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译文译文 基于可编程序控制器 PLC 设计和实践的电梯控制系统 摘要摘要 本文阐述了nine storey电梯控制系统的发展 控制系统采用PLC为控制器 并采用并联调度规则基于 最小等待时间 来跑两电梯并联模式 本文介绍了 基本结构 控制原理和实现方法的PLC控制系统进行了详细的介绍 给出了梯形 图的关键方面的系统 该系统具有外围电路简单 运行结果表明 系统的可靠性 和性能的提高电 1 简介简介 随着建筑技术的发展 楼房一座比一座高 电梯自然成了高楼大厦垂直运输的重 要工具 承载着来往大厦里居住 办公 参观的人们可以舒适而又快捷到达目的地的 责任 电梯控制系统在每一部电梯的通顺安全的运行中必不可少的 它决定电梯什么 时候停层 开关门 以及处理紧急安全问题 传统的电梯控制系统是继电器控制系统 它存在着诸如电路复杂 故障率高和可 靠性差的缺点 很大程度上影响了电梯运行质量 因此 通过企业的委托 我们用 PLC 改进了一座住宅楼继电器控制电梯的电气控制系统 结果表明 改进后的系统运行更 可靠 维修更方便了 这篇论文详细的介绍了电梯 PLC 控制系统的基本结构 控制原理和实现的方法 2 系统结构系统结构 电梯控制系统的目的在于控制电梯的运动以便符合用户的需求 它主要包括两部 分 电力驱动系统电力驱动系统 电力驱动系统包括电梯轿厢 牵引电机 门电机 制动器和开关电路 我们在这 采用新型的 LC 系列 AC 接触器代换旧接触器 用 PLC 软接触器代换大量中间继电器 保留牵引电机的电路 这样一来 就有效的克服了原先控制柜响声大 噪音大等缺点 信号控制系统信号控制系统 电梯的控制信号几乎都来自与 PLC 输入信号有 运行模式 运行的控制信号 轿 外呼叫 安全 保护信号 门开 关信号以及平层信号等 像轿内外呼叫的记录 显示 消除 轿厢位置的判断 电梯的选层和上下行选择等所有电梯系统的控制功能都是由 PLC 系统实现 电梯的 PLC 信号控制系统框图如右图 2 1 所示 图 2 1 PLC 信号控制系统框图 一般来说 电梯运行情况有如下 3 1 一部电梯运行 电梯一般有三种工作状态 正常模式 防火模式和维护模式 维护模式有最高优 先级 只有在维护模式撤销时候 其他模式才开始实行 其次是防火模式 当火警开 关打开时 电梯必须马上返回底层或者基站 当火警开关复位时返回正常模式运行 在正常模式下控制系统的基本任务就是命令电梯上下行 停层或启动 开门或者关门 不过有一定的约束 每一电梯有对应每层楼的一组九个按钮布置在轿厢控制面板上 当被按下要电梯来到该层时按钮就会变亮 当电梯来到该层时按钮灯灭 每一层 除 了顶层和底层 有两个按钮布置在层控制面板上 一个呼叫上行另外一个呼叫下行 按钮被按下时变亮 电梯运行到该层时熄灭 之后向呼叫方向运行 分布在轿厢和层 控制面板上的按钮用来控制电梯的运动 电梯不能跳过乘客要离开的楼层 不可以停 在无人呼叫的楼层 在运送轿厢内需要当前方向的乘客时候电梯不能改变方向 也不 相应外呼直到送完 如果电梯没有被呼叫 就关门停靠在当前的楼层 2 两部电梯并联运行 这种情况下两部电梯同时服务该大楼 每天分别在上午 7 点到 9 点和下午 5 点到 7 点运行 电梯每到一层都会检测是否需要停下 当检测到停层的需要时就会停靠该层 与此同时为了平衡停层的次数 两部电梯的运行会遵循一定的调度原则 当有一电梯 停在或正要停在某一楼层时候 另一电梯就不会停靠那层 电梯的正常运行通过电力 驱动系统和逻辑控制系统来共同实现的 最小的等待时间算法最小的等待时间算法 在电梯系统的调度中 通常有两种控制任务 其一是电梯上下行 起停 开关门 的基本控制功能 其二是多部电梯并行的控制 组合电梯服务厅门和轿厢呼叫的主要 要求是服务到建筑的每一层楼 减少乘客呼叫等待时间 减少乘客上下楼层的时间 相同时间内能为更过的乘客服务 电梯的群控有许多调度算法 如电梯总是相应最近需求的最近邻域算法 分析对于不 相等楼层数量需要电梯系统的调度来调遣电梯的分区算法 一部电梯服务奇数楼层另 一部服务偶数楼层的奇偶规则 4 最近邻域算法使得电梯空载移动到下一个呼叫路程最小 通常有着非常小的平均 轮侯时间 可是各人轮侯时间变得很大 分区算法一般应用在像办公大楼午餐时间这 样交通频繁的情形下 相对于办公大楼 商场 住宅楼和楼层的流量较小 其次人们认为电梯只是纯粹的功能性物体 而且对于大多数人来说 乘坐电梯的经验 就是等待 此外 当试图满足所有需求时存在大量的问题 鉴于上述原因 我们采用 最小轮侯时间 算法来实现两部电梯的并行运行 图 6 floor stopping 5 评估函数评估函数 最小轮侯时间 算法的目标就是在所有呼叫中预测每一电梯的响应时间 并选择 有最短响应时间电梯来服务 当有呼叫的时候 系统根据 1 2 评估函数计算出每一电梯的函数值 J Min J 1 J 2 J n 1 J i Tr i KTd i KTo i i 1 2 n 2 J i 是电梯的评价指标 Tr i 指出电梯从当前位置直接移动到相应最近呼叫的地方的 时间 To i 指出电梯停层时加速和减速的时间 Td i 是乘客登上电梯或者走出电 梯的时间 K 表示厅门呼叫和轿内呼叫的总和 最小轮侯时间的计算最小轮侯时间的计算 在公式 2 中 K 为定值 To 和 Td 可以通过统计方法获得 Tr T L T 是电梯通 过一层楼的时间 L 是呼叫楼层和当前楼层的相隔层数 为了计算 L 值 我们定义两部电梯分别为 A 和 B YA YB 分别表示电梯当前楼层 H 是厅门呼叫按钮按下时相应的键值 即 H 等于呼叫层数 为 PLC 的的实现定义 4 个 表 上行厅门呼叫记录表 下行厅门呼叫记录表 电梯 A 的轿内呼叫记录表 电梯 B 的轿内呼叫记录表 当呼叫按钮被按下时 对应楼层数就会记录在相应的表中 我们以电梯 A 为例 首先定义变量 MA MB 和 MW MA 和 MB 分别表示 A 或 者 B 同方向上轿内呼叫的最值 当电梯 A 上行时 置 MA 等于轿内呼叫记录表 A 中的 最大值 当电梯 A 下行时 置 MA 等于叫内呼叫记录表 A 中最小值 MW 为同方向 A 运行中 厅门呼叫的最值 当电梯 A 上行并且上行呼叫值 YA 时 置 MW 0 否 则 置 MW 等于上行厅门记录表 A 中的最小值 当电梯 A 下行并且下行厅门呼叫值 YA 时 置 MA 0 否则 置 MW 等于下行厅门呼叫记录表 A 中最大值 这样我们就可以根据 YA H MA 和 MW 来判断 L 值 分如下三种情况 1 厅门呼叫方向和电梯 A 当前运行方向相反 L YA MA MA H 3 2 厅门呼叫和运行方向相同并且在电梯前方 L YA H 4 3 厅门呼叫和运行方向相同但在电梯后方 6 L YA MA MA MW H MW 5 第 i 层的最小轮侯时间可以由 6 计算出 Time i TL i KTd i KTo i i 1 2 n 6 当呼叫在运行的时候变化时 系统自动计算出每一部电梯的最小轮侯时间 然后分配 当前呼叫给有较小值的电梯 当最小 轮侯时间相等时 电梯 A 对于当前呼叫有优先 权 当其中一部电梯故障或者不能运行时 系统自动退出调度算法 返回单部电梯运 行模式 算法的实现算法的实现 相对于单电梯运行模式 并行电梯运行模式主要是在厅门呼叫处理方法上的不同 前者采用集选控制方法 后者采用调度原则结合集选控制的方法 这里系统用来控制 一栋 9 层的大楼 我们选择两个西门子 S7 200 PLCs CPU226 和它的扩展模块分别控制 单部电梯 同时使用 PPI 协议来实现两个 PLC 的通信 PPI 协议采用主从通信模式 所以我们定义电梯 A 为主 电梯 B 为从 两个 PLC 通过通信协议来传递诸如当前位置 厅门或者轿内呼叫和运行方向等信息 然后用 最小轮侯时间 算法来使系统实现两 部电梯的调度运行 图 4 1 是电梯 A 轿内呼叫最值计算的梯形图 图中 VB121 VB130 是电梯 A 轿内呼叫对应每层楼的寄存地址 Q3 1 是电梯 A 的上行灯 轿内呼叫的最值保存在 VB120 中 7 图 4 1 电梯最值算法梯形图 参考文献参考文献 1 Ricardo Gudwin Fernando Gomide Marcio 1998 A Fuzzy Elevator Group Controller With Linear Context Adaptation IEEE World Congress on Computational Intelligence Vol 12 No 5 pp 481 486 2 Philipp Friese Jorg Rambau 2006 Online optimization of multi elevator transport systems with reoptimization algorithms based on set partitioning models Discrete Applied Mathematics No 154 pp 1908 1931 3 Zheng Yanjun Zhang Huiqiao Ye Qingtai Zhu Changming 2001 The Research on Elevator Dynamic Zoning Algorithm and It s Genetic Evolution Computer Engineering and Applications No 22 pp 58 61 4 Xiaodong Zhu Qingshan Zeng 2006 A Elevator Group Control Algorithm for Minimum Waiting Time Based On PLC Journal of Hoisting and Conveying Machiner 8 No 6 pp 38 40 原原 文文 Design and Practice of an Elevator Control System Based on PLC Xiaoling Yang1 2 Qunxiong Zhu1 Hong Xu College of Information Science and greatly affects the elevator s running quality Therefore entrusted by an enterprise we have improved electrical control system of a relay controlled elevator in a residential building by using PLC The result showed that the reformed system is reliable in operation and easy for maintenance This paper introduces the basic structure control principle and realization method of the elevator PLC control system in detail 10 System structure The purpose of the elevator control system is to manage movement of an elevator in response to user s requests It is mainly composed of 2 parts Electric power driving system The electric power driving system includes the elevator car the traction motor door motor brake mechanism and relevant switch circuits Here we adopted a new type of LC series AC contactors to replace the old ones and used PLC s contacts to substitute the plenty of intermediate relays The circuits of traction motor are reserved Thus the original control cabinet s disadvantages such as big volume and high noise are overcome efficiently Signal control system The elevator s control signals are mostly realized by PLC The input signals are operation modes operation control signals car calls hall calls safety protect signals door open close signal and leveling signal etc All control functions of the elevator system are realized by PLC program such as registration display and elimination of hall calls or car calls position judgment of elevator car choose layer and direction selection of the elevator etc The PLC signal control system diagram of elevator is showed in Figure 1 11 Figure 1 Informally the elevators behavior is defined as follows 1 Running with a single elevator Generally an elevator has three operation states normal mode fire protection mode and maintenance mode The maintenance mode has the highest priority Only the maintenance mode is canceled can the other operation modes be implemented The next is fire protection mode the elevator must return to the bottom floor or base station immediately when the fire switch acts The elevator should turn to normal operation mode when the fire switch is reset Under normal operation mode the control system s basic task is to command each elevator to move up or down to stop or start and to open and close the door But is has some constraints as follows Each elevator has a set of 9 buttons on the car control panel one for each floor These buttons illuminate when they are pressed and cause the elevator to visit the corresponding floor The illumination is canceled when the corresponding floor is visited by the elevator Each floor except the first and the top floor has two buttons on the floor control panel one to request an upelevator one to request a down elevator These buttons illuminate when they are pressed The illumination is canceled when an elevator visits the floor then moves in the desired direction The buttons on the car control panel or the floor control panel are used to control the elevator s motion The elevator cannot pass a floor if a passenger wants to get off there The elevator cannot stop at a floor unless someone wants to get off there The elevator cannot change direction until it has served all onboard passengers traveling in the 12 current direction and a hall call cannot be served by a car going in the reverse direction If an elevator has no requests it remains at its current floor with its doors closed 2 Parallel running with two elevators In this situation there are two elevators to serve the building simultaneously It runs at 7am to 9am and 5pm to 7pm every day When an elevator reaches a level it will test if the stop is required or not It will stop at this level when the stop is required At the same time to balance the number of stops the operation of two elevators will follow a certain dispatching principle An elevator doesn t stop at a floor if another car is already stopping or has been stopped there The normal operation of elevators is implemented by cooperation of its electric power driving system and logic control system Minimum waiting time algorithm In traffic of elevator systems there are two types of control task usually The one is the basic control function to command each elevator to move up or down to stop or start and to open and close the door The other is the control of a group of elevators The main requirements of a group control system in serving both car and hall calls should be to provide even service to every floor in a building to minimize the time spent by passengers waiting for service to minimize the time spent by passengers to move from one floor to another to serve as many passengers as possible in a given time 1 13 Figure 6 The elevator s floor stopping There are many dispatching algorithms for elevator s group control Such as Nearest neighbor Algorithm 2 which the elevator always serve the closet request next Zoning Algorithm 3 which by analyzing the traffic of elevator system with unequal floor and population demand to dispatch the elevator and Odd even rule which an elevator only serves the odd floor and the other only serves the even floor The Nearest neighbor Algorithm minimizes the length of the elevator s empty move to the next request It usually has very small average waiting times but individual waiting times can become quite large 2 The Zoning Algorithm usually used in buildings which has heavy traffic situations such as the office building at lunch time Compared to the office building and shopping mall the traffic flow of residential buildings is 14 relatively low and even in every floor Secondly people usually think of elevators as purely functional objects and the experience of riding an elevator is time waited for most of them Furthermore there exist immense problems when attempting to satisfy all requirements Considering all of the reasons above we adopted the minimum waiting time algorithm to realize the 2 elevators parallel running 4 Evaluation function The goal of the minimum waiting time algorithm is to predict the each elevator s response time according to all calls and select the elevator which has the shortest response time to serve When there is a call the system calculates out the function values of each elevator according the evaluation function showed in 1 and 2 J Min J 1 J 2 J n 1 J i Tr i KTd i KTo i i 1 2 n 2 J i is the evaluation index of each elevator Tr i denotes the time of the elevator directly moving to the destination corresponding the latest call from its current floor To i denotes the additional acceleration and deceleration time of a floor stop of the elevator Td i denotes the average time of the passenger boarding and alighting the elevator and K is the sum of hall calls and car calls But when a hall call and a car call corresponds the same floor the K is only calculated one time Calculation of minimum waiting time In equation 2 K is a certain value To and Td can be obtained by means of statistics Tr T L where T denotes the average time of the elevator passing by one floor L denotes the desired floors of the elevator from current floor to the hall call floor In order to calculate the L value we defined the 2 elevators are A and B respectively YA YB denotes the current floor of elevator A and B respectively H is the corresponding key value when a hall call button is pressed and H floor number of the hall call We defined 4 tables for the PLC realization up hall call registration table down hall call registration table car call registration table of A and car call registration table of B When a certain call button is pressed its floor value is recorded in corresponding table Here we take elevator A as an 15 example First define the variable MA MB and MW Where MA MB denotes the extreme value of car calls with same direction of A or B s movement respectively When elevator A is up moving set MA is equal to the maximum value in car call registration table A when elevator A is down moving set MA is equal to the minimum value in car call registration table A MW denotes the extreme value of hall calls with same direction of A s movement When elevator A is up moving and up hall call value YA set MW 0 otherwise set MW is equal to the minimum value in up hall call registration table A When elevator A is down moving and up hall call value YA set MW 0 otherwise set MW is equal to the maximum value in down hall call registration table A Thus we can determine the L value according to YA H MA and MW There are 3 situations 1 When the hall call s direction is opposite to elevator A s movement L YA MA MA H 3 2 When the hall call s direction is same as elevator A s movement and it is in the front of elevator A L YA H 4 3 When the hall call s direction is same as the elevator A s movement and it is in the back of elevator A L YA MA MA MW H MW 5 So the i th floor s minimum waiting time can be calculated by 6 as follows Time i TL i KTd i KTo i i 1 2 n 6 When the calls change during the operation of elevators the system calculates the minimum waiting time of each elevator Then it allocates the current call to the elevator which has small value When the each elevator has the same value then the current call is prior to elevator A When an elevator is wrong or not in service the system can exit the dispatching algorithm and turns to a single elevator running mode Algorithm realization Compared with single elevator running mode the parallel running mode is mainly different at 16 the processing method about hall calls The former uses collective selective control method and the latter uses dispatch rule combined with collective selective control method Here the system is to control a 9 storey building so we choose two Siemens S7 200 PLCs CPU226 and its Extensive Modules to cont