CN109309461A - Elevator starts control device - Google Patents
Elevator starts control device Download PDFInfo
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- CN109309461A CN109309461A CN201710629509.6A CN201710629509A CN109309461A CN 109309461 A CN109309461 A CN 109309461A CN 201710629509 A CN201710629509 A CN 201710629509A CN 109309461 A CN109309461 A CN 109309461A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/20—Arrangements for starting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
- B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
- B66B1/304—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor with starting torque control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Engineering (AREA)
- Elevator Control (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of elevators to start control device, and state error feedback control unit is according to the speed value v of elevator drive motorrefWith speed feedback value vbkOutput error torque command value Terror；Expansion state observing unit is according to vbkWith the torque command value T of elevator drive motorrefTotal disturbance in elevator drive motor speed-adjusting and control system is observed and exports observed result z2；Velocity variations inhibit unit according to vbkDifferential value vbk_dotOutput inhibits vbkInhibition torque instruction value T needed for variationdep；Torque command compensating unit utilizes z2And TdepTo TerrorIt compensates and exports Tref；Current controller is according to TrefThe stator voltage instruction value of elevator drive motor is exported, to realize the control to elevator drive motor.Elevator of the invention starts control device, and not needing meausring apparatus can be realized starting control, and structure is simple, at low cost, controls convenient, high reliablity.
Description
Technical field
The present invention relates to elevator control technology, in particular to a kind of elevator starting control dress based on automatic disturbance rejection controller
It sets.
Background technique
In traction elevator, lift car and counterweight are suspended on traction sheave two sides by flexible bodies such as cable or steel bands.
Under normal circumstances, carriage and the weight of counterweight are different, and the torque of the two effect on the traction sheave is naturally also different, and two
The difference of person is exactly uneven torque.In the moment of elevator starting release brake, braking moment disappears, and traction sheave turns in imbalance
It is rotated under the action of square, to " car slipping " phenomenon occur.
In order to avoid appearance " car slipping ", meausring apparatus can be configured in elevator, and carriage is detected by meausring apparatus in advance
Interior real load, and the uneven torque of elevator is calculated accordingly.If in this way, before release brake, controller control
Elevator drive motor processed makes it generate the compensation torque equal, contrary with uneven level of torque, the compensation torque energy
It is enough to offset uneven torque, traction sheave can still be remain stationary in releasing of brake it is motionless, to eliminate " car slipping " phenomenon.But
It is which will increase system accessories quantity, structural complexity, leads to cost increase, while can also reduce system reliability, it is special
It is not that still will appear when meausring apparatus leads to occur biggish weighing error because of reasons such as AD sampling precision, temperature, agings
" car slipping " phenomenon.
It, can also be using specially designed no meausring apparatus other than configuring this method of meausring apparatus in elevator
Elevator starts control method to realize " car slipping " starting of elevator.Chinese invention patent (patent No.: 201310169227.4, it awards
Power notification number: CN103241604B) matched using frequency converter torque command with band-type brake current-order realize elevator without title
Starting is set in refitting.But this method increases complexity due to needing and carrying out Collaborative Control to frequency converter and band-type brake.Chinese invention is special
Benefit (patent No.: 201310444642.6, Authorization Notice No.: CN103449268B) utilize sine and cosine encoder acquisition current motor
Rotor-position, and further calculate obtain motor rollback distance, velocity and acceleration accordingly, it is finally calculated and is compensated with fuzzy theory
Torque.This method is related to multiple threshold parameters, and it needs to be determined that domain needed for post-compensation, fuzzy variable word set, degree of membership letter
Number, fuzzy inference rule etc., it is very cumbersome.(application number: being 201610134676.9) according to electricity to Chinese invention patent application
Relationship when ladder starting between mobile and its threshold value decides whether that increasing P gain reduces I gain simultaneously and restore original PI gain ginseng
Several methods come realize elevator without weighing device start.But this method only there is two groups of PI ginsengs in elevator startup stage
Number, and in startup stage speed, there are two kinds of directions, can have an impact to the ride comfort of elevator.
Active Disturbance Rejection Control (Active Disturbance Rejection Control, ADRC) technology is by Chinese Academy of Sciences Korea Spro
A kind of clear researcher in capital 1998 non-linear control strategies proposed, the technology are that system Unmarried pregnancy, external interference are united
One as total disturbance, is then observed by building extended state observer (ESO) to total disturbance, then recycles observation knot
Fruit compensates total disturbance, finally is integrated the control law designed based on master pattern and compensation rule to obtain final control
System rule, can be obtained ideal control effect using the control law.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of elevators to start control device, and not needing meausring apparatus can be real
Now starting control, structure is simple, at low cost, controls convenient, high reliablity.
In order to solve the above technical problems, elevator provided by the invention starts control device comprising:
State error feedback control unit, according to the speed value v of elevator drive motorrefWith speed feedback value vbkIt is defeated
Error torque instruction value T outerror；
Expansion state observing unit, according to speed feedback value vbkWith the torque command value T of elevator drive motorrefTo elevator
Total disturbance in driving motor speed-adjusting and control system is observed and exports observed result z2；
Velocity variations inhibit unit, according to speed feedback value vbkDifferential value vbk_dotOutput inhibits the speed feedback value
vbkInhibition torque instruction value T needed for variationdep；
Torque command compensating unit utilizes the observed result z2With the inhibition torque instruction value TdepTo the error
Torque command value TerrorCompensate and export the torque command value T of the elevator drive motorref；
Current controller, according to the torque command value TrefThe stator voltage instruction value of the elevator drive motor is exported,
To realize the control to the elevator drive motor.
Preferably, the differential value v of the speed feedback valuebk_dotIt is the differential value of the speed feedback value calculated according to the following formula:
Wherein, β1> 0, β2> 0 and R > 0 is design parameter, x2As speed feedback value vbkDifferential value vbk_dot。
Preferably, the speed feedback value vbk, it is to be turned based on detection device to elevator drive motor rotor or traction sheave
It is dynamic, or the actual speed of elevator drive motor that the testing result that is detected to car position obtains after processing, or
According to the estimated speed for the elevator drive motor that the relevant information of elevator drive motor speed regulating control is obtained using evaluation method.
Preferably in the torque command compensating unit is according to following regular output torque instruction value Tref:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value,
According to (1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Tref=Tmin；Work as vbk< 0 and vbk_dotWhen < 0, Tref=Tmax；If condition vbk>
0 and vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2)Tref=Terror-z2；
Wherein, TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable power of elevator drive motor
Square value.
Preferably, the torque command compensating unit is a subtracter, it is with error torque instruction value TerrorIt subtracts described
Inhibit torque instruction value Tdep, and the state error feedback control unit, the velocity variations inhibit unit respectively according to as follows
Regular output error torque command value Terror, inhibit torque instruction value Tdep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value,
According to (1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Terror≡ 0, Tdep=-Tmin-z2；Work as vbk< 0 and vbk_dotWhen < 0, Terror≡ 0,
Tdep=-Tmax-z2；If condition vbk> 0 and vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2) the error torque instruction value T that the velocity variations inhibit unit normally to exporterror, the velocity variations inhibition
The inhibition torque instruction value T of unit outputdep≡0。
Preferably, the torque command compensating unit is a subtracter, it is with error torque instruction value TerrorIt subtracts and institute
It states and inhibits torque instruction value Tdep, and in the first non-zero section of the differential value of speed feedback value and/or at least one subsequent non-zero
In section, the velocity variations inhibit unit to inhibit torque instruction value T according to following rule outputdep:
Work as vbk> 0 and vbk_dotWhen > 0, Tdep=Terror-Tmin-z2；
Work as vbk< 0 and vbk_dotWhen < 0, Tdep=Terror-Tmax-z2。
Preferably, the torque command compensating unit is a subtracter, it is with error torque instruction value TerrorIt subtracts described
The observed result z of extended state observer output2With the inhibition torque instruction value Tdep。
Preferably, the velocity variations inhibit unit to export the inhibition torque instruction value T according to following ruledep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value, Tdep
=f (vbk_dot)；Otherwise Tdep≡0；
Wherein, f (vbk_dot) it is a dull continuous increasing function, and meet: work as vbk_dotWhen → 0, f (vbk_dot) → 0, and
Tmin≤f(vbk_dot)≤Tmax；
TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable moment values of elevator drive motor.
Preferably, dull continuous increasing function f (vbk_dot) it is linear function: f (vbk_dot)=α vbk_dot, wherein α is one
Design parameter.
Preferably, the method for determination of the design parameter α is as follows:
Work as vbk> 0 and vbk_dotWhen > 0, α=| Tmin|/vbk_dot_max；
Work as vbk< 0 and vbk_dotWhen < 0, α=Tmax/|vbk_dot_min|；
Wherein, vbk_dot_maxIt is the differential value v of speed feedback valuebk_dotMaximum value；vbk_dot_minIt is speed feedback value
Differential value vbk_dotMinimum value.
Preferably, participating in the inhibition torque instruction value T of the subtraction of the torque command compensating unitdep:
Work as vbk> 0 and vbk_dotWhen > 0:
If Terror-Tdep-z2< Tmin, then make Tdep=Terror-Tmin-z2；
If Terror-Tdep-z2> 0, then make Tdep=Terror-z2；
Work as vbk< 0 and vbk_dotWhen < 0:
If Terror-Tdep-z2> Tmax, then Tdep=Terror-Tmax-z2；
If Terror-Tdep-z2< 0, then Tdep=Terror-z2。
Elevator of the invention starts control device, and not needing meausring apparatus can be realized starting control, and structure is simple, cost
It is low, control convenient, high reliablity.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, the required attached drawing of the present invention is made below simple
It introduces, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill people
For member, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram that elevator of the invention starts control device.
Specific embodiment
Below in conjunction with attached drawing, clear, complete description is carried out to the technical solution in the present invention, it is clear that described
Embodiment is a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is general
Logical technical staff all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
Embodiment one
As shown in Fig. 1, elevator starting control device includes a state error feedback control unit, an expansion state
Observing unit, a velocity variations inhibit unit, a torque command compensating unit and a current controller；
The state error feedback control unit, for the speed value v according to elevator drive motorrefIt is anti-with speed
Feedback value vbkOutput error torque command value Terror；
The expansion state observing unit, for according to speed feedback value vbkWith the torque command value of elevator drive motor
TrefTotal disturbance in elevator drive motor speed-adjusting and control system is observed and exports observed result z2；
The velocity variations inhibit unit, for according to speed feedback value vbkDifferential value vbk_dotOutput inhibits the speed
Spend value of feedback vbkInhibition torque instruction value T needed for variationdep；
The torque command compensating unit, for the observed result z using expansion state observing unit output2
Inhibit the inhibition torque instruction value T of unit output with the velocity variationsdepIt is defeated to the state error feedback control unit
The error torque instruction value T outerrorCompensate and export the torque command value T of the elevator drive motorref；
The current controller, the torque command value T exported according to the torque command compensating unitrefExport the electricity
The stator voltage instruction value of terraced driving motor, to realize the control to the elevator drive motor.
The elevator of embodiment one starts control device, and not needing meausring apparatus can be realized starting control, and structure is simple, at
This is low, controls convenient, high reliablity.
Embodiment two
Elevator based on embodiment one starts control device, and the torque command compensating unit is a subtracter.
Preferably, state error feedback control unit and current controller can be any type of feedback controller, such as
Common PI controller, adaptive controller, intelligent controller etc..
Speed feedback value vbkDifferential value vbk_dotIt can be obtained using a variety of methods, such as: to speed feedback value vbkDo letter
Single difference, or using some specific differentiators etc., for differentiator, there are many modes for specific implementation, such as:
Wherein, β1> 0, β2> 0 and R > 0 is design parameter, x2As speed feedback value vbkDifferential value vbk_dot。
When obtaining the speed feedback value of elevator drive motor using direct Detection Method, elevator drive motor is being obtained
After displacement or angular displacement, it can use formula (1) and obtain speed feedback value vbk。
The elevator of embodiment two starts control device, and torque command compensating unit uses subtracter, if not considering speed
Variation inhibits the inhibition torque instruction value T of unit outputdepWhen, state error feedback control unit, torque command compensating unit and
Extended state observer is exactly an automatic disturbance rejection controller, becomes an elevator starting control device based on automatic disturbance rejection controller.
Embodiment three
Elevator based on embodiment one starts control device, and state error feedback control unit and current controller are all bases
In the PI controller of error feedback.
Speed feedback value vbk, it can be the rotation based on detection device to elevator drive motor rotor or traction sheave, or
Actual speed (the usually angle of the elevator drive motor obtained after the testing result detected to car position is appropriately processed
Speed, subsequent to be referred to as direct Detection Method), it is also possible to utilize estimation according to the relevant information of elevator drive motor speed regulating control
The velocity estimation speed (subsequent to be referred to as indirect estimation) for the elevator drive motor that method obtains.
Example IV
Elevator based on embodiment one starts control device, and the torque command compensating unit is according to following regular power output
Square instruction value Tref:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value,
According to (1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Tref=Tmin；Work as vbk< 0 and vbk_dotWhen < 0, Tref=Tmax；If condition vbk>
0 and vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2)Tref=Terror-z2；
Wherein, TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable power of elevator drive motor
Square value.
Embodiment five
Elevator based on embodiment one starts control device, and the torque command compensating unit is a subtracter, is with mistake
Poor torque command value TerrorSubtract the inhibition torque instruction value Tdep, and the state error feedback control unit, the speed
Variation inhibits unit respectively according to following regular output error torque command value Terror, inhibit torque instruction value Tdep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value,
According to (1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Terror≡ 0, Tdep=-Tmin-z2；Work as vbk< 0 and vbk_dotWhen < 0, Terror≡ 0,
Tdep=-Tmax-z2；If condition vbk> 0 and vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2) velocity variations inhibit unit (i.e. speed control) to revert to the error torque instruction value normally exported
Terror, the inhibition torque instruction value T of the velocity variations inhibition unit outputdep≡0；
Embodiment six
Elevator based on embodiment one starts control device, and the torque command compensating unit is a subtracter, is with mistake
Poor torque command value TerrorIt subtracts and the inhibition torque instruction value Tdep, and in the first non-zero of the differential value of speed feedback value
In section and/or at least one subsequent non-zero section, the velocity variations inhibit unit to inhibit torque according to following rule output
Instruction value Tdep:
Work as vbk> 0 and vbk_dotWhen > 0, Tdep=Terror-Tmin-z2；
Work as vbk< 0 and vbk_dotWhen < 0, Tdep=Terror-Tmax-z2。
Embodiment seven
Elevator based on embodiment one starts control device, and the torque command compensating unit is a subtracter, is with mistake
Poor torque command value TerrorSubtract the observed result z of the extended state observer output2With the inhibition torque command
Value Tdep。
Preferably, the velocity variations inhibit unit to export the inhibition torque instruction value T according to following ruledep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value, Tdep
=f (vbk_dot)；Otherwise Tdep≡0；
Wherein, f (vbk_dot) it is a dull continuous increasing function, and meet: work as vbk_dotWhen → 0, f (vbk_dot) → 0, and
Tmin≤f(vbk_dot)≤Tmax；
TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable moment values of elevator drive motor.
Dull continuous increasing function f (vbk_dot) form it is varied.
Embodiment eight
Elevator based on embodiment seven starts control device, dull continuous increasing function f (vbk_dot) it is linear function: f
(vbk_dot)=α vbk_dot, wherein α is a design parameter.
Determination for design parameter α can use empirical method, trial and error procedure, it is also possible by means the correlation of control theory
Method is designed, or is calculated and determined according to following formula:
Work as vbk> 0 and vbk_dotWhen > 0, α=| Tmin|/vbk_dot_max；
Work as vbk< 0 and vbk_dotWhen < 0, α=Tmax/|vbk_dot_min|；
Wherein, vbk_dot_maxIt is the differential value v of speed feedback valuebk_dotMaximum value；vbk_dot_minIt is speed feedback value
Differential value vbk_dotMinimum value.
Embodiment nine
Elevator based on embodiment eight starts control device, participates in the institute of the subtraction of the torque command compensating unit
It states and inhibits torque instruction value TdepIt is determined according to following rule:
Work as vbk> 0 and vbk_dotWhen > 0:
If Terror-Tdep-z2< Tmin, then make Tdep=Terror-Tmin-z2；
If Terror-Tdep-z2> 0, then make Tdep=Terror-z2；
Work as vbk< 0 and vbk_dotWhen < 0:
If Terror-Tdep-z2> Tmax, then Tdep=Terror-Tmax-z2；
If Terror-Tdep-z2< 0, then Tdep=Terror-z2。
The above is only preferred embodiment of the present application, it is not used to limit the application.Come for those skilled in the art
It says, various changes and changes are possible in this application.Within the spirit and principles of this application, made any modification, equivalent
Replacement, improvement etc., should be included within the scope of protection of this application.
Claims (11)
1. a kind of elevator starts control device characterized by comprising
State error feedback control unit, according to the speed value v of elevator drive motorrefWith speed feedback value vbkOutput misses
Poor torque command value Terror；
Expansion state observing unit, according to speed feedback value vbkWith the torque command value T of elevator drive motorrefElevator is driven
Total disturbance in electric machine speed regulation control system is observed and exports observed result z2；
Velocity variations inhibit unit, according to speed feedback value vbkDifferential value vbk_dotOutput inhibits the speed feedback value vbkBecome
Inhibition torque instruction value T needed for changingdep；
Torque command compensating unit utilizes the observed result z2With the inhibition torque instruction value TdepThe error torque is referred to
Enable value TerrorCompensate and export the torque command value T of the elevator drive motorref；
Current controller, according to the torque command value TrefThe stator voltage instruction value of the elevator drive motor is exported, thus
Realize the control to the elevator drive motor.
2. elevator according to claim 1 starts control device, which is characterized in that the differential value of the speed feedback value
vbk_dotIt is the differential value of the speed feedback value calculated according to the following formula:
Wherein, β1> 0, β2> 0 and R > 0 is design parameter, x2As speed feedback value vbkDifferential value vbk_dot。
3. elevator according to claim 1 starts control device, which is characterized in that the speed feedback value vbk, it is to be based on
Rotation of the detection device to elevator drive motor rotor or traction sheave, or the testing result detected to car position is through locating
The actual speed of the elevator drive motor obtained after reason, or utilized and estimated according to the relevant information of elevator drive motor speed regulating control
The estimated speed for the elevator drive motor that calculation method obtains.
4. elevator according to claim 1 starts control device, which is characterized in that the torque command compensating unit according to
Following rule output torque instruction value Tref:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value, according to
(1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Tref=Tmin；Work as vbk< 0 and vbk_dotWhen < 0, Tref=Tmax；If condition vbk> 0 and
vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2)Tref=Terror-z2；
Wherein, TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable moment values of elevator drive motor.
5. elevator according to claim 1 starts control device, which is characterized in that the torque command compensating unit is one
Subtracter is with error torque instruction value TerrorSubtract the inhibition torque instruction value Tdep, and the state error feedback control
Unit, the velocity variations inhibit unit respectively according to following regular output error torque command value Terror, inhibit torque command
Value Tdep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value, according to
(1), otherwise according to (2):
(1) work as vbk> 0 and vbk_dotWhen > 0, Terror≡ 0, Tdep=-Tmin-z2；Work as vbk< 0 and vbk_dotWhen < 0, Terror≡ 0, Tdep
=-Tmax-z2；If condition vbk> 0 and vbk_dot> 0 and vbk< 0 and vbk_dot< 0 is invalid, then according to (2)；
(2) the error torque instruction value T that the velocity variations inhibit unit normally to exporterror, the velocity variations inhibition unit
The inhibition torque instruction value T of outputdep≡0。
6. elevator according to claim 1 starts control device, which is characterized in that the torque command compensating unit is one
Subtracter is with error torque instruction value TerrorIt subtracts and the inhibition torque instruction value Tdep, and in the differential of speed feedback value
In the first non-zero section and/or at least one subsequent non-zero section of value, the velocity variations inhibit unit according to following rule
Output inhibits torque instruction value Tdep:
Work as vbk> 0 and vbk_dotWhen > 0, Tdep=Terror-Tmin-z2；
Work as vbk< 0 and vbk_dotWhen < 0, Tdep=Terror-Tmax-z2。
7. elevator according to claim 1 starts control device, which is characterized in that the torque command compensating unit is one
Subtracter is with error torque instruction value TerrorSubtract the observed result z of the extended state observer output2With it is described
Inhibit torque instruction value Tdep。
8. elevator according to claim 7 starts control device, which is characterized in that the velocity variations inhibit unit according to
Following rule exports the inhibition torque instruction value Tdep:
If in the first non-zero section and/or at least one subsequent non-zero section of the differential value of speed feedback value, Tdep=f
(vbk_dot)；Otherwise Tdep≡0；
Wherein, f (vbk_dot) it is a dull continuous increasing function, and meet: work as vbk_dotWhen → 0, f (vbk_dot) → 0 and Tmin≤
f(vbk_dot)≤Tmax；
TmaxIt is the maximum moment allowed value of elevator drive motor, TminIt is the minimum allowable moment values of elevator drive motor.
9. elevator according to claim 8 starts control device, which is characterized in that dull continuous increasing function f (vbk_dot) be
Linear function: f (vbk_dot)=α vbk_dot, wherein α is a design parameter.
10. elevator according to claim 9 starts control device, which is characterized in that the method for determination of the design parameter α
It is as follows:
Work as vbk> 0 and vbk_dotWhen > 0, α=| Tmin|/vbk_dot_max；
Work as vbk< 0 and vbk_dotWhen < 0, α=Tmax/|vbk_dot_min|；
Wherein, vbk_dot_maxIt is the differential value v of speed feedback valuebk_dotMaximum value；vbk_dot_minIt is the differential of speed feedback value
Value vbk_dotMinimum value.
11. starting control device according to elevator described in claim 8,9 or 10, which is characterized in that participate in the torque command
The inhibition torque instruction value T of the subtraction of compensating unitdep:
Work as vbk> 0 and vbk_dotWhen > 0:
If Terror-Tdep-z2< Tmin, then make Tdep=Terror-Tmin-z2；
If Terror-Tdep-z2> 0, then make Tdep=Terror-z2；
Work as vbk< 0 and vbk_dotWhen < 0:
If Terror-Tdep-z2> Tmax, then Tdep=Terror-Tmax-z2；
If Terror-Tdep-z2< 0, then Tdep=Terror-z2。
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| CN201710629509.6A CN109309461B (en) | 2017-07-28 | 2017-07-28 | Elevator starting control device |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1101179A (en) * | 1992-11-24 | 1995-04-05 | 松下电器产业株式会社 | Motor speed control apparatus |
| CN202535303U (en) * | 2012-04-28 | 2012-11-14 | 瑞萨电子(中国)有限公司 | Compressor driving device used for variable-frequency air conditioner |
| CN103869841A (en) * | 2012-12-17 | 2014-06-18 | 现代自动车株式会社 | Method and system for extracting intended torque for wearable robot |
| JP2016029868A (en) * | 2014-07-25 | 2016-03-03 | 株式会社日立製作所 | Elevator controller |
-
2017
- 2017-07-28 CN CN201710629509.6A patent/CN109309461B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1101179A (en) * | 1992-11-24 | 1995-04-05 | 松下电器产业株式会社 | Motor speed control apparatus |
| CN202535303U (en) * | 2012-04-28 | 2012-11-14 | 瑞萨电子(中国)有限公司 | Compressor driving device used for variable-frequency air conditioner |
| CN103869841A (en) * | 2012-12-17 | 2014-06-18 | 现代自动车株式会社 | Method and system for extracting intended torque for wearable robot |
| JP2016029868A (en) * | 2014-07-25 | 2016-03-03 | 株式会社日立製作所 | Elevator controller |
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