CN114291673A - Control method and system for realizing automatic leveling of elevator based on interpolation method - Google Patents
Control method and system for realizing automatic leveling of elevator based on interpolation method Download PDFInfo
- Publication number
- CN114291673A CN114291673A CN202111647700.6A CN202111647700A CN114291673A CN 114291673 A CN114291673 A CN 114291673A CN 202111647700 A CN202111647700 A CN 202111647700A CN 114291673 A CN114291673 A CN 114291673A
- Authority
- CN
- China
- Prior art keywords
- elevator
- module
- load value
- cage
- value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 61
- 239000000725 suspension Substances 0.000 claims description 21
- 238000004364 calculation method Methods 0.000 claims description 15
- 238000005303 weighing Methods 0.000 claims description 15
- 230000008569 process Effects 0.000 claims description 13
- 238000010276 construction Methods 0.000 abstract description 12
- 230000009466 transformation Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 6
- 230000009467 reduction Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 230000001174 ascending effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies
Landscapes
- Elevator Control (AREA)
Abstract
The invention relates to a control method and a system for realizing automatic leveling of a lifter based on an interpolation method, wherein the method comprises the following steps: collecting initial difference values and generating a table; calibrating the leveling position of the floor; starting the elevator to run and setting a target floor; reading the current load value of the cage; querying the table according to the current load value; if the inquired load value exists in the table, the braking distance is obtained; if the inquired load value does not exist in the table, calculating the braking distance of the current load value by an interpolation method; and finishing the elevator parking according to the acquired braking distance or the calculated braking distance and the flat position of the target floor. This scheme is implemented on traditional power frequency construction ladder transformation project, has the high performance price ratio, satisfies the flat bed required precision of construction ladder simultaneously. Not only saves the reconstruction cost, but also improves the use efficiency.
Description
Technical Field
The invention relates to a control technology of a lifter, in particular to a control method and a control system for realizing automatic leveling of the lifter based on an interpolation method.
Background
The automatic leveling operation of the construction elevator needs to know the leveling position of each target floor in advance, and after the target floor is set, the automatic leveling system needs to acquire the operation position or the position of a speed reduction point in the operation process to stop the target floor of the automatic leveling.
The first method is a traditional power frequency contactor circuit control mode, a speed reduction sensor is arranged at each speed reduction point, a speed reduction point position sensor signal of a target floor is detected during the operation of a construction elevator, a power supply is cut off, a band-type brake is released, and the target floor is stopped; the second one is to use frequency conversion control driver and add coder, and record the number of coder pulses and the number of deceleration pulses of each layer of flat layer position. The encoder pulse of the current position is obtained in real time in the operation process of the construction elevator, the pulse difference value is obtained through comparison and calculation with the flat bed position pulse of the target floor, when the pulse difference value reaches the number of the deceleration pulses, a deceleration signal is sent immediately, the frequency converter drives the motor to brake and decelerate, and stable, accurate and automatic flat bed operation can be achieved. The first scheme has the advantages of simple structure, low implementation cost, higher installation and debugging requirements and poorer leveling effect. The second scheme is simple in installation and debugging and good in automatic leveling effect, but the cost is much higher than that of the first scheme.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses a control method and a control system for realizing automatic leveling of a lift based on an interpolation method.
The technical scheme adopted by the invention is as follows:
a control method for realizing automatic leveling of an elevator based on an interpolation method comprises the following steps:
collecting initial difference values and generating a table; the initial difference value comprises a set load value of the lifting cage of the elevator and a braking distance corresponding to the set load value;
calibrating the leveling position of the floor;
starting the elevator to run and setting a target floor;
reading the current load value of the cage; querying the table according to the current load value;
if the inquired load value exists in the table, the braking distance is obtained;
if the inquired load value does not exist in the table, calculating the braking distance of the current load value by an interpolation method;
and finishing the elevator parking according to the acquired braking distance or the calculated braking distance and the flat position of the target floor.
The further technical scheme is as follows: in the running process of the elevator, reading the position of the cage in real time and comparing the position with the leveling position of a target floor; and when the difference value between the real-time position of the cage and the flat position of the target floor is smaller than or equal to the braking distance, cutting off the output power supply of the elevator, and simultaneously braking and decelerating the cage.
The further technical scheme is as follows: in the running process of the elevator, reading a pulse numerical value output by a servo motor encoder of the elevator in real time, and comparing the pulse numerical value with a pulse numerical value of a leveling position of a target floor; and when the difference value between the real-time pulse value and the target pulse value is smaller than or equal to the pulse value corresponding to the braking distance, cutting off the output power supply of the elevator, and braking and decelerating the cage.
The further technical scheme is as follows: after the elevator stops, recording the current position of the cage, and calculating the actual braking distance according to the current position of the cage; and updating the table after the operation of the elevator is finished.
The further technical scheme is as follows: the tables comprise an uplink table and a downlink table; and inquiring the table according to the load value and the running direction of the suspension cage.
The further technical scheme is as follows: when an initial difference value is collected, the empty cage weight is used as a reference load value; taking the reference load value as a starting point, adding an equal partial load value every time when the set weight is added, and correspondingly calculating the reference load value and the braking distance corresponding to the equal partial load value; and recording the load value and the braking distance as initial difference values into a table.
A control system for realizing automatic leveling of an elevator based on interpolation comprises:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage;
the main control module acquires signals of the weighing module, the position acquisition module and the operation module and controls a motor or a brake module to work, and the main control module comprises:
the storage module is used for storing the initial difference value and the calibrated floor leveling position;
the query module is used for reading the numerical value of the weighing module and querying the table according to the numerical value;
and the interpolation calculation module is used for calculating the braking distance by an interpolation method.
A control system for realizing automatic leveling of an elevator based on interpolation comprises:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage;
the main control module comprises a processor and a memory, and the memory stores a processing program; the processor reads the data of the operating module, the weighing module and the position acquisition module, and executes the processing program to realize the control method, the control motor and the brake module.
The invention has the following beneficial effects:
the invention can realize the automatic leveling control method with low cost and high accuracy of the construction ladder, and the complicated nonlinear factors which influence the running direction of the brake distance of the power frequency construction ladder, the load of the suspension cage, the dynamic friction force of the standard knot, the inertia and the like are equivalent to the deceleration parking distance, thereby simplifying the operation and better realizing the automatic leveling. It is worth mentioning that the technical scheme of the invention has a self-adaptive updating function, the mechanical wear degree, the friction force and the brake sensitivity of the construction ladder can change along with the use in the use process, and the data learning algorithm of the scheme can automatically update the deceleration parking distance along with the change of the physical quantities, so that the invention has certain self-adaptive capacity.
This scheme is implemented on traditional power frequency construction ladder transformation project, has the high performance price ratio, satisfies the flat bed required precision of construction ladder simultaneously. Not only saves the reconstruction cost, but also improves the use efficiency.
Drawings
Fig. 1 is a flowchart of an embodiment of a control method of the present invention.
Fig. 2 is a flowchart of another embodiment of the control method of the present invention.
FIG. 3 is a schematic diagram of one embodiment of a control system of the present invention.
Fig. 4 is a schematic diagram of another embodiment of the control system of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
Fig. 1 is a flowchart of an embodiment of a control method of the present invention. As shown in fig. 1, the method for controlling automatic leveling of the elevator based on interpolation includes the following steps:
and S1, collecting the initial difference value and generating a deceleration and parking distance table. The initial difference values are set load values of the plurality of elevator cages and a plurality of braking distances corresponding to the set load values of the elevator cages, respectively.
Preferably, in S1, considering the gravity factor, the braking distances of the ascending process and the descending process of the construction elevator are obviously different, so that the initial interpolation values of the ascending process and the descending process of the construction elevator are respectively collected. And an uplink deceleration parking distance table and a downlink deceleration parking distance table are respectively generated.
Preferably, the initial difference values are collected at equal intervals. And taking the empty cage weight as a reference load value, taking the reference load value as a starting point, adding one equal partial load value every time the set weight is added, and correspondingly calculating the reference load value and the braking distance corresponding to the equal partial load value. And recording the load value and the braking distance as initial difference values into a table. Specifically, the distance may be set to 10% of the rated load weight, and the braking distance may be measured and recorded in a table every time 10% of the rated load weight is added. Until the weight of the load is increased to 120 percent of the rated load weight, 13 groups of data are recorded in total. For the up-speed reduction stopping distance table and the down-speed reduction stopping distance table, each table has 13 groups of data.
And S2, calibrating the floor leveling position.
And sequentially calibrating the flat position of each floor from the first floor to the highest floor. Specifically, the pulse value of the servo motor encoder of the elevator may be controlled as the position value. Other measurement methods with the same effect can also be used for calibration. The flat position of the marked floor is stored.
And S3, starting the operation of the elevator and setting a target floor.
The start of the elevator, and the input to the destination floor, may be input and controlled by the driver.
And S4, reading the current load value of the elevator cage. And inquiring the table according to the current load value and the running direction of the elevator. Specifically, if the elevator ascends, the ascending deceleration stopping distance table is inquired, and if the elevator descends, the descending deceleration stopping distance table is inquired.
And S5, judging whether the current load value of the elevator exists in the table. If so, S6 is performed, and if not, S7 is performed.
And S6, if the load value inquired in the table is available, obtaining the braking distance. And then S8 is executed.
And S7, if the load value inquired in the table does not exist, calculating the braking distance by an interpolation method. And then S8 is executed.
In the case of equidistant nodes, using the differential form of newton' S interpolation, the specific calculation step of S7 is:
let xi(i ═ 0, 1, 2,. and n) is the ith payload value, and i is a positive integer. h is the step size and h is a constant greater than 0. n is the highest order of the difference calculation. x is the number of0The reference load value when the elevator is unloaded. The value of the function f (x) at equidistant nodes is fi＝f(xi)。f(xi) Representing the stopping distance corresponding to the ith load value. For the case where initial difference values have been collected and a deceleration stopping distance table generated, xi(i ═ 0, 1, 2,. ang., n) and fiAre all known values.
The difference quotient can be calculated:
1 st order difference quotient f x of function0，x1]Comprises the following steps:
the k-th order difference quotient f x of the function0，x1，...，xk](k ═ 1, 2,. n) is:
and the following settings are made:
function f (x) at point
The 1 st order forward difference above is:
Δfi＝fi+1-fi(i＝0，1，2，...，n)
function f (x) at point
The k-th order forward difference above is:
Δkfi＝Δk-1fi+1-Δk-1fi(k＝1，2，...，n；i＝0，1，2，...，n)
function f (x) at point
The 1 st order backward difference above is:
function f (x) at point
The k-th order backward difference above is:
the calculation method of the forward difference or the backward difference may be selected according to the specific situation.
If the forward difference method is used for calculation, the difference quotient is calculated firstly as follows:
the general is as follows:
x is equal to x0Substituting + th into Newton's difference polynomial Nn(x)：
Residual term R of Newton's differencen(x)：
Then f (x) becomes Nn(x0+th)+Rn(x)。
When a new current load value x is measured, x is determined according to x0+ th meterCalculating a parameter t, and then substituting the parameter t into f (x) Nn(x0+th)+Rn(x) The braking distance f (x) corresponding to x is obtained by calculation.
If using the computation using the backward difference method, the nodes are first sorted into xn，xn-1，...x0. The difference quotient is calculated as follows:
the general is as follows:
newton difference polynomial Nn(x)：
Nn(x)＝f(xn)+(x-xn)f[xn，xn-1]+(x-xn)(x-xn-1)f[xn，xn-1，xn-2]+…+(x-xn)(x-xn-1)...(x-x1)f[xn，xn-1，...x1，x0]
X is equal to xn+ sh into Nn(x)
Residual term R of Newton's differencen(x)：
Then f (x) becomes Nn(x0+sh)+Rn(x) In that respect When a new current load value x is measured, x is determined according to x0+ sh calculates the parameter s, then substitutes the parameter s into f (x) -Nn(x0+sh)+Rn(x) The braking distance f (x) corresponding to x is obtained by calculation.
And S8, finishing the elevator parking according to the acquired braking distance or the calculated braking distance and the flat position of the target floor. Fig. 2 is a flowchart of another embodiment of the control method of the present invention. The specific implementation of S8 can be understood from fig. 2.
Specifically, in the running process of the elevator, the position of the cage is read in real time and is compared with the leveling position of a target floor; and when the difference value between the real-time position of the cage and the flat position of the target floor is smaller than or equal to the braking distance, cutting off the output power supply of the elevator, and simultaneously braking and decelerating the cage.
Specifically, the position may be obtained by reading a pulse value output from a servo motor encoder of the elevator. In the running process of the elevator, reading a pulse numerical value output by a servo motor encoder of the elevator in real time, and comparing the pulse numerical value with a pulse numerical value of a leveling position of a target floor; and when the difference value between the real-time pulse value and the target pulse value is smaller than or equal to the pulse value corresponding to the braking distance, cutting off the output power supply of the elevator, and braking and decelerating the cage.
Further, the control method for automatic leveling of the elevator further comprises the step of updating the table:
and S9, after the elevator stops, recording the current position of the cage, namely the pulse value of the servo motor encoder of the elevator, and calculating the actual braking distance according to the current position of the cage. And after the operation of the elevator is finished, performing weighted calculation on the actual braking distance and the theoretical braking distance, and updating the weighted calculation result into a corresponding table. The theoretical stopping distance is the stopping distance acquired at S6 or the stopping distance calculated at S7. The weighted weights and the specific weighted calculation method can be summarized and selected according to experiments. After S9 is performed, the data in the table is more accurate.
The invention also discloses a control system for realizing automatic leveling of the elevator by an interpolation method, and FIG. 3 is a schematic diagram of an embodiment of the control system. As shown in fig. 3, the control system includes:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage; preferably, the motor uses a servo motor with an encoder as the position acquisition module, and the pulse output value of the encoder is used as the position value.
The main control module acquires signals of the weighing module, the position calculation module and the operation module and controls the motor or the brake module to work, and the main control module comprises:
the storage module is used for storing a table of the initial difference value and the floor leveling position of the calibrated floor;
the query module is used for reading the numerical value of the weighing module and querying the table according to the numerical value; if the table has the inquired numerical value, the inquiring module acquires the braking distance;
if the table has no inquired numerical value, the inquiry module transmits the information to the difference value calculation module, and the interpolation calculation module calculates the braking distance by an interpolation method;
the main control module controls the braking module according to the braking distance to brake the elevator.
Fig. 4 is a schematic diagram of another embodiment of the control system of the present invention. As shown in fig. 4, the control system includes:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage; preferably, the motor uses a servo motor with an encoder as the position acquisition module, and the pulse output value of the encoder is used as the position value.
The main control module comprises a processor and a memory, and the memory stores a processing program; the processor reads the data of the operating module, the weighing module and the position acquisition module and executes the processing program to implement the method described above and control the motor and the brake module.
The foregoing description is illustrative of the present invention and is not to be construed as limiting thereof, the scope of the invention being defined by the appended claims, which may be modified in any manner without departing from the basic structure thereof.
Claims (8)
1. A control method for realizing automatic leveling of an elevator based on an interpolation method is characterized by comprising the following steps:
collecting initial difference values and generating a table; the initial difference value comprises a set load value of the lifting cage of the elevator and a braking distance corresponding to the set load value;
calibrating the leveling position of the floor;
starting the elevator to run and setting a target floor;
reading the current load value of the cage; querying the table according to the current load value;
if the inquired load value exists in the table, the braking distance is obtained;
if the inquired load value does not exist in the table, calculating the braking distance of the current load value by an interpolation method;
and finishing the elevator parking according to the acquired braking distance or the calculated braking distance and the flat position of the target floor.
2. The control method for realizing automatic leveling of the elevator based on the interpolation method according to claim 1, characterized in that: in the running process of the elevator, reading the position of the cage in real time and comparing the position with the leveling position of a target floor; and when the difference value between the real-time position of the cage and the flat position of the target floor is smaller than or equal to the braking distance, cutting off the output power supply of the elevator, and simultaneously braking and decelerating the cage.
3. The control method for realizing automatic leveling of the elevator based on the interpolation method as claimed in claim 2, wherein: in the running process of the elevator, reading a pulse numerical value output by a servo motor encoder of the elevator in real time, and comparing the pulse numerical value with a pulse numerical value of a leveling position of a target floor; and when the difference value between the real-time pulse value and the target pulse value is smaller than or equal to the pulse value corresponding to the braking distance, cutting off the output power supply of the elevator, and braking and decelerating the cage.
4. The control method for realizing automatic leveling of the elevator based on the interpolation method according to claim 1, characterized in that: after the elevator stops, recording the current position of the cage, and calculating the actual braking distance according to the current position of the cage; and updating the table after the operation of the elevator is finished.
5. The control method for realizing automatic leveling of the elevator based on the interpolation method according to claim 1, characterized in that: the tables comprise an uplink table and a downlink table; and inquiring the table according to the load value and the running direction of the suspension cage.
6. The control method for realizing automatic leveling of the elevator based on the interpolation method according to claim 1, characterized in that: when an initial difference value is collected, the empty cage weight is used as a reference load value; taking the reference load value as a starting point, adding an equal partial load value every time when the set weight is added, and correspondingly calculating the reference load value and the braking distance corresponding to the equal partial load value; and recording the load value and the braking distance as initial difference values into a table.
7. A control system for realizing automatic leveling of an elevator based on an interpolation method is characterized by comprising the following steps:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage;
the main control module acquires signals of the weighing module, the position acquisition module and the operation module and controls a motor or a brake module to work, and the main control module comprises:
the storage module is used for storing the initial difference value and the calibrated floor leveling position;
the query module is used for reading the numerical value of the weighing module and querying the table according to the numerical value;
and the interpolation calculation module is used for calculating the braking distance by an interpolation method.
8. A control system for realizing automatic leveling of an elevator based on an interpolation method is characterized by comprising the following steps:
the motor is used for driving the suspension cage to ascend or descend;
the braking module is used for controlling the cage to brake and decelerate;
the operation module is used for inputting a target floor and a running direction;
the weighing module is used for acquiring the load value of the suspension cage;
the position acquisition module is used for acquiring the position of the suspension cage;
the main control module comprises a processor and a memory, and the memory stores a processing program; the processor reads the data of the operating module, the weighing module and the position acquisition module and executes the processing program to realize the control method, the control motor and the brake module according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111647700.6A CN114291673B (en) | 2021-12-30 | 2021-12-30 | Control method and system for realizing automatic leveling of elevator based on interpolation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111647700.6A CN114291673B (en) | 2021-12-30 | 2021-12-30 | Control method and system for realizing automatic leveling of elevator based on interpolation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114291673A true CN114291673A (en) | 2022-04-08 |
| CN114291673B CN114291673B (en) | 2024-02-20 |
Family
ID=80974541
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111647700.6A Active CN114291673B (en) | 2021-12-30 | 2021-12-30 | Control method and system for realizing automatic leveling of elevator based on interpolation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114291673B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3030793A1 (en) * | 1980-08-14 | 1982-03-11 | Otis Elevator Co., Hartford, Conn. | Lift or elevator speed and braking control - is by comparison of tachometer signal against reference signal for all loading conditions |
| CN103449271A (en) * | 2013-08-20 | 2013-12-18 | 哈尔滨东建机械制造有限公司 | DSP (Digital Signal Processor)-based control device of variable-frequency construction lifting device and method for realizing automatic leveling of lifting device by adopting control device |
| US20140060977A1 (en) * | 2012-08-30 | 2014-03-06 | Steve Romnes | Hydraulic elevator dynamic leveling control |
| CN106976769A (en) * | 2017-05-26 | 2017-07-25 | 湖北江汉建筑工程机械有限公司 | A kind of building hoist automatic leveling method |
| CN112678636A (en) * | 2019-10-17 | 2021-04-20 | 广州绰立科技有限公司 | Method and system for realizing automatic accurate leveling of elevator |
| CN112723059A (en) * | 2020-12-28 | 2021-04-30 | 浙江大学 | Medium-speed elevator near-station leveling system and method based on double deceleration displacement correction points |
-
2021
- 2021-12-30 CN CN202111647700.6A patent/CN114291673B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3030793A1 (en) * | 1980-08-14 | 1982-03-11 | Otis Elevator Co., Hartford, Conn. | Lift or elevator speed and braking control - is by comparison of tachometer signal against reference signal for all loading conditions |
| US20140060977A1 (en) * | 2012-08-30 | 2014-03-06 | Steve Romnes | Hydraulic elevator dynamic leveling control |
| CN103449271A (en) * | 2013-08-20 | 2013-12-18 | 哈尔滨东建机械制造有限公司 | DSP (Digital Signal Processor)-based control device of variable-frequency construction lifting device and method for realizing automatic leveling of lifting device by adopting control device |
| CN106976769A (en) * | 2017-05-26 | 2017-07-25 | 湖北江汉建筑工程机械有限公司 | A kind of building hoist automatic leveling method |
| CN112678636A (en) * | 2019-10-17 | 2021-04-20 | 广州绰立科技有限公司 | Method and system for realizing automatic accurate leveling of elevator |
| CN112723059A (en) * | 2020-12-28 | 2021-04-30 | 浙江大学 | Medium-speed elevator near-station leveling system and method based on double deceleration displacement correction points |
Non-Patent Citations (1)
| Title |
|---|
| 毛晓雯;霍孟友;朱振杰;: "基于插值算法的升降机自动平层控制器设计", 自动化仪表, vol. 39, no. 11, pages 73 - 77 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114291673B (en) | 2024-02-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9573789B2 (en) | Elevator load detection system and method | |
| EP0354772A2 (en) | Recalibrating an elevator load measuring system | |
| JPS6323109B2 (en) | ||
| CN1749709A (en) | Weight measuring device | |
| AU2014352038B2 (en) | Method for operating a lift control system | |
| CN110316629A (en) | Elevator meausring apparatus auto-correction method | |
| JPH0122198B2 (en) | ||
| US6286628B1 (en) | Non-linear load detection and compensation for elevators | |
| CN114291673A (en) | Control method and system for realizing automatic leveling of elevator based on interpolation method | |
| CN112009266B (en) | Power parameter calibration method and device, vehicle and computer readable storage medium | |
| JP2645464B2 (en) | Adjustment method of elevator position control device | |
| CN113233268B (en) | Elevator operation control method, control device and computer readable storage medium | |
| JP2006193297A (en) | Elevator device | |
| JP2609695B2 (en) | Elevator landing control method | |
| JP6072509B2 (en) | Elevator control device and elevator control method | |
| JP2005289627A (en) | Elevator | |
| JPS6138113B2 (en) | ||
| CN114560362A (en) | Method, apparatus, medium, and device for accurately calculating operating speed of elevator car | |
| JP6611882B2 (en) | Elevator control device and governor rope expansion / contraction amount estimation method | |
| JP2655649B2 (en) | Servo system positioning control method | |
| JPH0210671B2 (en) | ||
| CN114397111B (en) | Passenger vehicle brake pedal sensing test method | |
| CN113905967A (en) | Adjustment amount calculation device and adjustment method for elevator device | |
| JP2007008706A (en) | Elevator | |
| JPS60228370A (en) | Controller for elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |