CN104071662A - Remote self-diagnosis method of braking performance of elevator - Google Patents

Abstract

The invention discloses a remote self-diagnosis method of the braking performance of an elevator. The remote self-diagnosis method comprises controlling the elevator to run at a constant speed after the reference position information between a distance measurement sensing module and a fixed reference point and a proportionality coefficient between a rotating position of a traction motor encoder and a vertical movement distance of the elevator are obtained through calculation; braking the elevator when the elevator reaches the rated speed and is close to a stopping preset position; collecting a real-time distance between the distance measurement sensing module and the fixed reference point and a real-time rotating position of the traction motor encoder in the braking process of the elevator; obtaining braking performance parameters of the elevator through calculation so as to perform the contrast judgment on the obtained braking performance parameters and a preset safety range to perform the self-diagnosis on the braking performance of the elevator. According to the remote self-diagnosis method of the braking performance of the elevator, the various braking performance parameters of the elevator can be obtained through an automatic test and the self-diagnosis can be performed on the braking performance of the elevator without manual measurement and accordingly the degree of automation is high, the accuracy is high, the speed is high, and the remote self-diagnosis method can be widely applied to the diagnosis field of the braking performance of the elevator.

Description

The long-range self-diagnosing method of a kind of elevator brake performance

Technical field

The present invention relates to elevator brake Performance Detection field, particularly relate to the long-range self-diagnosing method of a kind of elevator brake performance.

Background technology

Along with society and scientific and technological development, the application of elevator is more and more extensive, in places such as house, school, trade centre, various sightseeing spot, all can use elevator, and along with the popularization of elevator applications, elevator safety problem is also more and more important, the deceleration and stopping performance of elevator is one side important in elevator safety, and at present elevator brake performance being carried out to diagnostic assessment is mainly periodically to elevator on-site, will carry out testing and diagnosing artificially.For example, when the deceleration and stopping performance of ascending for elevator is diagnosed, by marking at the vertex of elevator traction sheave and marking on the traction steel-cable concordant with its level, then move elevator, one people observes elevator and travels and when the mark of 1/3 travel range and traction sheave reaches moment of the top, send braking instruction with command speed, another people obtains cutting off elevator main power switch after braking instruction, braking elevator, then after elevator stopping, the vertex of the traction sheave after stop of take is benchmark, be to remake a mark on the concordant traction steel-cable of its level, then the distance between two place's marks on measurement acquisition traction steel-cable is as the braking distance of elevator, simultaneously also by the required total time of manual record elevator stopping, the method is because the record of parameter, measurement process all needs artificial participation, time consuming time is long, measured error is large, and degree of automation is low, although the acceleration/accel in the time of also can obtaining elevator stopping by calculating, but the stop performance that cannot reflect all sidedly elevator.In addition, in prior art, also have to utilize and be installed on hoistway Zhong Men district and flat bed and realize every penetrating plate the method that braking distance and skidding distance are measured, but this method utilization is installed on hoistway Zhong Men district and flat bed every penetrating plate as object of reference, thereby the stop parameter of measuring elevator in conjunction with manual operation is diagnosed elevator brake performance, there is too the shortcoming that accuracy is low, degree of automation is low and the time consuming time is long.

Summary of the invention

In order to solve above-mentioned technical matters, the object of this invention is to provide the long-range self-diagnosing method of a kind of elevator brake performance.

The technical solution adopted for the present invention to solve the technical problems is:

The long-range self-diagnosing method of elevator brake performance, comprising:

S1, when elevator is static, the turntable rotation that range finding sensing module on the sedan-chair frame of control lift car is R along radius one week, and gather range finding sensing module and the fixing real-time straight-line distance LP (t) between reference point, and then calculate to obtain range finding sensing module and the fixing reference position information between reference point, obtain the initial position S of traction motor coder simultaneously _e0and range finding sensing module and the fixing initial distance L between reference point _c0;

S2, control elevator stop after a fixed-direction moves a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and range finding sensing module and the fixing distance L between reference point _c1, and then calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance;

S3, control elevator travel at the uniform speed toward a fixed-direction, then when elevator reaches command speed and elevator and approaches stop predeterminated position, braking elevator gathers in the whole service process of elevator, find range sensing module and the fixing real time rotation position S (t) of the real-time distance L (t) between reference point and traction motor coder simultaneously;

S4, according to the real time rotation position S (t) of the real-time distance L (t) that collects, traction motor coder, range finding sensing module and fixedly the reference position information between reference point and traction motor coder position of rotation and elevator perpendicular movement apart between Proportional coefficient K, the deceleration and stopping performance parameter of calculating elevator;

The deceleration and stopping performance parameter of described elevator comprises drg action delay T _delay, stop time T _bD, braking distance S _bD, coasting distance S _sD, stop maximum deceleration a _max, stop minimum deceleration degree a _minwith stop process average deceleration/decel a _aVG;

S5, the deceleration and stopping performance parameter of the elevator of acquisition and default security interval are contrasted, whether the deceleration and stopping performance parameter that judges elevator all drops in corresponding default security interval, if, judge that elevator normally works, otherwise there is error state in judgement elevator, simultaneously the deceleration and stopping performance parameter of output abnormality.

Further, described reference position information comprises with reference to vertical distance H ₀with reference levels distance L ₀, the acquisition range finding sensing module of calculating described in described step S1 and fixedly the reference position information between reference point, it is specially:

According to the real-time straight-line distance LP (t) obtaining, read maximum straight-line distance LP in real time _mAXwith the real-time straight-line distance LP of minimum _mINafter, according to following formula, calculate to obtain range finding sensing module and the fixing reference vertical distance H between reference point ₀with reference levels distance L ₀:

$\left\{\begin{array}{c}{H}_0=\sqrt{(4R^2({\mathrm{LP}}_{\mathrm{MAX}}+{\mathrm{LP}}_{\mathrm{MIN}})-8R^4-{({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}})}^2)/8R^2}\\ L_0=({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}}-4R^2)/\left(4R\right)\end{array}\right.$

Further, described in described step S2, calculating the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance calculates by following formula:

$\left\{\begin{array}{c}{L}_C=\sqrt{{L_{C1}}^2-{L_0}^2}-\sqrt{{L_{C0}}^2-{L_0}^2}\\ K=(S_{E1}-S_{E0})/L_C\end{array}\right.$

Further, described step S4, comprising:

S41, the following formula of basis calculate the actual time line speed V that obtains motor encoder in elevator brake process _e(t):

V _E(t)＝d(S(t))/dt

Then calculate actual time line speed V _e(t) the real-time probability density p (v in predetermined period Δ T _e< v _eH), judge probability density p (v simultaneously _e< v _eH) whether be greater than 0.8, and if certain actual time line speed V constantly _e(t) be less than command speed, obtain this moment as elevator start braking moment t _sB;

Wherein, v _eHfor default linear velocity threshold value;

S42, acquisition drg receive the moment t of brake command _cB, obtain actual time line speed V simultaneously _e(t) be the moment t 0 constantly finishing as elevator brake _eBafter, according to following formula, calculate and obtain drg action delay T _delay, braking distance S _bD, stop time T _bDand stop process average deceleration/decel a _aVG:

$\left\{\begin{array}{c}{T}_{\mathrm{delay}}=t_{\mathrm{SB}}-t_{\mathrm{CB}}\\ S_{\mathrm{BD}}=S\left(t_{\mathrm{EB}}\right)/K-S\left(t_{\mathrm{SB}}\right)/K\\ T_{\mathrm{BD}}=t_{\mathrm{EB}}-t_{\mathrm{SB}}\\ a_{\mathrm{AVG}}=-V_R/T_{\mathrm{BD}}\end{array}\right.$

Wherein, S (t _eB) represent real time rotation position when elevator brake finishes, S (t _sB) represent real time rotation position when elevator starts to brake, V _rthe command speed that represents elevator;

S43, according to following formula, calculate the real-time speed V (t) of the vertical direction in elevator brake process and deceleration/decel a (t) in real time, then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value that obtains real-time deceleration/decel a (t) is as stop minimum deceleration degree a _min:

$\left\{\begin{array}{c}V\left(t\right)=d\left(\sqrt{L^2\left(t\right)-{L_0}^2}\right)/\mathrm{dt}\\ a\left(t\right)=\mathrm{dV}\left(t\right)/\mathrm{dt}\end{array}\right.$

The real-time distance L (t) that S44, combination collect, calculates and obtains coasting distance S according to following formula _sD:

$S_{\mathrm{SD}}=\sqrt{L^2\left(t_{\mathrm{EB}}\right)-{L_0}^2}-\sqrt{L^2\left(t_{\mathrm{SB}}\right)-{L_0}^2}-S_{\mathrm{BD}}$

Wherein, L (t _eB) represent to find range when elevator brake finishes sensing module and the fixing real-time distance between reference point, L (t _sB) sensing module and the fixing real-time distance between reference point represent to find range when elevator starts to brake.

Further, further comprising the steps of between described step S2 and step S3:

Traction motor coder and range finding sensing module abnormity diagnosis step, comprising:

A1, when elevator is in a certain level position and when static, obtain this constantly find range sensing module and fixing distance L between reference point _d1and the position of rotation S of traction motor coder _d1;

A2, control elevator and move at a slow speed behind the position of next flat bed floor toward a direction, obtain this constantly find range sensing module and fixing distance L between reference point _d2and the position of rotation S of traction motor coder _d2;

A3, then by following formula, calculate the vertical displacement L of elevator _dand the location variation Δ S of traction motor coder _d:

$\left\{\begin{array}{c}{L}_D=\sqrt{{L_{D1}}^2-{L_0}^2}-\sqrt{{L_{D0}}^2-{L_0}^2}\\ \mathrm{\&Delta;}{S}_D=S_{D2}-S_{D1}\end{array}\right.$

Wherein, L ₀expression range finding sensing module and fixedly the reference levels distance between reference point;

A4, judgement vertical displacement L _dwhether equal two diff-H S between floor _dC, if so, judgement range finding sensing module is normally worked, on the contrary judgement range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of judgement traction motor coder _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, judge that traction motor coder normally works, otherwise judgement traction motor coder exists abnormal.

Further, described range finding sensing module is arranged on the sedan-chair frame of lift car by an installing mechanism, described installing mechanism comprise rotating disk, magnetic base and be arranged on rotating disk and magnetic base in the middle of for driving the driver train of turntable rotation, described range finding sensing module is arranged on rotating disk, and described magnetic base is adsorbed on the sedan-chair frame of lift car.

Further, described fixedly reference point is arranged on the guide rail of lift car, described fixedly reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described the first Transmit Receive Unit is connected with the first antenna, and described the first controller is connected with first memory and the first Transmit Receive Unit respectively;

Described range finding sensing module comprises second controller, second memory, radio communication unit and the second Transmit Receive Unit, described the second Transmit Receive Unit is connected with the second antenna, and described second controller is connected with second memory, radio communication unit and the second Transmit Receive Unit respectively.

The invention has the beneficial effects as follows: the long-range self-diagnosing method of a kind of elevator brake performance of the present invention, by controlling range finding sensing module on the sedan-chair frame of lift car along turntable rotation one week and obtaining the initial position of traction motor coder and find range sensing module and the fixing initial distance between reference point, then controlling elevator moves after a segment distance toward a fixed-direction, obtain position of rotation and range finding sensing module and the fixing distance between reference point of this moment traction motor coder, just can calculate obtain range finding sensing module and fixedly the reference position information between reference point and traction motor coder position of rotation and elevator perpendicular movement apart between proportionality coefficient, then controlling elevator travels at the uniform speed toward a fixed-direction, when elevator reaches command speed and elevator and approaches stop predeterminated position, braking elevator, gather in the whole service process of elevator, find range sensing module and the fixing real time rotation position of the real-time distance between reference point and traction motor coder simultaneously, can calculate and obtain the braking distance of elevator when starting to brake to end of braking, the stop time, coasting time, the deceleration and stopping performance parameters such as stop maximum deceleration and stop process average deceleration/decel, and then the deceleration and stopping performance parameter of acquisition and default security interval can be contrasted to judgement, thereby can carry out selfdiagnosis to the deceleration and stopping performance of elevator.This method, without artificially measuring, just can automatically be tested and obtains the various deceleration and stopping performance parameters of elevator and elevator brake performance is carried out to long-range selfdiagnosis, and degree of automation is high, and accuracy is high and quick.

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the invention will be further described.

Fig. 1 is the scheme of installation of the range finding sensing module of the long-range self-diagnosing method employing of a kind of elevator brake performance of the present invention;

Fig. 2 is the structural representation of the measurement label installed of the fixedly reference point place of the long-range self-diagnosing method of a kind of elevator brake performance of the present invention;

Fig. 3 is the structural representation of the range finding sensing module of the long-range self-diagnosing method employing of a kind of elevator brake performance of the present invention;

Fig. 4 measures the geometrical principle schematic diagram of the perpendicular movement distance of elevator in the long-range self-diagnosing method of a kind of elevator brake performance of the present invention.

The specific embodiment

The invention provides the long-range self-diagnosing method of a kind of elevator brake performance, comprising:

S1, when elevator is static, the turntable rotation that range finding sensing module on the sedan-chair frame of control lift car is R along radius one week, and gather range finding sensing module and the fixing real-time straight-line distance LP (t) between reference point, and then calculate to obtain range finding sensing module and the fixing reference position information between reference point, obtain the initial position S of traction motor coder simultaneously _e0and range finding sensing module and the fixing initial distance L between reference point _c0;

S2, control elevator stop after a fixed-direction moves a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and range finding sensing module and the fixing distance L between reference point _c1, and then calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance;

S3, control elevator travel at the uniform speed toward a fixed-direction, then when elevator reaches command speed and elevator and approaches stop predeterminated position, braking elevator gathers in the whole service process of elevator, find range sensing module and the fixing real time rotation position S (t) of the real-time distance L (t) between reference point and traction motor coder simultaneously;

S4, according to the real time rotation position S (t) of the real-time distance L (t) that collects, traction motor coder, range finding sensing module and fixedly the reference position information between reference point and traction motor coder position of rotation and elevator perpendicular movement apart between Proportional coefficient K, the deceleration and stopping performance parameter of calculating elevator;

The deceleration and stopping performance parameter of described elevator comprises drg action delay T _delay, stop time T _bD, braking distance S _bD, coasting distance S _sD, stop maximum deceleration a _max, stop minimum deceleration degree a _minwith stop process average deceleration/decel a _aVG;

S5, the deceleration and stopping performance parameter of the elevator of acquisition and default security interval are contrasted, whether the deceleration and stopping performance parameter that judges elevator all drops in corresponding default security interval, if, judge that elevator normally works, otherwise there is error state in judgement elevator, simultaneously the deceleration and stopping performance parameter of output abnormality.

Be further used as preferred embodiment, described reference position information comprises with reference to vertical distance H ₀with reference levels distance L ₀, the acquisition range finding sensing module of calculating described in described step S1 and fixedly the reference position information between reference point, it is specially:

According to the real-time straight-line distance LP (t) obtaining, read maximum straight-line distance LP in real time _mAXwith the real-time straight-line distance LP of minimum _mINafter, according to following formula, calculate to obtain range finding sensing module and the fixing reference vertical distance H between reference point ₀with reference levels distance L ₀:

$\left\{\begin{array}{c}{H}_0=\sqrt{(4R^2({\mathrm{LP}}_{\mathrm{MAX}}+{\mathrm{LP}}_{\mathrm{MIN}})-8R^4-{({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}})}^2)/8R^2}\\ L_0=({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}}-4R^2)/\left(4R\right)\end{array}\right.$

Be further used as preferred embodiment, described in described step S2, calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance and calculate by following formula:

$\left\{\begin{array}{c}{L}_C=\sqrt{{L_{C1}}^2-{L_0}^2}-\sqrt{{L_{C0}}^2-{L_0}^2}\\ K=(S_{E1}-S_{E0})/L_C\end{array}\right.$

Be further used as preferred embodiment, described step S4, comprising:

S41, the following formula of basis calculate the actual time line speed V that obtains motor encoder in elevator brake process _e(t):

V _E(t)＝d(S(t))/dt

Then calculate actual time line speed V _e(t) the real-time probability density p (v in predetermined period Δ T _e< v _eH), judge probability density p (v simultaneously _e< v _eH) whether be greater than 0.8, and if certain actual time line speed V constantly _e(t) be less than command speed, obtain this moment as elevator start braking moment t _sB;

Wherein, v _eHfor default linear velocity threshold value;

S42, acquisition drg receive the moment t of brake command _cB, obtain actual time line speed V simultaneously _e(t) be the moment t 0 constantly finishing as elevator brake _eBafter, according to following formula, calculate and obtain drg action delay T _delay, braking distance S _bD, stop time T _bDand stop process average deceleration/decel a _aVG:

$\left\{\begin{array}{c}{T}_{\mathrm{delay}}=t_{\mathrm{SB}}-t_{\mathrm{CB}}\\ S_{\mathrm{BD}}=S\left(t_{\mathrm{EB}}\right)/K-S\left(t_{\mathrm{SB}}\right)/K\\ T_{\mathrm{BD}}=t_{\mathrm{EB}}-t_{\mathrm{SB}}\\ a_{\mathrm{AVG}}=-V_R/T_{\mathrm{BD}}\end{array}\right.$

Wherein, S (t _eB) represent real time rotation position when elevator brake finishes, S (t _sB) represent real time rotation position when elevator starts to brake, V _rthe command speed that represents elevator;

S43, according to following formula, calculate the real-time speed V (t) of the vertical direction in elevator brake process and deceleration/decel a (t) in real time, then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value that obtains real-time deceleration/decel a (t) is as stop minimum deceleration degree a _min:

$\left\{\begin{array}{c}V\left(t\right)=d\left(\sqrt{L^2\left(t\right)-{L_0}^2}\right)/\mathrm{dt}\\ a\left(t\right)=\mathrm{dV}\left(t\right)/\mathrm{dt}\end{array}\right.$

The real-time distance L (t) that S44, combination collect, calculates and obtains coasting distance S according to following formula _sD:

$S_{\mathrm{SD}}=\sqrt{L^2\left(t_{\mathrm{EB}}\right)-{L_0}^2}-\sqrt{L^2\left(t_{\mathrm{SB}}\right)-{L_0}^2}-S_{\mathrm{BD}}$

Wherein, L (t _eB) represent to find range when elevator brake finishes sensing module and the fixing real-time distance between reference point, L (t _sB) sensing module and the fixing real-time distance between reference point represent to find range when elevator starts to brake.

Be further used as preferred embodiment, further comprising the steps of between described step S2 and step S3:

Traction motor coder and range finding sensing module abnormity diagnosis step, comprising:

A1, when elevator is in a certain level position and when static, obtain this constantly find range sensing module and fixing distance L between reference point _d1and the position of rotation S of traction motor coder _d1;

A2, control elevator and move at a slow speed behind the position of next flat bed floor toward a direction, obtain this constantly find range sensing module and fixing distance L between reference point _d2and the position of rotation S of traction motor coder _d2;

A3, then by following formula, calculate the vertical displacement L of elevator _dand the location variation Δ S of traction motor coder _d:

$\left\{\begin{array}{c}{L}_D=\sqrt{{L_{D1}}^2-{L_0}^2}-\sqrt{{L_{D0}}^2-{L_0}^2}\\ \mathrm{\&Delta;}{S}_D=S_{D2}-S_{D1}\end{array}\right.$

Wherein, L ₀expression range finding sensing module and fixedly the reference levels distance between reference point;

A4, judgement vertical displacement L _dwhether equal two diff-H S between floor _dC, if so, judgement range finding sensing module is normally worked, on the contrary judgement range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of judgement traction motor coder _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, judge that traction motor coder normally works, otherwise judgement traction motor coder exists abnormal.

Be further used as preferred embodiment, described range finding sensing module is arranged on the sedan-chair frame of lift car by an installing mechanism, described installing mechanism comprise rotating disk, magnetic base and be arranged on rotating disk and magnetic base in the middle of for driving the driver train of turntable rotation, described range finding sensing module is arranged on rotating disk, and described magnetic base is adsorbed on the sedan-chair frame of lift car.

Be further used as preferred embodiment, described fixedly reference point is arranged on the guide rail of lift car, described fixedly reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described the first Transmit Receive Unit is connected with the first antenna, and described the first controller is connected with first memory and the first Transmit Receive Unit respectively;

Described range finding sensing module comprises second controller, second memory, radio communication unit and the second Transmit Receive Unit, described the second Transmit Receive Unit is connected with the second antenna, and described second controller is connected with second memory, radio communication unit and the second Transmit Receive Unit respectively.

Below in conjunction with the specific embodiment, the present invention will be further described.

Multiple for assisting the control system of the long-range self-diagnosing method of enforcement elevator brake performance of the present invention to have, as long as can realize technical scheme of the present invention, all can.Can adopt ultrasonic measuring distance technology, laser ranging technique etc. to measure range finding sensing module and the fixing straight-line distance between reference point, the present embodiment adopts RF pulse-to-pulse to bring to measure find range sensing module and the fixing straight-line distance between reference point.

First, fixedly reference point is arranged on the guide rail of lift car, range finding sensing module is arranged on the sedan-chair frame of lift car by an installing mechanism, shown in Fig. 1, in figure, Reference numeral 2 represents range finding sensing module, installing mechanism comprise rotating disk 31, magnetic base 33 and be arranged on rotating disk and magnetic base in the middle of for driving the driver train 32 of turntable rotation, range finding sensing module 2 be arranged on rotating disk 31, magnetic base 33 is adsorbed on the sedan-chair frame of lift car.

Secondly, fixedly reference point place is provided with and measures label 1, shown in Fig. 2, measure label 1 and comprise the first controller 11, first memory 12 and the first Transmit Receive Unit 13, the first Transmit Receive Unit 13 is connected with the first antenna 14, the first controllers 11 and is connected with first memory 12 and the first Transmit Receive Unit 13 respectively; Measure label 1 and also comprise the first power supply 15 that is used to 1 power supply of measurement label;

Shown in Fig. 3, range finding sensing module 2 comprises second controller 21, second memory 22, radio communication unit 23 and the second Transmit Receive Unit 24, the second Transmit Receive Unit 24 is connected with the second antenna 25, second controller 21 is connected with second memory 22, radio communication unit 23 and the second Transmit Receive Unit 24 respectively, also comprises the second source 26 that is used to 2 power supplies of range finding sensing module.Range finding sensing module 2 can send to the processor module of the control system of the long-range self-diagnosing method of elevator brake performance by measuring the original data obtaining by radio communication unit 23, for processor module, calculate and obtain relevant deceleration and stopping performance parameter, also second controller 21 that can be by range finding sensing module 2 calculates and obtains relevant deceleration and stopping performance parameter and by radio communication unit 23, send to the processor module etc. of control system after such as stop maximum deceleration again according to the original data measure obtaining, as long as applied the long-range self-diagnosing method of elevator brake performance of the present invention, no matter adopt which kind of embodiment, all drop in protection scope of the present invention.

Accordingly, range finding sensing module 2 and the fixedly real-time straight-line distance LP (t) between reference point refer to the real-time distance of the second antenna 25 and the first antenna 14, and range finding sensing module 2 and the fixedly real-time distance L (t) between reference point refer to the real-time distance of the second antenna 25 and the first antenna 14.

Below in conjunction with accompanying drawing 1～3 and 4 pairs of long-range self-diagnosing methods of elevator brake performance of the present invention of accompanying drawing, be described further:

The long-range self-diagnosing method of elevator brake performance, comprising:

S1, when elevator is static, the turntable rotation that range finding sensing module on the sedan-chair frame of control lift car is R along radius one week, and gather range finding sensing module and the fixing real-time straight-line distance LP (t) between reference point, and then calculate to obtain range finding sensing module and the fixing reference position information between reference point, obtain the initial position S of traction motor coder simultaneously _e0and range finding sensing module and the fixing initial distance L between reference point _c0;

Reference position information comprises with reference to vertical distance H ₀with reference levels distance L ₀, calculating acquisition range finding sensing module and fixedly the reference position information between reference point, specific as follows:

According to the real-time straight-line distance LP (t) obtaining, read maximum straight-line distance LP in real time _mAXwith the real-time straight-line distance LP of minimum _mINafter, according to following formula, calculate to obtain range finding sensing module and the fixing reference vertical distance H between reference point ₀with reference levels distance L ₀:

$\left\{\begin{array}{c}{H}_0=\sqrt{(4R^2({\mathrm{LP}}_{\mathrm{MAX}}+{\mathrm{LP}}_{\mathrm{MIN}})-8R^4-{({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}})}^2)/8R^2}\\ L_0=({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}}-4R^2)/\left(4R\right)\end{array}\right.$

Below in conjunction with Fig. 4, describe the deduction process of above two formula, as shown in Figure 4, the guide rail of lift car is vertically upward, fixedly reference point is arranged on the guide rail of lift car, using the guide rail that fixing reference point has been installed as Z axis.In addition, in Fig. 4, some c represents the centre of gration of rotating disk 31, and some O represented the centre of gration c of rotating disk 31 and perpendicular to the focus of horizon and the Z axis of Z axis;

L _crepresent the centre of gration of rotating disk 31 and the horizontal throw of Z axis, initial position when A0 refers to find range sensing module 2 rotation, with reference to vertical distance H ₀refer to the fixedly vertical distance of the initial time of reference point of range finding sensing module 2 distances, reference levels distance L ₀the nearest horizontal throw that refers to range finding sensing module 2 and Z axis, the nearest horizontal throw of refer to find range sensing module 2 and the guide rail of lift car;

Solid line LP and dotted line LP in figure ₁, LP ₂represent respectively to find range when rotating disk 31 rotates to diverse location sensing module 2 and the fixing real-time distance between reference point, angle [alpha], α ₁, α ₂represent respectively LP, LP ₁, LP ₂angle with horizontal surface;

If rotating disk 31 is in the process rotating a circle, its displacement is in the vertical direction: S=s (t-t ₀), have range finding sensing module 2 and the fixing real-time vertical distance H of reference point to be:

H＝H ₀-s(t-t ₀)

If the spin velocity of rotating disk 31 is ω, the real time rotation angle of rotating disk 31 is:

β(t)＝2ωt+θ ₀

Wherein, t represents rotational time, θ ₀represent initial angle;

The geometric relationship that can obtain between real-time vertical distance H and real-time straight-line distance LP (t) according to Fig. 4 is:

H ²＝LP ²(t)-R ²sin ²(β(t))-(L _c-Rcos(β(t))) ²

By formula H=H ₀-s (t-t ₀) substitution above formula, obtain:

(H ₀-s(t-t ₀)) ²＝LP ²(t)-R ²sin ²(β(t))-(L _c-Rcos(β(t))) ²

To the differentiate of above formula both sides, can obtain:

-2(H ₀-s(t-t ₀))s(t-t ₀)′＝2LP(t)LP(t)′-2L _cRsin(β(t))β(t)′

If therefore meet LP (t) LP (t) '=2 ω L _cduring Rsin (β (t)), represent that rotating disk 31 is in the vertical direction without mobile, wherein L _c=L ₀+ R.

In this step, because rotating disk 31, in the process rotating a circle, does not have displacement in the vertical direction, i.e. S=s (t-t ₀) be 0, so can obtain according to above-mentioned formula:

H ₀ ²＝LP ²(t)-R ²sin ²(β(t))-(L _c-Rcos(β(t))) ²

Therefore obtain LP ²(t)=H ₀ ²+ R ²+ L ² _c-2L _crcos (β (t))

Hence one can see that:

As β (t)=2n π, (n=0,1,2 ...) time, the value of LP (t) is minimum, obtains minimum straight-line distance LP in real time _mIN:

${\mathrm{LP}}_{\mathrm{MIN}}=\mathrm{MIN}\left(\mathrm{LP}\left(t\right)\right)=\sqrt{{H_0}^2+R^2+{L^2}_c-2L_{c}R}$

As the π of β (t)=(2n+1), (n=0,1,2 ...) time, the value of LP (t) is maximum, obtains maximum straight-line distance LP in real time _mAX:

${\mathrm{LP}}_{\mathrm{MAX}}=\mathrm{MAX}\left(\mathrm{LP}\left(t\right)\right)=\sqrt{{H_0}^2+R^2+{L^2}_c+2L_{c}R}$

And, in Fig. 4, can learn L _c=L ₀+ R, in conjunction with minimum straight-line distance LP in real time _mINwith the real-time straight-line distance LP of maximum _mAXcomputing formula, can simultaneous solution obtain:

$\left\{\begin{array}{c}{L}_c=({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}})/\left(4R\right)\\ H_0=\sqrt{(4R^2({\mathrm{LP}}_{\mathrm{MAX}}+{\mathrm{LP}}_{\mathrm{MIN}})-8R^4-{({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}})}^2)/8R^2}\\ L_0=({\mathrm{LP}}_{\mathrm{MAX}}-{\mathrm{LP}}_{\mathrm{MIN}}-4R^2)/\left(4R\right)\end{array}\right.$

S2, control elevator stop after a fixed-direction moves a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and range finding sensing module and the fixing distance L between reference point _c1, and then calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance;

Proportional coefficient K between traction motor coder position of rotation and elevator perpendicular movement distance calculates by following formula:

$\left\{\begin{array}{c}{L}_C=\sqrt{{L_{C1}}^2-{L_0}^2}-\sqrt{{L_{C0}}^2-{L_0}^2}\\ K=(S_{E1}-S_{E0})/L_C\end{array}\right.$

Also comprise: traction motor coder and range finding sensing module abnormity diagnosis step, comprising:

A1, when elevator is in a certain level position and when static, obtain this constantly find range sensing module and fixing distance L between reference point _d1and the position of rotation S of traction motor coder _d1;

A2, control elevator and move at a slow speed behind the position of next flat bed floor toward a direction, obtain this constantly find range sensing module and fixing distance L between reference point _d2and the position of rotation S of traction motor coder _d2;

A3, then by following formula, calculate the vertical displacement L of elevator _dand the location variation Δ S of traction motor coder _d:

$\left\{\begin{array}{c}{L}_D=\sqrt{{L_{D1}}^2-{L_0}^2}-\sqrt{{L_{D0}}^2-{L_0}^2}\\ \mathrm{\&Delta;}{S}_D=S_{D2}-S_{D1}\end{array}\right.$

Wherein, L ₀expression range finding sensing module and fixedly the reference levels distance between reference point;

A4, judgement vertical displacement L _dwhether equal two diff-H S between floor _dC, if so, judgement range finding sensing module is normally worked, on the contrary judgement range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of judgement traction motor coder _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, judge that traction motor coder normally works, otherwise judgement traction motor coder exists abnormal.If it is abnormal that judgement range finding sensing module or traction motor coder exist, outputting alarm information is notified related personnel, and the step that related personnel carries out continuing below after fault eliminating to find range sensing module or traction motor coder is again carried out elevator brake diagnosis.

S3, control elevator travel at the uniform speed toward a fixed-direction, then when elevator reaches command speed and elevator and approaches stop predeterminated position, braking elevator gathers in the whole service process of elevator, find range sensing module and the fixing real time rotation position S (t) of the real-time distance L (t) between reference point and traction motor coder simultaneously; Command speed is the specified running velocity of elevator operation, here stop predeterminated position be one for auxiliary reference position of carrying out brake operating, when elevator being detected and run to this reference position, braking elevator.Approach the distance that stop predeterminated position refers to elevator and stop predeterminated position and be less than setting threshold, the present invention adopts automatic detection means to detect the distance of elevator and stop predeterminated position, and automatically judges control.In this step, judge whether elevator reaches command speed, need to gather the real time execution speed of elevator, the real time execution speed of elevator can be gathered by setting special speed sensor, also the real time execution speed of elevator can be obtained in conjunction with the method for the real-time speed V (t) of the vertical direction in the calculating elevator brake process in following step S4.

S4, according to the real time rotation position S (t) of the real-time distance L (t) that collects, traction motor coder, range finding sensing module and fixedly the reference position information between reference point and traction motor coder position of rotation and elevator perpendicular movement apart between Proportional coefficient K, the deceleration and stopping performance parameter of calculating elevator;

The deceleration and stopping performance parameter of elevator comprises drg action delay T _delay, stop time T _bD, braking distance S _bD, coasting distance S _sD, stop maximum deceleration a _max, stop minimum deceleration degree a _minwith stop process average deceleration/decel a _aVG;

Specifically comprise the following steps:

S41, the following formula of basis calculate the actual time line speed V that obtains motor encoder in elevator brake process _e(t):

V _E(t)＝d(S(t))/dt

Then calculate actual time line speed V _e(t) the real-time probability density p (v in predetermined period Δ T _e< v _eH), judge probability density p (v simultaneously _e< v _eH) whether be greater than 0.8, and if certain actual time line speed V constantly _e(t) be less than command speed, obtain this moment as elevator start braking moment t _sB;

Wherein, v _eHfor default linear velocity threshold value, probability density p (v _e< v _eH) in v _ethe linear velocity that represents traction motor coder;

S42, acquisition drg receive the moment t of brake command _cB, obtain actual time line speed V simultaneously _e(t) be the moment t 0 constantly finishing as elevator brake _eBafter, according to following formula, calculate and obtain drg action delay T _delay, braking distance S _bD, stop time T _bDand stop process average deceleration/decel a _aVG:

$\left\{\begin{array}{c}{T}_{\mathrm{delay}}=t_{\mathrm{SB}}-t_{\mathrm{CB}}\\ S_{\mathrm{BD}}=S\left(t_{\mathrm{EB}}\right)/K-S\left(t_{\mathrm{SB}}\right)/K\\ T_{\mathrm{BD}}=t_{\mathrm{EB}}-t_{\mathrm{SB}}\\ a_{\mathrm{AVG}}=-V_R/T_{\mathrm{BD}}\end{array}\right.$

Wherein, S (t _eB) represent real time rotation position when elevator brake finishes, S (t _sB) represent real time rotation position when elevator starts to brake, V _rthe command speed that represents elevator;

S43, according to following formula, calculate the real-time speed V (t) of the vertical direction in elevator brake process and deceleration/decel a (t) in real time, then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value that obtains real-time deceleration/decel a (t) is as stop minimum deceleration degree a _min:

$\left\{\begin{array}{c}V\left(t\right)=d\left(\sqrt{L^2\left(t\right)-{L_0}^2}\right)/\mathrm{dt}\\ a\left(t\right)=\mathrm{dV}\left(t\right)/\mathrm{dt}\end{array}\right.$

The real-time distance L (t) that S44, combination collect, calculates and obtains coasting distance S according to following formula _sD:

$S_{\mathrm{SD}}=\sqrt{L^2\left(t_{\mathrm{EB}}\right)-{L_0}^2}-\sqrt{L^2\left(t_{\mathrm{SB}}\right)-{L_0}^2}-S_{\mathrm{BD}}$

Wherein, L (t _eB) represent to find range when elevator brake finishes sensing module and the fixing real-time distance between reference point, L (t _sB) sensing module and the fixing real-time distance between reference point represent to find range when elevator starts to brake.

S5, the deceleration and stopping performance parameter of the elevator of acquisition and default security interval are contrasted, whether the deceleration and stopping performance parameter that judges elevator all drops in corresponding default security interval, if, judge that elevator normally works, otherwise there is error state in judgement elevator, simultaneously the deceleration and stopping performance parameter of output abnormality.Here, all parameters of deceleration and stopping performance parameter have corresponding default security interval, if judge for example braking distance S of certain deceleration and stopping performance parameter _bDdo not drop in its default security interval, judge that error state appears in elevator, simultaneously i.e. the braking distance S here of the deceleration and stopping performance parameter of output abnormality _bD.Here, the abnormal deceleration and stopping performance parameter of output can be regarded the result of elevator brake selfdiagnosis as.In addition, this method can send to the result of the various real time datas of obtaining, the deceleration and stopping performance parameter calculating or selfdiagnosis by wired or wireless communication modes the processor module of control system, can realize long-range selfdiagnosis.

In addition, this step also can be by the deceleration and stopping performance parameter of the elevator obtaining, according to braking distance S _bD, coasting distance S _sD, stop time T _bD, stop maximum deceleration a _max, stop minimum deceleration degree a _min, stop process average deceleration/decel a _aVGand drg action delay T _delayorder record and store, record the real-time time T in this moment simultaneously, be recorded as B (n)=[S _bDs _sDt _bDa _mAXa _mINa _aVGt _delayt], by the data of record storage are carried out to Fitting Analysis, can also predict the variation tendency of elevator brake performance.

More than that better enforcement of the present invention is illustrated, but the invention is not limited to above embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and the modification that these are equal to or replacement are all included in the application's claim limited range.

Claims (7)

1. the long-range self-diagnosing method of elevator brake performance, is characterized in that, comprising:

S1, when elevator is static, the turntable rotation that range finding sensing module on the sedan-chair frame of control lift car is R along radius one week, and gather range finding sensing module and the fixing real-time straight-line distance LP (t) between reference point, and then calculate to obtain range finding sensing module and the fixing reference position information between reference point, obtain the initial position S of traction motor coder simultaneously _e0and range finding sensing module and the fixing initial distance L between reference point _c0;

S2, control elevator stop after a fixed-direction moves a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and range finding sensing module and the fixing distance L between reference point _c1, and then calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance;

S3, control elevator travel at the uniform speed toward a fixed-direction, then when elevator reaches command speed and elevator and approaches stop predeterminated position, braking elevator gathers in the whole service process of elevator, find range sensing module and the fixing real time rotation position S (t) of the real-time distance L (t) between reference point and traction motor coder simultaneously;

S4, according to the real time rotation position S (t) of the real-time distance L (t) that collects, traction motor coder, range finding sensing module and fixedly the reference position information between reference point and traction motor coder position of rotation and elevator perpendicular movement apart between Proportional coefficient K, the deceleration and stopping performance parameter of calculating elevator;

The deceleration and stopping performance parameter of described elevator comprises drg action delay T _delay, stop time T _bD, braking distance S _bD, coasting distance S _sD, stop maximum deceleration a _max, stop minimum deceleration degree a _minwith stop process average deceleration/decel a _aVG;

S5, the deceleration and stopping performance parameter of the elevator of acquisition and default security interval are contrasted, whether the deceleration and stopping performance parameter that judges elevator all drops in corresponding default security interval, if, judge that elevator normally works, otherwise there is error state in judgement elevator, simultaneously the deceleration and stopping performance parameter of output abnormality.

2. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 1, is characterized in that, described reference position information comprises with reference to vertical distance H ₀with reference levels distance L ₀, the acquisition range finding sensing module of calculating described in described step S1 and fixedly the reference position information between reference point, it is specially:

According to the real-time straight-line distance LP (t) obtaining, read maximum straight-line distance LP in real time _mAXwith the real-time straight-line distance LP of minimum _mINafter, according to following formula, calculate to obtain range finding sensing module and the fixing reference vertical distance H between reference point ₀with reference levels distance L ₀:

。

3. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 2, it is characterized in that, described in described step S2, calculate the Proportional coefficient K obtaining between traction motor coder position of rotation and elevator perpendicular movement distance and calculate by following formula:

。

4. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 3, is characterized in that, described step S4, comprising:

S41, the following formula of basis calculate the actual time line speed V that obtains motor encoder in elevator brake process _e(t):

V _E(t)＝d(S(t))/dt

Then calculate actual time line speed V _e(t) the real-time probability density p (v in predetermined period Δ T _e< v _eH), judge probability density p (v simultaneously _e< v _eH) whether be greater than 0.8, and if certain actual time line speed V constantly _e(t) be less than command speed, obtain this moment as elevator start braking moment t _sB;

Wherein, v _eHfor default linear velocity threshold value;

S42, acquisition drg receive the moment t of brake command _cB, obtain actual time line speed V simultaneously _e(t) be the moment t 0 constantly finishing as elevator brake _eBafter, according to following formula, calculate and obtain drg action delay T _delay, braking distance S _bD, stop time T _bDand stop process average deceleration/decel a _aVG:

Wherein, S (t _eB) represent real time rotation position when elevator brake finishes, S (t _sB) represent real time rotation position when elevator starts to brake, V _rthe command speed that represents elevator;

S43, according to following formula, calculate the real-time speed V (t) of the vertical direction in elevator brake process and deceleration/decel a (t) in real time, then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value that obtains real-time deceleration/decel a (t) is as stop minimum deceleration degree a _min:

The real-time distance L (t) that S44, combination collect, calculates and obtains coasting distance S according to following formula _sD:

Wherein, L (t _eB) represent to find range when elevator brake finishes sensing module and the fixing real-time distance between reference point, L (t _sB) sensing module and the fixing real-time distance between reference point represent to find range when elevator starts to brake.

5. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 3, is characterized in that, further comprising the steps of between described step S2 and step S3:

Traction motor coder and range finding sensing module abnormity diagnosis step, comprising:

A1, when elevator is in a certain level position and when static, obtain this constantly find range sensing module and fixing distance L between reference point _d1and the position of rotation S of traction motor coder _d1;

A2, control elevator and move at a slow speed behind the position of next flat bed floor toward a direction, obtain this constantly find range sensing module and fixing distance L between reference point _d2and the position of rotation S of traction motor coder _d2;

A3, then by following formula, calculate the vertical displacement L of elevator _dand the location variation Δ S of traction motor coder _d:

Wherein, L ₀expression range finding sensing module and fixedly the reference levels distance between reference point;

A4, judgement vertical displacement L _dwhether equal two diff-H S between floor _dC, if so, judgement range finding sensing module is normally worked, on the contrary judgement range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of judgement traction motor coder _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, judge that traction motor coder normally works, otherwise judgement traction motor coder exists abnormal.

6. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 1, it is characterized in that, described range finding sensing module is arranged on the sedan-chair frame of lift car by an installing mechanism, described installing mechanism comprise rotating disk, magnetic base and be arranged on rotating disk and magnetic base in the middle of for driving the driver train of turntable rotation, described range finding sensing module is arranged on rotating disk, and described magnetic base is adsorbed on the sedan-chair frame of lift car.

7. the long-range self-diagnosing method of a kind of elevator brake performance according to claim 1, it is characterized in that, described fixedly reference point is arranged on the guide rail of lift car, described fixedly reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described the first Transmit Receive Unit is connected with the first antenna, and described the first controller is connected with first memory and the first Transmit Receive Unit respectively;

Described range finding sensing module comprises second controller, second memory, radio communication unit and the second Transmit Receive Unit, described the second Transmit Receive Unit is connected with the second antenna, and described second controller is connected with second memory, radio communication unit and the second Transmit Receive Unit respectively.