CN109850712B - Automatic correction method for elevator weighing device - Google Patents
Automatic correction method for elevator weighing device Download PDFInfo
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Abstract
The invention discloses an automatic correction method of an elevator weighing device, which is suitable for elevator equipment and comprises the following steps: step S1, obtaining the weighing value, the actual torque current value and the current running direction when the elevator equipment maintains zero speed in the running deceleration stop stage; step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value; step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current; in step S4, a plurality of preset coefficients in the preset estimation formula are adjusted according to the error value by using an adaptive filtering algorithm to minimize the performance function of the error value, and then the preset coefficients are output. Has the advantages that: correcting a calculation coefficient of an elevator torque current estimation formula through a self-adaptive filtering algorithm so as to enable the calculated starting load component torque to be more accurate, and therefore the comfort of the elevator during starting is improved; the method has the advantages of small operand, low data storage requirement and strong adaptability.
Description
Technical Field
The invention relates to the technical field of elevator control systems, in particular to an automatic correction method for an elevator weighing device.
Background
In order to obtain good starting performance, judge overload and the like, the conventional elevator is generally provided with an elevator car load weighing device, and the weighing device applies corresponding starting load component torque according to the load condition of the elevator when the elevator is started, so that the stress of the elevator car is basically balanced when an elevator traction motor brake is opened, and the riding comfort during the starting of the elevator is improved. In this case, there are high demands on the accuracy and reliability of the elevator weighing device. If the weighing device is inaccurate, the starting comfort is deteriorated, and even the overload condition cannot be judged, so that potential safety hazards exist.
In the conventional patent CN201210128982.3 "diagnosis and adjustment method for elevator weighing value", a diagnosis and adjustment method for elevator weighing value is disclosed, in which parameters involved in load component torque calculation are automatically adjusted according to the weighing value and the torque current value output by the weighing device when the elevator is started. When the elevator is restarted after the parameter adjustment is finished, the torque control device calculates the load component torque on the basis of the adjusted parameter, so that the traction motor generates the torque in advance to accurately compensate the unbalanced moment between the lift car and the counterweight after the band-type brake is opened. Theoretically, the invention can indeed overcome the influence on the calculation of the load component torque when the components such as the weighing device, the tractor and the like are changed, but the embodiments provided by the patent have the defects of strict data screening conditions, large data storage quantity or large calculation quantity, and the problem of accuracy reduction caused by friction force and data acquisition errors cannot be solved, and even larger deviation can be generated under certain conditions.
Disclosure of Invention
In view of the above problems in the prior art, an automatic calibration method for an elevator weighing apparatus is provided.
The specific technical scheme is as follows:
the invention comprises an automatic correction method of an elevator weighing device, which is suitable for elevator equipment and comprises the following steps:
step S1, obtaining the weighing value, the actual torque current value and the current running direction when the elevator equipment maintains zero speed in the running deceleration stop stage;
step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
step S4, using an adaptive filtering algorithm to adjust a plurality of the preset coefficients in the preset estimation formula according to the error value so as to minimize a performance function of the error value, and then outputting the preset coefficients;
and step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating a corrected starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment.
Preferably, in step S2, the preset estimation formula specifically includes:
IQS’＝k2*dir+k1*W+k0
wherein the content of the first and second substances,
k2, k1 and k0 are all the preset coefficients;
dir is the current running direction of the elevator equipment;
w is the weighed value;
IQS' is the torque current desired value.
Preferably, in step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is the starting load component torque current value.
Preferably, in step S2, the preset estimation formula specifically includes:
IQS’＝k3*pos+k2*dir+k1*W+k0
wherein the content of the first and second substances,
k3, k2, k1 and k0 are all the preset coefficients;
pos is the position information;
dir is the current running direction of the elevator equipment;
w is the weighed value;
IQS' is the torque current desired value.
Preferably, in step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is used to represent the startup load component torque current value.
Preferably, in step S5, the preset calculation formula specifically includes:
WGH’＝k3*pos+k1*W+k0
wherein the content of the first and second substances,
WGH' is the starting load component torque current value.
Preferably, the step S4 specifically includes:
step S41, adjusting a plurality of the preset coefficients in the preset estimation formula according to the error value by using an adaptive filtering algorithm, so as to minimize a performance function of the error value;
step S42, determining whether the change value between the preset coefficients before and after adjustment is within a preset range:
if yes, outputting the adjusted preset coefficient, and then turning to the step S5;
if not, the preset coefficient before adjustment is output, and the process then proceeds to step S5.
Preferably, the automatic correction method further includes a friction force detection process, specifically including:
a step a1 of assigning the value of k2 output in the step S4 to a frictional resistance value to which the elevator apparatus is subjected during operation;
and A2, comparing the frictional resistance value with a preset standard value, and outputting prompt information when the frictional resistance value reaches the preset value so as to inform maintenance personnel of the elevator equipment.
Preferably, the automatic correction method further includes a friction force detection process, specifically including:
a step B1 of recording the numerical value of k2 outputted in each time in the step S4, and judging a trend of change of the numerical value, and turning to the step B2 when the trend of change is gradually increasing;
and step B2, judging whether the value of k2 currently output in the step S4 reaches a preset value or not, and outputting a prompt message to inform a maintenance person of the elevator equipment when the value reaches the preset value.
Preferably, the adaptive filtering algorithm adopted in step S4 is an LMS algorithm, or an RLS algorithm, or an NLMS algorithm.
The technical scheme of the invention has the beneficial effects that: providing a torque current estimation formula, acquiring a weighing value, an actual torque current value and a running direction when the elevator is maintained at zero speed, and adjusting a preset coefficient of the elevator torque current estimation formula through a self-adaptive filtering algorithm so as to enable the calculated starting load component torque to be more accurate and improve the comfort when the elevator is started; the method is not influenced by single acquisition error, and has small operand, low data storage requirement and strong adaptability; and the friction force in the running process of the elevator can be obtained simultaneously through the adjusted preset coefficient, and the friction force in the running process of the elevator can be detected in real time without an additional device, so that the safety of the elevator is improved.
Drawings
Embodiments of the present invention will now be described more fully hereinafter with reference to the accompanying drawings. The drawings are, however, to be regarded as illustrative and explanatory only and are not restrictive of the scope of the invention.
FIG. 1 is a schematic diagram illustrating an adaptive filter for parameter identification according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating steps of an auto-calibration method according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating step S4 according to an embodiment of the present invention;
FIG. 4 is a flow chart of a first friction detection in an embodiment of the present invention;
fig. 5 is a flowchart of a second friction force detection in the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
The invention comprises an automatic correction method of an elevator weighing device, which is suitable for elevator equipment and comprises the following steps as shown in figure 2:
step S1, obtaining the weighing value, the actual torque current value and the current running direction when the elevator equipment maintains zero speed in the running deceleration stop stage;
step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
step S4, adopting adaptive filtering algorithm, adjusting a plurality of preset coefficients in a preset estimation formula according to the error value to minimize the performance function of the error value, and then outputting the preset coefficients;
and step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating the adjusted starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment.
Specifically, the invention mainly aims to provide a method with strong adaptability and small calculation amount, which realizes the correction of a preset coefficient in a calculation formula of the starting load component torque of an elevator and can obtain the friction force in the running process of the elevator for evaluating and monitoring the performance of the elevator.
Specifically, as shown in fig. 1, the present invention provides a structural diagram of an adaptive filter for parameter identification, where n is discrete time or iteration number, x (n) is an input signal, an output signal of the adaptive filter is y (n), d (n) is a defined expected signal, and an error signal e (n) is a difference between d (n) and y (n). The error signal adjusts the preset coefficients of the adaptive filter via a corresponding adaptive filter algorithm such that the performance function of the error is minimized.
Specifically, the preset coefficient adjustment algorithm that can be used by the adaptive filter includes an LMS algorithm (Least mean square algorithm), an RLS algorithm (Recursive Least square method), and various adaptive filtering algorithms developed on the basis of the LMS algorithm and the RLS algorithm, where a more suitable algorithm is an NLMS (Normalized Least mean square) algorithm, and the NLMS algorithm has a relatively small amount of operation, good stability, and a relatively high convergence rate. The principle and process of the adaptive filtering algorithm have been described in a lot of documents, and are not described in detail below.
Specifically, the structure can be applied to an automatic correction method of the elevator weighing device, and the preset coefficient of the starting load component torque value is adjusted through an adaptive filter algorithm by acquiring the weighing value output by the weighing device and the actual torque current value output by the torque control device according to the zero-speed maintenance of the elevator in the running deceleration stop stage. When the elevator is started again after the preset coefficient is adjusted, the torque control device calculates a starting load component torque value by using the adjusted preset coefficient, so that the traction motor generates torque in advance to accurately compensate unbalanced torque between the lift car and the counterweight after the band-type brake is opened, and the comfort of the elevator during starting is further improved.
In a first embodiment of the present invention, an auto-calibration method includes:
step S1, obtaining the weighing value, the actual torque current value and the current running direction when the elevator equipment maintains zero speed in the running deceleration stop stage;
in step S2, according to the weighing value, a preset estimation formula containing a plurality of preset coefficients is adopted to estimate the expected value of the torque current of the elevator; the preset estimation formula specifically includes:
IQS’＝k2*dir+k1*W+k0
wherein the content of the first and second substances,
k2, k1 and k0 are all preset coefficients;
dir is the current running direction of the elevator equipment;
w is a weighing value;
IQS' is the torque current desired value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
e(n)＝IQS-IQS’
wherein the content of the first and second substances,
e (n) is used to represent an error value;
IQS' is used to represent the torque current estimate;
IQS is used to represent the actual torque current value;
step S4, adopting adaptive filtering algorithm, adjusting a plurality of preset coefficients in a preset estimation formula according to the error value to minimize the performance function of the error value, and then outputting the preset coefficients;
step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating to obtain a corrected starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment;
in step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is a starting load component torque current value.
Specifically, dir is the running direction of the elevator, and usually takes 1 or-1, the value of dir is 1 when the elevator ascends, and the value of dir is-1 when the elevator descends. And in the zero-speed maintaining stage when the elevator stops running, the torque current estimated value IQS' can be obtained by adopting the preset estimation formula.
Specifically, when the zero speed of each operation stop of the elevator is maintained, the preset coefficients k0, k1 and k2 are adjusted, and after a certain number of adjustments, the preset coefficients k0, k1 and k2 are adjusted to the state of minimizing the performance function of the error e (n), and at this time, the calculation formula for estimating the elevator torque current value from the weighing value W of the elevator and the current operation direction dir becomes optimal statistically. In a physical sense, for the preset estimation formula for estimating the torque current value, the preset coefficient k2 corresponds to the magnitude of the actual torque current value against the friction force, because the input value corresponding to k2 is the running direction of the elevator at that time, and the physical quantity related to the running direction is mainly the friction force except for the unbalanced load in the elevator running. Further, k1 corresponds to the gain of the weighing value to the starting load component torque, and k0 corresponds to the offset of the weighing value to the starting load component torque.
Furthermore, the preset coefficients k0, k1 and k2 are adjusted before each time of calculating the starting load component torque, and k0, k1 and k2 can be automatically adjusted along with the change of the elevator weighing device or the motor characteristic, so that the starting comfort of the elevator is not greatly changed due to the change of the elevator weighing device or the motor characteristic, and the comfort of the elevator during starting is improved.
In a second embodiment of the present invention, an auto-calibration method comprises:
step S1, obtaining the weighing value, the actual torque current value, the current running direction and the position information when the elevator equipment maintains the zero speed in the running deceleration stop stage;
step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value; the preset estimation formula specifically includes:
IQS’＝k3*pos+k2*dir+k1*W+k0
wherein the content of the first and second substances,
k3, k2, k1 and k0 are all preset coefficients;
pos is position information;
dir is the current running direction of the elevator equipment;
w is a weighing value;
IQS' is the torque current desired value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
step S4, adopting adaptive filtering algorithm, adjusting a plurality of preset coefficients in a preset estimation formula according to the error value to minimize the performance function of the error value, and then outputting the preset coefficients;
and step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating the corrected starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment.
In step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is used to represent the startup load component torque current value;
specifically, in this embodiment, the accuracy of the preset coefficient can be further improved by adding other information to the torque current estimation formula, for example, adding the position information pos of the elevator, where the position information pos may be an actual height value or a floor number, and k3 corresponds to the influence of the difference in elevator positions on the torque current of the elevator.
Specifically, compared with the first embodiment, the embodiment increases the compensation amount corresponding to the elevator position information, so that the calculated starting load component torque current WGH can be more accurate, and the comfort of the elevator during starting is further improved.
Further, in order to avoid the situation that the error of the calculation result is large due to inaccurate initial preset coefficients when the automatic correction method of the weighing device adopting the adaptive filter algorithm is initially put into use, the existing method for calculating the starting load component torque of the elevator can be firstly adopted, and the calculation result of the adaptive filter algorithm is used as the starting load component torque of the elevator under the condition that each preset coefficient of a calculation formula obtained by the adaptive filter method is basically stable, namely the change of the preset coefficient is small after each adjustment. Or judging the error of the calculation result of the adaptive filter algorithm when the elevator runs each time, and using the calculation result of the adaptive filter method as the starting load component torque of the elevator when the error in each running is small.
In a third embodiment of the present invention, an auto-calibration method includes:
step S1, obtaining the weighing value, the actual torque current value, the current running direction and the position information when the elevator equipment maintains the zero speed in the running deceleration stop stage;
step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value; the preset estimation formula specifically includes:
IQS’＝k3*pos+k2*dir+k1*W+k0
wherein the content of the first and second substances,
k3, k2, k1 and k0 are all preset coefficients;
pos is position information;
dir is the current running direction of the elevator equipment;
w is a weighing value;
IQS' is the torque current desired value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
step S4, adopting adaptive filtering algorithm, adjusting a plurality of preset coefficients in a preset estimation formula according to the error value to minimize the performance function of the error value, and then outputting the preset coefficients;
and step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating the corrected starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment.
In step S5, the preset calculation formula specifically includes:
WGH’＝k3*pos+k1*W+k0
wherein the content of the first and second substances,
WGH' is a starting load component torque current value.
In a preferred embodiment, as shown in fig. 3, step S4 specifically includes:
step S41, adopting adaptive filter algorithm to adjust multiple preset coefficients in the preset estimation formula according to the error value to minimize the performance function of the error value;
step S42, determining whether the change value between the preset coefficients before and after adjustment is within a preset range:
if so, outputting the adjusted preset coefficient, and then turning to step S5;
if not, the preset coefficient before adjustment is output, and the process then proceeds to step S5.
Specifically, on the basis of the first to third embodiments, before calculating the starting load component torque current WGH' in step S5, the variation values before and after the adjustment of the current preset coefficient of the elevator are compared and judged, if the variation value is within a small range, the preset coefficient is considered to have stabilized, and then the calculation is performed according to the preset calculation formula given in step S5 in the first to third embodiments, otherwise, the calculation is performed according to the original starting load component torque calculation method.
In a preferred embodiment, as shown in fig. 4, the automatic calibration method further includes a friction force detection process, which specifically includes:
a step a1 of assigning the value of k2 output in the step S4 to a frictional resistance value to which the elevator apparatus is subjected during operation;
and step A2, comparing the friction resistance value with a preset standard value, and outputting a prompt message to inform maintenance personnel of the elevator equipment when the friction resistance value reaches the preset value.
Specifically, based on the value of k2 outputted at step S4 in the first embodiment corresponding to the magnitude of the actual torque current value for overcoming the frictional resistance, the frictional resistance value corresponding to the actual torque current value, i.e., the frictional resistance generated during the operation of the elevator, can be calculated by the adjusted k 2. The friction resistance value is used for evaluating and monitoring the performance of the elevator, for example, whether the running resistance of the elevator is abnormally increased is reflected by the friction resistance value, so that installation and maintenance personnel are reminded to check whether the mechanical system of the elevator is abraded or lack of lubrication.
Specifically, the time of each operation of the elevator and the value of k2 output in step S4 can be recorded, and when the change trend of k2 is larger and reaches a preset safety value, it is determined that the increase of friction force of the elevator system needs to be checked, and a prompt message is output to remind maintenance personnel. The frictional force detection process in this embodiment is through gathering the frictional resistance value constantly, judges whether the elevator system appears unusually or need inspect according to the change trend of frictional resistance value, further improves the security of elevator.
In a preferred embodiment, the automatic calibration method further includes a friction force detection process, as shown in fig. 5, which specifically includes:
a step B1 of recording the numerical value of k2 output in each step S4, and judging a trend of change of the numerical value, and turning to a step B2 when the trend of change is gradually increasing;
and step B2, judging whether the value of k2 currently output in step S4 reaches a preset value, and outputting a prompt message to inform maintenance personnel of the elevator equipment when the preset value is reached.
The technical scheme of the invention has the beneficial effects that: providing a torque current estimation formula, acquiring a weighing value, an actual torque current value and a running direction when the elevator is maintained at zero speed, and adjusting a preset coefficient of the elevator torque current estimation formula through a self-adaptive filtering algorithm so as to enable the calculated starting load component torque to be more accurate and improve the comfort when the elevator is started; the method is not influenced by single acquisition error, and has small operand, low data storage requirement and strong adaptability; and the friction force in the running process of the elevator can be obtained simultaneously through the adjusted preset coefficient, and the friction force in the running process of the elevator can be detected in real time without an additional device, so that the safety of the elevator is improved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (8)
1. An automatic correction method of an elevator weighing device is suitable for elevator equipment and is characterized by comprising the following steps:
step S1, obtaining the weighing value, the actual torque current value and the current running direction when the elevator equipment maintains zero speed in the running deceleration stop stage;
step S2, estimating the expected value of the torque current of the elevator by adopting a preset estimation formula containing a plurality of preset coefficients according to the weighing value;
step S3, calculating an error value between the expected value of the torque current and the actual value of the torque current;
step S4, using an adaptive filtering algorithm to adjust a plurality of the preset coefficients in the preset estimation formula according to the error value so as to minimize a performance function of the error value, and then outputting the preset coefficients;
step S5, applying the preset coefficient output in the step S4 to a preset calculation formula, and calculating a corrected starting load component torque value of the elevator equipment according to the weighing value by adopting the preset calculation formula so as to act on the next starting stage of the elevator equipment; in the step S2, in the above step,
the preset estimation formula specifically includes:
IQS’＝k2*dir+k1*W+k0
wherein the content of the first and second substances,
k2, k1 and k0 are all the preset coefficients;
dir is the current running direction of the elevator equipment;
w is the weighed value;
IQS' is the torque current desired value;
the automatic correction method further comprises a friction force detection process, and the automatic correction method specifically comprises the following steps:
a step a1 of assigning the value of k2 output in the step S4 to a frictional resistance value to which the elevator apparatus is subjected during operation;
and A2, comparing the frictional resistance value with a preset standard value, and outputting prompt information when the frictional resistance value reaches the preset value so as to inform maintenance personnel of the elevator equipment.
2. The automatic correction method according to claim 1, wherein in the step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is the starting load component torque current value.
3. The automatic correction method according to claim 1, wherein the step S1 further includes: acquiring position information of the elevator equipment when the elevator equipment maintains zero speed in the running deceleration stop stage;
in step S2, the preset estimation formula specifically includes:
IQS’＝k3*pos+k2*dir+k1*W+k0
wherein the content of the first and second substances,
k3, k2, k1 and k0 are all the preset coefficients;
pos is the position information;
dir is the current running direction of the elevator equipment;
w is the weighed value;
IQS' is the torque current desired value.
4. The automatic correction method according to claim 3, wherein in the step S5, the preset calculation formula specifically includes:
WGH＝k1*W+k0
wherein the content of the first and second substances,
WGH is used to represent the startup load component torque current value.
5. The automatic correction method according to claim 3, wherein in the step S5, the preset calculation formula specifically includes:
WGH’＝k3*pos+k1*W+k0
wherein the content of the first and second substances,
WGH' is the starting load component torque current value.
6. The automatic correction method according to claim 1, wherein the step S4 specifically includes:
step S41, adjusting a plurality of the preset coefficients in the preset estimation formula according to the error value by using an adaptive filtering algorithm, so as to minimize a performance function of the error value;
step S42, determining whether the change value between the preset coefficients before and after adjustment is within a preset range:
if yes, outputting the adjusted preset coefficient, and then turning to the step S5;
if not, the preset coefficient before adjustment is output, and the process then proceeds to step S5.
7. The automatic calibration method according to claim 1, further comprising a friction force detection process, specifically comprising:
a step B1 of recording the numerical value of k2 outputted in each time in the step S4, and judging a trend of change of the numerical value, and turning to the step B2 when the trend of change is gradually increasing;
and step B2, judging whether the value of k2 currently output in the step S4 reaches a preset value or not, and outputting a prompt message to inform a maintenance person of the elevator equipment when the value reaches the preset value.
8. The automatic correction method according to claim 1, wherein the adaptive filtering algorithm used in step S4 is an LMS algorithm, or an RLS algorithm, or an NLMS algorithm.
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| CN104649087A (en) * | 2013-11-20 | 2015-05-27 | 上海三菱电梯有限公司 | Elevator control device |
| CN106006262A (en) * | 2015-03-26 | 2016-10-12 | 三菱电机株式会社 | Elevator controller, elevator monitoring system and elevator control method |
| CN106672717A (en) * | 2015-11-11 | 2017-05-17 | 上海三菱电梯有限公司 | Elevator load torque current correction method and device and elevator control method |
| CN109328175A (en) * | 2016-06-30 | 2019-02-12 | 三菱电机株式会社 | The control device of elevator |
| CN108622746A (en) * | 2017-03-24 | 2018-10-09 | 奥的斯电梯公司 | Dynamic compesated control for elevator device |
| CN108675093A (en) * | 2018-07-06 | 2018-10-19 | 迅达（中国）电梯有限公司 | Elevator safety starts method |
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