Elevator control device

Abstract

The invention discloses an elevator control device. The elevator control device comprises a speed command generating part, a speed command following part, a load torque calculating part, and a current command following part; the device generates and tracks a speed command of lift car running and a current command of an electric motor, so that the elevator system is ran. The elevator control device further comprises a residual frictional force estimating part, which is used for estimating the static frictional force suffered by the elevation system after stopping; a maximum frictional force estimating part, which is used for estimating the maximum static frictional force suffered by the elevator system; an offset torque calculating part, which is used for calculating the offset torque according to the estimated residual frictional force and the maximum frictional force, wherein initial value of the offset torque is calculated according to the estimated residual frictional force, and the target value of the offset torque is calculated according to the maximum frictional force obtained through estimation and the running direction of the lift car this time. Through calculation and application of offset torque, the elevator control device can be more simply and effectively inhibit the vibration of the lift car in the course of vibration.

Description

Technical field [0001] The invention relates to an elevator control device. Background technique [0002] For traction drive elevators or forced drive elevator systems, when the car starts, it is inevitably subjected to mechanical friction. The composition of the traction drive elevator system is as figure 1 As shown, the elevator control device includes a speed command generating part, a speed command following part, a load torque calculation part and a current command following part (not shown in the figure). The elevator car using this elevator control device vibrates when it starts. [0003] The following is an example of behavior on the car to illustrate the mechanism of car vibration during startup. Before the brake is released, the car is affected by the residual friction; the residual friction refers to the friction that is produced by the elasticity of the suspension and the friction of the mechanical system. The direction of the last operation of the system is related....

AI Technical Summary

Problems solved by technology

[0006] Second, the vibration of the car is difficult to suppress or eliminate due to the weak coupling between the motor and the car; in recent years, with the increase of the lift height of the elevator, the vibration problem of the car when it starts on a lower floor has become more and more prominent

But this directly leads to higher cost and increased system weight

It is not economical to configure the suspension device much higher than the required specification for load-bearing in order to alleviate the start-up vibration

Moreover, this is only passive mitigation, rather than suppressing the starting vibration from the source

[0008] Chinese patents CN1221701A and CN1158817A disclose methods for compensating car vibrations, and they have two things in common: first, they all perform passive compensation when car vibrations occur, and do not care about the source of the vibrations; therefore , these methods can only alleviate the vibration to a limited extent, and it is impossible to completely eliminate the vibration; second, their algorithms are more complicated, and they have higher requirements on the hardware performance of the control system, the quality of software programming, and the accuracy of sensors and signal interference. , it is more difficult to implement

[0009] Chinese patent CN1079441 discloses a method that enables the elevator system driven by an asynchronous motor to overcome the static friction of the reduction box and start smoothly; this method allows the gears in the reduction box to vibrate in advance, thus avoiding the static friction caused by the reduction box force, but did not cope with the static friction force on the car itself

Although this method also actively suppresses vibration, it lacks a clear and accurate calculation method for "certain time" and needs to detect the movement of the car, which means that a special sensing device must be configured for the motion state of the car, so that the hardware system configuration complex and costly

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