TWI529117B - Elevator faults real time detecting system for safety and method using the same - Google Patents

Description

Elevator safety fault instant detection system and method thereof

The invention relates to an elevator safety fault instant detection system and a method thereof, in particular to an elevator control technology with double-axis real-time alignment correction, which can achieve the effect of instant detection of faults.

According to the known traction elevator, the vertical lifting and lowering of the carriage and the weight are guided by the respective guide rails by the driving of the hoisting machine. Referring to FIG. 1 , the structure of the elevator 10 includes a hoisting machine 11 , a speed limiter (GOVERNOR) 12 and a machine room 1 . Generally, the machine room 1 is provided with a mechanism such as a distribution box, a hoisting machine 11 and a speed limiter 12, and the machine room 1 is disposed at the top of the lifting path of the car box 13. The hoisting machine 11 combines the carriage 13 and the counterweight 14 in a hanging manner by the wound wire rope 15 to control the vertical rise or fall of the car frame 13. As for the specific structure of the hoist 11, the components such as the motor 110, the sheave 111, the electromagnetic brake (BRAKE), and the reducer are included.

Moreover, the mechanical structure of the elevator 10 may inevitably lead to aging and poor mechanical parts due to long-term use, such as the cable 15, the guide vane loss, the mechanical brake failure, the speed limit protection switch failure, etc., these problems are only relying on passive maintenance and If the safety check is to be solved, there will still be some accidental or unforeseen accidents, such as foreign body invasion, which often cause major elevator safety incidents. When the elevator 10 is started, the hoisting machine 11 does not rotate, and the car 13 or the counterweight 14 is stopped due to an obstacle when moving downward, causing the wire rope 15 to slip on the sheave 111. For the specific analysis, when the elevator 10 is started, the hoisting machine 11 does not rotate, and there may be the following reasons:

(1) Mechanical jamming or overloading. If the brake is not opened, the worm wheel is stuck, and the car 13 or the counterweight 14 stops when it moves upward due to obstacles. When the car 13 is uplifted, it is seriously overloaded, which may cause the motor 110 to be seriously overloaded. A stall occurs, which may cause the motor 110 to be burned for a long time.

(2) The motor 110 runs out of phase, such as a set of contacts of the power contactor of the motor 110 is broken or has poor contact, or the power supply wire is interrupted, or the terminal is in poor contact, (the elevator power supply has no phase loss, so the phase sequence The protector does not operate. The lack of phase operation of the motor 110 may cause the motor 110 to be burned.

The more common reason is nothing more than the carriage 13 or counterweight 14 safety tongs malfunctioning (electrical switch does not work), or the car 13 蹲 bottom pressure buffer, the car 13 topping, the weight 14 pressure buffer, and at the same time the elevator 10 safe The circuit is not disconnected from the fault, causing the car 13 or the counterweight 14 to compress the buffer and the hoisting machine 11 to continue to operate. If the car 13 or the counterweight 14 is blocked from stopping for any reason, if the elevator 10 continues to operate, the cable 15 on the side where the car 13 or the counterweight 14 is stopped is not stressed, according to the traction of the elevator 10. Under the condition, the phenomenon that the cable 15 slips on the sheave 111 is inevitable, and after a certain period of time, the cable 15 is bound to be broken, causing the counterweight 14 or the carriage 13 to fall, so that a major elevator accident occurs, or the sheave 111 is ground. Wearing, once the cable 15 is detached, a major accident of the elevator will also occur.

For the above accident prevention, according to the provisions of China GB 7588-2003, the elevator 10 must be equipped with a speed limiter 12 for the running time of the motor 110, and the time limit should be less than 45 sec or the whole time plus 10 sec. That is, the motor 110 is judged to be malfunctioning after being operated for 45 sec, so that there is still a possibility of accidental occurrence of the fall of the carriage 13 within 45 sec. In addition, it must be added that the speed limiter 12 is commonly known as a speed governor in the Taiwanese industry. Its principle of operation is to use centrifugal force to cause a slight deflection to cause the electric appliance to trip, to close the motor 110, and to mechanically jump off the clamp. The speed governor cable 121 is engaged, causing mechanical linkage so that the safety clamp on the carriage 13 clamps the rail so that the carriage 13 does not fall.

As shown in FIG. 4, the general elevator 10 is equipped with at least one set of speed limit switches 19 on each floor, and each of the top floor and the bottom floor is provided with an end limit speed limit switch 19, and when the elevator 10 car box 13 enters the above In the speed limit zone, the speed limit function is activated by induction, so that the danger of high-speed top floor or high-speed floor can be avoided, but once the mechanical speed limit switch 19 fails or is accidentally touched, the same It will cause major accidental casualties.

At present, the positioning method of the elevator 10 mostly adopts a single-axis signal feedback mode, as shown in FIGS. 1 to 3, in other words, a set of encoders 17 is used to sense the rotation state of the motor 110, and is converted into The instantaneous position of the carriage 13 displacement. Moreover, the encoder 17 signal fed back to the inverter 18 by the motor 110 is used as the basis for determining the position of the car 13. When the motor 110 rotates, it indicates that the car 13 is moving. In addition, the motor 110 is further divided into two types of (PM) and (AM). Figure 2 shows the control of the induction motor (AM) 10. The inverter 18 sends the signal division number to the control module 16, and the encoder 17 (Encoder) provides the feedback signal to the inverter 18. The control module 16 is issued. Accelerate deceleration or parking and other speed control positioning commands. FIG. 3 is a schematic diagram of the operation of the (PM-VVVF) motor 110. The frequency converter 18 provides a variable frequency variable voltage power drive motor 110. The frequency converter 18 sends a signal frequency division number to the control module 16, and the encoder 17 provides a feedback letter. The frequency converter 18 is provided to the frequency converter 18, and the control module 16 issues a speed control positioning command such as acceleration, deceleration or parking, and the frequency converter 18 provides a variable frequency variable pressure power drive motor 110. The above method for positioning the elevator, if the elevator 10 compartment 13 is stuck, the cable 15 will be slipped. At this time, the control module 16 will mistakenly recognize that the elevator 10 is continuously displaced, although a time counter is added for 45 sec. Protection, however, is also unable to achieve Real time detection failure and make emergency stop control.

In addition, as far as we know, the patent predecessors related to this case are as follows:

(1) National Invention Bulletin No. 37548, "Method and Apparatus for Detecting the Position of an Elevator", which is the same as the conventional elevator positioning method, which senses the rotation state of the elevator motor by a position detector and converts it into a displacement of the carriage. The instantaneous position is different from the traditional elevator positioning mode only in that it is set with a reference value for comparison correction, although better position detection accuracy than conventional elevator positioning can be obtained, but it is still a single-axis signal sensing. The structure, if the car or the counterweight is blocked and stopped, and the motor continues to run, because the steel cable on the side where the car or the weight is stopped is not stressed, according to the traction condition of the elevator, the cable must be slipped on the sheave. After a period of time, the steel cable will be ground, causing the counterweight or the car to fall, resulting in a major elevator safety accident.

(2) National Invention Announcement No. 284741 "Location Detection Device for Elevators", which differs from the conventional elevator positioning method in that it senses the rotation of the elevator speed limiter (ie, the governor) with a set of position detectors. State, and converted to the instantaneous position of the car's displacement, although it can get better position detection accuracy than the traditional elevator positioning, but it is still a single-axis signal sensing architecture, so no further immediate double comparison confirmation can be made. When the position detector or the governor fails and the transmission part of the motor is in normal operation, the control module will mistakenly recognize that the elevator car is in a fault state, thus forcibly closing the motor and stopping the car, which will cause inconvenience on the elevator. With trouble.

In view of this, the conventional elevator equipment cannot construct a technical structure of two-axis signal sensing, so that it is impossible to make further simultaneous double comparison confirmation, thereby causing a major elevator safety accident. Therefore, the inventor has worked hard to develop Next, the present invention has finally been developed to provide a good understanding of the absence of elevator equipment.

The first object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are mainly implemented by a dual-axis real-time comparison correction function, so as to achieve the effect of prompt detection of an elevator fault, thereby having a cabin positioning detection accuracy. High and accurate, as well as improving the safety of the elevators. The technical means for achieving the above object is to use two sets of encoders to respectively sense the rotation state of the elevator hoist and the elevator speed limiter wheel to generate two comparable feedback signals. The control module then converts the two feedback signals into a first displacement value and a second displacement value corresponding to the displacement position of the elevator car; or a first speed value and a second speed value corresponding to the displacement speed of the car, when The difference between the displacement value and the second displacement value is greater than a predetermined displacement value; or the first speed value and the second speed value are greater than a predetermined speed value, determining that the elevator is in a fault state, and outputting the control signal to the motor to the motor in.

A second object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are provided with a virtual end point switch function, mainly by using a virtual end point switch to avoid an elevator work caused by a physical end point limit switch failure. The accident occurred to increase the safety protection network of one more layer. The technical means for achieving the above object is that a control program is built in the control module, and the operation program includes a virtual end point switch mode. When the virtual end point switch mode is executed, the first position of the limit switch position corresponding to each entity end point is determined. The displacement value and the second displacement value are respectively set as a first virtual end point switch and a second virtual end point switch, when the car passes the position corresponding to the first virtual end point switch and the second virtual end point switch and the physical end point switch has not yet been When the sensing signal is sent back, the control module determines that the physical end speed limit switch is faulty, and outputs the control signal for deceleration or stopping to the motor.

A third object of the present invention is to provide an elevator safety fault immediate detection system and a method thereof, which are provided with a virtual speed limiter, mainly by the virtual speed limiter, to avoid the failure of the physical virtual speed limiter. The occurrence of elevator safety accidents is to increase the safety protection network of one more layer. The technical means for achieving the above object is that the control module has a calculation program built therein, and the operation program includes a virtual speed limiter mode. When the virtual speed limiter mode is executed, an elevator speed jump value Vov is preset. When the first speed value or the second speed value is greater than the elevator speed trip value Vov, it is determined that the entity speed limiter is faulty, and the electrical tripping interruption is performed.

A fourth object of the present invention is to provide an elevator safety fault immediate detection system and method thereof, which are capable of improving the positioning accuracy of elevator cars on each floor by using a dual-axis virtual speed limit switch. And security. The technical means for achieving the above object is that the control module has a calculation program built therein, and the operation program includes a virtual speed limit switch mode. When the virtual speed limit switch mode is executed, each floor parameter is input first, and each of the parameters is input. The floor parameter is sequentially set to a plurality of corresponding first displacement values and the second displacement value, and the first displacement value and the second displacement value respectively set to the first virtual value of the speed limit switch position corresponding to each entity are respectively set as the first virtual The speed limit switch and the second virtual speed limit switch respectively compare the first displacement value, the second displacement value, the first speed value and the second speed value when the elevator is running, and use the comparison result as Adjust the basis of the control signal for acceleration, deceleration or stop.

壹. First embodiment of the present invention 1.1 Basic Architecture

This embodiment is a basic embodiment for achieving the first object of the present invention. The system shown in FIGS. 5 and 6 includes technical features such as a first encoder 20, a second encoder 30, and a control module 40. The first encoder 20 is configured to sense the rotation state of the hoist 11 of the elevator 10 to generate a first feedback signal. The second encoder 30 is configured to sense the rotation state of the governor 12 of the elevator 10 to generate a second feedback signal. The control module 40 can output a control signal including acceleration, deceleration, and parking according to an input command to control the operation of the motor 110. The input command may refer to a plurality of floor selection buttons in the car 13 or on the landing ports of each floor. , under the selection button. The control module 40 can convert the first feedback signal and the second feedback signal into a first displacement value and a second displacement value corresponding to the displacement position of the compartment 13 of the elevator 10, and is controlled by FIG. The module 40 defines a corresponding floor height and position for each of the first displacement value and the second displacement value, or a first speed value and a second speed value corresponding to the displacement speed of the carriage 13 when the first displacement When the difference between the value and the second displacement value is greater than a predetermined displacement value or the first speed value and the second speed value are greater than a predetermined speed value, the control module 40 determines that the elevator 10 is in a fault state, and outputs a parking control signal to Motor of winch 11 110.

Specifically, in order to obtain a better kinetic energy output of the motor 110, the architecture shown in FIG. 6 includes a frequency converter 31, which can transmit the first feedback signal to the control module 40, and the inverter 31 The control signal is then frequency converted and transmitted to the motor 110 to control the operation of the motor 110. In addition, the speed limiter 12 and the motor 110 shown in FIG. 5 are located at the motor compartment 1 at the top, and the speed limiter 12 includes a runner 120 located in the motor compartment 1 and interlocked with the second encoder 30, and a motor compartment 1 in the opposite direction. The other end of the pulley 122, a set of speed governor cables 121 connected to the runner 120 and the pulley 122, the speed governor cable 121 and the carriage 13 are linked, and the speed limiter cable 121 can be driven by the vertical displacement of the compartment 13 to drive the rotation. When the wheel 120 and the pulley 122 are rotated, when the car 13 is stalled, the locking mechanism on the wheel 120 (which is a conventional structure, which is not shown in the figure) is activated by the centrifugal force, and then the limit is clamped. The speed adjusting wire 121 simultaneously triggers the interlocking mechanism on the interlocking car 13 (which is a conventional structure, which is not shown in the figure), and the safety caliper on the car 13 (which is a conventional structure, this example is not shown) Further, the extended guide rail guide rail (which is a conventional structure, which is not shown in the figure) is used to achieve the emergency stop function of the passenger compartment 13.

For convenience of description of the technical concept of the two-axis of the present invention, the X-axis is represented as a value obtained by the first encoder 20 and converted, that is, the first encoder 20 senses the rotation state of the motor 110, and is converted by the control module into The first displacement value of the displacement of the elevator 10 is defined as the value of the X-axis. The Y-axis is represented as a value converted by the second encoder 30, and the second encoder 30 senses the second displacement value of the displacement of the elevator 10 of the carriage 13 linked to the speed limiter 12, and is defined as the value of the Y-axis. . When the elevator 10 is in operation, the first encoder 20 and the second encoder 30 respectively sense and return the first and second feedback signals. The converted two-dimensional coordinate values, which are respectively represented as the X-axis and the Y-axis, also represent the two-dimensional coordinates which are virtualized as the position of the elevator 10 on the two-dimensional coordinate axis, that is, the so-called elevator displacement position Position=(X, Y) of the present invention. . If the elevator 10 is in a fault-free state, the displacement distance driven by the winch and the speed limiter should be equal, that is, the position and speed of the X-axis and the Y-axis should be equal after unit conversion, otherwise the error R exceeds a certain value, we will It is determined that a fault has occurred. The unit of position error is expressed in mm, and when the elevator 10 has no fault condition, it should conform to |(X_mm-Y_mm)|<R_mm. When the error R_mm exceeds a predetermined value, it means that the first displacement value (X_mm) does not coincide with the actual position of the car 13, that is, the fault occurs, and the control module will issue an emergency stop control signal to complete the required car 13 parking. Function to avoid the occurrence of major hazards.

1.2 Displacement calculation mode

In a more specific embodiment of the present invention, the control module 40 has a calculation program built therein. The calculation program includes a displacement calculation mode. When the displacement calculation mode is executed, the speed V of the carriage 13 of the reference elevator 10 is first set to a time unit. The distance traveled by the carriage 13 is in millimeters (mm), and the speed 10 of the elevator 10 is divided by the pulse wave number of the first encoder 20 in the time unit to obtain the moving distance of each pulse wave, and the first The total pulse number generated by an encoder 20 is multiplied by the moving distance of each pulse wave, so that the first displacement value (X_mm) can be obtained.

In other words, the number of pulses (Pluse) generated by one revolution per first encoder 20 is generally expressed as En(p/r). Motor Speed (RPM) = number of revolutions per minute of motor rotation (1000). Elevator speed (V) = distance traveled by car 13 per minute, the unit is m/m. The distance traveled by the elevator for 1 minute is 1M_plus=En(p/r)x RPM(r/m)= V (m / m) x 1000 (mm) = 1 M_mm. 1 pulse=V x 1000/En x RPM(mm). Car X-axis position: X_mm=X_pluse x (V x 1000/En x RPM) (mm).

On the other hand, when the displacement calculation mode of the operation program is executed, the pulse wave number generated by the second encoder 30 is multiplied by 2 π R and divided by the pulse wave number generated by one rotation per second of the second encoder 30 to calculate A second displacement value (y_mm) is obtained, and 2 π R is the circumference of one revolution of the runner 120 of the speed limiter 12, and R is the radius of the runner 120 of the speed limiter 12. The number of pulse waves of the speed limiter 12 in one revolution Y_En(p/r)=the circumference of one revolution is 2 π R (mm), and R=the radius of the 12-wheel speed limiter. Y-axis position of the elevator car: Y_mm=Y_pluse x(2 π R/Y_En)(mm).

1.3 Dual-axis safety control mode

As shown in FIGS. 8 and 9, the calculation program includes a dual-axis safety speed control mode, and when the two-axis safety speed control mode is executed, the pulse wave number generated by the first encoder 20 in one time unit is converted into the carriage 13 The walking distance, that is, the change in the time axis corresponding to the X-axis position obtained by the foregoing principle, can calculate the first speed value (Vx). And converting the pulse wave number generated by the second encoder 30 in the time unit to the walking distance of the car 13 , that is, the Y-axis position obtained by the foregoing principle corresponds to the change of the time axis, and the second speed value can be calculated. (Vy). The first speed value (Vx) and the second speed value (Vy) can be respectively expressed as a two-dimensional speed type of the X-axis and the Y-axis of the elevator, and a speed type of the elevator two-dimensional: Speed=(Vx, Vy). As shown in Fig. 9, it is assumed that the first speed value Vx speed is compared with the second speed value Vy speed, and it is found that the elevator is faulty when the speed deviation between the two is too large (i.e., exceeds a predetermined value). That is, if |(Vx_m/m-Vy_m/m)|<R_m/m is met, the elevator is judged to be fault-free.

贰. Second embodiment of the present invention

This embodiment is a specific embodiment for achieving the second object of the present invention. In addition to the technical features of the first embodiment, the embodiment includes an operation program in the control module 40. The operation program includes a virtual end point switch mode. When the virtual end point switch mode is executed, the corresponding end point speed limit switch is used. The first displacement value and the second displacement value of the 50 position are respectively set as the first virtual end point switch 41a and the second virtual end point switch 41b, as shown in FIG. 7, when the car 13 passes the physical end point limit switch 50 and does not return the sensing. When the signal is received, the control module 40 determines that the physical end point limit switch 50 is faulty, and starts to output the control signal for deceleration or stop when the car 13 reaches the position corresponding to the first virtual end point switch 41a and the second virtual end point switch 41b. In the motor 110, the car 13 is controlled to decelerate or stop.

As shown in FIG. 7 , in order to protect the physical end point speed limit switch 50 from failure, the car 13 can still be decelerated and stopped immediately, so the control module 40 of the present invention includes a set of microprocessors (DSP type MPU), and The Quadrature Encoder Interface (QEI) interrupt function creates two sets of virtual end point speed limit switches 41a, 41b that function the same as the physical end point speed limit switch 50. In addition, the general microprocessor uses the addition register to do the operation, its function is only an integer, for example, the result of 3/2 is equal to 1. If you want to get the effect of the decimal point 1.5, you have to use some functions, the finer the definition is to be done. The decimal point is too much. These operations often take up a lot of CPU time, which affects the effectiveness of the immediate control and the accuracy of the calculated values. In recent years, some microprocessor unit (MPU) manufacturers have introduced a central processor that supports floating-point operations in combination with a microcontroller (MCU) and a digital signal processor (DSP) for these problems and needs (Floating- Point CPU), such as the 28x+ARM ^® Cortex ^TM M3 Concerto ^TM Series dual-core CPU introduced by Texas Instruments in November 2011, has the function of supporting floating-point operations. The present invention is used in a large number of real-time operations. According to the specifications of the above-mentioned microprocessor unit (MPU), it can be completed and qualified.

Reference. The third embodiment of the present invention

This embodiment is a specific embodiment for achieving the third object of the present invention. In addition to the technical features of the first embodiment, the embodiment has an operation program built in the control module 40. The operation program includes a virtual speed limiter mode. When the virtual speed limiter mode is executed, a speed jump is preset. Deviating Vov, when the first speed value or the second speed value is greater than the speed trip value Vov, determining that the physical speed limiter 12 is faulty, and performing electrical tripping of the elevator 10 to power off, to interrupt the hoisting machine The power supply of the motor, the auxiliary car 13 is decelerated or stopped. The elevator speed type of the invention is expressed as Speed=(first speed value (Vx), second speed value (Vy)), and the function of over-speed interruption can complete the function of tripping and power-off of the electrical equipment of the elevator. An elevator speed trip value Vov may be set in the first speed value (Vx) and the second speed value (Vy), and the tripping interruption is performed when Vx or Vy is greater than Vov. Since the execution is in the software, there is no physical device, so The invention is called a virtual speed limiter, and the virtual speed limiter can be regarded as a backup speed limiter function. When the physical speed limiter 12 fails, the speed limiter or the parking function is still available, so that the elevator 10 can be used for riding. One more layer of protection.

肆. Fourth embodiment of the present invention 4.1 Basic Architecture

This embodiment is a specific embodiment for achieving the fourth object of the present invention. In addition to the technical features of the first embodiment, the embodiment has an operation program built in the control module 40. The operation program includes a dual-axis positioning correction mode. When the dual-axis positioning correction mode is executed, the floor parameters are firstly used. Input, each floor parameter is sequentially set to a plurality of corresponding first displacement values and second displacement values. As shown in FIG. 7, the first displacement value and the second displacement value corresponding to the positions of the respective body speed limit switches 51 are respectively set as the first virtual speed limit switch 42a and the second virtual speed limit switch 42b, when the elevator 10 is running. And comparing the first displacement value, the second displacement value, the first speed value and the second speed value respectively, and using the comparison result as a basis for outputting the control signal for accelerating, decelerating or stopping.

In addition, the specific method of the two-axis positioning is as shown in FIG. 7. First, the actual building height and other parameters of the elevator 10 are input, and the biaxial floor is calculated by calculation, and the first virtual limit is set at the position of the physical speed limit switch 51. The speed switch 42a and the second virtual speed limit switch 42b are then compared with the speed of the two axes when the elevator 10 is in operation. With the two-axis calibration method, it is no longer necessary to rely on the horizontal shutter to correct, so the physical shutter can be omitted, and the same parking effect can be achieved.

4.2 Specific architecture 4.2.1 Accuracy calculation

Accuracy calculation of the hoist motor (PM motor), assuming that the motor speed of the hoist is RPM=96r/m, the speed V=120m/m, the frequency value D=32, the motor accuracy calculation formula is: A=V x 1000 x D/En x RPM (mm/p). The number of pulse waves per revolution of the first encoder 20 is En=8192p/r, and the accuracy of the hoist motor A=4.88 mm/p can be obtained by the above formula.

The accuracy calculation formula of the speed limiter (speed governor) is: A=2 π r/En(mm/p). First The number of pulse waves per revolution of Encoder 30 is En=1024pluse/r, and the speed limiter 12 turns one wheel circumference circumference length=2 π r=3.1416x240=754mm/r (axle radius 120mm), and then the speed limit can be obtained. The accuracy of the device (speed governor) is A=754/1024=0.736mm/p.

From the above accuracy calculation, the following phenomena can be obtained: 1. The number of poles of the PM motor becomes larger and the speed becomes slower, and the precision becomes thicker. Therefore, the value of the Encoder is increased to improve the accuracy; 2. The faster the elevator speed is, the worse the accuracy is, and the lower the frequency is required. Value to improve accuracy; 3. The worse the accuracy, the more difficult to locate, the phenomenon of poor control such as punching or punching; and 4. The higher the floor, the longer the cable and the larger the light and heavy load difference, the greater the error of ductility. The impact accuracy is also greater.

The frequency value D of the accuracy formula of the hoist motor (PM motor) is due to the fact that the counter (Conter) in the existing control module (host circuit) adopts the plug-in method, and only the maximum processing value of 16 bits is only 65532 pluse. Can not accommodate the high-speed high-speed generated count value, for example, the first encoder (Encoder) of 1024pluse / r installed in the motor speed of 1750r / m for 2sec will generate 59,733 pluse, it will generate a count overflow error, in order To solve this problem, if the counter and central processing unit (CPU) of the control module 40 are upgraded to 32 bits, it can accommodate 65532x65532=4,294,967,296 pulses (pluse), which is generated by one day of the motor. The pulse (pluse) will not overflow. If the above divisor value D is removed, the accuracy calculation formula of the hoist motor (PM motor) can be obtained as: A=V x 1000/En x RPM(mm/p).

If the moving speed of the elevator car is raised to V=300 m/m, the pulse number En=1024 pluse/r per revolution of the first encoder 20 can be used to obtain the accuracy of the winch A=0.167 mm/p.

The pulse number of each encoder of the second encoder En=8192pluse/r, rpm=96, the accuracy of the speed limiter (speed governor) can be obtained as A=0.381mm/p.

In addition to the above mechanical characteristics, the accuracy of the X-axis, the frictional force of the sheave coefficient, the signal interference, the lack of sensitivity of the end switch in the hoistway, etc., may also cause distortion of the accuracy. The present invention utilizes the X-axis. And the Y-axis two-axis mutual correction method can complement the distortion of precision.

In addition, although the present invention can input the building height parameter of the building at the beginning of the installation of the elevator 10, the parameter can also be read into the memory (EEPROM) through the learning operation during the test run, but in case there is no building height parameter. For reference, the present invention may also have a learning mode built in the computing program, the learning mode is initiated when the elevator 10 is tested, and the first displacement value and the second displacement value corresponding to each floor height parameter may be It is sequentially read into a memory (EEPROM) for subsequent operational calculations. Furthermore, in order to facilitate the operation of the elevator professional technicians, it is preferable that these parameter units are actual length units such as (mm), so that the field adjustment operation will be relatively easy. The conversion formula of the parameters is as follows: X-axis position of the elevator car (first displacement value): X_mm=X_pluse x (V x 1000/En x RPM) (mm); Y-axis position of the elevator car (second displacement value) ): Y_mm=Y_pluse x(2 π R/Y_En)(mm).

Conclusion

Therefore, with the construction of the above technical features, the present invention does have the following features:

1. The invention can realize the function of detecting the fault of the elevator by the function of the two-axis real-time alignment correction, thereby having high precision and good accuracy of the car positioning detection. Improve the safety of people taking elevators.

2. The present invention does have the function of a virtual end point switch, mainly by the establishment of a virtual end point switch to avoid the occurrence of an elevator safety accident caused by a physical end rate limit switch failure, thereby adding an additional layer of safety protection protection network. .

3. The present invention does have the function of a virtual speed limiter, mainly by the construction of a virtual speed limiter, to avoid the occurrence of elevator safety accidents caused by the failure of the physical virtual speed limiter, so as to increase the safety protection of one layer. Protection network.

4. The invention does have the dual-axis positioning correction function, mainly by the construction of the two-axis virtual speed limit switch, to improve the positioning accuracy and safety of the elevator car on each floor.

The above is only one of the possible embodiments of the present invention, and is not intended to limit the scope of the patents of the present invention, and the equivalent implementations of other changes according to the contents, features and spirits of the following claims are It should be included in the scope of the patent of the present invention. The invention is specifically defined in the structural features of the request item, is not found in the same kind of articles, and has practicality and progress, has met the requirements of the invention patent, and has filed an application according to law, and invites the bureau to approve the patent according to law to maintain the present invention. The legal rights of the applicant.

1‧‧‧Motor room

10‧‧‧Elevator

11‧‧‧Winding machine

110‧‧‧Motor

111‧‧‧Slot wheel

12‧‧‧ speed limiter

120‧‧‧runner

121‧‧‧Speed governor cable

122‧‧‧ pulley

13‧‧‧ compartment

14‧‧‧weight

15‧‧‧Steel cable

16, 40‧‧‧ control module

17‧‧‧Encoder

18, 31‧‧‧Inverter

19‧‧‧Speed limit switch

20‧‧‧ first encoder

30‧‧‧Second encoder

50‧‧‧End speed limit switch

41a‧‧‧First virtual end point switch

41b‧‧‧Second virtual end point switch

51‧‧‧speed limit switch

42a‧‧‧First virtual speed limit switch

42b‧‧‧Second virtual speed limit switch

Figure 1 is a schematic diagram of the architecture of a conventional structure.

2 is a schematic diagram of a conventional structure control AM motor drive implementation.

FIG. 3 is a schematic diagram of a conventional structure control PM motor drive implementation.

Fig. 4 is a schematic view showing the implementation of the distribution of the speed limit switch of the conventional structure on each floor.

Figure 5 is a schematic illustration of the implementation of the basic architecture of the present invention.

Figure 6 is a block diagram of the dual axis control of the present invention.

Fig. 7 is a schematic view showing the implementation of the distribution of each virtual speed limit switch of the present invention on each floor.

Fig. 8 is a schematic view showing the implementation of the elevator stroke corresponding to each floor position of the present invention.

Figure 9 is a schematic illustration of the implementation of the biaxial speed of the present invention.

1. . . Motor room

10. . . elevator

11. . . hoist

110. . . motor

111. . . Slot wheel

12. . . Speed limiter

120. . . Runner

121. . . Speed limiter cable

122. . . pulley

13. . . car

14. . . Counterweight

15. . . Steel cable

20. . . First encoder

30. . . Second encoder

Claims (7)

An elevator safety fault instant detection method is applied to an elevator, the elevator includes an elevator hoist, a first encoder, a speed limiter runner and a control module, and the elevator is sensed by the first encoder a first feedback signal is generated by the rotation state of the hoist; wherein a second encoder senses the rotation state of the speed limiter wheel to generate a second feedback signal, and the control module The first feedback signal and the second feedback signal are respectively converted into a first displacement value and a second displacement value, or respectively converted into a first speed value and a second speed value, when the first displacement value is When the difference between the second displacement value is greater than a predetermined displacement value, or the first speed value and the second speed value are greater than a predetermined speed value, the control module outputs a control signal to stop the vehicle. Control, wherein the control module has a built-in operation program, and the operation program is configured to execute a virtual end point switch mode, and when the virtual end point switch mode is executed, the first displacement value corresponding to each entity end point limit switch position is With the The two displacement values are respectively set to a first virtual end point switch and a second virtual end point switch. When the car passes the physical end point switch and the sensing signal is not returned, the control module determines that the physical end point speed limit switch is faulty. And starting to output the deceleration or stop the control signal to the motor of the elevator hoist at a position corresponding to the first virtual end switch and the second virtual end switch. An elevator safety fault instant detection method is applied to an elevator, the elevator includes an elevator hoist, a first encoder, a speed limiter runner and a control module, and the elevator is sensed by the first encoder a first feedback signal generated by the rotation state of the hoist; wherein the second encoder is used to sense the rotation of the speed limiter wheel a second feedback signal is generated, and the first feedback signal and the second feedback signal are respectively converted into a first displacement value and a second displacement value by the control module, or converted into one a first speed value and a second speed value, when the difference between the first displacement value and the second displacement value is greater than a predetermined displacement value, or the first speed value and the second speed value are greater than a predetermined speed value The control module determines that the elevator is in a fault state, and outputs a control signal to control the parking of the vehicle. The control module has a built-in computing program, and the computing program can be used to execute a virtual speed limiter. Mode, when the virtual speed limiter mode is executed, an elevator speed trip value Vov is preset, and when the first speed value or the second speed value is greater than the elevator speed trip value Vov, one of the elevators is executed. The electrical equipment trips and is de-energized to interrupt power to one of the elevator hoists to assist in decelerating or parking the vehicle. An elevator safety fault instant detection method is applied to an elevator, the elevator includes an elevator hoist, a first encoder, a speed limiter runner and a control module, and the elevator is sensed by the first encoder a first feedback signal is generated by the rotation state of the hoist; wherein a second encoder senses the rotation state of the speed limiter wheel to generate a second feedback signal, and the control module The first feedback signal and the second feedback signal are respectively converted into a first displacement value and a second displacement value, or respectively converted into a first speed value and a second speed value, when the first displacement value is When the difference between the second displacement value is greater than a predetermined displacement value, or the first speed value and the second speed value are greater than a predetermined speed value, the control module determines that the elevator is in a fault state, and outputs a control The signal is controlled by parking the compartment, wherein the control module has a built-in calculation program, and the calculation program can execute a dual-axis positioning correction mode to execute the dual-axis determination In the bit correction mode, each floor parameter is input first, and each floor parameter is sequentially set to a plurality of corresponding first displacement values and the second displacement value, and corresponding to the speed limit switch position of each entity. The first displacement value and the second displacement value are respectively set to a first virtual speed limit switch and a second virtual speed limit switch. When the elevator is running, the first displacement value and the second displacement are respectively compared. The value, the first speed value, and the second speed value are used as a basis for outputting the control signal for accelerating, decelerating, or stopping. The method for promptly detecting an elevator safety fault according to any one of claims 1 to 3, wherein the control module has a calculation program built therein, the operation program includes a displacement calculation mode, and when the displacement calculation mode is executed, the operation is first set. The reference elevator speed V is the distance traveled by the carriage in a time unit, in millimeters (mm), and the elevator speed V is divided by the pulse wave number of the first feedback signal in the time unit to obtain The first displacement value is obtained by multiplying the number of pulses generated by the first encoder by the moving distance of each of the pulse waves. The method for promptly detecting an elevator safety fault according to any one of claims 1 to 3, wherein the control module has a calculation program built therein, the operation program includes a displacement calculation mode, and when the displacement calculation mode is executed, The number of pulses generated by the second encoder is multiplied by 2 π R divided by the number of pulses generated per revolution of the second encoder to calculate the second displacement value, and 2 π R is the speed limiter Rotate the circumference of one revolution, and R is the radius of the governor runner. The method for promptly detecting an elevator safety fault according to any one of claims 1 to 3, wherein the control module has a calculation program built therein, the operation program includes a dual-axis safety speed control mode, and the dual-axis safety control is executed. In the speed mode, the first encoder is in a time list The pulse wave number generated in the bit is converted into the walking distance of the car to calculate the first speed value, and the pulse wave number generated by the second encoder in the time unit is converted into the walking distance of the car. Calculating the second speed value, and comparing the first speed value with the second speed value, when the difference between the first speed value and the second speed value is greater than the predetermined speed value, determining that The elevator is in a fault state. The method for promptly detecting an elevator safety fault according to any one of claims 1 to 3, wherein the control module has a calculation program built therein, the operation program includes a learning mode, and the learning mode is started when the elevator is commissioned. The first displacement value and the second displacement value corresponding to each floor height parameter are sequentially read into a memory for use in subsequent operation calculations.