor rotor magnetic pieces in the target motor is performed when executing the floor access plan.

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