Multi-stage driven escalator with self-healing function and adaptive synchronous control method therefor

Abstract

A multi-stage driven escalator with a self-healing function and an adaptive synchronous control method therefor. The multi-stage driven escalator with a self-healing function comprises: single-stage driving electric motor sets provided on two ends of the escalator, a multi-stage driving electric motor set provided between the single-stage driving electric motor sets, and a main controller (4), wherein the single-stage driving electric motor sets and the multi-stage driving electric motor set are configured for driving the escalator to move, and are further configured for collecting operation data and transmitting the operation data to the main controller (4), the operation data comprising rotational speed data and current data; and the main controller (4) is connected to the single-stage driving electric motor sets and the multi-stage driving electric motor set, and is configured for receiving the operation data and issuing a control instruction on the basis of the operation data, the control instruction being configured to control the single-stage driving electric motor sets and the multi-stage driving electric motor set to operate. The multi-stage driven escalator with a self-healing function effectively reduces the total pulling force borne by a transmission device, and when a certain driving electric motor fails, the operation power of the other driving electric motors can be automatically regulated, so as to implement fault self-healing, thereby ensuring the reliability and stability of a working process.

Description

Multi-stage drive elevator with self-healing function and adaptive synchronization control method thereof Technical Field

[0001] The present invention belongs to the technical field of elevator driving, and in particular relates to a multi-stage driving elevator with a self-healing function and an adaptive synchronous control method thereof. Background Art

[0002] At present, in the field of escalator drive technology, the traditional single-motor drive method is still the mainstream. With the improvement of intelligent drive technology, long-distance and multi-load operation of escalators has become the development trend of elevators, especially in transportation hubs such as airports and subway stations. Long-distance horizontal elevators have become an indispensable means of transportation for passengers. Due to the long distance and large load conditions of elevators, single-drive or dual-drive methods have large chain tension fluctuations and high power output in long-distance transportation. Once a motor fails, the elevator directly faces the problem of suspension and difficult maintenance, which seriously affects transportation efficiency and causes congestion in serious cases. In addition, the traditional drive method causes large load changes on transmission parts, and requires too high strength of transmission parts, resulting in increased costs. In addition, the single-motor drive method has problems such as power concentration and high failure rate. The safety of the long-distance working process cannot be guaranteed.

[0003] Therefore, there is an urgent need to propose a better long-distance escalator driving method to effectively solve the problems caused by power concentration and large load changes during long-distance or even ultra-long-distance operation.

[0004] Summary of the Invention

[0005] The present invention aims to address the deficiencies of the prior art and proposes a multi-stage drive elevator with self-healing function and an adaptive synchronous control method thereof, which can realize the hierarchical drive of long-distance escalators, reduce the overall tension borne by transmission parts, and effectively avoid the transmission lag caused by power concentration during the operation of long-distance escalators, which affects the overall operation stability and improves the reliability of the system working process.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] A multi-stage drive elevator with a self-healing function comprises: a primary drive motor group arranged at both ends of the elevator, a multi-stage drive motor group arranged between the primary drive motor groups, and a main controller;

[0008] The primary drive motor group and the multi-stage drive motor group are used to drive the elevator to move; they are also used to collect operation data and transmit the operation data to the main controller; the operation data includes: speed data and current data;

[0009] The main controller is connected to the primary drive motor group and the multi-stage drive motor group. The main controller is used to receive the operating data and issue control instructions based on the operating data. The control instructions are used to control the operation of the primary drive motor group and the multi-stage drive motor group.

[0010] Preferably, the one-stage drive motor group and the multi-stage drive motor group are both provided with: a driver and a current sensor;

[0011] The driver is connected to the main controller, and is used to collect the speed data and transmit the speed data to the main controller; the driver is also used to receive the control instruction;

[0012] The current sensor is connected to the main controller, and is used to collect the current data and transmit the current data to the main controller.

[0013] Preferably, the one-stage drive motor group and the multi-stage drive motor group both adopt outer rotor permanent magnet motors, and the outer rotor permanent magnet motors are provided with sprockets and transmission chains engaged with each other, and the sprockets and the transmission chains are engaged to drive the elevator to move.

[0014] Preferably, the method in which the main controller issues the control instruction based on the operating data includes:

[0015] Calculating a speed compensation signal for the driving motor based on the speed data; and issuing the control instruction based on the speed compensation signal;

[0016] The working state of the drive motor is determined based on the current data, and the control instruction is issued based on the working state.

[0017] Preferably, the method for determining the working status includes:

[0018] Calculating the current intensity and the current change rate based on the current data, and determining whether the current intensity and the current change rate are within a preset range, and determining that the operation is normal if they are within the preset range;

[0019] If the current intensity and the current change rate are not within the preset range, the main controller determines the position of the abnormal driving motor and issues the control instruction to stop the abnormal driving motor and reduce the speed of adjacent driving motors.

[0020] Preferably, the method for calculating the rotational speed compensation signal includes: ω * 1=K 12 (w1-w2)+K 13 (w1-w3)+K 14 (w1-w4)

[0021] Where: K ab =J a / J b

[0022] Where, ω * 1 is the speed compensation signal of the driving motor; ω i is the speed of each driving motor; i=1,2,3,4; J a , J b is the moment of inertia of each drive motor; a=1, b=2, 3, 4.

[0023] The present invention also provides an adaptive synchronization control method for a multi-stage drive elevator with a self-healing function, comprising:

[0024] S1. Collecting operating data of a drive motor for driving an elevator and transmitting the operating data to a main controller; the operating data includes speed data and current data;

[0025] S2. The main controller determines the operating condition of the drive motor based on the speed data and the current data;

[0026] S3. The main controller issues a control instruction based on the operating condition, where the control instruction is used to control the operation of the drive motor.

[0027] Preferably, the S2 includes:

[0028] The main controller calculates a speed compensation signal of the drive motor based on the speed data;

[0029] The main controller determines the working state of the driving motor based on the current data, and the working state includes: normal and abnormal.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] The present invention can realize multi-stage drive of long-distance escalators, reduce the overall tension borne by the transmission chain, effectively avoid the lag of a single-motor drive mode in driving long-distance escalators and improve the overall operating effect. In addition, a current sensor is used to measure the working status of the motor during the operation of the long-distance escalator, and the current sensor and the main controller can communicate.

[0032] Since long-distance escalators are chain-driven, there is a lag in the transmission process. Evenly distributing the long-distance escalator drive motors in a multi-stage manner can improve the smoothness of the operation process. At the same time, when long-distance escalators are working under heavy loads, if only a single-motor drive method is used, some transmission chains will be subjected to excessive tensile stress, which can easily cause damage and, in severe cases, lead to serious safety accidents. A multi-motor drive system can effectively improve the above problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solution of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0034] FIG1 is a schematic structural diagram of a multi-stage drive inclined escalator with a self-healing function according to an embodiment of the present invention;

[0035] FIG2 is a schematic structural diagram of a multi-stage drive horizontal escalator with a self-healing function according to an embodiment of the present invention;

[0036] FIG3 is a flow chart of an adaptive synchronization control method for a multi-stage drive elevator with a self-healing function according to an embodiment of the present invention.

[0037] Explanation of the reference numerals: 1. Primary drive motor, 2. Intermediate drive motor, 3. Driver and current sensor, 4. Main controller. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] Example 1

[0041] As shown in Figures 1 and 2, this embodiment provides a multi-stage drive elevator with self-healing capabilities, comprising: a primary drive motor group disposed at each end of the elevator, a multi-stage drive motor group disposed between the primary drive motor groups, and a main controller; the primary drive motor group comprises two primary drive motors 1, and the multi-stage drive motor group comprises several groups of intermediate drive motors 2. The primary drive motor 1 and the multi-stage drive motor group are used to drive the elevator; they are also used to collect operating data and transmit it to the main controller; the operating data includes speed data and current data; the main controller is connected to the primary drive motor 1 and the multi-stage drive motor group, and is used to receive the operating data and issue control instructions based on the operating data, which are used to control the operation of the primary drive motor 1 and the multi-stage drive motor group.

[0042] Specifically, in this embodiment, both the primary drive motor 1 and the intermediate drive motor 2 utilize outer rotor permanent magnet motors. These motors are equipped with sprockets that mesh with a drive chain, which in turn drives the escalator. These motors utilize closed-loop speed control to ensure smooth escalator operation. When the load on the drive motors changes, the motors improve their operating efficiency, ensuring synchronization of the multi-motor drive. Furthermore, both the primary drive motor 1 and the intermediate drive motor 2 are equipped with drivers and current sensors 3. The drivers are connected to a main controller 4 and are responsible for collecting and transmitting speed data. The drivers are also responsible for receiving control commands. The current sensors are connected to the main controller 4 and are responsible for collecting and transmitting current data.

[0043] Among them, the main controller 4 uses the speed of a single drive motor as a reference factor to compensate the speeds of other drive motors based on deviation coupling control, thereby ensuring the smooth operation of the elevator. In this embodiment, the main controller 4 receives real-time speed data transmitted by the driver and uses deviation coupling control to calculate the speed compensation signal for each drive motor, and issues a control instruction based on the speed compensation signal. Specifically, the method for calculating the speed compensation signal includes: assuming that there are four motors in the system, taking the first motor as an example: ω * 1=K 12 (w1-w2)+K 13 (w1-w3)+K 14 (w1-w4)

[0044] Where: K ab =J a / J b

[0045] Where, ω * 1 is the speed compensation signal of the driving motor; ω i is the speed of each driving motor; i=1,2,3,4; J a , J b is the moment of inertia of each drive motor; a=1, b=2, 3, 4.

[0046] The main controller 4 also determines the working state of the drive motor based on the current data and issues a control instruction based on the working state. In this embodiment, the working state includes two states: normal and abnormal. Specifically, the method for determining the working state includes:

[0047] Calculate the current intensity I based on the current data max and the current change rate ΔI, to determine whether the current intensity and current change rate are within the preset range [I a ,I b ],[ΔI a,ΔI b ], if it is within the preset range, it is judged to be normal operation;

[0048] If the current intensity and the current change rate are not within the preset range, the main controller 4 determines the position of the abnormal driving motor based on the current data, and issues a control instruction to stop the abnormal driving motor from working. Based on the current data of the adjacent driving motor, the speed of the adjacent driving motor is reduced without overloading the driving motor, so as to ensure the smooth operation of the driving motor.

[0049] Example 2

[0050] As shown in FIG3 , the present invention further provides an adaptive synchronization control method for a multi-stage drive elevator with a self-healing function, comprising:

[0051] S1. Collecting the operating data of the drive motor used to drive the elevator and transmitting the operating data to the main controller; the operating data includes: speed data and current data;

[0052] S2. The main controller determines the operating condition of the drive motor based on the speed data and current data;

[0053] Specifically, the main controller 4 calculates the speed compensation signal of the drive motor based on the speed data. In this embodiment, the main controller 4 calculates the speed compensation signal for each drive motor using deviation coupling control. The method includes: assuming that there are four drive motors in the system, taking the first drive motor as an example: ω * 1=K 12 (w1-w2)+K 13 (w1-w3)+K 14 (w1-w4)

[0054] Where: K ab =J a / J b

[0055] Where, ω * 1 is the speed compensation signal of the driving motor; ω i is the speed of each driving motor; i=1,2,3,4; J a , J b is the moment of inertia of each drive motor; a=1, b=2, 3, 4.

[0056] The main controller 4 determines the working state of the drive motor based on the current data. The working state includes normal and abnormal. Specifically, the current intensity I is calculated based on the current data. max and the current change rate ΔI, to determine whether the current intensity and current change rate are within the preset range [I a ,I b ],[ΔIa ,ΔI b ], if it is within the preset range, it is judged to be normal operation;

[0057] If the current intensity and the current change rate are not within the preset range, it is determined that the operation is abnormal.

[0058] S3. The main controller issues a control instruction based on the operating conditions. The control instruction is used to control the operation of the drive motor.

[0059] When it is determined that the operation is abnormal, the main controller 4 determines the position of the abnormal driving motor based on the current data, and issues a control instruction to stop the operation of the abnormal driving motor. Based on the current data of the adjacent driving motor, the speed of the adjacent driving motor is reduced without overloading the driving motor, thereby ensuring the smooth operation of the driving motor.

[0060] The embodiments described above are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by persons skilled in the art should fall within the scope of protection defined by the claims of the present invention.

Claims

1. A multi-stage drive elevator with self-healing function, characterized in that: include: A primary drive motor group arranged at both ends of the elevator, a multi-stage drive motor group arranged between the primary drive motor groups, and a main controller; The primary drive motor group and the multi-stage drive motor group are used to drive the elevator to move; Also used for collecting operation data and transmitting the operation data to the main controller; The operation data includes: speed data and current data; The main controller is connected to the primary drive motor group and the multi-stage drive motor group. The main controller is used to receive the operating data and issue control instructions based on the operating data. The control instructions are used to control the operation of the primary drive motor group and the multi-stage drive motor group.

2. The multi-stage drive elevator with self-healing function according to claim 1, characterized in that: The one-stage driving motor group and the multi-stage driving motor group are both provided with: a driver and a current sensor; The driver is connected to the main controller, and the driver is used to collect the speed data and transmit the speed data to the main controller; The driver is also used to receive the control instruction; The current sensor is connected to the main controller, and is used to collect the current data and transmit the current data to the main controller.

3. The multi-stage drive elevator with self-healing function according to claim 1, characterized in that: The one-stage drive motor group and the multi-stage drive motor group both adopt an outer rotor permanent magnet motor, and the outer rotor permanent magnet motor is provided with a sprocket and a transmission chain meshing, and the sprocket and the transmission chain meshing are used to drive the elevator to move.

4. The multi-stage drive elevator with self-healing function according to claim 1, characterized in that: The method in which the main controller issues the control instruction based on the operation data includes: Calculating a speed compensation signal of the driving motor based on the speed data; issuing the control instruction based on the speed compensation signal; The working state of the driving motor is determined based on the current data, and the control instruction is issued based on the working state.

5. The multi-stage drive elevator with self-healing function according to claim 4, characterized in that: The method for determining the working status includes: Calculate the current intensity and the current change rate based on the current data, and determine whether the current intensity and the current change rate are within a preset range, and if they are within the preset range, determine that the operation is normal; If the current intensity and the current change rate are not within the preset interval, the main controller determines the position of the abnormal driving motor and issues the control instruction to stop the abnormal driving motor and reduce the rotation speed of the adjacent driving motor.

6. The multi-stage drive elevator with self-healing function according to claim 4, characterized in that: The method for calculating the speed compensation signal includes: * 1=K 12 (w1-w2)+K 13 (w1-w3)+K 14 (w1-w4) in: K ab =J a / J b In the formula, ω * 1 is the speed compensation signal of the drive motor; ω i is the speed of each drive motor; i=1,2,3,4; J a , J b is the moment of inertia of each driving motor; a=1, b=2, 3, 4.

7. An adaptive synchronization control method for a multi-stage drive elevator with self-healing function as claimed in any one of claims 1 to 6, characterized in that: include: S1. Collecting operation data of a driving motor used to drive the elevator to move, and transmitting the operation data to a main controller; The operation data includes: speed data and current data; S2, the main controller determines the operating condition of the drive motor based on the speed data and the current data; S3, the main controller issues a control instruction based on the operating condition, and the control instruction is used to control The drive motor is running.

8. The adaptive synchronization control method according to claim 7, characterized in that: The S2 includes: The main controller calculates a speed compensation signal of the drive motor based on the speed data; The main controller determines the working state of the driving motor based on the current data, based on the working state, and the working state includes: normal and abnormal.

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