CN104071662B - A kind of elevator brake performance remote self-diagnosing method - Google Patents

Abstract

The invention discloses a kind of elevator brake performance remote self-diagnosing method, comprise: after calculating the reference position information between range finding sensing module and fixing reference point that obtains and the proportionality coefficient between traction motor coder position of rotation and elevator perpendicular movement distance, control elevator constant velocity to run, when elevator reach command speed and close to stop predeterminated position time, elevator brake, the real-time rotational position of real-time distance between range finding sensing module and fixing reference point and traction motor coder is gathered in the braking procedure of simultaneously elevator, thus calculate the brake-performance parameters obtaining elevator, and then the brake-performance parameters of acquisition and preset security interval are carried out contrast judge, selfdiagnosis is carried out to the deceleration and stopping performance of elevator.This method is without the need to artificially measuring, and obtain the various brake-performance parameters of elevator with regard to automatically testing and carry out long-range selfdiagnosis to elevator brake performance, degree of automation is high, and accuracy is high and quick, can be widely used in the diagnostic field of elevator brake performance.

Description

A kind of elevator brake performance remote self-diagnosing method

Technical field

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

Background technology

Along with society and scientific and technological development, the application of elevator is more and more extensive, elevator all can be used in places such as house, school, trade centre, various sightseeing spot, 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, carries out diagnostic assessment at present mainly periodically arrive elevator on-site artificially and will carry out testing and diagnosing elevator brake performance.Such as, when the deceleration and stopping performance of ascending for elevator being diagnosed, by marking at the vertex of elevator traction sheave and marking on the traction steel-cable concordant with its level, then elevator is run, one people observe elevator with command speed travel to 1/3 stroke range and the mark of traction sheave reaches the moment of the top time send braking instruction, another people cuts off elevator main power switch after obtaining braking instruction, elevator brake, then after elevator stopping, with the vertex of the traction sheave after stop for benchmark, be the traction steel-cable that its level is concordant remakes a mark, then the braking distance of the distance between two places' marks on acquisition traction steel-cable as elevator is measured, simultaneously also by the total time needed for manual record elevator stopping, the method is because the record of parameter, measurement process all needs artificial participation, short time consumption is long, measured error is large, and degree of automation is low, although by calculating acceleration/accel when also can obtain elevator stopping, but the stop performance of elevator cannot be reflected all sidedly.In addition, also have in prior art to utilize and be installed on hoistway Zhong Men district and flat bed every the method for penetrating plate and measuring to realize braking distance and skidding distance, but this method utilizes and is installed on hoistway Zhong Men district and flat bed every penetrating plate as object of reference, measure the stop parameter of elevator in conjunction with manual operation thus elevator brake performance is diagnosed, there is the shortcoming that accuracy is low, degree of automation is low and short time consumption is long too.

Summary of the invention

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

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

A kind of elevator brake performance remote self-diagnosing method, comprising:

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

S2, control elevator stop after a fixed-direction runs a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and the distance L between range finding sensing module and fixing reference point _c1, and then calculate the Proportional coefficient K obtained 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 close to stop predeterminated position time, elevator brake, gathers in the whole service process of elevator real-time rotational position S (t) of find range real-time distance L (t) between sensing module and fixing reference point and traction motor coder simultaneously;

S4, real-time rotational position S (t) according to the real-time distance L (t) collected, traction motor coder, the reference position information between sensing module and fixing reference point of finding range and the Proportional coefficient K between traction motor coder position of rotation and elevator perpendicular movement distance, calculate the brake-performance parameters of elevator;

The brake-performance parameters 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 brake-performance parameters of the elevator of acquisition and preset security interval to be contrasted, judge whether the brake-performance parameters of elevator all drops in corresponding preset security interval, if, then judge that elevator normally works, otherwise judge that error state appears in elevator, simultaneously the brake-performance parameters of output abnormality.

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

According to real-time straight-line distance LP (t) obtained, read maximum real-time straight-line distance LP _mAXwith minimum real-time straight-line distance LP _mINafter, the reference vertical distance H obtained between range finding sensing module and fixing reference point is calculated according to following formula 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, calculate the Proportional coefficient K obtained between traction motor coder position of rotation and elevator perpendicular movement distance described in described step S2 to be obtained by following formulae discovery:

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

Further, described step S4, comprising:

S41, obtain the actual time line speed V of motor encoder in elevator brake process according to following formulae discovery _e(t):

V _E(t)＝d(S(t))/dt

Then actual time line speed V is calculated _e(t) 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 the actual time line speed V in certain moment _et () is less than command speed, then obtain this moment starts braking moment t as elevator _sB;

Wherein, v _eHfor default linear velocity threshold value;

S42, acquisition brake receiver are to the moment t of brake command _cB, obtain actual time line speed V simultaneously _et () is the moment t that terminates as elevator brake of moment of 0 _eBafter, calculate according to following formula 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 rotational position at the end of elevator brake, S (t _sB) represent that elevator starts real-time rotational position when braking, V _rrepresent the command speed of elevator;

S43, real-time speed V (t) calculating the vertical direction in elevator brake process according to following formula and real-time deceleration/decel a (t), then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value obtaining 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 according to following formula and obtains coasting distance S _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 the real-time distance of finding range between sensing module and fixing reference point at the end of elevator brake, L (t _sB) represent the real-time distance of elevator when starting to brake between range finding sensing module and fixing reference point.

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 is static, obtain this moment range finding sensing module and fixing reference point between distance L _d1and the position of rotation S of traction motor coder _d1;

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

A3, then calculate the vertical displacement L of elevator by following formula _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 ₀represent the reference levels distance between range finding sensing module and fixing reference point;

A4, judge vertical displacement L _dwhether equal the diff-H S between two floors _dC, if so, then judge that range finding sensing module normally works, otherwise, judge that range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of traction motor coder is judged _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, then judge that traction motor coder normally works, otherwise, judge that 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 comprises rotating disk, magnetic base and is arranged on the driver train for driving turntable rotation in the middle of rotating disk and magnetic base, 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 fixing reference point is arranged on the guide rail of lift car, described fixing reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described first Transmit Receive Unit is connected with the first antenna, and described 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 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: a kind of elevator brake performance remote self-diagnosing method of the present invention, by controlling range finding sensing module on the sedan-chair frame of lift car along turntable rotation one week and the initial position obtaining traction motor coder and the initial distance of finding range between sensing module and fixing reference point, then after control elevator runs a segment distance toward a fixed-direction, obtain the position of rotation of this moment traction motor coder and the distance between range finding sensing module and fixing reference point, just can calculate the reference position information between range finding sensing module and fixing reference point that obtains and the proportionality coefficient between traction motor coder position of rotation and elevator perpendicular movement distance, then control elevator to travel at the uniform speed toward a fixed-direction, when elevator reach command speed and elevator close to stop predeterminated position time, elevator brake, gather in the whole service process of elevator the real-time rotational position of find range real-time distance between sensing module and fixing reference point and traction motor coder simultaneously, can calculate obtain elevator by braking to braking distance during end of braking, the stop time, coasting time, the brake-performance parameters such as stop maximum deceleration and stop process average deceleration/decel, and then the brake-performance parameters of acquisition and preset security interval can be carried out contrast and judge, thus selfdiagnosis can be carried out to the deceleration and stopping performance of elevator.This method is without the need to artificially measuring, and just automatically can test the various brake-performance parameters of acquisition elevator and carry out long-range selfdiagnosis to elevator brake performance, 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 that a kind of elevator brake performance remote self-diagnosing method of the present invention adopts;

Fig. 2 is the structural representation of the measurement label that the fixing reference point place of a kind of elevator brake performance remote self-diagnosing method of the present invention installs;

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

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

Detailed description of the invention

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

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

S2, control elevator stop after a fixed-direction runs a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and the distance L between range finding sensing module and fixing reference point _c1, and then calculate the Proportional coefficient K obtained 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 close to stop predeterminated position time, elevator brake, gathers in the whole service process of elevator real-time rotational position S (t) of find range real-time distance L (t) between sensing module and fixing reference point and traction motor coder simultaneously;

S4, real-time rotational position S (t) according to the real-time distance L (t) collected, traction motor coder, the reference position information between sensing module and fixing reference point of finding range and the Proportional coefficient K between traction motor coder position of rotation and elevator perpendicular movement distance, calculate the brake-performance parameters of elevator;

The brake-performance parameters 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 brake-performance parameters of the elevator of acquisition and preset security interval to be contrasted, judge whether the brake-performance parameters of elevator all drops in corresponding preset security interval, if, then judge that elevator normally works, otherwise judge that error state appears in elevator, simultaneously the brake-performance parameters 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, calculate the reference position information obtained between range finding sensing module and fixing reference point described in described step S1, it is specially:

According to real-time straight-line distance LP (t) obtained, read maximum real-time straight-line distance LP _mAXwith minimum real-time straight-line distance LP _mINafter, the reference vertical distance H obtained between range finding sensing module and fixing reference point is calculated according to following formula 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, calculate the Proportional coefficient K obtained between traction motor coder position of rotation and elevator perpendicular movement distance described in described step S2 and obtained by following formulae discovery:

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

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

S41, obtain the actual time line speed V of motor encoder in elevator brake process according to following formulae discovery _e(t):

V _E(t)＝d(S(t))/dt

Then actual time line speed V is calculated _e(t) 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 the actual time line speed V in certain moment _et () is less than command speed, then obtain this moment starts braking moment t as elevator _sB;

Wherein, v _eHfor default linear velocity threshold value;

S42, acquisition brake receiver are to the moment t of brake command _cB, obtain actual time line speed V simultaneously _et () is the moment t that terminates as elevator brake of moment of 0 _eBafter, calculate according to following formula 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 rotational position at the end of elevator brake, S (t _sB) represent that elevator starts real-time rotational position when braking, V _rrepresent the command speed of elevator;

S43, real-time speed V (t) calculating the vertical direction in elevator brake process according to following formula and real-time deceleration/decel a (t), then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value obtaining 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 according to following formula and obtains coasting distance S _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 the real-time distance of finding range between sensing module and fixing reference point at the end of elevator brake, L (t _sB) represent the real-time distance of elevator when starting to brake between range finding sensing module and fixing reference point.

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 is static, obtain this moment range finding sensing module and fixing reference point between distance L _d1and the position of rotation S of traction motor coder _d1;

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

A3, then calculate the vertical displacement L of elevator by following formula _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 ₀represent the reference levels distance between range finding sensing module and fixing reference point;

A4, judge vertical displacement L _dwhether equal the diff-H S between two floors _dC, if so, then judge that range finding sensing module normally works, otherwise, judge that range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of traction motor coder is judged _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, then judge that traction motor coder normally works, otherwise, judge that 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 comprises rotating disk, magnetic base and is arranged on the driver train for driving turntable rotation in the middle of rotating disk and magnetic base, 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 fixing reference point is arranged on the guide rail of lift car, described fixing reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described first Transmit Receive Unit is connected with the first antenna, and described 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 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 detailed description of the invention, the present invention will be further described.

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

First, fixing 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, with reference to shown in Fig. 1, in figure, Reference numeral 2 represents range finding sensing module, installing mechanism comprises rotating disk 31, magnetic base 33 and is arranged on the driver train 32 for driving turntable rotation in the middle of rotating disk and magnetic base, and range finding sensing module 2 is arranged on rotating disk 31, and magnetic base 33 is adsorbed on the sedan-chair frame of lift car.

Secondly, fixing reference point place is provided with measures label 1, with reference to shown in Fig. 2, measure label 1 and comprise the first controller 11, first memory 12 and the first Transmit Receive Unit 13, first Transmit Receive Unit 13 is connected with the first antenna 14, first controller 11 and is connected with first memory 12 and the first Transmit Receive Unit 13 respectively; Measuring label 1 also comprises for the first power supply 15 for measuring label 1 power supply;

With reference to 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, 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 for powering for range finding sensing module 2.The original data that measurement can obtain by range finding sensing module 2 is sent to the processor module of the control system of elevator brake performance remote self-diagnosing method by radio communication unit 23, calculate for processor module and obtain relevant brake-performance parameters, also can by the second controller 21 of range finding sensing module 2 according to measuring the processor module etc. being sent to control system after the original data calculating obtained obtains relevant brake-performance parameters such as stop maximum deceleration again by radio communication unit 23, as long as apply elevator brake performance remote self-diagnosing method of the present invention, no matter adopt which kind of embodiment, all drop in protection scope of the present invention.

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

Below in conjunction with accompanying drawing 1 ~ 3 and accompanying drawing 4, elevator brake performance remote self-diagnosing method of the present invention is described further:

A kind of elevator brake performance remote self-diagnosing method, comprising:

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

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

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

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

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

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

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

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

H＝H ₀-s(t-t ₀)

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

β(t)＝2ωt+θ ₀

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

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

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) substitute into 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 _ctime Rsin (β (t)), then represent rotating disk 31 in the vertical direction without mobile, wherein L _c=L ₀+ R.

In this step, because rotating disk 31 is in the process rotated a circle, there is no 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))

It can thus be appreciated that:

As β (t)=2n π, (n=0,1,2 ...) time, the value of LP (t) is minimum, namely obtains minimum real-time straight-line distance LP _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 β (t)=(2n+1) π, (n=0,1,2 ...) time, the value of LP (t) is maximum, namely obtains maximum real-time straight-line distance LP _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, can L be learnt by Fig. 4 _c=L ₀+ R, in conjunction with minimum real-time straight-line distance LP _mINwith maximum real-time straight-line distance LP _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 runs a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and the distance L between range finding sensing module and fixing reference point _c1, and then calculate the Proportional coefficient K obtained 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 is obtained by following formulae discovery:

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

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

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

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

A3, then calculate the vertical displacement L of elevator by following formula _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 ₀represent the reference levels distance between range finding sensing module and fixing reference point;

A4, judge vertical displacement L _dwhether equal the diff-H S between two floors _dC, if so, then judge that range finding sensing module normally works, otherwise, judge that range finding sensing module exists abnormal;

Meanwhile, the location variation Δ S of traction motor coder is judged _dwhether equal Proportional coefficient K and be multiplied by diff-H S _dC, if so, then judge that traction motor coder normally works, otherwise, judge that traction motor coder exists abnormal.It is abnormal if judge, range finding sensing module or traction motor coder exist, then outputting alarm message notice related personnel, and after related personnel carries out failture evacuation to range finding sensing module or traction motor coder, the step continued again below carries out elevator brake diagnosis.

S3, control elevator travel at the uniform speed toward a fixed-direction, then when elevator reaches command speed and elevator close to stop predeterminated position time, elevator brake, gathers in the whole service process of elevator real-time rotational position S (t) of find range real-time distance L (t) between sensing module and fixing reference point and traction motor coder simultaneously; Command speed is the specified running velocity that elevator runs, and stop predeterminated position is a reference position for auxiliary execution brake operating here, when detecting that elevator runs to this reference position, and elevator brake.Refer to that the distance of elevator and stop predeterminated position is less than setting threshold close to stop predeterminated position, 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 the real time execution speed gathering elevator, the real time execution speed of elevator can be gathered by setting special speed sensor, also can obtain the real time execution speed of elevator in conjunction with the method for real-time speed V (t) of the vertical direction in the calculating elevator brake process in following step S4.

S4, real-time rotational position S (t) according to the real-time distance L (t) collected, traction motor coder, the reference position information between sensing module and fixing reference point of finding range and the Proportional coefficient K between traction motor coder position of rotation and elevator perpendicular movement distance, calculate the brake-performance parameters of elevator;

The brake-performance parameters 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, obtain the actual time line speed V of motor encoder in elevator brake process according to following formulae discovery _e(t):

V _E(t)＝d(S(t))/dt

Then actual time line speed V is calculated _e(t) 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 the actual time line speed V in certain moment _et () is less than command speed, then obtain this moment starts braking moment t as elevator _sB;

Wherein, v _eHfor default linear velocity threshold value, probability density p (v _e< v _eH) in v _erepresent the linear velocity of traction motor coder;

S42, acquisition brake receiver are to the moment t of brake command _cB, obtain actual time line speed V simultaneously _et () is the moment t that terminates as elevator brake of moment of 0 _eBafter, calculate according to following formula 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 rotational position at the end of elevator brake, S (t _sB) represent that elevator starts real-time rotational position when braking, V _rrepresent the command speed of elevator;

S43, real-time speed V (t) calculating the vertical direction in elevator brake process according to following formula and real-time deceleration/decel a (t), then obtain the maxim of real-time deceleration/decel a (t) as stop maximum deceleration a _max, and the minimum value obtaining 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 according to following formula and obtains coasting distance S _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 the real-time distance of finding range between sensing module and fixing reference point at the end of elevator brake, L (t _sB) represent the real-time distance of elevator when starting to brake between range finding sensing module and fixing reference point.

S5, the brake-performance parameters of the elevator of acquisition and preset security interval to be contrasted, judge whether the brake-performance parameters of elevator all drops in corresponding preset security interval, if, then judge that elevator normally works, otherwise judge that error state appears in elevator, simultaneously the brake-performance parameters of output abnormality.Here, all parameters of brake-performance parameters have corresponding preset security interval, if judge certain brake-performance parameters such as braking distance S _bDdo not drop in its preset security interval, then judge that error state appears in elevator, simultaneously the brake-performance parameters of output abnormality i.e. braking distance S here _bD.Here, the brake-performance parameters of the exception of output can regard the result of elevator brake selfdiagnosis as.In addition, the result of the various real time datas obtained, the brake-performance parameters calculated or selfdiagnosis can be sent to the processor module of control system by this method by wired or wireless communication modes, can realize long-range selfdiagnosis.

In addition, the brake-performance parameters of elevator that this step also can will obtain, 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 carry out recording and storing, record the real-time time T in this moment simultaneously, be recorded as B (n)=[S _bDs _sDt _bDa _mAXa _mINa _aVGt _delayt], carry out Fitting Analysis by the data stored record, the variation tendency of elevator brake performance can also be predicted.

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 these equivalent modification or replacement are all included in the application's claim limited range.

Claims (7)

1. an elevator brake performance remote self-diagnosing method, is characterized in that, comprising:

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

S2, control elevator stop after a fixed-direction runs a segment distance, obtain the position of rotation S of this moment traction motor coder _e1and the distance L between range finding sensing module and fixing reference point _c1, and then calculate the Proportional coefficient K obtained 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 close to stop predeterminated position time, elevator brake, gathers in the whole service process of elevator real-time rotational position S (t) of find range real-time distance L (t) between sensing module and fixing reference point and traction motor coder simultaneously;

S4, real-time rotational position S (t) according to the real-time distance L (t) collected, traction motor coder, the reference position information between sensing module and fixing reference point of finding range and the Proportional coefficient K between traction motor coder position of rotation and elevator perpendicular movement distance, calculate the brake-performance parameters of elevator;

The brake-performance parameters 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 brake-performance parameters of the elevator of acquisition and preset security interval to be contrasted, judge whether the brake-performance parameters of elevator all drops in corresponding preset security interval, if, then judge that elevator normally works, otherwise judge that error state appears in elevator, simultaneously the brake-performance parameters of output abnormality.

2. a kind of elevator brake performance remote self-diagnosing method 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, calculate the reference position information obtained between range finding sensing module and fixing reference point described in described step S1, it is specially:

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

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

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

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

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

S41, obtain the actual time line speed V of motor encoder in elevator brake process according to following formulae discovery _e(t):

V _E(t)＝d(S(t))/dt

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

Wherein, v _eHfor default linear velocity threshold value;

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

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

Wherein, S (t _eB) represent real-time rotational position at the end of elevator brake, S (t _sB) represent that elevator starts real-time rotational position when braking, V _rrepresent the command speed of elevator;

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

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

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

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

Wherein, L (t _eB) represent the real-time distance of finding range between sensing module and fixing reference point at the end of elevator brake, L (t _sB) represent the real-time distance of elevator when starting to brake between range finding sensing module and fixing reference point.

5. a kind of elevator brake performance remote self-diagnosing method 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 is static, obtain this moment range finding sensing module and fixing reference point between distance L _d1and the position of rotation S of traction motor coder _d1;

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

A3, then calculate the vertical displacement L of elevator by following formula _dand the location variation △ 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 ₀represent the reference levels distance between range finding sensing module and fixing reference point;

A4, judge vertical displacement L _dwhether equal the diff-H S between two floors _dC, if so, then judge that range finding sensing module normally works, otherwise, judge that range finding sensing module exists abnormal;

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

6. a kind of elevator brake performance remote self-diagnosing method 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 comprises rotating disk, magnetic base and is arranged on the driver train for driving turntable rotation in the middle of rotating disk and magnetic base, 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. a kind of elevator brake performance remote self-diagnosing method according to claim 1, it is characterized in that, described fixing reference point is arranged on the guide rail of lift car, described fixing reference point place is provided with measurement label, described measurement label comprises the first controller, first memory and the first Transmit Receive Unit, described first Transmit Receive Unit is connected with the first antenna, and described 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 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.