CN-121974212-A - Layered control system and method for elevator

Abstract

The invention provides an elevator layered control system and method, wherein the elevator layered control system comprises a door machine frequency converter control module, a door motor current sampling module, a driving module, a storage module, a door opening in-place switch, a door closing in-place switch, an encoder module and a wireless communication module, wherein the door machine frequency converter control module is used for mutually communicating with an elevator main control module, the elevator main control module sends door opening commands, door closing commands and elevator current floor data to the door machine frequency converter control module, the door machine frequency converter control module sends door opening in-place or door closing in-place data to the elevator main control module, the door machine frequency converter control module is connected with a driving signal input end of the driving module, and a driving signal output end of the driving module is used for controlling a power input end connected with a door motor and controlling the door motor to run in a door opening direction or a door closing direction according to a required speed.

Inventors

• HANG SHUAINAN
• CHEN FU
• YANG YEFEI
• LI YANG
• CAO YINTAO
• GUO YANLI
• GUO XIN
• CHEN YINLIANG
• SUN BUBU
• YUE WENKAI

Assignees

• 西继迅达电梯有限公司

Dates

Publication Date

20260505

Application Date

20260331

Claims (8)

1. 1. The elevator layered control system is characterized by comprising a door machine frequency converter control module, a door motor current sampling module, a driving module, a storage module, a door opening in-place switch, a door closing in-place switch, an encoder module and a wireless communication module; the elevator main control module sends door opening command, door closing command and elevator current floor data to the elevator main control module, and the door machine frequency converter control module sends elevator car door opening in place and door closing in place data to the elevator main control module; The door machine frequency converter control module is connected with a driving signal input end of the driving module, and a driving signal output end of the driving module is controlled and connected with a power input end of the door motor and used for controlling the door motor to run in a door opening direction or a door closing direction according to a required speed; The encoder module is used for acquiring real-time position data and real-time speed data of a rotor of the door motor, and a signal output end of the encoder module is connected with a door motor real-time acquisition signal input end of the door motor frequency converter control module and used for sending the real-time data to the door motor frequency converter control module; The U-phase line signal input end of the door motor current sampling module is connected with the U-phase line of the door motor power supply end, the V-phase line signal input end of the door motor current sampling module is connected with the V-phase line of the door motor power supply end, and the W-phase line signal input end of the door motor current sampling module is connected with the W-phase line of the door motor power supply end; The door converter control module obtains whether the elevator door is in an in-place state according to switch signals transmitted by the door in-place switch and the door in-place switch, wherein the opening in-place switch is closed, the door in-place switch is opened to indicate that the elevator door is in-place, the opening in-place switch is opened, and the door in-place switch is closed to indicate that the elevator door is in-place, and besides, the elevator door is in a state without opening the door in place or closing the door in place; The floor parameter setting signal input/output end of the door machine frequency converter control module is connected with the data input/output end of the wireless communication module, the floor parameter storage signal input/output end of the door machine frequency converter control module is connected with the data input/output end of the storage module, the wireless communication module is used for communicating with floor parameter setting equipment of maintenance personnel in a butt joint mode and transmitting data, corresponding floor parameter setting signals received by the door machine frequency converter control module from the floor parameter setting signal input/output end are transmitted to the storage module through the floor parameter storage signal input/output end of the door machine frequency converter control module, the storage module stores door opening/closing operation parameters corresponding to all floors, the door machine frequency converter control module is communicated with the storage module when the stored parameters are powered off, and reading/writing operation is performed on the door opening/closing operation parameters corresponding to all floors.
2. 2. The elevator hierarchical control system according to claim 1, wherein the floor parameter setting device of the maintenance personnel is a smart phone, the smart phone stores an operating floor parameter setting APP therein, and the wireless communication module exchanges docking data with the floor parameter setting APP in the smart phone.
3. 3. The elevator hierarchical control method based on the elevator hierarchical control system according to claim 2, comprising a communication process of elevator hierarchical control setting data, a data transmission process of a door machine frequency converter control module and a storage module, and a read/write operation executed on opening/closing operation parameters corresponding to each floor, specifically comprising: 1) The door machine frequency converter control module is communicated with the storage module: if the door machine frequency converter control module sends a command for reading the door opening and closing operation parameters of the corresponding floor to the storage module through the floor parameter storage signal input/output end, the step 2 is entered; If the door machine frequency converter control module sends the update data of the corresponding floor door opening and closing operation parameters transmitted by the wireless communication module to the storage module through the floor parameter storage signal input/output end, the step 3 is entered; If the door machine frequency converter control module sends a corresponding floor opening/closing operation parameter data writing command to the storage module through the floor parameter storage signal input/output end, the step 4 is entered; 2) The storage module responds, and then sends the door opening and closing operation parameter data of the layer to the door machine frequency converter control module; 3) The storage module receives the update data of the corresponding floor door opening and closing operation parameters, stores the update data in a temporary storage area, and establishes an update time tag for the update data; 4) And the storage module is used for calling the door opening and closing operation parameters of the layer in the temporary storage area, replacing and covering the door opening and closing operation parameters of the corresponding layer, and sending an update completion reply to the door machine frequency converter control module after the update is completed.
4. 4. The elevator hierarchical control system maintenance method of claim 3, wherein the communication process of the door machine frequency converter control module to the wireless communication module is specifically as follows: The door machine frequency converter control module is used for calling door opening and closing operation parameter data of all floors from the storage module, then the door machine frequency converter control module is used for sending out the parameter data through the wireless communication module, and floor parameter setting APP operated in the intelligent mobile phone of the maintainer is used for receiving and processing; the floor parameter setting APP stores the door opening and closing operation parameters modified by maintenance personnel, then the stored corresponding door opening and closing operation parameter data are sent to the door machine frequency converter control module through the wireless communication module, and the door machine frequency converter control module then writes the door opening and closing operation parameters into the storage module one by one.
5. 5. The elevator layered control method of claim 4, further comprising an elevator layered speed control process implemented by a door machine inverter control module controlling operation of a door motor, comprising: The door machine frequency converter control module controls the driving module to generate corresponding three-phase current at U, V, W ports connected with the door motor, so that the door motor rotates in a door opening direction or a door closing direction at a corresponding speed, and meanwhile, the door machine frequency converter control module receives real-time speed and real-time electric angle of the door motor which are transmitted by the encoder module, and acquires corresponding current data Ia, ib and Ic of U, V, W phase lines of the door motor through the door motor current sampling module; The current data Ia, ib and Ic are subjected to Clarke transformation, transformed into an alpha-beta coordinate system and transformed into data Ialpha and Ibeta; performing Park transformation on the data Ialpha and Ibeta according to the received real-time electrical angle, and transforming the data Ialpha and Ibeta into a d-q coordinate system to obtain data Id and Iq; Carrying out speed loop PI control calculation on the target speed of the door motor and the actual speed of the door motor, which correspond to the requirements of a user, so as to obtain q-axis target current data Iqref, and directly setting d-axis target current data Idref to 0; Respectively carrying out current loop q current PI control calculation and d current PI control calculation on corresponding data Iq, iqref and Id, idref to obtain voltage instruction data Ud and Uq under a d-q coordinate system; Performing Park inverse transformation on the voltage command data Ud and Uq according to a real-time electrical angle to obtain voltage component data U alpha and U beta of an alpha-beta coordinate system; SVPWM control is carried out on the voltage component data U alpha and U beta to obtain control data of the driving module, so that the door motor is controlled to run at the corresponding speed of the set parameters.
6. 6. The elevator layered control method of claim 5, further comprising a control data interaction process of the door machine frequency converter control module and the elevator main control module communicating with each other, specifically comprising the following steps: 1) When the elevator main control module receives a door opening command, the door opening command comprises the steps of responding to a user call to reach a certain floor or pressing a door opening button by the user, sending the door opening command and the current floor layer number data to the door machine frequency converter control module, and executing corresponding door opening operation after the door machine frequency converter control module receives the door opening command; When the elevator main control module receives a door closing command, the door closing command comprises a door operator frequency converter control module sending a door opening command for a period of time or a user pressing a door closing button, the door operator frequency converter control module sending a door closing command and current floor number data, and the door operator frequency converter control module executing door closing operation after receiving the door opening command; Then, enter step 2); 2) The elevator control module receives the data and judges whether the car door is correctly opened/correctly closed, namely whether the elevator door normally operates, if the car door normally operates, the elevator control module performs subsequent control actions after the car door is closed, and if the car door normally operates, the elevator control module enters a door fault processing mode; The door machine frequency converter control module calculates real-time position data and real-time electric angle data of a door through real-time data transmitted by the encoder module, and calculates door speed according to the real-time position data, wherein when the door motor rotates, the encoder module converts mechanical rotation displacement of a rotor of the door motor into two paths of square wave signals with 90 degrees of phase difference, the names of the square wave signals are respectively set as A-phase pulse signals and B-phase pulse signals, when the door motor rotates in the door opening direction, the A-phase pulse signals lead the B-phase pulse signals, when the door motor rotates in the door closing direction, the B-phase pulse signals lead the A-phase pulse signals, when the door motor rotates for each circle, the encoder module converts A, B phase pulse signals with corresponding fixed number, the encoder module sends A, B phase pulse signals to the door motor frequency converter control module in real time, the door motor frequency converter control module receives corresponding A, B phase pulse signals in real time and calculates the corresponding A, B phase pulse signals, when no data is received at the beginning, the pulse number pulse is set to 0, namely, pulse=0, if the current received pulse is the condition that the A phase leads the B phase, the pulse=pulse+the newly increased pulse number is caused, and if the current received pulse is the condition that the B phase leads the A phase, the pulse=pulse-newly increased pulse number is caused; the real-time door position data calculation process is as follows: setting the pulse number mark sent by the encoder correspondingly when the door motor rotates for each circle as pnum and the motor radius as r, wherein the elevator door position data= (pulse/pnum) multiplied by 2 multiplied by 3.14159 multiplied by r; Identifying distance data of elevator door operation in a period of time as distance, firstly calculating elevator door position data px at the beginning of the period of time, and then calculating elevator door position data py at the end of the period of time, so that distance= |py-px|; The door speed calculating process includes calculating the distance S travelled by the door within the past 1 millisecond to obtain the door speed of 1000 XS per second; The elevator door electric angle data calculation process is as follows: Elevator door electrical angle = electrical angle initial phase + (pulse/pnum) x motor pole pair number x 360 °.
7. 7. The elevator hierarchical control method according to claim 6, wherein the process of interfacing data exchange between the floor parameter setting APP and the wireless communication module is as follows: The floor parameter setting APP starts to operate and sends a signal to the wireless communication module, and the wireless communication module sends a command to the door machine frequency converter control module to request transmission of door opening and closing operation parameter data of all floors; After receiving the command, the door machine frequency converter control module retrieves door opening and closing operation parameter data of all floors from the storage module and sends the door opening and closing operation parameter data to the floor parameter setting APP through the wireless communication module; The floor parameter setting APP stores the operation parameter data after receiving the operation parameter data; Then, the floor parameter setting APP enters a parameter debugging main interface, namely an interface 1; (1) The interface 1 is provided with 3 keys of setting, storing and closing: when a maintainer clicks a setting key to enter the interface 2, performing subsequent debugging operation; After maintenance personnel finishes modifying parameters according to the follow-up description and returns to the interface 1, clicking a 'save' button, the floor parameter setting APP immediately transmits all floor door opening and closing operation parameters modified and saved by the floor parameter setting APP to the wireless communication module through the wireless communication module, the wireless communication module transmits the floor door opening and closing operation parameters to the door machine frequency converter control module, and the door machine frequency converter control module updates the door opening and closing operation parameters into the storage module one by one according to each floor after receiving data; the maintenance personnel clicks a closing button to close the App; (2) The interface 2 is provided with N floor keys from the 1 st floor to the 2 nd floor, wherein the N th floor is the highest floor, and a return main interface key, one floor key is clicked to enter a setting interface corresponding to the floor, namely an interface 3, and the return main interface key is clicked to return to the parameter debugging main interface; (3) The interface 3 is provided with 4 keys of a door opening and a door closing and a return last interface and a return main interface, and the door opening and the door closing are clicked, namely, a door opening operation parameter interface corresponding to an entering floor, namely, the interface 4 or a door closing operation parameter interface corresponding to the entering floor, namely, the interface 5, is clicked to return to the last interface, namely, the interface 2, and the return main interface is clicked to return to the parameter debugging main interface, namely, the interface 1; (4) The interface 4 displays 8 parameter setting keys of 'first low speed V11 for opening door', 'high speed V12 for opening door', 'second low speed V13 for opening door', 'first low speed switching time period T11 for opening door', 'high speed switching time period T12 for opening door', 'second low speed switching time period T13 for opening door', 'high speed switching point door width percentage P11 for opening door', 'second low speed switching point door width percentage P12' on the interface, presses down each parameter setting key, displays the parameter value selection range of the corresponding parameter, and stores the modified parameter value in real time; The interface 4 is also provided with a key for returning to the previous interface, a key for returning to the main interface, wherein a key for clicking the key for returning to the previous interface returns to the previous interface, namely an interface 3, and a key for clicking the key for returning to the main interface returns to the parameter debugging main interface, namely an interface 1; (5) The interface 5 displays 8 parameter setting keys of 'first low-speed V21 for closing the door', 'high-speed V22 for closing the door', 'second low-speed V23 for closing the door', 'first low-speed switching time period T21 for closing the door', 'high-speed switching time period T22 for closing the door', 'second low-speed switching time period T23 for closing the door', 'high-speed switching point door width percentage P21 for closing the door', 'second low-speed switching point door width percentage P22' on the interface, presses down each parameter setting key, displays the parameter value selection range of the corresponding parameter, and stores the modified parameter value in real time; The interface 5 is also provided with a key for returning to the previous interface, a key for returning to the main interface, wherein clicking the key for returning to the previous interface returns to the previous interface, namely the interface 3, and clicking the key for returning to the main interface returns to the main interface for parameter debugging, namely the interface 1.
8. 8. The elevator hierarchical control method according to claim 7, further comprising a door machine inverter control module performing an open/close control process as follows: 1) The door machine frequency converter control module receives instructions and data from the elevator main control module, namely an elevator door opening or closing command and current elevator floor data, and then: a door opening command, entering step 2); Door closing command, enter step 6); 2) The door machine frequency converter control module obtains elevator door position information from state signals of the door opening in-place switch and the door closing in-place switch, and then carries out the following processing according to the door position information: if the door machine frequency converter control module judges that the elevator door is not in any one of the in-place opening and closing positions from the received in-place opening and closing states, the door machine frequency converter control module sends corresponding information that the elevator door is not in the corresponding in-place position to the elevator main control module, and then the step 3 is carried out; if the door machine frequency converter control module judges that the elevator door is in the door closing position from the received door closing in-position switch signal, the door machine frequency converter control module sends door closing in-position information to the elevator main control module, and then the step 4 is carried out; if the door machine frequency converter control module judges that the elevator door is at the door opening in-place position from the received door opening in-place switch signal, directly entering the step 5); 3) The door machine frequency converter control module is characterized in that the door is not closed at the in-place position when the elevator door starts to open the door, so that the fact that the distance travelled by the elevator door when the elevator door runs to the in-place position is not a complete door width distance is judged, and the elevator door is controlled to open the door at a preset speed corresponding to the abnormal condition of opening the door is controlled, and the method specifically comprises the following steps: 3.1 The door machine frequency converter control module controls the door motor to run towards the door opening direction at the set door opening speed, and then the step 3.2 is carried out; 3.2 The door machine frequency converter control module obtains whether the car door runs to the door opening in-place position in real time from the input state signals of the door opening in-place switch and the door closing in-place switch, and then carries out the following processing that the step 3.1) is returned if the car door does not run to the door opening in-place position, and the step 5) is carried out if the car door does not run to the door opening in-place position; 4) The door machine frequency converter control module sends door closing in-place information to the elevator main control module, door motor position data when the door is closed in place is received in real time through the encoder module and marked as S11, then according to elevator floor data received from the elevator main control module, door opening operation parameters corresponding to the floor are read from the storage module, namely, a starting point of a time period for controlling the elevator door to execute door opening operation, namely, a starting point of 0 moment, an origin of the time period is theoretical calculation starting speed for executing the elevator door operation, namely, a starting speed of 0 moment, and a door opening function is formed by switching the door opening width percentage P11 of the first low speed switch time period, the door opening high speed switch time period T12, the door opening width percentage P13 of the second low speed switch time period, the door opening width percentage P12 of the first low speed switch time period, the door opening control speed is marked as S11, the 8 parameters correspond to a door opening operation time-speed function curve, the time point of the time required for opening is marked as an abscissa, the origin of the abscissa is a starting point for controlling the time period for executing the door opening operation of the elevator door, namely, the starting point of 0 moment, the starting point of the theoretical calculation of executing operation of the elevator door is formed by switching the door opening speed of the time period B11, the door opening width percentage P12 of the first low speed switch time period, the door opening width percentage B12, the door opening width percentage P12, the first low speed switch time period C is the door opening time period C is the second low speed switch time period C12, the door opening operation is the opening operation is a threshold 2, the opening operation is a threshold, and the opening operation is a threshold of the threshold is a threshold, and the opening operation is a threshold: The OA section is a section for controlling the elevator door to start to run from the moment 0 to the moment T0 and simultaneously to rise from the moment 0 to V11, wherein T0 is more than 0, the point that the speed reaches V11 when the elevator door runs to the moment T0 is the point A, V11 is more than 0, and the OA section is an inclined straight line from the point O of origin to the point A; The AB section is a section for controlling the elevator door to run from the time t0 to the time t1 and keeping the speed at V11, the point corresponding to the time t1 is the point B, and theoretically the AB section is a straight line parallel to the abscissa, wherein the percentage of the door width and the distance from the door position to the door closing position at the time t1 is the door width percentage P11 of the door opening high-speed switching point; The BC section is a section for controlling the elevator door to run from the time T1 to the time T2 and the speed to rise from V11 to V12, the T2 is more than T1, V12 is more than V11, the point corresponding to the time T2 is the point C, the BC section is a diagonal line from the point B to the point C, the difference value between the T2 and the T1, namely the time period for the speed to rise from V11 to V12, namely the opening high-speed switching time period T12; The CD section is a section for controlling the elevator door to run from the time t2 to the time t3, the speed is kept at V12, the point corresponding to the time t3 is the point D, the CD section is theoretically a straight line parallel to the abscissa, and the percentage of the door width and the distance from the door position at the time t3 to the door closing position is the door width percentage P12 of the second low-speed switching point of the door opening; The DE section is a section for controlling the elevator door to run from the moment T3 to the moment T4 and the speed to descend from V12 to V13, the point corresponding to the moment T4 is E point, the DE section is an inclined straight line from the D point to the E point, the difference value between the data T4 and the data T3 is the time period for the speed to descend from V12 to V13, namely the second low-speed switching time period T13 for opening the door; the line segment part behind the E is a straight line parallel to the abscissa, and the end point of the line segment is the moment when the door opening in-place signal sent by the door opening in-place switch is received by the door machine frequency converter control module; The door machine frequency converter control module controls the door motor to operate in sections according to the door opening operation time-speed function curve through the driving module: 4.1 According to the OA section, the time from any point on the OA section to the starting point O is set as T, and the speed of the point is set as (the first low speed V11 of opening the door/the first low speed switching time period T11 of opening the door) ×t, and the control process of the door machine frequency converter control module is as follows: the door machine frequency converter control module clears the timing value of a TIMER1, marks the timing value as tr=0, and then enters step 4.1.1); 4.1.1 A door machine frequency converter control module reads a timing value tr of a TIMER1 in real time, if tr is smaller than T11, the step 4.1.2) is carried out, and if not, the step 4.1.3 is carried out; 4.1.2 The door motor is controlled by the door machine frequency converter control module to run towards the door opening direction according to the speed calculated by (V11/T11) x tr, then door position information is obtained from door opening in-place opening and closing and door closing in-place opening and closing state signals, the door position information is sent to the elevator main control module, and then the step 4.1.1) is returned; 4.1.3 After the OA section is run, the door machine frequency converter control module starts to enter the next step 4.2); 4.2 According to the operation of the AB section, the speed of any point on the AB section is kept unchanged, and the speed is the first low speed V11 of opening the door, and the speed is continued until the distance between the door position and the position where the door is closed=door width×the door width percentage P11/100 of the high speed switching point of opening the door: 4.2.1 The door machine frequency converter control module receives the door motor position data identification as S12 in real time through the encoder module, when the absolute value S12-S11 is smaller than the door width multiplied by the door width percentage P11/100 of the door opening high-speed switching point, namely the position is not reached to the door opening high-speed switching point, the step 4.2.2) is carried out, and otherwise, the step 4.2.3 is carried out; 4.2.2 The door machine frequency converter control module controls the door motor to run in the door opening direction at the speed of V11, then obtains door position information from the door opening in-place switch and the door closing in-place switch, sends the information to the elevator main control module, and then returns to the step 4.2.1); 4.2.3 After the AB section is run, the door machine frequency converter control module starts to enter the next step 4.3); 4.3 According to the BC segment, if the time from the point B is set as T, the speed is that the first low speed V11 of opening the door (the high speed V12 of opening the door-the first low speed V11 of opening the door)/the high speed switching time period T12 of opening the door is multiplied by T: the door machine frequency converter control module clears the timing value of the TIMER1, namely tr=0, and then enters step 4.3.1); 4.3.1 A door machine frequency converter control module reads a timing value tr of the TIMER1 in real time, if tr is smaller than T12, the step 4.3.2) is carried out, and if not, the step 4.3.3 is carried out; 4.3.2 The door machine frequency converter control module controls the door motor to run towards the door opening direction according to the speed of V11 < (V12-V11)/T12 </SUB > tr, then obtains door position information from the door opening in-place switch and the door closing in-place switch and sends the information to the elevator main control module, and then returns to step 4.3.1); 4.3.3 After the BC segment is run, the door machine frequency converter control module starts to enter the next step 4.4); 4.4 According to the operation of the CD section, the speed of any point on the CD section is kept unchanged, namely the door opening high speed V12 is realized, the distance between the door position and the door closing position is continued until the door position is in place = door width x the door width percentage P12/100 of the second low speed switching point of the door opening: 4.4.1 The door machine frequency converter control module receives the door motor position data identification as S13 in real time through the encoder module, when the absolute value S13-S11 is smaller than the door width multiplied by the door width percentage P12/100 of the second low-speed switching point of the door opening, namely, the position is not reached to the second low-speed switching point of the door opening, the step 4.4.2) is carried out, and otherwise, the step 4.4.3) is carried out; 4.4.2 The door motor is controlled by the door transducer control module to run in the door opening direction at the high door opening speed V12, then the current door position information is obtained from the door opening in-place switch and the door closing in-place switch, the door position information at the moment is sent to the elevator main control module, and then the step 4.4.1) is returned; 4.4.3 After the CD section is run, the door machine frequency converter control module starts to enter the next step 4.5); 4.5 According to the operation of the DE section, if the time from the point D of any point on the DE section is set as T, the speed is that the door opening high speed V12- [ (the door opening high speed V12-the door opening second low speed V13)/the door opening second low speed switching time period T13] ×t, and the control process of the door machine frequency converter control module is as follows: the door machine frequency converter control module clears the timing value of the TIMER1, namely tr=0, and then enters step 4.5.1); 4.5.1 A door machine frequency converter control module reads a timing value tr of the TIMER1 in real time, if tr is smaller than T13, the step 4.5.2) is carried out, and if not, the step 4.5.3 is carried out; 4.5.2 The door machine frequency converter control module controls the door motor to run towards the door opening direction according to the speed of V12- [ (V12-V13)/T13 ]. Times.tr, then door position information is obtained from the door opening in-place switch and the door closing in-place switch, the information is sent to the elevator main control module, and then the step 4.5.1) is returned; 4.5.3 After the DE section is operated, the door machine frequency converter control module starts to enter the next step 4.6); 4.6 Operating according to the line segment after the point E, wherein the speed of any point on the line segment after the point E is the second low speed V13 for opening the door, namely the door is opened at the speed until the door reaches the position for opening the door: 4.6.1 The door machine frequency converter control module can obtain whether the car door runs to the door opening in-place position in real time from the door opening in-place switch and the door closing in-place switch, if the car door does not reach the door opening in-place position, the door position information is sent to the elevator main control module and then enters the step 4.6.2), otherwise, the step 5) is directly entered; 4.6.2 The door motor is controlled by the door transducer control module to operate in the door opening direction at a second low speed V13 for opening the door, and then the step 4.6.1 is returned; 5) The door motor is controlled by the door machine frequency converter control module to be static, door opening in-place information is sent to the elevator main control module, and then the step 1) is returned; 6) The door machine frequency converter control module obtains elevator door position information from information of door opening in-place opening and closing states and door closing in-place opening and closing states, and then the following processing is carried out according to the door position information: if the elevator door is not in the in-place position, the door machine frequency converter control module sends information of the out-of-place position to the elevator main control module, and then the step 7 is carried out; The elevator door is in a door opening position, the door machine frequency converter control module sends door opening information to the elevator main control module, and then the step 8 is carried out; the elevator door is closed in place, and then the step 9) is directly carried out; 7) The door machine frequency converter control module is not in a door opening in-place position when the door is started to be closed, so that the distance travelled when the door is moved to the door opening in-place position is not a complete door width distance, the door closing action cannot be executed according to the time-speed function curve, and the door can be closed and operated only at a preset speed corresponding to the abnormal condition of the door closing, and the method specifically comprises the following steps of: 7.1 The door machine frequency converter control module controls the door motor to run towards the door closing direction at a set speed corresponding to a preset door closing abnormal condition, and then the step 7.2 is carried out; 7.2 The door machine frequency converter control module receives door opening or closing commands and current floor data from the elevator main control module, if the door opening or closing commands are still door closing commands, the step 7.3) is entered, if the door opening commands are door opening commands, namely, the door opening commands are received in the door closing process, the door machine frequency converter control module controls a door motor to be static, and then the step 2) is skipped to execute door opening operation; 7.3 The door machine frequency converter control module obtains door position information from a door opening in-place switch and a door closing in-place switch, if the door is not in the door closing in-place position, the information is sent to the elevator main control module, then the step 7.1) is returned, and if the door is in the door closing in-place position, the step 9) is directly carried out; 8) The door machine frequency converter control module sends door opening in-place information to the elevator main control module, receives door motor position data when the door is opened in place in real time through the encoder module and marks the door motor position data as S21, then reads corresponding door closing operation parameters of the layer from the storage module according to elevator floor data received from the elevator main control module, namely 8 parameters including a first door closing low speed V21, a high door closing speed V22, a second door closing low speed V23, a first door closing low speed switching time period T21, a high door closing speed switching time period T22, a second door closing low speed switching time period T23, a door high door closing speed switching point door width percentage P21 and a second door closing low speed switching point door width percentage P22, and then divides the door motor into an OA section, an AB section, a BC section, a CD section, a DE section and a line section after E according to the time-speed curves corresponding to the parameters, and the door machine frequency converter control module controls the door motor to operate according to the segments one by one through the driving module: 8.1 According to the OA section, if the time from the O point to any point on the OA section is set as T, the speed is (the first low-speed V21 of closing the door/the first low-speed switching time period T21 of closing the door) x T, and the control process of the door machine frequency converter control module is as follows: The door machine frequency converter control module clears the timing value of a TIMER1, marks the timing value as tr=0, and then enters step 8.1.1); 8.1.1 A door machine frequency converter control module reads a timing value tr of the TIMER1 in real time, if tr is smaller than T21, the step 8.1.2) is carried out, and if not, the step 8.1.3 is carried out; 8.1.2 The door machine frequency converter control module controls the door motor to run towards the door closing direction according to the speed value calculated by (V21/T21) x tr, receives a door opening or closing command and current floor data from the elevator main control module, obtains door position information from a door opening in-place switch and a door closing in-place switch and sends the information to the elevator main control module if the door opening or closing command is still the door closing command, and then returns to the step 8.1.1), and if the door opening command is the door opening command, namely the door opening command is received in the door closing process, the frequency converter control module controls the door motor to be static, and then jumps to the step 2) to execute the door opening operation; 8.1.3 After the OA section is run, the door machine frequency converter control module starts to enter the next step 8.2); 8.2 According to the operation of the AB section, the speed of any point on the AB section is kept unchanged, and the speed is the first low speed V21 of closing the door, and the speed is continuously controlled until the distance between the door position and the door opening position is=the door width multiplied by the door width percentage P21/100 of the door closing high speed switching point: 8.2.1 The door machine frequency converter control module receives door motor position data in real time through the encoder module and marks the door motor position data as S22, and when the absolute value S22-S21 is smaller than the door width multiplied by the door width percentage P21/100 of the door closing high-speed switching point, namely the position is not reached to the door closing high-speed switching point, the step 8.2.2) is carried out, otherwise, the step 8.2.3 is carried out; 8.2.2 The door machine frequency converter control module controls the door motor to run in the door closing direction at the speed of V21, receives a door opening or closing command and current floor data from the elevator main control module, obtains door position information from a door opening in-place switch and a door closing in-place switch and sends the information to the elevator main control module if the door opening or closing command is still the door closing command, and then returns to the step 8.2.1), and if the door opening command is the door opening command, namely the door opening command is received in the door closing process, the door machine frequency converter control module controls the door motor to be static, and then jumps to the step 2) to execute the door opening operation; 8.2.3 After the AB section is run, the door machine frequency converter control module starts to enter the next step 8.3); 8.3 According to the operation of the BC segment, when the time from the point B to any point on the BC segment is set as T, the speed is set as the speed of the door closing first low speed V21 < (door closing high speed V22-door closing first low speed V21)/Guan Mengao speed switching time period T22 </u > ] x T, and the control process of the door machine frequency converter control module is as follows: The door machine frequency converter control module clears the timing value of the TIMER1, namely tr=0, and then enters step 8.3.1); 8.3.1 A door machine frequency converter control module reads a timing value tr of the TIMER1 in real time, if tr is smaller than T22, the step 8.3.2) is carried out, and if not, the step 8.3.3 is carried out; 8.3.2 The door machine frequency converter control module controls the door motor to run towards the door closing direction according to the speed of V21 < (V22-V21)/T22 </SUB >. Tr, receives a door opening or closing command and current floor data from the elevator main control module, obtains door position information from a door opening in-place switch and a door closing in-place switch and sends the information to the elevator main control module if the door opening command is still the door closing command, and returns to step 8.3.1), if the door opening command is received in the door closing process, the door machine frequency converter control module controls the door motor to be static, and jumps to step 2) to execute the door opening operation; 8.3.3 After the BC segment is run, the door machine frequency converter control module starts to enter the next step 8.4); 8.4 According to the operation of the CD section, the speed of any point on the CD section is kept unchanged, and is the door closing high speed V22, and the distance between the door position and the door opening position is continued to be = door width x the door width percentage P22/100 of the second low speed switching point of the door closing: 8.4.1 The door machine frequency converter control module receives the door motor position data identification as S23 in real time through the encoder module, when the absolute value S23-S21 is smaller than the door width of the door and is larger than the door width percentage P22/100 of the second low-speed switching point of the door closing, namely, the position is not reached to the second low-speed switching point of the door, the step 8.4.2 is entered, otherwise, the step 8.4.3 is entered; 8.4.2 The door machine frequency converter control module controls the door motor to run in the door closing direction at the speed of V22, receives a door opening or closing command and current floor data from the elevator main control module, obtains door position information from a door opening in-place switch and a door closing in-place switch and sends the information to the elevator main control module if the door opening or closing command is still the door closing command, and then returns to the step 8.4.1), and if the door opening command is the door opening command, namely the door opening command is received in the door closing process, the door machine frequency converter control module controls the door motor to be static, and then jumps to the step 2) to execute the door opening operation; 8.4.3 After the CD section is run, the door machine frequency converter control module enters the next step 8.5); 8.5 According to the operation of the DE section, if the time from the point D of any point on the DE section is set as T, the speed is that the door closing high speed V22- [ (the door closing high speed V22-the door closing second low speed V23)/the door closing second low speed switching time period T23] ×t, and the control process of the door machine frequency converter control module is as follows: The door machine frequency converter control module clears the timing value of the TIMER1, namely tr=0, and then enters step 8.5.1); 8.5.1 A door machine frequency converter control module reads a timing value tr of the TIMER1 in real time, if tr is smaller than T23, the step 8.5.2) is carried out, and if not, the step 8.5.3 is carried out; 8.5.2 The door machine frequency converter control module controls the door motor to run towards the door closing direction according to the speed of V22- [ (V22-V23)/T23 ] ×tr, receives a door opening or closing command and current floor data from the elevator main control module, obtains door position information from a door opening in-place switch and a door closing in-place switch and sends the information to the elevator main control module if the door opening command is still the door closing command is still the door opening command is still, then returns to the step 8.5.1), and if the door opening command is received in the door closing process, the door machine frequency converter control module controls the door motor to be static, and then jumps to the step 2) to execute the door opening operation; 8.5.3 After the DE section is run, the door machine frequency converter control module enters the next step 8.6); 8.6 According to the line segment after the E point, the speed is the second low speed V23 of closing the door at any point on the line segment after the E point until the door is moved to the position of closing the door: 8.6.1 The door machine frequency converter control module can obtain whether the car door runs to the door closing in-place position in real time from the state information of the door opening in-place switch and the door closing in-place switch, if the car door does not reach the door closing in-place position, the door position information is sent to the elevator main control module and then enters the step 8.6.2), otherwise, the step 9) is directly entered; 8.6.2 The door machine frequency converter control module controls the door motor to run in the door closing direction at the speed V23, receives a door opening or closing command and current floor data from the elevator main control module, returns to the step 8.6.1 if the door opening command is still the door closing command), controls the door motor to be static if the door opening command is received in the door closing process, and then jumps to the step 2) to execute the door opening operation; 9) The door motor is controlled by the door machine frequency converter control module to be static, door closing in-place information is sent to the elevator main control module, and then the step 1) is returned; In the door opening and closing action execution process, the door opening action is executed until the door is opened to the in-place position, no door closing action is executed in the door opening action execution process, and if a door opening command is received in the door opening action execution process, the door opening process is directly converted to the door opening process so as to avoid the collision of the car door with a person.

Description

Layered control system and method for elevator Technical Field The invention relates to the technical field of elevator intelligent control, in particular to an elevator layered control system and method. Background The current high-rise buildings are more and more, along with the continuous development of intelligent household technologies, the intelligent and individual demands of the elevators of the high-rise buildings are a ring of the intelligent living environment of the next stage, the current elevator operation is a fixed flow, the opening and closing time setting is fixed, the opening and closing speeds are also fixed, and along with the increasing living population of the high-rise buildings, such as the old, infants and mothers with infants, the demands of the elevators of the high-rise buildings have great contradictions with the opening and closing speeds of the elevators of the current fixed, and how to meet the actual demands of various households becomes the research subject of the intelligent operation of the current elevators. Disclosure of Invention In order to solve the technical problems, the invention provides an elevator layered control system and an elevator layered control method. The elevator layered control system comprises a door machine frequency converter control module, a door motor current sampling module, a driving module, a storage module, a door opening in-place switch, a door closing in-place switch, an encoder module and a wireless communication module; the elevator main control module sends door opening commands, door closing commands and elevator current floor data to the elevator main control module, and the door machine frequency converter control module sends the elevator car door opening in place and door closing in place data to the elevator main control module; the door motor frequency converter control module is connected with a driving signal input end of the driving module, a driving signal output end of the driving module is controlled and connected with a power input end of a door motor and used for controlling the door motor to operate in a door opening direction or a door closing direction according to a required speed, the encoder module is used for collecting real-time position data and real-time speed data of a rotor of the door motor, a signal output end of the encoder module is connected with a door motor real-time collecting signal input end of the door motor frequency converter control module and used for sending real-time data to the door motor frequency converter control module, a U-phase line signal input end of the door motor current sampling module is connected with a U-phase line of a door motor power supply end, a V-phase line signal input end of the door motor current sampling module is connected with a V-phase line of the door motor power supply end, a W-phase line signal input end of the door motor current sampling module is connected with a W-phase line of the door motor power supply end, a door opening in-position switch and a door opening in-position switch are respectively connected with a door opening in-position switch signal input end and a door in-position switch signal input end of the door motor frequency converter control module, and a door in-position switch control module is formed by a door opening in-position switch, the elevator door is in an in-place state or not according to a switch signal transmitted by the in-place door closing switch, the in-place door closing switch indicates that the elevator door is in place when the door is closed, the in-place door opening switch indicates that the elevator door is in place when the door is opened, the in-place door closing switch indicates that the elevator door is in place when the door is closed, besides, the elevator door is in a state that the elevator door is not in place when the door is not opened or not in place when the door is closed, a floor parameter setting signal input/output end of the door machine frequency converter control module is connected with a data input/output end of the wireless communication module, a floor parameter storage signal input/output end of the door machine frequency converter control module is connected with a data input/output end of the storage module, the wireless communication module is used for communicating with floor parameter setting equipment of maintenance personnel in a butting mode and transmitting data, the door machine frequency converter control module transmits corresponding floor parameter setting signals received from the floor parameter setting signal input/output end of the door machine frequency converter control module to the storage module through the floor parameter storage signal input/output end of the door machine frequency converter control module, the door machine frequency converter control module stores corresponding opening/closing operation parameters of each floor when the stored parameters are powered off