CN-122009930-A - Intelligent control method and system for elevator car door machine control box

CN122009930ACN 122009930 ACN122009930 ACN 122009930ACN-122009930-A

Abstract

The embodiment of the invention provides an intelligent control method and an intelligent control system for an elevator car door machine control box, wherein the method comprises the steps of collecting sensor data of various sensors, updating an operation sign waveform diagram based on the sensor data, dynamically calibrating a parameterized door machine digital model according to the operation sign waveform diagram, after a door opening and closing command is received, performing simulation operation of a target motion curve in the door machine digital model to obtain a simulation result, calculating a required feedforward compensation amount according to the simulation result and the current parameters of the door machine digital model, fusing the feedforward compensation amount with closed-loop control output parameters to generate an actuator control command, abstracting tasks corresponding to the actuator control command and control box tasks into heterogeneous calculation tasks, abstracting a control box calculation unit into heterogeneous calculation resources, realizing scene self-adaptive intelligent allocation of calculation resources, and realizing scene self-adaptive intelligent scheduling through a multi-target optimizing engine.

Inventors

ZHANG HONGZHI
LIU HUAWEI

Assignees

广州伟裕电气设备有限公司

Dates

Publication Date: 20260512
Application Date: 20260203

Claims (10)

1. An intelligent control method of an elevator car door machine control box, which is characterized by being applied to an elevator car door machine control system, wherein the elevator car door machine control system is connected with elevator door machines corresponding to a plurality of elevator car door machine control boxes, and the elevator door machines are provided with a plurality of sensors, and the method comprises the following steps: Collecting sensor data of various sensors; Updating an operation sign waveform diagram based on the sensor data, and dynamically calibrating a parameterized door machine digital model according to the operation sign waveform diagram; After a door opening and closing command is received, simulation operation of a target motion curve is carried out in the calibrated door machine digital model, a simulation result is obtained, a required feedforward compensation amount is calculated according to the simulation result and the current parameters of the door machine digital model, and the feedforward compensation amount is fused with a closed-loop control output parameter to generate an actuator control command; abstracting tasks corresponding to the control instruction of the executor and tasks of the control box into heterogeneous computing tasks, and abstracting a computing unit of the control box into heterogeneous computing resources; And dynamically distributing computing resources for each heterogeneous computing task through a multi-objective optimal scheduling engine according to a preset current working condition mode and a system real-time load, wherein the optimization objectives of the multi-objective optimal scheduling engine comprise minimizing the cycle time of opening and closing a door, minimizing the peak load of a processor, minimizing the total energy consumption of the system and maximizing the control tracking precision, solving to obtain a current optimal task scheme, and adjusting a task scheduling strategy.
2. The intelligent control method of an elevator car door machine control box according to claim 1, wherein the plurality of sensors includes an encoder, a current sensor, a frame vibration sensor, a door vane and door panel contact force microsensor, a drive motor winding temperature sensor, and an ambient noise microphone, and wherein the collecting sensor data of the plurality of sensors includes: Position signals, current signals, vibration spectrum signals, contact force signals and audio waveform signals of various sensors are collected.
3. The intelligent control method of an elevator car door operator control box according to claim 1, wherein said updating an operational sign waveform based on said sensor data, dynamically calibrating a parameterized door operator digital model based on said operational sign waveform, comprises: The acquired synchronous signals are fused according to time sequence to form a single operation sign waveform chart containing multidimensional associated information, wherein the multidimensional associated information comprises associated information of moment, position, vibration and audio; And dynamically adjusting the operation characteristic parameters in the door machine digital model in a reverse system identification mode, so that the error between the output response of the door machine digital model and the actual response of the elevator door machine is minimized, and dynamically calibrating the parameterized door machine digital model.
4. The intelligent control method of an elevator car door machine control box of claim 1, further comprising: Predicting and early warning are carried out on the basis of long-term trend parameters deduced by the gantry crane digital model, a local optimization strategy is obtained, the local optimization strategy is uploaded to a cloud knowledge base, and the optimization strategy under similar working conditions is retrieved and fused from the cloud knowledge base and is output to another elevator gantry crane.
5. The intelligent control method of an elevator car door machine control box according to claim 4, wherein the predicting and early warning are performed on the long-term trend parameters deduced based on the door machine digital model to obtain a local optimization strategy, the local optimization strategy is uploaded to a cloud knowledge base, and the optimization strategy under similar working conditions is retrieved and fused from the cloud knowledge base and output to another elevator door machine, and the method comprises the steps of: Acquiring an average value of operation data of a door machine digital model push performance, and forming an operation data time sequence; Training the operation data time sequence by using a lightweight LSTM model to obtain a prediction model parameter, and generating corresponding early warning information when a predicted value exceeds a maintenance threshold value; The combination of feedforward compensation amounts of the local under different loads and the prediction model parameters are uploaded to a cloud group knowledge base; When a certain elevator door machine sends the current environment and the working condition characteristics to a cloud knowledge base; and performing similarity matching on the cloud knowledge base, and transmitting a historical optimization strategy set or model parameter with the highest matching degree to the elevator door machine to control the elevator door machine to apply the historical optimization strategy set or model parameter for operation.
6. The intelligent control method of an elevator car door machine control box according to claim 1, wherein after receiving a door opening and closing command, performing a simulation operation of a target motion curve in the door machine digital model to obtain a simulation result, calculating a required feedforward compensation amount according to the simulation result and a current parameter of the door machine digital model, and fusing the feedforward compensation amount with a closed-loop control output parameter to generate an actuator control command, including: acquiring preset target motion curve data; Inputting the target motion curve data to the calibrated door machine digital model before opening and closing the door every time, and obtaining simulation operation in the door opening and closing process and simulation results; analyzing the difference between the motor output torque curve in the simulation result and the theoretical torque curve without disturbance, and calculating a feedforward compensation torque curve, wherein the feedforward compensation torque curve comprises feedforward compensation quantity; and superposing the feedforward compensation moment curve and a moment instruction of the closed-loop PID control output parameter to obtain a final torque given value, and generating an actuator control instruction.
7. The intelligent control method of an elevator car door machine control box according to claim 1, wherein the computing resources are dynamically allocated to each heterogeneous computing task through a multi-objective optimization scheduling engine according to a preset current working condition mode and a system real-time load, wherein the optimization objectives of the multi-objective optimization scheduling engine comprise minimizing the door opening and closing cycle time, minimizing the peak load of a processor, minimizing the total energy consumption of a system and maximizing the control tracking precision, solving to obtain a current optimal task scheme, and adjusting a task scheduling strategy, and the method comprises the following steps: Respectively abstracting tasks corresponding to the control instruction of the executor, the safety monitoring tasks, the fault diagnosis tasks and the communication tasks into heterogeneous calculation tasks with different requirements; Abstracting a plurality of performance cores and energy efficiency cores of a processor and an FPGA unit for signal processing into heterogeneous computing resources with different characteristics; Controlling the multi-objective optimization scheduling engine to minimize the cycle time of opening and closing a door, minimize the peak load of a processor, minimize the total energy consumption of a system and maximize the control tracking precision as optimization targets, and solving a current optimal task core allocation scheme and an execution time slice by adopting a lightweight multi-objective evolutionary algorithm; and according to the optimal task core allocation scheme and the execution time slice, the task scheduling strategy of the operating system or the bottom layer driver is adjusted in real time, the core control task with high priority is bound to the high-performance core, and the core control task with secondary priority is migrated to the energy efficiency core.
8. An intelligent control system of elevator car door machine control box, its characterized in that is applied to elevator car door machine control system, elevator car door machine control system is connected with the elevator door machine that a plurality of elevator car door machine control boxes correspond, elevator door machine is provided with multiple sensor, the system includes: the acquisition module is used for acquiring sensor data of various sensors; the calibration module is used for updating an operation sign waveform diagram based on the sensor data, and dynamically calibrating a parameterized door machine digital model according to the operation sign waveform diagram; The feedforward compensation module is used for carrying out simulation operation of a target motion curve in the calibrated gantry crane digital model after receiving a door opening and closing command to obtain a simulation result, calculating a required feedforward compensation amount according to the simulation result and the current parameters of the gantry crane digital model, and fusing the feedforward compensation amount with a closed-loop control output parameter to generate an actuator control command; The heterogeneous module is used for abstracting tasks corresponding to the control instruction of the executor and tasks of the control box into heterogeneous computing tasks and abstracting the computing unit of the control box into heterogeneous computing resources; The task scheduling strategy module is used for dynamically distributing computing resources for each heterogeneous computing task through the multi-objective optimal scheduling engine according to a preset current working condition mode and a system real-time load, wherein the optimization objectives of the multi-objective optimal scheduling engine comprise minimizing the cycle time of opening and closing a door, minimizing the peak load of a processor, minimizing the total energy consumption of the system and maximizing the control tracking precision, solving to obtain a current optimal task scheme, and adjusting the task scheduling strategy.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, carries out the steps of the intelligent control method of the elevator car door control box of any of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the intelligent control method of an elevator car door control box according to any one of claims 1 to 6.

Description

Intelligent control method and system for elevator car door machine control box Technical Field The present invention relates to the field of computer technology, and in particular, to an intelligent control method for an elevator car door machine control box, an intelligent control system for an elevator car door machine control box, a computer device, and a computer readable storage medium. Background Modern elevators are complex electromechanical systems, which can be mainly divided into a plurality of mechanical and electrical system parts, such as traction systems, guiding systems, car systems, door machine control systems, weight balance systems, safety protection systems and the like, whereas traditional elevator door machine control systems usually operate based on fixed control parameters, such as parameters corresponding to PID parameters and motion curves, and the control logic thereof is solidified after installation and debugging. The static control mode has the obvious defects that firstly, the system cannot sense and compensate dynamic disturbance caused by mechanical abrasion, track deviation, load change and the like in real time, so that the problems of door closing inaccuracy, running noise increase, frequent false triggering of torque protection and the like occur after long-term running, and the control precision is degraded along with time and working conditions. Disclosure of Invention In view of the foregoing, embodiments of the present invention have been developed to provide an intelligent control method of an elevator car door machine control box, an intelligent control system of an elevator car door machine control box, a computer device, and a computer-readable storage medium that overcome or at least partially solve the foregoing problems. To solve the above problems, an embodiment of the invention discloses an intelligent control method of an elevator car door machine control box, which is applied to an elevator car door machine control system, wherein the elevator car door machine control system is connected with elevator door machines corresponding to a plurality of elevator car door machine control boxes, and the elevator door machines are provided with various sensors, and the method comprises the following steps: Collecting sensor data of various sensors; Updating an operation sign waveform diagram based on the sensor data, and dynamically calibrating a parameterized door machine digital model according to the operation sign waveform diagram; After a door opening and closing command is received, simulation operation of a target motion curve is carried out in the calibrated door machine digital model, a simulation result is obtained, a required feedforward compensation amount is calculated according to the simulation result and the current parameters of the door machine digital model, and the feedforward compensation amount is fused with a closed-loop control output parameter to generate an actuator control command; abstracting tasks corresponding to the control instruction of the executor and tasks of the control box into heterogeneous computing tasks, and abstracting a computing unit of the control box into heterogeneous computing resources; And dynamically distributing computing resources for each heterogeneous computing task through a multi-objective optimal scheduling engine according to a preset current working condition mode and a system real-time load, wherein the optimization objectives of the multi-objective optimal scheduling engine comprise minimizing the cycle time of opening and closing a door, minimizing the peak load of a processor, minimizing the total energy consumption of the system and maximizing the control tracking precision, solving to obtain a current optimal task scheme, and adjusting a task scheduling strategy. Preferably, the plurality of sensors comprise an encoder, a current sensor, a frame vibration sensor, a door knife and door plate contact force microsensor, a driving motor winding temperature sensor and an environmental noise microphone, and the collecting the sensor data of the plurality of sensors comprises: Position signals, current signals, vibration spectrum signals, contact force signals and audio waveform signals of various sensors are collected. Preferably, the updating the running sign waveform based on the sensor data, and dynamically calibrating the parameterized gantry crane digital model according to the running sign waveform, includes: The acquired synchronous signals are fused according to time sequence to form a single operation sign waveform chart containing multidimensional associated information, wherein the multidimensional associated information comprises associated information of moment, position, vibration and audio; And dynamically adjusting the operation characteristic parameters in the door machine digital model in a reverse system identification mode, so that the error between the output response of the door mach