CN113443528A - Elevator emergency rescue method, device and computer readable storage medium - Google Patents

Elevator emergency rescue method, device and computer readable storage medium Download PDF

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Publication number
CN113443528A
CN113443528A CN202110740536.7A CN202110740536A CN113443528A CN 113443528 A CN113443528 A CN 113443528A CN 202110740536 A CN202110740536 A CN 202110740536A CN 113443528 A CN113443528 A CN 113443528A
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Prior art keywords
elevator
rescue
output voltage
value
reference value
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CN113443528B (en
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钱建新
周洪雷
郝欢
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Suzhou Huichuan Control Technology Co Ltd
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Suzhou Huichuan Control Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B66B1/30—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical effective on driving gear, e.g. acting on power electronics, on inverter or rectifier controlled motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/3415—Control system configuration and the data transmission or communication within the control system
    • B66B1/3423—Control system configuration, i.e. lay-out
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
    • B66B1/36—Means for stopping the cars, cages, or skips at predetermined levels
    • 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
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons
    • 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
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0037—Performance analysers
    • 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
    • B66B5/027—Applications of checking, fault-correcting, or safety devices in elevators responsive to abnormal operating conditions to permit passengers to leave an elevator car in case of failure, e.g. moving the car to a reference floor or unlocking the door
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B2201/00—Aspects of control systems of elevators
    • B66B2201/40—Details of the change of control mode
    • B66B2201/403—Details of the change of control mode by real-time traffic data
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B50/00—Energy efficient technologies in elevators, escalators and moving walkways, e.g. energy saving or recuperation technologies

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Elevator Control (AREA)
  • Maintenance And Inspection Apparatuses For Elevators (AREA)

Abstract

The invention discloses an elevator emergency rescue method, equipment and a computer readable storage medium, wherein the method comprises the following steps: after the elevator is started, acquiring an output voltage reference value of an elevator controller in a zero servo state; when the elevator controller acquires an elevator rescue signal, determining an elevator rescue mode according to a rescue input voltage and the output voltage reference value; and the elevator controller controls the elevator car to move to the flat-layer position according to the elevator rescue mode. The invention can greatly reduce the power configuration of the rescue module in the elevator and save the cost of rescue equipment on the premise of ensuring the safety and reliability of the rescue.

Description

Elevator emergency rescue method, device and computer readable storage medium
Technical Field
The invention relates to the field of elevator control, in particular to an elevator emergency rescue method, equipment and a computer readable storage medium.
Background
The elevator rescue is an important component in an elevator control system and an important link for ensuring the normal operation of the elevator. At present, two modes of self-sliding rescue and driving rescue are mainly used for elevator rescue.
The automatic sliding car rescue is characterized in that after the elevator is completely powered off, the band-type brake contactor is opened, the speed of the automatic sliding car is controlled through the star-sealing contactor, and the automatic sliding car is driven to descend at a speed after arriving at a door area, so that the parking precision is difficult to guarantee, and extra safety risk is added for rescue.
The driving rescue is that when the elevator is completely powered off, the elevator is driven to run by an external power supply, and the elevator is decelerated and stopped after arriving at a door area, so that the stopping precision can be controlled very well, but the driving rescue needs to be provided with a rescue module matched with the rated load, and the high-power rescue module is adopted, so that the cost is increased, and the resources are wasted. If the rescue module with lower power is configured, the torque required by the system is difficult to provide for rescue under the working conditions of full load and the like, or the phenomena of overload, overcurrent and the like may occur during rescue, so that the elevator rescue is unsuccessful, and the safety and the comfort of the elevator are reduced.
Disclosure of Invention
The invention provides an elevator emergency rescue method, equipment and a computer readable storage medium, which are used for solving the problems that a high-power rescue module increases the cost and wastes resources, a low-power rescue module easily causes unsuccessful rescue and reduces the safety of an elevator in the prior art.
The method comprises the following steps: an elevator emergency rescue method, the method comprising:
after the elevator is started, acquiring an output voltage reference value of an elevator controller in a zero servo state;
when the elevator controller acquires an elevator rescue signal, determining an elevator rescue mode according to a rescue input voltage and the output voltage reference value;
and the elevator controller controls the elevator car to move to the flat-layer position according to the elevator rescue mode.
As a further improvement of the present invention, the determining an elevator rescue mode according to the rescue input voltage and the output voltage reference value comprises:
if the ratio of the rescue input voltage to the output voltage reference value is greater than or equal to a first preset value, determining that the elevator rescue mode is driving rescue;
and if the ratio of the rescue input voltage to the output voltage reference value is smaller than a first preset value, determining that the elevator rescue mode is self-sliding rescue.
As a further improvement of the present invention, if the ratio of the rescue input voltage to the rescue output voltage reference value is greater than or equal to a first preset value, determining that the elevator rescue mode is driving rescue, includes:
if the ratio of the output voltage reference value to the rescue input voltage is greater than or equal to a second preset value, determining that the elevator rescue mode is first driving rescue;
if the ratio of the rescue input voltage to the output voltage reference value is greater than or equal to a first preset value and smaller than a second preset value, determining that the elevator rescue mode is second-drive rescue;
wherein the first preset value is smaller than the second preset value.
As a further improvement of the invention, the elevator controller controls the elevator car to move to the flat position according to the elevator rescue mode, and the elevator control method comprises the following steps:
and if the rescue mode is driving rescue, the elevator controller controls the elevator car to move to the flat-layer position according to a preset rescue curve.
As a further development of the invention, the preset relief curve is determined by:
the elevator controller obtains a rated back electromotive force estimated value of a traction motor of the elevator;
the elevator controller determines the maximum rescue speed of the elevator according to the rated back electromotive force estimation value;
and the elevator controller plans the preset rescue curve according to the maximum rescue speed of the elevator.
As a further improvement of the present invention, the obtaining of the output voltage reference value of the elevator controller in the zero servo state includes:
the elevator controller sequentially obtains the average value of the output voltage of the elevator controller in a preset period in a zero servo state;
and determining the output voltage average value of the last time before the zero servo state is exited as the output voltage reference value.
As a further improvement of the present invention, the method further comprises:
acquiring an output current reference value of an elevator controller in a zero servo state;
the elevator controller controls the elevator car to move to the flat-layer position according to the elevator rescue mode, and the elevator rescue method comprises the following steps:
and the elevator controller takes the output current reference value as a pre-torque input value during elevator rescue.
As a further improvement of the present invention, the obtaining of the output current reference value of the elevator controller in the zero servo state includes:
the elevator controller sequentially obtains the average value of the output current of the elevator controller in a preset period in a zero servo state;
and determining the output current reference value as the output current average value of the last time before the zero servo state is exited.
The invention also provides elevator emergency rescue equipment, which comprises a processor and a memory in communication connection with the processor; wherein the memory stores instructions executable by the processor to enable the processor to perform an elevator emergency rescue method as described above.
The present invention also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform an elevator emergency rescue method as described above.
The invention has the following beneficial effects: the output voltage reference value of the elevator controller in the zero servo state is used as a basis for determining the elevator rescue mode, and the elevator is controlled to operate according to the determined elevator rescue mode, so that the power configuration of a rescue module in the elevator can be greatly reduced on the premise of ensuring the safety and reliability of rescue, and the cost of rescue equipment is saved.
Drawings
Fig. 1 is a schematic flow chart of an elevator emergency rescue method provided by an embodiment of the invention;
fig. 2 is a schematic flow chart of obtaining an output voltage reference value in an elevator emergency rescue method provided by an embodiment of the invention;
fig. 3 is a schematic flow chart of an elevator rescue method according to the determination of an elevator rescue mode in the elevator emergency rescue method provided by the embodiment of the invention;
fig. 4 is a schematic flow chart of determining an elevator rescue mode as driving rescue in the elevator emergency rescue method provided by the embodiment of the invention;
fig. 5 is a schematic flow chart of controlling an elevator car to move to a leveling position according to an elevator rescue mode in the elevator emergency rescue method provided by the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clearly apparent, the embodiments of the present invention are described in further detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of the invention and are not limiting of the embodiments of the invention.
The elevator emergency rescue method provided by the invention can be applied to an elevator system, the elevator system is provided with a rescue module with proper power, and the rescue module can provide running power for the elevator system according to the load condition of the elevator when the power grid is powered off.
As shown in fig. 1, the method is a schematic flow chart of an elevator emergency rescue method provided by an embodiment of the present invention, the method can be executed by an elevator controller, and the method includes:
step S11: after the elevator system is started, the output voltage reference value of the elevator controller in a zero servo state is obtained.
The elevator controller can adopt a drive and control integrated machine, namely, the drive and control integrated machine comprises a control part and a driving part, and the output voltage reference value is obtained from the output of the driving part. The starting of the elevator system means that the elevator controller starts to drive the elevator car to move upwards or downwards after receiving signals of the inner signboard, the outer signboard and each sensor. In the actual operation of the elevator system, the elevator system first enters a zero-servo phase after each start, and in the zero-servo phase, the elevator car does not go up or down. And after the zero servo enters a steady state, the output voltage and the output current of the elevator controller are basically stable. The output voltage reference value obtained in this step is the output voltage after the output of the elevator controller is stabilized.
Step S12: the elevator system is controlled by the elevator controller to operate in a normal manner. That is, the elevator car is driven to move upwards or downwards and the car door is controlled to open or close according to the input signals of the inner signboard, the outer signboard and the like.
Step S13: the elevator controller judges whether an elevator rescue signal is acquired or not, and executes the step S14 when the elevator rescue signal is acquired; otherwise, the procedure returns to step S12 until the elevator car stops at the landing position of the floor corresponding to the input signal of the inner signboard, the outer signboard, etc.
This step is performed during the elevator controller controlling the elevator system to operate in a normal manner. Specifically, when the power failure of the power grid occurs and the like, the elevator controller acquires an elevator rescue signal and enables the elevator system to enter a rescue state. In an embodiment of the invention, the elevator controller may collect a real-time power supply voltage of the elevator system through the voltage detection device, and use the collected voltage as a basis for judging whether the power grid fails, for example, when the collected voltage is less than a preset power supply voltage, it is determined that an elevator rescue signal is obtained.
Step S14: and determining the elevator rescue mode according to the rescue input voltage and the output voltage reference value obtained in the step S11. The elevator rescue mode can be specifically driving rescue, self-sliding rescue and the like.
The rescue input voltage may be specifically an output voltage of a rescue module (i.e., a rescue module configured in an elevator system), and may be obtained by detecting a voltage at an output end of the rescue module.
Step S15: and controlling the elevator car to move to the flat-layer position according to the elevator rescue mode determined by the step S14 by the elevator controller. And the rescue module can supply power at the flat-layer position, and the elevator controller controls the opening of the elevator car door, so that passengers in the car can leave the car.
According to the elevator emergency rescue method, when the elevator rescue signal is obtained, the output voltage of the zero servo stage and the output voltage of the rescue module are compared and analyzed, and the rescue mode is determined according to the analysis result, so that the configuration of an external rescue module can be smaller than the rated load of an elevator system on the premise of ensuring safety, the power of the rescue module is greatly reduced, and the cost of rescue equipment is saved.
In an embodiment of the present invention, as shown in fig. 2, the obtaining the output voltage reference value of the elevator controller in the zero servo state specifically includes:
step S111: when the elevator controller is in a zero servo state, the average value of the output voltage of the elevator controller in a preset period, namely the average value of the input voltage of the traction motor, is sequentially obtained.
Specifically, in this step, the average voltage value of each preset period may be obtained in a zero servo stage before the elevator normally operates, and the preset period may be determined according to the actual condition of the elevator. For example, when 64 clock cycles are used as a preset cycle, the output voltage of the elevator controller is collected and recorded in each clock cycle, and the average voltage value of the 64 output voltages is calculated after the 64 output voltages are obtained in an accumulated mode. And in the zero servo stage, circularly acquiring the output voltage according to a preset period and calculating the average output voltage until the elevator controller exits the zero servo stage.
Step S112: and determining the average value of the last output voltage before exiting the zero servo state as the output voltage reference value of the elevator controller in the zero servo state.
Because the output voltage substrate of the elevator controller is stable when the elevator controller exits the zero servo state, the average value of the last output voltage before the elevator controller exits the zero servo state is the output voltage when the zero servo of the elevator controller reaches the steady state. By the method, the judgment of whether the zero servo enters the steady state or not can be simplified, namely the acquisition of the reference value of the output voltage is simplified.
The output voltage of the elevator controller after the elevator controller enters the steady state in the zero servo stage is equivalent to the load voltage of the elevator car in the zero servo stage, the output voltage corresponds to the actual load size of the elevator, the optimal rescue mode is determined by comparing the load voltage of the elevator with the rescue input voltage, and therefore the safety and the comfort of rescue can be considered.
In an embodiment of the present invention, the elevator rescue modes in steps S14 and S15 include driving rescue and self-sliding rescue, and the elevator rescue mode is determined according to the rescue input voltage and the output voltage reference value, i.e., step S14, as shown in fig. 2, and specifically includes:
step S141: and acquiring the ratio of the rescue input voltage to the output voltage reference value. The rescue input voltage is the output voltage of the rescue module.
Step S142: and judging whether the ratio is greater than or equal to a first preset value, executing the step S144 when the ratio is greater than or equal to the first preset value, and otherwise executing the step S143. The first preset value can be set according to relevant parameters of the elevator system and the rescue module.
Step S143: and determining the elevator rescue mode as driving rescue. Accordingly, in step S15, the elevator controller is powered by the rescue module to drive the elevator car to the nearest landing position. In particular, the power of the rescue module can be smaller than the rated load of the elevator system.
Step S144: and determining the elevator rescue mode as self-sliding car rescue. Accordingly, in step S15, the elevator controller controls the travel speed of the elevator car via the star contact and lowers the belt speed after the elevator car reaches the nearest landing position.
In an embodiment of the present invention, step S11 shown in fig. 1 may further include: acquiring an output current reference value of an elevator controller in a zero servo state, and accordingly, after determining that the elevator rescue mode is driving rescue in step S14, the method includes: and taking the output current reference value as a pre-torque input value during elevator rescue. By the aid of the mode, the starting reverse sliding distance during driving rescue can be reduced.
Specifically, when the elevator controller receives the start signal and controls the elevator operation stage in a zero servo mode, the elevator controller obtains the average output current (i.e., the input current of the traction motor) of the elevator controller in each preset period in a preset period, and takes the average output current of the elevator controller in a preset period before the elevator controller exits the zero servo stage as the reference value of the output current.
In an embodiment of the present invention, as shown in fig. 4, the determining that the elevator rescue mode is driving rescue, that is, step S143, specifically includes:
step S1431: and judging whether the ratio is greater than or equal to a second preset value, and executing the step S1432 when the ratio is greater than or equal to the second preset value, or executing the step S1433 (namely, when the ratio is between the first preset value and the second preset value). The second preset value can be set according to relevant parameters of the elevator system and the rescue module, and the second preset value is larger than the first preset value.
Step S1432: and determining the elevator rescue mode as first drive rescue. And step S15, when the first driving rescue mode is applied, the elevator controller is powered by the rescue module firstly, enters a zero servo state after being started, and then drives the elevator car to move to the nearest leveling position.
Step S1433: and determining the elevator rescue mode as second drive rescue. Since the rescue input voltage is low at this time, in step S15, when the second driving rescue is applied, the elevator controller cancels the zero servo process and directly drives the elevator car to move to the nearest leveling position. The second driving rescue is a simplified rescue mode based on the first driving rescue.
In one embodiment of the present invention, when it is determined that the elevator rescue manner is the driving rescue in step S14, the elevator controller may control the elevator car to travel to the leveling position according to a preset rescue curve, which may be, specifically, a curve of a speed, an acceleration, etc. of the traction motor varying with time during the control of the elevator car to travel, in step S15.
Specifically, when it is determined in step S14 that the elevator rescue mode is the first drive rescue, the elevator car is in a fully loaded state, and the traction motor of the elevator system is in a power generation condition, so that the rescue input voltage of the elevator controller is raised, the rescue speed is not limited, and the elevator can operate according to a predetermined rescue curve (i.e., normal operation). At this time, the preset rescue curve may be a curve pre-stored in advance in the elevator controller, and the pre-stored curve may be directly used to control the elevator car to move to the nearest leveling position in step S15.
When it is determined in step S14 that the elevator rescue mode is the second drive rescue, the elevator car is in a balanced load steady state, that is, the elevator car (including passengers in the elevator car) is substantially equal to the counterweight, the rescue input voltage of the elevator controller is completely provided by the rescue module, and the voltage or power provided by the rescue module is limited, so that the maximum rescue speed of the elevator needs to be determined according to the voltage provided by the rescue module, thereby planning the preset rescue curve in real time.
Specifically, as shown in fig. 5, when it is determined that the elevator rescue mode is the second driving rescue, the preset rescue curve may be generated in real time in the following manner:
step S151: an elevator controller obtains a rated back electromotive force estimated value of a traction motor of an elevator.
In one embodiment of the present invention, the rated back electromotive force estimation value of the traction motor can be obtained by a voltage equation of the synchronous machine, which is as follows:
Figure BDA0003141984230000081
wherein u isd、uqIs the output voltage of d and q axes of the motor, id、iqIs the output current of d and q axes of the motor, RsIs the motor stator resistance, Ld、LqD, q axis inductances, omega, of electric machineseFor operating electrical frequencies, #fBeing permanent magnets of electric machinesThe magnet flux linkage.
Because the traction motor adopts idControl is carried out when i is equal to 0dSubstituting 0 into equation (1) yields equation (2) below:
uq＝Rsiq+ωeψf (2)
when the elevator is in a rescue state and a second driving rescue mode is adopted, the elevator car is in a balanced load state at the moment, namely iq0. The relationship between the back electromotive force E of the traction motor and the operating electrical frequency, which is derived from the calculation formula (2), is shown in the calculation formula (3):
E＝ωeψf＝uq (3)
as can be seen from the equation (3), when the elevator car is in the balanced load state, the operating speed of the traction motor and the output voltage are in a proportional relationship. And when the traction motor of the elevator is designed, the rated back electromotive force estimation value is determined according to the rated voltage of the traction motor, namely the rated back electromotive force estimation value of the traction motor can be obtained by obtaining the proportional coefficient of the rated voltage and the back electromotive force of the traction motor:
EN＝KVN
wherein ENIs an estimated value of rated back electromotive force V of the traction motorNK is a proportionality coefficient for the rated voltage of the hoisting motor, which may be 0.8, for example.
Step S152: and the elevator controller determines the maximum rescue speed of the elevator according to the rated back electromotive force estimation value.
Specifically, when the maximum rescue speed of the elevator is determined, the maximum rescue voltage V provided by the rescue module needs to be obtained firstlymaxAnd the maximum rescue speed of the elevator can be calculated according to the following calculation formula:
Figure BDA0003141984230000091
wherein v isResIs the maximum rescue speed of the elevator, VNIs the traction motorConstant voltage, vNIs the rated elevator speed of the elevator.
Step S153: and the elevator controller plans a rescue curve according to the maximum rescue speed of the elevator.
According to the elevator emergency rescue method, when the power grid fails, the output voltage and the output current can be acquired at the zero servo stage of the elevator operation, the optimal rescue mode is decided according to the output voltage and the output current, the elevator load and the power configuration of the rescue module, the elevator operation is controlled according to the rescue mode, the power configuration of the rescue module in the elevator can be reduced to a great extent, on the premise that the safety and reliability of the rescue are guaranteed, the cost of rescue equipment is saved, the optimal rescue mode can be automatically selected according to the actual situation of the elevator for rescue, and the intelligentization of emergency rescue is realized.
The invention also provides elevator emergency rescue equipment, which can be an elevator controller or equipment which is in signal connection with the elevator controller and has certain data processing capacity, and comprises a processor and a memory which is in communication connection with the processor; wherein the memory stores instructions executable by the processor to enable the processor to perform an elevator emergency rescue method as described above.
The elevator emergency rescue equipment in the embodiment and the elevator emergency rescue method in the embodiment corresponding to fig. 1 to 5 belong to the same concept, the specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are correspondingly applicable in the equipment embodiment, which is not described herein again.
The present invention also provides a computer-readable storage medium storing computer-executable instructions for causing a computer to perform an elevator emergency rescue method as described above.
The computer-readable storage medium in this embodiment belongs to the same concept as the elevator emergency rescue method in the embodiment corresponding to fig. 1 to 5, and the specific implementation process thereof is described in detail in the corresponding method embodiment, and the technical features in the method embodiment are applicable in the apparatus embodiment, which is not described herein again.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application. In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed elevator emergency rescue method and apparatus can be implemented in other manners. For example, the elevator emergency rescue apparatus embodiments described above are merely illustrative.
All or part of the flow in the method of the embodiments may be implemented by a computer program, which may be stored in a computer readable storage medium and executed by a processor, to instruct related hardware to implement the steps of the embodiments of the methods. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any physical or interface switching device, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signal, telecommunication signal, software distribution medium, etc., capable of carrying said computer program code. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. An elevator emergency rescue method is characterized by comprising the following steps:
after the elevator is started, acquiring an output voltage reference value of an elevator controller in a zero servo state;
when the elevator controller acquires an elevator rescue signal, determining an elevator rescue mode according to a rescue input voltage and the output voltage reference value;
and the elevator controller controls the elevator car to move to the flat-layer position according to the elevator rescue mode.
2. The method of claim 1, wherein determining an elevator rescue mode from the rescue input voltage and the output voltage reference comprises:
if the ratio of the rescue input voltage to the output voltage reference value is greater than or equal to a first preset value, determining that the elevator rescue mode is driving rescue;
and if the ratio of the rescue input voltage to the output voltage reference value is smaller than a first preset value, determining that the elevator rescue mode is self-sliding rescue.
3. The method of claim 2, wherein the determining that the elevator rescue mode is a driving rescue if the ratio of the rescue input voltage to the rescue output voltage reference value is greater than or equal to a first preset value comprises:
if the ratio of the output voltage reference value to the rescue input voltage is greater than or equal to a second preset value, determining that the elevator rescue mode is first driving rescue;
if the ratio of the rescue input voltage to the output voltage reference value is greater than or equal to a first preset value and smaller than a second preset value, determining that the elevator rescue mode is second-drive rescue;
wherein the first preset value is smaller than the second preset value.
4. The method of claim 2, wherein the elevator controller controls the elevator car to move to a leveling position based on the elevator rescue mode, comprising:
and if the rescue mode is driving rescue, the elevator controller controls the elevator car to move to the flat-layer position according to a preset rescue curve.
5. The method of claim 4, wherein the preset relief curve is determined by:
the elevator controller obtains a rated back electromotive force estimated value of a traction motor of the elevator;
the elevator controller determines the maximum rescue speed of the elevator according to the rated back electromotive force estimation value;
and the elevator controller plans the preset rescue curve according to the maximum rescue speed of the elevator.
6. The method of claim 1, wherein the obtaining an output voltage reference for an elevator controller in a zero servo state comprises:
the elevator controller sequentially obtains the average value of the output voltage of the elevator controller in a preset period in a zero servo state;
and determining the output voltage average value of the last time before the zero servo state is exited as the output voltage reference value.
7. The method of claim 2, wherein the method further comprises:
acquiring an output current reference value of an elevator controller in a zero servo state;
the elevator controller controls the elevator car to move to the flat-layer position according to the elevator rescue mode, and the elevator rescue method comprises the following steps:
and the elevator controller takes the output current reference value as a pre-torque input value during elevator rescue.
8. The method of claim 7, wherein obtaining the output current reference value for the elevator controller in the zero servo state comprises:
the elevator controller sequentially obtains the average value of the output current of the elevator controller in a preset period in a zero servo state;
and determining the output current reference value as the output current average value of the last time before the zero servo state is exited.
9. An elevator emergency rescue apparatus, comprising a processor and a memory communicatively connected to the processor; wherein the memory stores instructions executable by the processor to enable the processor to perform an elevator emergency rescue method as claimed in any one of claims 1 to 8.
10. A computer-readable storage medium storing computer-executable instructions for causing a computer to perform the elevator emergency rescue method according to any one of claims 1 to 8.
CN202110740536.7A 2021-06-30 2021-06-30 Elevator emergency rescue method, equipment and computer readable storage medium Active CN113443528B (en)

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