CN117185078A - Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor - Google Patents
Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor Download PDFInfo
- Publication number
- CN117185078A CN117185078A CN202311282719.4A CN202311282719A CN117185078A CN 117185078 A CN117185078 A CN 117185078A CN 202311282719 A CN202311282719 A CN 202311282719A CN 117185078 A CN117185078 A CN 117185078A
- Authority
- CN
- China
- Prior art keywords
- vibration
- acceleration
- elevator
- data
- axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001133 acceleration Effects 0.000 title claims abstract description 174
- 238000000691 measurement method Methods 0.000 title claims abstract description 29
- 238000004364 calculation method Methods 0.000 claims abstract description 27
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims description 50
- 238000012360 testing method Methods 0.000 claims description 38
- 238000001914 filtration Methods 0.000 claims description 37
- 239000013598 vector Substances 0.000 claims description 32
- 238000006073 displacement reaction Methods 0.000 claims description 24
- 230000010354 integration Effects 0.000 claims description 21
- 230000005484 gravity Effects 0.000 claims description 13
- 230000009466 transformation Effects 0.000 claims description 13
- 238000004458 analytical method Methods 0.000 claims description 11
- 230000006870 function Effects 0.000 claims description 10
- 230000036544 posture Effects 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 6
- 238000007405 data analysis Methods 0.000 claims description 5
- 101100129500 Caenorhabditis elegans max-2 gene Proteins 0.000 claims description 3
- 101100083446 Danio rerio plekhh1 gene Proteins 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 3
- 238000013211 curve analysis Methods 0.000 claims description 3
- 230000005294 ferromagnetic effect Effects 0.000 claims description 3
- 230000005291 magnetic effect Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 3
- 238000011045 prefiltration Methods 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000012163 sequencing technique Methods 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 230000002159 abnormal effect Effects 0.000 abstract description 13
- 238000001514 detection method Methods 0.000 abstract description 11
- 238000009434 installation Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000001228 spectrum Methods 0.000 description 3
- 230000008447 perception Effects 0.000 description 2
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Abstract
An elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor relates to the technical field of elevator or escalator multi-parameter comprehensive detection. In the elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor, the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as vertical elevator braking performance parameters, car triaxial vibration comfort level, running speed, running acceleration, start-stop acceleration and deceleration, car levelness, guide rail installation plumb, abnormal vibration frequency of mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved; the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as braking performance parameters of an escalator or an automatic pavement, vibration comfort level of a carrying device, vibration comfort level of a handrail belt, running speed, escalator inclination angle, abnormal vibration frequency of main mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved.
Description
Technical Field
The invention relates to the technical field of elevator or escalator multi-parameter comprehensive detection, in particular to an elevator multi-parameter measurement method based on an MEMS triaxial acceleration sensor.
Background
The elevator is used as a vertical transportation vehicle, plays an important role in the production and living processes of people, and is also widely focused on the safety performance of the elevator as an electromechanical special device.
Elevators can be classified into vertical elevators, diagonal elevators, escalators and moving walkways according to their structures. Various elevators need to be involved in various detection methods, detection tools and detection instruments in the links of installation, maintenance, inspection, spot check, accident investigation and the like.
Various sensors are used in a large number of detection instruments to measure the physical parameters of the mechanical and electrical components of the elevator in situ. Acceleration sensors have been used in a large number in the field of elevator detection, and can be used to measure different elevator parameters by combining different acceleration data analysis methods. For example: according to the up-and-down fluctuation characteristics of the acceleration data near the average value, the elevator vibration comfort degree analysis can be carried out; the numerical integration calculation is carried out on the acceleration to measure parameters such as the speed, the running distance and the like of the elevator; the frequency domain analysis of the acceleration signals can obtain main vibration frequency composition so as to trace faults of the failure parts; tilt angle data can be obtained by analyzing the projected components of gravitational acceleration on the three data axes of the sensor.
The existing elevator detection instrument based on the triaxial acceleration sensor generally adopts a traditional analog output type acceleration sensor, so that the whole elevator detection instrument has large volume, single function and low integration level, and is difficult to realize the multi-parameter detection requirement of an elevator site. For example: the EVA625 elevator comprehensive performance detector widely applied in the industry is large in size and more in application mode in an elevator or an escalator, but a test result cannot be obtained on site immediately, and a USB flash disk is required to be used for copying a data file and then manually operated and analyzed at a computer end; moreover, the EVA625 detector data file is closed to the user, so that custom data analysis and secondary drawing are inconvenient.
Disclosure of Invention
The invention aims to provide an elevator multi-parameter measurement method based on an MEMS triaxial acceleration sensor, which can be comprehensively applied to detection occasions such as elevator or escalator motion parameter measurement, vibration comfort evaluation, brake parameter measurement, mechanical component failure analysis, inclination angle measurement and the like, and fully exerts the application efficiency of the MEMS acceleration sensor.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an elevator multi-parameter measurement method based on an MEMS triaxial acceleration sensor comprises the following steps:
the triaxial acceleration sensor is used for measuring parameters of the vertical elevator:
three conical supporting feet are arranged at the bottom of a module of the measuring device, the measuring device is placed on the floor of the elevator car during measurement of vibration comfort, an X axis or a Y axis is perpendicular to an elevator door, an operator holds a data terminal to stand in the elevator car, the elevator is operated to run from a bottom layer to a top layer or from the top layer to the bottom layer, triaxial vibration acceleration signals in the elevator running process are recorded, the data terminal analyzes the data, vibration characteristic parameters are obtained, and the vibration riding quality of the elevator car is quantitatively evaluated;
when the braking performance is tested, a module of the measuring device is placed on the floor of the elevator car, a person leaves the elevator car in the data acquisition process, the test is finished after the braking is finished and the floor is leveled, and the data terminal automatically performs data analysis;
when the ferromagnetic component of the elevator host machine is subjected to vibration test, the supporting legs are not needed, the magnet in the measuring device is directly adsorbed on the metal surface of the component to be tested, and the vibration condition is tested; or, the sensor is adsorbed on the surface of the object to be measured in a mode of installing a circular magnetic attraction seat at the bottom of the module of the measuring device;
the triaxial acceleration sensor is used for measuring parameters of the escalator or the moving walk:
placing the measuring device on the stair, adjusting the positions of the support legs to enable the three support legs to be clamped into grooves on the surface of the stair at the same time, enabling an operator to stand on the stair nearby the stair where the module of the measuring device is located, pressing a switch button to realize communication with a data terminal, operating the escalator to run after the test is started, testing the vibration condition of the stair in the running process, and testing the uplink vibration comfort level or the downlink vibration comfort level of the stair or testing parameters of average braking deceleration and braking distance of the escalator;
similarly, when testing the vibration comfort level of the moving sidewalk pedal, placing the measuring device at the inclined section and the horizontal section;
when the escalator or the moving sidewalk handrail belt vibration test is performed, an operator stands on steps of the escalator or a moving sidewalk pedal, holds the vibration measuring device, removes three supporting legs at the bottom of the module, makes the X direction of the measuring device point to the running direction of the elevator, operates the escalator or the moving sidewalk, and tests the vibration condition of the handrail belt in the running process;
during the test, the vibration conditions of the two hand strap in the upward direction or the downward direction are measured, and the running speed of the hand strap in a short time is measured.
When the vibration comfort level of the vertical ladder is analyzed, the vibration comfort level is influenced by the uneven floor of the lift car and the assembly error of the module circuit board, the module horizontal inclination angle compensation is required before the calculation of the vibration comfort level, and the direct current component of the gravitational acceleration is subtracted, so that an orthogonal triaxial vibration acceleration data sequence is obtained;
according to the projection components of the gravity acceleration on three data axes when the module is static, the included angles of the X axis, the Y axis and the Z axis with the horizontal plane are calculated, and the calculation principle is as follows:
wherein: alpha is the included angle rad between the X axis of the module and the horizontal plane, beta is the included angle rad between the Y axis of the module and the horizontal plane, gamma is the included angle rad between the Z axis of the module and the horizontal plane, and a x For the projected component m/s of the gravitational acceleration on the X-axis when the module is stationary 2 ，a y For the projected component m/s of the gravitational acceleration on the Y-axis when the module is stationary 2 ，a z For the projected component m/s of the gravitational acceleration on the Z axis when the module is stationary 2 。
Specifically, in the calculation, a x 、a y And a z Taking average acceleration in 1s under the static state of the module; correcting the original acceleration according to the projection relation of the gravity acceleration on three measuring axes so as to ensure that acceleration data participating in subsequent analysis are absolute horizontal and vertical data, wherein the correction method comprises the following steps:
A x ＝a x -A z sinα，A y ＝a y -A z sinβ；
wherein: a is that z For correcting Z-axis acceleration m/s 2 ，A x For the corrected X-axis acceleration m/s 2 ，A y For the corrected Y-axis acceleration m/s 2 。
Further, due to the influence of the physiological structure of the human body, different vibration frequencies can cause the difference of the perception of the vibration amplitude of passengers, and in order to enable the vibration test result to be more in line with the comfort feeling of the human body when riding a ladder, the vibration acceleration is required to be subjected to frequency weighting;
the frequency weighting comprises four filtering processes of high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-pass filtering, and a triaxial acceleration time domain curve after the frequency weighting is obtained; and obtaining vibration peak value sequences of three axes through curve analysis, sequencing the vibration peak values, solving the maximum vibration peak value and the A95 vibration peak value, and quantitatively evaluating the vibration comfort level.
When the vibration comfort level of the escalator is analyzed, the total frequency weighting function is the product of four filter functions, namely high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-order filtering; the Z transformation transfer function of each filtering process digital filter is as follows:
wherein, H (Z) is Z transformation output value, a is digital filter molecular vector: a= [1, a2, a3 ]]B is a denominator vector of the digital filter: b= [ b ] 1 ,b 2 ,b 3 ]The Z vector is: z= [1, Z -1 ，z -2 ] T 。
Specifically, different vibration sensing parts, vibration directions and human body postures adopt different frequency weighting modes, and correspond to different filter parameters;
the vibration of the whole body in the horizontal direction of standing posture adopts a frequency meter weight W d The vibration of the whole body in the vertical direction of the standing position adopts a frequency meter weight W k The hand-driven vibration adopts a frequency meter weight W h Different filter vectors a and b are adopted in different filtering processes under different frequency weighting modes, and a recursive calculation formula when the mth acceleration data is subjected to digital filtering is as follows:
y(m)＝b 1 x(m)+b 2 x(m-1)+b 3 x(m-2)-a 2 y(m-1)-a 3 y(m-2)；
where x is the pre-filter data sequence, y is the post-filter data sequence, and m is the number of the filter data in the sequence.
Further, for step vibration, the RMS value of the data after the triaxial frequency weighting is calculated respectively; for vibration of the handrail belt, the descending X of the handrail belt needs to be calculated h The RMS value of the data after the direction frequency weighting is 1s, and the calculation formula of the nth RMS data is:
wherein n is the number of acceleration data in a time constant of 1s, and a is the acceleration value after the frequency weighting;
for step vibration, the overall vibration energy was estimated using a three axis RMS vector sum:
wherein a is xyz Is the sum of vibration vectors, a x For the X-axis vibration RMS value, a y For Y-axis vibration RMS value, a z The RMS value for Z-axis vibration.
When analyzing the acceleration, the speed and the displacement of a straight ladder or an escalator, before analyzing the motion characteristics of the elevator, performing second-order Butterworth low-pass filtering on the Z-axis original acceleration data of the sensor, wherein the filtering cut-off frequency is 10Hz;
the acceleration and deceleration speed reflects the pressure of the floor of the car on the human body, and the quantized maximum acceleration and maximum deceleration can be used for judging whether the running control setting corresponding to the elevator and the riding quality result is reasonable or not; the maximum acceleration is the maximum value of an acceleration signal when the elevator starts, and the maximum deceleration is the maximum absolute value of a deceleration signal during the elevator stopping process; the A95 acceleration value is calculated statistically within the range of 5% -95% of the maximum speed in the acceleration process, and the acceleration data of 95% in the range are smaller than the value; the A95 deceleration value is statistically calculated in the range of 95% -5% of the maximum speed in the deceleration process, and the absolute value of 95% of deceleration data in the range is smaller than the value;
the maximum speed is the maximum value of the absolute value of the speed in the whole period range of elevator operation; the limit range for statistically calculating the V95 speed is the maximum speed V from the acceleration phase max1 95% of the corresponding data of (2) are at the time point from the last 1s to the maximum speed V of the deceleration stage max2 The 95% corresponding data for the first 1s of the time points, the 95% velocity values within the calculated limits are all less than the V95 velocity.
Specifically, a multiplexing 1/3Simpson numerical integration method is adopted to integrate the Z-axis acceleration after the Bart Wo Silv wave, a speed sequence is calculated, and a numerical integration speed at the moment t is calculated as follows:
wherein v (t) is the speed at time t, the unit m/s, h is the time step of the acceleration data sequence, and a (0) is the initial time acceleration, the unit m/s 2 A (t) is the acceleration unit m/s at the moment t 2 N is the number of data in the integration interval;
the speed data is subjected to numerical integration by adopting a multiplexing 1/3Simpson method, an elevator operation displacement sequence is calculated, information such as lifting height and the like can be obtained, and a numerical integration displacement calculation formula at the moment t is as follows:
further, in order to reflect the actual running acceleration of the steps on the Z axis during analysis of the braking parameters of the straight ladder or the escalator, the gravity acceleration deflection is subtracted, and the average value of the Z-axis acceleration data within 3 seconds after the braking is finished and before data acquisition is stopped is taken as the gravity acceleration deflection during calculation;
obtaining speed and displacement data sequences in the horizontal direction and the vertical direction according to a numerical integration method, respectively drawing acceleration, speed and displacement curves of an X axis and a Z axis in a braking process, and comprehensively analyzing characteristic values of the curves to calculate braking parameters in the horizontal direction and the vertical direction of the escalator; the actual running direction of the escalator step in the braking process is inclined downward, the sum of velocity vectors in the X direction and the Z direction is the actual running velocity of the step, and the sum of displacement vectors is the step displacement; the average braking deceleration and the total braking distance can be solved by comprehensively analyzing the step speed vector sum curve and the displacement vector sum curve.
Compared with the prior art, the elevator multi-parameter measurement method based on the MEMS three-axis acceleration sensor has the following advantages:
according to the elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor, the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as vertical elevator braking performance parameters, car triaxial vibration comfort level, running speed, running acceleration, start-stop acceleration and deceleration, car levelness, guide rail installation plumb, abnormal vibration frequency of mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved; the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as braking performance parameters of an escalator or an automatic pavement, vibration comfort level of a carrying device, vibration comfort level of a handrail belt, running speed, escalator inclination angle, abnormal vibration frequency of main mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved.
Drawings
Fig. 1 is a schematic diagram of a first measurement state structure of an elevator multi-parameter measurement method based on a MEMS triaxial acceleration sensor according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a second measurement state structure of an elevator multi-parameter measurement method based on a MEMS triaxial acceleration sensor according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third measurement state of an elevator multi-parameter measurement method based on a MEMS triaxial acceleration sensor according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a fourth measurement state structure of an elevator multi-parameter measurement method based on a MEMS triaxial acceleration sensor according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a fifth measurement state structure of an elevator multi-parameter measurement method based on a MEMS triaxial acceleration sensor according to an embodiment of the present invention.
Detailed Description
In order to facilitate understanding, the elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor provided by the embodiment of the invention is described in detail below with reference to the attached drawings.
The embodiment of the invention provides an elevator multi-parameter measurement method based on an MEMS triaxial acceleration sensor, which is shown in fig. 1-5 and comprises the following steps:
the triaxial acceleration sensor is used for measuring parameters of the vertical elevator:
three conical supporting feet are arranged at the bottom of a module of the measuring device, the measuring device is placed on the floor of the elevator car during measurement of vibration comfort, an X axis or a Y axis is perpendicular to an elevator door, an operator holds a data terminal to stand in the elevator car, the elevator is operated to run from a bottom layer to a top layer or from the top layer to the bottom layer, triaxial vibration acceleration signals in the elevator running process are recorded, the data terminal analyzes the data, vibration characteristic parameters are obtained, and the vibration riding quality of the elevator car is quantitatively evaluated;
when the braking performance is tested, a module of the measuring device is placed on the floor of the elevator car, a person leaves the elevator car in the data acquisition process, the test is finished after the braking is finished and the floor is leveled, and the data terminal automatically performs data analysis;
when the ferromagnetic component of the elevator host machine is subjected to vibration test, the supporting legs are not needed, the magnet in the measuring device is directly adsorbed on the metal surface of the component to be tested, and the vibration condition is tested; or, the sensor is adsorbed on the surface of the object to be measured in a mode of installing a circular magnetic attraction seat at the bottom of the module of the measuring device;
the triaxial acceleration sensor is used for measuring parameters of the escalator or the moving walk:
placing the measuring device on the stair, adjusting the positions of the support legs to enable the three support legs to be clamped into grooves on the surface of the stair at the same time, enabling an operator to stand on the stair nearby the stair where the module of the measuring device is located, pressing a switch button to realize communication with a data terminal, operating the escalator to run after the test is started, testing the vibration condition of the stair in the running process, and testing the uplink vibration comfort level or the downlink vibration comfort level of the stair or testing parameters of average braking deceleration and braking distance of the escalator;
similarly, when testing the vibration comfort level of the moving sidewalk pedal, placing the measuring device at the inclined section and the horizontal section;
when the escalator or the moving sidewalk handrail belt vibration test is performed, an operator stands on steps of the escalator or a moving sidewalk pedal, holds the vibration measuring device, removes three supporting legs at the bottom of the module, makes the X direction of the measuring device point to the running direction of the elevator, operates the escalator or the moving sidewalk, and tests the vibration condition of the handrail belt in the running process;
during the test, the vibration conditions of the two hand strap in the upward direction or the downward direction are measured, and the running speed of the hand strap in a short time is measured.
Compared with the prior art, the elevator multi-parameter measurement method based on the MEMS three-axis acceleration sensor has the following advantages:
according to the elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor, the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as vertical elevator braking performance parameters, car triaxial vibration comfort level, running speed, running acceleration, start-stop acceleration and deceleration, car levelness, guide rail installation plumb, abnormal vibration frequency of mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved; the MEMS triaxial acceleration sensor is used for comprehensively detecting and analyzing parameters such as braking performance parameters of an escalator or an automatic pavement, vibration comfort level of a carrying device, vibration comfort level of a handrail belt, running speed, escalator inclination angle, abnormal vibration frequency of main mechanical parts and the like, so that measurement accuracy and on-site calculation instantaneity can be effectively improved.
When the vibration comfort level of the vertical ladder is analyzed, the vibration comfort level is influenced by the uneven floor of the lift car and the assembly error of the module circuit board, the module horizontal inclination angle compensation is required before the calculation of the vibration comfort level, and the direct current component of the gravitational acceleration is subtracted, so that an orthogonal triaxial vibration acceleration data sequence is obtained;
according to the projection components of the gravity acceleration on three data axes when the module is static, the included angles of the X axis, the Y axis and the Z axis with the horizontal plane are calculated, and the calculation principle is as follows:
wherein: alpha is the included angle rad between the X axis of the module and the horizontal plane, beta is the included angle rad between the Y axis of the module and the horizontal plane, gamma is the included angle rad between the Z axis of the module and the horizontal plane, and a x For the projected component m/s of the gravitational acceleration on the X-axis when the module is stationary 2 ，a y For the projected component m/s of the gravitational acceleration on the Y-axis when the module is stationary 2 ，a z For the projected component m/s of the gravitational acceleration on the Z axis when the module is stationary 2 。
Specifically, in the calculation, a x 、a y And a z Taking average acceleration in 1s under the static state of the module; correcting the original acceleration according to the projection relation of the gravity acceleration on three measuring axes so as to ensure that acceleration data participating in subsequent analysis are absolute horizontal and vertical data, wherein the correction method comprises the following steps:
A x ＝a x -A z sinα，A y ＝a y -A z sinβ；
wherein: a is that z For correcting Z-axis acceleration m/s 2 ，A x For the corrected X-axis acceleration m/s 2 ，A y For the corrected Y-axis acceleration m/s 2 。
Further, due to the influence of the physiological structure of the human body, different vibration frequencies can cause the difference of the perception of the vibration amplitude of passengers, and in order to enable the vibration test result to be more in line with the comfort feeling of the human body when riding a ladder, the vibration acceleration is required to be subjected to frequency weighting;
the frequency weighting comprises four filtering processes of high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-pass filtering, and a triaxial acceleration time domain curve after the frequency weighting is obtained; and obtaining vibration peak value sequences of three axes through curve analysis, sequencing the vibration peak values, solving the maximum vibration peak value and the A95 vibration peak value, and quantitatively evaluating the vibration comfort level.
When the vibration comfort level of the escalator is analyzed, the total frequency weighting function is the product of four filter functions, namely high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-order filtering; the Z transformation transfer function of each filtering process digital filter is as follows:
wherein, H (Z) is Z transformation output value, a is digital filter molecular vector: a= [1, a 2 ,a 3 ]B is a denominator vector of the digital filter: b= [ b ] 1 ,b 2 ,b 3 ]The Z vector is: z= [1, Z -1 ，z -2 ] T 。
Specifically, different vibration sensing parts, vibration directions and human body postures adopt different frequency weighting modes, and correspond to different filter parameters;
the vibration of the whole body in the horizontal direction of standing posture adopts a frequency meter weight W d The vibration of the whole body in the vertical direction of the standing position adopts a frequency meter weight W k The hand-driven vibration adopts a frequency meter weight W h Different filter vectors a and b are adopted in different filtering processes under different frequency weighting modes, and a recursive calculation formula when the mth acceleration data is subjected to digital filtering is as follows:
y(m)＝b 1 x(m)+b 2 x(m-1)+b 3 x(m-2)-a 2 y(m-1)-a 3 y(m-2)；
where x is the pre-filter data sequence, y is the post-filter data sequence, and m is the number of the filter data in the sequence.
Further, for step vibration, the RMS value of the data after the triaxial frequency weighting is calculated respectively; for vibration of the handrail belt, the descending X of the handrail belt needs to be calculated h The RMS value of the data after the direction frequency weighting is 1s, and the calculation formula of the nth RMS data is:
wherein n is the number of acceleration data in a time constant of 1s, and a is the acceleration value after the frequency weighting;
for step vibration, the overall vibration energy was estimated using a three axis RMS vector sum:
wherein a is xyz Is the sum of vibration vectors, a x For the X-axis vibration RMS value, a y For Y-axis vibration RMS value, a z The RMS value for Z-axis vibration.
When analyzing the acceleration, the speed and the displacement of a straight ladder or an escalator, before analyzing the motion characteristics of the elevator, performing second-order Butterworth low-pass filtering on the Z-axis original acceleration data of the sensor, wherein the filtering cut-off frequency is 10Hz;
the acceleration and deceleration speed reflects the pressure of the floor of the car on the human body, and the quantized maximum acceleration and maximum deceleration can be used for judging whether the running control setting corresponding to the elevator and the riding quality result is reasonable or not; the maximum acceleration is the maximum value of an acceleration signal when the elevator starts, and the maximum deceleration is the maximum absolute value of a deceleration signal during the elevator stopping process; the A95 acceleration value is calculated statistically within the range of 5% -95% of the maximum speed in the acceleration process, and the acceleration data of 95% in the range are smaller than the value; the A95 deceleration value is statistically calculated in the range of 95% -5% of the maximum speed in the deceleration process, and the absolute value of 95% of deceleration data in the range is smaller than the value;
the maximum speed is the maximum value of the absolute value of the speed in the whole period range of elevator operation; the limit range for statistically calculating the V95 speed is the maximum speed V from the acceleration phase max1 95% of the corresponding data of (2) are at the time point from the last 1s to the maximum speed V of the deceleration stage max2 The 95% corresponding data for the first 1s of the time points, the 95% velocity values within the calculated limits are all less than the V95 velocity.
Specifically, a multiplexing 1/3Simpson numerical integration method is adopted to integrate the Z-axis acceleration after the Bart Wo Silv wave, a speed sequence is calculated, and a numerical integration speed at the moment t is calculated as follows:
wherein v (t) is the speed at time t, the unit m/s, h is the time step of the acceleration data sequence, and a (0) is the initial time acceleration, the unit m/s 2 A (t) is the acceleration unit m/s at the moment t 2 N is the number of data in the integration interval;
the speed data is subjected to numerical integration by adopting a multiplexing 1/3Simpson method, an elevator operation displacement sequence is calculated, information such as lifting height and the like can be obtained, and a numerical integration displacement calculation formula at the moment t is as follows:
further, in order to reflect the actual running acceleration of the steps on the Z axis during analysis of the braking parameters of the straight ladder or the escalator, the gravity acceleration deflection is subtracted, and the average value of the Z-axis acceleration data within 3 seconds after the braking is finished and before data acquisition is stopped is taken as the gravity acceleration deflection during calculation;
obtaining speed and displacement data sequences in the horizontal direction and the vertical direction according to a numerical integration method, respectively drawing acceleration, speed and displacement curves of an X axis and a Z axis in a braking process, and comprehensively analyzing characteristic values of the curves to calculate braking parameters in the horizontal direction and the vertical direction of the escalator; the actual running direction of the escalator step in the braking process is inclined downward, the sum of velocity vectors in the X direction and the Z direction is the actual running velocity of the step, and the sum of displacement vectors is the step displacement; the average braking deceleration and the total braking distance can be solved by comprehensively analyzing the step speed vector sum curve and the displacement vector sum curve.
Furthermore, when the frequency spectrum of the abnormal vibration of the straight ladder or the escalator is analyzed, the vibration data is subjected to Fast Fourier Transform (FFT) to obtain a frequency spectrum; the FFT data sequence is analyzed to sort the amplitude values, so that the frequency corresponding to the maximum vibration energy, which is generally the motor vibration frequency, can be obtained; if the abnormal vibration frequency exists, an abnormal peak value appears in the frequency spectrum, and the corresponding frequency is the abnormal vibration frequency; the natural frequency of each part can be reversely calculated by analyzing the size and the running speed of each moving part of the elevator or the escalator, and the mechanical part generating abnormal vibration can be analyzed by comparing the abnormal frequency with the natural frequency.
Still further, when analyzing the vertical degree of installation of the vertical elevator car or the inclination angle of the escalator, the module is kept still to obtain the gravitational acceleration (about 9.8m/s 2 ) The vector sum of the three projection components is the gravity acceleration vertically downwards; according to the vector decomposition model, the included angles between the XYZ three data axes and the horizontal plane, namely the horizontal inclination angle, can be calculated; when the module is horizontally placed, the Z-axis inclination angle is 90 degrees, the XY two-axis inclination angle is 0 degree, and parameters such as the inclination angle of the escalator, the installation verticality of the vertical elevator car and the like can be measured.
In summary, the elevator multi-parameter measurement method based on the MEMS three-axis acceleration sensor provided by the embodiment of the invention mainly has the following advantages:
1. the MEMS acceleration sensor can be used for realizing the compatibility test of a single module on multiple components such as an elevator car, an escalator step, an escalator handrail belt, a host machine and the like;
2. comprehensively adopting algorithms such as vibration frequency weighting, digital filtering, numerical integration, curve fitting, fast Fourier transformation, mathematical statistics and the like to analyze vibration comfort parameters and operation parameters of the straight ladder or the escalator, such as speed, start-stop acceleration and deceleration, lifting height, stop time, stop distance, stop deceleration, abnormal vibration frequency, inclination angle and the like;
3. by means of the powerful data processing capability of the handheld intelligent terminal, test results can be obtained immediately in the modes of texts, curves and the like on the site of a straight ladder or an escalator, original table data such as an electronic test report, a drawing curve and the like are exported on site, and the data are imported into a computer for analysis after the test is not needed.
The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor is characterized by comprising the following steps of:
the triaxial acceleration sensor is used for measuring parameters of the vertical elevator:
three conical supporting feet are arranged at the bottom of a module of the measuring device, the measuring device is placed on the floor of the elevator car during measurement of vibration comfort, an X axis or a Y axis is perpendicular to an elevator door, an operator holds a data terminal to stand in the elevator car, the elevator is operated to run from a bottom layer to a top layer or from the top layer to the bottom layer, triaxial vibration acceleration signals in the elevator running process are recorded, the data terminal analyzes the data, vibration characteristic parameters are obtained, and the vibration riding quality of the elevator car is quantitatively evaluated;
when the braking performance is tested, a module of the measuring device is placed on the floor of the elevator car, a person leaves the elevator car in the data acquisition process, the test is finished after the braking is finished and the floor is leveled, and the data terminal automatically performs data analysis;
when the ferromagnetic component of the elevator host machine is subjected to vibration test, the supporting legs are not needed, the magnet in the measuring device is directly adsorbed on the metal surface of the component to be tested, and the vibration condition is tested; or, the sensor is adsorbed on the surface of the object to be measured in a mode of installing a circular magnetic attraction seat at the bottom of the module of the measuring device;
the triaxial acceleration sensor is used for measuring parameters of the escalator or the moving walk:
placing the measuring device on the stair, adjusting the positions of the support legs to enable the three support legs to be clamped into grooves on the surface of the stair at the same time, enabling an operator to stand on the stair nearby the stair where the module of the measuring device is located, pressing a switch button to realize communication with a data terminal, operating the escalator to run after the test is started, testing the vibration condition of the stair in the running process, and testing the uplink vibration comfort level or the downlink vibration comfort level of the stair or testing parameters of average braking deceleration and braking distance of the escalator;
similarly, when testing the vibration comfort level of the moving sidewalk pedal, placing the measuring device at the inclined section and the horizontal section;
when the escalator or the moving sidewalk handrail belt vibration test is performed, an operator stands on steps of the escalator or a moving sidewalk pedal, holds the vibration measuring device, removes three supporting legs at the bottom of the module, makes the X direction of the measuring device point to the running direction of the elevator, operates the escalator or the moving sidewalk, and tests the vibration condition of the handrail belt in the running process;
during the test, the vibration conditions of the two hand strap in the upward direction or the downward direction are measured, and the running speed of the hand strap in a short time is measured.
2. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor according to claim 1, characterized in that when the vibration comfort level of the vertical ladder is analyzed, the vibration comfort level is influenced by the unevenness of the floor of the elevator car and the assembly error of a module circuit board, the module horizontal inclination angle compensation is required before the calculation of the vibration comfort level, and the direct current component of the gravitational acceleration is subtracted, so that an orthogonal triaxial vibration acceleration data sequence is obtained;
according to the projection components of the gravity acceleration on three data axes when the module is static, the included angles of the X axis, the Y axis and the Z axis with the horizontal plane are calculated, and the calculation principle is as follows:
wherein: alpha is the included angle rad between the X axis of the module and the horizontal plane, beta is the included angle rad between the Y axis of the module and the horizontal plane, gamma is the included angle rad between the Z axis of the module and the horizontal plane, and a x For the projected component m/s of the gravitational acceleration on the X-axis when the module is stationary 2 ，a y For the projected component m/s of the gravitational acceleration on the Y-axis when the module is stationary 2 ，a z For the projected component m/s of the gravitational acceleration on the Z axis when the module is stationary 2 。
3. The elevator multiparameter measurement method based on the MEMS triaxial acceleration sensor according to claim 2, characterized in that a is calculated by x 、a y And a z Taking average acceleration in 1s under the static state of the module; correcting the original acceleration according to the projection relation of the gravity acceleration on three measuring axes so as to ensure that acceleration data participating in subsequent analysis are absolute horizontal and vertical data, wherein the correction method comprises the following steps:
A x ＝a x -A z sinα，A y ＝a y -A z sinβ；
wherein: a is that z For correcting Z-axis acceleration m/s 2 ，A x For the corrected X-axis acceleration m/s 2 ，A y For the corrected Y-axis acceleration m/s 2 。
4. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor according to claim 3, wherein the vibration frequencies are different due to the influence of human physiological structures, so that passengers can perceive different vibration amplitudes, and frequency weighting is required to be carried out on the vibration acceleration in order to enable the vibration test result to be more in line with the comfort level feeling of the human riding;
the frequency weighting comprises four filtering processes of high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-pass filtering, and a triaxial acceleration time domain curve after the frequency weighting is obtained; and obtaining vibration peak value sequences of three axes through curve analysis, sequencing the vibration peak values, solving the maximum vibration peak value and the A95 vibration peak value, and quantitatively evaluating the vibration comfort level.
5. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor according to claim 1, characterized in that when the elevator vibration comfort level is analyzed, the total frequency weighting function is the product of four filter functions of high-pass and low-pass second-order Butterworth filtering, a-v transformation filtering and high-order filtering; the Z transformation transfer function of each filtering process digital filter is as follows:
wherein, H (Z) is Z transformation output value, a is digital filter molecular vector: a= [1, a 2 ，a 3 ]B is a denominator vector of the digital filter: b= [ b ] 1 ，b 2 ，b 3 ]The Z vector is: z= [1, Z -1 ，z -2 ] T 。
6. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor according to claim 5, characterized in that different vibration sensing parts, vibration directions and human body postures adopt different frequency weighting modes and correspond to different filter parameters;
the vibration of the whole body in the horizontal direction of standing posture adopts a frequency meter weight W d The vibration of the whole body in the vertical direction of the standing position adopts a frequency meter weight W k The hand-driven vibration adopts a frequency meter weight W h Different filter vectors a and b are adopted in different filtering processes under different frequency weighting modes, and a recursive calculation formula when the mth acceleration data is subjected to digital filtering is as follows:
y(m)＝b 1 x(m)+b 2 x(m-1)+b 3 x(m-2)-a 2 y(m-1)-a 3 y(m-2)；
where x is the pre-filter data sequence, y is the post-filter data sequence, and m is the number of the filter data in the sequence.
7. The elevator multi-parameter measurement method based on the MEMS triaxial acceleration sensor according to claim 6, characterized in that for step vibration, the RMS value of triaxial frequency weighted data is calculated; for vibration of the handrail belt, the descending X of the handrail belt needs to be calculated h The RMS value of the data after the directional frequency weighting is 1s, the time constant is the Nth RMThe calculation formula of the S data is as follows:
wherein n is the number of acceleration data in a time constant of 1s, and a is the acceleration value after the frequency weighting;
for step vibration, the overall vibration energy was estimated using a three axis RMS vector sum:
wherein a is xyz Is the sum of vibration vectors, a x For the X-axis vibration RMS value, a y For Y-axis vibration RMS value, a z The RMS value for Z-axis vibration.
8. The elevator multiparameter measurement method based on the MEMS triaxial acceleration sensor according to claim 1, characterized in that when the elevator or escalator start-stop acceleration, speed and displacement analysis is performed, the second-order Butterworth low-pass filtering is performed on the sensor Z-axis original acceleration data before the elevator motion characteristic analysis is performed, and the filtering cut-off frequency is 10Hz;
the acceleration and deceleration speed reflects the pressure of the floor of the car on the human body, and the quantized maximum acceleration and maximum deceleration can be used for judging whether the running control setting corresponding to the elevator and the riding quality result is reasonable or not; the maximum acceleration is the maximum value of an acceleration signal when the elevator starts, and the maximum deceleration is the maximum absolute value of a deceleration signal during the elevator stopping process; the A95 acceleration value is calculated statistically within the range of 5% -95% of the maximum speed in the acceleration process, and the acceleration data of 95% in the range are smaller than the value; the A95 deceleration value is statistically calculated in the range of 95% -5% of the maximum speed in the deceleration process, and the absolute value of 95% of deceleration data in the range is smaller than the value;
the maximum speed is the maximum value of the absolute value of the speed in the whole period range of elevator operation; statistical calculation of V95 speedThe limit of the degree is the maximum speed V from the acceleration stage max1 95% of the corresponding data of (2) are at the time point from the last 1s to the maximum speed V of the deceleration stage max2 The 95% corresponding data for the first 1s of the time points, the 95% velocity values within the calculated limits are all less than the V95 velocity.
9. The elevator multi-parameter measurement method based on the MEMS three-axis acceleration sensor according to claim 8, wherein the speed sequence is calculated by integrating the Z-axis acceleration of the Bart Wo Silv wave by adopting a multiplexing 1/3Simpson numerical integration method, and the numerical integration speed at the time t is calculated by the following formula:
wherein v (t) is the speed at time t, the unit m/s, h is the time step of the acceleration data sequence, and a (0) is the initial time acceleration, the unit m/s 2 A (t) is the acceleration unit m/s at the moment t 2 N is the number of data in the integration interval;
the speed data is subjected to numerical integration by adopting a multiplexing 1/3Simpson method, an elevator operation displacement sequence is calculated, information such as lifting height and the like can be obtained, and a numerical integration displacement calculation formula at the moment t is as follows:
10. the elevator multi-parameter measurement method based on the MEMS three-axis acceleration sensor according to claim 9, wherein when analyzing the braking parameters of the straight ladder or the escalator, in order to reflect the actual running acceleration of the steps in the Z axis, the gravity acceleration deflection is subtracted, and when calculating, the average value of the Z axis acceleration data within 3 seconds after the braking is finished and before the data acquisition is stopped is taken as the gravity acceleration deflection;
obtaining speed and displacement data sequences in the horizontal direction and the vertical direction according to a numerical integration method, respectively drawing acceleration, speed and displacement curves of an X axis and a Z axis in a braking process, and comprehensively analyzing characteristic values of the curves to calculate braking parameters in the horizontal direction and the vertical direction of the escalator; the actual running direction of the escalator step in the braking process is inclined downward, the sum of velocity vectors in the X direction and the Z direction is the actual running velocity of the step, and the sum of displacement vectors is the step displacement; the average braking deceleration and the total braking distance can be solved by comprehensively analyzing the step speed vector sum curve and the displacement vector sum curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311282719.4A CN117185078A (en) | 2023-09-28 | 2023-09-28 | Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311282719.4A CN117185078A (en) | 2023-09-28 | 2023-09-28 | Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117185078A true CN117185078A (en) | 2023-12-08 |
Family
ID=88992399
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311282719.4A Pending CN117185078A (en) | 2023-09-28 | 2023-09-28 | Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117185078A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429839A (en) * | 2023-12-21 | 2024-01-23 | 全南虔芯半导体有限公司 | Automatic tray conveying system for chip burner |
-
2023
- 2023-09-28 CN CN202311282719.4A patent/CN117185078A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117429839A (en) * | 2023-12-21 | 2024-01-23 | 全南虔芯半导体有限公司 | Automatic tray conveying system for chip burner |
| CN117429839B (en) * | 2023-12-21 | 2024-03-12 | 全南虔芯半导体有限公司 | Automatic tray conveying system for chip burner |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN117185078A (en) | Elevator multi-parameter measurement method based on MEMS triaxial acceleration sensor | |
| CN105035899B (en) | A kind of elevator debugging method based on smart mobile phone | |
| CN103991765A (en) | Elevator balance coefficient test system and method | |
| CN110817629B (en) | Elevator diagnosis system | |
| KR101704149B1 (en) | Method and arrangement for testing the proper functionality of an elevator | |
| CN108313846B (en) | System and method for measuring speed of elevator platform based on gyroscope | |
| CN105060053B (en) | A kind of detection method of balance coefficient of elevator | |
| CN109179115B (en) | Elevator running quality detection system and detection method | |
| CN105486264B (en) | The measurement method of crane brake downslide flowmeter based on acceleration transducer | |
| KR20080059979A (en) | Load force measure apparatus | |
| CN105253738B (en) | A kind of detection method of elevator overload protecting device | |
| CN104071681B (en) | A kind of escalator stop parameter detection method | |
| CN106706960B (en) | Falling test bed for checking acceleration sensor period and detection method | |
| CN209198092U (en) | A kind of dummy's foot impacts experimental rig | |
| CN205906841U (en) | Detection apparatus for elevator equilibrium coefficient | |
| CN112429610B (en) | Inspection device for mechanical equipment | |
| KR102058189B1 (en) | Elevator safety plank reliability test apparatus | |
| CN207281090U (en) | Governor tripping speed test platform | |
| CN115594041A (en) | Elevator weighing method based on vibration signal, elevator weighing system and elevator | |
| CN113447288A (en) | National physical health test equipment durability detection system | |
| WO2021064815A1 (en) | Building facility vibration measurement device and management system | |
| JPH09272669A (en) | Inspection method and device for elevator weighing device | |
| CN207209642U (en) | Elevator governor detects corollary equipment | |
| JPH0853274A (en) | Position inspection device for balance weight | |
| CN105905724B (en) | The detection method and its detection means of a kind of balance coefficient of elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |