CN102259781A - Torque compensation method for lift without weighing device - Google Patents
Torque compensation method for lift without weighing device Download PDFInfo
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- CN102259781A CN102259781A CN201110202236XA CN201110202236A CN102259781A CN 102259781 A CN102259781 A CN 102259781A CN 201110202236X A CN201110202236X A CN 201110202236XA CN 201110202236 A CN201110202236 A CN 201110202236A CN 102259781 A CN102259781 A CN 102259781A
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Abstract
The invention provides a torque compensation method for a lift without weighing device. The method comprises the following steps of: when a lift starts up, detecting the change of position of a cab by using a Sin-Cos encoder installed at a motor shaft end; detecting the size of output analog signals in a unit time according to the time point of signal outputting of the Sin-Cos encoder so as to determine the direction and size of compensation torque; carrying out algorithm processing, digital filtering and interfering processing on detected analog signals; and finally compensating the output torque according to a system model and the algorithm processing results. By the adoption of the method, the lift can be prevented from car rolling on the condition that no torque compensation device is available.
Description
Technical field
The present invention relates to a kind of no weighting apparatus torque compensation method that is used for elevator.
Background technology
Elevator under many circumstances, because cage side and to the varying in weight of heavy side before electric motor starting (when the motor band-type brake is opened), has the slide car of a segment distance, descends the comfort of elevator, and increases the control difficulty when starting.In order to solve the problem of this elevator slide car, usually in system, add a weighting apparatus, before lift car arrives operation at closing time, system-computed goes out the overbalance of car and counterweight, provide the moment deviation in advance, make motor that the moment of correct direction just arranged before band-type brake is opened, can not cause the slide car of elevator.By increasing the weighting apparatus mode, the slide car problem in the time of can solving elevator device and start, but obviously increased the cost of system.
Summary of the invention
The purpose of this invention is to provide a kind of elevator and do not have weighting apparatus torque compensation method.
The technical scheme that the present invention is adopted for its technical matters of solution is,
Elevator does not have weighting apparatus torque compensation method, may further comprise the steps,
During elevator starter, utilize the sine and cosine encoder that is installed in motor shaft end, detect the variation of car position; According to the time point of sine and cosine encoder output signal, in unit time detects the size of exporting the analog signal amount, to determine the direction and the size of compensating moment;
Secondly,, carry out algorithm process, and do digital filter and disturb processing detected analog signal;
At last, according to system model and algorithm process result, output torque is compensated.
The invention has the advantages that, adopt this method under the condition of non-moment compensating device, not have the car of slide phenomenon when making elevator starter.
Description of drawings
Fig. 1 is the systematic schematic diagram that elevator that the present invention proposes does not have weighting apparatus torque compensation method;
Fig. 2 is code device signal hardware interface circuit figure;
Fig. 3 is the software algorithm block diagram;
Fig. 4 is that the nothing that the do not add torque compensation elevator of weighing starts run curve;
Fig. 5 is that the nothing that the adds torque compensation elevator of weighing starts run curve.
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with diagram and specific embodiment, further set forth the present invention.
The step that the elevator that the present invention proposes does not have weighting apparatus torque compensation method is:
During elevator starter, utilize the sine and cosine encoder that is installed in motor shaft end, detect the variation of car position; According to the time point of sine and cosine encoder output signal, in unit time detects the size of exporting the analog signal amount, to determine the direction and the size of compensating moment; To detected analog signal, carry out algorithm process, and do digital filter and disturb processing; According to system model and algorithm process result, output torque is compensated.
The apparatus for controlling elevator that the realization elevator does not have the weighting apparatus torque compensation mainly comprises master control and two parts of frequency conversion.Main control part is responsible for the processing of all logical signals of elevator, is responsible for the response of whole elevator.Dragging of elevator partly is responsible in frequency conversion, and elevator starts, move, stop performance and frequency conversion partly has direct relation.Frequency conversion part system principle adopts the ac-dc-ac inverter mode as shown in Figure 1.Elevator occur to slip the car phenomenon during startup under the condition of no weighting apparatus, be that like this, before moment was set up, the slide car of system was just inevitable because during electric motor starting, moment output is set up and needed the regular hour.
When the elevator run signal occurred, the motor band-type brake was opened, because the car and the counterweight overbalance of elevator, the slide car appears in elevator, and promptly motor begins to rotate.System's utilization is installed in the sine and cosine encoder on the motor, detects the faint rotation of motor, at once to the motor output torque.The size and Orientation of concrete output torque can be determined according to the detected signal of sine and cosine encoder, thereby makes the rapid balance of moment of motor both sides, stops to slip car.
The code device signal hardware interface circuit as shown in Figure 2.On the end axle of sine and cosine encoder installation and motor, directly feed back the motor rotation situation.The PG card is the acceptor circuit of sine and cosine encoder output signal, is responsible for processing signals: filtering, shaping, driving.AD conversion mouth and the pulse digit receiving element of DSP are responsible for the turn signal of coder is read in the software, carry out algorithm process.
The software algorithm block scheme as shown in Figure 3.Its main contents comprise: code device signal is counted; There is turn signal to carry out timing to detecting coder; The coder rotation data that obtains is carried out filtering and repeatedly sampling affirmation; According to the time point and the size of pulse generation, table look-up and determine moment offset value value; In the moment output element, add moment output.Software algorithm is finished in 1 millisecond timer interrupt routine.
In not having the elevator device of weighting apparatus, the elevator that does not add the torque compensation algorithm starts run curve as shown in Figure 4, and elevator starts the slide spacing and is about 5 millimeters.Elevator behind the adding torque compensation algorithm starts run curve, and elevator starts the slide spacing as shown in Figure 5, and visible elevator startup effect has clear improvement.
More than show and described groundwork of the present invention, principal character and advantage of the present invention.The technical personnel of the industry should be understood; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the specification sheets just illustrates principle of the present invention; the present invention also has various changes and modifications without departing from the spirit and scope of the present invention, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (1)
1. elevator does not have weighting apparatus torque compensation method, it is characterized in that, may further comprise the steps,
1) during elevator starter, utilizes the sine and cosine encoder that is installed in motor shaft end, detect the variation of car position;
2) according to the time point of sine and cosine encoder output signal, in unit time detects the size of exporting the analog signal amount, to determine the direction and the size of compensating moment;
3), carry out algorithm process, and do digital filter and disturb processing to detected analog signal;
4) according to system model and algorithm process result, output torque is compensated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110202236XA CN102259781A (en) | 2011-07-19 | 2011-07-19 | Torque compensation method for lift without weighing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110202236XA CN102259781A (en) | 2011-07-19 | 2011-07-19 | Torque compensation method for lift without weighing device |
Publications (1)
| Publication Number | Publication Date |
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| CN102259781A true CN102259781A (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110202236XA Pending CN102259781A (en) | 2011-07-19 | 2011-07-19 | Torque compensation method for lift without weighing device |
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| CN (1) | CN102259781A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241605A (en) * | 2013-05-09 | 2013-08-14 | 日立电梯（中国）有限公司 | Elevator starting compensation control method |
| CN105668358A (en) * | 2016-03-09 | 2016-06-15 | 上海贝思特控制技术有限公司 | Special no-weighing starting torque compensation algorithm for elevator and debugging method |
| CN106395535A (en) * | 2016-11-18 | 2017-02-15 | 广州日滨科技发展有限公司 | Obtaining method and device for elevator balance coefficient |
| CN108249238A (en) * | 2018-01-11 | 2018-07-06 | 深圳市英威腾电气股份有限公司 | A kind of elevator is without detent torque compensation method, the apparatus and system of weighing |
| CN109305612A (en) * | 2017-07-28 | 2019-02-05 | 上海三菱电梯有限公司 | Elevator starts control device |
| CN115043279A (en) * | 2022-07-19 | 2022-09-13 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103241605A (en) * | 2013-05-09 | 2013-08-14 | 日立电梯（中国）有限公司 | Elevator starting compensation control method |
| CN103241605B (en) * | 2013-05-09 | 2015-04-01 | 日立电梯（中国）有限公司 | Elevator starting compensation control method |
| CN105668358A (en) * | 2016-03-09 | 2016-06-15 | 上海贝思特控制技术有限公司 | Special no-weighing starting torque compensation algorithm for elevator and debugging method |
| CN106395535A (en) * | 2016-11-18 | 2017-02-15 | 广州日滨科技发展有限公司 | Obtaining method and device for elevator balance coefficient |
| CN109305612A (en) * | 2017-07-28 | 2019-02-05 | 上海三菱电梯有限公司 | Elevator starts control device |
| CN109305612B (en) * | 2017-07-28 | 2020-09-18 | 上海三菱电梯有限公司 | Elevator starting control device |
| CN108249238A (en) * | 2018-01-11 | 2018-07-06 | 深圳市英威腾电气股份有限公司 | A kind of elevator is without detent torque compensation method, the apparatus and system of weighing |
| CN108249238B (en) * | 2018-01-11 | 2020-07-03 | 深圳市英威腾电气股份有限公司 | Method, device and system for compensating weighing-free starting torque of elevator |
| CN115043279A (en) * | 2022-07-19 | 2022-09-13 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
| CN115043279B (en) * | 2022-07-19 | 2023-01-06 | 广州永日电梯有限公司 | Torque compensation control method for starting elevator |
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| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Peng Tao Inventor after: Zhang Haibo Inventor after: Shi Liting Inventor before: Zhang Haibo Inventor before: Shi Liting |
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| COR | Change of bibliographic data |
Free format text: CORRECT: INVENTOR; FROM: ZHANG HAIBO SHI LITING TO: PENG TAO ZHANG HAIBO SHI LITING |
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Application publication date: 20111130 |