CN109592521A - A kind of multiple lift control system with Optimized Operation - Google Patents
A kind of multiple lift control system with Optimized Operation Download PDFInfo
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- CN109592521A CN109592521A CN201811463357.8A CN201811463357A CN109592521A CN 109592521 A CN109592521 A CN 109592521A CN 201811463357 A CN201811463357 A CN 201811463357A CN 109592521 A CN109592521 A CN 109592521A
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- door
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Classifications
-
- 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
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
- B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
- B66B5/14—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions in case of excessive loads
- B66B5/145—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions in case of excessive loads electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/211—Waiting time, i.e. response time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/212—Travel time
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/222—Taking into account the number of passengers present in the elevator car to be allocated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention discloses a kind of multiple lift control systems with Optimized Operation, supervisory control desk has target zone reservation function, realize the Group Control Schedule to m platform elevator between n floor, coordinate the operation of every elevator, after the logic control part of supervisory control desk receives floor requests, overload signal, shutdown is interrupted, alarm clear signal is handled, security protection and elevator door control are carried out to dragging control section transmission instruction progress elevator operation operation, elevator door operation, instructing to the transmission of attached control section.
Description
Technical field
The present invention relates to elevators fields, and in particular to a kind of multiple lift control system with Optimized Operation.
Background technique
Since the nearest more than ten years, with the fast development of Chinese economy, the rapid raising of living standards of the people, people are at one's side
Building the more cover the more more, the mode of transportation of these inside buildings becomes more complicated.Elevator is as most important vertical in building
The vehicles of operation are increasingly die cut with the relationship of people, and sometimes a building is only maintained much with an elevator
Not enough, an even several elevators are generally required to service.In order to improve the passenger flow transfer velocity of skyscraper, and must satisfy
The a series of conditions such as passenger demand, for example wait the time of elevator as few as possible, when wishing to operate again for fund energy aspect
Energy consumption is reduced.
Summary of the invention
The object of the invention is that providing a kind of elevator group controlling system with Optimized Operation to solve the above-mentioned problems
System, elaboration as detailed below.
To achieve the above object, the present invention provides following technical schemes: a kind of elevator group controlling system with Optimized Operation
System comprising hoistway part, computer room part, entrance hall part and cloud platform, hoistway part include counterweight, carriage, interior trick
Control panel, sensor, pattern recognition device, guiding mechanism, safety protection equipment, buffer, computer room part include dragger, limit
Fast device, supervisory control desk, power supply, dragger encoder, tractor drives system, entrance hall part include elevator door apparatus, the control of outer trick
Making sheet, dragger are connect by trailing cable with supervisory control desk by hawser traction balance counterweight and carriage, carriage, elevator door dress
Set, outer trick control panel connect by communication bus with supervisory control desk, supervisory control desk by drive system to dragger realization control,
Sensor and pattern recognition device are mounted in carriage, and cloud platform is connect by communication device with supervisory control desk, and cloud platform is formulated
Operation reserve realizes that the operation to elevator controls by master control platform,
Supervisory control desk has target zone reservation function, realizes the Group Control Schedule to m platform elevator between n floor, coordinates every
The operation of platform elevator, the logic control part of supervisory control desk receive floor requests, overload signal, interruption of closing the door, alarm removing letter
After number being handled, instruction is sent to dragging control section and carries out elevator operation operation, elevator door operation, to attached control section
It sends instruction and carries out security protection and elevator door control,
It is outer that control panel, the interior control panel for recruiting control panel, supervisory control desk is recruited to be connected by CAN communication, data transmission, outer trick control
Making sheet sends calling signal, is distributed in each floor, shows uplink and downlink button and/or floor button, in the building that elevator reaches
In layer range, the bottom only has upward button, top only downward button, the control by floor button to supervisory control desk
Making sheet sends the address code of call floor, records beginning floor, target direction and/or the destination of passenger in real time；Interior trick control
Making sheet is used to acquire and send the destination signal of passenger, comprising input, exports and communicate sub- end, each carriage only installs one
It is a, there are selection floor button, manual control switch door button and alarm bell etc. on display board, be equipped with talkback unit, when there is passenger stranded
In carriage, is conversed using talkback unit and supervisory control desk, report current elevator faults situation；The control panel of supervisory control desk utilizes
Built-in dispatching algorithm realizes the car dispatch optimized.
Wherein, detailed process is as follows for scheduling:
Step 1, init state；
Step 2, scan round call is requested, and judges whether there is unappropriated request, and if so, 3 are entered step,
Otherwise scanning call request is continued cycling through；
Step 3, the state of each elevator is obtained；
Step 4, performance indexes is calculated；
Step 5, travel pattern is classified；
Step 6, weight distributes；
Step 7, comprehensive evaluation index function is established, the comprehensive evaluation index of each elevator is calculated, selection has optimal comprehensive
The elevator response call request for closing evaluation index, generates and sends terraced scheduling scheme.
Beneficial effect is:
1, multiple lift control system of the invention reaches the call effect of passenger in an optimal manner to improve conevying efficiency, from
And reach reduction passenger waiting time, improve the purpose of elevator performance.Multiple lift control system operational process is very simple also very complicated,
A large amount of initial data is first generally collected, such as the operation of passengers quantity, morning peak and evening peak period, elevator each period
State etc., here it is the input signals of so-called elevator dispatching, then by the travel pattern of various species, take adaptable with it
Algorithm is input in electric life controller.
2, using the extra kinetic energy of energy conserving system effective use dragger, the feedback for realizing elevator brake electric energy is very big
Reduce energy consumption；
3, the switch gate mode of the curve motion of elevator door motor makes elevator door switch not only efficient but also safety and stability, elevator
Door motor can it is in office why not with gate-width in the case where adjust gate-width data, for elevator door-motor curve motion provide parameter guarantor
Card；
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is elevator door motor system simplification figure of the invention；
Fig. 3 is the hardware structure diagram of door machine controller of the invention；
Fig. 4 is energy conserving system composition figure of the invention；
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
A kind of multiple lift control system with Optimized Operation comprising hoistway part, computer room part, entrance hall part and cloud
Platform, hoistway part include counterweight, carriage, interior trick control panel, sensor, pattern recognition device, guiding mechanism, prevent safely
Equipment, buffer are protected, computer room part includes dragger, limiter of speed, supervisory control desk, power supply, dragger encoder, tractor drives
System, entrance hall part include elevator door apparatus, outer trick control panel, and dragger passes through hawser traction balance counterweight and carriage, carriage
It is connect by trailing cable with supervisory control desk, elevator door apparatus, outer trick control panel are connect by communication bus with supervisory control desk, always
Console realizes to dragger by drive system and controls that sensor and pattern recognition device are mounted in carriage, and cloud platform is logical
Communication device to be crossed to connect with supervisory control desk, cloud platform formulates operation reserve, realize that the operation to elevator controls by master control platform,
Supervisory control desk has target zone reservation function, realizes the Group Control Schedule to m platform elevator between n floor, coordinates every
The operation of platform elevator, the logic control part of supervisory control desk receive floor requests, overload signal, interruption of closing the door, alarm removing letter
After number being handled, instruction is sent to dragging control section and carries out elevator operation operation, elevator door operation, to attached control section
It sends instruction and carries out security protection and elevator door control,
It is outer that control panel, the interior control panel for recruiting control panel, supervisory control desk is recruited to be connected by CAN communication, data transmission, outer trick control
Making sheet sends calling signal, is distributed in each floor, shows uplink and downlink button and/or floor button, in the building that elevator reaches
In layer range, the bottom only has upward button, top only downward button, the control by floor button to supervisory control desk
Making sheet sends the address code of call floor, records beginning floor, target direction and/or the destination of passenger in real time；Interior trick control
Making sheet is used to acquire and send the destination signal of passenger, comprising input, exports and communicate sub- end, each carriage only installs one
It is a, there are selection floor button, manual control switch door button and alarm bell etc. on display board, be equipped with talkback unit, when there is passenger stranded
In carriage, is conversed using talkback unit and supervisory control desk, report current elevator faults situation；The control panel of supervisory control desk utilizes
Built-in dispatching algorithm realizes the car dispatch optimized.
Wherein, detailed process is as follows for scheduling:
Step 1, init state；
Step 2, scan round call is requested, and judges whether there is unappropriated request, and if so, 3 are entered step,
Otherwise scanning call request is continued cycling through；
Step 3, the state of each elevator is obtained；
Step 4, performance indexes is calculated；
Step 5, travel pattern is classified；
Step 6, weight distributes；
Step 7, comprehensive evaluation index function is established, the comprehensive evaluation index of each elevator is calculated, selection has optimal comprehensive
The elevator response call request for closing evaluation index, generates and sends terraced scheduling scheme.
Wherein, step 4 specifically: performance indicator includes waiting time, riding time, elevator energy-output ratio, elevator car
Compartment crowding；
(1) waiting time is elevator EjCompleting all required by task total times is fhf(Ej), in conjunction with single terraced operation rule,
fhf(Ej)=(| P2-P1 |+| P3-P2 |+| P4-P3 |) × tv+Ns×ts+Np×tp
Respond the command signal required time f newly to arriveht(Ej) are as follows:
Wherein, tvIndicate the one floor run time；NsFor the floor sum of required stop；tsIndicate the single layer residence time, wherein
Include acceleration and deceleration used time and switch gate used time；NpIndicate the total passenger of disengaging carriage；tpWhen indicating the mean transferred of every passenger
Between, the transfer time of unit passenger is rule of thumb chosen as 1.2s；PnewFor newly generated service request, new instruction is being generated
The signal is sequentially allocated to m elevator after signal, calculates separately out the estimated waiting time f of each elevatorhf(Ej),
Wherein, P1 is directed toward elevator and is currently located floor, and P2 is directed toward the farthest building that carriage keeps current driving direction to be serviced
Layer, P3 are directed toward the highest distance position that backward going is serviced, and P4 is directed toward the floor for not responding calling yet after inverted running twice.
(2) elevator shutdown finishes beginning timing later after riding time refers to passenger's boarding, and elevator passes through several times
Acceleration of starting travels at the uniform speed, comes to a complete stop the time of enabling in target zone after braking deceleration process, and passenger enters elevator EjAfterwards until
Reach target zone riding time f experiencedct(Ej) are as follows:
fct(Ej)=| Fnew-F′new|×tv+Ncts×ts+Np×tp,
Wherein, NctsEnter the number that elevator starts the required stop until arriving at target zone, F for passengernewNewly to generate
Passenger's beginning floor position, F 'newFor newly generated passenger's purpose floor position, computer capacity is (Fi-F′i)Dj> 0 and
(Fnew-F′new)Dj> 0, value are as follows:
FiIndicate the beginning floor position of passenger, F 'iIndicate the purpose floor position of passenger, DjFor the current side of operation of carriage
To, take timing indicate up direction, down direction, f are indicated when taking negativekIt stops and instructs for kth layer, i.e., whether kth layer needs to stop
It leans on,
(3) elevator energy-output ratio fxh(Ej) it is to remove in running process of elevator as required for initial layers to target zone
The consumption of the necessary external elevator Acceleration of starting of kinetic energy and the parking decelerating phase elevator energy completes current all task institutes with elevator
The stop number needed represents, and calculation is as follows:
(4) lift car crowding.Carriage crowding has very big association to passenger mentality comfort level, while also to elevator
Stop number, riding time have certain influence, and carriage crowding is controlled in a certain range and group control system is made and sends ladder
The important indicator of strategy.
Carriage crowding indicates the ratio of elevator passengers quantity in carriage in operation to the calling layer.According to normal boarding
Process, passenger only enter the traffic direction elevator consistent with demand direction, i.e., number when passenger enters elevator in carriage is
Seat direction is consistent, and purpose of horizon is in the sum of the more early patronage in passenger's traveling section,
Carriage crowding fyj(Ej), to eligible (Fi-F′i)(Fnew-F′new) passenger of > 0 calculates:
Wherein, NfFor the specified carrying number of carriage.
Wherein, step 4 specifically: when choosing the evaluation points of different weights, according to the selection of membership function before
Principle sends ladder structure to be analyzed the group control system；
Wherein, step 5 specifically: constantly to the acquisition of the data such as patronage, the starting number of plies, the purpose number of plies, pass through this
A little information carry out analysis and obtain corresponding characteristic quantity, and the period (5 minutes) carries out current flows primary at regular intervals
Traffic pattern recognition,
Travel pattern is judged based on fuzzy logic algorithm, Urban Passenger Traffic type is judged, inputs elevator people
Number percentage, passenger leave the percentage of elevator, passenger's percentage of floor traffic etc.；Input traffic pattern and traffic intensity two
A variable, the travel pattern under discriminance analysis main stream traffic mode type；
12 classes have been divided into the travel pattern of elevator operation
Wherein, step 6 specifically: under different types of travel pattern, the weighted value of four evaluation indexes is not identical
, weighted value is by expert or technical staff by providing after a large number of experiments, and weight coefficient is under different travel patternsL=1,2,3 ..., 12, h=1,2,3,4, wherein l is schema category, and h is corresponding index,Waiting time, riding time, elevator energy-output ratio, lift car crowding are respectively corresponded,
Wherein, step 7 specifically: merged to obtain elevator dispatching comprehensive evaluation index by four evaluation indexes, to four
It is common fusion method that a index, which carries out linear weighted combination, and weight coefficient can be according to different travel pattern, different
Building demand is configured to reach different dispatching effects, comprehensive evaluation index F (Ej) are as follows:
By comparing each elevator EjComprehensive evaluation index, select the elevator of minimum value signal in response, i.e.,
Ej=min { F (E1), F (E2) ..., F (Em)}。
The circuit hardware of supervisory control desk includes: main DSP, from DSP, FPGA, and electric power management circuit, signal isolation input terminal,
Communication interface, signal conditioner, PG module, H state buffer module, relay.
Wherein, main DSP, respectively corresponding from DSP, FPGA realizes logic control part, dragging control section and attached control
Three funtion parts in part processed,
Other modules of main DSP and supervisory control desk carry out data exchange, other modules are indirect or are directly controlled by master
DSP, main DSP receive the outer outer trick instruction for recruiting control panel by CAN and the interior interior trick for recruiting control panel instructs, and obtains trailing cable
Elevator control signals form normal state rate curve, real-time update dragger speed signal, and number transmitting by comprehensive descision decision
To from DSP, the control of dragger velocity location is completed, main DSP monitors elevator door switch mouth signal in place, and arrive at a station signal, overload
Signal and cage illumination ventilation signal.
Dragger control and Energy Saving Control are realized from DSP, receives the instruction of main DSP renewal speed as given speed
Degree, while the voltage and current signal of encoder speed, location information and drive system is acquired, utilize pid control algorithm and arrow
Control algolithm is measured, the speed to dragger, current double closed-loop control is completed, passes through voltage-current sensor, acquire energy conserving system
DC converter voltage current information and DC bus signal, determine the operating mode of energy conserving system, obtain energy saving system
The control amount of system.
FPGA is auxiliary unit, completes the logic judging function of signal: completing fault-signal processing, real-time guard elevator fortune
Row is safe, the data exchange between principal and subordinate DSP；It is given after carrying out logic judgment to the dragger control pwm signal exported from DSP
Drive system shields；Elevator safety loop control and the detection signal of trailing cable are received, is formed after comprehensive descision defeated
Signal out controls strong logical signal by relay.
Wherein, energy conserving system gets up the energy storage that dragger is fed back when dragger works in the braking state, and
Dragger works in motoring condition, by the energy feedback of storage, maintains DC bus-bar voltage horizontal, realizes the bidirectional flow of energy
Dynamic, energy conserving system includes electric capacity module, DC converter, Hall voltage sensor, current sensor, relay, inverter, light
Coupling isolator, driving circuit,
DC converter moves signal through overdrive circuit rear-guard according to the two-way pwm signal exported from DSP, and completion is being depressured
Switching between mode and boost mode, realization carry out charge or discharge to electric capacity module respectively.
When voltage of the operating voltage of electric capacity module not higher than the DC bus side of dragger, DC bus is to capacitor mould
Group charging, DC converter work in decompression mode；If electric capacity module feeds back energy, DC converter work to DC bus
In boost mode.
The control mode of express elevator dragger of the present invention improves the working efficiency of electric capacity module, optimizes the design knot of circuit
Structure realizes power and energy saving.
Wherein, supervisory control desk is by logic control part, dragging control section and the function part grouping of attached control section three
At.
Logic control is partially completed the acquisition and processing of the various signals of elevator, and dragging control section is to execute to complete elevator
Motion state；Attached control section realizes the control to safety protection equipment and elevator door apparatus, is to safety protection equipment
Guarantee that the device of security performance, dragger provide power for elevator operation, operate normally elevator when coping with elevator faults；Guiding
Mechanism is made of three guide rail, guide shoe, guide rail bracket parts, and lift car is done according to designed guide rail completes uplink under
Row requires；Carriage is made of compartment frame and carriage body, completes the conveying task of uplink and downlink；Elevator door apparatus control elevator door is opened
It closes；
Sensor includes gyroscope, acceleration transducer, temperature sensor, current sensor, voltage sensor,
Gyroscope obtains the athletic posture of elevator, and acceleration transducer is used to obtain the acceleration of motion of elevator, and temperature passes
Sensor obtains the environment temperature of elevator, and data are uploaded to supervisory control desk by sensor.
Pattern recognition device includes camera, signal processing module, video acquisition module and infrared radiation module,
Gyroscope and temperature sensor are connect by data collector with signal processing module, and sensor data transmission is given
Signal processing module, camera are connect by video acquisition module with signal processing module, by video data transmission to signal at
Module is managed, signal processing module is connect with infrared radiation module, and controls infrared radiation module transmitting infrared beam, signal processing
Module is connect with supervisory control desk, to connect with cloud platform, realizes the upload of data.
Signal processing module successively carries out image procossing to the video data received, detects the switch state of elevator door,
Supervisory control desk is transferred to together with receiving sensor signal after carrying out Video coding and caching, supervisory control desk uploads related data
Cloud platform real-time display, and alarm when being abnormal；
Infrared radiation module is responsible for incuding external environment by photosensitive element, and when illumination brightness is darker, notification signal is handled
Module is controlled the function of opening infrared lamp arrays and complete floor light by signal processing module；
Video acquisition module is used for through camera to elevator door switch detection, in elevator environmental exposure abnormality detection and real
When acquisition running process of elevator in video picture data in elevator, and be sent to signal processing module；
Camera implements picture for obtaining elevator interior；
Wherein, when collected gyro data shows that unconventional vibration or braking occurs in elevator, temperature data hair
When biggish environmental exposure deviation occurs when raw excessive temperature or in video data, it is considered as elevator and is abnormal.
Under normal circumstances, when elevator works, acceleration-deceleration and the process for hooking speed are all to link up to complete, in elevator
Passenger will not experience apparent vibration, when elevator operation be abnormal when, and this exactly elevator faults recent years when
The most frequent problem.Since electric structure environment ingeniously has certain brightness of illumination, when this phenomenon occurs, the photograph in elevator
It is bright will will appear it is certain wave, be that the environmental exposure that system is experienced certain deviation occurs.
Communication device is made of by the way of GPRS wireless transmission data collection station, data transmission module, wherein
Data collection station includes CAN module, detection data module, AT89S52 single-chip microcontroller, and data transmission module includes MSP430F149
Single-chip microcontroller and GPRS module,
Wherein, CAN module includes floor, the predetermined floor of elevator, elevator switch door where elevator direction, elevator for acquiring
Car movement data inside, detection data module are used to acquire the sensing data and video counts of elevator by supervisory control desk
According to AT89S52 single-chip microcontroller receives CAN module, the data of detection data module, is transmitted by RS23 serial communication module and data
The MSP430F149 single-chip microcontroller of module carries out data communication, and after treatment, control GPRS module and cloud platform carry out data and lead to
Letter.
Wherein, elevator door apparatus include elevator door, driving wheel, driven wheel, conveyer belt, elevator door motor, door machine controller,
Power supply, speed switch, limit switch, upper bank, bracket, deceleration mechanism, door guide rail, pulley, two fan elevator doors are connected respectively to biography
The two sides up and down of band are sent, elevator door motor connection conveyer belt is equipped with pulley, pulley to drive elevator door to move on elevator door
It being slided along door guide rail, driving wheel is mounted on the upper bank under bracket, when door machine controller receives the opening signal of supervisory control desk,
Control elevator door motor, which is done, to be rotated counterclockwise and controls motor speed, is opened the door completely when detecting in place with regard to stopping opening
Door；When door machine controller receives the door signal of supervisory control desk, door machine controller control elevator door motor is rotated clockwise simultaneously
Its door closing speed is controlled, if just stopping closing the door when detecting the signal of barrier in door closing procedure transfers to open the door, works as elevator door
Signal can be issued when closing the door completely in place to control, supervisory control desk, which can be made, to judge accordingly and stubbornly refuse door lock door is allowed arbitrarily to beat
It opens.
During elevator door switch, door machine encoder detects the speed of elevator door motor and position, always
Console obtains the data of door machine encoder and is monitored to the torque of elevator door motor, is sentenced by the detection to output torque
It disconnects door-closing in-place situation and safeguard protection is carried out to barrier.
Motor directly drives gate horizontal movement by conveyer belt in straight drive mode, compared with indirect drive mode, reduces
Gear reduction, is simplified the structure of whole system, improves the efficiency of door mechanism system and reduces in deceleration mechanism
Energy loss directly drives and has gradually replaced indirect drive mode as main drive mode.
Door machine controller uses closed loop controlling structure, is respectively electric current loop, speed ring and position ring from inner ring to outer ring,
Electric current loop synchronizes elevator door motor stator current through obtaining electricity after current sample in the inner ring of door machine controller
Stream feedback, obtains the component of current phasor by coordinate transform, current deviation is obtained with previously given current subtraction, through electric current
Control signal is input to inverter by the algorithm modulation of SVPWM module to control electricity by ring regulator output voltage given value
Terraced door motor realizes current loop control；
Speed ring is the control ring among door machine controller, and speed ring obtains velocity amplitude by detection, with speed setting value
The difference compared obtains output given value of current by velocity loop regulator, completes the adjusting of speed ring, the response of speed ring
Speed will be lower than electric current loop；
Most outer ring of the position ring as door machine controller, response speed specific rate ring is lower, and position ring detects in place
Feedback is set, subtracts each other to obtain position difference with previously given position, subsequently exports desired electric current by position ring adjuster
Value.
Door machine controller mainly includes communication module, switch, dsp processor, rectification module, IPM inverter, protection electricity
Road, driving circuit and current detection module,
AC power source is supplied to IPM inverter after over commutation and provides stable electric power, current detecting for elevator door motor
The curent change of module detection elevator door motor is simultaneously supplied to dsp processor, and door machine encoder detects elevator door motor position and becomes
Change and be supplied to dsp processor, the electricity between rectification module, IPM inverter of dsp processor join protection electronic feedback
Stream, control driving circuit provide driving to IPM inverter, and dsp processor is communicated by the serial ports and supervisory control desk of communication module.
Core using DSP as door machine controller, DSP powerful digital processing capabilities can efficiently accomplish accurate speed
Control.
Wherein, dsp processor is controlled using switch of the normal state rate curve control mode to elevator door, realizes elevator
Door does not collide when switch runs to terminal, and by the detection adjusted the distance with speed, this to control motor keeps elevator door steady
Operation and switch, normal state rate curve refer to the variation of door closing speed be present normal distribution curve shape, normal state speed
Line of writing music, which is conducive to elevator door, will not generate injury to the people in elevator door while quick close the door.
The control mode of normal state rate curve: with current elevator door position, velocity and acceleration, present speed is calculated
Corresponding accelerating sections also needs distance and braking section to run required distance, compared with the Distance Remaining of current location.Work as Distance Remaining
Greater than required distance, just continued with the normal state rate curve of planning；When Distance Remaining be less than required distance, then change into subtract plus
Velocity shooting enters braking section.It therefore deduces that, needs in real time to compare to required distance with remaining distance, judged with this
The method of operation of next step normal state rate curve.
Speed ring time given speed update cycle of door machine controller is T (1ms), carrys out discretization with this time cycle
Speed control curve.In practice, acceleration is not to require variation each period, to become normal state rate curve
It is more smooth, elevator door motor runs more steady, and setting accelerates on the basis of updating primary in speed each period (T)
Every K step (i.e. KT) is spent to change once.
There is no the initial position of rotor that can not just be accurately controlled the operation of elevator door motor.How rotor is obtained
Initial position, the present invention solve this problem in conjunction with the scheme of vibration positioning using a kind of interval estimation.
Wherein, elevator door motor is permanent magnet synchronous motor, and door machine encoder is the mixing with elevator door motor rotor coaxial
Formula incremental encoder, door machine encoder is there are six output signal, using tri- road signal of U, V, W, the every transformationization n of this three roads signal ×
360 °, rotor space is divided into n electric signal period.
Wherein, rotor space is divided into six equal parts and is divided within a signal period by the state change of U, V, W: 010,
011,001,101,100,110, they respectively represent 60 ° of spaces within a signal period, and rotor itself is divided into n equal part,
Mechanical angle is 60 °/n, and electrical angle where determining rotor when elevator door motor just starts with the state of tri- road signal of U, V, W is empty
Between correspondence section, the section determined by U, V, W and then estimates the section position of rotor,
Speed is zero when the initial alignment that elevator door motor has just started, and given speed is zero, but door machine controller meeting
Quadrature axis current is given to elevator door motor according to the requirement of vector controlled, elevator door motor generates the trend rotated in the forward direction, door machine
Encoder detects the rotation direction of velocity information and elevator door motor, the quadrature axis current that door machine controller generates and previously imagines
Motor reversal when opposite electric current, elevator door motor by two opposite directions quadrature axis current alternating action and in initial position
Upper generation microseism determines the initial position of rotor by measuring microseism locations.
Elevator door motor is installed, door machine controller records the final position of elevator switch door and the width of operation, saves former
The gate-width data of beginning when elevator door motor re-powers, record elevator door motor by door machine encoder and completely execute switch gate
Umber of pulse to measuring gate-width, elevator door is closed the door when being connected to the recording instruction of door machine controller with low speed, and motor torque is worked as
It sharply increases and occurs just to illustrate door-closing in-place when stall, position at this moment is exactly the final position closed the door, and door machine controller will
It allows elevator door motor low speed to open the door, equally works as and detect that torque surge occurs stall and illustrates to open the door completely, position at this time is just opened
Door final position, records umber of pulse in total, calculates average value several times back and forth and obtains gate-width data.
The width of elevator door is different in difference building, even if the elevator of design unified standard is transported in actual work
It also can deviation in row.And with environmental change, the factors such as mechanical aging can all make gate-width change.To keep elevator door steady
Switch gate, door mechanism system should will can adapt to different gate-widths, this just needs door mechanism system to have self study to obtain different electricity
The ability of terraced gate-width degree.For elevator door motor in initial power-on, gate-width data relearn acquisition, can make elevator door electric in this way
Machine operates on correct normal state rate curve.The present invention designs a kind of gate-width self study scheme.
Wherein, elevator door workflow is as follows:
Step 1, door machine controller powers on, system initialization；
Step 2, after the completion of initialization, fault detection；
Step 3, door machine controller and supervisory control desk carry out information exchange；
Step 4, whether door machine monitoring control devices have order input, have, and enter step 5, nothing then enters step 2；
Step 5, order, return step 2 are executed；
Wherein, during step 2 to step 5 executes, door machine controller judges whether there is interruption, if any then executing
Backed off after random interruption is completed in corresponding movement, movement, enters major cycle interrupting the place started.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of multiple lift control system with Optimized Operation comprising hoistway part, computer room part, entrance hall part and Yun Ping
Platform, hoistway part include counterweight, carriage, interior trick control panel, sensor, pattern recognition device, guiding mechanism, security protection
Equipment, buffer, computer room part include dragger, limiter of speed, supervisory control desk, power supply, dragger encoder, tractor drives system
System, entrance hall part include elevator door apparatus, outer trick control panel, and for dragger by hawser traction balance counterweight and carriage, carriage is logical
It crosses trailing cable to connect with supervisory control desk, elevator door apparatus, outer trick control panel are connect by communication bus with supervisory control desk, master control
Platform processed realizes to dragger by drive system and controls that sensor and pattern recognition device are mounted in carriage, and cloud platform passes through
Communication device is connect with supervisory control desk, and cloud platform formulates operation reserve, realizes that the operation to elevator controls by master control platform,
Supervisory control desk has target zone reservation function, realizes the Group Control Schedule to m platform elevator between n floor, coordinates every electricity
The operation of ladder, the logic control part of supervisory control desk receive floor requests, overload signal, close the door interrupt, alarm clear signal into
After row processing, elevator operation operation, elevator door operation are carried out to the transmission instruction of dragging control section, is sent to attached control section
Instruction carries out security protection and elevator door control,
It is outer that control panel, the interior control panel for recruiting control panel, supervisory control desk is recruited to be connected by CAN communication, data transmission, outer trick control panel
Calling signal is sent, each floor is distributed in, shows uplink and downlink button and/or floor button, in the floor model that elevator reaches
In enclosing, the bottom only has upward button, top only downward button, by floor button to the control panel of supervisory control desk
The address code of call floor is sent, records beginning floor, target direction and/or the destination of passenger in real time；Interior trick control panel
For acquiring and sending the destination signal of passenger, comprising input, sub- end is exported and communicates, each carriage only installs one,
There are selection floor button, manual control switch door button and alarm bell etc. on display board, talkback unit is equipped with, when there is passenger to be trapped in sedan-chair
In compartment, is conversed using talkback unit and supervisory control desk, report current elevator faults situation；Built in the control panel of supervisory control desk utilizes
Dispatching algorithm realize optimize car dispatch.
2. a kind of multiple lift control system with Optimized Operation according to claim 1, it is characterised in that scheduling it is specific
Process is as follows:
Step 1, init state；
Step 2, scan round call is requested, and unappropriated request is judged whether there is, and if so, entering step 3, otherwise
Continue cycling through scanning call request；
Step 3, the state of each elevator is obtained；
Step 4, performance indexes is calculated；
Step 5, travel pattern is classified；
Step 6, weight distributes；
Step 7, comprehensive evaluation index function is established, the comprehensive evaluation index of each elevator is calculated, selection is commented with optimal synthesis
The elevator response call request of valence index, generates and sends terraced scheduling scheme.
3. a kind of multiple lift control system with Optimized Operation according to claim 2, it is characterised in that step 4 is specific
Are as follows: performance indicator includes waiting time, riding time, elevator energy-output ratio, lift car crowding；
(1) waiting time is elevator EjCompleting all required by task total times is fhf(Ej), in conjunction with single terraced operation rule,
fhf(Ej)=(| P2-P1 |+| P3-P2 |+| P4-P3 |) × tv+Ns×ts+Np×tp
Respond the command signal required time f newly to arriveht(Ej) are as follows:
Wherein, tvIndicate the one floor run time；NsFor the floor sum of required stop；tsThe single layer residence time is indicated, wherein including
Acceleration and deceleration used time and switch gate used time；NpIndicate the total passenger of disengaging carriage；tpIndicate the mean transit time of every passenger,
The transfer time of unit passenger is rule of thumb chosen as 1.2s；PnewFor newly generated service request, new command signal is being generated
The signal is sequentially allocated to m elevator afterwards, calculates separately out the estimated waiting time f of each elevatorhf(Ej), P1 is directed toward elevator
It is currently located floor, P2 is directed toward the farthest floor that carriage keeps current driving direction to be serviced, and P3 is directed toward backward going and is serviced
Highest distance position, P4 is directed toward does not respond the floor of calling yet after inverted running twice；
(2) elevator shutdown finishes beginning timing later after riding time refers to passenger's boarding, and elevator is by starting several times
Accelerate, travel at the uniform speed, coming to a complete stop the time of enabling in target zone after braking deceleration process, passenger enters elevator EjAfterwards until reaching
Target zone riding time f experiencedct(Ej) are as follows:
fct(Ej)=| Fnew-F′new|×tv+Ncts×ts+Np×tp,
Wherein, NctsEnter the number that elevator starts the required stop until arriving at target zone, F for passengernewMultiply to be newly generated
Objective beginning floor position, F 'newFor newly generated passenger's purpose floor position, computer capacity is (Fi-Fi′)Dj> 0 and (Fnew-
F′new)Dj> 0, value are as follows:
FiIndicate the beginning floor position of passenger, FiThe purpose floor position of ' expression passenger, DjFor the current traffic direction of carriage, take
Timing indicates up direction, and down direction, f are indicated when taking negativekIt stops and instructs for kth layer, i.e., whether kth layer needs to stop,
(3) elevator energy-output ratio fxh(Ej) it is to remove necessity as required for initial layers to target zone in running process of elevator
The consumption of the external elevator Acceleration of starting of kinetic energy and the parking decelerating phase elevator energy completes current all required by task with elevator
It stops number to represent, calculation is as follows:
(4) carriage crowding indicates the ratio of elevator passengers quantity in carriage in operation to the calling layer.According to normal boarding
Process, passenger only enter the traffic direction elevator consistent with demand direction, i.e., number when passenger enters elevator in carriage is
Seat direction is consistent, and purpose of horizon is in the sum of the more early patronage in passenger's traveling section, carriage crowding fyj(Ej),
To eligible (Fi-Fi′)(Fnew-F′new) passenger of > 0 calculates:
Wherein, NfFor the specified carrying number of carriage.
4. a kind of multiple lift control system with Optimized Operation according to claim 3, it is characterised in that: different when choosing
When the evaluation points of weight, according to the selection principle of membership function before, ladder structure is sent to be analyzed the group control system.
5. a kind of multiple lift control system with Optimized Operation according to claim 2, it is characterised in that step 5 is specific
Are as follows: constantly to the acquisition of the data such as patronage, the starting number of plies, the purpose number of plies, analysis is carried out by these information and is obtained accordingly
Characteristic quantity, at regular intervals the period (5 minutes) i.e. to current flows carry out a traffic pattern recognition；
Travel pattern is judged based on fuzzy logic algorithm, Urban Passenger Traffic type is judged, inputs elevator number hundred
Point rate, passenger leave the percentage of elevator, passenger's percentage of floor traffic etc.；Input traffic pattern and traffic intensity two changes
It measures, the travel pattern under discriminance analysis main stream traffic mode type；
12 classes have been divided into the travel pattern of elevator operation.
6. a kind of multiple lift control system with Optimized Operation according to claim 2, it is characterised in that step 6 is specific
Are as follows: under different types of travel pattern, the weighted value of four evaluation indexes be it is different, weighted value is by expert or skill
Art personnel after a large number of experiments by what is provided, and weight coefficient is under different travel patternsL=1,2,3 ..., 12, h
=1,2,3,4, wherein l is schema category, and h is corresponding index, When respectively corresponding waiting time, boarding
Between, elevator energy-output ratio, lift car crowding,
7. a kind of multiple lift control system with Optimized Operation according to claim 2, it is characterised in that step 7 is specific
Are as follows: four evaluation indexes are merged to obtain elevator dispatching comprehensive evaluation index, linear weighted combination is carried out to four indexs
It is common fusion method, weight coefficient can be configured according to different travel patterns, different building demands to reach
Different dispatching effects, comprehensive evaluation index F (Ej) are as follows:
By comparing each elevator EjComprehensive evaluation index, select the elevator of minimum value signal in response, i.e.,
Ej=min { F (E1), F (E2) ..., F (Em)}。
8. a kind of multiple lift control system with Optimized Operation according to claim 1, it is characterised in that: supervisory control desk by
Logic control part, dragging control section and the funtion part composition of attached control section three,
Logic control is partially completed the acquisition and processing of the various signals of elevator, and dragging control section is to execute the movement for completing elevator
State；Attached control section realizes the control to safety protection equipment and elevator door apparatus, is reply to safety protection equipment
Guarantee that the device of security performance, dragger provide power for elevator operation, operate normally elevator when elevator faults；Guiding mechanism
It is made of three guide rail, guide shoe, guide rail bracket parts, lift car is wanted according to the micro- completion uplink and downlink of designed guide rail
It asks；Carriage is made of compartment frame and carriage body, completes the conveying task of uplink and downlink；The folding of elevator door apparatus control elevator door.
9. a kind of multiple lift control system with Optimized Operation according to claim 1, it is characterised in that:
Communication device is made of, wherein data by the way of GPRS wireless transmission data collection station, data transmission module
Acquisition terminal includes CAN module, detection data module, AT89S52 single-chip microcontroller, and data transmission module includes MSP430F149 monolithic
Machine and GPRS module,
Wherein, CAN module is for acquiring including floor, the predetermined floor of elevator, elevator switch door where elevator direction, elevator
Car movement data, detection data module be used for by supervisory control desk acquisition elevator sensing data and video data,
AT89S52 single-chip microcontroller receives CAN module, the data of detection data module, transmits mould by RS23 serial communication module and data
The MSP430F149 single-chip microcontroller of block carries out data communication, and after treatment, control GPRS module and cloud platform carry out data communication.
10. a kind of multiple lift control system with Optimized Operation according to claim 1, it is characterised in that elevator door work
Process is as follows:
Step 1, door machine controller powers on, system initialization；
Step 2, after the completion of initialization, fault detection；
Step 3, door machine controller and supervisory control desk carry out information exchange；
Step 4, whether door machine monitoring control devices have order input, have, and enter step 5, nothing then enters step 2；
Step 5, order, return step 2 are executed.
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| CN111884559A (en) * | 2020-06-29 | 2020-11-03 | 苏州金峰物联网技术有限公司 | Method for controlling deflection motor of deflection wheel/ball, control system, readable storage medium, and deflection apparatus |
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| CN114634073A (en) * | 2022-03-04 | 2022-06-17 | 苏州汇川控制技术有限公司 | Car control system of elevator and elevator system |
| CN115072508A (en) * | 2022-07-18 | 2022-09-20 | 凯尔菱电（山东）电梯有限公司 | Efficient dispatching method for elevators in intelligent building |
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| CN110329883A (en) * | 2019-06-21 | 2019-10-15 | 展鹏科技股份有限公司 | A kind of door machine self-learning method and equipment |
| CN110436295A (en) * | 2019-08-26 | 2019-11-12 | 刘向勇 | A kind of elevator control system based on technology of Internet of things |
| CN112591589A (en) * | 2019-10-01 | 2021-04-02 | 杭州太阳德克电气有限公司 | Internet of things door machine system |
| CN111884559A (en) * | 2020-06-29 | 2020-11-03 | 苏州金峰物联网技术有限公司 | Method for controlling deflection motor of deflection wheel/ball, control system, readable storage medium, and deflection apparatus |
| CN112264994A (en) * | 2020-09-30 | 2021-01-26 | 上海擎朗智能科技有限公司 | Robot elevator taking control method and device, electronic equipment and storage medium |
| CN112859624B (en) * | 2021-01-06 | 2023-06-20 | 德施曼机电（中国）有限公司 | Special member protection method and device based on intelligent lockset |
| CN112859624A (en) * | 2021-01-06 | 2021-05-28 | 德施曼机电（中国）有限公司 | Special member protection method and device based on intelligent lock |
| CN113401745A (en) * | 2021-07-21 | 2021-09-17 | 裴航 | Elevator control method based on elevator crowding degree |
| CN113401745B (en) * | 2021-07-21 | 2022-09-20 | 裴航 | Elevator control method based on elevator crowding degree |
| CN114634073A (en) * | 2022-03-04 | 2022-06-17 | 苏州汇川控制技术有限公司 | Car control system of elevator and elevator system |
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| CN115072508A (en) * | 2022-07-18 | 2022-09-20 | 凯尔菱电（山东）电梯有限公司 | Efficient dispatching method for elevators in intelligent building |
| CN115072508B (en) * | 2022-07-18 | 2022-11-11 | 凯尔菱电（山东）电梯有限公司 | Efficient dispatching method for elevators in intelligent building |
| CN117466090A (en) * | 2023-12-26 | 2024-01-30 | 南京安诺电梯有限公司 | Evaluation method and system for elevator destination layer selection |
| CN117466090B (en) * | 2023-12-26 | 2024-03-05 | 南京安诺电梯有限公司 | Evaluation method and system for elevator destination layer selection |
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