CN110422725A - The anti-fall independent safety monitoring method of elevator based on non-linear form resonance model - Google Patents
The anti-fall independent safety monitoring method of elevator based on non-linear form resonance model Download PDFInfo
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- CN110422725A CN110422725A CN201910761521.1A CN201910761521A CN110422725A CN 110422725 A CN110422725 A CN 110422725A CN 201910761521 A CN201910761521 A CN 201910761521A CN 110422725 A CN110422725 A CN 110422725A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/02—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B7/00—Other common features of elevators
- B66B7/12—Checking, lubricating, or cleaning means for ropes, cables or guides
- B66B7/1207—Checking means
- B66B7/1215—Checking means specially adapted for ropes or cables
Abstract
The invention discloses a kind of anti-fall independent safety monitoring method of elevator based on non-linear form resonance model, monitoring step is as follows: step 1: the acquisition of vibration data；Step 2: the calculating of the total monitoring signals of multisensor；Step 3: the extraction of monitoring signals characteristic parameter；Step 4: the foundation of non-linear form resonance model；Step 5: the extraction of intrinsic signal characteristic peak；Step 6: the extraction at wirerope sub-thread fracture characteristic peak；Step 7: to the safety monitoring of wirerope when routine use.It is stranded to judge whether elevator wire rope occurs by computer, improves the safety of elevator, is preventive from possible trouble for the vibration data for going out elevator wire rope method of the invention, it is possible to sensitivity monitoring.
Description
Technical field
The present invention relates to a kind of anti-fall independent safety monitoring methods of elevator based on non-linear form resonance model.
Background technique
The history of elevator is more than 100 years existing, by earliest simple and crude, dangerous, to comfortable, the safety of today, experienced countless
Secondary improves.Nonetheless, elevator accident now still happens occasionally, and works as wherein harm is maximum, the casualties is most
Belong to elevator (including elevator) wire cable rupture.2006 are only Japanese five big elevator companies, and that 42 elevator wire ropes just have occurred is disconnected
Split accident.Compared with the detection of the other position comparatively perfects of elevator and monitoring means, the safety monitoring of wirerope is current phase
To weak and anxious to be resolved project.
Authorization Notice No. is the patent of invention of CN102101618B, disclose it is a kind of " detecting wire ropes of elevator and
System ", it is whether uniform by real-time detection elevator wire rope stress, to determine that elevator wire rope whether there is risk of breakage,
To prevent elevator wire rope fracture, it is ensured that the reliable and stable operation of elevator.This technology has the disadvantage that when wirerope occurs
When sub-thread or several bursts of fractures, whether elevator wire rope stress is uniformly varied less, and is not easy to detect hidden danger early period.
The patent of invention of Authorization Notice No. CN103253573B discloses " a kind of elevator dragging wire rope detection device ",
When there is stranded or broken lot primarily directed to wirerope, wirerope will appear what diameter at stranded place's chain mark or broken lot increased
Situation, when these wirerope abnormal positions are mounted on the elevator dragging wire rope detection device in elevator shaft by configuration,
It will be detected, issue alarm signal and notify maintenance personnel and stop the operation of elevator, largely prevention in time
There is stranded accident in wirerope, considerably increases elevator safety performance.This technology has the disadvantage that when wirerope breaks
Stock but fracture single steel wire when internal, steel wire will not be exposed, can not just detect stranded generation in this case；When
When sub-thread fracture occurs in wirerope, stranded place's diameter increase is extremely unobvious, is not easy to detect hidden danger early period.
Summary of the invention
The object of the present invention is to provide a kind of anti-fall independent safety monitorings of elevator based on non-linear form resonance model
Method, can sensitivity monitoring go out the vibration data of elevator wire rope, it is stranded to judge whether elevator wire rope occurs by computer, mentions
The safety of high elevator, is preventive from possible trouble.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of anti-fall independent safety monitoring method of elevator based on non-linear form resonance model, the elevator includes sedan-chair
Compartment, stair shaft, traction device, elevator control system and the computer being set in the elevator control system, monitoring step are as follows:
Step 1: the acquisition of vibration data
Wirerope vibration data monitoring device is equipped on the traction device, at runtime, the wirerope shakes elevator
Dynamic data monitoring device sends the vibration data monitored to the computer by collector ring；
Step 2: the calculating of the total monitoring signals of multisensor
Be distributed in multiple sensor sn1, sn2 in traction sheave steel wire trough ..., snn, it is assumed that its monitoring signals difference
For M1, M2 ..., Mn, sometime, the calculation method of the total monitoring signals SAS of multisensor are as follows:
To monitoring signals M1, M2 of multiple sensors, M3 ..., Mn be ranked up from big to small, the sequence after sorting
Are as follows: MP1, MP2, MP3 ..., MPn, then SAS algorithm are as follows:
Step 3: the extraction of monitoring signals characteristic parameter
For the state for monitoring elevator wire rope, it is average that we extract the integral of the vibration data, variance, stable state respectively
Value, average 5 kinds of characteristic parameters such as differential value and wavelet energy:
1) INV calculating formula is integrated are as follows:
In formula: IN (t) is integrated value, and N is detection data number of the sensor to sample, xiFor i-th second response, t
For the time interval between adjacent two sampled point, this place chooses 0.1s；
2) variance VAR calculating formula are as follows:
In formula:For response signal mean value, N is the acquisition number of a sample, xiFor i-th in a test sample value
A collection value；
3) steady-state average value AVRS calculating formula are as follows:
In formula: Z is Relative steady-state average value, t0Corresponding time, x when will stablize for curveiFor a test sample value
In i-th of collection value, N is the total acquisition time points of sample；
4) average differential value ADV calculating formula are as follows:
In formula: Ka is the average differential value of response signal, and N is the acquisition time of sample, xiIt is i-th of test sample value
Collection value, interval of the t between adjacent two sampled point；
5) wavelet energy WEV calculating formula are as follows:
In formula: E is wavelet energy value, a3iI-th of decomposition coefficient i=is concentrated for Coefficients of Approximation after 3 Scale Decomposition of signal
1 ..., m, m are the coefficient sum that Coefficients of Approximation is concentrated；
Step 4: the foundation of non-linear form resonance model
Non-linear form resonance is that ideal particle is (random in ariable periodic signal (cyclic drive power) and random noise
Power) under the action of, there is a phenomenon where reciprocal transition, the descriptions of non-linear form resonance model in nonlinear bistable system are as follows:
In formula:For the potential function for describing a bistable systemFor the input signal as nonlinear system, A is signal amplitude, f0It is adjustable
Signal frequency, m, n > 0 are system parameter；E (t) is external random noise, and it is that noise is strong that the assembly average of e (t), which is 0, e (t),
Degree is the Gaussian Profile white noise of D；P is amendment constant；
The barrier height that formula (6) describes system is U0=m2/ 4n, bottom are located atThe position at place, and be
The output state of system determines to will stay on one of two potential wells by original state, adiabatic approximation condition, that is, input signal amplitude,
Under frequency, noise intensity are less than 1, by the correlation function of non-linear form resonance system output signal, available non-linear shape
State resonance model expression formula:
Step 5: the extraction of intrinsic signal characteristic peak
The acquisition of vibration data is carried out to intact wirerope according to the method for step 1, computer leads to the vibration data
It crosses the SAS algorithm and obtains multisensor and always monitor signal data, which is always monitored signal data and passed through by computer
The nonlinear resonance spectrogram of intact wirerope real-time monitoring is obtained by above-mentioned non-linear form resonance model, is occurred in figure
Characteristic peak is the intrinsic signal characteristic peak of intact wirerope；
Step 6: the extraction at wirerope sub-thread fracture characteristic peak
Carry out the acquisition of vibration data according to the wirerope that the method for step 1 is broken sub-thread, computer is by the vibration number
Signal data is always monitored according to multisensor is obtained by the SAS algorithm, which is always monitored signal data by computer
By obtaining the nonlinear resonance spectrogram that sub-thread is broken wirerope real-time monitoring, figure by above-mentioned non-linear form resonance model
The characteristic peak of middle appearance is the intrinsic signal characteristic peak of sub-thread fracture wirerope, removes intrinsic signal feature described in step 5
Peak, emerging characteristic peak is the fracture characteristic peak of stranded wirerope in figure；
Step 7: to the safety monitoring of wirerope when routine use
A) carries out the real-time acquisition of vibration data according to the method for step 1 to wirerope, and computer is by the vibration data
Multisensor is obtained by the SAS algorithm and always monitors signal data, which is always monitored signal data and led to by computer
It crosses and wirerope real-time monitoring signal spectrum figure is obtained by above-mentioned non-linear form resonance model, the characteristic peak occurred in figure is
The daily signal characteristic peak of wirerope；
B) computer is by the daily signal characteristic peak of real-time monitoring signal spectrum figure of step a) and consolidating for intact wirerope
There is signal characteristic peak to be compared, if the two is identical, determine that wirerope is intact, repeat step a), if the two is not identical, calculates
Machine compares the fracture characteristic peak at the daily signal characteristic peak and stranded wirerope of the real-time monitoring signal spectrum figure of step a)
Compared with determining that sub-thread fracture occurs in wirerope, issue corresponding alarm if the fracture characteristic peak with stranded wirerope is identical；If with
The fracture characteristic peak of stranded wirerope is not identical, then executes following steps:
If c) the position P of the characteristic peak positions Ps at the daily signal characteristic peak and fracture characteristic peak0It is identical, it can be according to two
The amplitude of characteristic peak determines stranded number: if 2P0>Ps≧1.5P0, it is determined as two bursts of fractures, issues corresponding alarm；If
2.8P0>Ps≧2P0, it is determined as it being three bursts of fractures, issues corresponding alarm；If Ps≤2.8P0, it is determined as that four strands or more break
It splits, issues corresponding alarm；If the position P of the characteristic peak positions Ps at daily signal characteristic peak and fracture characteristic peak0It is not identical, sentence
It is set to other mechanical parts to go wrong, issues corresponding alarm.
The wirerope vibration data monitoring device is fracture of wire monitoring device, and the traction device includes traction electric machine, steel
The steel wire trough of cord and traction sheave, the traction sheave is semicircle, and the trench bottom of the steel wire trough is distributed along the circumference with multiple institutes
Fracture of wire monitoring device is stated, each fracture of wire monitoring device includes a vibrating sensor, and each vibrating sensor is set to traction
In the corresponding mounting hole of wheel, the top of vibrating sensor is lower than the groove bottom of steel wire trough, and vibrating sensor is solid by casting glue
It is scheduled in respective mounting hole, each vibrating sensor passes through the phase of conducting wire and the collector ring that traction wheel side is arranged in
The conductive needle that plays answered is electrically connected, when the elevator is run, the vibration that wirerope-winding will be monitored in steel wire trough, each vibrating sensor
Dynamic data send the computer to by collector ring, and it is disconnected according to the vibration data to judge whether wirerope has by computer
Stock.
The vibrating sensor is micro high sensitivity Piezoelectric vibrating sensor.
Compared with prior art the beneficial effects of the present invention are: above-mentioned technical proposal, when intact and disconnected according to wirerope
The difference of vibration data when splitting amplifies this species diversity by non-linear form resonance model, extracts characteristic peak and compares judgement,
It substantially increases and judges speed and accuracy.
Further beneficial effect is: the trench bottom of the steel wire trough is distributed along the circumference with multiple fracture of wire monitoring devices, respectively
The fracture of wire monitoring device includes a vibrating sensor, and each vibrating sensor is set to the corresponding installation of traction sheave
In hole, the top of vibrating sensor is lower than the groove bottom of steel wire trough, and vibrating sensor is fixed on respective installation by casting glue
In hole, each vibrating sensor is electrically connected by conducting wire with the corresponding conductive needle that plays for the collector ring that traction wheel side is arranged in
It connects, when the elevator is run, the vibration data monitored is passed through collector ring in steel wire trough, each vibrating sensor by wirerope-winding
Send the computer to, this structure, can sensitivity monitoring go out the vibration data of elevator wire rope, judge elevator for computer
Whether wirerope occurs stranded offer reliable basis, improves the safety of elevator, is preventive from possible trouble.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the longitudinal sectional drawing of traction sheave in Fig. 1；
Fig. 3 is the portion the A enlarged drawing of Fig. 2；
Fig. 4 is the C-C of Fig. 2 to sectional view；
Fig. 5 is the portion the B enlarged drawing of Fig. 4；
Fig. 6 be 4 D-D to sectional view；
Fig. 7 is that total monitoring signal data of the intact wirerope of vibrating sensor real-time monitoring in embodiment changes over time
Schematic diagram；
Fig. 8 is that total monitoring signal data of the stranded wirerope of vibrating sensor real-time monitoring in embodiment changes over time
Schematic diagram；
Fig. 9 is the FFT spectrum figure of intact wirerope in embodiment；
Figure 10 is that embodiment interrupts strand steel wire rope FFT spectrum figure；
The nonlinear resonance spectrogram of intact wirerope real-time monitoring signal in Figure 11 embodiment；
The nonlinear resonance spectrogram of Figure 12 embodiment interruption strand steel wire rope cable monitoring signals；
Figure 13 be elevator using when the schematic diagram that changes over time of collected total monitoring signal data；
Figure 14 is that the vibration data of Figure 13 is obtained wirerope real-time monitoring signal spectrum figure by Fourier transformation；
Figure 15 is by the vibration data of Figure 13 by obtaining wirerope real-time monitoring letter by non-linear form resonance model
Number spectrogram.
Specific embodiment
In order to be more clear technical solution of the present invention, below in conjunction with attached drawing 1 to 15, the present invention is carried out specifically
It is bright.It should be understood that specific embodiment described in this specification is not intended to limit just for the sake of explaining the present invention
Determine protection scope of the present invention.
The present invention is a kind of anti-fall independent safety monitoring method of the elevator based on non-linear form resonance model, the electricity
Ladder includes carriage 1, stair shaft 2, traction device 4, elevator control system 5 and the computer 6 being set in the elevator control system 5,
Monitoring step is as follows:
Step 1: the acquisition of vibration data
Wirerope vibration data monitoring device is equipped on the traction device 4, at runtime, the wirerope shakes elevator
Dynamic data monitoring device sends the vibration data monitored to the computer 6 by collector ring 46；Step 2: multisensor
The calculating of total monitoring signals
Be distributed in multiple sensor sn1, sn2 in 43 steel wire trough of traction sheave ..., snn, it is assumed that its monitoring signals point
Not Wei M1, M2 ..., Mn, sometime, the calculation method of the total monitoring signals SAS of multisensor are as follows:
To monitoring signals M1, M2 of multiple sensors, M3 ..., Mn be ranked up from big to small, the sequence after sorting
Are as follows: MP1, MP2, MP3 ..., MPn, then SAS algorithm are as follows:
Step 3: the extraction of monitoring signals characteristic parameter
For the state for monitoring elevator wire rope 42, it is average that we extract the integral of the vibration data, variance, stable state respectively
Value, average 5 kinds of characteristic parameters such as differential value and wavelet energy:
1) INV calculating formula is integrated are as follows:
In formula: IN (t) is integrated value, and N is detection data number of the sensor to sample, xiFor i-th second response, t
For the time interval between adjacent two sampled point, this place chooses 0.1s；
2) variance VAR calculating formula are as follows:
In formula:For response signal mean value, N is the acquisition number of a sample, xiFor i-th in a test sample value
A collection value；
3) steady-state average value AVRS calculating formula are as follows:
In formula: Z is Relative steady-state average value, t0Corresponding time, x when will stablize for curveiFor a test sample value
In i-th of collection value, N is the total acquisition time points of sample；
4) average differential value ADV calculating formula are as follows:
In formula: Ka is the average differential value of response signal, and N is the acquisition time of sample, xiIt is i-th of test sample value
Collection value, interval of the t between adjacent two sampled point；
5) wavelet energy WEV calculating formula are as follows:
In formula: E is wavelet energy value, a3iI-th of decomposition coefficient i=is concentrated for Coefficients of Approximation after 3 Scale Decomposition of signal
1 ..., m, m are the coefficient sum that Coefficients of Approximation is concentrated；
Step 4: the foundation of non-linear form resonance model
Non-linear form resonance is that ideal particle is (random in ariable periodic signal (cyclic drive power) and random noise
Power) under the action of, there is a phenomenon where reciprocal transition, the descriptions of non-linear form resonance model in nonlinear bistable system are as follows:
In formula:For the potential function for describing a bistable systemFor the input signal as nonlinear system, A is signal amplitude, f0It is adjustable
Signal frequency, m, n > 0 are system parameter；E (t) is external random noise, and it is that noise is strong that the assembly average of e (t), which is 0, e (t),
Degree is the Gaussian Profile white noise of D；P is amendment constant；
The barrier height that formula (6) describes system is U0=m2/ 4n, bottom are located atThe position at place, and be
The output state of system determines to will stay on one of two potential wells by original state, adiabatic approximation condition, that is, input signal amplitude,
Under frequency, noise intensity are less than 1, by the correlation function of non-linear form resonance system output signal, available non-linear shape
State resonance model expression formula:
Step 5: the extraction of intrinsic signal characteristic peak
Carry out the acquisition of vibration data to intact wirerope 42 according to the method for step 1, computer 6 is by the vibration number
Signal data is always monitored according to multisensor is obtained by the SAS algorithm, which is always monitored signal data by computer 6
By obtaining the nonlinear resonance spectrogram of intact wirerope real-time monitoring by above-mentioned non-linear form resonance model, go out in figure
Existing characteristic peak is the intrinsic signal characteristic peak of intact wirerope；
Step 6: the extraction at wirerope sub-thread fracture characteristic peak
Carry out the acquisition of vibration data according to the wirerope 42 that the method for step 1 is broken sub-thread, computer 6 is by the vibration
Dynamic data obtain multisensor by the SAS algorithm and always monitor signal data, and computer 6 is by the total monitoring signals of the multisensor
Data are by obtaining the nonlinear resonance frequency that sub-thread is broken 42 real-time monitoring of wirerope by above-mentioned non-linear form resonance model
Spectrogram, the characteristic peak occurred in figure are the intrinsic signal characteristic peak of sub-thread fracture wirerope, are removed intrinsic described in step 5
Signal characteristic peak, emerging characteristic peak is the fracture characteristic peak of stranded wirerope in figure；
Step 7: to the safety monitoring of wirerope 42 when routine use
A) carries out the real-time acquisition of vibration data according to the method for step 1 to wirerope 42, and computer 6 is by the vibration number
Signal data is always monitored according to multisensor is obtained by the SAS algorithm, which is always monitored signal data by computer 6
By obtaining 42 real-time monitoring signal spectrum figure of wirerope, the characteristic peak occurred in figure by above-mentioned non-linear form resonance model
The as daily signal characteristic peak of wirerope；
B) computer 6 is by the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and intact wirerope
Intrinsic signal characteristic peak is compared, if the two is identical, determines that wirerope 42 is intact, repeats step a), if the two is not identical,
Computer 6 by the fracture characteristic peak of the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and stranded wirerope into
Row compares, if the fracture characteristic peak with stranded wirerope is identical, determines that sub-thread fracture occurs in wirerope 42, issues corresponding alert
Report；If the fracture characteristic peak with stranded wirerope is not identical, following steps are executed:
If c) the position P of the characteristic peak positions Ps at the daily signal characteristic peak and fracture characteristic peak0It is identical, it can be according to two
The amplitude of characteristic peak determines stranded number: if 2P0>Ps≧1.5P0, it is determined as two bursts of fractures, issues corresponding alarm；If
2.8P0>Ps≧2P0, it is determined as it being three bursts of fractures, issues corresponding alarm；If Ps≤2.8P0, it is determined as that four strands or more break
It splits, issues corresponding alarm；If the position P of the characteristic peak positions Ps at daily signal characteristic peak and fracture characteristic peak0It is not identical, sentence
It is set to other mechanical parts to go wrong, issues corresponding alarm.
Preferably, the wirerope vibration data monitoring device is fracture of wire monitoring device, the traction device 4 includes leading
Draw motor 41, wirerope 42 and traction sheave 43, the steel wire trough of the traction sheave 43 is semicircle, the trench bottom edge of the steel wire trough
Multiple fracture of wire monitoring devices circumferentially are evenly equipped with, each fracture of wire monitoring device includes a vibrating sensor 44, each vibration
Dynamic sensor 44 is set in the corresponding mounting hole of traction sheave 43, and the top of vibrating sensor 44 is lower than the slot bottom of steel wire trough
Face, vibrating sensor 44 are fixed in respective mounting hole by casting glue 47, each vibrating sensor 44 by conducting wire with
The corresponding conductive needle that plays that the collector ring 46 of 43 side of traction sheave is arranged in is electrically connected, and when the elevator is run, wirerope 42 is wound
In steel wire trough, each vibrating sensor 44 sends the vibration data monitored to the computer 6 by collector ring 46, by counting
It is stranded that calculation machine 6 according to the vibration data judges whether wirerope 42 has.The vibrating sensor 44 is micro high sensitivity pressure
Electroceramics type vibrating sensor.
Embodiment 1:
A kind of independent safety monitoring device of elevator, including carriage 1, stair shaft 2, traction device 4, elevator control system 5
And it is set to the computer 6 in the elevator control system 5, the traction device 4 includes traction electric machine 41, wirerope 42 and traction
Wheel 43, the steel wire trough of the traction sheave 43 are semicircle, the steel wire trough of traction sheave 43 altogether there are six, the trench bottom of each steel wire trough
8 fracture of wire monitoring devices are distributed along the circumference with, each fracture of wire monitoring device includes a vibrating sensor 44, each described
Vibrating sensor 44 is set in the corresponding mounting hole of traction sheave 43, and the top of vibrating sensor 44 is lower than the slot bottom of steel wire trough
Face 0.3-1 millimeters, vibrating sensor 44 is fixed in respective mounting hole by casting glue 47,47 top of casting glue and steel wire trough
Groove bottom it is concordant, each vibrating sensor 44 is corresponding with collector ring 46 that 43 side of traction sheave is arranged in by conducting wire
Conduction plays needle electrical connection, and when the elevator is run, wirerope 42 is wound in steel wire trough, the vibration that each vibrating sensor 44 will monitor
Dynamic data send the computer 6 to by collector ring 46, whether judge wirerope 42 according to the vibration data by computer 6
Have stranded.Preferably, the vibrating sensor 44 is micro high sensitivity Piezoelectric vibrating sensor.
Embodiment 2:
It is anti-fall solely using the elevator based on non-linear form resonance model of the independent safety monitoring device of above-mentioned elevator
Vertical safety monitoring method, includes the following steps:
Step 1: the acquisition of vibration data
When traction device 4 is run, traction sheave 43 is rotated and is contacted with the wirerope 42 being wound in its steel wire trough, each to vibrate
Sensor 44 sends the vibration data monitored to the computer 6 by collector ring 46；Step 2: multisensor chief inspector
Survey the calculating of signal
Be distributed in multiple sensor sn1, sn2 in 43 steel wire trough of traction sheave ..., snn, it is assumed that its monitoring signals point
Not Wei M1, M2 ..., Mn, sometime, the calculation method of the total monitoring signals SAS of multisensor are as follows:
To monitoring signals M1, M2 of multiple sensors, M3 ..., Mn be ranked up from big to small, the sequence after sorting
Are as follows: MP1, MP2, MP3 ..., MPn, then SAS algorithm are as follows:
Step 3: the extraction of monitoring signals characteristic parameter
For the state for monitoring elevator wire rope 42, it is average that we extract the integral of the vibration data, variance, stable state respectively
Value, average 5 kinds of characteristic parameters such as differential value and wavelet energy:
1) INV calculating formula is integrated are as follows:
In formula: IN (t) is integrated value, and N is detection data number of the sensor to sample, xiFor i-th second response, t
For the time interval between adjacent two sampled point, this place chooses 0.1s；
2) variance VAR calculating formula are as follows:
In formula:For response signal mean value, N is the acquisition number of a sample, xiFor i-th in a test sample value
A collection value；
3) steady-state average value AVRS calculating formula are as follows:
In formula: Z is Relative steady-state average value, t0Corresponding time, x when will stablize for curveiFor a test sample value
In i-th of collection value, N is the total acquisition time points of sample；
4) average differential value ADV calculating formula are as follows:
In formula: Ka is the average differential value of response signal, and N is the acquisition time of sample, xiIt is i-th of test sample value
Collection value, interval of the t between adjacent two sampled point, herein t=0.1s；
5) wavelet energy WEV calculating formula are as follows:
In formula: E is wavelet energy value, a3iI-th of decomposition coefficient i=is concentrated for Coefficients of Approximation after 3 Scale Decomposition of signal
1 ..., m, m are the coefficient sum that Coefficients of Approximation is concentrated；
Step 4: the foundation of non-linear form resonance model
Non-linear form resonance is that ideal particle is (random in ariable periodic signal (cyclic drive power) and random noise
Power) under the action of, there is a phenomenon where reciprocal transition, the descriptions of non-linear form resonance model in nonlinear bistable system are as follows:
In formula:For the potential function for describing a bistable systemFor the input signal as nonlinear system, A is signal amplitude, f0It is adjustable
Signal frequency, m, n > 0 are system parameter；E (t) is external random noise, and it is that noise is strong that the assembly average of e (t), which is 0, e (t),
Degree is the Gaussian Profile white noise of D；P is amendment constant；
The barrier height that formula (6) describes system is U0=m2/ 4n, bottom are located atThe position at place, and be
The output state of system determines to will stay on one of two potential wells by original state, adiabatic approximation condition, that is, input signal amplitude,
Under frequency, noise intensity are less than 1, by the correlation function of non-linear form resonance system output signal, available non-linear shape
State resonance model expression formula:
Step 5: the extraction of intrinsic signal characteristic peak
Carry out the acquisition of vibration data to intact wirerope 42 according to the method for step 1, computer 6 is by the vibration number
It is always monitored signal data (referring to Fig. 7) according to multisensor is obtained by the SAS algorithm, computer 6 is by total monitoring signals number
According to by obtaining intact wirerope real-time monitoring by above-mentioned non-linear form resonance model nonlinear resonance spectrogram (referring to
Figure 11), the characteristic peak occurred in figure is the intrinsic signal characteristic peak of intact wirerope；
Step 6: the extraction at wirerope sub-thread fracture characteristic peak
Carry out the acquisition of vibration data according to the wirerope 42 that the method for step 1 is broken sub-thread, computer 6 is by the vibration
Dynamic data obtain multisensor by the SAS algorithm and always monitor signal data (referring to Fig. 8), and computer 6 is by the multisensor
Total monitoring signal data is broken the non-of 42 real-time monitoring of wirerope by obtaining sub-thread by above-mentioned non-linear form resonance model
Linear resonance spectrogram (referring to Figure 12), the characteristic peak occurred in figure are the intrinsic signal characteristic peak of sub-thread fracture wirerope,
Intrinsic signal characteristic peak described in step 5 is removed, emerging characteristic peak is the fracture characteristic peak of stranded wirerope in figure；
Step 7: to the safety monitoring of wirerope 42 when routine use
A) carries out the real-time acquisition of vibration data according to the method for step 1 to wirerope 42, and computer 6 is by the vibration number
It is always monitored signal data (referring to Figure 13) according to each sensor is obtained by the SAS algorithm, computer 6 is by total monitoring signals number
According to by obtaining 42 real-time monitoring signal spectrum figure (referring to Figure 15) of wirerope by above-mentioned non-linear form resonance model, in figure
The characteristic peak of appearance is the daily signal characteristic peak of wirerope；
B) computer 6 is by the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and intact wirerope
Intrinsic signal characteristic peak is compared, i.e., is compared at the signal characteristic peak of Figure 15 with Figure 11 intrinsic signal characteristic peak, because of two
Person is not identical, and computer 6 is by the disconnected of the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and stranded wirerope
It splits characteristic peak to be compared, i.e., is compared at the signal characteristic peak of Figure 14 with the signal characteristic peak of Figure 12, because day regular signal is special
Levy the characteristic peak positions Ps at peak and the position P at fracture characteristic peak0Identical, computer will determine to break according to the amplitude of two characteristic peaks
Number of share of stock: because of P0=9.9dB, Ps=12.1dB, meets Ps < 1.5P0, therefore, it is determined that for 1 burst of fracture, computer 6 issues corresponding police
Report.
Embodiment 3:
It is monitored using the anti-fall independent safety of the elevator of the Fourier transformation of the independent safety monitoring device of above-mentioned elevator
Method includes the following steps:
Step 1: the acquisition of vibration data
When traction device 4 is run, traction sheave 43 is rotated and is contacted with the wirerope 42 being wound in its steel wire trough, each to vibrate
Sensor 44 sends the vibration data monitored to the computer 6 by collector ring 46；Step 2: multisensor chief inspector
Survey the calculating of signal
Be distributed in multiple sensor sn1, sn2 in 43 steel wire trough of traction sheave ..., snn, it is assumed that its monitoring signals point
Not Wei M1, M2 ..., Mn, sometime, the calculation method of the total monitoring signals SAS of multisensor are as follows:
To monitoring signals M1, M2 of multiple sensors, M3 ..., Mn be ranked up from big to small, the sequence after sorting
Are as follows: MP1, MP2, MP3 ..., MPn, then SAS algorithm are as follows:
Step 3: the extraction of intrinsic signal characteristic peak
Carry out the acquisition of vibration data to intact wirerope 42 according to the method for step 1, computer 6 is by the vibration number
Signal data is always monitored according to each sensor is obtained by the SAS algorithm, Fig. 7 shows total monitoring signal data and becomes at any time
Total monitoring signal data is obtained intact wirerope 42 prison in real time by Fourier transformation (FFT) by the schematic diagram of change, computer 6
It surveys signal spectrum figure (referring to Fig. 9), the characteristic peak occurred in figure is the intrinsic signal characteristic peak of intact wirerope；
Step 4: the extraction at wirerope sub-thread fracture characteristic peak
Carry out the acquisition of vibration data according to the wirerope 42 that the method for step 1 is broken sub-thread, computer 6 is by the vibration
Dynamic data obtain each sensor by the SAS algorithm and always monitor signal data (referring to Fig. 8), and computer 6 is by the multisensor
Total monitoring signal data by Fourier transformation (FFT) obtain sub-thread be broken 42 real-time monitoring signal spectrum figure of wirerope (referring to
Figure 10), the characteristic peak occurred in figure is the intrinsic signal characteristic peak of sub-thread fracture wirerope, is removed intrinsic described in step 3
Signal characteristic peak, emerging characteristic peak is the fracture characteristic peak of stranded wirerope in figure；
Step 5: to the safety monitoring of wirerope 42 when routine use
A) carries out the real-time acquisition of vibration data according to the method for step 1 to wirerope 42, and computer 6 is by the vibration number
It is always monitored signal data (referring to Figure 13) according to each sensor is obtained by the SAS algorithm, computer 6 is by total monitoring signals number
42 real-time monitoring signal spectrum figure (referring to Figure 14) of wirerope, the feature occurred in figure are obtained according to by Fourier transformation (FFT)
Peak is the daily signal characteristic peak of wirerope；
B) computer 6 is by the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and intact wirerope
Intrinsic signal characteristic peak is compared, i.e., is compared at the signal characteristic peak of Figure 14 with Fig. 9 intrinsic signal characteristic peak, because of the two
Not identical, computer 6 is by the fracture at daily the signal characteristic peak and stranded wirerope of the real-time monitoring signal spectrum figure of step a)
Characteristic peak is compared, i.e., is compared at the signal characteristic peak of Figure 14 with the signal characteristic peak of Figure 10, because of daily signal characteristic
The characteristic peak positions Ps at the peak and position P at fracture characteristic peak0Identical, computer will determine stranded according to the amplitude of two characteristic peaks
Number: because of P0=0.13dB, Ps=0.15dB, meets Ps < 1.5P0, therefore, it is determined that for 1 burst of fracture, computer 6 issues corresponding alarm.
Claims (3)
1. a kind of anti-fall independent safety monitoring method of elevator based on non-linear form resonance model, the elevator includes carriage
(1), stair shaft (2), traction device (4), elevator control system (5) and the computer being set in the elevator control system (5)
(6), monitoring step is as follows:
Step 1: the acquisition of vibration data
Wirerope vibration data monitoring device is equipped on the traction device (4), at runtime, the wirerope vibrates elevator
Data monitoring device sends the vibration data monitored to the computer (6) by collector ring (46)；
Step 2: the calculating of the total monitoring signals of multisensor
Be distributed in multiple sensor sn1, sn2 in traction sheave (43) steel wire trough ..., snn, it is assumed that its monitoring signals difference
For M1, M2 ..., Mn, sometime, the calculation method of the total monitoring signals SAS of multisensor are as follows:
To monitoring signals M1, M2 of multiple sensors, M3 ..., Mn be ranked up from big to small, the sequence after sorting are as follows:
MP1, MP2, MP3 ..., MPn, then SAS algorithm are as follows:
Step 3: the extraction of monitoring signals characteristic parameter
For the state for monitoring elevator wire rope (42), it is average that we extract the integral of the vibration data, variance, stable state respectively
Value, average 5 kinds of characteristic parameters such as differential value and wavelet energy:
1) INV calculating formula is integrated are as follows:
In formula: IN (t) is integrated value, and N is detection data number of the sensor to sample, xiFor i-th second response, t was adjacent
Time interval between two sampled points, this place choose 0.1s；
2) variance VAR calculating formula are as follows:
In formula:For response signal mean value, N is the acquisition number of a sample, xiIt is adopted for i-th in a test sample value
Set value；
3) steady-state average value AVRS calculating formula are as follows:
In formula: Z is Relative steady-state average value, t0Corresponding time, x when will stablize for curveiFor in a test sample value
I-th of collection value, N are the total acquisition time points of a sample；
4) average differential value ADV calculating formula are as follows:
In formula: Ka is the average differential value of response signal, and N is the acquisition time of sample, xiFor i-th of acquisition of test sample value
Value, interval of the t between adjacent two sampled point；
5) wavelet energy WEV calculating formula are as follows:
In formula: E is wavelet energy value, a3iFor Coefficients of Approximation after 3 Scale Decomposition of signal concentrate i-th decomposition coefficient (i=1 ...,
M), m is the coefficient sum that Coefficients of Approximation is concentrated；
Step 4: the foundation of non-linear form resonance model
Non-linear form resonance is ideal particle in ariable periodic signal (cyclic drive power) and random noise (random force)
Under the action of, there is a phenomenon where reciprocal transition, the descriptions of non-linear form resonance model in nonlinear bistable system are as follows:
In formula:For the potential function for describing a bistable system
For the input signal as nonlinear system, A is signal amplitude, f0For signal frequency, m is adjusted, n > 0 is system parameter；e
It (t) is external random noise, the assembly average of e (t) is that 0, e (t) is the Gaussian Profile white noise that noise intensity is D；P is to repair
Normal amount；
The barrier height that formula (6) describes system is U0=m2/ 4n, bottom are located atThe position at place, and system
Output state determines to will stay on one of two potential wells by original state, adiabatic approximation condition, that is, input signal amplitude, frequency,
Under noise intensity is less than 1, by the correlation function of non-linear form resonance system output signal, available non-linear form resonance
Model expression:
Step 5: the extraction of intrinsic signal characteristic peak
Carry out the acquisition of vibration data to intact wirerope (42) according to the method for step 1, computer (6) is by the vibration number
Signal data is always monitored according to multisensor is obtained by the SAS algorithm, and computer (6) is by the total monitoring signals number of the multisensor
According to by obtaining the nonlinear resonance spectrogram of intact wirerope real-time monitoring by above-mentioned non-linear form resonance model, in figure
The characteristic peak of appearance is the intrinsic signal characteristic peak of intact wirerope；
Step 6: the extraction at wirerope sub-thread fracture characteristic peak
The wirerope (42) being broken to sub-thread according to the method for step 1 carries out the acquisition of vibration data, and computer (6) is by the vibration
Dynamic data obtain multisensor by the SAS algorithm and always monitor signal data, which is always monitored letter by computer (6)
Number is broken the non-linear total of wirerope (42) real-time monitoring by obtaining sub-thread by above-mentioned non-linear form resonance model
Shake spectrogram, and the characteristic peak occurred in figure is the intrinsic signal characteristic peak of sub-thread fracture wirerope, removes described in step 5
Intrinsic signal characteristic peak, emerging characteristic peak is the fracture characteristic peak of stranded wirerope in figure；
Step 7: to the safety monitoring of wirerope (42) when routine use
A) carries out the real-time acquisition of vibration data according to the method for step 1 to wirerope (42), and computer (6) is by the vibration number
Signal data is always monitored according to multisensor is obtained by the SAS algorithm, and computer (6) is by the total monitoring signals number of the multisensor
According to by obtaining wirerope (42) real-time monitoring signal spectrum figure, the spy occurred in figure by above-mentioned non-linear form resonance model
Sign peak is the daily signal characteristic peak of wirerope；
B) computer (6) is by the daily signal characteristic peak of real-time monitoring signal spectrum figure of step a) and consolidating for intact wirerope
There is signal characteristic peak to be compared, if the two is identical, determine that wirerope (42) is intact, repeats step a), if the two is not identical,
Computer (6) is by the fracture characteristic peak at the daily signal characteristic peak of the real-time monitoring signal spectrum figure of step a) and stranded wirerope
It is compared, if the fracture characteristic peak with stranded wirerope is identical, determines that sub-thread fracture occurs in wirerope (42), issue corresponding
Alarm；If the fracture characteristic peak with stranded wirerope is not identical, following steps are executed:
If c) the position P of the characteristic peak positions Ps at the daily signal characteristic peak and fracture characteristic peak0It is identical, it can be according to two characteristic peaks
Amplitude determine stranded number: if 2P0>Ps≧1.5P0, it is determined as two bursts of fractures, issues corresponding alarm；If 2.8P0>Ps
≧2P0, it is determined as it being three bursts of fractures, issues corresponding alarm；If Ps≤2.8P0, it is determined as that four strands or more are broken, issues phase
Answer alarm；If the position P of the characteristic peak positions Ps at daily signal characteristic peak and fracture characteristic peak0It is not identical, it is determined as other
Mechanical part goes wrong, and issues corresponding alarm.
2. the anti-fall independent safety monitoring method of the elevator according to claim 1 based on non-linear form resonance model,
It is characterized by: the wirerope vibration data monitoring device is fracture of wire monitoring device, the traction device (4) includes traction electricity
Machine (41), wirerope (42) and traction sheave (43), the steel wire trough of the traction sheave (43) are semicircle, the slot bottom of the steel wire trough
Portion is distributed along the circumference with multiple fracture of wire monitoring devices, and each fracture of wire monitoring device includes a vibrating sensor (44), respectively
The vibrating sensor (44) is set in the corresponding mounting hole of traction sheave (43), and the top of vibrating sensor (44) is lower than steel
The groove bottom of silk slot, vibrating sensor (44) are fixed in respective mounting hole by casting glue (47), each vibrating sensing
Corresponding conductive play needle of the device (44) by conducting wire with setting in the collector ring (46) of traction sheave (43) side is electrically connected, when
When elevator is run, wirerope (42) is wound in steel wire trough, and the vibration data monitored is passed through collection by each vibrating sensor (44)
Electric ring (46) sends the computer (6) to, and it is disconnected according to the vibration data to judge whether wirerope (42) has by computer (6)
Stock.
3. the anti-fall independent safety monitoring method of the elevator according to claim 2 based on non-linear form resonance model,
It is characterized by: the vibrating sensor (44) is micro high sensitivity Piezoelectric vibrating sensor.
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