CN105314551A

CN105314551A - Counter weight control method and device for hoisting machine

Info

Publication number: CN105314551A
Application number: CN201510751486.7A
Authority: CN
Inventors: 毛艳
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Priority date: 2015-11-06
Filing date: 2015-11-06
Publication date: 2016-02-10
Anticipated expiration: 2035-11-06
Also published as: CN105314551B

Abstract

The invention discloses a counter weight control method and device for a hoisting machine. The method comprises the steps that after an initial control value is input through a handle to control two oil cylinders to go up and down synchronously, travel information of the two oil cylinders is detected; according to the travel information of the two oil cylinders, the datum oil cylinder and the adjusted oil cylinder are determined; the adjusted oil cylinder is controlled to slow down until a difference value between the travel information of the datum oil cylinder and the travel information of the adjusted oil cylinder is within a preset range, and a current real-time control value of the two oil cylinders is recorded; and the two oil cylinders are controlled to act on the basis of the travel information of the two oil cylinders and the recorded real-time control value of the two oil cylinders. By means of the counter weight control method and device, the technical problems that in the process that a hoisting machine controls a counter weight to go up and down stably in the prior art, lifting of the counter weight is adjusted with an oil cylinder at a certain side as the datum constantly, and consequently the effective control range of a handle is smaller, and counter weight lifting efficiency is low are solved.

Description

The counterweight control method of elevator machinery and device

Technical field

The present invention relates to engineering machinery field, in particular to a kind of counterweight control method and device of elevator machinery.

Background technology

Elevator machinery is general all with balance weight, as car hosit, crawler crane, tower machine etc.For car hosit, the balance weight of car hosit is mated with hoisting capacity, and rated load weight is larger, and counterweight is heavier.When installing counterweight, being generally by two elevating rams, counterweight being mentioned liftoff, and after being promoted to certain altitude and position, locking, fixing; Dismounting counterweight is then contrary process.

For guaranteeing that counterweight is steadily elevated, two, left and right oil cylinder must synchronization lifting.Left and right oil cylinder real-time synchronization can be realized by control system as shown in Figure 1 in prior art.As shown in Figure 1, this system comprises handle 11 ', controller 12 ', electronically controlled proportional valve 13 ', hydraulic ram 14 ', length detection sensor 15 ' and balance cock 16 '.Wherein, handle opening amount signal for for providing incoming signal, is sent into controller by handle, controller exports the control electric current for controlling electronically controlled proportional valve by logic, this control electric current determines the aperture of electronically controlled proportional valve, thus controls the hydraulic fluid flow rate entering oil cylinder, and then controls rising or falling speed.Linear transducer detects the stroke of oil cylinder, and feeds back to controller.

The implementation method of this system is: two, left and right oil cylinder respectively has a set of identical jacking system, by detecting the elongation (i.e. stroke) of left and right side oil cylinder, the relatively difference of the elongation of two side cylinders, learn the lifting speed state of left and right oil cylinder, thus adjust the output of corresponding electronically controlled proportional valve in real time, the lifting position of left and right oil cylinder is consistent, realizes left and right oil cylinder real-time synchronization.

The control policy realizing the lifting of left and right sides oil cylinder real-time synchronization in prior art appoints to get a side cylinder elongation as benchmark, such as: getting left side oil cylinder elongation is benchmark, the relatively difference of right side oil cylinder elongation and left side oil cylinder, the controlling valu of left side oil cylinder exports according to the size of handle signal, and the controlling valu of right side oil cylinder follows the size of the controlling valu of left side oil cylinder, and in conjunction with the difference of elongation, by algorithm carry out adjusting regulate after export.

Particularly, getting a certain side cylinder elongation is benchmark, opposite side oil cylinder elongation up-down adjustment on this benchmark, if faster than benchmark, slow down, if slower than benchmark, needs to accelerate, therefore, the maximum controlling valu (being called basic threshold) of reference side can not get the full scale value of handle, must reserve certain surplus, as the adjustment threshold value being conditioned side, increase in reference side controlling valu to make being conditioned side controlling valu or reduce, the acceleration or deceleration realizing being conditioned side cylinder controls.That is, the full scale value of basic threshold+adjustment threshold value=handle.

Such as, be the handle of 0-1000 for stroke range, basic threshold can get 700, threshold value is regulated to be then 300, namely effective control stroke of reference side is 0-700, and the stroke of remaining 0-300, as surplus, controls to adjust for PID, if reference side controlling valu gets maxim 700, be so conditioned side controlling valu and up add from 700 or down subtract from 700.That is, the maximum controlling valu due to reference side is 700, and effective output speed of whole synchronization lifting is restricted to and maximumly can only reaches 700.

As can be seen here, the shortcoming of above-mentioned control method of the prior art is, if regulate threshold value get large, then must sacrifice basic threshold, effective input reference signal of handle be narrowed, causes oil cylinder rising or falling speed limited; If what regulate threshold value to get is little, then the dynamics that controls is more weak, affects synchro control effect.

In addition, in order to follow the elongation of benchmark oil cylinder in real time, the controlling valu of handle gives value according to inclined extent, little time large when it exports likely, easily causes the counterweight being conditioned this side of oil cylinder to wave, vibrate, makes severe duty have potential safety hazard.

Control in the process that is steadily elevated of counterweight in prior art at elevator machinery, constant with certain side cylinder for benchmark regulate counterweight lifting, effective range of control of handle can be made to diminish, cause the inefficient technical matters regulating counterweight lifting, not yet propose actv. solution at present.

Summary of the invention

Embodiments provide a kind of counterweight control method and device of elevator machinery, control in the process that is steadily elevated of counterweight at least to solve in prior art at elevator machinery, constant with certain side cylinder for benchmark regulate counterweight lifting, effective range of control of handle can be made to diminish, cause the inefficient technical matters regulating counterweight lifting.

According to an aspect of the embodiment of the present invention, provide a kind of counterweight control method of elevator machinery, elevator machinery comprises: for being elevated two oil cylinders of counterweight, the method comprises: after control handle input initial control values controls two oil cylinder synchronization liftings, detect the travel information of two oil cylinders, wherein, travel information is used to indicate the rising or falling speed of oil cylinder; According to the travel information of two oil cylinders, determine benchmark oil cylinder and be conditioned oil cylinder, wherein, the rising or falling speed of benchmark oil cylinder is less than the rising or falling speed being conditioned oil cylinder; Control is conditioned oil cylinder and slows down, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and records the real-time controlling valu of two current oil cylinders; Real-time controlling valu based on the travel information of two oil cylinders and two oil cylinders of record controls two cylinder actions.

According to the another aspect of the embodiment of the present invention, additionally provide a kind of counterweight control setup of elevator machinery, elevator machinery comprises: for being elevated two oil cylinders of counterweight, this device comprises: detecting unit, after controlling two oil cylinder synchronization liftings at control handle input initial control values, detect the travel information of two oil cylinders, wherein, travel information is used to indicate the rising or falling speed of oil cylinder; Determining unit, for the travel information according to two oil cylinders, determine benchmark oil cylinder and be conditioned oil cylinder, wherein, the rising or falling speed of benchmark oil cylinder is less than the rising or falling speed being conditioned oil cylinder; First control unit, slowing down for controlling to be conditioned oil cylinder, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and recording the real-time controlling valu of two current oil cylinders; Second control unit, for controlling two cylinder actions based on the real-time controlling valu of the travel information of two oil cylinders and two oil cylinders of record.

In embodiments of the present invention, after handle input initial control values controls two oil cylinder synchronization liftings, detect the travel information of two oil cylinders, and according to the travel information of two oil cylinders, determine using slower oil cylinder as benchmark oil cylinder, using oil cylinder faster as being conditioned oil cylinder, then control to be conditioned oil cylinder to slow down, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and record the real-time controlling valu of two current oil cylinders, in follow-up counterweight control process, real-time controlling valu based on the travel information of two oil cylinders detected and two oil cylinders of record controls two cylinder actions.Solving in prior art controls in the process that is steadily elevated of counterweight at elevator machinery, constantly regulates counterweight lifting with certain side cylinder for benchmark, effective range of control of handle can be made to diminish, cause the inefficient technical matters regulating counterweight lifting.

Accompanying drawing explanation

Accompanying drawing described herein is used to provide a further understanding of the present invention, and form a application's part, schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:

Fig. 1 is the schematic diagram of the counterweight lift control system of a kind of elevator machinery according to prior art;

Fig. 2 is the diagram of circuit of the counterweight control method of a kind of elevator machinery according to the embodiment of the present invention;

Fig. 3 is the diagram of circuit of the counterweight control method of a kind of optional elevator machinery according to the embodiment of the present invention;

Fig. 4 is the diagram of circuit of the counterweight control method according to a kind of optional elevator machinery embodiment illustrated in fig. 3; And

Fig. 5 is the schematic diagram of the counterweight control setup of a kind of elevator machinery according to the embodiment of the present invention.

Detailed description of the invention

The present invention program is understood better in order to make those skilled in the art person, below in conjunction with the accompanying drawing in the embodiment of the present invention, technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only the embodiment of a part of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, should belong to the scope of protection of the invention.

It should be noted that, term " first ", " second " etc. in specification sheets of the present invention and claims and above-mentioned accompanying drawing are for distinguishing similar object, and need not be used for describing specific order or precedence.Should be appreciated that the data used like this can be exchanged in the appropriate case, so as embodiments of the invention described herein can with except here diagram or describe those except order implement.In addition, term " comprises " and " having " and their any distortion, intention is to cover not exclusive comprising, such as, contain those steps or unit that the process of series of steps or unit, method, system, product or equipment is not necessarily limited to clearly list, but can comprise clearly do not list or for intrinsic other step of these processes, method, product or equipment or unit.

First, the part noun occurred in the process be described the embodiment of the present invention or term are applicable to description below:

Pid algorithm: the control algorithm being utilization ratio (P), integration (I) and differential (D), revises the deviation in loop, makes observed reading be stabilized near setting value, reach the object controlling a certain parameter.

Embodiment 1

According to the embodiment of the present invention, provide a kind of embodiment of the method for counterweight control method of elevator machinery, it should be noted that, can perform in the computer system of such as one group of computer executable instructions in the step shown in the diagram of circuit of accompanying drawing, and, although show logical order in flow charts, in some cases, can be different from the step shown or described by order execution herein.

Elevator machinery comprises: for being elevated two oil cylinders of counterweight, and Fig. 2 is the diagram of circuit of the counterweight control method of a kind of elevator machinery according to the embodiment of the present invention, and as shown in Figure 2, the method can comprise the steps:

Step S22, after handle input initial control values controls two oil cylinder synchronization liftings, detect the travel information of two oil cylinders, wherein, travel information is used to indicate the rising or falling speed of oil cylinder.

Alternatively, when the counterweight synchronization lifting process of elevator machinery starts, the real-time controlling valu of two oil cylinders is identical, is the initial control values of handle place input; In the counterweight synchronization lifting process of elevator machinery, the travel information of two oil cylinders in left and right can be detected in real time by linear transducer.

Alternatively, initial control values can for the handle currency when counterweight synchronization lifting process of elevator machinery starts, and this initial control values can be the full scale value of handle.

In above-mentioned steps S22, travel information is the elongation of oil cylinder, for characterizing the rising or falling speed of oil cylinder.

It should be noted that, in the process that two oil cylinders synchronously rise, the speed that the oil cylinder that travel information is larger rises, the speed that the oil cylinder that travel information is less rises is slower; In the process that two oil cylinders synchronously decline, the speed that the oil cylinder that travel information is larger declines is comparatively slow, the speed that the oil cylinder that travel information is less declines; In the process of two oil cylinder synchronization liftings, when the difference of the travel information of two oil cylinders in left and right is in preset range, represent that the rising or falling speed of two oil cylinders is basically identical, that is, two, left and right oil cylinder synchronously rises or synchronously to decline.

Step S24, according to the travel information of two oil cylinders, determine benchmark oil cylinder and be conditioned oil cylinder, wherein, the rising or falling speed of benchmark oil cylinder is less than the rising or falling speed being conditioned oil cylinder.

Alternatively, after the counterweight synchronization lifting process of elevator machinery starts, two oil cylinder synchronization liftings are controlled with identical initial control values, then according to the travel information of two oil cylinders detected, using oil cylinder slower for rising or falling speed as benchmark oil cylinder, and using oil cylinder slower for rising or falling speed as being conditioned oil cylinder.

Step S26, controls to be conditioned oil cylinder and slows down, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and records the real-time controlling valu of two current oil cylinders.

Alternatively, after determining that the slower oil cylinder of rising or falling speed is benchmark oil cylinder, deceleration control is carried out to being conditioned oil cylinder, and the travel information of two oil cylinders is detected in real time by linear transducer, when the difference of the travel information two oil cylinders being detected is in preset range, think benchmark oil cylinder be conditioned oil cylinder and realize synchronization lifting, the real-time controlling valu that record two oil cylinders are now corresponding.

In above-mentioned steps S26, because benchmark oil cylinder gets initial control values all the time, the real-time controlling valu being conditioned oil cylinder then progressively reduces on the basis of initial control values, until two oil cylinders realize synchronization lifting (difference of the elongation of two namely above-mentioned oil cylinders is in preset range), record the real-time controlling valu that now two oil cylinders are corresponding.

It should be noted that, in the lifting process of oil cylinder, first need to determine reference side, time initial with slow side cylinder for benchmark, to fast side cylinder carry out deceleration regulate, until two side cylinders realize synchronization lifting.Regulate in the process is slow down all the time, therefore the initial control values of benchmark oil cylinder can be given to maximum (i.e. the full scale value of handle), also namely the real-time controlling valu of benchmark oil cylinder can be the full scale value of handle, and the real-time controlling valu being conditioned oil cylinder then down subtracts on the basis of initial control values.Because the real-time controlling valu of benchmark oil cylinder can get maxim, represent that the output of handle in whole stroke range is all effective, therefore, effective range of control of handle is not affected.

Step S28, the real-time controlling valu based on the travel information of two oil cylinders and two oil cylinders of record controls two cylinder actions.

Alternatively, determining benchmark oil cylinder and be conditioned oil cylinder and after recording real-time controlling valu when two oil cylinders realize synchronization lifting, real-time controlling valu based on two oil cylinders of this record controls two oil cylinders and rises or decline, in the process, detected the travel information of two oil cylinders by linear transducer in real time, and the rising or falling speed being conditioned side cylinder is regulated, to guarantee that the difference of the travel information of two oil cylinders is within preset range all the time, that is, two oil cylinder synchronization liftings are guaranteed.

In an optional application scenarios, the process controlling elevator machinery counterweight synchronization lifting can be: start synchronization lifting with the full scale value of handle for initial value controls two oil cylinders, time initial, any need first to determine with side cylinder for benchmark, can by linear transducer detect in real time two oil cylinders travel information (as, elongation), determine that the rising or falling speed of which side cylinder is slower according to the elongation of two oil cylinders detected, and using this side cylinder as benchmark oil cylinder, carry out deceleration to opposite side oil cylinder to regulate, until two oil cylinders realize synchronization lifting (namely the difference of the elongation of two oil cylinders is within preset range), and when two oil cylinders realize synchronization lifting, record the real-time controlling valu of now two oil cylinders, with in follow-up counterweight synchronization lifting process, with the real-time controlling valu of two oil cylinders of record and the elongation of two oil cylinders that detects in real time, real-time dynamic adjustments is carried out to the lifting of two oil cylinders, guarantee two oil cylinder real-time synchronization liftings.Pass through above-mentioned steps, due in the process determining benchmark oil cylinder, the real-time controlling valu of benchmark oil cylinder can get the maxim of the stroke range of handle, and carry out deceleration adjustment to being conditioned oil cylinder all the time, therefore, the whole stroke range of handle is all effective range of control, with in prior art constant with certain side cylinder for benchmark regulates compared with the lifting of counterweight, avoid because the reserved a part of stroke range of needs is as adjustment surplus, cause the problem that effective range of control of handle narrows, state on the invention in embodiment, whole stroke range of handle are all effective, whole counterweight synchronization lifting control process can run with maximum output speed, effectively improve the efficiency of the counterweight lifting regulating elevator machinery.

Such as, be that the application scenarios of the full scale value of handle is example with initial control values, the above embodiment of the present invention is described.For the stroke range of handle for 0-1000, when the counterweight synchronization lifting process of elevator machinery starts, when starting incoming signal (as maxim 1000) in handle, running synchronous ascending or synchronous letdown procedure, controlling two the oil cylinder synchronization liftings in left and right.Initial in counterweight synchronization lifting process, first needs to determine benchmark oil cylinder in counterweight synchronization lifting process and is conditioned oil cylinder.If the oil cylinder stroke information detected according to linear transducer judges that the rising or falling speed of left side oil cylinder is comparatively slow, then with left side oil cylinder for benchmark oil cylinder; The input value (namely 1000) that front handle got by left side oil cylinder is real-time controlling valu, right side oil cylinder is as being conditioned oil cylinder, the basis of the input value (namely 1000) of front handle is carried out deceleration regulate, until when the difference of the elongation of two oil cylinders in left and right that linear transducer detects is in preset range, think that two oil cylinders in left and right realize synchronization lifting, then record now the right side real-time controlling valu (as 700) of oil cylinder and the real-time controlling valu (namely 1000) of left side oil cylinder, so far, the determination process of benchmark oil cylinder terminates.In follow-up counterweight synchronization lifting process, based on the real-time controlling valu of two oil cylinders in left and right of record and the travel information of real-time two oil cylinders detected, control two oil cylinders and carry out real-time synchronization lifting.

Present invention also offers following preferred version, thus solve in prior art that to be conditioned side controlling valu be that PID exports, bidirectional modulation has increasing to have to subtract, and can cause to be conditioned side counterweight and to swing up and down, and stability is bad, even there will be dangerous problem time serious.

Alternatively, step S24, according to the travel information of two oil cylinders, determines benchmark oil cylinder and is conditioned oil cylinder to comprise step S242 and step S244:

Step S242, when control two oil cylinders synchronously rise, determines that the oil cylinder that in two oil cylinders, travel information is less is benchmark oil cylinder, and determines that oil cylinder that in two oil cylinders, travel information is larger is for being conditioned oil cylinder.

Alternatively, when synchronously rising under the control of two oil cylinders at initial control values, according to linear transducer detect two oil cylinders travel information (as, elongation), the elongation of two oil cylinders relatively detected, in synchronous uphill process, the height of elongation less expression oil cylinder is lower, that is the ascending velocity of this oil cylinder is slower, otherwise, elongation then represents that the height of oil cylinder is higher comparatively greatly, namely the ascending velocity of this oil cylinder is very fast, so using a side cylinder less for elongation as benchmark oil cylinder, and using a side cylinder larger for elongation as being conditioned oil cylinder.

Step S244, when control two oil cylinders synchronously decline, determines that the oil cylinder that in two oil cylinders, travel information is larger is benchmark oil cylinder, and determines that oil cylinder that in two oil cylinders, travel information is less is for being conditioned oil cylinder.

Alternatively, when synchronously declining under the control of two oil cylinders at initial control values, the travel information of two oil cylinders detected according to linear transducer (as, elongation), the elongation of two oil cylinders relatively detected, in synchronous decline process, the height of elongation larger expression oil cylinder is higher, that is the descending speed of this oil cylinder is slower, otherwise, the height of elongation less expression oil cylinder is lower, namely the descending speed of this oil cylinder is very fast, so using a side cylinder larger for elongation as benchmark oil cylinder, and using a side cylinder larger for elongation as being conditioned oil cylinder.

In an optional embodiment, the real-time controlling valu of two oil cylinders comprises the first real-time controlling valu of benchmark oil cylinder and is conditioned the second real-time controlling valu of oil cylinder, wherein, step S26, control is conditioned oil cylinder and slows down, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and the real-time controlling valu recording two current oil cylinders can comprise step S262, step S264 and step S266:

Step S262, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculates and is conditioned the first increment of adjustment corresponding to oil cylinder.

Step S264, uses the first increment of adjustment to successively decrease adjustment to the initial control values being conditioned oil cylinder, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder.

Step S266, when the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, records the first current real-time controlling valu and the second real-time controlling valu.

Alternatively, after determining benchmark oil cylinder, to be conditioned oil cylinder carry out deceleration regulate time, each the first increment of adjustment regulated can be calculated by pid algorithm, and based on the initial control values being conditioned oil cylinder, with the first increment of adjustment for decreasing increments carries out control of successively decreasing, simultaneously, the travel information of two oil cylinders is detected in real time by linear transducer, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, then no longer carry out control of successively decreasing, and record the first real-time controlling valu (i.e. initial control values) of current benchmark oil cylinder and be conditioned the second real-time controlling valu of oil cylinder.

In an optional embodiment, step S262, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculating the first increment of adjustment being conditioned oil cylinder corresponding can comprise: according to following formulae discovery first increment of adjustment △ U: △ U=K _p* E+K _i* (E ₁-E ₂)+K _d* (E-2E ₁+ E ₂).

Wherein, K _pfor the proportionality coefficient of pid algorithm, K _ifor the integral coefficient of pid algorithm, K _dfor the differential coefficient of pid algorithm, E is the travel information of benchmark oil cylinder and the first difference of travel information being conditioned oil cylinder, E ₁for travel information and second difference of travel information being conditioned oil cylinder of benchmark oil cylinder, E ₂for travel information and the 3rd difference of travel information being conditioned oil cylinder of benchmark oil cylinder.

Alternatively, to be conditioned oil cylinder carry out deceleration regulate time, calculate according to pid algorithm and be conditioned the first increment of adjustment corresponding to oil cylinder.

It should be noted that, the E in above-mentioned formula is the travel information of current benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, E ₁the travel information of the benchmark oil cylinder detected for the last time and the difference of travel information being conditioned oil cylinder, E ₂for the travel information of benchmark oil cylinder to detect for upper twice and the difference of travel information being conditioned oil cylinder.

Pass through the above embodiment of the present invention, increment of adjustment is calculated through pid algorithm, the real-time controlling valu being conditioned oil cylinder is associated with the integral differential of this difference with the difference of the travel information of two oil cylinders, can respond fast and deviation between the travel information eliminating two oil cylinders, ensure the real-time synchronization realizing left and right sides oil cylinder in the dynamic lifting process of counterweight, thus realize the average steady rising of ballast water or decline.

In an optional embodiment, step S28, controls two cylinder actions based on the stroke letter of two oil cylinders and the real-time controlling valu of two oil cylinders of record and can comprise step S282, step S284, step S286 and step S288:

Step S282, with the record first real-time controlling valu to control benchmark cylinder action, and controls to be conditioned cylinder action with the second real-time controlling valu of record.

Particularly, determine benchmark oil cylinder and will be conditioned oil cylinder be adjusted to synchronous with benchmark oil cylinder after, continue to carry out regulable control to the lifting of two oil cylinders.When regulable control initial, control benchmark oil cylinder with the record first real-time controlling valu (i.e. initial control values) and rise or decline, and control to be conditioned oil cylinder with second of record the real-time controlling valu and rise or decline.

Alternatively, at benchmark oil cylinder and be conditioned in the lifting process of oil cylinder, three kinds of different situations may be there are:

1, the rising or falling speed of benchmark oil cylinder is still comparatively slow, and the rising or falling speed being conditioned oil cylinder is still very fast;

2, the rising or falling speed of benchmark oil cylinder is very fast, and the rising or falling speed being conditioned oil cylinder is slower;

3, benchmark oil cylinder is consistent with the rising or falling speed being conditioned oil cylinder.

Therefore, also need by performing step S284, in real time monitoring benchmark oil cylinder and the motion speed situation being conditioned oil cylinder.

Step S284, according to travel information and the travel information being conditioned oil cylinder of benchmark oil cylinder, determines benchmark oil cylinder and the motion speed situation being conditioned oil cylinder.

Alternatively, detected the travel information of two oil cylinders in real time by linear transducer, and the travel information of two oil cylinders detected is compared, determine benchmark oil cylinder and the motion speed situation being conditioned oil cylinder.

It should be noted that, in step S284, determine that the implementation of the motion speed situation of two oil cylinders is consistent with the implementation of the rising or falling speed comparing two oil cylinders in above-mentioned steps S24, do not repeat them here.

Step S286, if the speed of benchmark oil cylinder is less than the speed being conditioned oil cylinder, then according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and slows down.

Particularly, if the speed of benchmark oil cylinder is less than the speed (namely above-mentioned situation 1) being conditioned oil cylinder, then with the travel information of benchmark oil cylinder be conditioned the difference of travel information of oil cylinder for foundation, control is conditioned oil cylinder and slows down, thus realizes the object of control two oil cylinder synchronization liftings.

Step S288, if the speed of benchmark oil cylinder is greater than the speed being conditioned oil cylinder, then according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and accelerates.

Particularly, if the speed of benchmark oil cylinder is greater than the speed (namely above-mentioned situation 2) being conditioned oil cylinder, then with the travel information of benchmark oil cylinder be conditioned the difference of travel information of oil cylinder for foundation, control is conditioned oil cylinder and accelerates, thus realizes the object of control two oil cylinder synchronization liftings.

In an optional embodiment, if the travel information of benchmark oil cylinder is in preset range with the difference of the travel information being conditioned oil cylinder, then think the speed of benchmark oil cylinder be conditioned the speed of oil cylinder quite (namely above-mentioned situation 3), without the need to regulating being conditioned oil cylinder, and continue to control benchmark cylinder action according to the current first real-time controlling valu, control to be conditioned cylinder action with the current second real-time controlling valu.

Alternatively, step S286, according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and carries out deceleration and can comprise step S2862 and step S2864:

Step S2862, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculates and is conditioned the second increment of adjustment corresponding to oil cylinder.

In an optional embodiment, step S2862, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculating the second increment of adjustment being conditioned oil cylinder corresponding can comprise: according to following formulae discovery second increment of adjustment △ U_1:

△U_1＝K _p_1*E_1+K _i_1*(E ₁_1-E ₂_1)+K _d_1*(E_1-2E ₁_1+E ₂_1)。

Wherein, K _p_ 1 is the proportionality coefficient of pid algorithm, K _i_ 1 is the integral coefficient of pid algorithm, K _d_ 1 is the differential coefficient of pid algorithm, and E_1 is the travel information of benchmark oil cylinder and the first difference of travel information being conditioned oil cylinder, E ₁_ 1 travel information being benchmark oil cylinder and the second difference of travel information being conditioned oil cylinder, E ₂_ 1 travel information being benchmark oil cylinder and the 3rd difference of travel information being conditioned oil cylinder.

It should be noted that, the E_1 in above-mentioned formula is the travel information of current benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, E ₁_ 1 travel information that is the last benchmark oil cylinder detected and the difference of travel information being conditioned oil cylinder, E ₂_ 1 travel information being the upper benchmark oil cylinder detected for twice and the difference of travel information being conditioned oil cylinder.

Step S2864, uses the second increment of adjustment to successively decrease adjustment to the second real-time controlling valu, until the travel information of benchmark oil cylinder and the difference of the travel information being conditioned oil cylinder are within preset range or the second real-time controlling valu reduces to minimum value.

Alternatively, each the second increment of adjustment regulated can be calculated by pid algorithm, and based on the be conditioned oil cylinder second real-time controlling valu, with the second increment of adjustment for decreasing increments successively decreases, meanwhile, detected the travel information of two oil cylinders in real time by linear transducer, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, or when the second real-time controlling valu is reduced to minimum value (as 0), then no longer carry out control of successively decreasing.

In an optional embodiment, when the second real-time controlling valu reduces to minimum value, above-mentioned method can also comprise step S2866 and step S2866:

Step S2866, controls to be conditioned oil cylinder static.

Step S2868, the continue to record first real-time controlling valu is to control benchmark cylinder action, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder.

Alternatively, when the second real-time controlling valu reduces to minimum value, if the travel information of benchmark oil cylinder be conditioned the difference of travel information of oil cylinder still not within preset range, then represent that benchmark oil cylinder still lags behind and be conditioned oil cylinder, now static to control being conditioned oil cylinder, and continue to control benchmark cylinder action with the first real-time controlling valu (i.e. initial control values) of record, until benchmark oil cylinder catch up be conditioned oil cylinder, also namely the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder.

Alternatively, step S288, according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and carries out acceleration and can comprise step S2882 and step S2884:

Step S2882, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculates and is conditioned the 3rd increment of adjustment corresponding to oil cylinder.

In an optional embodiment, step S2882, based on travel information and the difference of travel information being conditioned oil cylinder of benchmark oil cylinder, calculating the 3rd increment of adjustment being conditioned oil cylinder corresponding can comprise: according to following formulae discovery the 3rd increment of adjustment △ U_2:

△U_2＝K _p_2*E_2+K _i_2*(E ₁_2-E ₂_2)+K _d_2*(E_2-2E ₁_2+E ₂_2)。

Wherein, K _p_ 2 is the proportionality coefficient of pid algorithm, K _i_ 2 is the integral coefficient of pid algorithm, K _d_ 2 is the differential coefficient of pid algorithm, and E_2 is the travel information of benchmark oil cylinder and the first difference of travel information being conditioned oil cylinder, E ₁_ 2 travel information being benchmark oil cylinder and the second differences of travel information being conditioned oil cylinder, E ₂_ 2 travel information being benchmark oil cylinder and the 3rd differences of travel information being conditioned oil cylinder.

It should be noted that, the E_2 in above-mentioned formula is the travel information of current benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, E ₁_ 2 travel information that are the last benchmark oil cylinder detected and the difference of travel information being conditioned oil cylinder, E ₂_ 2 travel information being the upper benchmark oil cylinder detected for twice and the differences of travel information being conditioned oil cylinder.

Step S2884, uses the 3rd increment of adjustment to carry out incremental to the second real-time controlling valu, until the travel information of benchmark oil cylinder and the difference of the travel information being conditioned oil cylinder are within preset range or the second real-time controlling valu is heightened to maxim.

Alternatively, each the 3rd increment of adjustment regulated can be calculated by pid algorithm, and based on the be conditioned oil cylinder second real-time controlling valu, with the 3rd increment of adjustment for increment increases progressively, simultaneously, the travel information of two oil cylinders is detected in real time by linear transducer, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, or when the second real-time controlling valu is raised to maxim (full scale value as handle), then no longer carry out increasing progressively control.

In an optional embodiment, when the second real-time controlling valu is heightened to maxim, above-mentioned method can also comprise step S2886 and step S2888:

Step S2886, whether the travel information of judgment standard oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder.

Step S2888, if the travel information of benchmark oil cylinder be conditioned the difference of travel information of oil cylinder not within preset range, then return and redefine benchmark oil cylinder and be conditioned oil cylinder.

Alternatively, when the second real-time controlling valu is heightened to maxim, if the travel information of benchmark oil cylinder be conditioned the difference of travel information of oil cylinder still not within preset range, then represent the second real-time controlling valu being conditioned oil cylinder cannot heighten again and be conditioned oil cylinder and still lag behind benchmark oil cylinder, if now the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, then be conditioned oil cylinder without the need to regulating again, and control benchmark cylinder action with the current first real-time controlling valu (i.e. initial control values), cylinder action is conditioned with current second real-time controlling valu (i.e. the full scale value of handle) control.

If now benchmark oil cylinder travel information be conditioned the difference of travel information of oil cylinder not within preset range, then represent that the current benchmark oil cylinder determined is no longer suitable, need to return to re-execute above-mentioned steps S22 to step S26, to redefine benchmark oil cylinder.

In conjunction with above-described embodiment, synchronously drop to application scenarios with the counterweight controlling elevator machinery, as shown in Figure 3 and Figure 4, a kind of optional embodiment of the present invention can comprise following two parts: determine benchmark oil cylinder part and adjustment portion.

Wherein, after determining that the step of benchmark oil cylinder part completes, by performing the step of adjustment portion, to realize the control synchronously declined to the counterweight of elevator machinery.

As shown in Figure 3, after controlling left and right with the full scale of handle input U0 for initial control values two oil cylinders start the process that synchronously declines, determine that the step of benchmark oil cylinder can comprise:

Step a1, i=0.Wherein, i is used for counting the cycle number regulated that successively decreases.

Step a2, U_l_i=U0, U_r_i=U0.

Particularly, in above-mentioned steps a2, U_l_i represents the first real-time controlling valu of the left side oil cylinder successively decreased for i-th time when regulating, and U_r_i represents the second real-time controlling valu of the right side oil cylinder successively decreased for i-th time when regulating.

It should be noted that, when initial, the first real-time controlling valu of left side oil cylinder is the input value U0 at handle place, and the second real-time controlling valu of right side oil cylinder is also the input value U0 at handle place, and two side cylinders decline at the control synchronization of identical initial control values.

Step a3, H_l > H_r?

Particularly, in above-mentioned steps a3, H_l represents the travel information (as the oil cylinder elongation that linear transducer detects) of left side oil cylinder, and H_r represents the travel information of right side oil cylinder.In the identical process synchronously declined with initial control values U0 control left and right sides oil cylinder, judge whether the elongation of left side oil cylinder is greater than the elongation of right side oil cylinder.

It should be noted that, if the elongation of left side oil cylinder is greater than the elongation of right side oil cylinder, then represent that left side oil cylinder declines slow, now determine that left side is for benchmark oil cylinder, and by following step a4 to a7, deceleration adjustment is carried out, until the difference of the elongation of left and right sides oil cylinder is less than threshold value to right side oil cylinder.If the elongation of right side oil cylinder is greater than the elongation of left side oil cylinder, then on the right side of representing, oil cylinder declines slow, now determines that right side is for benchmark oil cylinder, and carries out deceleration adjustment, until the elongation of left and right sides oil cylinder is equal by following step a8 to a11 to right side oil cylinder.When the difference of the elongation of left and right sides oil cylinder is less than threshold value, determine that namely the step of benchmark oil cylinder part completes.

What need to illustrate further is, in actual mechanical process, due to the reason such as mechanical error, operate miss, the elongation of left and right sides oil cylinder can not be completely the same, therefore, when the difference of the elongation of left and right sides oil cylinder is in preset range, can think that the elongation of left and right sides oil cylinder is equal.

Step a4, U_l_i=U0, U_r_i=U_r_i-△ U.

Wherein, △ U is the increment of adjustment calculated according to pid algorithm.

It should be noted that, the account form of △ U is consistent with the account form of △ U in above-mentioned steps S262, does not repeat them here.

Step a5, U_l_i+1=U0, U_r_i+1=U_r_i.

Step a6, i=i+1.

Step a7, H_l=H_r?

Particularly, in the situation of H_l=H_r, then determine that the part of benchmark oil cylinder terminates; In the situation of H_l ≠ H_r, then return and perform step a4.

Particularly, at above-mentioned steps a4 in step a7, when determining left side for benchmark oil cylinder, first of left side oil cylinder real-time controlling valu is set to U0, and use △ U to successively decrease adjustment to second of right side oil cylinder the real-time controlling valu, until left side oil cylinder is equal with the elongation of right side oil cylinder, now represent that left and right sides oil cylinder has realized synchronous decline.

It should be noted that, after determining that the Overall Steps of benchmark oil cylinder part is complete, the the first real-time controlling valu recording current left-side oil cylinder (i.e. benchmark oil cylinder) is U0, and the second real-time controlling valu recording current right side oil cylinder (being namely conditioned oil cylinder) is U1.

Step a8, U_r_i=U0, U_l_i=U_l_i-△ U.

Step a9, U_r_i+1=U0, U_l_i+1=U_l_i.

Step a10, i=i+1.

Step a11, H_r=H_l?

Particularly, in the situation of H_l=H_r, then determine that the part of benchmark oil cylinder terminates; In the situation of H_l ≠ H_r, then return and perform step a8.

Particularly, at above-mentioned steps a8 in step a11, when determining right side for benchmark oil cylinder, second of right side oil cylinder real-time controlling valu is set to U0, and use △ U to successively decrease adjustment to first of left side oil cylinder the real-time controlling valu, until right side oil cylinder is equal with the elongation of left side oil cylinder, now represent that left and right sides oil cylinder has realized synchronous decline.

It should be noted that, after determining that the Overall Steps of benchmark oil cylinder part is complete, record the second real-time controlling valu (i.e. U0) of current right side oil cylinder (i.e. benchmark oil cylinder), and record the first real-time controlling valu (namely successively decrease U_l_i for the last time that obtain) of current left side oil cylinder (being namely conditioned oil cylinder).

Further, the implementation of above-mentioned steps a1 to a11 is consistent with the implementation of step S22 in the above embodiment of the present invention to step S26, does not repeat them here.

As shown in Figure 4, to determine that left side oil cylinder is for benchmark oil cylinder, after determining that the step of benchmark oil cylinder completes, the step of adjustment portion can comprise:

Step b1, j=0.Wherein, the cycle number that j is used for regulating counts.

Step b2, U_l=U0, U_r_j=U1.

Particularly, initial to the synchronous decline control process of left and right sides oil cylinder, first of left side oil cylinder (benchmark oil cylinder) real-time controlling valu U_l is set to U0, and the second real-time controlling valu U_r_0 of oil cylinder (being conditioned oil cylinder) on the right side of time initial is set to the above-mentioned U1 determining to record in benchmark oil cylinder part.

Step b3, H_l > H_r?

Particularly, in the synchronous decline control process of left and right sides oil cylinder, judge whether the elongation of left side oil cylinder is greater than the elongation of right side oil cylinder.

Wherein, if H_l > is H_r, then represent that left side oil cylinder (benchmark oil cylinder) declines slow, now need to perform step b4 to step b8, regulate to carry out deceleration to right side oil cylinder (being conditioned oil cylinder); If H_l is not less than H_r, then perform step b9.

Step b4, U_l=U0, U_r_j=U_r_j-△ U.

Step b5, U_l=U0, U_r_j+1=U_r_j.

Step b6, j=j+1.

Step b7, U_r_j≤0?

Particularly, when U_r_j≤0, perform step b8; When U_r_j > 0, return and perform step b4.

Step b8, U_l=U0, U_r=0.

Particularly, at above-mentioned steps b4 in step b8, when left side oil cylinder (benchmark oil cylinder) declines slow, in jth time control process, use △ U to successively decrease adjustment to second of right side oil cylinder the real-time controlling valu U_r_j, if in control process, the second real-time controlling valu U_r_j reduces to 0, be then that the first real-time controlling valu U_l controls left side oil cylinder and declines with U0, and be that on the right side of the second real-time controlling valu U_r controls, oil cylinder is static with 0, wait for that left side oil cylinder catch up with.

Step b9, H_l < H_r?

Wherein, if H_l < is H_r, then represent that left side oil cylinder (benchmark oil cylinder) declines fast, now need to perform step b10 to step b14, regulate to carry out acceleration to right side oil cylinder (being conditioned oil cylinder); If H_l is not less than H_r, then perform step b15.

Step b10, U_l=U0, U_r_j=U_r_j+ △ U.

Step b11, U_l=U0, U_r_j+1=U_r_j.

Step b12, j=j+1.

Step b13, U_r_j >=U0?

Particularly, when U_r_j >=U0, perform step b14; When U_r_j < U0, then return and perform step b10.

Particularly, at above-mentioned steps b10 in step b13, when left side oil cylinder (benchmark oil cylinder) declines fast, in jth time control process, use △ U to carry out incremental to second of right side oil cylinder the real-time controlling valu U_r_j, if in control process, second real-time controlling valu U_r_j heightens to maxim U0 (now cannot continue to heighten), then represent that current benchmark oil cylinder is no longer suitable, now need to jump out current adjustment program, re-execute the step determining benchmark oil cylinder part.

Step b14, re-execute the step determining benchmark oil cylinder part.

Step b15, U_l=U0, U_r=U1.

Particularly, when H_l=H_r, think that left and right sides oil cylinder synchronously declines, the average steady decline of ballast water, now, continue to keep current the first real-time controlling valu U_l and second controlling valu U_r control in real time left and right sides oil cylinder to decline.

Particularly, the implementation of above-mentioned steps b1 to step b15 is consistent with the implementation of the step S262 in the above embodiment of the present invention, does not repeat them here.

Embodiment 2

According to the embodiment of the present invention, additionally provide a kind of counterweight control setup embodiment of elevator machinery, it should be noted that, the counterweight control setup of this elevator machinery may be used for the counterweight control method of the elevator machinery realizing the embodiment of the present invention, the counterweight control method of the elevator machinery of the embodiment of the present invention also can be performed by the counterweight control setup of this elevator machinery, carries out repeating no more of explanation in the inventive method embodiment.

Elevator machinery comprises: for being elevated two oil cylinders of counterweight, Fig. 5 is the schematic diagram of the counterweight control setup of a kind of elevator machinery according to the embodiment of the present invention, as shown in Figure 5, this device can comprise: detecting unit 52, determining unit 54, first control unit 56 and the second control unit 58.

Wherein, detecting unit 52 is for after in handle input, initial control values controls two oil cylinder synchronization liftings, and detect the travel information of two oil cylinders, wherein, travel information is used to indicate the rising or falling speed of oil cylinder.

In above-mentioned detecting unit 52, travel information is the elongation of oil cylinder, for characterizing the rising or falling speed of oil cylinder.

Determining unit 54 is for the travel information according to two oil cylinders, and determine benchmark oil cylinder and be conditioned oil cylinder, wherein, the rising or falling speed of benchmark oil cylinder is less than the rising or falling speed being conditioned oil cylinder.

First control unit 56 slows down for controlling to be conditioned oil cylinder, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, and records the real-time controlling valu of two current oil cylinders.

In above-mentioned first control unit 56, because benchmark oil cylinder gets initial control values all the time, the real-time controlling valu being conditioned oil cylinder then progressively reduces on the basis of initial control values, until two oil cylinders realize synchronization lifting (difference of the elongation of two namely above-mentioned oil cylinders is in preset range), record the real-time controlling valu that now two oil cylinders are corresponding.

Second control unit 58 is for controlling two cylinder actions based on the real-time controlling valu of the travel information of two oil cylinders and two oil cylinders of record.

Alternatively, determining unit comprises: the first determination module and the second determination module.

Wherein, the first determination module, for when control two oil cylinders synchronously rise, determines that the oil cylinder that in two oil cylinders, travel information is less is benchmark oil cylinder, and determines that oil cylinder that in two oil cylinders, travel information is larger is for being conditioned oil cylinder.

Second determination module, for when control two oil cylinders synchronously decline, determines that the oil cylinder that in two oil cylinders, travel information is larger is benchmark oil cylinder, and determines that oil cylinder that in two oil cylinders, travel information is less is for being conditioned oil cylinder.

In an optional embodiment, the real-time controlling valu of two oil cylinders comprises the first real-time controlling valu of benchmark oil cylinder and is conditioned the second real-time controlling valu of oil cylinder, and wherein, the first control unit comprises: computing module, adjustment module and logging modle.

Wherein, computing module, for based on the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, calculates and is conditioned the first increment of adjustment corresponding to oil cylinder; Adjustment module, for using the first increment of adjustment to successively decrease adjustment to the initial control values being conditioned oil cylinder, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder; Logging modle, for when the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder, records the first current real-time controlling valu and the second real-time controlling valu.

In an optional embodiment, the second control unit comprises: the first control module, the 3rd determination module, the second control module and the 3rd control module.

Wherein, the first control module, for controlling benchmark cylinder action with the first real-time controlling valu of record, and controls to be conditioned cylinder action with the second real-time controlling valu of record.

Therefore, also need by performing the 3rd determination module, in real time monitoring benchmark oil cylinder and the motion speed situation being conditioned oil cylinder.

3rd determination module, for according to the travel information of benchmark oil cylinder and the travel information being conditioned oil cylinder, determines benchmark oil cylinder and is conditioned the motion speed situation of oil cylinder.

It should be noted that, in the 3rd determination module, determine that the implementation of the motion speed situation of two oil cylinders is consistent with the implementation comparing the rising or falling speed of two oil cylinders in above-mentioned determining unit 54, do not repeat them here.

Second control module, for when the speed of benchmark oil cylinder is less than the speed being conditioned oil cylinder, according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and slows down.

3rd control module, for when the speed of benchmark oil cylinder is greater than the speed being conditioned oil cylinder, according to the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, controls to be conditioned oil cylinder and accelerates.

Alternatively, the second control module comprises: the first calculating sub module and first regulates submodule.

Wherein, the first calculating sub module, for based on the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, calculates and is conditioned the second increment of adjustment corresponding to oil cylinder; First regulates submodule, for using the second increment of adjustment to successively decrease adjustment to the second real-time controlling valu, until the travel information of benchmark oil cylinder and the difference of travel information that is conditioned oil cylinder are within preset range or the second real-time controlling valu reduces to minimum value.

In an optional embodiment, when the second real-time controlling valu reduces to minimum value, above-mentioned device also comprises: first controls submodule and second controls submodule.

Wherein, first controls submodule, static for controlling to be conditioned oil cylinder; Second controls submodule, and for continuing to record first real-time controlling valu is to control benchmark cylinder action, until the travel information of benchmark oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder.

Alternatively, the 3rd control module comprises: the second calculating sub module and second regulates submodule.

Wherein, the second calculating sub module, for based on the travel information of benchmark oil cylinder and the difference of travel information being conditioned oil cylinder, calculates and is conditioned the 3rd increment of adjustment corresponding to oil cylinder; Second regulates submodule, for using the 3rd increment of adjustment to carry out incremental to the second real-time controlling valu, until the travel information of benchmark oil cylinder and the difference of the travel information being conditioned oil cylinder are within preset range or the second real-time controlling valu is heightened to maxim.

In an optional embodiment, when the second real-time controlling valu is heightened to maxim, above-mentioned device also comprises: judge submodule and determine submodule.

Wherein, judge submodule, whether the travel information for judgment standard oil cylinder is within preset range with the difference of the travel information being conditioned oil cylinder; Determine submodule, for the travel information at benchmark oil cylinder with the difference of travel information being conditioned oil cylinder not within preset range, return and redefine benchmark oil cylinder and be conditioned oil cylinder.

If now benchmark oil cylinder travel information be conditioned the difference of travel information of oil cylinder not within preset range, then represent that the current benchmark oil cylinder determined is no longer suitable, need to return to re-execute above-mentioned detecting unit 52 to the first control unit 56, to redefine benchmark oil cylinder.

The invention described above embodiment sequence number, just to describing, does not represent the quality of embodiment.

In the above embodiment of the present invention, the description of each embodiment is all emphasized particularly on different fields, in certain embodiment, there is no the part described in detail, can see the associated description of other embodiments.

In several embodiments that the application provides, should be understood that, disclosed technology contents, the mode by other realizes.Wherein, device embodiment described above is only schematic, the such as division of described unit, can be that a kind of logic function divides, actual can have other dividing mode when realizing, such as multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.Another point, shown or discussed coupling each other or direct-coupling or communication connection can be by some interfaces, and the indirect coupling of unit or module or communication connection can be electrical or other form.

The described unit illustrated as separating component or can may not be and physically separates, and the parts as unit display can be or may not be physical location, namely can be positioned at a place, or also can be distributed on multiple unit.Some or all of unit wherein can be selected according to the actual needs to realize the object of the present embodiment scheme.

In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, also can be that the independent physics of unit exists, also can two or more unit in a unit integrated.Above-mentioned integrated unit both can adopt the form of hardware to realize, and the form of SFU software functional unit also can be adopted to realize.

If described integrated unit using the form of SFU software functional unit realize and as independently production marketing or use time, can be stored in a computer read/write memory medium.Based on such understanding, the part that technical scheme of the present invention contributes to prior art in essence in other words or all or part of of this technical scheme can embody with the form of software product, this computer software product is stored in a storage medium, comprises all or part of step of some instructions in order to make a computer equipment (can be Personal Computer, server or the network equipment etc.) perform method described in each embodiment of the present invention.And aforesaid storage medium comprises: USB flash disk, read-only memory (ROM) (ROM, Read-OnlyMemory), random access memory (RAM, RandomAccessMemory), portable hard drive, magnetic disc or CD etc. various can be program code stored medium.

The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims

1. a counterweight control method for elevator machinery, described elevator machinery comprises: for being elevated two oil cylinders of counterweight, it is characterized in that, comprise:

After handle input initial control values controls described two oil cylinder synchronization liftings, detect the travel information of described two oil cylinders, wherein, described travel information is used to indicate the rising or falling speed of oil cylinder;

According to the travel information of described two oil cylinders, determine benchmark oil cylinder and be conditioned oil cylinder, wherein, described in the rising or falling speed of described benchmark oil cylinder is less than, be conditioned the rising or falling speed of oil cylinder;

Be conditioned oil cylinder described in control to slow down, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within preset range, and record the real-time controlling valu of current described two oil cylinders;

Real-time controlling valu based on the travel information of described two oil cylinders and described two oil cylinders of record controls described two cylinder actions.

2. method according to claim 1, is characterized in that, according to the travel information of described two oil cylinders, determines benchmark oil cylinder and be conditioned oil cylinder to comprise:

When controlling described two oil cylinders and synchronously rising, determine that the oil cylinder that in described two oil cylinders, travel information is less is described benchmark oil cylinder, and determine oil cylinder that in described two oil cylinders, travel information is larger for described in be conditioned oil cylinder;

When controlling described two oil cylinders and synchronously declining, determine that the oil cylinder that in described two oil cylinders, travel information is larger is described benchmark oil cylinder, and determine oil cylinder that in described two oil cylinders, travel information is less for described in be conditioned oil cylinder.

3. method according to claim 1, it is characterized in that, the real-time controlling valu of described two oil cylinders comprises the first real-time controlling valu of described benchmark oil cylinder and described the second real-time controlling valu being conditioned oil cylinder, wherein, be conditioned oil cylinder described in control to slow down, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within preset range, and the real-time controlling valu recording current described two oil cylinders comprises:

Based on travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, described in calculating, be conditioned the first increment of adjustment that oil cylinder is corresponding;

Described first increment of adjustment is used to successively decrease adjustment to the described initial control values being conditioned oil cylinder, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range;

When the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range, record the described first current real-time controlling valu and the described second real-time controlling valu.

4. method according to claim 3, is characterized in that, based on travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, the first increment of adjustment being conditioned oil cylinder described in calculating corresponding comprises:

According to the first increment of adjustment △ U described in following formulae discovery:

△ U=K _p* E+K _i* (E ₁-E ₂)+K _d* (E-2E ₁+ E ₂), wherein, described K _pfor the proportionality coefficient of pid algorithm, described K _ifor the integral coefficient of pid algorithm, described K _dfor the differential coefficient of pid algorithm, described E is the travel information of described benchmark oil cylinder and described the first difference being conditioned the travel information of oil cylinder, described E ₁for travel information and described second difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, described E ₂for travel information and described the 3rd difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder.

5. method according to claim 3, is characterized in that, described two cylinder actions of real-time controlling valu control based on the travel information of described two oil cylinders and described two oil cylinders of record comprise:

Control described benchmark cylinder action with the described first real-time controlling valu of record, and be conditioned cylinder action described in controlling with the described second real-time controlling valu of record;

According to travel information and the described travel information being conditioned oil cylinder of described benchmark oil cylinder, determine described benchmark oil cylinder and the described motion speed situation being conditioned oil cylinder;

If be conditioned the speed of oil cylinder described in the speed of described benchmark oil cylinder is less than, then according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, be conditioned oil cylinder described in control and slow down;

If be conditioned the speed of oil cylinder described in the speed of described benchmark oil cylinder is greater than, then according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, be conditioned oil cylinder described in control and accelerate.

6. method according to claim 5, is characterized in that, according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, is conditioned oil cylinder and carries out deceleration and comprise described in control:

Based on travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, described in calculating, be conditioned the second increment of adjustment that oil cylinder is corresponding;

Described second increment of adjustment is used to successively decrease adjustment to the described second real-time controlling valu, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range or the described second real-time controlling valu reduces to minimum value.

7. method according to claim 6, is characterized in that, when the described second real-time controlling valu reduces to described minimum value, described method also comprises:

Oil cylinder is conditioned static described in control;

Continue to control described benchmark cylinder action, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range with the described first real-time controlling valu of record.

8. method according to claim 5, is characterized in that, according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, is conditioned oil cylinder and carries out acceleration and comprise described in control:

Based on travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, described in calculating, be conditioned the 3rd increment of adjustment that oil cylinder is corresponding;

Described 3rd increment of adjustment is used to carry out incremental to the described second real-time controlling valu, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range or the described second real-time controlling valu is heightened to maxim.

9. method according to claim 8, is characterized in that, when the described second real-time controlling valu is heightened to described maxim, described method also comprises:

Judge whether travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder are within described preset range;

If the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder be not within described preset range, then return and redefine described benchmark oil cylinder and be describedly conditioned oil cylinder.

10. a counterweight control setup for elevator machinery, described elevator machinery comprises: for being elevated two oil cylinders of counterweight, it is characterized in that, comprise:

Detecting unit, after controlling described two oil cylinder synchronization liftings at handle input initial control values, detect the travel information of described two oil cylinders, wherein, described travel information is used to indicate the rising or falling speed of oil cylinder;

Determining unit, for the travel information according to described two oil cylinders, determines benchmark oil cylinder and be conditioned oil cylinder, wherein, is conditioned the rising or falling speed of oil cylinder described in the rising or falling speed of described benchmark oil cylinder is less than;

First control unit, slowing down for being conditioned oil cylinder described in controlling, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within preset range, and recording the real-time controlling valu of current described two oil cylinders;

Second control unit, for controlling described two cylinder actions based on the real-time controlling valu of the travel information of described two oil cylinders and described two oil cylinders of record.

11. devices according to claim 10, is characterized in that, described determining unit comprises:

First determination module, for when controlling described two oil cylinders and synchronously rising, determines that the oil cylinder that in described two oil cylinders, travel information is less is described benchmark oil cylinder, and determine oil cylinder that in described two oil cylinders, travel information is larger for described in be conditioned oil cylinder;

Second determination module, for when controlling described two oil cylinders and synchronously declining, determines that the oil cylinder that in described two oil cylinders, travel information is larger is described benchmark oil cylinder, and determine oil cylinder that in described two oil cylinders, travel information is less for described in be conditioned oil cylinder.

12. devices according to claim 10, is characterized in that, the real-time controlling valu of described two oil cylinders comprises the first real-time controlling valu of described benchmark oil cylinder and described the second real-time controlling valu being conditioned oil cylinder, and wherein, described first control unit comprises:

Computing module, for based on the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder, is conditioned the first increment of adjustment that oil cylinder is corresponding described in calculating;

Adjustment module, to successively decrease adjustment to the described initial control values being conditioned oil cylinder, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range for using described first increment of adjustment;

Logging modle, for when the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range, records the described first current real-time controlling valu and the described second real-time controlling valu.

13. devices according to claim 12, is characterized in that, described second control unit comprises:

First control module, for controlling described benchmark cylinder action with the described first real-time controlling valu of record, and is conditioned cylinder action described in controlling with the described second real-time controlling valu of record;

3rd determination module, for according to the travel information of described benchmark oil cylinder and the described travel information being conditioned oil cylinder, determines described benchmark oil cylinder and the described motion speed situation being conditioned oil cylinder;

Second control module, for being conditioned the speed of oil cylinder described in being less than in the speed of described benchmark oil cylinder, according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, being conditioned oil cylinder and slowing down described in control;

3rd control module, for being conditioned the speed of oil cylinder described in being greater than in the speed of described benchmark oil cylinder, according to travel information and the described difference being conditioned the travel information of oil cylinder of described benchmark oil cylinder, being conditioned oil cylinder and accelerating described in control.

14. devices according to claim 13, is characterized in that, described second control module comprises:

First calculating sub module, for based on the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder, is conditioned the second increment of adjustment that oil cylinder is corresponding described in calculating;

First regulates submodule, described second real-time controlling valu is successively decreased adjustment, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range or the described second real-time controlling valu reduces to minimum value for using described second increment of adjustment.

15. devices according to claim 14, is characterized in that, when the described second real-time controlling valu reduces to described minimum value, described device also comprises:

First controls submodule, static for being conditioned oil cylinder described in controlling;

Second controls submodule, and for continuing to record described first real-time controlling valu is to control described benchmark cylinder action, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range.

16. devices according to claim 13, is characterized in that, described 3rd control module comprises:

Second calculating sub module, for based on the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder, is conditioned the 3rd increment of adjustment that oil cylinder is corresponding described in calculating;

Second regulates submodule, for using described 3rd increment of adjustment to carry out incremental to the described second real-time controlling valu, until the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are within described preset range or the described second real-time controlling valu is heightened to maxim.

17. devices according to claim 16, is characterized in that, when the described second real-time controlling valu is heightened to described maxim, described device also comprises:

Judge submodule, whether be within described preset range for the travel information and the described difference being conditioned the travel information of oil cylinder judging described benchmark oil cylinder;

Determine submodule, for when the travel information of described benchmark oil cylinder and the described difference being conditioned the travel information of oil cylinder are not within described preset range, return and redefine described benchmark oil cylinder and be describedly conditioned oil cylinder.