CN117068898A - Elevator encoder fault rapid identification method - Google Patents

Elevator encoder fault rapid identification method Download PDF

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Publication number
CN117068898A
CN117068898A CN202311022244.5A CN202311022244A CN117068898A CN 117068898 A CN117068898 A CN 117068898A CN 202311022244 A CN202311022244 A CN 202311022244A CN 117068898 A CN117068898 A CN 117068898A
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CN
China
Prior art keywords
encoder
flux linkage
condition
elevator
motor
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Pending
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CN202311022244.5A
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Chinese (zh)
Inventor
朱琳昊
黄维纲
顾信鹏
孙兴进
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Canny Elevator Co Ltd
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Canny Elevator Co Ltd
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Application filed by Canny Elevator Co Ltd filed Critical Canny Elevator Co Ltd
Priority to CN202311022244.5A priority Critical patent/CN117068898A/en
Publication of CN117068898A publication Critical patent/CN117068898A/en
Pending legal-status Critical Current

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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
    • B66B5/0006—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
    • 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
    • B66B1/34—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

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

Abstract

The invention discloses a rapid identification method of elevator encoder faults, which comprises the steps of adding encoder fault judgment logic during closed-loop vector control (FVC), and combining based on the following conditions: the condition A flux linkage position error calculation module is used for sampling the error between the calculated flux linkage position angle and the flux linkage position angle estimated by the flux linkage observer for the encoder, and triggering when the error exceeds a set threshold Value 1; the condition B speed change rate calculation module is triggered after the absolute Value of the motor rotating speed calculated by the encoder position angle exceeds a set threshold Value 2; the condition C current change rate calculation module is triggered after the rising change rate of the amplitude of the comprehensive vector Value of the three-phase current of the motor exceeds a set threshold Value 3; and after the confirmation time is passed for different condition combinations, the trigger state is still maintained, the encoder is judged to be faulty, the control of the motor is switched from the FVC to the SVC on line, and the elevator man-out accident during the fault is avoided.

Description

Elevator encoder fault rapid identification method
Technical Field
The invention relates to the technical field of elevator control, in particular to a rapid fault identification method for an elevator encoder.
Background
The elevator is used as a vertical transportation means in a building system, and provides convenience for life and travel of people. The elevator is used as special equipment, and relates to various links such as safety, leveling accuracy, comfort and the like, an open loop vector control SVC without speed feedback is not used as an option for driving an elevator traction motor, and all elevators currently adopt a closed loop vector control FVC technology with encoder speed feedback. However, in the FVC control process, once the encoder is damaged, the whole motor control fails, the elevator stops and cannot run, if the encoder is damaged in the elevator running process, the vector control cannot be correctly executed, the motor loses torque and even provides counter torque, so that the elevator stalls, the frequency converter has over-current and even faults such as a frying machine, and finally the elevator stops between two floors to cause a man-related accident.
The scheme is easy to think that when the elevator stops due to the fault of the encoder and then automatically switches to the open loop vector control SVC without the speed sensor, the elevator car can be moved to the flat floor position of the door zone again for people placement, so that the problem of people closing is solved. However, on the one hand, the elevator has a sudden stop process, which causes uncomfortable feeling to passengers; on the other hand, the elevator is easy to stall and fly in the FVC control process after the encoder fails, the speed limiter or the safety tongs of the elevator are enabled to act when serious, or the frequency converter is burnt out due to overcurrent, the elevator cannot recover to operate by itself due to hardware faults, and accidents of people are still difficult to avoid.
For example, chinese patent application publication No. CN109787522a discloses an online switching method of FVC and SVC, where the starting of the SVC controller or the FVC controller is controlled by a master controller, and the master controller switches the control mode according to the actual use state of the motor, the application does not describe specific switching logic of the master controller, but in the elevator field, the whole process adopts closed loop vector control FVC to ensure the comfort of the elevator, and online switching of FVC and SVC under normal conditions of the elevator has no practical meaning to the operation of the elevator. And because SVC control performance is difficult to accomplish to start steadily, operation comfort is good, the flat layer degree of accuracy is high, and long-term operation is difficult to guarantee the security of elevator, therefore SVC is only as a temporary operation mode after the encoder trouble, only when elevator encoder trouble, switch to SVC temporary operation by FVC on line, stop the ladder after opening the door to the flat layer position of elevator door district with elevator operation to avoid elevator scram to stop the ladder and close the people trouble, only need solve in the elevator field.
However, how to judge the fault of the encoder on line becomes a difficulty, and misjudgment of the fault of the encoder leads to stop of the elevator after the elevator accidentally enters the SVC to reach the door zone, or the fault of the encoder does not judge to cause the emergency stop of the elevator, which can cause dissatisfaction of passengers, so that accurate judgment of the fault of the encoder is a key for solving the problem. Another problem is that since on-line switching of FVC to SVC is to be implemented, the real-time performance of the encoder failure determination needs to be very high, in case of no encoder failure, the elevator is in FVC control mode, in SVC control mode at the time of failure, then in case of encoder failure, the elevator is still in FVC control mode for a period of time when the system has not determined the encoder failure, in which period of time FVC is actually disabled, too long time would result in elevator runaway, and thus it is necessary to have a real-time fast detection capability of the encoder failure.
The conventional broken line detection of the incremental ABZ encoder can be often realized through a hardware detection circuit, for example, chinese patent CN114935715A, CN114910822a and the like describe a broken line detection method of the incremental encoder, however, on one hand, the encoder fault is not limited to a broken line fault, and there may be situations of a fixed fault, a cross short circuit, a circuit oscillation and the like, and these faults are difficult to be realized through the hardware detection circuit; on the other hand, a hardware disconnection detection circuit can be used for the incremental ABZ encoder, and for other encoders, particularly analog quantity type encoders such as Sin-Cos encoders, fault detection of the encoder cannot be realized through a pure hardware detection circuit, particularly the output signal of the encoder is always changed in the running process of an elevator, the correct state of the analog quantity type encoder is more difficult to confirm through a software identification method, the detection time is longer, and in the detection time, the over-current of a frequency converter or the flying car of the elevator can be possibly caused by the maintenance of the FVC, so that the requirement of on-line switching to SVC running after the encoder faults is difficult to be met.
Disclosure of Invention
The invention aims to provide a rapid identification method for elevator encoder faults, and realizes that closed loop vector control FVC is switched to open loop vector control SVC on line under fault conditions, so that an elevator can continue to run to a flat layer position of an elevator door zone to put people under the condition of encoder faults, the whole process has no experience of stopping the elevator suddenly, and no elevator personnel closing accident is caused.
The aim of the invention can be achieved by the following technical scheme:
a method for quickly identifying faults of an elevator encoder, comprising:
during closed loop vector control FVC, adding encoder fault determination logic;
based on the following combination of conditions:
condition a: the flux linkage position error calculation module is used for sampling the error between the calculated flux linkage position angle and the flux linkage position angle estimated by the flux linkage observer for the encoder, and triggering the encoder after the error exceeds a set threshold Value 1;
condition B: the speed change rate calculation module is triggered after the reduction change rate of the absolute Value of the motor rotating speed calculated by the position angle of the encoder exceeds a set threshold Value 2;
condition C: the current change rate calculation module is triggered after the rising change rate of the amplitude of the comprehensive vector Value of the three-phase current of the motor exceeds a set threshold Value 3;
and through different condition combinations, different delay confirmation times are adopted, when the more the condition is triggered, the shorter the confirmation time is, the condition combination still keeps the trigger state after the confirmation time is passed, and the encoder is judged to be faulty.
As a further scheme of the invention: different delay validation times include:
if only the condition A or the condition B triggers, the delay confirmation time is T1;
if the condition A and the condition B are triggered simultaneously, the delay confirmation time is T2, wherein T1 is more than T2;
wherein, T1 takes 10ms, T2 takes 2ms, and the condition C is an auxiliary condition;
if the condition C is triggered simultaneously in the triggering process of the condition A or the condition B, the required confirmation time is correspondingly reduced, and the delay confirmation time is half of the time of T1 or T2.
As a further scheme of the invention: the flux linkage observer estimation module in the flux linkage position error calculation module is a mixed flux linkage estimation model combined by a voltage model and a current model of the motor;
the flux linkage observer estimating module estimates the flux linkage position by utilizing the current and voltage response of the motor, compares the flux linkage position with the flux linkage position obtained by the encoder, and judges whether the encoder is in an abnormal state or not through the error of the flux linkage position and the flux linkage observer.
As a further scheme of the invention: after the encoder fails, the elevator is immediately switched from closed-loop vector control FVC to open-loop vector control SVC on line under the condition of no stopping elevator;
wherein the elevator stops after traveling to the nearby landing door zone.
As a further scheme of the invention: an elevator encoder fault quick identification device comprising:
the flux linkage position error calculation module is used for calculating errors between the flux linkage position angles calculated by the encoder through sampling and the flux linkage position angles estimated by the flux linkage observer;
a speed change rate calculation module for calculating a motor rotation speed from the encoder position angle;
the current change rate calculation module is used for calculating the rising change rate of the amplitude of the comprehensive vector value of the three-phase current of the motor;
the combination condition judging module is used for carrying out quick on-line judgment on the faults of the encoder by the output data.
As a further scheme of the invention: the flux linkage position error calculation module comprises a flux linkage observer estimation module and an encoder sampling calculation module;
the flux linkage observer estimating module is used for estimating the flux linkage angle;
the encoder sampling calculation module is used for calculating the flux linkage angle according to the rotor angle obtained by the encoder.
As a further scheme of the invention: the motor vector controller is electrically connected with the combination condition judging module;
the motor vector controller is used for receiving the judging data of the combined condition judging module and switching the closed loop vector control (FVC) mode and the open loop vector control (SVC) mode of the elevator.
As a further scheme of the invention: the motor is further provided with a motor, and the motor three-phase current is processed, so that the flux linkage position is estimated by using a mixed flux linkage estimation model combined by a motor voltage model and a current model.
As a further scheme of the invention: if the motor is a synchronous motor, the flux linkage position angle is the magnetic pole angle of the rotor, and the flux linkage position angle sampled and calculated by the encoder can be directly acquired by the encoder.
The invention has the beneficial effects that: according to the invention, all fault modes of all encoders can be rapidly and accurately judged, the judging time can be reduced to ms level, once encoder faults occur, the elevator can be immediately switched on line to open loop vector control SVC by closed loop vector control FVC under the condition of not stopping elevator, and the elevator stops after running to a nearby landing door zone, so that passengers in the elevator car can not feel any sudden stop of the elevator, and meanwhile, the faults of elevator galloping, over-current of a frequency converter and the like after the encoder faults and corresponding personnel-related events can be prevented.
Drawings
The invention is further described below with reference to the accompanying drawings.
FIG. 1 is a logical block diagram of encoder fault determination of the present invention.
Fig. 2 is a flux linkage observer model of the present invention.
FIG. 3 is a combinational logic decision flow chart of the present invention.
In the figure: 1. a flux linkage position error calculation module; 101. a flux linkage observer estimation module; 102. an encoder sampling calculation module; 2. a speed change rate calculation module; 3. a current change rate calculation module; 4. a combination condition judging module; 5. a motor vector controller; 6. a motor; 7. an encoder.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention relates to a rapid fault identification method for an elevator encoder, which is used for realizing the online switching from closed-loop vector control (FVC) to open-loop vector control (SVC) under fault conditions;
specifically, as shown in FIG. 1, the encoder fault recognition system comprises a flux linkage position error calculation module 1, a speed change rate calculation module 2 and a current change rate calculation module 3;
the result calculated by the above modules is respectively provided with rationality judgment by the combination condition judgment module 4, when the rationality range is exceeded, namely the threshold value is exceeded, the error of the data collected by the encoder can be judged, and the judgment result is input to the motor vector controller 5, so that the corresponding switching treatment of the control mode is carried out;
specifically, the flux linkage position error calculation module 1 includes a flux linkage observer estimation module 101 and an encoder sampling calculation module 102, the flux linkage observer estimation module 101 estimating a flux linkage angle θ r The encoder sample calculation module 102 calculates a rotor angle calculation flux linkage angle θ obtained from the encoder 7 1 The flux linkage position error calculation module 1 calculates theta r θ 1 Error E between the two θ When error E θ The trigger condition after the combination condition judgment module 4 judges that the combination condition exceeds the set threshold Value1A;
Here, when the motor 6 is a synchronous motor, the flux linkage position angle is the magnetic pole angle of the rotor, and thus the angle θ 1 Can be completely calculated by sampling of the encoder 7, and the flux linkage angle theta estimated by the flux linkage observer estimating module 101 r For a hybrid flux linkage estimation model using a combination of a voltage model and a current model of the motor 6, the observer does not depend on the encoder 7, but uses the currents ia, ib, ic and the voltages Ua, ub, uc of the motor to estimate the flux linkage position.
In a specific embodiment, as shown in fig. 2, the flux linkage observer 101 of the present embodiment is designed as follows:
by applying a current to three phasesIs transformed by Clark 3-2 coordinates to obtain +.>Rotor position angle calculated by means of flux linkage observer 101 is +.>Transformation is performed to obtain->；
Will beIs fed into the current flux linkage model->The current flux linkage model is subjected to +.>Transforming to obtain current flux linkage model +.>A component;
further, voltage models of different componentsCurrent model with different components +.>The difference values are respectively adjusted by PI to obtain compensation quantity +.>Is sent into a voltage flux linkage modelIn the method, a stator flux voltage model is formed>Warp->Transformed to obtainUtilize->Obtaining a rotor flux linkage model->Modeling the rotor flux linkageWarp->Coordinate transformation is achieved>Further, the rotor position angle is determined>；
Wherein, the aboveAnd +.>The coordinate transformation uses the rotor position angle +.>The calculation of the angle is completely realized by a current and voltage model, and the angle theta of the rotor flux linkage position acquired by the encoder 7 1 And comparing, and judging whether the encoder is in an abnormal state or not according to the rationality and duration time of the error of the two.
Here, the combination condition judgment module 4 judges the error E θ When the trigger condition a exceeds the set threshold Value1, the threshold Value1 is an allowable flux linkage angle deviation Value, according to the vector control method, the actual current is too large if the angle deviation exceeds 45 degrees, the moment current is too small, the correct moment cannot be generated if the moment current exceeds 90 degrees, and the incorrect action is easily caused by the too small threshold Value, preferably, the Value1 is selected to be 30 degrees.
Condition a is an estimated rotor position angleThe deviation of the rotor flux linkage position angle theta 1 acquired by the encoder exceeds a set value, possibly an encoder failure or an estimated value +.>Inaccuracy, in order to avoid malfunction, the estimated value is required +.>Appropriate filtering is performed and a delay determination is made on condition A to exclude the estimated value +.>The possibility of inaccuracy, obviously, if the delay confirmation time is too long, the motor vector controller 5 continues to adopt the closed-loop vector control FVC control mode under the condition of the encoder fault to easily cause overcurrent or stall, so the condition a delay trigger time T1 is set to 10ms, the accuracy of the fault judgment of the time encoder can be ensured, and the online switch to the open-loop vector control SVC can be ensured without stopping the elevator.
The speed change rate calculation module 2 serves as another way of judging the failure of the encoder, in the actual normal operation process of the elevator, the operation speed curve and the acceleration/deceleration value of the elevator are controlled, the elevator serves as a system with larger inertia, the speed change rate dv/dt, namely the acceleration/deceleration value, does not exceed a certain limit value, when the deceleration of the elevator exceeds the limit value, and in the situation that the elevator brake is not operated, the actual deceleration of the elevator cannot reach the value, the most possible reason is the failure of the encoder, and therefore, the following principle is used for judging the failure of the encoder: triggering after the absolute Value of the motor rotating speed calculated by the position angle of the encoder exceeds a set threshold Value2, and marking the motor rotating speed as a condition B;
preferably, the threshold Value2 is an allowable acceleration/deceleration (or angular acceleration/deceleration) Value, and is a Value which is 2 times of the maximum deceleration in the deceleration curve when the elevator is in normal operation, and when the condition B is triggered, in order to prevent misjudgment, delay judgment needs to be performed on the condition B, and the delay confirmation time of the condition B is set to be T1, namely 10 ms.
After the condition A or the condition B is triggered independently, the delay confirmation time reaches 10ms, and the delay confirmation time is still in the FVC control mode, but due to the encoder failure, the motor is in a runaway state, the motor is switched to the SVC control mode after 10ms, passengers in the elevator car can obviously feel a pause, the delay confirmation time needs to be further reduced, the accuracy of judging the encoder failure can be improved by adopting the combination condition, the delay confirmation time is shortened, namely, when the condition A and the condition B are triggered simultaneously, the delay confirmation time is shortened to be T2, T1 is larger than T2, preferably, the value of T2 is 2ms, the accuracy of judging the encoder failure can be ensured, and the pause feeling in the elevator car when the SVC is switched can be reduced.
Considering that after the encoder fails, continuing to maintain the closed-loop vector control FVC entails a rise in motor current, condition C may be set using the current change rate as an auxiliary judgment condition: the current change rate calculation module 3 is triggered after the rising change rate of the amplitude of the comprehensive vector Value of the three-phase current of the motor exceeds a set threshold Value3, when the condition A and/or the condition B are detected to trigger, the condition C is triggered at the same time, the confidence of the encoder fault is improved, the required delay confirmation time is correspondingly reduced, and the delay confirmation time is typically half of the original time;
if the condition A and the condition C are triggered simultaneously, the delay confirmation time is reduced from the original T1 to T1/2, namely 5ms; and if the condition A, the condition B and the condition C are triggered, the delay confirmation time is reduced to T2/2 from the original T2, namely 1ms, and at the moment, the switching process is hardly felt by passengers in the lift car from the occurrence of the encoder fault to the switching to the SVC operation, namely the level of ms, because the judgment time is very short.
The threshold Value3 is the maximum allowable current change rate, acceleration does not generate abrupt change according to an acceleration/deceleration curve of elevator operation, acceleration torque (current) provided by the threshold Value does not abrupt change, when the elevator normally operates, the change amount within a limit Value of current effective Value change of 0.3s does not exceed the rated current of the motor (except when the motor is powered on and started), preferably, small misoperation and allowance are considered, and the current change of Value3 does not exceed the rated current of the motor within 0.1 seconds.
As shown in fig. 3, the combined condition judgment module 4 is a flow chart for judging according to the logic, through the combination of the conditions, all fault modes of all encoders can be rapidly and accurately judged, the judging time can be reduced to ms level, once the encoder faults occur, the elevator can be immediately switched on line to an open loop vector control SVC by a closed loop vector control FVC under the condition of not stopping elevator, and the elevator stops after running to a nearby landing zone, so that passengers in the elevator car do not have any feeling of elevator emergency stop, and the faults such as elevator galloping, over-current of a frequency converter and the like after the encoder faults can be prevented while the uncomfortable feeling of passengers in the elevator car is reduced.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.

Claims (9)

1. A method for quickly identifying faults of an elevator encoder, comprising the steps of:
during closed loop vector control FVC, adding encoder fault determination logic;
based on the following combination of conditions:
condition a: the flux linkage position error calculation module is used for sampling the error between the calculated flux linkage position angle and the flux linkage position angle estimated by the flux linkage observer for the encoder, and triggering the encoder after the error exceeds a set threshold Value 1;
condition B: the speed change rate calculation module is triggered after the reduction change rate of the absolute Value of the motor rotating speed calculated by the position angle of the encoder exceeds a set threshold Value 2;
condition C: the current change rate calculation module is triggered after the rising change rate of the amplitude of the comprehensive vector Value of the three-phase current of the motor exceeds a set threshold Value 3;
and through different condition combinations, different delay confirmation times are adopted, when the more the condition is triggered, the shorter the confirmation time is, the condition combination still keeps the trigger state after the confirmation time is passed, and the encoder is judged to be faulty.
2. The method for quickly identifying faults of an elevator encoder according to claim 1, wherein different delay validation times comprise:
if only the condition A or the condition B triggers, the delay confirmation time is T1;
if the condition A and the condition B are triggered simultaneously, the delay confirmation time is T2, wherein T1 is more than T2;
wherein, T1 takes 10ms, T2 takes 2ms, and the condition C is an auxiliary condition;
if the condition C is triggered simultaneously in the triggering process of the condition A or the condition B, the required confirmation time is correspondingly reduced, and the delay confirmation time is half of the time of T1 or T2.
3. The method according to claim 1, wherein the flux linkage observer estimation module in the flux linkage position error calculation module is a hybrid flux linkage estimation model using a combination of a voltage model and a current model of the motor;
the flux linkage observer estimating module estimates the flux linkage position by utilizing the current and voltage response of the motor, compares the flux linkage position with the flux linkage position obtained by the encoder, and judges whether the encoder is in an abnormal state or not through the error of the flux linkage position and the flux linkage observer.
4. The method for quickly identifying the faults of the elevator encoder according to claim 1, wherein after the encoder is in fault, the elevator is immediately switched on line from closed-loop vector control (FVC) to open-loop vector control (SVC) under the condition of no stopping elevator;
wherein the elevator stops after traveling to the nearby landing door zone.
5. An elevator encoder fault quick identification device, comprising:
the flux linkage position error calculation module is used for calculating errors between the flux linkage position angles calculated by the encoder through sampling and the flux linkage position angles estimated by the flux linkage observer;
a speed change rate calculation module for calculating a motor rotation speed from the encoder position angle;
the current change rate calculation module is used for calculating the rising change rate of the amplitude of the comprehensive vector value of the three-phase current of the motor;
the combination condition judging module is used for carrying out quick on-line judgment on the faults of the encoder by the output data.
6. The elevator encoder fault quick identification device of claim 5, wherein the flux linkage position error calculation module comprises a flux linkage observer estimation module and an encoder sampling calculation module;
the flux linkage observer estimating module is used for estimating the flux linkage angle;
the encoder sampling calculation module is used for calculating the flux linkage angle according to the rotor angle obtained by the encoder.
7. The rapid elevator encoder failure recognition device of claim 5, further comprising a motor vector controller, wherein the motor vector controller is electrically connected with the combined condition judgment module;
the motor vector controller is used for receiving the judging data of the combined condition judging module and switching the closed loop vector control (FVC) mode and the open loop vector control (SVC) mode of the elevator.
8. The elevator encoder fault quick identification device of claim 7, further comprising a motor, wherein the flux linkage position is estimated using a hybrid flux linkage estimation model of a combination of a motor voltage model and a current model by processing the motor three-phase current.
9. The rapid fault identification device for an elevator encoder according to claim 5, wherein if the motor is a synchronous motor, the flux linkage position angle is a magnetic pole angle of a rotor, and the flux linkage position angle sampled and calculated by the encoder can be directly acquired by the encoder.
CN202311022244.5A 2023-08-15 2023-08-15 Elevator encoder fault rapid identification method Pending CN117068898A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311022244.5A CN117068898A (en) 2023-08-15 2023-08-15 Elevator encoder fault rapid identification method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311022244.5A CN117068898A (en) 2023-08-15 2023-08-15 Elevator encoder fault rapid identification method

Publications (1)

Publication Number Publication Date
CN117068898A true CN117068898A (en) 2023-11-17

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311022244.5A Pending CN117068898A (en) 2023-08-15 2023-08-15 Elevator encoder fault rapid identification method

Country Status (1)

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CN (1) CN117068898A (en)

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