WO2016091198A1 - Procédé et système pour acquisition de paramètres, commande, fonctionnement et contrôle de charge pour ascenseur - Google Patents

Procédé et système pour acquisition de paramètres, commande, fonctionnement et contrôle de charge pour ascenseur Download PDF

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Publication number
WO2016091198A1
WO2016091198A1 PCT/CN2015/097059 CN2015097059W WO2016091198A1 WO 2016091198 A1 WO2016091198 A1 WO 2016091198A1 CN 2015097059 W CN2015097059 W CN 2015097059W WO 2016091198 A1 WO2016091198 A1 WO 2016091198A1
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Prior art keywords
elevator
value
parameter
energy balance
calculation
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PCT/CN2015/097059
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English (en)
Chinese (zh)
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冯春魁
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冯春魁
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Publication of WO2016091198A1 publication Critical patent/WO2016091198A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
    • B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
    • B66B5/0006—Monitoring devices or performance analysers
    • B66B5/0018—Devices monitoring the operating condition of the elevator system
    • B66B5/0031—Devices monitoring the operating condition of the elevator system for safety reasons

Definitions

  • the invention relates to the field of elevator technology, and is particularly suitable for elevators with counterweights. More specifically, it relates to a method and system for acquiring, controlling, operating, and monitoring elevator parameters.
  • Elevator is an important type of personnel transportation equipment. It is used frequently and its safety and reliability are directly related to the safety of the occupants.
  • B. Car outside sensor weighing It is also possible to install a tension sensor on the top of the car and weigh it according to the output signal of the tension sensor; the European elevator also has a weighing method for installing the tension measuring instrument at the end of the traction rope, which needs to be A tension measuring instrument is installed on each wire rope; the Hitachi elevator adopts another technical scheme, and the traction rope is connected as a measured resistance in series to the impedance detecting sensor, and the impedance of the traction rope is measured and weighed; the scheme is not only There are shortcomings of high cost and single function, and there is no in-depth study on the shifting operation of the elevator.
  • the elevator must enter the acceleration operation after starting, it must enter the deceleration operation when approaching the parking position, so the existing Class B technology can only be applied to In constant speed operation, it is inevitable to make mistakes during acceleration and deceleration, thus reducing the meaning of use;
  • One of the technical problems solved by the present invention is to provide an adaptive parameter acquisition, control, and operation of an elevator. And methods and systems for load monitoring.
  • the present invention provides a method for obtaining the value of an elevator operating parameter, that is, a method for calculating an elevator operating parameter, the obtaining method acquiring the value of the input parameter of the elevator when the elevator is going up or down, according to the Calculating a joint operation value of the measurement object of the elevator; the calculation is an elevator operation energy balance calculation, and the input parameter is a parameter required for calculating a joint operation value of the measurement object of the elevator,
  • the measurement object is any one of elevator quality, source power parameter and system operation parameter
  • the elevator operation energy balance is calculated according to data including at least two parameters of elevator quality, source power parameter and system operation parameter. Calculate another parameter.
  • the present invention also provides an acquisition system for an elevator operating parameter, that is, a measurement system for an elevator operating parameter, including:
  • An acquiring module configured to acquire a value of an input parameter of the elevator when the elevator is going up or down, and calculate a joint operation value of the measurement object of the elevator according to the value of the input parameter; the calculation is an energy balance of the elevator operation Calculating, the input parameter is a parameter required for calculating a joint operation value of the measurement object of the elevator, and the measurement object is any one of an elevator quality, a source power parameter, and a system operation parameter, and the elevator operation energy balance The calculation is to calculate another parameter based on data including at least two of the elevator mass, the source power parameter, and the system operating parameter.
  • the present invention provides a monitoring method (#1) for an elevator during a lifting operation, comprising the steps;
  • the step of acquiring the joint operation value may be further included before the above step.
  • the energy transmission status of the elevator is determined according to the joint operation value, and the specificity is determined according to the joint operation value and the reference data of the measurement object. Whether the energy transfer condition of the elevator is abnormal.
  • the invention also provides a monitoring system (#1) for elevator lifting operation, comprising:
  • the energy transfer status determining module is configured to: acquire a joint operation value of the measurement object of the elevator, and identify an energy transfer status of the elevator according to the joint operation value; wherein the measurement object is any one of elevator operation parameters One or more kinds, the joint operation value is calculated based on the energy balance of the elevator operation.
  • the present invention also provides an elevator load monitoring method (#2).
  • the monitoring method includes the following steps. :
  • the present invention also provides an elevator load monitoring system (#2), including a joint operation value acquisition module (1); the monitoring system further includes any one of an overload processing module (2) and an output module (3). Kind or multiple modules;
  • the overload processing module (2) is configured to: determine whether the joint operation value is greater than a rated load of the elevator, and perform any one or more of the following 26B11, 26B12 processing;
  • the output module (3) is configured to: output the joint operation value to a human machine interface of the car and/or a human machine interface of the hall door and/or a human machine interface of the control center.
  • the present invention also provides a control method for an elevator, which can be used to improve the operating efficiency of the elevator.
  • the solution steps are as follows: the mechanical operating parameters of the elevator are pre-set with at least two different grades, based on at least the elevator.
  • the parameter carrying the item quality selects the grade of the mechanical operating parameter; or; calculates a joint operation value of the mechanical operating parameter based on a parameter including at least the quality of the carried item of the elevator, when the quality of the carried item is from zero to the rated load
  • the mechanical operating parameter has at least two joint operation values of different sizes when changing; the elevator operation is controlled according to the joint operation value or grade of the mechanical operation parameter; the mechanical operation parameters include an uplink speed, a downlink speed, and an acceleration uplink Any one or more of the acceleration and the acceleration at the time of deceleration.
  • the invention also provides a control system for elevator operating efficiency, comprising a control module (1) for realizing: the mechanical operating parameters of the elevator are pre-set with at least two different grades, based on at least the carrying item of the elevator
  • the parameter including the quality selects the grade of the mechanical operating parameter; or; calculates a joint operation value of the mechanical operating parameter based on a parameter including at least the quality of the carried item of the elevator, when the quality of the carried item varies from zero to the rated load
  • the mechanical operating parameter has at least two joint operation values of different sizes; the elevator operation is controlled according to the joint operation value or grade of the mechanical operation parameter; the mechanical operation parameters include an uplink speed, a downlink speed, and an acceleration when the uplink is accelerated. And decelerate any one or more of the accelerations in the downward direction.
  • the present invention also provides a monitoring method (#3) for an elevator operating parameter overrun, comprising the steps of:
  • the present invention also provides a monitoring system for an elevator operating parameter overrun, comprising:
  • a joint operation value detecting module (1) configured to acquire a joint operation value of source power parameters of the elevator
  • the source power parameter overrun monitoring module (2) is configured to: determine whether the joint operation value exceeds a system preset value or a safety limit threshold of the source dynamic parameter; and the joint operation value is based on an elevator operation energy balance calculation Income.
  • the present invention also provides an elevator monitoring method comprising the steps of: obtaining a joint operation value of a measurement object; and outputting the joint operation value for electronic equipment and/or portable personal consumer electronics in the car and / or display on the man-machine interface of the elevator door; and / or: the joint computing value of the measurement object in the car electronics and / or portable personal consumer electronics and / or the elevator door
  • the interface is displayed, and the measurement object is any one or more parameters of an elevator operating parameter of the elevator, and the joint operation value is calculated by using an elevator running energy balance.
  • the present invention also provides an elevator monitoring system for solving the technical problems thereof, including:
  • a monitoring processing module configured to obtain a joint operation value of the measurement object; output the joint operation value to display on the human-machine interface of the electronic device and/or the portable personal consumer electronic product in the car and/or the hall door of the elevator And/or: displaying the joint operation value of the measurement object on the human-machine interface of the electronic device in the car and/or the portable personal consumer electronic product and/or the hall door of the elevator, the measurement object is the elevator operation of the elevator Any one or more of the parameters, the joint operation value is calculated based on the energy balance of the elevator operation.
  • FIG. 1 is a schematic view showing the mechanical structure of an elevator during lifting operation according to the present invention
  • Fig. 2 is a flow chart showing a method of monitoring an elevator in a lift operation according to a sixth embodiment of the present invention.
  • the present invention is mainly applicable to elevators with counterweight; because there is no counterweight elevator, its working principle and structure The complexity and technical solution are much less difficult than the counterweight elevator; as shown in Figure 1 of the accompanying drawings, the elevator of the present invention usually has a traction machine, a guide wheel B5, and a car B0 (corresponding no-load)
  • the car mass is m0
  • the carrying item B1 corresponding carrying item quality is m1
  • the counterweight B3 corresponding counterweight mass is m3
  • the wire rope the guide rail, the guide shoe, the compensating device, etc.
  • the traction machine is It may include a traction motor and a traction sheave B2; from the classification of the transmission system, the traction machine can be further divided into a turbine type, a helical gear, a star gear, a gearless traction machine, and the like;
  • the invention takes the elevator car as the core research object.
  • the operation of the invention refers to the elevator car running in the vertical direction;
  • Speed/or acceleration refers to the speed/or acceleration of the elevator car running in the vertical direction;
  • the up/down direction of the elevator refers to the upward or downward movement of the elevator car in the vertical direction;
  • the opening or closing of the elevator door does not belong to In the operation of the present invention, when the elevator door is opened and closed, the elevator is prohibited from operating in the vertical direction.
  • 1.2. Overview of power plant refers to the device that can directly drive the elevator to run in the vertical direction; the power device of the elevator is usually a motor; the motor described in the present invention refers to a motor that can directly drive the elevator to run in the vertical direction.
  • the main types of motors include Not limited to: AC asynchronous motor, AC synchronous motor, DC motor, switched reluctance motor, permanent magnet brushless motor, linear motor, hub motor, etc.;
  • the power control device of the elevator is usually a motor driver, and refers to a device capable of driving the motor of the present invention and a connecting cable thereof, including but not limited to: a frequency converter, a servo driver, a DC motor controller , switched reluctance motor driver, permanent magnet brushless motor driver, linear motor driver, integrated controller with motor drive capability, etc.;
  • the driving, the motor driver, the driving motor running, and the driving in the driving operation of the invention are not the single-finger driving motor running in the electric state and the drag motor, but also controlling the motor braking operation and working in the system. Dynamic state.
  • the energy supply device of an elevator which can be called a power supply device, refers to a device that can provide driving energy to a motor driver, a motor, an elevator, and a connection cable thereof, including a conventional AC power source, a backup power source, and the like. Wait;
  • the electric power system of the present invention includes the category of the device depending on the collection point of the specific electric power parameter group signal; if the source power parameter signal is collected at the input end of the power supply device, the electric power system is simultaneously The power supply device including the elevator, the motor driver and the motor are three devices; if the collection point of the source power parameter signal is at the output end of the power supply device or the input end of the motor driver, the electric power system includes both the motor driver and the motor device; The collection point of the source power parameter signal is at the output of the motor driver or the terminal of the motor, and the electric power system only contains the motor;
  • the power device, the power control device and the energy supply device according to the present invention are mainly It can be classified; from the device structure, any two or three of the three can be combined into one of the following integrated systems: a two-in-one integrated system of power control devices and power plants, energy supply devices and power control A two-in-one integrated system of devices, an energy supply device, and a three-in-one integrated system of power control devices and power devices; the specification and claims of the present invention also encompass any of the above two-in-one, three-in-one integrated systems.
  • measured directly measure the parameter value with physical instruments, hardware sensors, etc., the result is called the measured value; such as the elevator speed measured by the speed measuring instrument, such as the acceleration measured by the acceleration sensor, such as the current sensor measurement Motor current
  • Joint operation If the data obtained by the calculation method of the elevator operating parameters provided by the present invention is used, the obtained result belongs to the joint operation value; for example, the joint operation value of the elevator mass is calculated by the electric power parameter and the system operation parameter. ;
  • Reading reading the parameter value input by an external device (such as a motor driver), reading the existing parameter value, etc.; the existing parameter value may include the measured value, the joint operation value, the manual input value, and the system. Default value, history value, etc.;
  • the reading parameter value includes reading a local parameter value, reading a parameter value through a communication method (such as CAN, 485, 232, WIFI, Bluetooth, infrared, etc.), and transmitting the data through the network (for example, Various wired and wireless networks) remotely reading elevator operating parameter values and other methods;
  • a communication method such as CAN, 485, 232, WIFI, Bluetooth, infrared, etc.
  • the definition of the source power parameters of the elevator; the parameter that can represent or calculate the force or torque or power that directly drives the elevator to run in the vertical direction is the source power parameter; the source power parameter can be distinguished from the components of the signal value. It is divided into the dynamic parameters of the traction parts, the dynamic parameters of the mechanical rotating parts, the electric power parameters, etc. Among them, the dynamic parameters of the traction parts mainly include the pulling force of the steel wire rope, etc.
  • the dynamic parameters of the mechanical rotating parts are mainly included in the rear end of the motor (motor output)
  • the acquired source dynamic parameters with electrical parameter properties are called electrical dynamic parameters (also referred to as motor drive parameters or electrical drive parameters);
  • the electrical parameters of the motor mainly include and are not limited to the following parameters: motor voltage Uo, motor current Io, power factor ⁇ 1 (also denoted by ⁇ ), electrical power Po (also denoted by Pm), electromagnetic torque Te, motor Rotation speed n1, rotating magnetic field speed n0;
  • the electrical parameters of the motor driver mainly include, but are not limited to, the following parameters: output voltage U2o, output current I2o, output power factor ⁇ 2, output electrical power P2o, electromagnetic torque Te, input voltage U2i (also represented by Ui), Input current I2i (also denoted by Ii), input electrical power P2i, driver DC bus voltage Udc, torque current component iq;
  • the torque current component iq refers to a vector-controlled motor driver (such as a frequency converter or a servo driver). After vector transformation, the motor current is stripped of the torque component of the excitation component; the torque current component iq is compared with the motor torque. Direct mapping relationship; the conversion coefficient Ki, Ki*iq through torque current and electromagnetic torque can be used to directly calculate the torque;
  • the electrical parameters of the power supply unit mainly include but are not limited to the following parameters:
  • the usual power supply unit can include the following output electrical parameters: output voltage U3o (also indicated by Ub1), output current I3o (also denoted by Ib1), output electrical power P3o, power factor ⁇ 3, input voltage U3i, input current I3i, input Electrical power P3i;
  • the power generation feedback brake voltage U4, the power generation feedback braking current I4, the braking current and the braking voltage power factor ⁇ 4; the power generation feedback braking (reverse delivery to the power supply) electrical power (referred to as power generation feedback power) P4 ; P4 can be calculated by braking current and braking voltage (such as P4 ⁇ 3 * U4 * I4 * cos ⁇ 4);
  • P2o Po
  • the electromagnetic torque Te according to the present invention refers to the motor torque calculated according to the voltage or current or magnetic field parameters of the motor, including the electromagnetic torque calculated in the motor driver.
  • the electromagnetic torque Te calculated by measuring the motor voltage and the motor current outside the motor driver is also included; the measurement of the electromagnetic torque Te according to the present invention is very simple, low in cost, and high in precision.
  • the electromagnetic torque Te does not include the mechanical torque machine obtained by installing the mechanical stress measurement principle (such as the dynamic torque tester) on the motor output shaft or other mechanical drive shaft or flywheel; the two are in the measurement principle, the measurement path, and the cost performance of the measurement. There are significant differences.
  • the electrical parameters of the present invention are further divided into electrical power parameters and electrical auxiliary parameters;
  • Common electrical and power parameters include, but are not limited to, the following types: electrical power, electromagnetic torque, Current, electromechanical combination parameters, etc.:
  • the first type electrical power; in the absence of additional instructions or qualifications, the electrical power of the present invention refers to active power; the way to obtain electrical power is as follows:
  • Electrical power value acquisition method 1 first obtain current and voltage, and then indirectly obtain power value by calculation; such as (Uo, Io, ⁇ 1), or (U2o, I2o, ⁇ 2), or (U2i, I2i), or (U3o, I3o, ⁇ 3), or (U3i, I3i); calculating electrical power by voltage and current, is a well-known technique;
  • Electrical power value acquisition method 3 directly read the internal parameters of the motor driver to obtain electrical power values; such as Po, Pm, P2o, P2i, P3o, P3i, P4, P5;
  • Electrical power value acquisition method 4 Obtain electrical power value by measuring with active power meter; such as Po, Pm, P2o, P2i, P3o, P3i, P4, P5;
  • Electromagnetic torque Te value acquisition mode 1 directly read the internal parameters of the motor driver to obtain the Te value; such as directly reading the electromagnetic torque Te value in the inverter or servo drive;
  • Electromagnetic torque Te value acquisition mode 3 By measuring the motor driver output voltage and output current, and then indirectly obtaining the Te value by calculation;
  • the current value acquisition mode 2 the current sensor is used to measure the current of the device, the power factor factor is used to measure the power factor, and then the current value is obtained by calculation;
  • a single torque or a single current or a single power can be independent electrical power parameters; the voltage and the corresponding current parameters can be used as electrical power parameters; the speed and the corresponding torque parameters can be used as electrical power parameters;
  • electromechanical combination type parameter refers to the parameter calculated according to the aforementioned combination of electric power parameters, and the specific definition manner is described later;
  • Electrical auxiliary parameters refer to parameters that can be used to identify the operating conditions of the motor and the state of the motor.
  • the main parameters include, but are not limited to, the following parameters: motor running status word, motor control command word, etc.; because existing motor drives such as inverters It can output fault information such as accelerating overcurrent, deceleration overcurrent, constant speed overcurrent, etc., so it is also possible to obtain acceleration, deceleration, constant speed and other operating states from the inside of the motor driver through relevant electrical auxiliary parameters;
  • the method of obtaining the electrical auxiliary parameter value is as follows: reading the internal parameters of the motor driver and obtaining;
  • the traction component of the elevator is usually a steel wire rope.
  • the dynamic parameters of the traction component mainly include the comprehensive pulling force F1 of the vertical running of the traction car on the steel wire rope; the comprehensive tensile force F1 is usually measured by a tensile force sensor, which is installed on the passenger car.
  • the hook of the car can also be installed at the connection with the wire rope and the hook; the tension sensor can be either an integral tension sensor corresponding to all the wire ropes; or a tension sensor can be provided for each wire rope. Then the signals of the respective wire rope tension sensors are added to obtain a comprehensive pulling force F1;
  • the tension sensor can also be set at some other position (such as the support of the guide wheel above the elevator shaft).
  • the tension of the tension sensor is used to obtain the comprehensive tension F2, and then the integrated tension F1 is calculated according to the angle of the F2 and the wire rope;
  • the tension sensor It can be a whole tension sensor corresponding to all the wire ropes, or a tension sensor can be provided for each wire rope, and then the signals of the respective wire rope tension sensors are added to obtain a comprehensive tension F2;
  • the traction rope is connected as the measured resistance in series to the impedance detecting sensor, and the comprehensive calculation of the impedance change of the traction rope is calculated.
  • the dynamic parameters of the mechanical rotating member mainly include the source dynamic parameters obtained on the mechanical components of the rear end of the motor (the motor output shaft, the traction sheave, and the intermediate mechanical transmission component between the motor output shaft and the traction sheave, etc.);
  • the dynamic parameters of the mechanical rotating part mainly include the mechanical torque, which can be measured by a torque sensor mounted on a rotating part at the rear end of the motor, so the dynamic parameter can also be called the source dynamic parameter of the rear end; of course, relative to the foregoing
  • the total tensile force F1 is measured by the tension sensor or the tension sensor, and the cost of measuring the torque with the torque sensor is greatly increased; especially compared with the measurement cost of the electric power parameter, the measurement cost of the torque sensor is greatly increased, so practical Relatively lower in sex, but still creative and practical compared to the prior art for the safety monitoring of elevators and the control of energy-efficient operation.
  • the source dynamic parameters can be divided into the source dynamic parameters strongly related to the power system and the source dynamic parameters weakly related to the power system; generally, the signal can be valued
  • the source and power parameters of the motor and motor front end are classified into source power parameters that are strongly related to the power system; for example, three source dynamic parameters of electric power, electromagnetic torque, and current, and related electromechanical combinations.
  • the type parameters are all source dynamic parameters that are strongly related to the power system.
  • the dynamic parameters of the traction member such as the pulling force F1
  • the dynamic parameters of the mechanical rotating member such as T1, etc.
  • the source dynamic parameters can be classified into source dynamic parameters that are strongly related to the power system.
  • the power parameter (such as the pulling force F1) of the traction member when decelerating downward or the dynamic parameter (such as T1, etc.) of the mechanical rotating member calculated according to F1 and R1 is because
  • the nature of the source dynamic parameters is mainly used to describe the force or torque generated by the self-weight and acceleration of the carrying mass; at this time, the source dynamic parameters can be classified into the source-dynamic parameters of the weak correlation of the power system; and generally speaking
  • the root cause of the acceleration signal, that is, the acceleration and deceleration, is derived from the control of the power system.
  • the carrying quality of the present invention is any one or two parameters of the mass of the carrying item m1 and the total mass m2 of the elevator car; the total mass m2 of the elevator car refers to the mass m1 of the carrying item and the mass m0 of the empty car at the same time. Data; the mass of the carried item m1 refers to the quality of the personnel loaded outside the net weight of the empty car; the national standard stipulates that the passenger lift is calculated according to 75kg per person, and the number of passengers in the elevator can be calculated according to m1;
  • no-load car mass m0, counterweight mass m3 can be accurately learned by manufacturer parameters, or weighing scales, no need to measure; the quality of traction parts (such as wire rope) is usually negligible; traction parts (such as wire rope)
  • the mass is included in the no-load car mass m0 and/or the counterweight mass m3; when the no-load car and the counterweight are in the same horizontal position, the no-load car mass m0 and the counterweight mass m3 each contain half the wire rope mass When the car is at the top/counter weight at the bottom, the counterweight mass m3 contains the mass of most of the wire rope; when the car is at the bottom/counterweight at the top, the car mass m0 contains the mass of most of the wire rope;
  • the mass m0 and the counterweight mass m3 may also include the quality of the respective compensation ropes;
  • the quality of the ropes contained in the no-load car mass m0 and the counterweight mass m3 is related to the position.
  • the function of the no-load car mass m0 and the counterweight mass m3 and the position can be set, which can be relatively accurate by theoretical calculation or actual measurement.
  • the operating parameters of the system according to the present invention refer to the elevator operating parameters except the elevator mass and the source power parameters.
  • the parameters include any one or two of the mechanical operating parameters and the inherent parameters of the system.
  • the mechanical operating parameters of the present invention mainly include, but are not limited to, the following parameters: speed Vq, acceleration aj, wind resistance fw, angular acceleration ⁇ of the internal integrated rotating rigid body, and the like.
  • the speed Vq according to the present invention refers to the speed of the vertical displacement of the elevator car; and includes any one or two parameters of the uplink speed V1 and the downlink speed V2; the speed value is obtained in the following manners:
  • Vq value acquisition mode 1 directly obtain the Vq value by the speed sensor measurement set on the car; the Vq unit can be expressed in meters per second (m/s);
  • All speed-related parameters can be used to obtain the Vq value; such as the motor drive operating frequency FR (for example, the rated frequency of the frequency converter usually corresponds to the rated speed of the motor), the gear speed, the intermediate rotating angular velocity, the intermediate transmission Line speed;
  • the acceleration aj (also denoted by a or acc) of the present invention, refers to the acceleration of the vertical displacement of the elevator car;
  • the parameter design principle of the rotating rigid body cannot be directly applied, and the car acceleration aj and the counterweight acceleration ad may be equal. May not equal; the weight acceleration ad can be measured and calculated separately; in the simplified calculation, the car acceleration aj is equal to the counterweight acceleration ad;
  • the invention stipulates that the value of the acceleration can be positive or negative; the direction of the speed can be set to a positive value regardless of the elevator ascending or the elevator descending; when the absolute value of the speed increases, this The acceleration is positive, and the acceleration is positive; when the absolute value of the velocity decreases, the acceleration is negative, and the acceleration is negative; of course, the user is allowed to define acceleration, velocity, and source in other and more complicated ways. Positive and negative of the power parameters.
  • Aj value acquisition method 1 directly measured by the acceleration sensor set on the car; if the acceleration sensor output signal also contains the value of g, can be combined processing: (g + aj)
  • Fw value acquisition mode 2 preset an association table of elevator speed and wind resistance fw value, and when the elevator is running, the corresponding wind resistance fw value is obtained by looking up the speed value table;
  • the angular acceleration of the internal integrated rotating rigid body ⁇ The internal comprehensive rotating rigid body refers to all the rigid mechanical rotating parts in the elevator internal transmission system.
  • the ⁇ parameter can be obtained by the speed sensor or by first obtaining the motor speed n1. Or the speed Vq of the elevator or the acceleration aj of the elevator is calculated and obtained;
  • the system inherent parameter of the present invention refers to a parameter caused by an elevator or an inherent property of the environment, and the inherent parameter of the system of the present invention may also be referred to as a system setting parameter;
  • Common system intrinsic parameters include, but are not limited to, the following: rolling frictional resistance coefficient ⁇ 1, frictional force f0 of the rail and the car in the elevator shaft, the integrated gear ratio im, the rear gear ratio im3, the traction Wheel radius R1 (also denoted by R), conversion coefficient Ki of torque current and electromagnetic torque, conversion coefficient Ko of motor current active component and electromagnetic torque, efficiency coefficient Km of mechanical transmission system, efficiency coefficient Kea of electric power system , the efficiency coefficient Km3 at the back end, the moment of inertia L0 of the internal integrated rotating rigid body, the drag coefficient C d (also denoted by Cd), the air density p0, the windward area A 0 (also denoted by S), and the gravitational acceleration g (also called It is a gravity acceleration factor, its meaning and value 9.8 are all known techniques, basic physical common sense, and the preset time range of parameter values.
  • the efficiency coefficient of the electric power system Kea includes and is not limited to the following parameters:
  • the efficiency coefficient of the motor Ke refers to the conversion efficiency of the electrical power of the motor to the mechanical power output of the motor shaft; the Ke value may be different in view of the electric state and the motor braking state; the efficiency coefficient of the motor in the electric state is named Ke1, Name the efficiency coefficient of the motor when the motor is in the braking state as Ke2;
  • the efficiency coefficient k21 of the motor driver to the motor refers to the conversion efficiency of the input power of the motor driver to the electrical power of the motor when the operating condition of the motor is the electric state; and the conversion efficiency of the output power of the power source to the electrical power of the motor;
  • the power factor to motor efficiency coefficient k31 refers to the conversion efficiency of the input power of the power source to the electrical power of the motor when the operating condition of the motor is the electric state;
  • the efficiency coefficient of the motor braking power to the power supply k14 the efficiency coefficient from the braking power of the motor to the power of the power supply device when the motor is in the braking state;
  • the efficiency coefficient Km of the mechanical transmission system also referred to as mechanical transmission system efficiency: refers to the motor output shaft including the elevator, the traction sheave, and the intermediate transmission components between the motor output shaft and the traction sheave.
  • the efficiency coefficient of the integrated transmission in order to cope with the possible fluctuation of the Km value in different speed ranges, a one-dimensional function can be set, Km ( Vq ) one, that is, according to different speed intervals (such as zero speed, low speed, high speed) Km value; the Km value may be different in view of the electric state and the motor braking state; the efficiency coefficient of the mechanical transmission system in the electric state is named Km1, and the efficiency coefficient of the mechanical transmission system in the motor braking state is named Km2 ;
  • the comprehensive efficiency coefficient Kem of electromechanical transmission can also be called the comprehensive efficiency Kem of electromechanical transmission;
  • Kem contains the efficiency coefficient Ke of the motor, including the efficiency coefficient Km of the mechanical transmission system;
  • the relevant efficiency coefficient k31, k21, k14, Ke, Km value is basically constant within a certain speed and load interval;
  • the change of k31, k21, k14 value means that the internal rectifier bridge of the power supply or the motor driver, the IGBT may have a short circuit, or an open circuit, parameter variation and other abnormal conditions;
  • the change of the Ke value means that the internal rotating magnetic field parameter variation of the motor or the motor winding is short-circuited, or Variations that may cause serious consequences, such as a broken circuit;
  • the current, voltage and speed torque of the elevator can be changed, but the basic values of k31, k21, k14, and Ke cannot be changed; therefore, the above k31, k21, k14, and Ke values are not only used as the efficiency coefficient of the electric power system, but also as the electric power. An important basis for the security status of the system;
  • the change in the efficiency coefficient Km of the mechanical transmission system may represent severe wear and tear in the mechanical transmission system of the elevator including the motor output shaft, the traction sheave, and the intermediate transmission component between the motor output shaft and the traction sheave, or Variations that may cause serious consequences, such as deformation or gear embrittlement;
  • the mechanical torque speed of the elevator can be changed, and even the frictional force can vary with the size of the load, but the basic Km value cannot be changed greatly, or it may be a serious fault; therefore, the Km value can be used not only as the efficiency of the mechanical transmission component.
  • the coefficient can also be used as an important basis for the safety condition of mechanical transmission components;
  • the elevator can be effectively monitored.
  • the operating conditions of the electrical power system are directly monitoring the k31, k21, k14, and Ke values as the measurement objects, or by indirectly monitoring the k31, k21, k14, and Ke values by calculating the joint operation values of other measurement objects (such as the carrier quality).
  • the comprehensive efficiency coefficient Keem of the electric power system of an elevator which includes the efficiency coefficient Km of the mechanical transmission system and the efficiency coefficient Kea of the electric power system; the Keem value is the Km value of the elevator and the efficiency coefficient value of the electric power system Kea Product of
  • Rolling friction resistance coefficient ⁇ 1 Because of the structural characteristics of the elevator, the traction sheave and the guide wheel are subjected to the pressure generated by the gravity of the car and the counterweight; therefore, the rolling friction coefficient of the elevator is ⁇ 1 (along with the rolling frictional resistance fr ) mainly for the data of the traction sheave and the guide wheel components;
  • Integrated transmission ratio im refers to the comprehensive transmission ratio including the motor output shaft, the traction sheave and the intermediate transmission component between the motor output shaft and the traction sheave;
  • the efficiency coefficient Km of the mechanical transmission system usually refers to the motor to the traction Between wheels The efficiency coefficient of the transmission system; because the source power parameter of the present invention includes the source power parameters of the back end, the corresponding gear ratio and efficiency coefficient need to be set; and the parameters of the source power parameters of the back end are taken to the traction wheel
  • the transmission ratio is called the transmission ratio im3 of the rear end, and the efficiency coefficient between the parameter points of the source dynamic parameters of the rear end to the traction sheave is called the efficiency coefficient Km3 of the rear end;
  • the transmission ratio im and im3 of the elevator are usually a fixed value; if the values of im and im3 are variable, the current value needs to be given by the central controller during the calculation;
  • the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is the core information of the safe operation of the elevator. It is a technical point neglected by the prior art. In recent years, many passengers have been caught in the car. The serious safety accident causing death of the person between the car and the elevator shaft is that the elevator does not fully consider the measurement and abnormal monitoring of the friction force f0 during the safety design; the technical solution provided by the present invention is to measure the friction force f0 High-precision/high-sensitivity measurement and energy transmission status monitoring of the joint calculation values of objects, or other measurement objects (such as the carrying quality of the elevator), so that real-time direct or indirect measurement and monitoring friction during elevator operation
  • the value of the inherent parameters of the system generally has the system preset value, which can be given by the central controller of the elevator.
  • the correctness of the system's inherent parameters and system preset values is also guaranteed by the central controller of the elevator;
  • the set value can be known by the elevator production service manufacturer or professional testing organization; the user can also test, verify, adjust and set it by himself; if the self-learning of the hoistway parameters is carried out, the relevant parameters (especially f0, ⁇ 1) are learned during the ascending and descending process of the elevator. Parameters such as Kem at different positions and at different speeds). If the deviation of the system preset value of the parameter or even the error causes the monitoring effect of the method or system of the present invention to decrease, the effectiveness of the technical solution is not affected.
  • Source power combined parameters are also classified into source dynamic parameters; electrical dynamic parameters are combined with other parameters to form parameters, called electromechanical combined parameters; electromechanical combined parameters are typical source dynamic parameters, and their types still belong to electrical dynamic parameters;
  • An example of a typical electromechanical combination parameter is as follows: ((Ke*Km)*(Po/Vq) represents a driving force calculated according to the motor power; eg (Te*im/R) represents a calculation based on the electromagnetic torque Te
  • the driving force such as (Te*n1/9.55/Vq), represents another driving force calculated based on the motor power, which is calculated by torque and speed;
  • the source power combination type parameter has an infinite number of expressions, and the present invention is not exemplified;
  • the acquisition method of the source power combined type parameter value 1 obtain the value of the source dynamic power parameter in the source power combined type parameter by the foregoing manner, obtain the value of the other parameter in the source power combined type parameter by the foregoing manner, and further adopt the source power combined type Obtaining the value of the source power combination parameter by calculating the calculation formula of the parameter;
  • the method for obtaining the mechanical combination type parameter value 1 obtaining the value of the mechanical operation parameter in the mechanical combination type parameter by the foregoing method, obtaining the value of the other parameter in the mechanical combination type parameter by the foregoing manner, and further calculating the calculation formula of the mechanical operation parameter And obtaining the value of the source power combination parameter;
  • Elevator operating parameters Obviously, all parameters that affect the operating state of the elevator, or all parameters related to elevator operation, can be referred to as elevator operating parameters; the source dynamic parameters, elevator quality, system described in the present invention The operating parameters (including the mechanical operating parameters and the system inherent parameters) constitute the operating parameters of the elevator;
  • Derived parameters Any parameters described in the present invention are derived, deformed, renamed, expanded, reduced, increased offset, filtered, weighted, averaged, estimated interference, compensated for interference, processed by RLS algorithm, recursive The parameters obtained by the least squares processing and the like are referred to as derived parameters of the parameters, and all the derived parameters still belong to the original parameter type;
  • the energy transfer condition correlation factor refers to a parameter directly or indirectly related to the energy transfer status judgment of the elevator, which includes the condition information of the elevator, the load condition information, the position information, the elevator quality, and the source. Any one or more of the dynamic parameters and the operating parameters of the system; the condition of the machine according to the present invention mainly refers to the condition of the elevator power system and the transmission system, such as good mechanical parts of the elevator, good lubrication, and small wear condition, the condition of the machine is good.
  • the load condition mainly refers to the condition of the elevator loader or the item, such as the frequent jumping of the personnel in the elevator or the arbitrary rolling of the article, the good condition of the load condition is low;
  • the position of the invention Information can be obtained according to the encoder, limiter measurement, etc.
  • the safety limit threshold of elevator operating parameters can be divided into fixed safety limit thresholds and safety limit thresholds of active parameters;
  • the threshold is usually the safety value of the elevator operating parameters to avoid damage to the device according to the electrical system and/or mechanical system design specifications of the elevator: such as the current safety value of the motor Io_ena, the voltage safety of the motor Value Uo_ena, electromagnetic torque safety value Te_ena, motor power safety value Po_ena (usually equal to motor rated power), safety value of power generation feedback braking power P4_ena, safety of power consumption braking power
  • the value P5_ena the rated load of the elevator m1_ena (also known as the rated load or rated load, etc., in kilograms/kg);
  • the safety limit threshold of the activity parameter usually refers to the permissible value of the mechanical operation parameter that can be adjusted according to the operating conditions of the elevator (such as the quality of the carried goods, the flow of energy to the working condition, etc.), such as the allowable value of the upstream speed V1_ena, The allowable value of the downlink speed V2_ena, the absolute value of the permissible value of the accelerating acceleration in the ascending acceleration aj1_ena, the absolute value of the permissible value of the accelerating acceleration at the deceleration ascending aj3_ena, the absolute value of the permissible value of the accelerating acceleration in the downward direction aj2_ena, and the permissible value of the acceleration in the decelerating downward
  • the absolute value of aj4_ena, etc.; the invention will accelerate the ascending, decelerating up, accelerating down, decelerating down and other states are called the fast change direction;
  • the safety value of the elevator operating parameters can be further subdivided into instantaneous working safety values, long-term continuous working safety values, and the like.
  • Eleator lift operation as used in the present invention is equivalent to “elevator operation” is equivalent to “operation”, which means that the elevator runs up and down in the vertical direction; “Elevator lift operation” defaults to the elevator brake system.
  • the brake release command (including rigid release, flexible release, etc.) has been issued, and other mechanical brake systems have issued a mechanical brake release command;
  • Eleator lift operation usually does not include the elevator door switch All “elevator non-lifting operation” time periods such as door movement, stop, brake, etc.; it is not convenient to monitor the operation of the elevator by collecting electric power parameters and calculations during “elevator non-lifting operation”.
  • the elevator lifting operation of the invention comprises two states of zero speed running and non-zero speed running;
  • the non-zero speed operation of the present invention includes a variable speed operation and a non-zero constant speed operation; wherein the variable speed operation includes an acceleration operation and a deceleration operation;
  • Eleator lift operation status or “Elevator non-lift operation” status can be identified and given by the central controller of the elevator; the motor drive operation status word or motor drive control command word can also be obtained to identify and judge the motor. "Forward or reverse or stop” status.
  • the invention provides a monitoring method for elevator lifting operation, and the “elevator running and running” may have a starting point and an ending point in time;
  • each "elevator lift operation” (that is, the running process) can be as long or as short as possible, from a few minutes to a few seconds;
  • the energy flow of the elevator to the working condition can also be called the operating condition of the elevator;
  • the energy flow of the elevator according to the present invention eliminates the shutdown state to the working condition.
  • the energy flow of the elevator to the working condition is a very important state parameter. Because the elevator structure is special (there is the existence of counterweight), even in the process of the elevator cargo moving up, the motor may be in a braking state; even if the elevator is loaded Downstream, the motor may be in an electric state;
  • the motor speed n1 and the elevator speed Vq are all agreed to be positive values; each electric power parameter ( The electric power, the electromagnetic torque Te, the torque current component iq, and the motor current Io) are all positive values; the mechanical driving force calculated according to the electrical energy is also a positive value, indicating that the motor is in a state of converting electrical energy into mechanical energy at this time;
  • the method for identifying the energy flow direction of the elevator provided by the present invention is as follows:
  • the identification method of the elevator running direction is as follows: the signal of the central controller can be read, or the control command or status information of the motor driver (such as the forward rotation, reverse rotation of the inverter), or (such as by rotating the encoder) ) Measuring the direction of the motor's speed, you can easily obtain the elevator running direction;
  • the current motor operating condition can be identified as: an electric state
  • the current motor operating condition can be identified as: motor braking state;
  • Some models of motor drives such as four-quadrant inverters, can also directly identify and judge the motor operating conditions by reading its internal status word;
  • the positive and negative of the source dynamic parameters of the non-electrical power parameter type can be measured (such as using a torque sensor to measure the dynamic parameters of the mechanical rotating parts), then according to the source dynamic parameters
  • the positive and negative can identify the operating condition of the motor; when the value of the source dynamic parameter is positive, it can be judged that the motor operating condition is the electric state, and when the value of the source dynamic parameter is negative, the motor operating condition can be judged as the motor braking. status;
  • the critical switching zone when the motor is in the critical switching zone of the electric state, it means that it is easy to enter the motor braking state;
  • the critical switching zone of the motor braking state when the motor is in the critical switching zone of the motor braking state, it means that it is easy to enter the electric state;
  • a critical state identification threshold Te_gate may be set, and when
  • the working condition is in the critical switching area;
  • the network system of the present invention includes, but is not limited to, various wired or wireless mobile 3G, 4G networks, the Internet, the Internet of Things, etc.; the network system may include a corresponding human-computer interaction interface, a storage system, and data processing. System, etc.; personnel or institutions related to elevator operation (such as operators, safety supervisors) can monitor elevator operation status in real time or afterwards through the network system.
  • Special statement 1 The method for obtaining the value of any elevator operation parameter and the method for identifying the energy flow direction of the elevator in all the embodiments provided by the present invention described later may be performed by the foregoing method, and of course, other reference may be made.
  • the prior art is performed; any setting conditions, operating conditions, thresholds, time, period, data assignment, etc. described in the present invention may be adjusted by the system, the operating environment, or the user as needed, not a single A fixed value. For example, when the main power grid is used for power supply and the backup power supply is used, the safety limit threshold of the electric power needs to be adjusted and switched.
  • the method corresponding to the technical problems of the present invention respectively corresponds to the system, that is, the essential principles of the technical solutions of the method items and the system items are the same, and the technical solutions can be applied to each other.
  • One of the technical problems to be solved by the present invention is to provide a new technical solution for obtaining the value of the elevator operating parameter, which can realize the acquisition of the value of the measuring object when any one of the elevator operating parameters is used as the measuring object.
  • the method for directly acquiring the object by using the sensor in the prior art can be avoided, and the obtaining method can be used as a basis for each of the other technical problems described below, so as to further analyze the operating safety condition of the elevator in a deeper analysis;
  • the acquisition object is also an estimation object;
  • the acquisition method in the present invention is also a measurement method;
  • a method for obtaining a value of an elevator operating parameter provided by the present invention, wherein a specific technical solution is: acquiring a value of an input parameter of the elevator, and calculating a measurement object of the elevator according to a value of the input parameter a joint operation value; the calculation is an elevator operation energy balance calculation, and the input parameter is a parameter required for calculating a joint operation value of the measurement object of the elevator, and the measurement object is an elevator quality, a source dynamic parameter, and a system operation parameter.
  • the elevator running energy balance is calculated to calculate another parameter according to data including at least two of the elevator mass, the source power parameter, and the system operating parameter.
  • the input parameter when the measurement object is the elevator quality, the input parameter includes at least the source dynamic parameter and the system operation parameter; when the measurement object is the source dynamic parameter, the input parameter includes at least the elevator quality and the system operation parameter; when the measurement object is When the system operates parameters, the input parameters include at least the elevator mass and source power parameters.
  • the obtaining method is performed when the elevator is ascending or descending; and/or: in the obtaining method, the elevator running energy balance calculation is associated with the elevator running direction.
  • the elevator running energy balance calculation is associated with the elevator running direction, that is, the algorithm for adjusting the elevator running energy balance calculation according to the elevator running direction, and ensuring the accuracy, effectiveness, and improvement of the parameter calculation for the elevator when operating at a non-zero speed Defects with well-known technical solutions are of key importance.
  • the elevator operating energy balance calculation satisfies any one or more of the following conditions 3A1, 3A2, 3A3, 3A4, 3A5, 3A6:
  • the parameters participating in the calculation of the energy balance calculation of the elevator include an efficiency coefficient;
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the source power parameter included in the elevator operation energy balance calculation is electrical power
  • the setting of the electrical power is performed according to a motor operating condition
  • the parameters participating in the calculation of the energy balance calculation of the elevator include friction correlation data of the mechanical rotating parts.
  • the joint operation value of the measurement object can be used for:
  • the measured object is the quality of the carried item, determining whether the value of the measured object is greater than the rated load of the elevator to determine whether the elevator is overloaded; and/or,
  • the elevator operation is controlled according to a joint operation value of the measurement object;
  • the measured object is a source dynamic parameter
  • whether the joint operation value of the measured object is greater than a safety limit threshold of the source dynamic parameter to determine whether the source power parameter of the elevator is over-limit
  • the joint operation value is output and/or saved to analyze the elevator operation data to determine whether the elevator has failed or analyzes the cause of the failure. Further, when the measurement object is any one of the system inherent parameters, the joint operation value is outputted and/or saved; when the measurement object is any one of the elevator operation parameters except the system inherent parameter And obtaining a reference value of the measurement object, outputting and/or saving the joint operation value and the reference value, and/or outputting a difference between the joint operation value and the reference value and/or save.
  • the inherent parameters of the system are closely related to the power of the elevator or the wear/or aging/safety of the transmission components, and the operational data of the elevator can be analyzed to determine whether the elevator has failed or analyzed the cause of the failure.
  • the reference value and the joint operation value of the type parameter may fluctuate greatly, at this time, if only by its reference value or joint operation alone Value, it is impossible to judge whether the elevator is faulty or analyze the cause of the fault, so it is necessary to simultaneously output and/or save the reference value and the joint operation value; output and/or save and output the difference between the joint operation value and the reference value And/or the joint operation value of the saved measurement object has the same meaning as the reference value.
  • the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is the core information of the safe operation of the elevator, and is a technical point neglected by the prior art;
  • the frictional force f0 is taken as the calculation object.
  • the factor of the frictional force f0 is included in the calculation of the joint calculation value of other measurement objects (such as the quality of the carried goods of the elevator), and the value of the frictional force f0 is measured and monitored in real time while the elevator is running, which helps to prevent (occupant being A serious safety accident that causes death of a person between the car and the elevator shaft has important safety significance;
  • the electric motor when the motor is in the electric state, the electric motor absorbs electric energy and converts it into mechanical energy. At this time, the electric power must select the electric power of the electric system when the electric state is in the motor state; when the motor is in the motor braking state, the motor absorbs the mechanical energy conversion For electric energy, at this time, the electric power must select the power of the electric system when the motor is in braking state (such as power generation feedback braking power P4, or energy consumption braking power P5, etc.); the nature and magnitude of each electrical power are completely different;
  • the motor operating condition is used to set the type of the electric power. Under different working conditions, according to different types of electric power, corresponding power parameters participating in the calculation of the energy balance of the elevator operation are set, and the existing known technical solutions are optimized and the speed is improved. The safety and accuracy of control are of key importance;
  • the calculated parameters include friction correlation data of the mechanical rotating parts, which can improve the parameter calculation accuracy.
  • the present invention also provides an acquisition system for an elevator operating parameter, including:
  • An acquiring module configured to acquire a value of an input parameter of the elevator when the elevator is going up or down, and calculate a joint operation value of the measurement object of the elevator according to the value of the input parameter; the calculation is an energy balance of the elevator operation Calculating, the input parameter is a parameter required for calculating a joint operation value of the measurement object of the elevator, and the measurement object is any one of an elevator quality, a source power parameter, and a system operation parameter, and the elevator operation energy balance The calculation is to calculate another parameter based on data including at least two of the elevator mass, the source power parameter, and the system operating parameter.
  • the acquisition system described in the present invention is also a measurement system.
  • the elevator running energy balance calculation is associated with an elevator running direction.
  • the elevator operation energy balance calculation in the acquisition system satisfies any one or more of the following 4A1, 4A2, 4A3, 4A4, 4A5, 4A6:
  • the parameters participating in the calculation of the energy balance calculation of the elevator include an efficiency coefficient;
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the parameters participating in the calculation of the energy balance calculation of the elevator include the frictional force between the object and the car in the guide rail and/or the elevator shaft;
  • the electrical power setting is performed according to a motor operating condition
  • the parameters participating in the calculation of the energy balance calculation of the elevator include friction correlation data of the mechanical rotating parts.
  • the implementation method and system for obtaining the value of the elevator operating parameter provided by the present invention are as follows:
  • the joint operation value of the present invention refers to a data type and/or data acquisition path, which means that the value is not obtained by actual measurement, but is calculated by other types of data, especially based on the energy balance calculation of the elevator operation.
  • Calculate the joint operation value of velocity and/or acceleration for example, by carrying a mass look-up table, or calculate the joint operation value of velocity and/or acceleration by the carrier mass and source dynamics parameter look-up table, or by carrying mass and source dynamic parameters
  • the elevator operation energy balance calculates a joint operation value of speed and/or acceleration; therefore, the joint operation value in the present invention is substantially calculated by using elevator operation parameters other than the measurement object, including table lookup calculation and elevator operation energy balance.
  • the calculated value according to the parameters including at least the system operating parameter and/or the source dynamic parameter is the joint operation value, when the measured object is the source dynamic parameter, according to The calculated value of the parameter including less elevator quality and/or system operation parameters is the joint operation value.
  • the calculated value is calculated according to the parameter including at least the elevator mass and/or the source dynamic parameter. That is the joint operation value.
  • the parameter participating in the energy balance calculation of the elevator operation includes a parameter having a subordinate meaning: the elevator operation energy balance calculation has an input parameter and an output parameter (ie, a joint operation value of the measurement object), and the input parameter and the output parameter. Together constitute the parameters involved in the energy balance calculation of the elevator operation. Therefore, including a certain parameter in the parameter participating in the energy balance calculation of the elevator operation means that the certain parameter can be either an input parameter or an output parameter.
  • the "elevator running energy balance calculation" of the present invention refers to calculating another parameter according to any two parameters of the elevator mass, the source dynamic parameter, and the system operating parameter;
  • the energy balance calculation is usually based on the energy balance of the elevator operation. It can be understood that in the following embodiments and formulas in the present invention, the formula related to the power balance and the correlation formula of the force balance are also essential to the energy. Balance is a rule calculation; because power can also be understood as energy per unit time, power balance is also the energy balance per unit time.
  • the elevator running energy balance calculation of the present invention includes, in addition to the combination of the elevator running characteristic and the energy conservation law, and Newton's law (Newton's first motion law, Newton's second motion law, and Newton's third motion law). Or a combination of multiple, that is, the energy balance calculation of the elevator operation is essentially a combination of the law of conservation of energy, the operating characteristics of the elevator, and Newton's law.
  • the so-called combination refers to the calculation of a, the law of conservation of energy and the operating characteristics of the elevator.
  • source dynamic parameters and system operating parameters to calculate another parameter or b, in accordance with the premise of energy conservation, adopt the elevator mass and source dynamic parameters through Newton's law and elevator running characteristics.
  • another parameter is calculated according to any two parameters of the elevator mass, the source dynamic parameter, and the system operating parameter
  • the parameters participating in the calculation may further include Other data, ie, elevator operating energy balance calculations, generally refers to calculating another parameter based on data including at least two of the elevator mass, the source dynamics parameter, and the system operating parameters.
  • the object to be calculated is the item mass m1 in the formulas 1-1 and 1-4 in the embodiment 1
  • the parameters participating in the calculation also include m0 in the elevator mass; in the formula 4-13 in the embodiment 4, the measurement object is the system operation.
  • the parameters involved in the calculation are also The frictional force f0 of the object and the car in the guide rail and/or the elevator shaft is included; when the measured object in the formula 5-1 in the embodiment 5 is the elevator speed in the system operation parameter, the parameters involved in the calculation also include g in the system operation parameter. , not listed here, specific reference can be made to the following embodiments.
  • the joint operation value of the elevator quality is calculated according to the source power parameter and the system operation parameter, and of course, the parameters required to participate in the calculation may further include other data such as other parameters in the elevator quality; That is, when the measurement object is the elevator quality, the joint operation value may be calculated according to data including at least the source power parameter and the system operation parameter.
  • the joint operation value of the source dynamic parameter is calculated according to the elevator quality and the system operation parameter, and of course, the parameter required to participate in the calculation may further include other data; that is, when the measurement object is
  • the source operational value may be calculated based on data including at least elevator mass and system operating parameters.
  • the joint operation value of the system operation parameter is calculated according to the elevator quality and the source dynamic parameter, and of course, the parameters required to participate in the calculation may further include other data, such as in addition to the measurement object.
  • Other system operating parameters that is, when the measured object is a system operating parameter, the joint operation value may be calculated according to data including at least the elevator mass (usually the total mass of the elevator) and the source power parameter;
  • the elevator quality includes the total mass of the elevator car, or the counterweight mass, or both the total mass of the elevator car and the weight of the counterweight.
  • the type setting of the parameters of the elevator quality is determined according to the signal value position of the source power parameter.
  • the elevator mass can select the total mass of the elevator car (which includes the quality of the empty car and the mass of the carried goods); when the signal value of the source dynamic parameter is the traction position
  • the wheel and its front end the traction sheave, or the transmission component between the traction sheave and the motor, or the motor, or the motor drive, or the power supply device, etc.
  • the elevator mass can select the total mass and the counterweight mass of the elevator car;
  • the signal value of the source power parameter is the wire rope on the opposite side, the elevator mass can select the counterweight quality;
  • the invention relates to "the elevator running energy balance calculation is associated with the elevator running direction", that is, “the algorithm for adjusting the elevator running energy balance calculation according to the elevator running direction”, which refers to a technical solution, the nature of the calculation applicable range It is not necessary to start the calculation in a certain running direction;
  • the value of the upward speed and/or the upward acceleration is calculated by using the safety limit threshold of the electric power parameter of the elevator and the current value of the carrying quality, and the value is generally used as the upper limit threshold of the operation when the elevator is ascending.
  • the value of the source power parameter calculated by the preset command value of the descending speed and/or the downlink acceleration and the current value of the carrier mass when the elevator is running at zero speed which is generally used to determine the source power parameter when the elevator is descending ( Such as the comprehensive tension of the wire rope) will exceed the limit;
  • the "elevator running energy balance calculation is associated with the elevator running direction” includes any one or two of the following running direction association 1 and the running direction association 2, and the association 1 and/or the running direction according to the running direction.
  • Correlation 2 deformation, derived association relationship set the calculation formula according to the association principle when the elevator goes up and the elevator goes down;
  • Running direction correlation 1 When the elevator is going up: the gravity component (m2*g) generated by the carrying mass m2 and the gravitational acceleration g is the energy absorption factor, and the gravity component (m3*g) generated by the counterweight mass m3 and the gravitational acceleration g is energy.
  • Running direction correlation 2 When the elevator goes up and the elevator goes down, the calculation formula of the gravity component generated by the elevator mass and the gravity acceleration g does not change, but the positive and negative polarities of the source dynamic parameters are switched when the elevator goes up and the elevator goes down;
  • Equation 3-1 the calculation formula 3-100 is used when the elevator is ascending:
  • the form of the calculation formula 3-100 is not changed, but the (T1/R1) is substantially switched to a negative value; for example, when the elevator is ascending, the T1 is forced to be positive, and when the elevator is descending, the T1 is forced to be negative. value.
  • the running direction association 1 is clearer and more concise than the running direction correlation 2; the running direction correlation 1 is more in line with the energy flow direction rule in the elevator operation; because the positive and negative of the source dynamic parameters reflect the motor operating conditions, compared with the use source The positive and negative of the dynamic parameters reflect the more scientific direction of the elevator; the direction of operation 3 is easy to make the calculation expression complicated and chaotic.
  • the method for calculating the efficiency coefficient according to the operating condition of the motor is simply referred to as "adjusting the efficiency coefficient according to the operating conditions of the motor", which includes the following motor operating conditions: 1.
  • Motor operating conditions Any one or more of the associations 2, and the associated relationship between the motor condition 1 and/or the motor operating condition 2 deformation and derivation;
  • Motor operating condition correlation 1 When the motor is in the electric state, the motor absorbs electric energy and converts it into mechanical energy. According to the principle of energy conservation, the electric power parameter is multiplied by an efficiency coefficient less than 1 (such as Kem1), or the electric power parameter and an efficiency. The loss value is subtracted;
  • Motor operating condition correlation 2 When the motor is in the motor braking state, the motor absorbs mechanical energy into electrical energy. According to the principle of energy conservation, the electrical power parameter is divided by an efficiency coefficient less than 1 (such as Kem2), or the electrical dynamic parameter and Adding an efficiency loss value;
  • the present invention “types the electrical power according to the operating conditions of the motor”, which is simply referred to as “the setting of the electrical power according to the operating conditions of the motor”, which includes the following motor operating conditions. Any one or more of the working condition associations 4, and the associated relationship between the motor operating condition association 3 and/or the motor operating condition correlation 4;
  • Motor operating condition correlation 3 When the motor is in the electric state, the motor absorbs electric energy and converts it into mechanical energy. At this time, the electric power is selected as the electric system power in the electric state (such as the electric state power of the power source, the motor driver, or the motor). );
  • Motor operating condition correlation 4 When the motor is in the motor braking state, the motor absorbs mechanical energy into electrical energy. At this time, the electrical power is selected as the power of the electrical system when the motor is in braking state (such as power generation feedback braking power P4, or energy consumption). Braking power P5, etc.);
  • the principle of the speed change of the elevator is as follows: When the acceleration is running, the speed component of the elevator mass and acceleration is the energy absorption factor; when the speed is running, the speed component of the elevator mass and acceleration is the energy release factor; when the speed is running, the acceleration At zero, the shifting force component produced by the elevator mass and acceleration is also zero.
  • the present invention calculates the elevator operation energy balance according to the elevator speed change condition", comprising performing the following speed change association 1 and/or speed change association 2 processing according to the speed change condition correlation principle;
  • Rapid change correlation 1 The parameters participating in the calculation of the energy balance calculation of the elevator include acceleration;
  • Speed change correlation 2 Identify the speed change condition of the elevator, and perform the elevator operation energy balance calculation or processing separately during the constant speed operation and the variable speed operation.
  • the identification of the speed change condition can be identified by the acceleration aj value: when the ag is 0 or less than a preset threshold when the elevator is running, the current speed change condition can be identified as non-zero constant speed operation; when aj is not 0 Or greater than a preset threshold, the current speed change condition can be identified as a variable speed operation; wherein the acceleration aj value can adopt various acquisition manners as described above (such as by an acceleration sensor, or a speed Vq, or a speed n1, etc.) It can also be obtained through the information of the motor driver (such as the existing inverter has a uniform flow overcurrent, acceleration overcurrent and other information, through which the speed change can be extracted); and an easier way to distinguish the speed according to the running time.
  • the change condition such as the acceleration running time of the motor driver (such as the inverter) is 2 seconds, the setting is the shift running time period within 3 seconds after the start, and the non-zero constant speed running time period after 3 seconds;
  • the parameter participating in the calculation of the energy balance calculation of the elevator includes acceleration, which is measured according to the acceleration sensor.
  • the acceleration measured by the acceleration sensor it has the advantages of fast response and high precision, and can be well applied to low speed operation, especially Zero speed operation, significantly improve the measurement accuracy of elevator operating parameters;
  • the elevator because the elevator is either up or down, it must start from zero speed and gradually accelerate to a constant speed. First, judge whether it is overloaded at zero speed or whether it should give up running/warning signal; then the target acceleration can be performed. / Scientific planning of target acceleration time and target speed; once the current car sensor weighing scheme in the car is abandoned due to cost problems, the accelerometer measurement acceleration is further combined with the elevator running energy balance calculation. It is of great significance for elevator overload/safe operation of elevators and efficiency improvement.
  • the total mass m2 of the elevator car is calculated, then m2 is the directly obtained joint operation value; and the mass of the carried item m1 or the empty car is calculated according to the total mass m2 of the elevator car.
  • Mass m0, then m1 or m0 are indirectly obtained joint operation values;
  • the joint operation value of the present invention is a value obtained by a joint operation for any one parameter (such as m2/ or m1/ or m0), and the value is relatively complete for the measurement object, and the parameter is not divided or culled. Actual value; obviously, the actual value in the present invention is usually a natural and true value of an attribute of an object;
  • the joint operation value of the quality of the carried goods can be represented by m1, and the reference value can be expressed by m1_org; for example, the joint operation value of the total mass of the elevator car can be represented by m2, and the reference value can be represented by m2_org; special note 1: for convenience of description and industry
  • the joint operation value or the non-joint operation value can be directly represented by the parameter name m1 or m2; when the measurement object is the source dynamic parameter or the system operation parameter, the joint operation value
  • the expression may be followed by a suffix after the parameter name: _cal; for the parameter name aj of the acceleration, the joint operation value is represented by aj_cal; for the parameter name V1 of the uplink speed, the joint operation value is represented by V1_cal; for example, the comprehensive pull of the Q point wire rope
  • the parameter name is F1, and the joint operation value is represented by F1_cal or ⁇ 1_cal; all the data with
  • Embodiment 1 This embodiment includes the following steps 1A1, 1A2:
  • Embodiment 1 of Embodiment 1 With reference to Embodiment 1, the joint operation value F1_cal of the comprehensive tensile force of the Q-point wire rope on the car can be measured, and the calculation formula is:
  • Embodiment 2 of Embodiment 1 Referring to Embodiment 1, the joint operation value aj_cal of the acceleration can be measured, and the calculation formula is:
  • Embodiment 2 This embodiment includes the following steps 2A1, 2A2:
  • Embodiment 3 This embodiment includes the following steps 3A1, 3A2:
  • 3A1-3-1 Output a status information of "elevator shifting"
  • 3A1-3-2 According to different combinations of speed changes of the elevator and energy flow conditions, the following 3A1-3-2-1, 3A1-3-2-2, 3A1-3-2-3, Any one or more of the calculation processes of 3A1-3-2-4;
  • Equation 3-3 When accelerating the uplink, Equation 3-3 is calculated as follows:
  • Equation 3-5 When accelerating the downside, calculate Equation 3-5 as follows:
  • any one of the formulas of Embodiment 3 except for the mass of the carried item m1 may be used as a measurement object (for example, m0, m3, T1, etc.)
  • Extended Embodiment 1 of Embodiment 3 In any one or more of Embodiment 3 and its alternative embodiments, the frictional force f0 and/or mechanical rotation of the object and the car in the guide rail and/or the elevator shaft may be added.
  • Piece friction data (such as friction fr);
  • Equation 3-1 For example, extend Equation 3-1 to Equation 3-8 below:
  • the friction-related data of the mechanical rotating member is any one or more of frictional force, friction coefficient and friction torque;
  • the frictional force fr of the mechanical rotating component mainly includes frictional resistance on the traction sheave and the guide wheel, and the root source thereof is Frictional resistance formed by the gravity of the car, the carrying object, and the counterweight; fr ⁇ (m1+m0+m3)*g* ⁇ 1, before m1 is not accurately measured, fr ⁇ (m1_ena/2+m0+m3)* G* ⁇ 1;
  • ⁇ 1 is the rolling friction coefficient of the traction sheave and the guide wheel; under normal circumstances, the value of the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is usually small and negligible; the friction of the rotating member
  • the force fr is the actual parameter, of course, because its value is compared to the total gravity of the car. ((m1+m0)*g), the weight of the counterweight (m3*g) is low or negligible; the description
  • Embodiment 4 This embodiment includes the following steps 4A1, 4A2:
  • 4A1-5-2 According to different combinations of speed changes of the elevator and energy flow conditions, the following 4A1-5-2-1, 4A1-5-2-2, 4A1-5-2-3, Any one or more of the calculation processes of 4A1-5-2-4, 4A1-5-2-5, 4A1-5-2-6, 4A1-5-2-7, 4A1-5-2-8;
  • M1 ((Kem1*Te)*im/R1-(m0*g-m3*g))/g, (Formula 4-1 variant 1)
  • Extended Embodiment 1 of Embodiment 4 In any one or more of Embodiment 4 and any alternative (or extended) embodiments, the friction between the object and the car in the guide rail and/or the elevator shaft may be added. F0 and/or the frictional force fr of the rotating member; for example, when non-zero constant speed operation + electric up, formula 4-1 is extended to the following formula 4-13:
  • Extended Embodiment 2 of Embodiment 4 In any one or more of Embodiment 4 and any other alternative (or extended) embodiments, the moment of inertia L0 and internal of the internal integrated rotating rigid body of the traction machine are added. Integrating the angular acceleration ⁇ of the rotating rigid body; for example, when accelerating operation + electric upward, formula 4-5 is extended to the following formula 4-14;
  • the electromagnetic torque Te in Embodiment 4 and any other alternative (or extended) embodiment may be (Io*cos ⁇ 1*Ko) or (k21*I2o*cos ⁇ 2*Ko) or (k31) *I3o*cos ⁇ 3*Ko) or (iq*Ki) or (P(w)*9.55/n1) any expression substitution;
  • the motorized up-time expression ((Kem1*Te)*im/R1) can be replaced by either (Kem1*Po/V1) or (k21*Kem1*P2i/V1) or (k21*Kem1*P3o/V1) expressions;
  • the motor brake upstream expression (Te/Kem2)*im/R1) can be replaced by any expression ((P4/(K14*Kem2))/V1) or ((P5/Kem2)/V1);
  • the motorized downtime expression ((Kem1*Te)*im/R1) can be replaced by either (Kem1*Po/V2) or (k21*Kem1*P2i/V2) or (k21*Kem1*P3o/V2) expressions;
  • the expression of the motor brake down (Te/Kem2)*im/R1) can be replaced by any expression ((P4/(K14*Kem2))/V2) or ((P5/Kem2)/V2);
  • any one of the formulas of any of the alternatives (or extensions) of Embodiment 4 and any other alternative (or extended) embodiment may be used as a measurement object (eg, Choose Kem1, m0, m3, Te, etc.), obtain the value of the parameter required to calculate the joint operation value of the measurement object according to the formula, and calculate the joint operation value of the measurement object; as shown in the following examples 1, 2, and 3;
  • Te_cal ((m1+m0)*g-m3*g)*R1/( Kem1*im), (Formula 4-15),;
  • Kem1_cal ((m1+m0)*g-m3*g)*R1/( Te*im), (Equation 4-16);
  • Example 3 When non-zero constant speed operation + electric uplink, the joint operation value of f0 is measured by the deformation formula 4-17 of formula 4-13:
  • F0_cal (Kem1*Te)*im/R1-((m1+m0)*g-m3*g+fr), (Equation 4-17);
  • Aj_cal ((Kem1*Te)*im/R1-(m1+m0-m3)*g)/(m1+m0+m3), (Equation 4-18);
  • Aj_cal ((Te/Kem2)*im/R1-(m1+m0-m3)*g)/(m1+m0+m3), (Equation 4-19)
  • Wind resistance fw may be added in any one or more of Embodiment 4 and any other alternative (or extended) embodiments; the higher the elevator speed, the higher the wind resistance fw may increase the calculation Accuracy.
  • formula 4-1 is extended to the following formula 4-22-1;
  • Embodiment 5 This embodiment includes the following steps 5A1, 5A2:
  • V1_cal Kem1*Po/((m1+m0)*g-m3*g), (Equation 5-1);
  • V2_cal Kem1*Po/(m3*g-(m1+m0)*g), (Equation 5-2);
  • V1_cal (P4/(K14*Kem2))/((m1+m0)*g-m3*g), (Equation 5-3-1);
  • V1_cal (P5/Kem2)/((m1+m0)*g-m3*g), (Formula 5-3-2);
  • V2_cal (P4/(K14*Kem2))/(m3*g-(m1+m0)*g), (Equation 5-4-1);
  • V2_cal (P5/Kem2)/(m3*g-(m1+m0)*g), (Formula 5-4-2);
  • the table lookup calculation if the elevator quality, the source dynamic parameter, and the system operation parameter are preset, the table can be checked when any two parameters are input. The value of another parameter is obtained; for example, obtaining the source dynamic parameter of the elevator and the value of the system operation parameter; calculating the joint operation value of the elevator quality according to the value of the source dynamic parameter and the system operation parameter; because different elevator structures and machines
  • the capacity of the table is limited and the hardware device cost, and all the parameters in the table need to be preset or learned to run; The larger the table size/parameter setting, the higher the hardware cost and the higher the parameter setting/learning cost;
  • One is calculated by a model (also called a mathematical formula); the foregoing embodiments 1, 2, 3, and 4 of the present invention all calculate a joint operation value by a model; if an energy balance model is operated by an elevator, a mathematical calculation method is used.
  • a model also called a mathematical formula
  • the foregoing embodiments 1, 2, 3, and 4 of the present invention all calculate a joint operation value by a model; if an energy balance model is operated by an elevator, a mathematical calculation method is used.
  • To obtain the joint operation value of the measurement object it is only necessary to set the model rule and/or the mathematical operation rule in advance, and adjust the relevant parameter value. Compared with the table lookup calculation, the acquisition cost of the joint operation value can be greatly reduced/or Improve the joint operation value acquisition accuracy / energy transfer abnormality monitoring judgment sensitivity.
  • the invention provides a method and system for obtaining the value of the operating parameters of the elevator:
  • Low-cost motor drive weighing/overload monitoring makes it easy for elevator passengers or supervisors to visually and quickly identify whether the elevator is running normally; it is easy to construct an intelligent monitoring system that can automatically monitor the elevator's energy transfer anomaly, so that it is easy to find the elevator running up and down.
  • Friction between the object and the car in the middle rail and/or the elevator shaft facilitates the current value according to the quality of the load
  • the safety limit threshold of the source dynamic parameters calculate the permissible value of the mechanical operating parameters, which is convenient for more efficient and energy-saving control; it is convenient to calculate the predicted value based on the current value of the carrying quality and the mechanical operating parameters - (not yet) Whether the power parameters will exceed the limit is of great significance for the safe operation of the elevator.
  • the acquisition method and system when used for predicting the calculation of mechanical operating parameters or source dynamic parameters, can usually be calculated before the elevator runs; when used for weighing/overload monitoring or energy transmission abnormal monitoring, usually in the elevator Real-time work when lifting and running;
  • the second technical problem to be solved by the present invention is to provide a new monitoring technology scheme for elevator operation; in order to realize the safety status of the elevator operation (including the elevator guide rail and/or the elevator shaft before the elevator operating parameter does not exceed the safety limit threshold) Monitoring of the running resistance of the medium object and the car.
  • the present invention provides a monitoring method (#1) for an elevator when it is running up and down.
  • the monitoring method includes the steps of: acquiring a joint operation value of the measurement object of the elevator, and identifying the elevator according to the joint operation value.
  • the identifying the energy transfer status of the elevator according to the joint operation value is specifically: according to the joint operation value and The reference data of the measurement object determines whether the energy transfer condition of the elevator is abnormal.
  • any one or more of the following 7B1 and 7B2 may be processed;
  • the joint calculation value is calculated based on the elevator operation energy balance; and the monitoring method satisfies any one of the following 8A11 and 8A12. Or a variety of conditions:
  • the elevator running energy balance calculation is associated with the elevator running direction
  • the joint operation value and the reference data are only derived from a parameter acquisition system, that is, the joint operation value and the reference data are based on energy balance of the elevator operation. Calculated.
  • the monitoring method (#1) is a continuation based on the inventive idea of the method for calculating the operating parameters of the elevator described above, and the continuation is for monitoring the safety of the elevator operation;
  • the joint operation value of the measured object such as the mass of the carried item m1;
  • Obtaining the joint operation value of the measurement object may be implemented by multiple acquisition methods; for example, reading the joint operation value outputted by other systems; for example, measuring the joint operation value of the elevator by the monitoring system itself; or partially reading the current There are equipment output data, some are self-measurement data, etc.;
  • Obtaining the joint operation value of the measurement object of the elevator can be specifically referred to the following various embodiments (such as Embodiment 1, Embodiment 2, Embodiment 3, Embodiment 4, Embodiment 5, etc.):
  • the reference data of the present invention that is, the reference data of the measurement object, that is, the data for energy transfer condition recognition, that is, the energy transfer condition identification data, is used for performing the energy transfer abnormality judgment in conjunction with the joint operation value. /Compared data or values, because a single data does not constitute a complete comparison/judgment operation.
  • the reference data includes any one or more of a reference value, a license deviation value, and a first reference value; the reference value used in the present invention is also a reference value for energy transfer condition identification, that is, an energy transfer condition identification reference value.
  • the permission deviation value in the present invention is also the deviation value for the energy transmission condition identification, that is, the energy transmission condition identification deviation value;
  • the reference value which must consider a practical technical means or implementation scheme, the value of which is naturally constrained to a specific value time and/or value mode;
  • the specific setting scheme of the reference data such as the source of the data or the selection of the value path, the setting method, the value time, etc.
  • the related embodiments Examples 1-10
  • the reference value of the present invention is a value subordinate to the type of the measurement object and/or the actual value setting mode, and is a concept of amplitude (ie, size), which is an intermediate layer data;
  • the reference value of the present invention is usually The actual value of the elevator's measured object when the joint operation value is close to or equal to the value; generally speaking, the majority of the situation here, most of the time, the range of the reference value can be applied to most types of The measurement object, such as the source dynamic parameter and the mechanical operation parameter; as shown in Embodiments 7 and 9, when the reference value is set according to the measured value within the same time range when the value is calculated from the joint operation value, the reference is used.
  • the value (that is, the measured value) is usually a value that is close to or equal to the actual value of the measured object of the elevator when the joint operation value is taken;
  • the reference value when the setting method of the reference value is set according to the joint operation value acquired when the setting condition is satisfied, the reference value is also naturally set to satisfy the "(specific)"
  • the value of the joint operation value when the condition is set is close or equal; since "(a specific one satisfies the set condition)" is the time specified by the user or the system (used to set the reference data), usually by default
  • the reference value (that is, the joint operation value) is usually a value close to or equal to the actual value of the measurement object when "(a certain) meets the set condition; such reference value
  • the setting method is usually applicable when the measurement object is the elevator quality (m0, m1, m2, m3) or the system inherent parameters; when the measurement object is the elevator quality, because the same "elevator is controlled by the power unit”
  • the value of the elevator mass in the time period usually does not change much, so the value of the reference value may still be close to the actual value of the joint calculation value of the estimated object of the elevator (a
  • the reference value when the reference value is set according to the system default value, the reference value (that is, the system default value) is usually in the system default (usually the standard state) with the measurement object.
  • the values of the actual values that are equal or close to each other are usually the calibration values; the setting of such reference values is usually applied when the measurement object is the inherent parameter of the system or the elevator mass (m0, m3) with a fixed amplitude.
  • the energy transfer condition abnormality of the present invention may be simply referred to as energy transfer abnormality, and the energy transfer abnormality of the present invention includes any one or more of the following A1-1 and A1-3:
  • the joint operation value exceeds a first reference value of the measurement object
  • the license deviation value includes any one or more of an upper limit deviation value and a lower limit deviation value;
  • the upper limit deviation value is an upper limit deviation value for identifying an energy transfer condition, that is, an energy transfer condition identifying an upper limit deviation value;
  • the lower limit deviation value is a lower limit deviation value for identifying the energy transfer condition, that is, the energy transfer condition identifies the lower limit deviation value;
  • the first reference value includes any one or more of the first reference value upper limit value and the first reference value lower limit value; the excess of the present invention includes greater than a certain upper limit value, less than a certain lower limit value, and the like. Any one or more of the conditions;
  • A1-1 includes any one or two of the following A1-1-1 and A1-1-2;
  • A1-1-1 The difference between the joint operation value and the reference value is greater than the upper limit deviation value
  • A1-3 includes any one or two of the following A1-3-1, A1-3-2;
  • the joint operation value is greater than a first reference value upper limit value
  • the joint operation value is less than a first reference value lower limit value
  • the first reference value the reference value+the permission deviation value
  • the permission deviation value has at least one of an upper limit deviation value or a lower limit deviation value
  • the first reference value corresponds to the first reference value upper limit value and the first reference value
  • the first reference value upper limit value is a reference value plus a positive value
  • the first reference value lower limit value is a reference value plus a negative value or a positive value.
  • the permission deviation value has an upper limit deviation value and does not have a lower limit deviation value: whether the energy transfer condition of the elevator is abnormal according to whether the joint operation value is greater than the first reference value, and when the joint operation value is greater than the first reference value, the energy transfer is performed. The situation is abnormal, otherwise no abnormality occurs;
  • the permission deviation value has a lower limit deviation value and does not have an upper limit deviation value: whether the energy transfer condition of the elevator is abnormal according to whether the joint operation value is smaller than the first reference value, and when the joint operation value is smaller than the first reference value, the energy is indicated The delivery status is abnormal, otherwise no abnormality occurs;
  • the first reference value upper limit value reference value+upper limit deviation value
  • the first reference value lower limit value reference value+lower limit deviation value
  • the first reference value reference value x scale factor
  • the license deviation value is as small as possible to improve the sensitivity of monitoring, but it must maintain a certain number of values to reduce the false trigger rate of monitoring; because the value of the license deviation value is small, according to the first reference value set by it.
  • the limit value can be far lower than the safety limit threshold of the measurement object; therefore, the monitoring method (#1) provided by the present invention can break through the limitation of the prior art that the safety operation is not convenient when the elevator operation parameter does not exceed the safety limit threshold.
  • the core step 3 of the monitoring method (#1) Perform any one or more of the following 8B1 and 8B2 treatments; the abnormal energy transmission in the elevator operation may lead to serious safety accidents, and need to respond in time; if not timely Respond to/or initiate related security actions; this monitoring will have no practical significance.
  • the information about the energy transfer status of the present invention includes a determination result of determining whether the energy transfer condition of the elevator is abnormal; and the value of the energy transfer condition correlation factor of the elevator may also be included, as well as the value of the external control system requirement, and may also include a joint operation value, a reference value, a license deviation value, a difference between the joint operation value and the reference value, and any one or more data of the first reference value
  • the output of the present invention includes a human-machine interface, a network system, a connection port, an external control system, etc. for outputting data to the car and/or the monitoring center; in particular, the monitoring method/system provided by the present invention ( #1), independent of the elevator control/drive system, it is more necessary to output data to an external control/drive system to process abnormal information in time;
  • the human-computer interaction interface includes a display, a voice system, an indicator light, etc.
  • the connection port can be used by an external human-machine interface, the network system to read data directly or by communication, so that relevant personnel (such as elevator passengers and/or elevator service personnel) or institutions (such as building services, remote network supervision centers) ) can directly or indirectly view the listening and monitoring data.
  • the preservation of the present invention includes storing the data in a storage system, a network system, an external control system, and the like in the monitoring system; so that the personnel or institutions (such as occupants and supervision centers) associated with the elevator operation can arbitrarily retrieve and monitor the data;
  • the storage module includes a U disk, a hard disk, etc.; it can form a black box function similar to an airplane, which is convenient for post-mortem analysis.
  • the energy transmission abnormality processing mechanism of the present invention includes, but is not limited to, a voice prompt alarm, an audible and visual alarm, a selective execution of a protection action according to an elevator current operating condition, an activation energy transmission failure monitoring mechanism, and an alarm information output to the car.
  • Human-computer interaction interface, man-machine interface of the hall door, network system, connection port, etc.; emergency stop, immediate reverse operation, set distance, etc.; machine system and manual can be arbitrarily combined to set various processing actions; energy transfer exception handling
  • the mechanism can also be referred to as a security processing mechanism.
  • the alarm information of the present invention may include, but is not limited to, time, location, cause of the alarm, value of any one or more elevator operating parameters during the alarm, and the like;
  • the selective execution of the protection action according to the current operating conditions of the elevator refers to checking the current operating conditions of the elevator and then performing related actions; and may include but not limited to the following solutions:
  • Case 1 Check whether the reference data is set correctly; if the reference data is not set correctly or is not set, the related alarm information is masked and no protection action is performed;
  • Case 2 Check whether the value of each input parameter in the calculation of the joint operation value is within the preset time range; if the preset time range is exceeded, such as 1 millisecond, the related alarm information is masked and output is not executed. Protection action
  • the reference data of the present invention needs to consider two aspects; one is the data property of the reference data (including the data type/path of data acquisition); the other is the value of the reference data or the set time;
  • the data type of the reference data of the present invention and/or the method for obtaining the data may include the measured value, the command response value, the estimated value, the learned value of the current running, the system preset value, the manual input value, and the like; wherein the system The preset value can be divided into historical record values, system default values, and the like;
  • the value of the elevator running parameter according to the present invention can be divided into a current value and a preset value according to time;
  • the current value refers to the current actual value of the elevator running parameter, and may include the current measured value, the current joint operation value, and the current value.
  • Command response value, etc. preset values of mechanical operation parameters include system preset values, manual input values, command preset values, etc.;
  • the preset values of the source power parameters include system preset values, manual input values, and the like;
  • the current value of the carrying quality including the current joint operation value, the current measured value (measured by the load cell), etc.;
  • the preset value of the carrying quality including the system preset value, manual input value, etc.;
  • the command value is divided into a preset value and a command response value;
  • the preset value is a software control command for the elevator uplink speed and the downlink speed and the acceleration in each speed change direction, and the command preset value is usually generated by software for controlling the speed of the elevator.
  • And/or acceleration that is, as the target value of the elevator upstream speed and/or the down speed and/or the acceleration of each speed change direction for controlling the operation of the elevator; in general, if there is no limit, the command value is divided into preset values.
  • the elevator usually needs an acceleration process to reach the target speed;
  • the command response value refers to the value that the elevator can actually respond/execute after receiving the preset value of the command. Compared with the preset value of the command, the meaning tends to the target value, and the meaning of the command response value tends to the process value; if the acceleration running time of the elevator's frequency converter is set to 4 seconds, the inverter will issue 2m/ at zero speed. After 2 seconds of the speed command of s, the actual speed of the elevator is about 1 m/s (not 2 m/s);
  • the estimated value refers to the numerical value calculated according to the computer or network system, which can simulate/simulate the elevator operation
  • the learning value of the current running is generally a value set in the current running flow, based on the joint operation value obtained by calculating the elevator running energy balance performed when the set condition is satisfied;
  • the historical record value refers to the value of the learned record that has been experienced in the elevator's past lifting operation; if the learned operation value of the learned record is the historical record original value, if the learned record's reference value is the historical record reference value, such as The actual value of the learned record is the actual value of the history;
  • the system default value also known as the original value, the factory value; is the simplest data setting method, each parameter can set the system default value when the elevator leaves the factory;
  • the manual input value refers to the value set by the elevator controller according to the actual situation
  • the reference data includes various setting manners and times according to different measurement objects:
  • the measured object is the mass of the carrying item whose amplitude may vary greatly
  • the value is usually unchanged during the running of the elevator; the preferred method is obtained by calculating the energy balance of the elevator running according to the set condition. Combining the operational values to set the reference data; as shown in subsequent embodiment 6 and its alternative and/or extended embodiments;
  • the measurement object is the inherent parameter of the system (such as rolling friction resistance coefficient, efficiency coefficient)
  • this kind of parameter is not convenient for actual measurement in elevator operation, but the amplitude of this type of parameter is relatively stable during normal operation of the elevator; according to the default value of the system
  • the reference data is the simplest method, and the reference data can also be set according to the joint operation value obtained by calculating the elevator operation energy balance performed when the set condition is satisfied; the set time of the reference data can be used in the elevator. Before the operation, it may be the beginning of the current operation; as shown in subsequent embodiments 7, 8 and their alternative and/or extended embodiments;
  • the preferred method sets the reference data according to the measured value; and the time value of the reference data is combined with the reference
  • the value of the operation value is within a preset time range (ie, synchronization); as shown in subsequent embodiment 9 and its alternative and/or extended embodiments; the measured value is more capable than other command values and estimated values.
  • the subsequent energy transfer abnormality judgment/execution is performed after the reference data has been set, which simplifies the system; of course, it also allows direct execution of the energy transfer abnormality judgment, and checks the reference data (or the reference in the subsequent energy transfer abnormality processing mechanism). Value) Whether the setting is completed/or the setting is correct. If the reference data (or reference value) is not set correctly, the current monitoring warning signal/and action is blocked.
  • the joint operation value, the reference data, and the like of the measurement object of the present invention refer to the amplitude (ie, the size) of the parameter, without limiting the description and/or additional description; of course, the measurement object itself may also be Time parameters, such as acceleration response time, deceleration response time, parameter change rate, etc.; for example, the measurement object can be either speed, rate of change of speed (ie, acceleration), or rate of change of acceleration (ie, jerk).
  • Embodiment 6 (This embodiment is a preferred embodiment of the monitoring method (#1) provided by the present invention)
  • the monitoring method (#1) includes steps A, B, and C;
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of the foregoing Embodiment 4, taking the quality of the carried item of the elevator as a measurement object, obtaining the joint operation value m1;
  • Step A2 When the reference data has been set, step A3 can be directly executed; when the reference data is not set, the following steps must be performed to set the reference data: the joint operation value of m1 is obtained when the elevator runs at zero speed for 1.0 second.
  • the set value m1_org is set; the upper limit deviation value m1_def_u and the lower limit deviation value -m1_def_d are set according to the historical record value calculated based on the elevator operation energy balance; and the upper limit value m1_ref1_u of the first reference value may be further set, the first reference
  • the lower limit value of the value m1_ref1_d; m1_def_u and m1_def_d are both positive values, m1_def_u and m1_def_d are equal or inequitable; and a state information of "reference data has been set" is set; the first value is set according to the reference value and the permission deviation value.
  • the formula for the reference value
  • Step A3 When the reference data has been set, perform any one or more of the following four energy transfer condition determination conditions: judgment condition 1: ((m1-m1_org)>m1_def_u); judgment condition 2: ((m1- M1_org) ⁇ (-m1_def_d)); judgment condition 3: (m1>m1_ref1_u); judgment condition 4: (m1 ⁇ m1_ref1_d);
  • step C is directly executed; when Te is less than the preset threshold 1 (such as a rated value of 5%), it can be determined that the elevator is in an unsteady driving state;
  • step B1, B2, B3, and B4 are performed in parallel, and then step C is performed;
  • step A If any of the four energy transfer condition determination conditions in step A is YES, the energy transfer abnormality processing mechanism (such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.) is activated;
  • the energy transfer abnormality processing mechanism such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.
  • Step C Perform step A and step B1 in real time in a cycle of 0.1 milliseconds; steps B2, B3, and B4 are executed in a cycle of 1 second; of course, the specific time of each cycle in this step may be based on the actual situation of each elevator or User requirements are arbitrarily adjusted.
  • Embodiment 1 of Embodiment 6 In the step A1 of Embodiment 6, the joint operation value of the carried item mass m1 of the elevator is obtained by referring to the method of the foregoing Embodiment 4; reference may also be made to Embodiments 1, 2, 3, and 5. A method of any of the other embodiments (including various alternative or extended embodiments) obtaining a joint operational value of the carried item mass m1 of the elevator;
  • Embodiment 6 refers to the method of the foregoing Embodiment 4 to measure the joint operation value of m1 in the parameter acquisition system built in the monitoring system; and can directly read the external device (such as the elevator central controller, etc.) The result of the joint operation value m1 is input instead of step A1;
  • step A2 of Embodiment 6 when the elevator runs at zero speed for 1.0 second, the joint operation value of m1 is obtained and set as the reference value m1_org; in the alternative, the following A, B can also be used. , C, D any one scheme to replace the setting conditions of the reference data:
  • a “confirmation” signal may be manually input; the signal may also be combined with the “closed door” signal in the elevator car; Is at When the motor drive is used for weighing, the passenger input door closing command first confirms that the current weighing is correct (that is, the motor drive, the motor, the traction sheave, and the wire rope suspension system work normally), and the motor starts up and down; then the operation is also in progress.
  • the current weighing that is, the motor drive, the motor, the traction sheave, and the wire rope suspension system work normally
  • Embodiment 5 of Embodiment 6 The upper limit deviation value m1_def_u and the lower limit deviation value -m1_def_d are preset in step A2 according to a fuzzy algorithm (such as automatically selecting the most recent runtime reference data).
  • a fuzzy algorithm such as automatically selecting the most recent runtime reference data.
  • the reference value m2_org of the total mass of the elevator car, the upper limit deviation value m2_def_u, and the lower limit deviation value -m2_def_d are set;
  • judgment condition 1 ((m2-m2_org)>m2_def_u); judgment condition 2: ((m2-m2_org) ⁇ (-m2_def_d)); judgment condition 3: (m2>m2_ref1_u); judgment condition 4: (m2 ⁇ m2_ref1_d);
  • step B method of the sixth embodiment the processing after the energy transfer condition determination is performed.
  • Extended Embodiment 2 of Embodiment 6 In the alternative embodiment 1 of Embodiment 6, or Embodiment 6, obtaining the absolute value of the reference value of the source dynamic parameter (Te or F1) in the energy transfer condition correlation factor of the elevator, when
  • Extended Embodiment 3 of Embodiment 6 setting the critical switching region of the motor to an unsteady driving state; when
  • Extended Embodiment 4 of Embodiment 6 When the result of any one or more of the four energy transfer condition determination conditions is YES in step A3, the time period corresponding to the value of the joint operation value m1 is acquired within the same preset time range
  • the operating environment information of the elevator when it is judged that the elevator operating environment is normal according to the obtained operating environment information, generates information that the energy transmission fault flag is valid, triggers the energy transmission fault processing mechanism to perform relevant monitoring and protection; when determining that the elevator operating environment is abnormal, then Still only triggering the energy transfer exception handling mechanism;
  • Embodiment 7 (This embodiment is a preferred embodiment of the monitoring method (#1) provided by the present invention)
  • the monitoring method (#1) includes steps A, B, and C;
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of Example 3 in the foregoing Embodiment 2 or Embodiment 3 of Embodiment 4, the frictional force of the object and the car in the elevator guide rail and/or the elevator shaft is taken as a calculation object, and the joint operation value is obtained. F0_cal;
  • Step A3 When the reference data has been set, perform one or more of the following four energy transfer condition determination conditions: judgment condition 1: ((f0_cal-f0_org)>f0_def_u); judgment condition 2: ((f0_cal- F0_org) ⁇ (-f0_def_d)); judgment condition 3: (f0_cal>f0_ref1_u); judgment condition 4: (f0_cal ⁇ f0_ref1_d);
  • Step B Parallel execution of the following steps B1, B2, B3, and B4, and then performing step C;
  • step A If any of the four energy transfer condition determination conditions in step A is YES, the energy transfer abnormality processing mechanism (such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.) is activated;
  • the energy transfer abnormality processing mechanism such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.
  • Step C Step A and step B1 are performed in real time in a cycle of 0.2 milliseconds; steps B2, B3, and B4 are cyclically executed in a cycle of 0.5 seconds.
  • the monitoring method (#1) includes steps A, B, and C;
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of Example 2 (Formula 4-16) in the alternative embodiment 3 of the foregoing Embodiment 4, the integrated efficiency coefficient of the electromechanical transmission in the electric state is taken as the measurement object, and the joint operation value Kem1_cal is obtained;
  • Step A3 When the reference data has been set, perform any one or more of the following four energy transfer condition determination conditions: judgment condition 1: ((Kem1_cal-Kem1_org)>Kem1_def_u); judgment condition 2: ((Kem1_cal- Kem1_org) ⁇ (-Kem1_def_d)); judgment condition 3: (Kem1_cal>Kem1_ref1_u); judgment condition 4: (Kem1_cal ⁇ Kem1_ref1_d);
  • Step B Parallel execution of the following steps B1, B2, B3, and B4, and then performing step C;
  • step A If any of the four energy transfer condition determination conditions in step A is YES, the energy transfer abnormality processing mechanism (such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.) is activated;
  • the energy transfer abnormality processing mechanism such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.
  • Step C Step A and step B1 are performed in real time in a cycle of 0.3 milliseconds; steps B2, B3, and B4 are cyclically executed in a cycle of 2 seconds.
  • Embodiment 1 of Embodiment 8 the efficiency coefficient of the electromechanical transmission integrated in the electric state is taken as the measurement object, and the foregoing embodiments 1, 2, 3, 4, 5 and various alternatives (or extensions) may also be used. Any one of the other system intrinsic parameters in the embodiment is used as a measurement object, and the joint operation value is calculated.
  • the reference value and the permission deviation value of the measurement object are set in the manner of step A2 in Embodiment 8, and the steps in the embodiment 8 are referred to. A2.
  • the method of step B performs abnormal monitoring of the energy transfer condition of the elevator.
  • the monitoring method (#1) includes steps A, B, and C;
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of Example 1 (Formula 4-15) in the alternative embodiment 3 of the foregoing Embodiment 4, taking the electromagnetic torque output by the motor driver as a measurement object, obtaining the joint operation value Te_cal thereof;
  • Step A2 When the reference data has been set, step A3 can be directly executed; when the reference data is not set, the following steps must be performed to set the reference data: obtaining the measured value of the electromagnetic torque Te (the specific acquisition method is reading)
  • the motor driver communication data, or the electromagnetic torque Te) of the motor is measured by the external measurement system of the motor driver, and the measured value Te is used as the reference value Te_org of the electromagnetic torque; the upper limit deviation value Te_def_u and the lower limit deviation value Te_def_d are read.
  • Te_ref1_u Te_org+Te_def_u
  • Te_ref1_d Te_org-Te_def_d
  • Step A3 When the reference data has been set, perform one or more of the following four energy transfer condition determination conditions: judgment condition 1: ((Te_cal-Te_org)>Te_def_u); judgment condition 2: ((Te_cal- Te_org) ⁇ (-Te_def_d)); judgment condition 3: (Te_cal>Te_ref1_u); judgment condition 4: (Te_cal ⁇ Te_ref1_d);
  • Step B Parallel execution of the following steps B1, B2, B3, and B4, and then performing step C;
  • step A If any of the four energy transfer condition determination conditions in step A is YES, the energy transfer abnormality processing mechanism (such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.) is activated;
  • the energy transfer abnormality processing mechanism such as voice alarm, light alarm, start energy transfer fault monitoring mechanism, etc.
  • Step C Step A and step B1 are performed in real time in a cycle of 0.01 milliseconds; steps B2, B3, and B4 are cyclically executed in a cycle of 0.1 second.
  • Embodiment 1 of Embodiment 9 The electromagnetic torque is used as the measurement object in Embodiment 9, and the other embodiments in the foregoing Embodiments 1, 2, 3, 4, and 5 and various alternative (or extension) embodiments may also be used. Any one of the dynamic parameters and the mechanical operating parameters is used as a measurement object, and the joint operation value is calculated.
  • the reference value and the permission deviation value of the measurement object are set in the manner of step A2 in the embodiment 9, and refer to step A3 in the embodiment 9.
  • the method of step B performs abnormal monitoring of the energy transfer condition of the elevator.
  • the license deviation values are all based on system preset values or historical record values, and may be in a simpler manner, such as combining the measured objects.
  • the calculated value or the reference value is multiplied by a coefficient as a permissible deviation value, which can be arbitrarily determined by the user depending on the on-site demand (for example, 0.1 or 0.3, etc.), or the first reference value is set according to the permissible deviation value, and the energy transfer condition is performed.
  • the first reference value may be directly set, if the set upper limit value of the first reference value is greater than the actual value of the measurement object and less than the limit safety valve A value in the value; if the set lower limit value of the first reference value is a value smaller than the actual value of the measurement object.
  • the preferred solution is that the values of all the parameters are acquired in real time, and the steps A and B are performed in real time, and are executed cyclically in a set time period, and the set cycle period is set.
  • the value of the parameter (such as the joint operation value, the reference value in the reference data, the value of the input parameter required to calculate the joint operation value), and the acquisition time; the value of the parameter refers to the parameter generation time. Refers to the time corresponding to the value of the input parameter required to calculate the parameter; because there are multiple ways to acquire (read, measure, etc.); if you read the parameter value generated 100 milliseconds before the time1 time, the parameter is obtained. The time is time1, but the value of this parameter is the first 100 milliseconds of time1.
  • the optimal solution is all parameters (such as joint operation value, reference value in reference data, calculation joint operation)
  • the value of the input parameter required by the value) is taken in the preset time range (as much as possible), real-time calculation, real-time acquisition (read or measurement) joint operation value and reference data, real-time judgment, real-time disposal judgment result, At this time, the value of the parameter can be equal to the acquisition time;
  • the time value of the joint operation value (along with the value of the input parameter required for calculating the joint operation value) is compared.
  • the best way is to take values in the preset time range (as much as possible), real-time calculation, real-time acquisition (read or measurement), real-time energy transmission abnormality judgment/monitoring; but the reference data time or set time It is not required to be at the same time as the value of the joint operation value; then the acquisition time (only read) of the reference data before the energy transfer abnormality judgment is allowed to be different from the value time of the reference data;
  • the control method of the value of the parameter value 1 In the strict sense, it is inconvenient to obtain the values of multiple parameters at the same time; in the actual operation process, the value of each parameter group may have the value before and after. At this time, it is only necessary to control the value of each parameter to a preset time range, which may be determined according to the actual software processing speed and hardware response speed; if it is 100 milliseconds, Or 10 milliseconds, or 1 millimeter, or 0.1 millisecond; the shorter the preset time range, the higher the measurement/monitoring accuracy, but the system cost is also increased;
  • Control method of the value of the parameter value 2 If the elevator operating conditions are basically unchanged, for example, if the speed of the elevator is maintained at a constant speed of 1 m/speed within 10 seconds, the current value of the speed, or the first of the 10 seconds is taken. The value of the time is the same as the value at the end of the 10 seconds; therefore, the preset time range of the value of each parameter value can be adjusted according to the operating conditions of the elevator, that is, when the operating conditions of the elevator are unchanged. At this time, you can get the value of the parameter at any point in time when the operating conditions are unchanged.
  • the first reference value and the license deviation value may be set by a preset value of the system, and may be set in various manners, for example, by a limited number of experimental methods, a manual trial method, a type test method, and the like. set.
  • the elevator running energy balance calculation further satisfies any one or more of the following 9A1, 9A2, 9A3, 9A4, 9A5, and 9A9:
  • the parameters participating in the calculation of the energy balance calculation of the elevator include an efficiency coefficient;
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the parameters participating in the calculation of the energy balance calculation of the elevator include the frictional force between the object and the car in the guide rail and/or the elevator shaft;
  • the parameter participating in the elevator running energy balance calculation includes friction correlation data of the mechanical rotating member.
  • the acquiring the joint operation value of the measurement object of the elevator includes the following steps: acquiring a value of an input parameter of the elevator, where the input parameter is a calculation center The parameters required for the joint operation value are calculated; and the joint operation value is calculated according to the obtained value of the input parameter.
  • the determining whether the energy transfer status of the elevator is abnormal according to the joint operation value and the reference data of the measurement object may include the following 11A1, 11A2 Any one or more options:
  • the technical solution can clearly realize the typical abnormality of energy transfer monitoring.
  • the setting of the reference data may include any one of the following 12A1, 12A2, 12A3, and 12A4:
  • the reference value and/or the first reference value of the measurement object is calculated according to an elevator operation energy balance performed when the set condition is satisfied. And the obtained joint operation value is set;
  • the license deviation value of the measurement object, the reference value of the measurement object with the system inherent parameter, and the first reference value of the measurement object with the system inherent parameter as the measurement object are based on the history of the measurement object Setting any one or more of the record value, the factory default value, and the manual input value; when the historical record value includes the historical record original value, the historical record original value is calculated based on the elevator running energy balance;
  • the license deviation value of the measurement object, the reference value of the measurement object with the system inherent parameter, and the first reference value of the measurement object with the system inherent parameter as the measurement target are set according to the fuzzy algorithm;
  • the reference value is any one or more data according to the measured value, the command response value, and the estimated value of the measurement object.
  • the setting time of the data reference value and the value of the joint operation value are within a preset time range.
  • the principle of setting the license deviation value of the measurement object is: the value needs to be as small as possible to improve the sensitivity of the monitoring, but not too small to reduce the false trigger rate of the monitoring; similarly,
  • the first reference value is also set as follows: it is as close as possible to the reference value of the measurement object but must maintain a suitable difference with the reference value; if the upper limit value of the first reference value is set to 1.2 to 1.5 times the reference value Or the lower limit of the first reference value is set to 0.7 to 0.9 times the reference value, or the upper limit deviation value is set to 0.1 to 0.3 times the reference value, or the lower limit deviation value is set to -0.3 to -0.1 of the reference value.
  • the reference data may be set according to a historical record value (such as performing any one or more of the following steps 9A2_1, 9A2_2, 9A2_3);
  • the common law in the above 9A2_1, 9A2_2, and 9A2_3 is to set a certain value 2 according to a certain value 1.
  • a certain value 2 is set according to a certain value 1, and a value 1 can be directly assigned to a value of 2, or a certain value can be The value 1 is increased or decreased according to the situation, or the additional offset is set to a value of 2, which can be handled flexibly;
  • the preferred mode of the reference data setting is: setting the reference value in the reference data according to the joint operation value obtained by calculating the elevator operation energy balance performed when the set condition is satisfied; setting according to the preset history value
  • the reference deviation value in the reference data can be combined to obtain ideal reference data, which can maximize the sensitivity of energy transmission abnormal monitoring and reduce the false positive rate of monitoring;
  • the fuzzy algorithm includes any one or more of the following fuzzy algorithm rules: statistically analyzing the reference data that has been used most frequently according to a certain number of running times; or automatically selecting the number of times of the most recent running selections The most reference data; or automatically select the most recent runtime reference data; or set different weight index of each reference data (such as user presets the most valuable, most protective reference data) to set the reference data; or the total number of times Statistical analysis and weight index to set reference data, etc.;
  • the technical solution is one of the core ideas of the present invention, because the carrying quality of the elevator may vary greatly in each operation, and by adopting the technical solution, a self-learning mechanism is actually established, which can be automatically Flexibly adjust the reference data following the normal change of the load (the key target is the reference value or the first reference value); on this basis, the monitoring sensitivity can be improved and the adaptability to environmental changes can be improved;
  • the technical solution is one of the core ideas of the present invention.
  • the measurement object is the elevator quality and the system inherent parameter
  • the reference data is set according to the historical record value of the measurement object (the key target is The permission deviation value or the first reference value can improve the parameter setting accuracy and the monitoring sensitivity hierarchically, from the conventional fuzzy control to the precise control.
  • the beneficial significance of the scheme 12A4 The scheme can be applied to the monitoring of the energy transmission anomaly when the object is measured as any of the source dynamic parameters and the mechanical operating parameters.
  • monitoring method (#1) may also satisfy any one or more of the following conditions 13A1, 13A2, and 13A3:
  • the measurement object is any one of a carrier quality and a system inherent parameter
  • the joint operation value and the reference data are only derived from a parameter acquisition system, that is, both are energy balance according to elevator operation.
  • the energy transfer exception handling mechanism includes activating an energy transfer fault monitoring mechanism.
  • the source dynamic parameters such as the tension of the wire rope, the output torque of the traction sheave, the electromagnetic torque, the current, the electrical power, etc.
  • the mechanical operating parameters such as speed, acceleration, etc.
  • the difficulty/cost is high, and the accuracy/performance is also reduced; the magnitude of the measured joint operation value of the measuring object may change rapidly to increase the measurement error of the first incentive, and usually the actual measured value or the command value needs to be acquired to set
  • the reference data amplitude may also change rapidly to bring the measurement error of the second incentive; and because the joint operation value and reference data may be in a low amplitude state (relative to full scale measurement), it is more likely to cause the third cause.
  • Measurement error even monitoring failure; because the quality of the load may vary greatly in different operational processes, if the source dynamic parameters or system operating parameters are used as the measurement targets, the value of the carrier mass must be obtained first, resulting in the measurement of the fourth incentive. Errors and make the measurement/monitoring system more complicated/high cost;
  • the measurement object is preferably a carrier quality, and the carrier quality value is relatively stable in the current operation of the elevator, and is convenient for the elevator occupant or the supervisor to visually judge the monitoring effect, thereby greatly improving the monitoring reliability;
  • the sub-optimal object is the inherent parameter of the system (especially the efficiency coefficient); the efficiency coefficient essentially represents the wear condition of the elevator parts and the safety condition of the machine parts, and the parameter has little change in the amplitude of the elevator operation, and is easy to measure and compare; This method also has the measurement error of the fourth incentive mentioned above, and it is not convenient for the elevator operator to visually judge the monitoring effect;
  • a typical parameter acquisition system has a class A car inner sensor weighing system, a class B car outer sensor weighing system, and a class C inverter weighing at zero speed.
  • System in the prior art, also a method for judging whether a sensor weighing system is faulty by a combination of class AB and class C technology, which greatly increases the cost by using a multi-way weighing system at the same time;
  • the method and system for calculating the operating parameters of the elevator can allow parameter estimation and operation safety monitoring to be realized by only one parameter acquisition system (such as any sensor outside the car or the inverter), which can greatly reduce the cost of the monitoring system.
  • the use of motor drives (such as frequency converters) for parameter calculation (including weighing) can greatly reduce the operating safety monitoring cost of the elevator.
  • the monitoring method in the monitoring method (#1) further includes any one or more of the following 14A1, 14A2, and 14A3:
  • Abnormal energy transmission usually includes abnormal operating environment of the elevator, energy transmission failure, etc.; typical abnormal operating environment of the elevator includes abnormal conditions of the load (such as jumping or sharp shaking in the elevator/abnormal rolling of the item);
  • the 14A1 scheme can also be called synchronous energy transfer fault monitoring. mechanism;
  • the second is to adopt the 14A3 scheme, and then restart the energy transmission fault monitoring mechanism when the energy transmission abnormality of the elevator has been detected, and the 14A3 scheme may also be referred to as a progressive energy transmission fault monitoring mechanism;
  • the elevator can be directly determined to be in an energy transfer fault condition; if the measured external environmental information has an abnormal condition and an energy transfer abnormality occurs, the current energy of the elevator can be determined.
  • the transmission anomaly may be caused by the external environment; the elevator may continue to issue the energy transmission abnormal warning information instead of the energy transmission failure information; at the same time, the elevator may continue to perform the monitoring operation to determine whether the energy transmission abnormality is eliminated with the elimination of the operating environment abnormality, if it is not possible to synchronize If the elimination or energy transfer abnormality continues to be longer than the set time, the energy transfer failure can still be determined;
  • the identification and judgment can be made by acquiring (reading or measuring) the operating environment information of the elevator; the operating environment information can be obtained in various ways: through relevant vibration sensors, optical, ultrasonic, infrared sensors, radar The device measures the identification; the operator can also distinguish the above situation by visual recognition; the time value of the joint operation value and the value of the operation environment information are within a preset time range.
  • the energy transmission failure mainly includes: the frictional force between the object and the car in the guide rail and/or the elevator shaft is abnormal or the abnormality of the personnel being caught in the elevator shaft, the abnormal rotation of the rotating parts of the elevator, aging, bursting, breaking, the rotor holding shaft of the motor, etc.;
  • the energy transfer fault monitoring mechanism of the elevator confirms that an energy transfer fault occurs, and an emergency treatment scheme such as deceleration, shutdown, fault alarm, or reverse operation is usually required to be started immediately.
  • the beneficial significance of the 14A2 solution regardless of the type of the object to be measured, at any time, the value of the carrying quality is output (to the man-machine interface in the car and/or the man-machine interface of the hall door), which helps the elevator passenger to glance at the eye. Identifying whether the elevator is running normally is of great significance for the safe operation of the elevator;
  • the joint operation value of the quality of the carried item is saved, like the black box function of the aircraft safety, which is convenient for post-mortem analysis.
  • the electric power can combine the electrical energy; the invention also allows the use of the energy type of the source power combination type parameter (such as the power consumption of a certain period of time, or the sum of work of a certain period of time) As a measurement object; power and energy are easily confused from physical concepts, but for elevator operation, the meaning of the two is different; power is the differentiation of energy versus time, with the concept of instant-fast, energy is the power in time.
  • the energy type of the source power combination type parameter such as the power consumption of a certain period of time, or the sum of work of a certain period of time
  • the core parenthesis step is also required (acquiring the joint operation value of the measurement object, setting the reference data, and judging the energy transfer condition based on the joint operation value and the reference data) Whether the abnormality or the judgment result of the energy transfer condition has a clear treatment scheme can be referred to the following embodiment 10:
  • Embodiment 10 The monitoring method (#1) includes steps A, B, and C;
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of the foregoing Embodiment 5, identifying the energy flow of the elevator to the working condition (electrical ascending, motor) Brake up, electric down, motor brake down), identify the speed change of the elevator (non-zero constant speed operation, acceleration operation, deceleration operation), first obtain (read or measure) the parameters in the same time range (motor).
  • the values of the efficiency coefficients Ke1 and/or Ke2, the efficiency coefficients Km1 and/or Km2 of the mechanical transmission system, the integrated gear ratio im, the no-load car mass m0, the counterweight mass m3, the upstream speed V1, and the downstream speed V2) are different.
  • the energy flow to the working condition and the speed change condition is calculated by any one or more of the following 10A1-1, 10A1-2, and 10A1-3, and the joint operation value Pm_cal of the electrical power of the motor is calculated, and the calculation formula is as follows:
  • P4_cal (m1+m0)*g-m3*g)*V1*(K14*Kem2), (Formula 4-28-1);
  • P5_cal (m1+m0)*g-m3*g)*V1*Kem2, (Equation 4-28-2);
  • P5_cal (m3*g-(m1+m0)*g)*V2*Kem2, (Formula 4-29-1);
  • joint operation value Po_cal or P4_cal or P5_cal is calculated (for example, integrated) to obtain an electrical energy value EM1_cal within 2 seconds, and EM1_cal is an indirectly obtained joint operation value;
  • Step A2 Obtain the Pm_cal and EM1_cal values, obtain the electrical power reference value Pm_r (read the data measured by the motor driver or measure with the power meter), and then integrate the Pm_r operation to obtain the electrical within 2 seconds of the EM1_cal period.
  • Step A3 Perform one or more of the following two energy transfer condition determination conditions: judgment condition 1: ((EM1_cal-EM2)>EM_def3), judgment condition 2: ((EM1_cal-EM2) ⁇ (-EM_def3)) ,
  • Step B If any of the two energy transfer condition determination conditions in step A3 is YES, the energy transfer abnormality processing mechanism (such as voice alarm, etc.) is started;
  • the time period of energy calculation can be set from 2 seconds to 1 second, 0.1 second, 0.01 second, etc.; the longer the time, such as more than 5 seconds and 10 seconds, etc., the loss of energy transmission abnormal monitoring is lost. Meaning; the shorter the time, the faster the energy transmission anomaly monitors the response, but the combined calculation value, the measured value, and the reference data (caused by four incentives) will be larger/the effect will be worse; thus, the source dynamic parameters will be seen. Or the source power combined parameters (such as energy) as the measurement object of the energy transfer anomaly monitoring effect, far less than the carrier quality or system inherent parameters as the measurement object.
  • the system is allowed to switch the measurement object according to the need, and even multiple measurement objects are enabled at the same time, and multiple energy transfer status judgments of multiple different measurement objects are performed; if the carrier quality is allowed as the measurement object The energy transfer condition is judged and monitored. At the same time, the rolling friction resistance coefficient is used as another measurement object to perform another energy transfer condition judgment and monitoring. As long as any energy transfer condition judgment result is an energy transfer abnormality, the energy transfer abnormality processing mechanism is started. ;
  • the system is also allowed to switch the source dynamic parameters.
  • the torque type parameter such as electromagnetic torque
  • the power type parameter such as motor power
  • the source power parameter can be used as the source power parameter to improve the calculation accuracy of the joint operation value of the measurement object and improve the sensitivity of the energy transmission abnormality monitoring;
  • the integrated tension force F1 of the wire rope is used as the source power parameter to construct an energy transmission condition judgment and monitoring #100 system, and the system can mainly monitor the abnormality of the friction between the object and the car in the guide rail and/or the elevator shaft (if the person is stuck in the car) When the relationship with the elevator shaft is increased, the frictional force f0 is increased.
  • another power transmission condition determination and monitoring system 101 is constructed by using the power input electric power P3i as the source power parameter, and the system can simultaneously monitor the power supply device of the elevator.
  • the elevator can be directly verified with the electric power Pm of the P3i and the motor and the efficiency coefficient k31 Whether the energy transmission status of the power supply unit and the motor driver is normal, and the verification method is judged ((P3i*k31)-Pm) Whether it is greater than the preset threshold (such as P3i/20), if it is greater than the power supply unit or the motor drive is abnormal;
  • the layer-by-layer or multi-layer energy transmission abnormality monitoring is performed, and the elevator can be When the operating parameters do not exceed the safety limit threshold, it is convenient to carry out all-round sensitive and accurate protection of the overall power system and mechanical transmission system of the elevator.
  • the reference data is a joint operation value obtained according to an elevator operation energy balance calculation performed when the set condition is satisfied;
  • the input parameter of the elevator operation energy balance calculation includes the carrier quality, and the parameter of the carrier quality as the input parameter is based on the satisfaction setting.
  • the reference data is a first reference value or consists of a license deviation value and a reference value.
  • the first reference value and the energy state identification reference value are both set according to a joint operation value obtained by calculating an elevator operation energy balance performed when the set condition is satisfied;
  • the input parameter of the elevator operation energy balance calculation includes at least one parameter of the carrier quality, and the carrier quality is used as the input parameter.
  • the parameters are obtained from the joint operation values obtained by calculating the elevator operation energy balance performed when the set conditions are satisfied.
  • the elevator operating parameters are composed of source power parameters, system operating parameters, and elevator quality.
  • the measured objects are source power parameters, system operating parameters, and elevator quality. Any one or more of them.
  • the present invention also provides a monitoring system (#1) for an elevator lifting operation, a monitoring system for an elevator during lifting operation, comprising: an energy transmission status determining module, configured to: acquire an estimated object of the elevator Combining the operation value, identifying an energy transfer condition of the elevator according to the joint operation value; wherein the measurement object is any one or more of an elevator operation parameter, and the joint operation value is calculated based on an elevator operation energy balance Income.
  • the joint operation value obtaining module (1) may be further configured to acquire a joint operation value of the measurement object of the elevator to provide the energy transfer status determination module (2), that is, the energy transfer status judgment.
  • the above joint operation value in the module (2) is provided by the joint operation value acquisition module (1).
  • the monitoring system of the elevator lifting operation of the present invention has the same principle as the monitoring method of the elevator lifting operation described above, and the above technical solutions applied to the monitoring method during the elevator lifting operation can be directly applied to the monitoring system.
  • the energy transfer condition of the elevator is determined according to the joint operation value, specifically: according to the joint operation value and the calculation
  • the reference data of the object determines whether the energy transfer condition of the elevator is abnormal.
  • the monitoring system further includes an energy transfer abnormality processing module (3), an output module (4), and a saving module (5). Any one or more of the modules;
  • the energy transfer abnormality processing module (3) is configured to: if the determination result includes yes, initiate a set energy transfer abnormality processing mechanism;
  • the output module (4) is configured to output a result of the determining
  • the saving module (5) is configured to save the result of the determining
  • the monitoring system (#1) satisfies any one or more of the following conditions 21A11 and 21A21:
  • the elevator running energy balance calculation is associated with the elevator running direction
  • the joint operation value and the reference data are derived from a parameter acquisition system, that is, both are calculated according to the elevator operation energy balance.
  • monitoring system (#1) also satisfies any one or more of the following 22A1 to 22A3:
  • the function of acquiring the joint operation value of the measurement object of the elevator in the joint operation value detection module (1) includes the following function: acquiring a value of an input parameter of the elevator; the input parameter is Calculating a parameter required by the joint operation value; calculating the joint operation value according to the obtained value of the input parameter;
  • the measurement object is any one of a carrier quality and a system inherent parameter
  • the joint operation value and the reference data are calculated according to an elevator running energy balance.
  • the invention provides a monitoring method and system (#1) for elevator lifting operation with beneficial effects:
  • the invention deeply analyzes the structure and working principle of the counterweight elevator: the operation of the elevator is essentially the energy transfer process, that is, the power transmission process of driving the elevator; the step A of the monitoring method (#1) provided by the present invention
  • the method comprises the steps of: obtaining a joint operation value calculated based on an elevator operation energy balance of the measurement object of the elevator; in the elevator operation energy balance calculation of the elevator operation, the elevator source power parameter represents power supply information, and the elevator quality represents a power receiver.
  • the system operating parameters of the elevator represent the basic conditions of energy transfer (such as the inherent parameters of various systems) and the mechanical operating parameters generated by the elevator under the action of power, that is, the motion results (such as speed, acceleration, etc.);
  • the monitoring system uses the source dynamic parameters as the measurement object, Then, when other related elevator operating conditions (such as elevator quality, speed, acceleration, etc.) are constant, it is necessary to consume more power and cause the joint operation value of the reference value of the source power parameter and the elevator running energy balance calculated by the elevator. If the monitoring system uses the speed in the mechanical operating parameters as the measurement object, such as the reference value of the source power parameter of the elevator and other related elevator operating conditions (such as elevator quality, acceleration, etc.), It may lead to the deviation of the reference value of the speed of the elevator and the calculated joint operation value of the elevator running energy balance of the elevator operation.
  • other related elevator operating conditions such as elevator quality, speed, acceleration, etc.
  • the difference is increased; if the elevator mass (such as the mass of the carried item m1 or the total mass m2) is used as the measurement object and other relevant elevator operating conditions (such as acceleration) are not changed, the elevator operation energy balance calculation will be caused by the elevator operation.
  • the joint operation value of the obtained elevator quality changes; therefore, by comparing the joint operation value of the measurement object with the reference data, it can be determined whether the energy transfer condition in the elevator operation is abnormal, and is judged by the subsequent energy transfer condition.
  • the processing steps can timely realize energy transmission abnormality monitoring and early warning;
  • the state is also the condition, and both are equivalent;
  • the energy transfer state is the energy transfer state.
  • the elevator source power parameter represents the supply information of the power, that is, the condition of the electric power system of the elevator (depending on the collection point of the specific electric power parameter group signal, the condition of the power supply device of the elevator, the motor driver, and the device in the motor);
  • the system operating parameters of the elevator represent the basic conditions of energy transfer (such as various system inherent parameters)
  • the relevant electrical efficiency coefficient reflects the safety status of the electric power system
  • the mechanical transmission component efficiency coefficient reflects the safety condition of the mechanical transmission components
  • the personnel are stuck. Between the entrance car and the elevator shaft, the friction between the object of the elevator and/or the object in the elevator shaft and the car can be reflected.
  • the energy transmission condition in the present invention that is, the condition of the energy transfer system, especially The condition of the energy transfer system directly related to the rise or fall of the elevator, that is, the condition of the power transmission system that drives the elevator to run and lower, that is, the power transmission condition;
  • the energy transfer condition is a condition closely related to the safety of the elevator operation; Limited to the condition of the components in the car, the components in the car are generally driven The elevator run is not directly related;
  • determining whether the energy transfer condition of the elevator is abnormal according to the joint operation value and the reference data of the measurement object is very important for improving the operational safety of the energy transfer system of the elevator; Exceeding the judgment of the failure of a similar device such as a load cell.
  • the reference data is set based on the reference value of the measurement object (not based on the safety limit threshold), it is allowed to be much smaller than the safety limit threshold; therefore, when the elevator operation parameter does not exceed the safety limit threshold, it is also easy to implement (including The reason that the personnel is stuck between the car and the elevator shaft is that the elevator energy transmission is abnormally monitored and early warning, so as to avoid the occurrence of more serious and unpredictable safety accidents (including wire rope breakage, elevator runaway, etc.); The diagnosis of cancer in human medicine, if it is found in the late stage, usually means the end of life. If the early detection usually means normal life, the technical solution is of great significance for the safe operation of the elevator.
  • the third technical problem to be solved by the present invention is to provide a monitoring method for elevator load, which can reduce the cost of overload monitoring or improve its safety on the basis of the prior known technology;
  • the present invention also provides an elevator load monitoring method (#2).
  • the monitoring method includes the following steps. :
  • the joint operation value is based on the elevator operation Calculating the line energy balance, and the source dynamic parameter required in the elevator running energy balance calculation is an electric power parameter or a power parameter of the mechanical rotating member;
  • the technical solution of the invention 23A is mainly to provide a weighing scheme of a motor driver (such as a frequency converter); the motor driver is weighed, and can be divided into a zero speed running weighing of the motor driver and a non-zero speed running weighing of the motor driver; The motor driver is not zero-speed running weighing, and it is necessary to identify the energy flow of the elevator to the working condition.
  • the specific implementation can be referred to the foregoing embodiment 4; the non-zero speed running weighing of the motor driver can be performed only when a certain setting condition is met (such as an elevator).
  • the monitoring method may also include the step of obtaining the joint operation value of the quality of the carried item of the elevator in 23A, and judging
  • the solution adopted thereafter is not limited to 23B11, 23B12, and other solutions may be employed, which are only preferred embodiments.
  • the core of the scheme is to determine whether the joint calculation value of the quality of the carried goods of the elevator is greater than the rated load of the elevator to determine whether it is overloaded.
  • the quality of the carried item belongs to a parameter in the quality of the elevator, and the joint operation value is calculated according to the parameters including the system operating parameter and the source dynamic parameter of the elevator. For details, refer to the carrying case in each of the embodiments 1-5.
  • the formula for the quality of the item refer to the carrying case in each of the embodiments 1-5.
  • the motor drive zero-speed operation weighing system can be composed of a motor driver control system, a parameter acquisition and calculation system, and a brake system; more preferably, a displacement acquisition system is also provided, and the brake system is a flexible brake system;
  • the elevator displacement acquisition system can detect the elevator car through a rotary encoder (positive cosine or incremental type) on a motor or traction sheave or displacement detection on other components (such as a position sensor on the car, an acceleration sensor), etc.
  • a rotary encoder positive cosine or incremental type
  • traction sheave or displacement detection on other components (such as a position sensor on the car, an acceleration sensor), etc.
  • the brake system can be divided into a rigid brake system and a flexible brake system;
  • the rigid brake system of the present invention means that the magnitude of the brake torque of the brake system cannot be actively hierarchically controlled, that is, the brake system is only divided.
  • the flexible brake system of the present invention means that the magnitude of the brake torque of the brake system can be actively and hierarchically controlled, and the brake torque level can be divided into two levels or Above;
  • the change of the brake torque caused by the fluctuation of the external power supply (or voltage) of the brake system cannot be called active grading control, which belongs to passive control;
  • the active grading control of the amplitude of the brake torque can be passed through IGBT, thyristor, MOS tube is realized by PWM pulse width adjustment voltage and current, etc.
  • the output transformer adjusts the voltage. If the transformer has multiple output poles, it can output various coil voltages such as 100%, 70%, 30%, etc. to adjust the brake torque;
  • the basic motor drive zero-speed operation weighing method the motor drive control system allows the motor drive to operate at zero speed, the brake system releases the brake, the parameter acquisition and calculation system acquires the electromagnetic torque at zero speed operation and Calculate the quality of the carried goods;
  • a more optimized method of zero-speed operation of the motor drive when the above-mentioned basic motor drive zero-speed operation weighing method is being performed, detecting the vertical displacement of the elevator car, when the vertical displacement is greater than the preset displacement valve When the value (eg 2 mm) is displaced vertically, the brake system can be braked immediately, thus ensuring safety when weighing.
  • the value eg 2 mm
  • a more optimized method for zero-speed operation of the motor drive in the above-mentioned method of zero-speed operation of the motor drive, the brake system releases the brake to a flexible release brake, once the elevator car is vertically displaced When the standard exceeds the standard, the brake can be quickly re-braked immediately;
  • the flexible release brake of the present invention refers to grading and gradually reducing the brake torque; thereby improving the safety of the system and improving the comfort and safety of the passenger riding the elevator;
  • the overload processing mechanism in the technical solution of the invention 23B11 includes a voice prompt alarm, an audible and visual alarm, a refusal to close the door, a refusal operation, and the like in an overload; the machine system and the manual can arbitrarily combine various processing actions.
  • the information determined in the technical solution described in the 23B12 of the present invention includes a determination result of determining whether the joint operation value is greater than a rated load capacity of the elevator; and if the external control system requires, the information may further include the quality of the carried item. Any one or more of the combined operation value and the safety limit threshold.
  • the monitoring method (#2) satisfies any one or more of the following 24A1, 24A2, 24A3, and 24A4:
  • 24A1 When the elevator is running at zero speed, it includes any one or two of the following 24A11, 24A12:
  • the brake system releases the brake to a flexible release brake
  • the joint operation value is output to a human machine interface of the car and/or a human machine interface of the hall door and/or a human machine interface of the control center;
  • the joint operation value for acquiring the quality of the carried item of the elevator comprises the steps of: obtaining a value of an input parameter of the elevator; the input parameter is a parameter required for calculating the joint operation value; The value of the obtained input parameter calculates the joint operation value;
  • the elevator operating energy balance calculation is associated with the elevator operating direction.
  • the beneficial significance of the 24A1 solution of the present invention if the brake system performs a brake, it is not convenient to use the motor driver to weigh; if the elevator is being lifted and the brake motor driver is loosened during the process of getting on and off, it brings safety again.
  • Hidden danger The ideal control method is: detecting the vertical displacement of the elevator car when the elevator is being weighed at the zero speed, and the brake system performs the brake when the vertical displacement is greater than the preset displacement threshold Especially for the flexible brake system, the loose brake is released, the brake brake torque is gradually and flexibly reduced (not immediately and completely disappeared), and the abnormal vertical displacement of the elevator can quickly restore the brake; Greatly improve the safety of the elevator, thus improving the practicality of the motor drive weighing scheme.
  • the monitoring method (#2), the elevator running energy balance calculation satisfies any one or more of the following 25A1, 25A2, 25A3, 25A4, 25A5:
  • the parameters participating in the energy balance calculation of the elevator operation include an efficiency coefficient;
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the source power parameter included in the elevator operation energy balance calculation is electrical power
  • the setting of the electrical power is performed according to a motor operating condition
  • the parameter participating in the elevator running energy balance calculation includes friction correlation data of the mechanical rotating member.
  • the present invention also provides an elevator load monitoring system (#2), including a joint operation value detecting module (1); the monitoring system further includes any one of an overload processing module (2) and an output module (3) Kind or multiple modules;
  • the joint operation value detecting module (1) is configured to: acquire a joint operation value of the quality of the carried item of the elevator; the joint operation value is calculated based on an energy balance of the elevator operation, and the calculation of the energy balance calculation of the elevator operation
  • the source dynamic parameters of the demand are electrical power parameters or dynamic parameters of the mechanical rotating parts
  • the overload processing module (2) is configured to: determine whether the joint operation value is greater than a rated load of the elevator, and perform any one or more of the following 26B11, 26B12 processing;
  • the output module (3) is configured to: output the joint operation value to a human machine interface of the car and/or a human machine interface of the hall door and/or a human machine interface of the control center.
  • the core is in the overload processing module (2) determining whether the joint operation value is greater than the rated load of the elevator to determine whether it is overloaded.
  • the joint operation value acquisition module (1) may not be used, and the 26B11-26B12 may be replaced by other methods.
  • monitoring system (#2) further includes any one or more of the following functions 27A1, 27A2, and 27A3:
  • the brake system releases the brake to a flexible release brake
  • the joint operation value is output to the man-machine interface of the car and/or the man-machine interface of the hall door and/or the man-machine of the control center. interface;
  • the function of acquiring the joint operation value of the quality of the carried item of the elevator in the joint operation value obtaining module (1) includes the following function: acquiring a value of an input parameter of the elevator; the input parameter is a calculation The parameter required by the joint operation value; the joint operation value is calculated according to the value of the acquired input parameter.
  • the invention provides an elevator load monitoring method (#2) and the beneficial effects of the system:
  • the prior art inverter weighing scheme due to lack of research on the energy flow direction of the elevator, the weight cannot be calculated when the elevator is running at a non-zero speed; the prior art is based on the overload monitoring of the car sensor weighing.
  • the invention has high cost/complex structure; the monitoring scheme based on the motor driver (such as frequency converter) weighing elevator load provided by the invention has great significance for omitting the traditional sensor weighing system and reducing the weighing cost of the elevator;
  • the weighing result can only detect whether the overload is performed before the elevator runs, and it cannot reflect the friction and drag of the object and the car in the guide rail and/or the elevator shaft.
  • the safety condition of the guide wheel, motor, intermediate transmission parts and motor drive has no practical significance for the safety monitoring of the elevator in the vertical lifting operation of the elevator; however, if the motor drive weighing technical scheme is adopted, the quality of the carried item will be at any time.
  • the numerical output (to the man-machine interface in the car) helps the elevator passengers to recognize whether the elevator is running normally or not, and helps the non-professional elevator passengers (without the use of professional and professional equipment) to be quick and easy.
  • Identification of elevator operation safety information (this information may include the friction of the object and the car in the elevator shaft and the traction shaft, the traction wheel, the motor, the intermediate transmission component, the safety condition of the motor drive), which is significant for the safe operation of the elevator significance.
  • the fourth technical problem to be solved by the present invention is to provide an elevator control method for improving the operating efficiency of the elevator, that is, to provide a control method for the elevator operating efficiency, so as to improve the efficiency of the elevator operation under the premise of safe operation;
  • the present invention also provides a control method for an elevator, which can be used to improve the operating efficiency of the elevator, including the following steps:
  • the mechanical operating parameter of the elevator is pre-set with at least two different grades, the grade of the mechanical operating parameter is selected based on a parameter including at least the mass of the carried item of the elevator; or; based on the mass of the carrying item including at least the elevator
  • the parameter calculates the joint operation value of the mechanical operating parameter when the quality of the carried item is between zero and the rated load.
  • the mechanical operating parameter has at least two joint operation values of different sizes when changing; controlling elevator operation according to the joint operation value or grade of the mechanical operation parameter; the mechanical operation parameter includes an uplink speed, a downlink speed, and an acceleration uplink Any one or more of the accelerations during acceleration and deceleration.
  • the at least two differently sized joint operation values or at least two different grades have two meanings: the first one is a finite joint operation value or grade greater than or equal to 2, which is equivalent to According to the finite joint operation value or grade, the corresponding quality of the carried item is divided into a plurality of parts, each part corresponds to a running speed and/or acceleration; the second type is an infinite number of values greater than or equal to 2, at this time carrying The quality of the item corresponds to the speed and/or the value of the acceleration, and the elevator is now steplessly regulated.
  • Each grade of the mechanical operating parameters of the elevator has its corresponding value, which is simply referred to as the corresponding value. Selecting a certain grade also selects the corresponding value of a certain grade; the above selection of the grade of the mechanical operating parameter is also based on the carrier including at least the elevator. After the parameters such as the quality of the item are calculated, the grade of the mechanical operating parameter is selected; since the grade of the mechanical operating parameter is calculated according to other types of data (the quality of the carried item, etc.), or calculated by a formula or a look-up table, the mechanical operating parameter is The corresponding value of a certain grade is a joint operation value;
  • the calculation is based on parameters and presets including at least the quality of the carried item of the elevator. Mapping relationship calculation; specific mapping relationship, as described later.
  • control the elevator operation according to the joint operation value or grade of the mechanical operation parameter includes two cases, one is controlled in the control system implementing the control method, and the other is outputting the mechanical operation The joint operation value or grade of the parameter to control the elevator operation to the external control system;
  • the “controlling the elevator operation according to the joint operation value or the grade of the mechanical operation parameter” includes two implementation manners; one is to use the joint operation value of the mechanical operation parameter or the corresponding value of the grade as the preset value of the instruction In order to control the elevator operation; the other is to use the joint operation value of the mechanical operation parameter or the corresponding value of the grade as the operation upper limit threshold to control the elevator operation; the specific control method is described in detail later.
  • the joint operation value of the mechanical operation parameter for controlling the operation of the elevator or the corresponding value of the grade cannot be greater than the safety value of the mechanical operation parameter
  • the safety value of the mechanical operating parameter is a permissible value of the upward speed of the electric uplink, a permissible value of the downward speed of the electric motor, and an allowable value of the upward speed of the motor braking, At least one of a permissible value of the downward speed when the motor brakes down, an absolute value of the permissible value of the accelerating acceleration in the ascending acceleration, and an absolute value of the permissible value of the acceleration in the decelerating down time;
  • the absolute value of the permissible value of the acceleration at the time of deceleration ascending and the absolute value of the permissible value of the acceleration at the time of accelerating the downlink are related to the counterweight mass m3 and are not directly related to the mass of the vehicle;
  • the safety value of the mechanical operating parameter is calculated based on a parameter including at least the mass of the carried item (preferably the current actual value) and the source dynamic parameter (preferably a safety limit threshold); the mechanical operating parameter
  • the calculation of the safety value can be calculated at any time before the elevator is controlled, either in the internal system or in the external system; if it is done in an external system, only the result needs to be read. For example, the result is read from the second associated table and the first associated table described later; the emphasis is not on the calculation process, but on the approval of the result: only the value of the mechanical operation parameter for controlling the operation of the elevator is not greater than the safety value or the mechanical operation parameter.
  • the corresponding value of the grade is not greater than the security value;
  • the “controlling the elevator operation according to the joint operation value or the grade of the mechanical operation parameter” is: the joint operation value of the mechanical operation parameter or the corresponding value of the grade is used as an instruction pre- Set the value to control the elevator operation.
  • the preset value of the upward speed of the elevator at the time of light load or heavy load is smaller than the preset value of the upward speed when the load is balanced; and/or: at the time of light load or under heavy load
  • the preset value of the line speed command is smaller than the command preset value of the down speed at the time of load balancing;
  • the parameter calculation based on the quality of the carrier item including at least the elevator is specifically calculated according to parameters including at least the quality of the carried item of the elevator and the source dynamic parameter of the elevator;
  • the calculation is an elevator operation energy balance calculation; and the elevator operation energy balance calculation is associated with an elevator operation direction.
  • the elevator operation energy balance calculation satisfies any one or more of the following conditions 33A1, 33A2, 33A3, 33A4, and 33A5:
  • the parameter participating in the energy balance calculation of the elevator operation includes an efficiency coefficient
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the parameters participating in the calculation of the elevator operation energy balance include friction correlation data of the mechanical rotary member.
  • any one or more of the following conditions 34A1, 34A2, and 34A3 are also satisfied:
  • the value of the quality of the carried item is calculated based on electrical power parameters
  • the value of the quality of the carried item is calculated based on the energy balance of the elevator operation
  • the value of the quality of the carried item is a current actual value, and the value of the source dynamic parameter is a safety limit threshold;
  • control method according to any one of the items 29-32 further includes any one or more of the following 35A1, 35A2, and 35A3:
  • the elevator running energy balance calculation is specifically: acquiring a value of an input parameter of the elevator, where the input parameter is a parameter required for calculating an operation value of the elevator operation energy balance calculation, such as performing energy balance of the elevator operation Calculating required source dynamic parameters, system operating parameters, etc.; calculating the joint operation value according to the obtained input parameter values.
  • the calculation or acquisition of the security value, preferred embodiment 28A includes the following 28A-1, 28A-2 schemes:
  • the 28A-1 implementation is as follows:
  • the value of the carrying quality is the value of the quality of the carrying item in the carrying mass; it may be the current actual value or the preset value; because the core purpose of the control method is to control the elevator running according to the current actual value of the carrying quality.
  • the safety value of the mechanical operating parameter to improve the operating efficiency of the elevator, so the value of the carrying quality is preferably the current actual value, and the current actual value is preferentially calculated based on the electric energy parameter based on the operating energy balance of the elevator;
  • the current actual value also allows the energy balance calculation of the elevator operation from other source dynamic parameters, and also allows the sensor to weigh the gain, but the latter two methods will raise the cost;
  • the value of the source dynamic parameter preferably the safety limit threshold of the source dynamic parameter, is calculated in conjunction with the current actual value of the carrier mass, so that the maximum operating efficiency of the elevator is facilitated; or the value less than the safety limit threshold may be selected. Will not be conducive to improving efficiency;
  • safety limit thresholds that can be set according to the elevator model and site requirements
  • the absolute value aj_ena of the permissible value of the acceleration is calculated according to the permissible value of the force or torque or instantaneous power type (eg F1_ena) and according to the different energy flow conditions (or together with the speed operating conditions);
  • the suffix _ena indicates that the parameter is a security value or a license value preset by the system.
  • the preferred scheme 28-1 is as follows:
  • the permissible value of the upward speed of the electric uplink is calculated according to the permissible value of the electric power of the electric system in the electric state, and the following formula 28-1 can be obtained by referring to the above formula 5-1:
  • V1_ena Kem1*Po_ena/((m1+m0)*g-m3*g), (Equation 28-1);
  • the permissible value of the downward speed of the electric motor is calculated according to the permissible value of the electric power of the electric system in the electric state, and the following formula 28-2 can be obtained by referring to the above formula 5-2:
  • V2_ena Kem1*Po_ena/(m3*g-(m1+m0)*g), (Equation 28-2);
  • V1_ena4 (P4_ena/(K14*Kem2))/((m1+m0)*g-m3*g), (Equation 28-3-1);
  • V1_ena5 (P5_ena/Kem2)/((m1+m0)*g-m3*g), (Formula 28-3-2);
  • V2_ena4 (P4_ena/(K14*Kem2))/(m3*g-(m1+m0)*g), (Equation 28-4-1);
  • V2_ena5 (P5_ena/Kem2)/(m3*g-(m1+m0)*g), (Equation 28-4-2);
  • Permitted values of the above formulas 28-1, 28-2, 28-3-1, 28-3-2, 28-4-1, 28-4-1 can be understood as the permission value of the speed approved by safety; obviously, the above calculation formula knows that the permission value is applicable to the current carrying quality value; when the carrying quality value is different, the permitted value of the speed will be different;
  • the 28A-2 implementation is as follows:
  • the above 28A-2-1, 28A-2-2 scheme calculates the absolute value of the allowable value of the acceleration according to the allowable value F1_ena of the integrated tensile force of the wire rope, and the allowable value of the integrated tension of the wire rope F1_ena is usually based on the wire rope
  • the breaking stress is further divided by a predetermined safety factor.
  • the breaking stress can be obtained from the relevant mechanical manual of the wire rope.
  • the safety factor can usually be set to about 12; usually the default wire rope is the weakest of the elevator.
  • the absolute value of the allowable value of the acceleration can be set by the shear stress safety value of the mechanical rotating member (such as the traction sheave, the transmission gear, and the rotor shaft of the motor) (by referring to Equation 3-3, 3- in Embodiment 3) 4, 3-5, 3-6), it is also possible to set the absolute value of the allowable value of the acceleration according to the safety value of the electromagnetic torque or the safety value of the current or the safety value of the instantaneous electrical power (by referring to the formula in the foregoing embodiment 4) 4-5 to 4-12); the system can perform safety accounting, confirm the allowable value of the comprehensive tension of the wire rope, the safety value of the shear stress of the mechanical rotating parts, the safety value of the electromagnetic torque or the safe value of the current or the instantaneous electrical work.
  • the value of the weakest security parameters to determine the absolute value of the permissible value of acceleration based on the weakest argument.
  • the mass m1 is irrelevant and is related to the counterweight mass m3.
  • Each action of the elevator lifting operation will be issued by the control system with a target parameter (the acceleration of the elevator running speed and the descending speed in the mechanical operating parameters and the acceleration in each speed change direction) (that is, the command preset value), and then An actuator such as an elevator's powertrain drives the elevator to operate at a target value (ie, a preset value);
  • a target parameter the acceleration of the elevator running speed and the descending speed in the mechanical operating parameters and the acceleration in each speed change direction
  • An actuator such as an elevator's powertrain drives the elevator to operate at a target value (ie, a preset value);
  • the preset value of the command is used to actively control the speed and/or acceleration of the elevator, that is, the target value of the mechanical running parameters (elevator up speed and down speed and acceleration in each speed change direction) for actively controlling the operation of the elevator, for direct use Controlling the operation of the elevator;
  • the control mode is an active control mode; as described above, because the preset value of the command is based on at least the carrying quality of the elevator (current actual value) and the source dynamic parameter of the elevator
  • the parameters safety limit threshold
  • Elevator operation is safe;
  • the upper limit threshold of operation refers to the upper limit threshold of the acceleration of the elevator in the running speed, the descending speed and the acceleration direction; the upper limit threshold is used to control the elevator operation, which is an inactive but beneficial safety control.
  • the control method includes the following scheme: when the uplink speed/down speed of the elevator (the current value or the target value) is not greater than the running upper threshold of the running direction, the original running action of the elevator is not limited; The upward speed/downward speed of the elevator (the current value or the target value) is greater than the running upper limit threshold in the running direction, that is, the speed limit, or the overspeed alarm, or the shutdown protection processing; the speed limit refers to the uplink speed/down The speed (the current or target value) is limited to a value that is not greater than the upper threshold of the run;
  • the original running action of the elevator is not limited; when the acceleration of the elevator (the current value or target) When the absolute value of the value is greater than the running upper limit threshold of the acceleration in the speed change direction, the acceleration limit, or the over limit alarm, or the stop protection process is performed; the acceleration limit refers to the acceleration in the speed change direction
  • the absolute value of the current or target value is limited to a value not greater than the upper threshold of the operation;
  • Specific speed limit measures can be referred to existing control techniques, such as reducing the current target value of speed or acceleration. Or command the preset value (such as lowering the set frequency of the inverter) to decelerate the motor, etc.
  • the specific acceleration limit measures can be referred to the existing control technology, such as reducing the current target value of the speed or the preset value of the command.
  • the rate of change (such as reducing the rate of change of the set frequency of the inverter, reducing the slope of the speed curve, etc.) to allow the motor to perform acceleration limiting and the like.
  • the acceleration can be directly controlled to control the elevator operation; when the motor driver does not have the direct acceleration control function, the acceleration can be controlled indirectly by controlling the acceleration/deceleration running time;
  • the current frequency that is, the current speed
  • the target frequency ie, the target speed
  • the difference between the target frequency and the current frequency is divided by the value of the acceleration to convert the ideal. Acceleration and deceleration running time.
  • the inventive 28A-1 and/or 28A-2 scheme calculates the mechanical operating parameters for controlling the operation of the elevator based on the quality of the goods carried by the elevator (preferably the current actual value) and the source dynamic parameters (preferably the safety limit threshold).
  • the safety value, the safety value of the mechanical operation parameter includes at least one of the permissible value of the safety approved speed and the absolute value of the safety approved acceleration value, and the elevator speed can be the fastest/efficiency while ensuring safety.
  • the calculated joint operation value of the mechanical operating parameter is also the current value; according to the invention, according to the mechanical operating parameter
  • the joint operation value or the corresponding value of the grade controls the elevator operation may further include the following scheme: detecting whether the current value of the mechanical operation parameter obtained through the joint calculation exceeds a preset safety limit threshold, and if so, correlating Alarm, or speed limit processing;
  • the rated value/manual preset value of the source dynamic parameter can also be selected to be calculated in conjunction with the current actual value of the carrying quality, and the corresponding value of the mechanical operating parameter can be understood as: the load in the elevator is The current speed or acceleration rating/manual preset value when carrying the mass value; the upper limit threshold may also be operated as the command preset value according to the speed or acceleration rating/manual preset value to control the elevator operation,
  • the control method can refer to the above scheme.
  • the value of the mechanical operating parameter of the elevator in addition to the preferred calculation scheme of 28A above, can also perform low performance according to the carrying quality and source dynamic parameters of the elevator, but is simple Calculating; if preset, the associated form of the elevator's carrying quality, source dynamic parameters, and mechanical operating parameters, the associated table is the second associated table; when the known carrying mass and source dynamic parameters are input, the checklist is derived.
  • Running a value of the parameter (joint operation value) controlling the elevator operation according to the value of the mechanical operation parameter;
  • the description of the 28C implementation is as follows: preset an association table of the carrying quality of the elevator and the mechanical operating parameters, the associated table is the first associated table; when the known carrying quality is input, the look-up table obtains the mechanical operating parameters (upstream speed, a value of a downlink speed, an acceleration at an acceleration uplink, and an acceleration at a deceleration downlink (joint calculation value); controlling the elevator operation according to a value of the mechanical operation parameter;
  • 28D Embodiment Description: The above 28A, 28B, and 28C are calculations of values (joint operation values) of mechanical operation parameters of the elevator inside the control system; and values of mechanical operation parameters by external and other systems are also allowed (joint operation) The calculation of the value) only needs to be calculated by the calculation method described in 28A, 28B, and 28C; the value of the mechanical operation parameter calculated by the external and other systems (joint operation value) is read; The value of the parameter controls the operation of the elevator;
  • the look-up table is also a calculation method, a table calculation;
  • Formula 28-4-1, formula 28-4-1, formula 28-5, formula 28-6, second association table, any formula in the first association table, and a table may be referred to as at least one of The mapping relationship between the parameters of the elevator's carrying quality and the mechanical operating parameters of the elevator;
  • Determining the value of the value of the mechanical operating parameter according to the carrying quality usually at a certain time, such as when the elevator is closed, before starting the lifting operation; of course, the value action can also be performed during the lifting process.
  • the value is chosen by the user.
  • controlling the elevator operation refers to controlling the elevator to meet the safety specification operation
  • the above content has solved the source of the safety value of the mechanical operation parameter for controlling the operation of the elevator, and analyzed how to control the elevator operation according to the preset value of the command and the upper limit threshold of the operation.
  • the following content will focus on how to perform the binning and how to perform the binning according to the grade. Or discrete values control elevator operation, the specific content is as follows:
  • the core purpose of the control scheme is to adjust the elevator uplink speed and downlink speed according to the carrier quality (current actual value) and the allowable value of the electric power; when the mechanical operating parameter is the uplink speed or the downlink speed, when the "at least two" When it is only two, it can be simply understood as a high speed value and a low speed value (high speed value > low speed value); when the "at least two" is only two, it can also be understood as two different speeds of the speed.
  • One high speed gear and one low speed gear have a corresponding value for each grade; (speed of high speed gear > speed of low speed gear);
  • the special agreement of the present invention is as follows: “at least two” does not include the case where the mechanical operating parameter is zero or the difference between the mechanical operating parameter value and zero is less than a predetermined value; the main purpose of the agreement is for the technical personnel in the industry. Easy to understand and operate, eliminate zero speed in "at least two".
  • a judgment threshold is set, that is, a third preset value. If the value of the carrier quality is greater than the third preset value, an instruction preset value of the uplink speed is output; for example, the carrier quality If the value is less than the third preset value, another different size command preset value of the uplink speed is output; for example, when the absolute value of the difference between the value of the carried item quality and the balance value is less than the third preset value, Using the high speed value as the command preset value of the up speed or the running upper limit threshold, or controlling the elevator to operate at the high speed; when the absolute value of the difference between the value of the carried item mass and the balance value is greater than or equal to the third preset Value, the low speed value is used as the command preset value of the up speed or the upper limit threshold, or the elevator is controlled to run at the low speed;
  • the three speeds can be simply understood as "high speed value, medium speed value, low speed value", the high speed value is greater than the medium speed value, and the medium speed value is greater than Low speed value; can also be understood as three different speeds of the speed, one high speed, one medium speed, one low speed, the high speed speed is greater than the middle speed speed, the middle speed speed is greater than the low speed speed; Two judgment thresholds (ie, the fourth preset value and the fifth preset value) are set, and the absolute values of the difference between the value of the carried item mass and the balance value are simply divided into three types: large, medium, and small.
  • Interval for example, the absolute value of the difference between the balance value and 0 can be set as the maximum difference, or the absolute value of the difference between the rated load and the balance value is set as the maximum difference; (0 ⁇ fourth preset value ⁇ The fifth preset value ⁇ maximum difference value, the "small” area is the interval from 0 to the fourth preset value, the "middle” area is the interval from the fourth preset value to the fourth preset value, and the "large” area is The interval from the fifth preset value to the maximum difference; when the absolute value of the difference between the value of the carried item quality and the balance value is "large" When the zone is used, the low speed value is used as the command preset value of the up speed or the upper limit threshold of the operation, or the elevator is controlled to run at the low gear; when the absolute value of the difference between the value of the carried item mass and the balance value is in the middle "In the zone, the medium speed value is used as the command preset value of the up speed or the upper limit threshold value, or the elevator is controlled to
  • the foregoing partitioning according to the third preset value, the fourth preset value, and the fifth preset value is merely an example, and is not limited; the user may adjust the preset values and self-zoning by referring to the manner;
  • the value of the mechanical operating parameter is substantially a plurality of discrete values
  • the elevator is based on the plurality of discrete values. Divided into multiple files for control.
  • the specific value of the value can be set according to the type test, a limited number of experiments, and a manual test.
  • the scheme is determined by the scheme, and can also be set by referring to any of the above mapping relationships (formulas or tables). All preset values in this paper can be determined according to the type test setting, limited number of experiments, manual trial and error methods.
  • the load condition of the elevator is called load balance;
  • the balance value is the absolute value of the difference between the weight mass value m3 and the no-load car mass value m0; since the balance value is usually half of the rated load weight m1_ena of the elevator, Therefore, load balancing can also be called half load;
  • the invention provides that when the quality value of the carried item is greater than zero and less than the first preset value (0 ⁇ m1 ⁇ first preset value), it is light load; when the quality value of the carried item is greater than or equal to the second preset value And is less than the rated load weight m1_ena of the elevator (the second preset value ⁇ m1 ⁇ m1_ena) is a heavy load;
  • the first preset value ⁇ the second preset value for example, the first preset value may take 0.5 times the balance value, and the second preset value may take 1.5 times the balance value; of course, the value is the first preset value,
  • the second preset value can be adjusted by the user; but in general, for the convenience of understanding, it is better to comply with the following mathematical rule: (0 ⁇ first preset value ⁇ balance value), (balance value ⁇ second preset value ⁇ m1_ena )
  • the allowable value of the downstream speed is lower than that of the load balance; and this value is subject to the absorption power of the electric power system to the braking power, and is independent of the power safety value Po_ena of the motor (usually equal to the rated power of the motor). ;
  • controlling the elevator operation in the present invention means “controlling the elevator to control the elevator to comply with safety specifications"
  • the compliance with the safety specification is at least one of the following safety conditions 1, safety conditions 2, and safety conditions 3;
  • Safety condition 1 The process as shown in embodiment 28A, the joint operation value of the mechanical operation parameter for controlling the operation of the elevator or the corresponding value of the gear (that is, the command preset value or the operation upper limit threshold) is a mechanical operation parameter.
  • a safety value the safety value of the mechanical operating parameter being calculated based on a parameter comprising at least a carrying mass (preferably a current actual value) and a source dynamic parameter (preferably a safety limit threshold) (as shown in embodiment 28A); It can be understood that it is safe to control the elevator operation with the safety value of the mechanical operating parameter;
  • Safety condition 2 According to the 28B, 28C, 28D scheme, the joint operation value of the mechanical operation parameter for controlling the elevator operation or the corresponding value of the grade (that is, the instruction preset value) is obtained by looking up the table or from the external and other systems. Or run the upper threshold) and verify from the result that the value is not greater than the safe value of the mechanical operating parameters;
  • the safety value of the mechanical operating parameter is calculated based on parameters including at least the carrying mass (preferably the current actual value) and the source dynamic parameter (preferably the safety limit threshold) (as shown in embodiment 28A); understandable It is safe to control the elevator operation with the value of the mechanical operating parameter;
  • Safety condition 3 the joint operation value of the mechanical operation parameter for controlling the operation of the elevator or the corresponding value of the gear (that is, the command preset value or the operation upper limit threshold) and the source corresponding to the carrying quality (current actual value)
  • the value of the dynamic parameter is not greater than the safety limit threshold of the source dynamic parameter; in the specific implementation manner, the value of the corresponding source dynamic parameter may be obtained by the above formulas 28-1, 28-2, 28-3-1, 28-3-2
  • the deformation formula of 28-4-1, 28-4-2 is calculated.
  • the elevator operation is controlled according to the joint operation value of the mechanical operation parameter or the corresponding value of the grade, and when the value of the carried item quality is greater than zero, that is, non-no-load operation, the following adjustment may be followed.
  • Speed regulation scheme 1 The allowable value of the upward speed of the elevator at light load or heavy load should be less than the allowable value of the upward speed at the time of load balancing;
  • Speed regulation scheme 2 The preset value of the upward speed of the elevator at light load or heavy load should be less than the preset value of the upward speed of the load balance time;
  • Speed regulation scheme 3 The upper limit threshold of the upward speed at light load or heavy load should be less than the upper limit threshold of the upward speed at load balance;
  • Speed regulation scheme 4 The allowable value of the descending speed of the elevator at light load or heavy load shall be less than the allowable value of the descending speed of the elevator at the time of load balancing;
  • Speed regulation scheme 5 The preset value of the downward speed command at light load or heavy load should be less than the preset value of the downward speed at load balancing;
  • Speed regulation scheme 6 The upper limit operating threshold of the down speed at light load or heavy load should be less than the upper limit threshold of the down speed at load balancing;
  • the identification of the presence or absence of personnel in the car can be identified by various means such as optical, infrared, video sensor, weighing, etc., and preferably combined by two or more modes.
  • the presence or absence of personnel in the car includes two conditions in the car, no one in the car, such as when the weighing result is zero and the infrared detection is unmanned, the current car can be identified;
  • the safety limit threshold of the source power parameter when there is no one in the car can be higher than the safety limit threshold of the time source power parameter in the car; therefore,
  • the allowable speed value (command preset value/operating upper limit threshold) when no one is in the car can be set to be larger than at light load, so that the elevator can be at a higher speed or higher when no one is in the car. Acceleration operation can greatly improve the operating efficiency of the elevator;
  • the higher operating efficiency of the present invention may include any of the following 35A1-1, 35A1-2, and 35A1-3:
  • 35A1-2 Directly increase the command preset value and/or the running upper limit threshold of the mechanical operating parameter.
  • the beneficial effect of the 35A1 solution of the present invention is that the elevator will often be in an unmanned state in the car. From the common sense, the safety factor can be correspondingly reduced when there is no one in the elevator; when there is someone in the elevator car, the safety factor of the elevator needs to be maintained. To ensure safety; through this 34A1 solution, the elevator can be operated at a higher speed or higher acceleration when no one is in the car, which can greatly improve the operating efficiency of the elevator.
  • the present invention also provides an elevator control system, comprising a control module (1);
  • the control module (1) is configured to: the mechanical operating parameters of the elevator are pre-set with at least two different grades, and the grade of the mechanical operating parameter is selected based on a parameter including at least the quality of the carried item of the elevator; or; Calculating a joint operation value of the mechanical operating parameter based on a parameter including at least the mass of the carried item of the elevator, the mechanical operating parameter having at least two combined operational values of different sizes when the mass of the carrying item varies from zero to the rated load. And controlling the elevator operation according to the joint operation value or grade of the mechanical operation parameter; the mechanical operation parameter includes any one or more parameters of an uplink speed, a downlink speed, an acceleration when the uplink is accelerated, and an acceleration when the vehicle is decelerated.
  • the corresponding value of the grade, the preset value of the command, and the upper limit of the operating limit of the mechanical operating parameter for controlling the operation of the elevator cannot be greater than the safe value of the mechanical operating parameter;
  • the safety value of the mechanical operating parameter is calculated based on parameters including at least the mass of the carried item (preferably the current actual value) and the source dynamic parameter (preferably the safety limit threshold); of course, the calculation can be performed in the internal system It can also be done in an external system;
  • the joint operation value is an instruction preset value.
  • the preset value of the upward speed of the elevator during light load or heavy load is less than the preset value of the upward speed when the load is balanced; and/or: when the load is light or heavy
  • the preset value of the speed command is less than the preset value of the downward speed of the load balance;
  • the parameter calculation based on at least the quality of the carried item including the elevator is specifically: according to the quality of the carried item including at least the elevator and the source dynamic parameter of the elevator Parameter calculation within;
  • the grade of the mechanical operating parameter is calculated based on a parameter including at least the mass of the carried item of the elevator, specifically: the grade of the mechanical operating parameter is based on at least Calculating parameters including the quality of the carried goods of the elevator and the source dynamic parameters of the elevator;
  • control system has any one or more of the following 38A1, 38A2, 38A3, 38A4, 38A5, 38A6, 38A7, 38A8, 38A9 scenarios:
  • the value of the quality of the carried item is calculated based on electrical power parameters
  • the value of the quality of the carried item is calculated based on the energy balance of the prior elevator operation
  • the controlling the elevator operation comprising setting the mechanical operating parameter according to the joint operation value Command preset value or operating upper limit threshold;
  • the value of the quality of the carried item is the current actual value, and the value of the source dynamic parameter is a safety limit threshold.
  • the value of the mechanical operating parameter is calculated based on the mass of the carried item and the source dynamic parameter of the elevator;
  • the calculation is an elevator operation energy balance calculation; the elevator operation energy balance calculation is associated with an elevator running direction;
  • the obtaining the value of the mechanical operating parameter comprises: obtaining a value of an input parameter of the elevator; the input parameter is a parameter required to calculate a value of the mechanical operating parameter; The value of the input parameter calculates the value of the mechanical operating parameter.
  • Hierarchical cross-field electromechanical combination of elevator operation energy balance calculation in the complex elevator operation energy balance calculation, it also needs to be related to the elevator running direction, motor working condition correlation 1, motor working condition correlation 2, motor working condition correlation 3, motor working condition correlation 4, speed change correlation 1, speed change association 2, etc.
  • Correlation calculation need to overcome many industry biases, need to carry out a lot of creative analysis and research, it is possible to obtain a mechanical operating parameter that meets safety regulations (upward speed, down speed, acceleration when accelerating up, acceleration at deceleration down or Multiple parameters) safe and efficient control of elevator operation;
  • the inertial thinking in the industry may think that the elevator speed is not suitable for adjustment. It may be considered that the high speed will damage the safety, and the fast running speed may easily lead to the steel wire rope breaking, which are all industry biases; industry bias may consider the elevator ascending speed, The downstream speed can be divided, and it is not necessary to distinguish between the electric motor state and the motor braking state; even if the motor braking state is distinguished, it may be considered that the higher the braking state is, the higher the power generation is, the better;
  • the control method of the elevator provided by the present invention has the core purpose as the effect: overcomes many technical problems and overcomes industrial prejudice; and analyzes the formulas of formulas 28-1, 2, 3, and 4 provided by the present invention, and is accurate Differentiate the energy flow of the elevator to the working conditions (such as elevator ascending, descending, electric state, motor braking state, etc.) and then calculate the safe value of the running speed according to the current carrying item mass m1; when the elevator goes up/down, the basic The calculation limit structure is different.
  • the safety limit threshold of the electric state electric power is usually the minimum rated power value among the power source, the motor driver and the motor.
  • the safety limit threshold of the electric power in the motor braking state is usually the power source, the motor driver and the motor.
  • the safety limit threshold of each electrical power may have a large difference; if the elevator is not distinguished
  • the speed adjustment of the energy flow to the blind condition of the working condition not only fails to adjust the speed, but also causes the elevator to operate unsafely; even in the Motor braking state, if the speed is too high, the braking power will exceed the absorption capacity of the electric power system, which will cause the bus voltage in the inverter to rise/easy to cause the fault/explosion.
  • the stress is greater than the safety threshold (such as the wire rope pulling force is greater than the breaking stress and breaking, such as the instantaneous torque overrun / shear stress overrun causes the drive shaft to break, the gear burst, etc.); when accelerating the upward movement, or when decelerating down,
  • the safety threshold such as the wire rope pulling force is greater than the breaking stress and breaking, such as the instantaneous torque overrun / shear stress overrun causes the drive shaft to break, the gear burst, etc.
  • the safety threshold such as the wire rope pulling force is greater than the breaking stress and breaking, such as the instantaneous torque overrun / shear stress overrun causes the drive shaft to break, the gear burst, etc.
  • the safe running speed and/or acceleration of the elevator can be accurately set, which plays an important role in improving the operating efficiency of the elevator and improving the safety performance of the elevator operation; It has become the basic equipment in modern life.
  • the elevators of the same number and the same type if using this control method and system, can control the elevator operation efficiently on the basis of ensuring safety, that is, let the elevator run faster. More reasonable; shorten the waiting time of passengers, take the elevator time, reduce the passenger's use time and use cost; if the same amount of transportation is guaranteed, the safety of the elevator, the number of uses, the frequency of use can be reduced, and the elevator can be greatly reduced.
  • the consumption of space resources, equipment funds and electricity in buildings is conducive to environmental protection, energy conservation and consumption reduction.
  • the fifth technical problem to be solved by the present invention is to provide a monitoring method for an elevator operating parameter overrun to be used in an elevator. Improve safety during operation;
  • the present invention further provides a monitoring method (#3) for an elevator operating parameter overrun, comprising the steps of: acquiring a joint operation value of the source power parameter of the elevator, and determining whether the joint operation value exceeds the source dynamic parameter. System preset or safety limit threshold; the joint operation value is calculated based on the elevator operating energy balance.
  • the preset value of the system can be selected according to the actual demand, but generally satisfies: 0 ⁇ system preset value ⁇ source power parameter Safety limit threshold.
  • the source power parameter is the pulling force of the wire rope of the elevator
  • the preset value of the system may be the normal value (ie, the rated value or the calibration value) of the pulling force of the wire rope, which is usually passed the type test, or the manufacturer, or the professional.
  • the detection mechanism is given; the system preset value can also be used as the ideal value required by the user on site and confirmed on site; the system preset value can also be the safety limit threshold value ⁇ 80% value; once the joint operation value of the tensile force of the wire rope exceeds the safety limit threshold value, Then the source power parameters are exceeded.
  • system preset value may also be set to multiple to achieve the grading parameter overrun; for example, the normal value of the tension of the wire rope is taken as the first system preset value (assuming that the value is 50% ⁇ the tension of the wire rope) Safety limit threshold); set the safety limit threshold of the pulling force of 85% ⁇ wire rope to the second system preset value;
  • the protection measures such as emergency speed limit, acceleration limit, stop, prohibition of operation, and alarm signal can be activated;
  • the red light may be illuminated at this time to indicate that the warning source power parameter is in the second overrun range
  • the yellow light may be illuminated at this time to indicate that the warning source power parameter is in the first overrun range
  • the green light may be illuminated at this time to indicate that the source power parameter is not exceeded.
  • the system operating parameters required in the elevator running energy balance calculation include speed and/or acceleration, and the speed and/or acceleration The value is set according to the preset value or the measured value of the command; the energy balance calculation of the elevator running is associated with the running direction of the elevator.
  • the monitoring method (#3) satisfies any one or more of the following conditions 42A1, 42A2, 42A3, 42A4, 42A5, 42A6, 42A7, 42A8:
  • the parameters participating in the calculation of the energy balance calculation of the elevator include an efficiency coefficient;
  • the efficiency coefficient is adjusted according to the operating condition of the motor
  • the source power parameter is electrical power
  • the electrical power is set according to a motor operating condition
  • the parameter participating in the calculation of the elevator running energy balance includes friction correlation data of the mechanical rotating member
  • the joint operation value of acquiring the source dynamic parameter of the elevator in the monitoring method (#3) includes the following steps: acquiring a value of an input parameter of the elevator; and the input parameter is calculating the joint operation value a parameter of the requirement; calculating the joint operation value according to the value of the obtained input parameter.
  • the present invention further provides a monitoring system (#3) for an elevator operating parameter overrun, comprising a source power parameter overrun monitoring module (2), configured to: determine whether the joint operation value exceeds the source dynamic parameter System preset or safety limit threshold; the joint operation value is calculated based on the elevator operating energy balance.
  • a monitoring system (#3) for an elevator operating parameter overrun comprising a source power parameter overrun monitoring module (2), configured to: determine whether the joint operation value exceeds the source dynamic parameter System preset or safety limit threshold; the joint operation value is calculated based on the elevator operating energy balance.
  • It may further comprise a joint operation value detecting module (1) for acquiring a joint operation value of the source power parameters of the elevator to provide a joint operation value in the source power parameter overrun monitoring module (2).
  • the system operating parameters required in the elevator running energy balance calculation include speed and/or acceleration, and the values of the speed and/or acceleration are set according to preset or measured values of the command;
  • the elevator running direction is associated;
  • the monitoring method (#3) is a technology rooted in the same idea as the control method of the foregoing elevator, and it can be understood that the monitoring method (#3) is the aforementioned control method of the elevator. Inverse operation; the solution is applicable to locations where the speed and/or acceleration of the elevator is not required and/or not allowed to be actively adjusted;
  • the integrated tension of the wire rope can be predicted according to the default value of the system of the counterweight mass and the preset value of the acceleration when the acceleration is up or down. Whether it is overrun; when the energy balance calculation of the elevator operation includes the mass of the carried item, the value of the quality of the carried item is a current value or a preset value; the wire rope can be predicted under the setting conditions of various carrying item quality Whether the combined tension or the torque of the rotating machine will exceed the limit.
  • the acceleration in the preset value of the command can be directly read; when the motor driver (such as the frequency converter) does not have the direct acceleration control function, the motor drive can be driven through the motor.
  • the preset value of the command that the actuator has issued and is ready to execute (known current frequency (ie, current speed), set target frequency (ie target speed), set acceleration/decel run time, set acceleration and deceleration The slope of the curve) gives the acceleration of the preset value of the command; in general, the command preset value of the speed can be easily read from the motor driver.
  • Embodiment 1 of the monitoring method (#3) provided by the present invention is a diagrammatic representation of Embodiment 1 of the monitoring method (#3) provided by the present invention:
  • Embodiment 2 of the monitoring method (#3) provided by the present invention is a diagrammatic representation of Embodiment 2 of the monitoring method (#3) provided by the present invention:
  • Embodiment 3 of the monitoring method (#3) provided by the present invention is a diagrammatic representation of Embodiment 3 of the monitoring method (#3) provided by the present invention:
  • the source power parameter overrun processing mechanism is similar to the energy transfer exception processing mechanism, and may include but is not limited to: voice prompt alarm, sound and light alarm, and alarm information. Output to the human-computer interaction interface, network system, connection port, etc. in the car; emergency stop; etc.; machine system and manual can be combined to set various processing actions.
  • the determined information includes a determination result according to whether the joint operation value of the source dynamic parameter exceeds a safety limit threshold of the source dynamic parameter, if an external system requires
  • the information may further include any one or more of the joint operation value of the source dynamic parameter and the safety limit threshold of the source dynamic parameter;
  • This program includes the following steps:
  • the preset value of the instruction (that is, the control instruction, the target value) may be determined to be incorrect, and if the instruction is executed, the instruction may be generated. (such as the wire rope exceeds the breaking stress, or the gear is damaged, or the electrical power system is damaged) safety risk; at this time, the system can output a warning signal, or forcibly cut off the execution of the command, or forcibly stop; in a sense, prevent The role of future (not yet occurring, but will occur) security risks is of great importance to the safe operation of elevators.
  • the warning signal is output; whether (1) the scheme predicts whether the upcoming control command (that is, the manual or the system issues the command) causes the future security risk to be different; (2) the scheme monitors whether there is currently a parameter super Limited safety risks; also important for the safe operation of elevators.
  • Obtaining a preset value of the quality of the carried item of the elevator obtaining (by measurement) a current value of the running speed and/or acceleration of the elevator; and a current value of the preset value, running speed and/or acceleration based on the acquired quality of the carried item Value calculation (check table calculation or elevator operation energy balance calculation) joint operation value of the source dynamic parameter, the joint operation value of the source dynamic parameter is substantially the current value (set according to the preset value of the quality);
  • This program includes the following steps:
  • Obtaining a preset value of the quality of the carried item of the elevator obtaining a preset value of the running speed and/or acceleration of the elevator; calculating based on the preset value of the obtained item quality, the running speed and/or the preset value of the acceleration (check Table calculation Or the elevator operation energy balance calculation) the joint operation value of the source power parameter, determining whether the joint operation value exceeds the safety limit threshold/system preset value of the source dynamic parameter;
  • This solution is usually used to make reasonable predictions of motion planning, delivery quality, operating speed and/or acceleration; it can promote the efficiency of elevator operation.
  • the invention provides a monitoring method and system for elevator running parameter overrun (#3): the current elevators are all controlled by microcomputer, and the speed and/or acceleration of the elevator running are preset by software instructions.
  • the prediction and judgment of the source dynamic parameters can be predicted and predicted before the execution of the preset values of the speed and/or acceleration (to be performed but not yet occurred). Whether it will exceed the limit, in a sense to prevent future risks, is of great significance for the safe operation of elevators.
  • the sixth technical problem to be solved by the present invention is to monitor an elevator, and the monitoring method comprises the following steps:
  • the electronic device in the monitoring method is typically a display;
  • the portable personal consumer electronic product includes a mobile phone, a palmtop computer, a smart watch, a smart bracelet, a digital camera, a game machine, etc.;
  • the invention outputs on the human-machine interface
  • the joint operation value includes a display operation and/or a voice prompt joint operation value in any one or more of a text, an image, a sound, a voice, and the like;
  • the human-machine interface of the hall door in the present invention is disposed on the elevator hall door.
  • a human-machine interface in the vicinity thereof, the human-machine interface can be used to send any one or more kinds of information such as text, image, sound, voice, etc. to the passenger waiting for the elevator at the hall door.
  • the obtaining in the solution may include receiving a joint operation value of the measurement object sent by the external device by using a wireless receiving manner, or receiving a joint operation value of the measurement object sent by the external device through a wired manner such as a USB or a CAN bus;
  • the elevator operating parameters can also be directly received by wired/wireless method, and then the received elevator mass, source power parameters, system operating parameters, and then calculated in the elevator operating energy balance calculation principle are used in the electronic device.
  • the joint operation value of the measured object
  • the beneficial effects of the technical solution compared with the existing car weighing method and result in the car, the significance of observing the safe operation state of the elevator during the elevator lifting operation is weak; comprehensively, the monitoring method provided by the present invention, choose a special data acquisition method (the data calculated according to the energy balance of the elevator operation includes the condition of the energy transfer system of the elevator, that is, the safety status of the elevator operation), displayed in a special place (electronic equipment and/or portable in the car) Personalized consumer electronics and/or the human-machine interface of the elevator door, thereby achieving an unexpected special safety effect, especially when selecting a particular display object such as the quality of the elevator (especially the quality of the carried item therein); It helps the passengers in the elevator or the door to directly judge whether the elevator is running normally in a very intuitive way.
  • a special data acquisition method the data calculated according to the energy balance of the elevator operation includes the condition of the energy transfer system of the elevator, that is, the safety status of the elevator operation
  • the elevator passenger when the quality of the goods carried in the elevator quality is used as the calculation object, it helps the elevator passengers to pass the electrons.
  • the joint operation value of the passenger's weight displayed on the device directly determines whether the elevator is currently running normally; for example, when the above line speed and/or the down speed are used as the measurement targets, the elevator passenger can help the elevator passenger to observe the uplink speed displayed on the electronic device and/or Or the combined value of the downstream speed and the actual value of the elevator upstream speed and/or the downstream speed or Setting, direct current determines the elevator is operating normally; therefore the technical solution as compared to the prior art is also an important step forward.
  • the actual value of the measurement object is also output, and the electronic device and/or the portable personal consumer electronic product and/or the hall door of the elevator are simultaneously in the car with the joint operation value. Displayed on the display unit.
  • the implementation description and the beneficial effects of the technical solution simultaneously display the joint operation value and the actual value of the measurement object on the display interface of the electronic device in the same space, so as to facilitate the more intuitive comparison and judgment of the passengers.
  • the elevator operation energy balance calculation satisfies any one or more of the following 45A1, 45A2, 45A45, 45A4, 45A5, and 45A6, and the functions of the technical conditions can be referred to the above. 3A1-3A6.
  • the parameters participating in the calculation of the energy balance calculation of the elevator include an efficiency coefficient;
  • the calculation method of the efficiency coefficient is adjusted according to the operating condition of the motor
  • the parameters participating in the calculation of the energy balance calculation of the elevator include the frictional force between the object and the car in the guide rail and/or the elevator shaft;
  • the type setting of the electrical power is performed according to a motor operating condition
  • the parameters involved in the energy balance calculation of the elevator operation include friction correlation data of the mechanical rotating parts.
  • the measurement object is one or more parameters that have been output on the human-machine interface on the electronic device and/or the portable personal consumer electronic product and/or the hall door.
  • the portable personal consumer electronic product includes any one or more of a mobile phone, a smart watch, and a smart wristband.
  • the mobile phone, the smart watch, the smart wristband have the characteristics of being widely carried by the passengers, and monitoring on the same, which has better portability than other products, and can be greatly improved.
  • the measurement object is elevator mass (especially the mass of the carried item therein) and/or the upstream speed and/or the descending speed and/or the object and the car in the guide rail and/or the elevator shaft. Friction force f0 and / or efficiency coefficient.
  • the elevator quality (especially the quality of the carried goods therein) is most familiar and concerned by the elevator passengers, and is special for visual monitoring. Meaningful parameter; at any time, outputting the value of the carrying quality (to the man-machine interface in the car and/or the man-machine interface of the hall door) helps the elevator passenger to recognize at a glance whether the elevator is running normally, for the elevator Safe operation is of great significance; for example, when a passenger weighing 75 kg enters the elevator car, if the man-machine interface in the elevator car shows that the mass of the carried item is 200kg, such as a calf, or 20kg as light as a small sheep, the passenger can immediately recognize the
  • the energy transfer system of the elevator that is, the core components that drive the elevator operation, such as the electric power system, the wire rope traction system, the friction condition of the guide rail and the car, etc.
  • the energy transfer system of the elevator that is, the core components that drive the elevator operation, such as the electric power system, the wire rope traction system, the friction condition of the guide
  • the passenger is one person weighing 75kg. If the man-machine interface elevator of the hall door shows that the quality of the carrying item is 200kg, such as a calf, or 20kg as light as a small sheep, the passenger waiting for the elevator at the hall door can immediately identify it. Whether the energy transfer system of the elevator is normal or not, whether the elevator is safe, and taking corresponding measures (such as refusing to enter the elevator, or reporting an elevator abnormality to the service organization, etc.);
  • the uplink speed and/or the downlink speed can directly sense the actual speed; these parameters are all convenient to improve the effect of the elevator passengers to intuitively monitor the elevator running condition, and help to improve the safety performance;
  • the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is the core information of the safe operation of the elevator, and is a technical point neglected by the prior art; convenient for monitoring whether the occupant is stuck between the car and the elevator shaft Key information such as the friction condition of the object and the car in the guide rail and/or the elevator shaft; the elevator service personnel or passengers can quickly and easily know which guide rail is severely deformed and the resistance is increased.
  • the present invention also provides a monitoring system for an elevator, comprising:
  • a monitoring processing module configured to obtain a joint operation value of the measurement object; output the joint operation value to display on the human-machine interface of the electronic device and/or the portable personal consumer electronic product in the car and/or the hall door of the elevator And/or: displaying the joint operation value of the measurement object on the human-machine interface of the electronic device in the car and/or the portable personal consumer electronic product and/or the hall door of the elevator, the measurement object is the elevator operation of the elevator Any one or more of the parameters, the joint operation value is calculated based on the energy balance of the elevator operation.
  • a parameter acquisition module may be further included for acquiring the joint operation value for being provided to the monitoring processing module for output.
  • the monitoring processing module is further configured to output an actual value of the measurement object to simultaneously be in the car with the combined operation value of the electronic device and/or the portable personal consumer electronic product and/or the elevator. Displayed on the display unit on the hall door.
  • the monitoring system corresponds to the above monitoring method, and the above method provided in the monitoring method can be applied to the monitoring system.
  • the invention provides a monitoring method and system (#1) for an elevator during lifting operation, an elevator load monitoring method and system (#2), an elevator control method and system, and an elevator operating parameter
  • the core inventive idea of the system is related to: a scheme for acquiring the joint operation value of the measurement object of the elevator, and the joint operation value is calculated based on the energy balance calculation of the elevator operation, and the energy balance calculation of the elevator operation is associated with the running direction of the elevator;
  • the invention provides a monitoring method and system (#1) for elevator lifting operation, and the core idea is to compare the joint operation value of the measuring object of the elevator with the reference data; the first reference value in the reference data is required to be as close as possible
  • the actual value of the object such as the quality of the carried item
  • the first reference value can be much smaller than the safety limit threshold of the parameter (such as the maximum legal load of the elevator); for example, when 4 people take the elevator (assuming each person weighs 75kg), the normal name is The weight result should be 300kg.
  • the safety processing mechanism can be started immediately; to realize the abnormality of elevator energy transmission caused by the reason that the person is stuck between the car and the elevator shaft.
  • the monitoring method and system (#1) can usually work in real time when the elevator is running up and down;
  • the invention provides a method and system for monitoring elevator load (#2), the core idea is that the combined operation value of the quality of the carried goods of the elevator is compared with the safety limit threshold, for example, when the mass of the carried item is greater than 1.0 times the elevator
  • the maximum legal load (assuming 14 people / 1050kg) is to initiate a voice alarm to remind the passengers to reduce the quality of the carrier/item; even if the actual 4 passengers take the elevator / the normal weighing result should be 300kg, but when the weighing system is called
  • the amount is 1000kg, the traditional elevator control system will still consider the elevator's energy transfer system to work properly.
  • the elevator load monitoring method and system (#2) can work intermittently at a certain time (such as when the elevator runs at zero speed), and can also monitor the work continuously/real time during elevator lifting operation.
  • the former (the monitoring method and system (#1) of the elevator lifting operation) provided by the present invention is much higher than the latter in the elevator lifting operation (a type of elevator load monitoring) Method and system (#2)), of course, the latter can achieve weighing and overload monitoring before the elevator runs at zero speed; it can play a necessary supplementary role for the former, and still has important significance.
  • the invention provides a method and a system for controlling the operating efficiency of an elevator.
  • the core idea is to set the permission value of the mechanical operating parameters of the elevator (such as the maximum speed allowed, the highest acceleration), or the mechanical operating parameters of the elevator have exceeded the permissible value.
  • Time limit control (such as overspeed, super acceleration) for control and protection, such as speed limit, acceleration limit, alarm, shutdown, etc.;
  • the control method and system, the core purpose is elevator efficient, energy saving control.
  • the present control method and system when used for planning of target speed and/or target acceleration, may be intermittently operated after acquiring the mass of the vehicle and at some time before the high speed operation; when used for the speed threshold and/or the acceleration threshold When the limit is controlled, it can also work continuously/real time when the elevator is running up and down;
  • the invention provides a monitoring method and system (#3) for an elevator operating parameter overrun, and the core idea is to calculate a joint of source power parameters according to an instruction preset value of speed and/or acceleration (to be executed but not yet occurring). Whether the calculated value, prediction and judgment (such as electric power or wire rope tension) will exceed the limit, in a sense, has the effect of preventing future risks; the control method and system, the core purpose is the elevator operation safety control.
  • the monitoring method and system (#3) can work before the elevator runs, predict whether the source power parameters will exceed the limit according to the preset value of the speed and/or acceleration command; or can work continuously/real time during the elevator running,
  • the source dynamic parameter overrun prediction is performed on each of the command preset values of the speed and/or acceleration to be executed.
  • the ideal control method of the elevator can be: selecting the safety limit valve of the electric power/power generation feedback power/or the energy consumption braking power in the electric state according to the motor operating condition (electric/motor braking state) in the elevator energy flow direction. Value, and then set the elevator running speed according to the safety limit threshold of the electrical quantity of the goods and the electrical power of the motor operating conditions (refer to the above 28A-1 scheme), set the core with safety and high speed; the setting of the running acceleration is Can refer to the above 28A-2 scheme, with strict safety as the core (ensure that the acceleration does not cause mechanical stress to exceed the limit, and does not cause broken rope, transmission shaft/gear damage);
  • the operating speed of the elevator can be set to greatly improve the operating efficiency of the elevator.
  • the number of elevator installations can be reduced, thereby saving
  • the installation cost, manufacturing cost, maintenance cost and power consumption of the idle elevator have significant energy conservation and environmental protection significance.
  • the jerk J of the elevator that is, the setting parameter of the S degree of the acceleration/deceleration S curve, is related to the comfort of the human body; when the jerk J is too large, the acceleration and deceleration stress that the human body is subjected to is too large to cause discomfort or even no Safety
  • the jerk J can be set according to the national or related industry regulations; when the elevator speed, acceleration, and jerk J have been set, the elevator can run on the ideal S curve to achieve efficient, safe and comfortable operation;
  • the system can further set the ideal deceleration distance;
  • the S curve deceleration operation can be divided into three sections (initial deceleration phase S5, uniform deceleration phase S6, final deceleration phase S7);
  • the acceleration value of phase S6 is 0, and the acceleration is the set safety limit threshold;
  • the time of S5 and S7 can be obtained by dividing the acceleration permission value by the absolute value of the permissible value of the jerk; because each segment of S5, S6, S7 The speed value and time can be obtained, so the deceleration distance can be accurately known.
  • the invention provides a method for obtaining the value of an elevator operating parameter, a monitoring method for an elevator during lifting operation, a monitoring method for an elevator load, an elevator control method, and an overrun monitoring of an elevator operating parameter.
  • the method, an elevator monitoring method can be operated in a separate device or integrated into an existing central controller, or a motor drive, or a human-machine interaction interface in the car.
  • the invention provides an estimation system for elevator operating parameters, a monitoring system for elevators during lifting operation, a monitoring system for elevator loads, a control method for elevator operating efficiency, and a monitoring of elevator operating parameter overruns.
  • the system, an elevator monitoring system can exist as a stand-alone device or integrated into an existing central controller, or a motor drive, or a human-machine interface in the car.
  • the technical solution provided by the invention can basically be realized when the new hardware cost is zero, can greatly improve the safe running coefficient of the elevator, and is beneficial to guarantee the safety of the life and property of the elevator occupant; or can greatly improve the elevator operating efficiency and save Cost and power consumption have significant energy conservation and environmental protection significance.
  • Elevator operation energy balance calculation can be regarded as a unique data in itself
  • the invention deeply studies the relationship between “elevator running energy balance calculation” and “elevator operation safety”, and Based on the data acquired by “Elevator Operation Energy Balance Calculation” as a key technical means to construct a variety of monitoring systems or processing systems, thereby achieving a major breakthrough in elevator operation safety technology; this is also an important creative point of the inventive idea;
  • the invention makes an in-depth study on “elevator operation energy balance calculation” and “elevator operation safety”, and proposes that a certain parameter is used as a calculation object, and the data obtained by “elevator operation energy balance calculation” (joint operation value) is obtained, which is different from By comparing the reference data set by the route or different time, and judging whether the power transmission status of the elevator is abnormal, as a key technical means to construct the monitoring system, thereby realizing a major breakthrough in the safety technology of the elevator operation; this is also the idea of the present invention. An important creative point;
  • the invention analyzes the influence of the data (especially the inherent parameters of the system) in the energy balance calculation of the elevator on the operation safety of the elevator, and deeply studies the scientific laws therein; and proposes the inherent parameters of the system (such as the guide rail and/or the elevator shaft) The friction between the medium object and the car f0, etc.) as a key object to construct the monitoring system as a key technical means, thus achieving a major breakthrough in the safety technology of the elevator operation; this is also an important creative point of the inventive idea;
  • the electrical power parameters are used as the source dynamic parameters in the energy balance calculation of the elevator, which brings significant advantages in cost, sensitivity, accuracy and other performance, that is, a significant impact on the elevator operation safety monitoring system (cost performance, sensitivity, accuracy). Breakthrough; this is also an important creative point of the inventive idea;
  • a plurality of scientific reference setting schemes (such as the actual measurement mode, the self-learning mode, and the calibration mode) are formulated, thereby constructing a complete and automatic energy transfer abnormality.
  • the invention aims at calculating the data calculated by the energy balance calculation of the elevator operation (that is, the joint operation value), and performs in-depth research on the influence of the elevator operation safety on the occasion of different occasions; the data calculated by using the energy balance calculation of the elevator operation as a principle It is displayed in the device or area that is convenient for visual observation of the passengers in the vehicle, which will significantly improve the safety monitoring performance of the elevator; this is also an important creative point of the inventive idea;
  • the invention is based on the calculation of the energy balance calculation of the elevator operation (that is, the joint operation value), and can be used as a historical record original value, and one or two data can be used to clearly reflect the safety status of the elevator, avoiding useless purposes. Untargeted, confusing big data to measure the cost increase and lack of performance brought by elevator safety conditions Lost; this is also an important creative point of the inventive idea;
  • the invention is directed to the data characteristics of various data (such as rolling resistance coefficient, power plant operating condition, operating environment information, and even the unique point brought by the elevator quality as the display object in the elevator operation), and the safety monitoring performance of the elevator operation
  • various data such as rolling resistance coefficient, power plant operating condition, operating environment information, and even the unique point brought by the elevator quality as the display object in the elevator operation
  • the safety monitoring performance of the elevator operation The impact of the in-depth study, and thus propose various optimization programs; this is also an important creative point of the idea of the present invention.
  • the elevator in the present invention may also be referred to as an elevator, especially an electric drive elevator, especially suitable for a lift with counterweight; all the technical solutions, methods and systems of the present invention can be used in the field of elevators;
  • "elevator” and “elevator” can be directly replaced, for example, “elevator operating parameter” can be replaced by “elevator operating parameter”, for example, “elevator quality” can be replaced by “elevator quality”, for example, “elevator running energy balance” It can be replaced with "elevator running energy balance", for example, "car” can be replaced with “item loading mechanism” and the like.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Elevator Control (AREA)

Abstract

L'invention concerne un procédé et un système pour l'acquisition de paramètres, la commande, le fonctionnement et le contrôle de charge pour un ascenseur, lequel procédé met en œuvre : l'obtention d'une valeur d'un paramètre d'entrée d'un ascenseur quand l'ascenseur monte ou descend ; et le calcul d'une valeur de fonctionnement conjointe pour un objet à mesurer et à calculer de l'ascenseur en fonction de la valeur du paramètre d'entrée, l'objet à mesurer et à calculer étant l'un quelconque de paramètres parmi un poids, un paramètre de puissance source et un paramètre de fonctionnement de système de l'ascenseur, le paramètre d'entrée étant un paramètre requis pour le calcul de la valeur de fonctionnement conjointe de l'objet à mesurer et à calculer de l'ascenseur, et le calcul comprenant le calcul pour un équilibre d'énergie de fonctionnement d'ascenseur. Pendant le calcul, un autre paramètre est calculé en fonction de données comprenant au moins deux quelconques des paramètres parmi le poids, le paramètre de puissance source et le paramètre de fonctionnement de système de l'ascenseur. Le procédé accroît la plage applicable des paramètres de l'ascenseur.
PCT/CN2015/097059 2014-12-11 2015-12-10 Procédé et système pour acquisition de paramètres, commande, fonctionnement et contrôle de charge pour ascenseur WO2016091198A1 (fr)

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PCT/CN2015/097062 WO2016091199A1 (fr) 2014-12-11 2015-12-10 Procédé et système d'acquisition, de commande, et de surveillance de course et de charge d'un paramètre d'ascenseur

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