CN106712622A - Sine and cosine encoder fault preprocessing method and system of elevator - Google Patents

Sine and cosine encoder fault preprocessing method and system of elevator Download PDF

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Publication number
CN106712622A
CN106712622A CN201611039319.0A CN201611039319A CN106712622A CN 106712622 A CN106712622 A CN 106712622A CN 201611039319 A CN201611039319 A CN 201611039319A CN 106712622 A CN106712622 A CN 106712622A
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angle
signal
motor
current value
sine
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CN106712622B (en
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秦鹏
黄立明
刘真
薄明心
李基源
仲兆峰
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Guangzhou Ropente Technology Development Co Ltd
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Guangzhou Ropente Technology Development Co Ltd
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    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • HELECTRICITY
    • H02GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02PCONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The invention relates to a sine and cosine encoder fault preprocessing method and system of an elevator. The method comprises the steps of receiving a starting signal of an electric motor, obtaining a feedback signal of the sine and cosine encoder and obtaining a prediction angle of a rotor of the electric motor according to the feedback signal and a preset angle; sequentially sending vector voltage pulses of the same amplitude in all preset directions to the electric motor and receiving phase currents returned by the electric motor respectively according to all the vector voltage pulses; determining a static angle of the rotor of the electric motor according to the multiple phase currents; calculating out an angle difference between the prediction angle and the static angle; controlling the electric motor to stop operating if the angle difference is larger than a preset difference value. Therefore, fault prognosis can be performed on the sine and cosine encoder before operation of the electric motor, the electric motor is controlled to stop operating when the angle difference is larger than the preset difference value, faults of elevator galloping, trap and the like caused by an inaccurate feedback signal of the sine and cosine encoder are avoided, and safety and reliability of elevator operation are improved.

Description

The sine and cosine encoder failure preprocess method and system of elevator
Technical field
The present invention relates to elevator technology field, the sine and cosine encoder failure preprocess method of more particularly to a kind of elevator And system.
Background technology
The geometric displacement amount of machinery can be converted into electronic signal by sine and cosine encoder, when being applied to elevator, elevator control The signal that system processed can send according to sine and cosine encoder determines the speed and rotor-position of motor, and motor is controlled with this Lifting.Therefore, the signal accuracy of sine and cosine encoder, the stabilization to elevator operation plays an important role.
However, traditional apparatus for controlling elevator is typically directly to be entered according to the signal of sine and cosine encoder after elevator starts Row Motor Control.When the signal of sine and cosine encoder is wrong, it will cause motor running unstable, so as to cause elevator Fluctuation of service, poor reliability.
The content of the invention
Based on this, it is necessary to regarding to the issue above, there is provided a kind of sine and cosine encoder of the elevator for improving operational reliability Failure preprocess method and system.
A kind of sine and cosine encoder failure preprocess method of elevator, including:
After receiving motor start-up signal, obtain the feedback signal of sine and cosine encoder, and according to the feedback signal and Predetermined angle obtains the pre- measuring angle of the rotor of motor;
The vector voltage pulse of each preset direction of identical amplitude is sent to the motor successively, and receives the electricity The phase current that motivation is returned according to each vector voltage pulse respectively;
The static angular of the rotor of the motor is determined according to multiple phase currents;
Calculate the differential seat angle of the pre- measuring angle and the static angular;
If the differential seat angle is more than preset difference value, control the motor out of service.
A kind of sine and cosine encoder failure pretreatment system of elevator, including:
Pre- measuring angle acquisition module, after receiving motor start-up signal, obtains the feedback signal of sine and cosine encoder, And the pre- measuring angle of the rotor of motor is obtained according to the feedback signal and predetermined angle;
Phase current receiver module, for the vector voltage pulse of each preset direction of identical amplitude to be sent to described successively Motor, and receive the phase current that the motor is returned according to each vector voltage pulse respectively;
Static angular acquisition module, the static angular of the rotor for determining the motor according to multiple phase currents;
Differential seat angle computing module, the differential seat angle for calculating the pre- measuring angle and the static angular;
Failure pretreatment module, for when the differential seat angle is more than preset difference value, controlling the motor out of service.
The sine and cosine encoder failure preprocess method and system of above-mentioned elevator, use is respectively obtained by using two ways In the angle of motor rotor position, a kind of mode is:After motor start-up signal is received, the anti-of sine and cosine encoder is obtained Feedback signal, and the pre- measuring angle of the rotor of motor is obtained according to feedback signal and predetermined angle;Another way is:Will be identical The vector voltage pulse of each preset direction of amplitude is sent to motor successively, and receives motor respectively according to each vector voltage The phase current that pulse is returned, the static angular of the rotor of motor is determined according to multiple phase currents.Then calculate pre- measuring angle and The differential seat angle of static angular, is analyzed according to differential seat angle, if differential seat angle is more than preset difference value, control motor stops fortune OK.In this way, failure anticipation can be carried out to sine and cosine encoder before the motor running of elevator, preset difference value is more than in differential seat angle Control motor is out of service, it is to avoid cause to produce elevator driving, oppressive because the feedback signal of sine and cosine encoder is inaccurate Etc. failure, the safety and reliability of elevator operation is improved.
Brief description of the drawings
Fig. 1 is the flow chart of the sine and cosine encoder failure preprocess method of elevator in an embodiment;
After Fig. 2 in an embodiment to receive motor start-up signal, the feedback signal of acquisition sine and cosine encoder, and according to Feedback signal and predetermined angle obtain the particular flow sheet of the pre- measuring angle of the rotor of motor;
Fig. 3 is the flow chart of the sine and cosine encoder failure preprocess method of elevator in another embodiment;
Fig. 4 is the module frame chart of the sine and cosine encoder failure pretreatment system of elevator in an embodiment;
Fig. 5 is the module frame chart of the sine and cosine encoder failure pretreatment system of elevator in another embodiment.
Specific embodiment
With reference to Fig. 1, the sine and cosine encoder failure preprocess method of elevator, can be applied to the control of elevator in an embodiment System, the method comprises the following steps.
S110:After receiving motor start-up signal, obtain the feedback signal of sine and cosine encoder, and according to feedback signal and Predetermined angle obtains the pre- measuring angle of the rotor of motor.
Sine and cosine encoder is rotated coaxially with motor.0 ° of position of the rotor of motor and 0 ° of position of sine and cosine encoder When putting identical, without position deviation between the rotor and sine and cosine encoder of motor, the position angle of sine and cosine encoder is The position angle of the rotor of motor;It is electronic when 0 ° of position of the rotor of motor is different from 0 ° of position of sine and cosine encoder There is position deviation between the rotor and sine and cosine encoder of machine, if for example, 0 ° of position correspondence sine and cosine of the rotor of motor is compiled 10 ° of positions of code device, then it represents that advanced 10 ° of sine and cosine encoder.
Predetermined angle can be chosen from the angle for prestoring according to actual needs.The feedback signal of sine and cosine encoder is for just The electric signal exported in cosine encoder rotation process, control system according to feedback signal and predetermined angle can process To the angle and speed of sine and cosine encoder, further obtained with the position deviation of the rotor of motor according to sine and cosine encoder Pre- measuring angle.
S120:The vector voltage pulse of each preset direction of identical amplitude is sent to motor successively, and receives electronic The phase current that machine is returned according to each vector voltage pulse respectively.
Preset direction can specifically be set according to actual needs.Phase current is anti-after motor reception vector voltage pulse The electric current of feedback, phase current specifically can be by the AD in DSP (Digital Signal Processing Digital Signal Processing) device (modulus) process circuit is gathered.The vector voltage pulse of each preset direction of identical amplitude is sent to motor successively, specifically To send the vector voltage pulse of a preset direction to motor every time, because the direction of each vector voltage pulse is different, every time The direction of the vector voltage pulse that motor is received is different, and phase current is of different sizes obtained from.
S130:The static angular of the rotor of motor is determined according to multiple phase currents.
The motor used in elevator usually permagnetic synchronous motor, it is possible to use the salient pole effect of permasyn morot Should, obtain static angular by using system self study mode.The phase current that motor is obtained according to vector voltage pulse with it is fixed The direction of electron current resultant vector is relevant, and the direction of maximum phase current is exactly the magnetic pole N poles place direction of rotor, so as to according to magnetic Direction where the N poles of pole can determine the static angular of rotor.
S140:Calculate the differential seat angle of pre- measuring angle and static angular.
Pre- measuring angle is the angle of the rotor-position obtained according to the feedback signal of sine and cosine encoder;Static angular is logical The angle that the rotor-position that self study is obtained is carried out using saliency is crossed, as the standard for analyzing pre- measuring angle.By calculating Differential seat angle, can analyze the differential seat angle of the accuracy of the feedback signal of sine and cosine encoder, pre- measuring angle and static angular with anticipation It is bigger, represent that the feedback signal error of sine and cosine encoder is bigger, the differential seat angle of pre- measuring angle and static angular is smaller, represents just The feedback signal degree of accuracy of cosine encoder is higher.
S150:If differential seat angle is more than preset difference value, control motor is out of service.
Preset difference value can specifically be set according to actual needs.In the present embodiment, preset difference value is 30 °.Differential seat angle is more than Preset difference value, then it represents that anticipation to sine and cosine encoder failure, now controls motor out of service, prevents operation event Barrier.
The sine and cosine encoder failure preprocess method of above-mentioned elevator, is respectively obtained for electronic by using two ways The angle of machine rotor position, a kind of mode is:After motor start-up signal is received, the feedback letter of sine and cosine encoder is obtained Number, and the pre- measuring angle of the rotor of motor is obtained according to feedback signal and predetermined angle;Another way is:By identical amplitude The vector voltage pulse of each preset direction send to motor successively, and receive motor respectively according to each vector voltage pulse The phase current of return, the static angular of the rotor of motor is determined according to multiple phase currents.Then pre- measuring angle and static state are calculated The differential seat angle of angle, is analyzed according to differential seat angle, if differential seat angle is more than preset difference value, control motor is out of service.Such as This, can carry out failure anticipation, in differential seat angle more than preset difference value control before the motor running of elevator to sine and cosine encoder Motor is out of service, it is to avoid cause to produce elevator driving, oppressive etc. because the feedback signal of sine and cosine encoder is inaccurate therefore Barrier, improves the safety and reliability of elevator operation.
In one embodiment, feedback signal includes the first increment signal, the second increment signal, the first individual pen absolute position letter Number and the second individual pen absolute position signal.
Sine and cosine encoder has the road signal of A, B, R, C, D five, wherein, R is that Z1 carves rail signal, and a-signal, B signal are two Increment signal, C signal, D signals are two individual pen absolute position signals.The rotor of motor rotates a circle, corresponding A signal and B Signal has 2048 pulses, and C signal and D signals are generation a cycle signal.In the present embodiment, the first increment signal refers to that A believes Number, the second increment signal refers to B signal, and the first individual pen absolute position signal refers to C signal, and the second individual pen absolute position signal refers to that D believes Number.
Predetermined angle includes prestore motor pole angle and the start bit angle setting that prestores.Wherein, the motor pole angle that prestores refers in advance The corresponding angle of the position deviation between the rotor and sine and cosine encoder of the motor of storage.The start bit that prestores angle setting refers in advance The angle of rotor after the completion of once being run before the motor of storage.
With reference to Fig. 2, step S110 can include S111 to step S114.
S111:Judge whether motor start-up signal is to receive for the first time.If so, then performing step S112;If it is not, then holding Row step S114.
S112:Obtain the first individual pen absolute position signal and the second individual pen absolute position signal.
S113:Obtained according to the first individual pen absolute position signal, the second individual pen absolute position signal and the motor pole angle that prestores Take pre- measuring angle.
Treatment is carried out to the first individual pen absolute position signal and the second individual pen absolute position signal can obtain sine and cosine volume The rotational angle of code device, then the rotational angle according to sine and cosine encoder and the pre- measuring angle of motor pole angle acquisition that prestores, incite somebody to action Position deviation between the rotor and sine and cosine encoder of motor is taken into account, and the pre- measuring angle accuracy for obtaining is high.
In the present embodiment, step S113 specifically includes step S1131 to step S1133.
S1131:First individual pen absolute position signal and the second individual pen absolute position signal are respectively obtained by AD collections First voltage value and second voltage value.
AD collections are carried out to the first individual pen absolute position signal and the second individual pen absolute position signal, can be specifically to pass through DSP devices are realized, carry out analog-to-digital conversion to the first individual pen absolute position signal and obtain first voltage value, to the absolute position of the second individual pen Confidence number carries out analog-to-digital conversion and obtains second voltage value.
S1132:Arctangent computation is carried out to first voltage value and second voltage value, encoder angular is obtained.
Arctangent computation is carried out to first voltage value and second voltage value, specially:
Wherein, u1It is first voltage value, u2It is second voltage value, α is encoder angular.
S1133:Calculation code device angle and the motor pole angle sum that prestores, obtain pre- measuring angle.
The motor pole angle that prestores can represent lead and lag with sign.For example, the motor pole angle that prestores is -10 °, table Show delayed 10 ° of the rotor of motor;Motor pole angle prestore for 10 °, 10 ° of the rotor lead of motor is represented.In this way, directly counting Calculate encoder angular and the motor pole angle sum that prestores with positive negative sign, you can accurately obtain pre- measuring angle for representing electronic The position angle of machine rotor.
It is appreciated that in other embodiments, step S1133 can also be using other operations, for example, the motor pole that prestores Angle can be divided into three kinds of rotor lead angle, rotor lag angle and zero degree;If the motor pole angle that prestores is for rotor lead angle, Then calculation code device angle obtains pre- measuring angle with the motor pole angle sum that prestores;If the motor pole angle that prestores is for rotor angle of lag Degree, then the difference at calculation code device angle and the motor pole angle that prestores obtains pre- measuring angle;If the motor pole angle that prestores is for zero degree, Using encoder angular as pre- measuring angle.
S114:Obtain the first increment signal and the second increment signal.
Motor start-up signal is not to receive for the first time, is run before representing motor, now gathers sine and cosine coding First increment signal and the second increment signal of device.
S115:Pre- measuring angle is obtained according to the first increment signal, the second increment signal and the start bit angle setting that prestores.
Treatment is carried out to the first increment signal and the second increment signal can obtain the rotational angle of sine and cosine encoder, so The rotational angle according to sine and cosine encoder and the start bit angle setting that prestores obtain pre- measuring angle afterwards, are produced being run before motor From the point of view of including, the pre- measuring angle accuracy for obtaining is high.
In the present embodiment, step S115 specifically includes step S1151 to step S1153.
S1151:First increment signal and the second increment signal are processed as square-wave signal respectively, by square-wave signal send to Umber of pulse is obtained after QEP (Quadrature Encoder Pulse quadrature coding pulses) processing of circuit.
First increment signal and the second increment signal are sine wave signal, can be increased first using existing known technology Amount signal and the second increment signal are processed as square-wave signal, it is for instance possible to use comparison circuit is realized, sine wave signal voltage is high High level is exported in 2.5V, low level is exported less than 2.5V.The square wave that first increment signal and the treatment of the second increment signal are obtained The pulse number of signal is equal;Square-wave signal is sent to QEP processing of circuit, specifically can be to send out two-way square-wave signal QEP circuits are delivered to, QEP circuits carry out frequency multiplication to square-wave signal and obtain square-wave signal respective pulses number all the way.For example:First increment The pulse number of the square-wave signal that signal and the treatment of the second increment signal are obtained is 2048, by after QEP circuit quadruples, obtaining The umber of pulse for arriving is 8192.
S1152:Calculate the product of umber of pulse and default unit pulse corresponding angle.
Unit pulse corresponding angle is the corresponding angle value of pulse, for example, the rotor of motor rotates a circle correspondence There are 2048 pulses in first increment signal and the second increment signal, then unit pulse corresponding angle is 360 °/2048.If pulse Number is 1024, then the product being calculated is 180 °.
S1153:Product and the start bit angle setting sum that prestores are calculated, pre- measuring angle is obtained.
Step S111 to step S115 is analyzed by motor start-up signal, is first in motor start-up signal Secondary reception and non-first time are received in the case of two kinds, obtain pre- measuring angle according to feedback signal and predetermined angle respectively, are comprehensively examined Consider various situations, the prediction angular accuracy for obtaining is high.
In one embodiment, preset direction is that 360 ° are carried out with six directions of angle that six deciles are obtained.Six angles Six vector sectors of correspondence, for example, in the present embodiment, multiple preset directions be respectively 0 °, 60 °, 120 °, 180 °, 240 ° and 300 ° of corresponding directions, six vector sectors be respectively 0 ° of -60 ° of sector, 60 ° of -120 ° of sectors, 120 ° of -180 ° of sectors, 180 ° - 240 ° of sectors, 240 ° of -300 ° of sectors and 300 ° of -360 ° of sectors.
In the present embodiment, step S130 includes step (a1) to step (a5).
Step (a1):Obtain the current value of each phase current and choose maximum current value.
Corresponding current value can be determined according to phase current, for example, modulus treatment can be carried out to phase current and is obtained electric current Value.It is compared by the current value to each phase current, selection maximum current value can be searched.
Step (a2):According to the size order of each preset direction corresponding angle, the vector voltage pulse to each preset direction The current value of corresponding phase current is ranked up, and chooses the preceding current value and rear current value adjacent with maximum current value.
After preceding current value refers to the current value sequence to phase current, a current value before maximum current value is electric afterwards Flow valuve refer to phase current sort after, a current value after maximum current value.One vector voltage pulse correspondence one The angle of preset direction and a phase current, i.e., one angle one current value of phase current of correspondence of preset direction, therefore, really Determine the order of the angle of preset direction, you can determine the order of the current value of phase current, can be specifically according to corresponding angle from It is small to be sorted to order big or from big to small.If for example, maximum current value is the corresponding phase electricity of vector voltage pulse in 60 ° of directions The current value of stream, then preceding current value is 0 ° of current value of the corresponding phase current of vector voltage pulse in direction, and rear current value is 120 ° of current values of the corresponding phase current of vector voltage pulse in direction.
Step (a3):If preceding current value is equal to rear current value, by where the corresponding vector voltage pulse of maximum current value The angle of preset direction is used as static angular.
Step (a4):If preceding current value is more than rear current value,:
Step (a5):If preceding current value is less than or equal to rear current value,:
Wherein, z is static angular, and x is preceding current value, and y is rear current value, and k is predetermined coefficient, and s is maximum current value pair The angle of preset direction where the vector voltage pulse answered.
It is compared by preceding current value and rear current value, selects corresponding calculation to obtain quiet according to comparative result State angle, the degree of accuracy is high.
In one embodiment, with reference to Fig. 3, step S160 and step S170 is also included after step S140.
S160:If differential seat angle is less than or equal to preset difference value and is not zero, using static angular as sine and cosine encoder Initial angle, storing initial angle and the differential seat angle, and control motor normally to run according to motor start-up signal.
Differential seat angle is less than or equal to preset difference value and is not zero, and represents the error of sine and cosine encoder in acceptable error In the range of, motor start-up signal control motor can be responded and normally run;Meanwhile, for sine and cosine is compiled in improving running The degree of accuracy of the feedback signal of code device, pre- measuring angle is replaced with static angular as the initial angle of sine and cosine encoder and is deposited Storage, while stored angles are poor, so that the feedback signal to the sine and cosine encoder in running is corrected.In this way, can enter One step improves the degree of accuracy of the feedback signal of sine and cosine encoder, so as to further improve the security and reliability of elevator operation Property.
S170:If differential seat angle is zero, using pre- measuring angle is as initial angle and stores, according to motor start-up signal control Motor processed normally runs.
Differential seat angle is zero, represents the feedback signal of sine and cosine encoder and accurately can be used to represent the position of the rotor of motor Angle, can respond motor start-up signal control motor and normally run;Meanwhile, directly compiled pre- measuring angle as sine and cosine The initial angle of code device is simultaneously stored, and calculates the position of rotor according to the feedback signal of sine and cosine encoder for use in running Angle.
In one embodiment, with reference to Fig. 4, the sine and cosine encoder failure pretreatment system of the elevator in an embodiment can It is applied to the control system of elevator.The sine and cosine encoder failure pretreatment system of elevator include pre- measuring angle acquisition module 110, Phase current receiver module 120, static angular acquisition module 130, differential seat angle computing module 140 and failure pretreatment module 150.
After pre- measuring angle acquisition module 110 is used to receive motor start-up signal, the feedback letter of sine and cosine encoder is obtained Number, and the pre- measuring angle of the rotor of motor is obtained according to feedback signal and predetermined angle.
Predetermined angle can be chosen from the angle for prestoring according to actual needs.The feedback signal of sine and cosine encoder is for just The electric signal exported in cosine encoder rotation process, control system according to feedback signal and predetermined angle can process To the angle and speed of sine and cosine encoder, further obtained with the position deviation of the rotor of motor according to sine and cosine encoder Pre- measuring angle.
Phase current receiver module 120 is used to send the vector voltage pulse of each preset direction of identical amplitude to electricity successively Motivation, and receive the phase current that motor is returned according to each vector voltage pulse respectively.
The vector voltage pulse of each preset direction of identical amplitude is sent to motor, specially every time to electronic successively Machine sends the vector voltage pulse of a preset direction, because the direction of each vector voltage pulse is different, what each motor was received The direction of vector voltage pulse is different, and phase current is of different sizes obtained from.
Static angular acquisition module 130 is used for the static angular of the rotor that motor is determined according to multiple phase currents.
Differential seat angle computing module 140 is used to calculate the differential seat angle of pre- measuring angle and static angular.
Pre- measuring angle is the angle of the rotor-position obtained according to the feedback signal of sine and cosine encoder;Static angular is logical The angle that the rotor-position that self study is obtained is carried out using saliency is crossed, as the standard for analyzing pre- measuring angle.By calculating Differential seat angle, can analyze the differential seat angle of the accuracy of the feedback signal of sine and cosine encoder, pre- measuring angle and static angular with anticipation It is bigger, represent that the feedback signal error of sine and cosine encoder is bigger, the differential seat angle of pre- measuring angle and static angular is smaller, represents just The feedback signal degree of accuracy of cosine encoder is higher.
Failure pretreatment module 150 is used for when differential seat angle is more than preset difference value, and control motor is out of service.
Preset difference value can specifically be set according to actual needs.In the present embodiment, preset difference value is 30 °.Differential seat angle is more than Preset difference value, then it represents that anticipation to sine and cosine encoder failure, now controls motor out of service, prevents operation event Barrier.
The sine and cosine encoder failure pretreatment system of above-mentioned elevator, is respectively obtained for electronic by using two ways The angle of machine rotor position, a kind of mode is:Pre- measuring angle acquisition module 110 is obtained just after motor start-up signal is received The feedback signal of cosine encoder, and the pre- measuring angle of the rotor of motor is obtained according to feedback signal and predetermined angle;It is another Kind of mode is:Phase current receiver module 120 sends to electronic the vector voltage pulse of each preset direction of identical amplitude successively Machine, and the phase current that motor is returned according to each vector voltage pulse respectively is received, static angular acquisition module 130 is according to multiple Phase current determines the static angular of the rotor of motor.Then pre- measuring angle and static state are calculated by differential seat angle computing module 140 The differential seat angle of angle, failure pretreatment module 150 is more than preset difference value in differential seat angle, and control motor is out of service.In this way, can Failure anticipation is carried out to sine and cosine encoder before the motor running of elevator, motor is controlled more than preset difference value in differential seat angle It is out of service, it is to avoid to cause to produce the failure such as elevator driving, oppressive because the feedback signal of sine and cosine encoder is inaccurate, improve The safety and reliability of elevator operation.
In one embodiment, feedback signal includes the first increment signal, the second increment signal, the first individual pen absolute position letter Number and the second individual pen absolute position signal.
Predetermined angle includes prestore motor pole angle and the start bit angle setting that prestores.Wherein, the motor pole angle that prestores refers in advance The corresponding angle of the position deviation between the rotor and sine and cosine encoder of the motor of storage.The start bit that prestores angle setting refers in advance The angle of rotor after the completion of once being run before the motor of storage.
In the present embodiment, pre- measuring angle acquisition module 110 includes signal analysis unit (not shown), the first signal acquisition list First (not shown), first angle acquiring unit (not shown), secondary signal acquiring unit (not shown) and second angle obtain single First (not shown).
Signal analysis unit is used to judge whether motor start-up signal is to receive for the first time.
First signal acquiring unit is used to, when motor start-up signal to receive for the first time, obtain the absolute position of the first individual pen Confidence number and the second individual pen absolute position signal.
First angle acquiring unit is used for according to the first individual pen absolute position signal, the second individual pen absolute position signal and pre- Deposit motor pole angle and obtain pre- measuring angle.
Treatment is carried out to the first individual pen absolute position signal, the second individual pen absolute position signal can obtain sine and cosine coding The rotational angle of device, then the rotational angle according to sine and cosine encoder and the motor pole angle that prestores obtain pre- measuring angle, by electricity Position deviation between the rotor and sine and cosine encoder of motivation is taken into account, and the pre- measuring angle accuracy for obtaining is high.
In the present embodiment, first angle acquiring unit specifically can be used for:By the first individual pen absolute position signal, the second list Circle absolute position signal respectively obtains first voltage value and second voltage value by AD collections;To first voltage value and second voltage Value carries out arctangent computation, obtains encoder angular;Calculation code device angle and the motor pole angle sum that prestores, obtain pre- angle measurement Degree.
Secondary signal acquiring unit is used to, when motor start-up signal not receive for the first time, obtain the first increment signal With the second increment signal.
Second angle acquiring unit is used to be obtained according to the first increment signal, the second increment signal and the start bit angle setting that prestores Pre- measuring angle.
Treatment is carried out to the first increment signal, the second increment signal can obtain the rotational angle of sine and cosine encoder, so The rotational angle according to sine and cosine encoder and the start bit angle setting that prestores obtain pre- measuring angle afterwards, are produced being run before motor From the point of view of including, the pre- measuring angle accuracy for obtaining is high.
In the present embodiment, second angle acquiring unit specifically can be used for:By the first increment signal and the second increment signal Square-wave signal is processed as respectively, square-wave signal is sent and obtains umber of pulse to QEP processing of circuit;Calculate umber of pulse with it is default The product of unit pulse corresponding angle;Product and the start bit angle setting sum that prestores are calculated, pre- measuring angle is obtained.
Motor start-up signal is analyzed by signal analysis unit, the first signal acquiring unit, first angle are obtained It is reception and non-first for the first time that unit, secondary signal acquiring unit and second angle acquiring unit are taken in motor start-up signal It is secondary to receive in the case of two kinds, pre- measuring angle is obtained according to feedback signal and predetermined angle respectively, consider various situations, obtain Prediction angular accuracy it is high.
In one embodiment, preset direction is that 360 ° are carried out with six directions of angle that six deciles are obtained.
In the present embodiment, static angular acquisition module 130 includes that maximum current value chooses unit (not shown), adjacent current Value chooses unit (not shown), the first analytic unit (not shown), the second analytic unit (not shown) and the 3rd analytic unit (figure Do not show).
Maximum current value chooses unit to be used to obtain the current value of each phase current and choose maximum current value.According to phase current Corresponding current value can be determined, for example, modulus treatment can be carried out to phase current and is obtained current value.By to each phase current Current value be compared, selection maximum current value can be searched.
Adjacent current value chooses unit to be used for according to the size order of each preset direction corresponding angle, to each preset direction The current value of the corresponding phase current of vector voltage pulse is ranked up, and choose the preceding current value adjacent with maximum current value and after Current value.After preceding current value refers to the current value sequence to phase current, a current value before maximum current value, rear electric current Value refer to phase current sort after, a current value after maximum current value.
First analytic unit is used for when preceding current value is equal to rear current value, by the corresponding vector voltage arteries and veins of maximum current value The angle of preset direction is used as static angular where punching.
Second analytic unit be used for preceding current value be more than rear current value when, according to:
Determine the static angular of the rotor of motor.
3rd analytic unit be used for preceding current value be less than or equal to rear current value when, according to:
Determine the static angular of the rotor of motor.
Wherein, z is static angular, and x is preceding current value, and y is rear current value, and k is predetermined coefficient, and s is maximum current value pair The angle of preset direction where the vector voltage pulse answered.
It is compared by preceding current value and rear current value, selects corresponding calculation to obtain quiet according to comparative result State angle, the degree of accuracy is high.
In one embodiment, with reference to Fig. 5, the sine and cosine encoder failure preprocess method of above-mentioned elevator also includes starting school Positive module 160 and normal starting module 170.
Starting correction module 160 is used to, when differential seat angle is less than or equal to preset difference value and is not zero, static angular be made It is the initial angle of sine and cosine encoder, storing initial angle and differential seat angle, and motor is controlled according to motor start-up signal Normal operation.
Differential seat angle is less than or equal to preset difference value and is not zero, and represents the error of sine and cosine encoder in acceptable error In the range of, motor start-up signal control motor can be responded and normally run;Meanwhile, for sine and cosine is compiled in improving running The degree of accuracy of the feedback signal of code device, pre- measuring angle is replaced with static angular as the initial angle of sine and cosine encoder and is deposited Storage, while stored angles are poor, so that the feedback signal to the sine and cosine encoder in running is corrected.In this way, can enter One step improves the degree of accuracy of the feedback signal of sine and cosine encoder, so as to further improve the security and reliability of elevator operation Property.
Normal starting module 170 is used for when differential seat angle is zero, using pre- measuring angle is as initial angle and stores, according to electricity Motivation enabling signal control motor normally runs.
Differential seat angle is zero, represents the feedback signal of sine and cosine encoder and accurately can be used to represent the position of the rotor of motor Angle, can respond motor start-up signal control motor and normally run;Meanwhile, directly compiled pre- measuring angle as sine and cosine The initial angle of code device is simultaneously stored, and calculates the position of rotor according to the feedback signal of sine and cosine encoder for use in running Angle.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses several embodiments of the invention, and its description is more specific and detailed, but simultaneously Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for one of ordinary skill in the art Say, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.

Claims (10)

1. the sine and cosine encoder failure preprocess method of a kind of elevator, it is characterised in that including:
After receiving motor start-up signal, the feedback signal of sine and cosine encoder is obtained, and according to the feedback signal and preset Angle obtains the pre- measuring angle of the rotor of motor;
The vector voltage pulse of each preset direction of identical amplitude is sent to the motor successively, and receives the motor The phase current for being returned according to each vector voltage pulse respectively;
The static angular of the rotor of the motor is determined according to multiple phase currents;
Calculate the differential seat angle of the pre- measuring angle and the static angular;
If the differential seat angle is more than preset difference value, control the motor out of service.
2. the sine and cosine encoder failure preprocess method of elevator according to claim 1, it is characterised in that the feedback Signal includes the first increment signal, the second increment signal, the first individual pen absolute position signal and the second individual pen absolute position signal, The predetermined angle includes prestore motor pole angle and the start bit angle setting that prestores, and after the reception motor start-up signal, obtains The feedback signal of sine and cosine encoder, and the pre- angle measurement of the rotor of motor is obtained according to the feedback signal and predetermined angle Degree, including:
Judge whether the motor start-up signal is to receive for the first time;
If so, then obtaining the first individual pen absolute position signal and the second individual pen absolute position signal;
Obtained according to the first individual pen absolute position signal, the second individual pen absolute position signal and the motor pole angle that prestores The pre- measuring angle;
If it is not, then obtaining the first increment signal signal and the second increment signal signal;
The prediction is obtained according to the first increment signal signal, the second increment signal signal and the start bit angle setting that prestores Angle.
3. the sine and cosine encoder failure preprocess method of elevator according to claim 2, it is characterised in that the basis The first individual pen absolute position signal, the second individual pen absolute position signal and the motor pole angle that prestores obtain the prediction Angle, including:
The first individual pen absolute position signal and the second individual pen absolute position signal are respectively obtained into the first electricity by AD collections Pressure value and second voltage value;
Arctangent computation is carried out with the second voltage value to the first voltage value, encoder angular is obtained;
The encoder angular and the motor pole angle sum that prestores are calculated, the pre- measuring angle is obtained;
It is described that the pre- angle measurement is obtained according to first increment signal, second increment signal and the start bit angle setting that prestores Degree, including:
First increment signal and second increment signal are processed as square-wave signal respectively, the square-wave signal is sent Umber of pulse is obtained after to QEP processing of circuit;
Calculate the product of the umber of pulse and default unit pulse corresponding angle;
The product and the start bit angle setting sum that prestores are calculated, the pre- measuring angle is obtained.
4. the sine and cosine encoder failure preprocess method of elevator according to claim 1, it is characterised in that described default Direction is that 360 ° are carried out with six directions of angle that six deciles are obtained, described to determine the motor according to multiple phase currents The static angular of rotor, including:
Obtain the current value of each phase current and choose maximum current value;
According to the size order of each preset direction corresponding angle, to the corresponding phase current of vector voltage pulse of each preset direction Current value is ranked up, and chooses the preceding current value and rear current value adjacent with the maximum current value;
If the preceding current value is equal to the rear current value, will be pre- where the corresponding vector voltage pulse of the maximum current value The angle of set direction is used as the static angular;
If the preceding current value is more than the rear current value,:
z = x - y x * ( - k ) + s ;
If the preceding current value is less than or equal to the rear current value,:
z = y - x y * k + s ;
Wherein, z is the static angular, and x is the preceding current value, and y is the rear current value, and k is predetermined coefficient, and s is described The angle of preset direction where the corresponding vector voltage pulse of maximum current value.
5. the sine and cosine encoder failure preprocess method of elevator according to claim 1, it is characterised in that the calculating After the differential seat angle of the pre- measuring angle and the static angular, also include:
If the differential seat angle is less than or equal to the preset difference value and is not zero, using the static angular as the sine and cosine The initial angle of encoder, stores the initial angle and the differential seat angle, and control institute according to the motor start-up signal Motor is stated normally to run;
If the differential seat angle is zero, using the pre- measuring angle is as the initial angle and stores, opened according to the motor Dynamic signal controls the motor normally to run.
6. the sine and cosine encoder failure pretreatment system of a kind of elevator, it is characterised in that including:
Pre- measuring angle acquisition module, after receiving motor start-up signal, obtains the feedback signal of sine and cosine encoder, and root The pre- measuring angle of the rotor of motor is obtained according to the feedback signal and predetermined angle;
Phase current receiver module, for the vector voltage pulse of each preset direction of identical amplitude to be sent to described electronic successively Machine, and receive the phase current that the motor is returned according to each vector voltage pulse respectively;
Static angular acquisition module, the static angular of the rotor for determining the motor according to multiple phase currents;
Differential seat angle computing module, the differential seat angle for calculating the pre- measuring angle and the static angular;
Failure pretreatment module, for when the differential seat angle is more than preset difference value, controlling the motor out of service.
7. the sine and cosine encoder failure pretreatment system of elevator according to claim 5, it is characterised in that the feedback Signal includes the first increment signal, the second increment signal, the first individual pen absolute position signal and the second individual pen absolute position signal, The predetermined angle includes prestore motor pole angle and the start bit angle setting that prestores, and the pre- measuring angle acquisition module includes:
Signal analysis unit, for judging whether the motor start-up signal is to receive for the first time;
First signal acquiring unit, for when the motor start-up signal to receive for the first time, obtaining first individual pen Absolute position signal and the second individual pen absolute position signal;
First angle acquiring unit, for being believed according to the first individual pen absolute position signal, the second individual pen absolute position Number and the motor pole angle that prestores obtain the pre- measuring angle;
Secondary signal acquiring unit, for when the motor start-up signal not receive for the first time, obtaining described first and increasing Amount signal and second increment signal;
Second angle acquiring unit, for according to first increment signal, second increment signal and the original position that prestores Angle obtains the pre- measuring angle.
8. the sine and cosine encoder failure pretreatment system of elevator according to claim 7, it is characterised in that described first Angle acquiring unit specifically for:The first individual pen absolute position signal and the second individual pen absolute position signal are adopted by AD Collection respectively obtains first voltage value and second voltage value, and arc tangent meter is carried out with the second voltage value to the first voltage value Calculate, obtain encoder angular, calculate the encoder angular and the motor pole angle sum that prestores, obtain the pre- angle measurement Degree;
The second angle acquiring unit specifically for:First increment signal and second increment signal are processed respectively Be square-wave signal, the square-wave signal sent to QEP processing of circuit and obtains umber of pulse, calculate the umber of pulse with it is default The product of unit pulse corresponding angle, calculates the product and the start bit angle setting sum that prestores, and obtains the pre- measuring angle.
9. the sine and cosine encoder failure pretreatment system of elevator according to claim 6, it is characterised in that described default Direction is that 360 ° are carried out with six directions of angle that six deciles are obtained, and the static angular acquisition module includes:
Maximum current value chooses unit, for obtaining the current value of each phase current and choosing maximum current value;
Adjacent current value chooses unit, for the size order according to each preset direction corresponding angle, to the arrow of each preset direction The current value of the amount corresponding phase current of voltage pulse is ranked up, and choose the preceding current value adjacent with the maximum current value and Current value afterwards;
First analytic unit, it is for when the preceding current value is equal to the rear current value, the maximum current value is corresponding The angle of preset direction is used as the static angular where vector voltage pulse;
Second analytic unit, for the preceding current value be more than the rear current value when, according to:
z = x - y x * ( - k ) + s ;
Determine the static angular of the rotor of the motor;
3rd analytic unit, for the preceding current value be less than or equal to the rear current value when, according to:
z = y - x y * k + s ;
Determine the static angular of the rotor of the motor;
Wherein, z is the static angular, and x is the preceding current value, and y is the rear current value, and k is predetermined coefficient, and s is described The angle of preset direction where the corresponding vector voltage pulse of maximum current value.
10. the sine and cosine encoder failure pretreatment system of elevator according to claim 6, it is characterised in that also include:
Start correction module, for when the differential seat angle is less than or equal to the preset difference value and is not zero, by the static state Angle stores the initial angle and the differential seat angle as the initial angle of the sine and cosine encoder, and according to the electricity Motivation enabling signal controls the motor normally to run;
Normal starting module, for when the differential seat angle is zero, using the pre- measuring angle is as the initial angle and stores, The motor is controlled normally to run according to the motor start-up signal.
CN201611039319.0A 2016-11-21 2016-11-21 The sine and cosine encoder failure preprocess method and system of elevator Active CN106712622B (en)

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CN107561398A (en) * 2017-08-22 2018-01-09 北京合康亿盛技术有限公司 Sine and cosine encoder disconnection fault detection method and device
CN108761264A (en) * 2018-05-30 2018-11-06 阳光电源股份有限公司 A kind of rotary transformer encoder wiring fault detection method, apparatus and system
CN113027681A (en) * 2019-12-25 2021-06-25 新疆金风科技股份有限公司 Wind generating set operation control method and device and computer equipment

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CN101709983A (en) * 2009-10-30 2010-05-19 大连光洋科技工程有限公司 On-line actual error compensation system of sine and cosine encoder
WO2012146945A2 (en) * 2011-04-28 2012-11-01 Sevcon Limited Electric motor and motor controller
CN103048012A (en) * 2012-08-10 2013-04-17 深圳市正弦电气股份有限公司 Zero point correcting method and system for sine and cosine encoders as well as elevator

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US20030059212A1 (en) * 2001-09-26 2003-03-27 S.N.R. Roulements Pulse-controlled electronically commutated motor
CN101709983A (en) * 2009-10-30 2010-05-19 大连光洋科技工程有限公司 On-line actual error compensation system of sine and cosine encoder
WO2012146945A2 (en) * 2011-04-28 2012-11-01 Sevcon Limited Electric motor and motor controller
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107561398A (en) * 2017-08-22 2018-01-09 北京合康亿盛技术有限公司 Sine and cosine encoder disconnection fault detection method and device
CN107561398B (en) * 2017-08-22 2019-08-09 北京合康新能科技股份有限公司 Sine and cosine encoder disconnection fault detection method and device
CN108761264A (en) * 2018-05-30 2018-11-06 阳光电源股份有限公司 A kind of rotary transformer encoder wiring fault detection method, apparatus and system
CN108761264B (en) * 2018-05-30 2021-09-03 阳光电源股份有限公司 Method, device and system for detecting wiring fault of rotary transformer
CN113027681A (en) * 2019-12-25 2021-06-25 新疆金风科技股份有限公司 Wind generating set operation control method and device and computer equipment
CN113027681B (en) * 2019-12-25 2022-06-28 新疆金风科技股份有限公司 Wind generating set operation control method and device and computer equipment

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