WO2017097261A1 - Procédé et système pour la mise en œuvre de l'acquisition, de la commande, de la surveillance de fonctionnement et de charge sur des paramètres d'ascenseur - Google Patents

Procédé et système pour la mise en œuvre de l'acquisition, de la commande, de la surveillance de fonctionnement et de charge sur des paramètres d'ascenseur Download PDF

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Publication number
WO2017097261A1
WO2017097261A1 PCT/CN2016/109329 CN2016109329W WO2017097261A1 WO 2017097261 A1 WO2017097261 A1 WO 2017097261A1 CN 2016109329 W CN2016109329 W CN 2016109329W WO 2017097261 A1 WO2017097261 A1 WO 2017097261A1
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Prior art keywords
elevator
value
parameter
parameters
calculation
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PCT/CN2016/109329
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English (en)
Chinese (zh)
Inventor
冯春魁
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冯春魁
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Priority claimed from CN201510919569.2A external-priority patent/CN105600627A/zh
Application filed by 冯春魁 filed Critical 冯春魁
Publication of WO2017097261A1 publication Critical patent/WO2017097261A1/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
    • B66B1/02—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

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 a method and system for improving the acquisition, control, operation and load monitoring of elevator parameters.
  • 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 the elevator operation parameters, and the elevator operation energy balance calculation is performed according to a formula describing the power of the elevator and the related force balance formula or a variant thereof; the related force includes the elevator car
  • the total mass corresponds to the gravity and/or the gravity corresponding to the weight.
  • 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, the measurement object is any one of the elevator operation parameters, and the elevator operation energy balance is calculated according to the description of the power of the elevator The calculation is performed with the associated force balance formula or its variant formula; the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the counterweight mass.
  • the present invention provides a monitoring method (#1) for an elevator during a lifting operation, comprising the steps;
  • the value is calculated based on the energy balance of the elevator operation; the calculation of the energy balance of the elevator operation is calculated according to a formula describing the dynamics of the elevator and the associated force balance or a formula of the deformation thereof; the related force includes the total mass of the elevator car. Gravity and/or gravity corresponding to the mass.
  • 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 Or a plurality of, the joint operation value is calculated based on an elevator running energy balance; the elevator running energy balance is calculated as a calculation according to a formula describing a power of the elevator and a related force balance or a formula thereof; the correlation The force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the counterweight.
  • the present invention also provides an elevator load monitoring method (#2).
  • the monitoring method includes the following steps. :
  • the force parameter is calculated as a calculation based on a formula describing the dynamics of the elevator and the associated force balance or a variant thereof; the associated force includes gravity and/or counterweight corresponding to the total mass of the elevator car Mass corresponding gravity
  • 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 joint operation value obtaining 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 calculation of the elevator operation, and the calculation of the energy balance calculation of the elevator operation
  • the source dynamic parameter of the demand is an electric power parameter or a dynamic parameter of the mechanical rotating part
  • the elevator running energy balance is calculated as a calculation according to a formula describing the dynamics of the elevator and the associated force balance or a formula of the deformation thereof; the related force Including the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the counterweight mass
  • 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 different sizes Combining the operation value; controlling the elevator operation according to the joint operation value or the grade of the mechanical operation parameter; the mechanical operation parameter includes any one or more of an uplink speed, a downlink speed, an acceleration when the acceleration is accelerated, and an acceleration when the vehicle is decelerated parameter.
  • the present invention also provides a monitoring method (#3) for an elevator operating parameter overrun, comprising the steps of:
  • the elevator operating energy balance is calculated as a calculation based on a formula describing the power of the elevator and the associated force balance or a variant thereof; the associated force includes gravity and/or counterweight mass corresponding to the total mass of the elevator car Corresponding gravity.
  • 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
  • the calculation of the elevator operating energy balance is performed according to a formula describing the dynamics of the elevator and the associated force balance or a formula of its deformation; the related force includes the gravity and/or the counterweight mass corresponding to the total mass of the elevator car The corresponding gravity.
  • 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, the measurement object is any one or more parameters of the elevator operating parameters of the elevator, and the joint operation value is calculated by using an elevator running energy balance; the elevator running energy balance is calculated according to the description of the elevator power
  • the calculation is performed with the associated force balance formula or its variant formula; the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the counterweight mass.
  • 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 parameters of the parameter, wherein the joint operation value is calculated by an elevator operation energy balance; the elevator operation energy balance calculation is performed according to a formula describing a power balance of the elevator and a related force balance or a formula thereof The calculation; the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the counterweight.
  • 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 during a lifting operation according to Embodiment 6 of the present invention
  • Figure 3 is a schematic view showing the mechanics of the elevator car of the present invention running vertically upward;
  • Figure 4 is a mechanical schematic view of the elevator car of the present invention running vertically downward.
  • the data is the value, and the data is equivalent to the value; for example, the joint operation data is equivalent to the joint operation value, the measured value is equivalent to the measured data, the command value is equivalent to the command data, the preset data is the preset value, and the system preset data is That is, the system preset value, the manual preset data, that is, the manual preset value, the system default data, that is, the system default value, the fuzzy algorithm data, that is, the fuzzy algorithm value, the historical record data, that is, the historical record value, that is, the historical data, the historical value, etc.;
  • the meaning of the direct combination of a plurality of well-known names is equivalent to the meaning of the connection of the words of the plurality of publicly-known words plus a "word", for example, the measured data is the measured data, and the preset data is preset.
  • joint operation data that is, joint operation data (ie, The data obtained through joint operations), the state of energy transfer, that is, the state of energy transfer, etc.; and so on, all nouns can be understood In this manner the reasoning income.
  • the joint operation value is the estimated value, that is, the estimated value;
  • the calculation rule that is, the rule, that is, the corresponding relationship, that is, the model, is a formula; in the present invention, it is equivalent to based on (that is, passing or passing); according to the data B setting data A or data A is set based on the data B, It can be any of the following cases: data B is directly set to data A, and data B is subjected to some additional processing (such as adding a certain offset value and multiplying a certain coefficient) into data A and the like;
  • the absolute value of the difference between A and B is smaller than the preset value.
  • the size of the preset value is different, and the size of the preset value can be reasonable through the system.
  • A is within the B range: the A is less than or equal to the upper limit of the B range , A is greater than or equal to the lower limit of the B range;
  • the data (ie, the value of a parameter) in the present invention usually has various attributes, such as a time attribute, an acquisition path, a value range, and the like;
  • the data (or the value of the parameter) can be divided into current data (ie, current value), historical data (ie, historical value), and predicted data (that is, predicted value, that is, data predicted based on a certain time point) That is, the future value);
  • the current value is the real-time value when there is no limit;
  • the historical data (or historical value) refers to the data generated in the past time point;
  • the time of the data (or the value of the parameter) the priority refers to the data (or The generation (or generation) time of the parameter's value, not the priority value time;
  • the data (or the value of the parameter) can be divided into actual measurement, setting, and joint operation; the measured value can be called measured data (or measured value), and the set data is called setting data (
  • the data obtained by the joint operation (for example, calculated based on the energy balance of the elevator operation) is called joint operation data (or joint operation value);
  • the setting data (or set value) can be divided into System setting data, manual setting data; system setting data is data that is not manually set.
  • the time of the integration time and the acquisition route, the data (or the value of the parameter) can be further divided into: the current measured data (or measured value), the current joint operation data (or joint operation value), the current setting data (or Fixed value), past measured data (or measured value), past preset data (or preset value), past joint operation data (or joint operation value), etc.; past joint operation data (or joint operation value) ) that is, the time-first joint operation data (or joint operation value);
  • setting data usually refers to the set data (such as data that has been set by the system, has been manually set)
  • the setting in the present invention means that the setting is preset, and the setting data is the set data. That is, the preset data (that is, the preset value); in the present invention, the past measured value, the past set value, and the past joint operation value belong to the set data for the current application, That is, preset data.
  • the preset data can be further divided into system preset data (ie, system preset value), manual preset data (ie, manual preset value), instruction data (or command value), and current running.
  • Learning value ie, system preset value
  • manual preset data ie, manual preset value
  • instruction data or command value
  • current running current running
  • Learning value ie, system preset value
  • manual preset value may also be referred to as manual input data (or manual input value)
  • the learning value of the current running referred to as the learning value;
  • the manual preset data (ie, the manual preset value, that is, the manual input value) refers to the value set by the elevator controller according to the actual situation;
  • the command data (ie, the command value is the command) may also be referred to as command preset data (or command preset value), with the control function of the parameter; for the mechanical operating parameters of the elevator (especially speed and / or acceleration) and / Control data (or command value) of data such as source dynamic parameters (eg, current or force or torque or power) used to control the mechanical operating parameters of the elevator (especially speed and / or acceleration) and / or source dynamic parameters Target data (or target value) of parameters such as current or force or torque or power; if the current speed is 1M/S, when the system issues command data (or command value) of 2M/S speed, the elevator needs an acceleration. The process can reach the target speed;
  • command preset data or command preset value
  • the learning value of the secondary operation generally refers to the value obtained by performing the energy balance calculation of the elevator operation according to the set condition in the current running process, and the present invention obtains the energy balance calculation of the elevator operation according to the setting condition.
  • the joint operation value means that the joint operation value is calculated by performing the elevator operation energy balance in advance, and therefore can also be understood as being obtained according to the joint operation value obtained in advance;
  • the system preset data (that is, the system preset value) includes the history value, the fuzzy algorithm value, and the system default value.
  • Historical value usually refers to the value of the learned record that has been experienced by going through; the historical record value, including the original value of the historical record, the actual value of the historical record, the value of the historical record correlation factor, etc., the specific formation method is described later. Said
  • the fuzzy algorithm value refers to the value obtained by the set fuzzy algorithm rule (see the following for details);
  • the system default value is the simplest data setting method. Obviously, the system default (accurate) value; the system default value can include the factory default value, the corrected or adjusted default value; the factory default value is also the factory default. Value, original value; In general, system defaults can be applied more widely than factory defaults;
  • the measured data is relatively easy to understand, and refers to the value measured based on the sensor (or hardware facility, instrument, etc.); in the present invention, the actual measurement is the measurement, that is, the detection; for example, the current value measured by the current sensor, such as a speed measuring instrument. Measuring the obtained elevator speed, such as the acceleration measured by the acceleration sensor, such as the mass or weight value measured by the load cell, etc.; the value of the position and velocity measured based on the information of the satellite navigation system (such as Beidou or GPS) is also The measured value, the satellite navigation system (such as Beidou or GPS) information can understand a kind of radio positioning, measurement information.
  • the satellite navigation system such as Beidou or GPS
  • the data obtained from the measured data and then calculated by conventional calculations is called the measured value, which is also the measured value; for example, the torque T is measured first, and then the force is divided by the radius.
  • the force is also called the measured value; special statement: based on the part
  • the measured data (for example, the source dynamic parameter) is further calculated by the energy balance calculation of the elevator operation (this method is the core point of the invention), and is not a measured value, which belongs to the joint operation value;
  • the data (or the value of the parameter) can be divided into a maximum value (ie, an upper limit value), a minimum value (ie, a lower limit value), an intermediate value, or a center value;
  • the data can be divided into actual value, instruction data (or instruction value), reasonable range (including reasonable value), safety range (safety value), special meaning value, etc.; because the instruction data (or instruction value) is Security has a special meaning, and it is also allowed to be drawn from the preset data as an independent data type;
  • the actual value and the true value of the present invention are different concepts; the real value is usually a natural and true value of a certain attribute of a certain parameter.
  • the quality of an empty car of an elevator is 500KG
  • the mass of goods carried is 150KG (for example, 150KG for two people)
  • the true value of the total mass of the elevator car is 650KG; if the total mass of the elevator car is set at a certain time
  • the actual value (such as manual input, or an elevator operation energy balance calculation), due to understandable error, accuracy and other factors, the actual value of the total mass of the elevator car is likely to be set to 680KG, then the 680KG can be regarded as The actual value of the total mass of the elevator car at the time of setting (but not the actual value); the actual value is an actual operational data in the present invention, and the actual value is naturally set with the setting time and setting mode of the parameter.
  • the actual value of the parameter in this paper refers to the value close to or equal to the true value when the parameter is set; for example, when the actual value is the root
  • the actual value is the actual value of the parameter at the preset time; for example, when the actual value of the parameter is set according to the system default value in the preset value, the actual value is also the parameter.
  • the actual value (that is, the calibration value) in the system default (usually the standard state); for example, when the actual value is set based on the learning mode, the actual value is the actual value at the time of learning.
  • the actual value means that the parameter is obtained in a practical application (for example, in any acquisition method, measurement method, monitoring method, monitoring method or processing method in the present invention) Enter the actual value of the current state of the acquisition time of the value of the parameter, ie the current value of the parameter.
  • the current or current time refers to obtaining the value of the input parameter in a practical application (for example, in any acquisition method, measurement method, monitoring method, monitoring method or processing method in the present invention).
  • the actual value of the parameter is the current actual value of the parameter without any limitation; when there is no limit, the current value of the parameter is also the current actual value of the parameter.
  • any scheme or data can be equivalently substituted into other technical solutions; any of the formulas in the present invention can be arbitrarily modified. Move any parameter in the formula to the left of the formula equal sign as the target parameter (or measurement object), and put other parameters equivalent to the right to calculate the target parameter (or measurement object); Equivalent deformation;
  • Elevator operating parameters all parameters affecting the operating state of the elevator, and / or all parameters related to the operation of the elevator, and / or all parameters describing the operating state of the elevator can be referred to as elevator operating parameters; the source power of the present invention
  • Parameters, elevator quality, system operating parameters are all operating parameters of the elevator; the parameters in this paper do not refer to a single parameter, but also multiple parameters or parameter groups; The parameter is also the system operation parameter group; other parameters not mentioned in the present invention can be classified according to the parameter value path and the technical characteristic according to the concept of the present invention.
  • the definition of the source dynamic parameters of the elevator; the parameter that can represent or calculate the force or torque or power that directly drives the vertical operation of the elevator is the source dynamic parameter, the source dynamic parameter is generated based on the power system of the elevator; the source power is the power;
  • the power is the force that drives the elevator to form the power system of the elevator; in the present invention, the operation described in any one of the places is that the elevator car runs in the vertical direction;
  • the elevator quality (that is, the elevator quality parameter) of the present invention mainly includes the following parameters: the counterweight mass m3, the mass of the carried item m1, the data including the mass of the carried item such as the total mass m2 of the elevator car, and the mass m0 of the empty car; Unless otherwise specified, the elevator quality priority refers to the total mass of the elevator car.
  • the total mass of the elevator car can be expressed by m2 (also denoted by m); the mass unit can be expressed in kilograms (KG or kg); the total mass of the elevator car is usually m2 It is composed of the mass of the carried item m1 and the mass of the empty car m0; any one or more of the total mass m2 of the elevator car, the mass of the carried item m1, the mass of the empty car m0 and the weight of the counterweight m3 can be called the elevator quality. .
  • the system operating parameter (ie, the system operating parameter group) of the present invention refers to all parameters except the elevator mass and the source power parameter in the elevator operating parameter; the system operating parameter group of the present invention mainly includes the following two types of parameters: Mechanical operating parameters, system inherent parameters.
  • the system operating parameters of the elevator are essentially parameters that represent the underlying conditions of the energy transfer and/or the inherent properties of the elevator and/or the inherent properties of the environment and/or the results of the motion produced by the elevator under the action of the power.
  • the mechanical operating parameter of the present invention (in addition to the source dynamic parameter and the elevator mass), the size (ie, the amplitude) of the parameter in the elevator operating parameter can be controlled by the operator as a mechanical operating parameter; and/or: ( The parameter to be measured in the elevator operating parameters other than the source power parameter and the elevator mass is the mechanical operating parameter;
  • System intrinsic parameters refers to parameters related to the inherent properties of the elevator and / or the environment; and / or: (in addition to the source dynamic parameters and elevator quality) the size of the parameter (ie amplitude) in the elevator operating parameters is not controlled by the operator
  • the parameters of the control are system intrinsic parameters; and/or: (except source power parameters and elevator mass) the preset parameters in the elevator operating parameters are system intrinsic parameters; and / or: (except source power parameters and elevators)
  • the unmeasurable parameter in the elevator operating parameter other than the mass is the system inherent parameter; the system inherent parameter of the present invention may also be referred to as the system setting parameter;
  • Derived parameters any parameters described in the present invention, derived, deformed, renamed, expanded, reduced, increased offset values, filtered, weighted, averaged, estimated interference, compensated interference, RLS algorithm processing, recursive minimum two
  • the parameters obtained by the power processing and the like are all referred to as derived parameters of the parameters, and all the derived parameters still belong to the original parameter type; OK;
  • the third range described in the present invention may also be referred to as a conventional range (that is, a compliance range, that is, a range conforming to a regulation or agreement).
  • the third range may refer to the normal range or calibration range or rated range of the parameter;
  • the calibration range refers to the range when the parameter is in a preset or reasonable calibration state, and the calibration state is also a nominal state or a standard state;
  • the calibration range may also be marked
  • the rated range refers to the range when the parameter is at a preset or reasonable rated state;
  • the conventional value (ie, the compliance value) of the parameter in the present invention may be the normal value or the calibration value or the rated value of the parameter; the normal value of the parameter refers to the value in the normal range of the parameter, and It is preferably a central value in the normal range; the calibration value of the parameter refers to the value in the calibration range of the parameter, and is preferably the central value in the calibration range; the calibration value may also be referred to as a nominal value or a standard value; the nominal value of the parameter refers to The value in the nominal range of the parameter, and preferably the center value in the nominal range; it is obvious that the conventional value of the parameter is typically the value in the third range.
  • the fourth range in the present invention refers to the safety range of the parameter; the safety range of the elevator operating parameter (also referred to as the safety limit threshold or safety permission value or safety threshold or safety limit threshold or safety threshold or safety value) , usually to prevent the occurrence of abnormal operating conditions or the default value of the operating parameters of the elevator caused by the operation safety accident, or a preset value for avoiding device damage according to the power device or the power control device or the energy supply device design specification, Such as current safety value I_ena, voltage safety value U_ena, driving torque safety value T_ena, power safety value P_ena, etc.; the safety value of the parameter may also include a value set according to the natural limit attribute of the elevator operating parameter;
  • the upper limit of the safety range is naturally the maximum load safety value of the elevator m_ena (also known as the legal load or the maximum safe load mass of the elevator).
  • the lower limit of the safety range of the quality of the carried goods is naturally 0; the total mass of the elevator car
  • the safety value is the sum of the safety value of the empty car mass and the quality of the carried item; in the present invention, the lower limit of the safety range is also Full minimum value; that is the upper limit of the maximum value in the safe range safety;
  • An acceptable range of parameters means that the parameter can achieve a useful value or a range of natural attributes of the parameter (including the input parameter); the acceptable range described in the present invention can be
  • the third range may also be the fourth range or the second range (ie, the permission deviation range), depending on the application; for example, the energy transmission amount status identification, the elevator energy transmission amount abnormality monitoring, reflection, Analyze any one or more of the operating conditions (wear and/or safety conditions) of the power transmission components to be monitored of the elevator, the monitoring of data related to elevator operation safety, and the processing of data related to elevator operation safety, a use of practical value; the scope of the invention is an acceptable range (ie, a reasonable range) without limitation
  • the third range is within the fourth range;
  • the first permission range may be simply referred to as the first range, which is the reference value + the license deviation range;
  • the second range is a proposed by the present invention.
  • a range of special significance that is, a permissible deviation, which can be used to identify the condition of the energy transfer; when a parameter is a parameter to be measured (ie, a parameter can be changed), the second range of the parameter can be related to the actual value of the parameter.
  • the value changes normally and floats, even with the actual value and the curve floats; it can be within the third range or beyond the third range; its absolute value can be much smaller than the absolute value of the fourth range, in some special occasions
  • the time may also be greater than the absolute value of the fourth range; when a parameter is a preset parameter or a system inherent parameter, the second range of the parameter may coincide with the acceptable range or may be within an acceptable range;
  • any one or more of the first range, the second range, the third range, the fourth range, and the acceptable range of the elevator operating parameters may be preset, and may be preset values (especially system presets) Value, secondly, can also be manually entered); any parameter can be The standard value, the third range, and the fourth range are preset; for example, the standard value of the gravitational acceleration g can be preset to 9.81; the third range of the gravitational acceleration g can be preset to (9.5 to ⁇ 10.5), and the gravitational acceleration g The fourth range can be preset to (8.5 ⁇ ⁇ 11.5), and so on; and any of the standard value, the third range, and the fourth range of any parameter can be preset and adjusted according to the scene situation and the actual situation.
  • all preset data can be passed through an elevator production service manufacturer, a professional inspection agency, a manual trial and error method, a limited number of tests, a type test, and an existing one. Knowing in any one or more ways of the technology; the user can also operate the elevator to test, verify, adjust, and set; for example, the deviation of the preset data (that is, the preset value (especially the system preset value)) Even the error causes the monitoring effect of the monitoring method to decrease, and does not affect the effectiveness of the technical solution; in the present invention, the setting is preset;
  • the invention can measure parameters, that is, parameters that can be measured, generally refers to the value of the parameter in the elevator operation can be obtained by the measured way;
  • the unmeasurable parameter of the invention is the unmeasurable parameter, generally refers to the value of the parameter in the elevator operation cannot be Measured or unmeasurable, determined by the hardware condition of the elevator; if the sensor that can measure the parameter is not set, or the sensor is not working properly, it is untestable; the high-configuration, high-performance elevator naturally measurable parameter More; low-profile, low-cost elevators can be set with fewer sensors; typically, speed, source dynamics, and vertical acceleration are all measurable parameters; most system-specific parameters, such as empty car mass M0, efficiency coefficient, traction wheel radius, mechanical transmission system efficiency coefficient Km is usually unmeasurable in operation; the value of unmeasurable parameters can usually only be preset or calculated by elevator running energy balance.
  • the preset parameter of the present invention means that when the elevator is working normally, the absolute value of the difference between the maximum value and the minimum value of the parameter is within a preset range, that is, the value of the parameter obtained based on the preset and the parameter.
  • the difference of the current value is within a predetermined reasonable (or prescribed) range, that is, the value of the parameter obtained based on the preset can be used to describe the true condition of the parameter; for example, the empty car mass m0, the efficiency coefficient,
  • the rolling resistance coefficient, the integrated gear ratio im, the gravitational acceleration, the traction wheel radius, etc. are all preset parameters; in general, the value of the preset parameter can be set based on a preset value, which is usually a calibration value.
  • the calibration value can be the preset value of the elevator factory; the calibration value of gravity acceleration and the radius of the traction sheave is equal to the preset value when the elevator leaves the factory; the calibration value of the rolling resistance coefficient is equal to the type
  • the traction sheave and the guide wheel bear the theoretical value of the gravity of the car and the counterweight.
  • the calibration value can be a fixed value or a variable function value, such as the efficiency coefficient described above, which is a function that gradually decreases as time and/or total elevator operating time changes.
  • the parameter to be measured according to the present invention means that at a certain moment when the elevator is working normally, the difference between the value of the parameter obtained based on the preset and the current value of the parameter exceeds a preset reasonable (or prescribed) range, That is, the value of the parameter obtained based on the preset cannot be used to describe the true state of the parameter, and cannot be used normally, that is, the current value of the parameter cannot be obtained by a preset manner, and the parameter is an unpredeterminable parameter;
  • the source dynamic parameters, speed, and acceleration belong to the parameters to be measured; the parameters to be measured can also be understood as variable parameters.
  • the absolute value of the difference between the maximum value and the minimum value of the parameter is preset.
  • the preset range can be adjusted by the user or the manufacturer, that is, the manufacturer or the user can freely select the number of parameters to be measured, and the more the parameter to be measured
  • the acquisition accuracy of many parameters is improved; the more preset parameters can reduce the cost; in general, the values of the parameters to be measured and the measurable parameters are obtained based on the measured values of the sensors.
  • the present invention is mainly applicable to elevators with counterweight; because of the elevator without counterweight, the working principle, structural complexity and technical solution are much less difficult than the elevator with counterweight;
  • the elevator of the present invention generally has a traction machine, a guide wheel B5, a car B0 (corresponding empty car mass m0), a carrying item B1 (corresponding carrying item mass is m1), and a counterweight B3 (corresponding The weight of the counterweight is m3), wire rope, guide rail, guide shoe, compensating device, etc.; wherein the traction machine can further include a traction motor and a traction sheave B2; from the transmission system classification, the traction machine can be further divided into a turbine type , helical gear, star gear, gearless traction machine, etc.; in the present invention, the threshold value is the threshold value, and the two are substantially equivalent.
  • the elevator is preferably a non-turbine traction machine; the non-turbine traction machine is preferably a helical gear, a star gear, a gearless traction machine, etc.;
  • the lead-in machine is particularly preferably a toothless traction machine; in particular, the toothless traction machine is a permanent magnet synchronous toothless traction machine.
  • the gearless permanent magnet synchronous traction machine has the advantages of energy saving, small volume, stable operation at low speed, low noise and maintenance-free.
  • the gearless permanent magnet synchronous elevator traction machine is mainly composed of a permanent magnet synchronous motor, a traction sheave and a braking system.
  • the permanent magnet synchronous motor adopts high-performance permanent magnet material and special motor structure, and has the characteristics of energy saving, environmental protection, low speed and large torque.
  • the traction sheave and the brake wheel are coaxially fixedly coupled, and adopt two-point support; the braking system of the traction machine is composed of a brake, a brake wheel, a brake arm and a brake shoe.
  • 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
  • the elevator door switch is actuated, the elevator is prohibited from operating 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 It is not limited to: AC asynchronous motor, AC synchronous motor, DC motor, switched reluctance motor, permanent magnet brushless motor, linear motor, hub motor, etc. In this paper, in any of the following schemes, the motor is preferably AC asynchronous.
  • 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 drive, the motor drive, the drive motor run, drive the elevator to "drive”, and
  • the non-single-finger drive motor runs in the electric state and the drag motor, and also includes controlling the motor brake operation and working in the brake 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 functionally classified; from the device structure, any two or three of the three may be combined into the following. Any one of a comprehensive system: a two-in-one integrated system of power control devices and power plants, a two-in-one integrated system of energy supply devices and power control devices, a three-in-one integrated system of energy supply devices and power control devices and power plants; 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 measuring the operating parameters of the elevator (that is, the acquisition method) provided by the present invention is used, the obtained result belongs to the joint operation value; for example, the electric power parameter and the system operation parameter are calculated. Joint operation value of elevator quality;
  • 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 is generated based on the power system of the elevator;
  • the value of the components to distinguish, the source dynamic parameters can be divided into the dynamic parameters of the traction member, the mechanical parameters of the mechanical rotating parts, electrical and dynamic parameters, etc.;
  • the parameters mainly include the tension of the wire rope, etc.; wherein the mechanical parameters of the mechanical rotating part mainly include mechanical parts at the rear end of the motor (motor output shaft, traction sheave, and intermediate mechanical transmission components between the motor output shaft and the traction sheave)
  • the source power parameter obtained in the present invention; the source power parameter obtained by the motor and the motor front end (including the power supply device, the motor driver, etc.) is called an electric power parameter (also referred to as a motor drive parameter or an electric drive parameter),
  • the electrical dynamic parameters usually have electrical parameter properties; it is obvious that having electrical parameter properties means that the
  • 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;
  • P2o Po
  • the electromagnetic torque Te according to the present invention refers to the voltage and/or current according to the motor and/or
  • the motor torque calculated by the magnetic field parameter including the electromagnetic torque Te calculated inside the motor driver, also includes the electromagnetic torque Te calculated by measuring the motor voltage and the motor current outside the motor driver; the electromagnetic method of the present invention
  • the measurement of the torque Te is very simple, low cost and high precision.
  • the electromagnetic torque Te does not include the mechanical torque obtained by mounting the mechanical stress measurement principle (such as the dynamic torque tester) on the motor output shaft or other mechanical transmission shaft or flywheel; both have the measurement principle, the measurement path, and the cost performance of the measurement. Significant difference.
  • 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;
  • Current value acquisition method 2 measure the current of the device with a current sensor, measure the power factor with a power factor meter, and then pass the meter Calculate the current value;
  • 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 dynamics that are strongly related to the power system.
  • Number, source power parameters that are weakly related to the power system; generally, the source power parameters of the motor and motor front end (including power supply devices, motor drives, etc.) can be classified as source power strongly related to the power system.
  • Parameters; for example, three source dynamic parameters of electrical power, electromagnetic torque, and current, and electromechanical combined parameters obtained from three source dynamic 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 elevator quality according to the present invention refers to parameters related to at least one of the carrying quality, the counterweight mass, and the empty car quality, including directly related and/or indirectly related parameters; the mass unit can be used in kilograms (KG or Kg) indicates; direct correlation means that the above three parameters are directly used as measurement objects or input parameters, and indirect correlation refers to the quality obtained by deforming the above three parameters, but the essence of the implementation of the scheme is the above three parameters, such as
  • 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.
  • Know the quality of the empty car The mass of the wire rope contained in each of m0 and counterweight mass m3;
  • the operating parameters of the system according to the present invention refer to parameters other than elevator mass and source dynamic parameters in the elevator operating parameters, including any one or two parameters of mechanical operating parameters and system inherent parameters.
  • 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 ratio of the electrical power of the motor to the mechanical power output of the motor shaft, that is, the conversion efficiency; 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 For Ke1, the efficiency coefficient of the motor in the motor braking state is named Ke2; the efficiency coefficient of the permanent magnet synchronous motor is high, which can reach 95%; the efficiency of the AC asynchronous motor is low, about 90%;
  • Motor drive to motor efficiency coefficient k21 refers to the ratio 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, that is, the conversion efficiency; it can also refer to the ratio of the output power of the power supply to the electrical power of the motor. That is, conversion efficiency;
  • the power factor to motor efficiency coefficient k31 refers to the ratio 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, that is, the conversion efficiency;
  • the efficiency coefficient of the motor braking power to the power supply k14 the ratio of the motor braking power to the power fed back to the power supply device, that is, the efficiency coefficient;
  • 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 intervals, a one-dimensional function, Km(Vq), may be set, that is, according to different speed intervals (eg Zero speed, low speed, high speed) take the corresponding 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 motor is braked.
  • the efficiency coefficient of the mechanical transmission system is named Km2;
  • the efficiency coefficient Km of the mechanical transmission system is high, and may be higher than 90%;
  • the efficiency coefficient Km of the mechanical transmission system is low, and when the motor driving the traction machine is in the electric state, it is only about 70%, and the energy is usually from the worm. Passed to the turbine; when the motor driving the traction machine is in the motor braking state, it is only about lower, because the rotation of the turbine is difficult to drive the rotation of the worm, only a small part of the braking energy can be fed back to the motor and the power grid;
  • 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
  • Any source power parameter of the elevator may be set to indicate the energy and/or power transmission efficiency of the source power parameter and the force (ie, power) driving the elevator to operate vertically, which may be represented by Ka; the transmission efficiency may be referred to as efficiency Coefficient; based on source dynamic parameters and efficiency
  • the efficiency coefficient the power component and/or the transmission between the signal collection point of the source power parameter and the action point of the force (ie, the power) driving the vertical operation of the elevator.
  • the energy and/or power transfer efficiency of the component that is, the overall efficiency coefficient; the power component and/or the transmission component is referred to as the power transmission component to be monitored; based on the common knowledge of those skilled in the art, the point of action of the power Preferably, it is the equivalent centroid of the elevator car, as shown in Figure 3, Figure 4, point O; the power transmission component to be monitored, including the power system (usually an electric power system) after the signal acquisition point of the source power parameter, mechanical transmission The system, the contact surface of the car and the guide rail, etc.; the efficiency coefficient is also the energy and/or power transmission efficiency of the power transmission component to be monitored; because of the energy conservation principle, if the efficiency coefficient is lowered, it means the power to be monitored The energy transmission efficiency of the transmission component is reduced, that is, the internal loss is increased, the internal resistance or the resistance is increased, the heat is increased, and the safety condition is deteriorated.
  • the risk of failure of the power transmitting member to be monitored is increased; therefore may be used to reflect the efficiency coefficient, analysis of power transmission member operating conditions to be monitored elevator, especially of the operating condition of wear and / or safety conditions.
  • the signal acquisition point of the source power parameter can be moved to the signal point in the front of the power system as much as possible, and the energy balance calculation of the elevator can be used to monitor and protect a wider range of power components.
  • the overall efficiency coefficient of the elevator will be as high as 90%; and regardless of whether the motor is in an electric state or a motor braking state, the elevator The overall efficiency coefficient is relatively high;
  • the overall efficiency coefficient is only about 70% when the motor driving the traction machine is in the electric state due to the low efficiency coefficient Km of the mechanical transmission system;
  • the motor of the elevator is an AC asynchronous motor, the overall efficiency coefficient is lower; when the motor driving the traction machine is in the motor braking state, the overall efficiency coefficient is only about lower, and only a small part of the energy can be fed back to the motor and the power grid.
  • the energy balance calculation of the elevator operation is performed, and the linearity of the correspondence between the quality of the carried goods of the elevator and the source dynamic parameters is not good.
  • Rolling friction resistance coefficient ⁇ 1 that is, rolling resistance coefficient ⁇ 1: Because of the structural characteristics of the elevator, the traction sheave and the guide wheel bear 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) is mainly the data of the traction sheave and the guide wheel component;
  • 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
  • the transmission ratio between them 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, it needs to be centrally controlled during the calculation. Given the current 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. 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 values of the inherent parameters of the system generally have preset values, especially the system preset values; the preset values can be given by the central controller of the elevator, and the correctness of the system's inherent parameters and system preset values is also determined by The central controller of the elevator is guaranteed; the preset value of the system can be known by the elevator production service manufacturer and the professional testing organization; the user can also test, verify, adjust and set it by himself; for example, self-learning of the hoistway parameters, learning in the process of elevator going up and down Related parameters (especially the values of f0, ⁇ 1, Kem and other parameters at different positions and 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.
  • the source power combination parameter is also classified into the source dynamic parameter; the basic electrical power parameters (such as current, torque, power) are combined with other parameters to form a parameter, which is called an electromechanical combination parameter; the torque especially refers to the electromagnetic torque.
  • the power refers especially to electrical power; the electromechanical combination parameter is a typical source dynamic parameter, and its type still belongs to the electrical power parameter;
  • 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 get 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, power safety value Po_ena of the motor (usually equal to the rated power of the motor), safety value P4_ena for power generation feedback braking power, safety value P5_ena for energy consumption braking power, elevator Rated load capacity m1_ena (also known as 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.
  • 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;
  • the operating condition of the motor can be naturally recognized according to the positive and negative of Te.
  • 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;
  • critical cutting Change zone when the motor is in the critical switching zone of the motored state, it means that it is easy to enter 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 motoring state; compare some pre-selected parameters If the preset range is exceeded, it can be judged whether the operating condition of the elevator is in the critical switching area; the pre-selected parameter is preferably the source dynamic parameter.
  • a critical state identification threshold Te_gate may be set, and when
  • the working condition is in the critical switching area;
  • the energy flow of the elevator to the working condition is related to the running direction of the elevator, as well as the change of the mass of the carried item m1, the mass of the elevator car m0, the value of the counterweight mass m3, the frictional resistance, and even the speed parameter;
  • the above identification method 6 is particularly suitable when the traction machine of the elevator is a toothless traction machine, especially when the traction machine of the elevator is a permanent magnet synchronous toothless traction machine.
  • the motor does not necessarily tend to be in the motor braking state or in the motor braking state.
  • the motor may even be in a weak motor state; the weak motor state means that the output torque of the motor is less than a preset value; the preset value refers to It is specially used to evaluate the weak electric state; the motor only needs to drive the elevator at a relatively small power; in this case, the efficiency coefficient Km of the mechanical transmission system of the elevator and the value of the comprehensive efficiency coefficient can be determined by a limited number of experiments and manual trials. According to the law or type test, the specific calculation method of the efficiency coefficient Km of the mechanical transmission system, the comprehensive efficiency coefficient and its related coefficients in the calculation of the energy balance of the elevator operation can also be obtained by finite experiments, manual trials, or type tests. know.
  • the contents of the above identification method 6 can be used before the energy balance calculation of the elevator operation.
  • the situation is divided into four cases. Calculate the appropriate elevator operating energy balance calculation formula for each.
  • the estimated object in the elevator energy balance calculation is the carrying item mass m1
  • other methods can be used to know the value of m1 (for example, by weighing the weighing method, channel inlet counting method, or video analysis method).
  • the number of elevators knows the value of m1), and the above four cases are identified according to the running direction of the elevator and the relationship between (m1+m0) and m3, and the corresponding elevator operation energy balance calculation is performed.
  • 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 operating parameter and the energy of the elevator in all the embodiments provided in the later description of the present invention
  • the method for identifying the flow rate to the working condition can be performed by the foregoing method, and can of course be referred to other conventionally known techniques; any setting conditions, operating conditions, thresholds, time, period, and data described in the present invention
  • the assignment, etc. can be adjusted by the system, the operating environment, or the user according to the needs, not a single, 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;
  • Obtaining an object is also an object of measurement;
  • the obtaining method in the present invention is also a measuring method;
  • the method for obtaining the value of the elevator operation parameter (#1) provided by the present invention wherein the specific technical solution is: acquiring the value of the input parameter of the elevator, and calculating the elevator according to the value of the input parameter Calculating the joint operation value of the object; the calculation is an elevator operation energy balance calculation, and the input parameter is a parameter required to calculate a joint operation value of the measurement object of the elevator, and the measurement object is any one of the elevator operation parameters Kind of parameters.
  • the above-mentioned acquisition method (#1) is the same as the physical solution and effect of the acquisition method (#2), and the problem is solved; in the present invention, when there is no limitation, the acquisition method can be the acquisition method (# 1), can also be the acquisition method (#2);
  • the elevator operating energy balance is calculated as a calculation based on a formula describing the dynamics of the elevator and the associated force balance or a variant thereof;
  • the associated force includes the gravity and/or counterweight mass corresponding to the total mass of the elevator car.
  • the related force further includes a shifting resistance, a traction friction force of the traction sheave and the guide wheel, a rolling frictional resistance fr, a frictional force f0 between the rail and the car in the elevator shaft, and/or One or more of the wind resistance fw and the like.
  • the foregoing acquisition method is a standard process for calculating the energy balance of the elevator operation, and may also be referred to as an energy balance calculation of the elevator operation;
  • the calculation formula of the energy balance of the elevator operation, the calculation method and the setting method of the parameters can refer to the content of any position in this paper. Row;
  • the formula describing the power of the elevator and the associated force balance or the formula of the deformation thereof includes deformation of at least one of the powers Fx.
  • the deformation mode of the power Fx includes: (Kem*k12*cos ⁇ *Uo*Io)/Vq, (Km*Pr1)/Vq, (Km*fm1*Kf1)/Vq, ((Ke*Km)* (P2o/Vq), ((Ke*Km)*(Te*im/R), Kem*k12*cos ⁇ *Uo*Io/Vq, (Kem*k13*Ui*Ii)/Vq, (Kem*k13* Ub1*Ib1)/Vq, (Kem*Pm)/Vq; where Kem represents the integrated efficiency coefficient of electromechanical transmission, k12 is the preset constant, ⁇ power factor, Uo motor voltage, Io is the motor current, and Km is the mechanical transmission system.
  • Pr1 represents the driving power of the fuel engine
  • Vq represents the vertical speed of the elevator
  • fm1 represents the fuel consumption rate in the engine
  • Kf1 represents the energy conversion coefficient
  • Ke represents the efficiency coefficient of the motor
  • P2o represents the electrical output power of the motor
  • Te represents Electromagnetic torque
  • Pm represents the electrical power of the motor
  • im represents the overall transmission ratio
  • R represents the traction wheel radius
  • k13 represents the efficiency coefficient of the motor drive to the motor
  • Ui represents the input voltage of the motor drive
  • Ii represents the motor drive Input current
  • Ub1 represents the output voltage of the power supply unit
  • Ib1 represents the output voltage of the power supply unit
  • the deformation mode of the total mass m2 of the elevator car includes: m1+m0, m1 is the mass of the carried item, and m0 represents the mass of the empty car;
  • the formula describing the power of the elevator and the related force balance or the formula of the deformation thereof further includes: the two sides of the equal sign are simultaneously integrated and deformed with respect to the same variable;
  • the integral deformation method includes: the integral of power for time is energy, the integral of force to displacement is energy, the integral of speed with respect to time is displacement, the integral of acceleration for time is speed, and the integral of force versus time is impulse.
  • the joint operation value is calculated based on the energy balance of the elevator operation
  • the calculation of the energy balance of the elevator operation is calculated according to the formula describing the dynamics of the elevator and the associated force balance or the formula of the deformation thereof, and the expression is as follows. Contained by law The same meaning, can replace each other.
  • the statement is: the joint operation value is calculated based on the elevator operation energy balance calculation formula, and the elevator operation energy balance calculation formula is a formula describing the balance between the dynamic direction and the related resistance of the elevator in the running direction or a formula thereof.
  • the elevator running energy balance calculation formula reference may be made to the formulas in the embodiments in the present application.
  • the values of the input parameters in the calculation formula of the elevator running energy balance obtained are all Reasonable value (also called qualified value or acceptable value); different input parameters have different reasonable values; reasonable values of parameters (including input parameters), which means that the parameters (including input parameters) can achieve a certain
  • the actual value, or the value in the third range, or the value in the fourth range is a value representing the natural attribute of the parameter (including the input parameter);
  • the value of the elevator mass (eg, the total mass of the elevator car and/or the counterweight mass) included in the input parameters is the actual value of the elevator mass (eg, the total mass of the elevator car and/or the weight of the counterweight);
  • the actual value For the current actual value or the preset actual value is a reasonable value of the elevator quality (for example, the total mass of the elevator car and/or the counterweight mass) included in the input parameter.
  • the meaning of the preset actual value of the parameter is: the value is a value close to the actual value of the parameter at a preset time point (not the current time point);
  • the meaning of the actual value preset in the present invention can also be understood as: the actual value of the parameter acquired at a preset time point (not the current time point); the meaning of the preset actual value in the present invention can also be It is understood as: the actual value of the parameter at the preset time point (not the current time point); the actual value of the preset value of the elevator car total quality is: the value is at the preset time point (non- The actual value of the total mass of the elevator car at the current time point is close to the value; it can also be understood as the quality of the elevator acquired at a preset time point (not the current time point) (eg total mass of the elevator car and / or the actual value of the weight; can also be understood as: the actual value of the elevator quality (such as the total mass of the elevator car and / or the weight of the counterweight) at a preset point in time (not the current point in time);
  • the value of the parameter in the first type of parameter other than the elevator mass (eg, the total mass of the elevator car and/or the weight of the counterweight) included in the input parameter is set based on the current actual value of the parameter,
  • the current actual value is a reasonable value of the first type of input parameter (eg, source dynamic parameter, mechanical operating parameter, etc.);
  • the first type parameter refers to a parameter to be measured and/or a measurable parameter and/or Or any one or more of the source dynamic parameters and / or mechanical operating parameters; there is also a possibility, if the historical value of the parameter is the value of the difference between the elevator operating conditions and the current elevator operating conditions Below a preset threshold, the historical value is also a reasonable value for the first type of input parameter (eg, source dynamic parameters, mechanical operating parameters, etc.); in this paragraph, mechanical operating parameters are especially speed and/or Acceleration, etc.
  • the value of the parameter in the second type of parameter other than the elevator mass (eg, the total mass of the elevator car and/or the weight of the counterweight) included in the input parameter is based on the current actual value of the parameter or the security of the parameter.
  • the value in the range or set usually the value in the safe range of the parameter is set by the preset mode; the current actual value of the parameter or the value in the preset safety range of the parameter a reasonable value of the input parameter of the second type; in the present invention, the second type parameter refers to any one or more of the unmeasurable parameters and/or the preset parameters and/or the system inherent parameters; for example, the efficiency coefficient,
  • the rolling resistance coefficient, the integrated transmission ratio, the traction sheave radius, and the gravity acceleration are generally parameters in the second type of parameter; preferably, the value in the preset safety range is a preset calibration value;
  • parameters indicating the properties of the power system and/or the mechanical transmission system are referred to as closely related to safety in the power or transmission system.
  • Parameters for example, the efficiency factor, the overall gear ratio, and the rolling friction coefficient of the traction sheave and the guide wheel are all closely related to safety in the power or transmission system; the abnormality of the integrated gear ratio usually indicates the mechanical transmission system of the elevator. Serious failure; in the present invention, the parameters closely related to safety in the power or transmission system belong to the second type of parameters.
  • the rolling frictional resistance coefficient of the traction sheave and the guide wheel represents the bearing bush (when it is not integrally formed with the shaft of the guide wheel and the traction sheave) and/or the bearing seat (when the shaft of the guide wheel and the traction sheave is not integrally formed) and the guide Wear between the wheel and the traction sheave;
  • Setting scheme 2 includes any of schemes A and B:
  • the measurement object is a parameter closely related to safety in the power or transmission system or a parameter containing the parameter; the value of the input parameter is set according to a reasonable value of the input parameter; for example, the measurement object is an efficiency coefficient or includes efficiency
  • the parameter of the coefficient for example, in Equation 4-1, the efficiency coefficient Kem1 of the electromechanical transmission of the elevator can be used as the measurement object; (Kem1(Te*im/R1)) can also be used as the measurement object, and the measurement object (Kem1(Te) *im/R1)) contains the efficiency coefficient Kem1;
  • At least one of the power included in the input parameter or the safety-related parameter in the transmission system is set based on the preset value, and is not set based on the current actual value of the parameter, the preset value
  • the value in the preset safety range; the values of the parameters other than the safety-related parameters in the power or transmission system are set according to the reasonable values of the parameters.
  • the value of the total mass m2 of the elevator car (or the mass of the carried item m1) included in the input parameter is obtained based on the calculation of the energy balance of the elevator operation performed in advance, such as when the elevator is parked.
  • the elevator operation energy balance calculation (the calculation is the prior calculation) is performed on the elevator car total mass m2 (or the carried item mass m1) as the measurement object.
  • the value of the total mass m2 of the car (or the mass of the carried item m1) which is usually the actual value at the time of the previous calculation, and the actual value is used for the calculation of the energy balance of the elevator operation in the step S2 of the foregoing acquisition method;
  • the safety range is The value is the calibration value; this is beneficial to improve the calculation accuracy and monitoring accuracy; because the safety range is the limit range, the upper and lower deviations are relatively large;
  • Preferred scheme 3 of setting scheme 2 Regardless of the A, B, and C schemes, at least one of the first type parameters other than the total mass of the elevator car in the input parameter is set based on the measured value, such as the source dynamic parameter and the speed. , acceleration, etc.; preferably, the at least one is all.
  • the safety-critical parameter closely related to safety in the transmission system is preferably the efficiency coefficient and/or the rolling resistance coefficient; the efficiency coefficient has a more important safety significance than the integrated transmission ratio.
  • the foregoing acquisition method may further include the following expansion scheme 1: outputting the calculated measurement object on the human-machine interface of the car electronic device and/or the human-machine interface of the portable personal consumer electronic product and/or the human-machine interface of the hall door
  • the expansion scheme 1 may further include: obtaining relevant data of the measurement object, on a human-machine interface of the electronic device and/or the portable personal consumer electronic product in the car, and/or a person at the hall door Outputting relevant data of the measurement object of the elevator on the machine interface;
  • the foregoing acquisition method may further include the following expansion scheme 2: outputting and/or saving the calculated value of the measurement object; further, the expansion scheme 2 may further include the following scheme: acquiring related data of the measurement object Outputting and/or saving related data of the measurement object;
  • Run energy balance calculation formula: (Kem1 (m2-m3) (a2-a1) R1/((Te2-Te1)*im)); the formula is A3-5;
  • S2 obtaining a reasonable value of each input parameter: for example, obtaining a value of the parameter to be measured (the measured value of the input parameter (Te2, a2) when time2 is acquired; and the measured value of the input parameter (Te1, a1) when time1 is acquired); Obtain a preset standard value of the preset parameters (R1, im, m3); obtain an actual value of the total mass m2 of the elevator car; and calculate a formula according to the obtained input parameter and the energy balance of the elevator operation (A3- 5) calculating the value of the measured object; the calculated value can be regarded as the actual value of the efficiency coefficient (Kem) at time 2;
  • the measurement object is a parameter closely related to safety in the power or transmission system or a parameter including the parameter, and the value is obtained based on the energy balance calculation formula of the elevator operation, and has safety monitoring, monitoring, and data processing for the elevator.
  • the measurement object is an efficiency coefficient or a parameter containing an efficiency coefficient
  • the calculation result can be used to reflect the wear and/or safety condition of the power transmission component to be monitored of the elevator
  • the measurement object is an integrated transmission ratio or includes an integrated transmission
  • the calculation result can be used to reflect the condition of the integrated transmission ratio.
  • the abnormality of the integrated transmission ratio usually indicates a serious failure of the mechanical transmission system of the elevator;
  • the measurement object non-efficiency coefficient or the parameter including the efficiency coefficient if the value of the efficiency coefficient included in the input parameter is a preset value (the value is preferably a calibration value), the calculation result of the elevator operation energy balance of the measurement object is available. In the case of reflecting the efficiency factor (ie the wear and/or safety of the power transmission components to be monitored);
  • the measured object is not a comprehensive gear ratio or contains a comprehensive gear ratio parameter, if the integrated gear ratio included in the input parameters If the value is a preset value (the value is preferably a calibration value), the calculation result of the elevator operation energy balance of the measurement object may be used to reflect the condition of the integrated transmission ratio;
  • the elevator operates The calculation of the energy balance calculation loses the ability to monitor the efficiency factor (ie the wear and/or safety of the power transmission components to be monitored);
  • the elevator is performed. Running the energy balance calculation, the calculation result loses the monitoring ability for the integrated transmission ratio
  • the calculation of the value of the object based on the energy balance of the elevator operation requires not only an in-depth understanding of the algorithm principle of the energy balance calculation of the elevator operation, but also an in-depth study of the characteristics of the input parameters, and selection of an appropriate elevator energy balance calculation formula and setting. Enter the characteristics of the parameters to achieve unexpected safety monitoring.
  • the optimization scheme of the foregoing acquisition method preferably, refer to other content in the text, in the foregoing acquisition method), further comprising the following scheme for identifying the operating condition to improve the calculation performance, and the two-speed differential value elevator operation energy balance calculation parameter
  • the solution and the preferred source power parameter are any one or more of the schemes of the motor drive parameters; to further improve the speed measurement accuracy and performance.
  • the foregoing obtaining method is started after the booting is started or after receiving the manual receiving operation instruction.
  • the obtaining method can be started up automatically, without human operation, and the electronic device integrated with the monitoring method runs after self-powering, and the self-running may start immediately after power-on, or may be pre-executed. It can be run after setting the time.
  • the preset time may be only used as a standby time, and other applications are not executed during the time period, and other applications may be executed within the preset time, and may be further executed by other applications.
  • the degree (such as half or execution completion) is used as a point in time to start the acquisition method or to directly start the acquisition method with the startup instructions sent by the other applications.
  • the operation instruction is used to control the start of the acquisition method, which is an operation button, a touch screen or other mobile electronic device (such as a mobile phone) in the car. Produced after human operation.
  • the acquisition method herein can be used to discover and monitor the abnormality of the energy transmission caused by the abnormality of the energy transmission capacity of the power transmission component to be monitored; and can also be used for discovering and monitoring the energy transmission caused by the power transmission component to be monitored.
  • the technical solution provided by the present invention can be used for discovering, monitoring, and causing abnormal elevator energy transmission caused by the rotating working power of the elevator or the running failure of the transmission component; even when the elevator operating parameter does not exceed the safety limit threshold,
  • the technical solution provided by the invention can also be used to avoid the occurrence of more serious and unpredictable safety accidents as much as possible; like the diagnosis of cancer in human medicine, if it is found in the late stage, it usually means the end of life, and if it can be early warning, early detection usually means normal life and survival. Therefore, the technical solution has important practical significance for the safe operation of the elevator.
  • the foregoing 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 running energy balance calculation satisfies any one or more of the following 3A1, 3A2, 3A3, 3A4, 3A5, and 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 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 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 member;
  • the source power parameter included in the elevator operation energy balance calculation is an electric power parameter; the electric power parameter is preferably a motor drive parameter; the electric power parameter is preferably electrical power and/or electromagnetic torque and/or current.
  • the joint operation value of the measurement object may 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
  • the safety range exceeding the source dynamic parameter Common finger is greater than the source Safety limit threshold for dynamic parameters
  • 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 acquiring a reference value (that is, an actual value) of the measurement object, outputting and/or saving the joint operation value and the reference value (that is, an actual value), and/or The difference value of the reference value (i.e., the actual value) is output and/or saved.
  • 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
  • the electrical power must select 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 nature and magnitude of each electrical power are completely different;
  • the operating condition is used to set the type of the electric power. Under different working conditions, according to the type of electric power, the 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 control is improved. Safety and accuracy are of key importance;
  • the calculated parameters include the friction correlation data of the mechanical rotating member, which can improve the parameter calculation accuracy;
  • the electric power parameter is preferably a motor drive parameter; the electric power parameter is preferably electrical power and/or electromagnetic torque and/or current; because the dynamic parameter (combined tensile force F1) compared to the traction member ), the dynamic parameters of the mechanical rotating parts (for example, the mechanical torque measured by a torque sensor mounted on a rotating part at the rear end of the motor), the electrical power parameters have obvious advantages in measurement cost and measurement accuracy.
  • the present invention also provides an acquisition system (#1) for elevator operation parameters, 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 the elevator operation parameters;
  • the present invention also provides an acquisition system (#2) for elevator operation parameters, including the following modules,
  • the preset module is configured to calculate an elevator energy balance calculation formula of the measurement object by using any one of the elevator operation parameters as a calculation object; the elevator operation energy balance calculation formula is to describe the power of the elevator and the related force balance
  • the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the counterweight mass; in other embodiments, the associated force may also include the shifting resistance (ma) One or more of the rolling frictional resistance fr, the rail and/or the frictional force f0 of the object in the elevator shaft and the car, the wind resistance fw, and the like.
  • the input parameter obtaining and calculating module is configured to obtain a value of the input parameter, where the input parameter is all parameters except the measuring object in the calculation formula of the energy balance of the elevator operation, that is, the input parameter is calculated according to the calculation formula of the energy balance of the elevator operation
  • the parameter required for the value of the measurement object; the value of the measurement object is calculated according to the value of the acquired input parameter and the elevator operation energy balance calculation formula.
  • the elevator operation energy balance is calculated as a calculation based on a formula describing the dynamics of the elevator and the associated force balance or a variant thereof;
  • the related force includes an elevator
  • the total mass of the car corresponds to gravity and / Or the gravity corresponding to the weight; further, the related force may include shifting resistance (ma), traction sheave, and rolling friction of the guide wheel, rolling friction resistance fr, guide rail and/or in other embodiments. Or one or more of frictional force f0, wind resistance fw, etc. of the object in the elevator shaft and the car.
  • the elevator operating energy balance is calculated 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 operation energy balance calculation is associated with the elevator running direction.
  • the elevator operation energy balance calculation 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 obtaining method is started after the booting is started or the manual receiving operation instruction is received.
  • the acquisition method can be booted from the startup, without human operation, and the electronic device integrated with the acquisition method (and/or acquisition system) can be self-operated after being powered on, and the self-operation can be It starts running immediately after power-on, or it can be run after a preset time has elapsed.
  • the preset time may be only used as a standby time, and other applications are not executed during the time period, and other applications may be executed within the preset time, and may be further executed by other applications.
  • the degree (such as execution half or execution completion, etc.) as a point in time to start the acquisition method (and / or acquisition system) or directly start the acquisition method (and / or acquisition system) with the startup instructions sent by the other applications .
  • the operation instruction is used to control the acquisition method (and/or acquisition system) to start operation, which is an operation button, a touch screen or other mobile electronic device in the car. (such as mobile phones), etc. are generated after human operation.
  • the parameter on the right side of the formula is an input parameter
  • the parameter on the left side of the formula is an object of measurement, and may also be referred to as an output parameter. That is, in the formula describing the formula of the power of the elevator and the related force balance or the variant thereof, the measurement object is the output parameter, and all the remaining parameters except the measurement object are input parameters;
  • 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 speed and / or acceleration for example, by carrying the item quality checklist, or calculate the joint operation value of speed and / or acceleration by carrying the item quality and source dynamic parameter look-up table, or by carrying mass and source power
  • the parameter calculates the joint operation value of the speed and/or acceleration by the elevator running energy balance; therefore, the joint operation value in the invention is substantially calculated by using the elevator operating parameters other than the measurement object, including table lookup calculation and elevator operation.
  • the energy balance calculation if the measured object is the elevator mass, the calculated value according to the parameter including at least the system operating parameter and/or the source dynamic parameter is the joint operation value, and when the measured object is the source dynamic parameter, according to at least the elevator
  • the calculated value of the parameters including the quality and/or system operating parameters is the combined operation.
  • 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” is the calculation of the balance of the energy for controlling the operation of the elevator; the energy balance is also the energy balance; further, the energy balance preferably refers to the balance of energy per unit time, that is, the power.
  • the balance of energy preferably refers to the balance of forces; therefore, the "elevator running energy balance calculation” is preferably “the calculation of the balance of the running force of the elevator”; the “elevator running energy balance calculation” according to the present invention, That is, the elevator motion balance calculation, including the constant speed running state and the variable speed running state, refers to the balance of the power and the related force, and the elevator running energy balance is calculated as a formula according to the description of the power of the elevator and the associated force balance or its deformation. The calculation performed by the formula; the related force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the weight;
  • FIG. 1 is a schematic view of the mechanical structure of the elevator during lifting operation;
  • FIG. 3 is a schematic diagram of the mechanics of the elevator car running vertically upward;
  • FIG. 4 is a schematic diagram of the mechanics of the elevator car running vertically downward;
  • the point O can be either the Q point shown in Fig.
  • V is the running direction of the elevator car
  • h1 and h2 represent the elevator car ( Or its equivalent Q point or centroid) the running direction is vertical
  • F is the power of the elevator
  • the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is opposite to the running direction V
  • the actual direction of the power F is determined by the relationship between G2 and G3 (that is, the relationship between m2 and m3) ) and the direction of operation V is determined
  • G2 and G3 that is, the relationship between m2 and m3
  • the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft is always opposite to the running direction V of the elevator car, that is, the operation of the elevator car is hindered; similarly, the wind resistance fw Constantly opposite to the running direction V of the elevator car;
  • the operation in the present invention preferably refers to the uniform operation of the elevator car, especially the non-zero uniform speed operation of the elevator car; because the elevator car runs at a constant speed for a longer period of time than the variable speed operation of the elevator car;
  • the monitoring and monitoring effects are easily reduced due to the fluctuation of the speed; and when the elevator is in the shifting operation, the rate of change of the speed (that is, the acceleration) is not easy to measure, the cost is increased, and the measurement accuracy is not well controlled.
  • the elevator operation energy balance calculation is essentially a calculation based on a mechanical formula describing the influence of the power of the elevator and the related force on the elevator operation or a mechanical formula of the deformation thereof; or: elevator operation
  • the energy balance calculation is essentially a calculation based on the dynamic equation describing the vertical direction of the elevator car; further, the calculation based on the dynamic equation describing the vertical operation of the elevator car is: according to the power including the elevator and the associated force
  • the calculation is based on the dynamic equation describing the vertical operation of the elevator car; the dynamic equation can refer to both the basic dynamic equation and the deformation formula of the basic dynamic equation;
  • the joint operation value that is, the joint operation data (that is, the joint operation data of the measurement object)
  • the joint operation value may also be referred to as the first data or the estimated data or the estimated data or the first value or the estimated value or the estimated value;
  • the joint operation value Refers to a data type or data acquisition path, indicating that the data is calculated based on different types of elevator operating parameters.
  • the different types of classification are based on the elevator operating parameters into elevator quality, source dynamic parameters, system operation.
  • joint operational data such as elevator mass is calculated based on data including at least source dynamic parameters and/or system operating parameters, for example, joint operational data of source dynamic parameters is based on at least elevator quality and/or Data calculated from system operating parameters, such as joint operational data of system operating parameters, calculated based on data including at least elevator mass and/or source dynamic parameters, etc.; the combined operational data of the present invention, especially Refers to the calculation of elevator operating energy balance based on different types of elevator operating parameters.
  • other simple calculations performed e.g., look-up table
  • the resulting data are also data for joint operation of the elevator based on different types of operating parameters;
  • the elevator operating energy balance 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 input parameter includes at least a source dynamic parameter and/or a system operation parameter; when the measurement object is a source dynamic parameter, the input parameter includes at least an elevator quality and/or a system operation parameter; when the measurement object is a system operation parameter, the input parameter includes at least an elevator. Quality and / or source dynamic parameters.
  • the “elevator running energy balance calculation” of the present invention includes a constant speed running state and a variable speed running state. From another angle analysis, it may also refer to calculating any two parameters according to elevator mass, source dynamic parameters, and system operating parameters.
  • a parameter; the “elevator running energy balance calculation” of the present invention generally takes the energy balance of the elevator operation as a calculation rule, and it can be understood that in the following embodiments and formulas in the present invention, the formula related to the power balance And the related formula of the force balance is also the calculation of the energy balance as a rule; because the power can also be understood as the energy per unit time, the power balance is also the energy balance per unit time, respectively.
  • 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.
  • the essence of the energy balance calculation of the elevator operation can also be regarded as the combination of the energy conservation principle and/or Newton's law (especially the second law) and the elevator operating characteristic factors;
  • the energy conservation principle refers to the energy output of the elevator power system (or The power is equal to the amount of energy (or power) consumed outside the power system of the elevator, and/or the energy (or power) absorbed by the power system of the elevator is equal to the energy (or power) fed back from the power system of the elevator.
  • the calculation of elevator operation energy balance in this paper can also be expressed as the calculation of the vertical dynamic balance of the elevator, that is, the calculation of the power of the elevator and the related force balance, therefore
  • the elevator operating energy balance is calculated as a calculation based on a formula describing the dynamics of the elevator and the associated force balance or a variant thereof; the associated force includes the gravity and/or the counterweight mass corresponding to the total mass of the elevator car Gravity. It should be understood that the balance between the above power and the related force means that the power and the related force are in accordance with Newton's second law, where the conformity includes full conformity and approximate conformity, and the corresponding physical field is completely equal in the actual situation. And the approximation of the two is equal.
  • the associated forces may also include other related forces, such as shifting resistance, traction sheave and rolling friction experienced by the steering wheel, wind resistance of the car and counterweight, objects in the car and rails, and/or in the elevator shaft. Friction and L0* ⁇ , etc., which are specifically included, need to be distinguished by the personnel in the field according to the magnitude of the relevant force in the actual operation of the elevator.
  • the operation of the elevator as shown in the embodiment 11 and the embodiment 12 (that is, the two-speed differential elevator operation energy balance calculation formula), the elevator operation based on the difference of the parameters acquired at two different time points
  • the energy balance calculation formula is possible to eliminate the influence of rolling resistance and the frictional resistance of the car and the rail and/or the object in the elevator shaft, and the core principle of the differential elevator running energy balance calculation formula is still based on the typical elevator operating energy balance.
  • the elevator operation energy balance calculation can also be understood as a feature of calculating another type of elevator operation parameter based on data including at least different types of elevator operation parameters; the different types of classification are based on the elevator operation parameters. Divided into three types of parameters: elevator quality, source dynamic parameters, and system operating parameters;
  • 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 also include the frictional force f0 between the object and the car in the guide rail and/or the elevator shaft; the object measured in the formula 5-1 in the embodiment 5 is the system operating parameter.
  • the parameters involved in the calculation also include g in the system operating parameters, which are not listed here. For specific reference, the following embodiments may be referred to;
  • the joint operation value of the elevator quality is calculated according to the source power parameter and/or the system operation parameter, and of course, the parameters required to participate in the calculation may further include other data such as other in the elevator quality.
  • Parameter also That is, when the measurement object is the elevator quality, the joint operation value may be calculated according to data including at least source power parameters and/or system operation parameters;
  • the joint operation value of the source dynamic parameter is calculated according to the elevator mass (usually the total mass of the elevator car and/or the counterweight mass) and/or the system operating parameter, and of course participates in the calculation.
  • the required parameters may further include other data; that is, when the measured object is a source dynamic parameter, the joint operational value may be based on at least the elevator mass (typically the total mass of the elevator car and/or the counterweight mass) and / Or data calculated from system operating parameters;
  • the joint operation value of the system operating parameter is calculated according to the elevator mass (usually the total mass of the elevator car and/or the counterweight mass) and/or the source dynamic parameter, and of course participates in the calculation.
  • the required parameters may further include other data, such as system operating parameters other than the measured object; that is, when the measured object is a system operating parameter, the combined operational value may be based on at least the elevator quality (usually an elevator) Calculated from data such as total car mass and/or weight quality) and/or source dynamic parameters;
  • the table obtained by the deformation calculation formula of the elevator running energy balance is obtained. If the total mass m2 of the elevator car and/or the counterweight m3 is fixed, the power and system operating parameters are obtained by the energy balance calculation formula of the elevator running one by one. Especially for the corresponding relationship of the mechanical operating parameters), or when the power and the counterweight m3 are fixed values, according to the elevator running energy balance calculation formula look-up table, the corresponding relationship between the total mass of the elevator car and the mechanical operating parameters is obtained.
  • the joint operation value is calculated based on the calculation formula of the elevator running energy balance, and all the values calculated based on the elevator running energy balance calculation formula are the joint operation values.
  • the elevator quality includes the total mass of the elevator car and/or 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 signal value of the source power parameter is the wire rope on the car side
  • 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 of the source dynamic parameter is taken as the traction sheave and its front end (traction wheel, or traction)
  • the elevator mass can select the total mass and the counterweight mass of the elevator car; when the signal value of the source power parameter is the counterweight side When the wire rope is used, the elevator quality can be selected as 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 safety limit threshold of the electric power parameter of the elevator and the current value of the carrying quality are calculated.
  • the value of the upward speed and/or the upward acceleration which can usually be used as the upper limit threshold for the elevator as it goes up; for example, when the elevator is running at zero speed, the preset command value and the carrying quality of the down speed and/or the down acceleration are used.
  • the value of the source dynamic parameter calculated by the current value which is usually used to determine whether the source dynamic parameters (such as the comprehensive tension of the wire rope) will exceed the limit when the elevator is descending;
  • 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);
  • 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);
  • 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 measurement error is large because Vq is much smaller than the full scale. It is close to zero speed operation, the error is larger, it is basically impossible to use; and according to 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, remarkable 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, Embodiment 2, Embodiment 3, Embodiment 4, Embodiment 5, and related alternative (or extended) embodiments are the methods for calculating the operating parameters of the elevator provided by the present invention (that is, the obtaining method) Specific implementation of:
  • 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 lower than the total gravity of the car ((m1+m0)*g) and the weight of the counterweight (m3*g), it can also be ignored; this description also Other
  • 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, Selecting Kem1, m0, m3, Te, etc.), obtaining the value of the parameter required to calculate the joint operation value of the measurement object according to the formula, and calculating 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:
  • the prior art (as shown in the background art, especially the sensor weighing technology in the class A car) cannot feed back the frictional state of the object and the car in the upper and lower running rails and/or the elevator shaft of the elevator, and is inconvenient to feedback.
  • 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 invention provides a method for acquiring elevator operating parameters, and the obtaining result can be used for reflecting and analyzing the operating condition of the power transmission component to be monitored of the elevator; the operating condition is preferably a worn and/or safe condition.
  • the second technical problem to be solved by the present invention is to provide a new monitoring technical solution for elevator operation; for reflecting and analyzing the operating condition of the power transmission component to be monitored of the elevator, the operating condition preferably refers to wear and/or safety. Condition; in order to transport in the elevator
  • the monitoring of the safe operation of the elevator is achieved before the line parameters exceed the safety limit threshold.
  • 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 calculation of the formula of the power and the associated force balance or the formula of its deformation; the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the weight;
  • the energy transmission condition of the elevator is determined according to the joint operation value, specifically: according to the joint operation value and the The reference data of the measurement object determines whether the energy transfer condition of the elevator is abnormal;
  • the present invention provides an elevator monitoring method (#1-2) equivalent to the above monitoring method (#1), the monitoring method (#1-2) comprising the steps of:
  • the reference data determines whether the energy transfer condition of the elevator is abnormal; the joint operation value is a result calculated based on an elevator energy balance calculation formula;
  • the elevator running energy balance calculation formula is a formula for describing the balance of the power of the elevator and the associated force balance or a variant thereof;
  • the related force includes the gravity and/or the counterweight mass corresponding to the total mass of the elevator car.
  • the associated force may also include shifting resistance (ma), rolling friction of the traction sheave and the guide wheel, rolling frictional resistance fr, rail and/or friction between the object and the car in the elevator shaft One or more of force f0, wind resistance fw, and the like.
  • the input parameter of the elevator running energy balance calculation formula is all parameters except the measurement object in the elevator running energy balance calculation formula, that is, the input parameter is required to calculate the value of the measurement object according to the elevator running energy balance calculation formula. parameter;
  • the number of parameters in the input parameter to be measured is set, and the parameters are set based on the measured value; other parameters may be set by preset values; the more the measured parameters, the higher the accuracy will be, the better the monitoring performance is.
  • the measured parameters are less costly; the user and the manufacturer can customize according to their different situations.
  • the present invention provides the same principle as the monitoring method (#1-2), but describes another monitoring method (#1-3) that is different:
  • An elevator monitoring method comprising the following steps A:
  • the elevator operation energy balance calculation formula is a formula for describing a power balance of the elevator moving direction and a related force balance formula or a variant thereof;
  • the related force includes an elevator car
  • the total mass corresponds to the gravity and/or the gravity corresponding to the weight; further, the associated force may also include the shifting resistance (ma), the traction sheave and the rolling friction of the guide wheel, the rolling friction resistance fr, Friction between the object and the car in the guide rail and/or the elevator shaft One or more of f0, wind resistance fw, etc.; setting the number of parameters in the input parameter to be measured, and obtaining the value of the input parameter, wherein the input parameter is the calculation formula of the energy balance calculation of the elevator operation, except the calculation All the parameters outside the object; and calculating the calculation object according to the value of the input parameter and the elevator running energy balance calculation formula; obtaining the reference data of the measurement object in the current motion state of the elevator;
  • S300 Compare and calculate the calculated value of the measurement object and the reference data of the measurement object, and determine whether the energy transmission amount of the elevator is abnormal.
  • the present invention provides the same monitoring method (#1) as the other, but describes another monitoring method (#1-4) that is different:
  • An elevator monitoring method comprising the following steps:
  • S200 Determine an elevator motion balance formula for calculating the measurement object;
  • the elevator motion balance formula is a formula for describing a power fx of the elevator moving direction and a related force balance formula or an equivalent deformation thereof;
  • the related force includes an elevator car
  • the total mass corresponds to the gravity and/or the gravity corresponding to the weight; further, the associated force may also include the shifting resistance (ma), the traction sheave and the rolling friction of the guide wheel, the rolling friction resistance fr, the guide rail And/or one or more of frictional force f0, wind resistance fw, etc. of the object in the elevator shaft and the car.
  • all parameters except the measurement object in the elevator motion balance formula are input parameters, obtain values of all input parameters, and calculate the measurement object according to the input parameter (value) and the elevator motion balance formula; and obtain the calculation Reference data of the object; at least one of the reference data and the input parameter takes a preset value and determines a number of parameters of the input parameter that take a preset value;
  • All the parameters m1 and Te are actual values; in the embodiment 11, the reference data of m2, Kem1, R1, and m3 are preset values (the reference data of m2 is especially a preset actual value, that is, the energy of the elevator operation performed in advance) Balance is obtained), all other parameters Te1, Te2, a2, a1 are actual values. .
  • step S300 described in the monitoring method (#1-4) is referred to in step S300 described in the monitoring method (#1-4).
  • the reference data takes the preset value, and all the input parameters take the actual value, which is used to monitor whether the elevator energy transmission condition is abnormal; wherein the preset value taken by the reference data is the historical record value in the same state as the current elevator running state;
  • the historical record value in the same state as the current elevator running state refers to the difference between the elevator running condition and the current elevator running condition when the value of the historical record value is lower than a preset threshold;
  • the elevator energy transmission quantity condition can be specifically a condition representing the part, for example, in the joint operation formula of kem1 in Formula 4-3, Kem1
  • the reference data takes a preset value, When all the input parameters take the actual value, it is possible to monitor whether the part (such as the transmission component) described by kem1 is abnormal; in the alternative embodiment 7 of Embodiment 6, the reference data of m2 takes a preset value (such as self-learning), and the input When all the parameters take the actual value, it can monitor the condition of the part described by m2 (such as whether the car body is intact or the carrying item is dropped).
  • the reference data takes the actual value, and one of the input parameters takes a preset value for monitoring whether the parameter of the input parameter takes the preset value is abnormal; the preset value of the parameter in the input parameter is the same state as the current elevator running state.
  • the historical value below, or the calibration value when the elevator is shipped from the factory; the formula 3-8 is combined with the formula fr (m0+m1+m3)*g* ⁇ 1 as an example.
  • the reference data of m2 takes the actual value, ⁇ 1 takes If the preset value and the remaining parameters take the actual value, it is possible to monitor whether ⁇ 1 is abnormal.
  • the elevator can
  • the delivery condition can be specifically representative of the condition of the component.
  • the reference data takes a preset value
  • N-1 of the input parameters take a preset value, which is used to monitor whether the parameter of the preset value is abnormal in the measurement object and the input parameter
  • the preset value of the reference data is The historical record value in the same state of the current elevator running state, or the calibration value when the elevator is shipped from the factory
  • the input parameter takes ⁇ 1
  • the preset value and the other parameters take the actual value, it can monitor whether m2 and ⁇ 1 are abnormal; when the reference data of m2 takes the preset value, the input parameters ⁇ 1 and f0 take the preset value and the other parameters take the actual value, then Can monitor whether m2, ⁇ 1 and f0 are abnormal.
  • the reference data takes the actual value
  • N of the input parameters take a preset value, which is used to monitor whether the parameter of the input parameter takes the preset value is abnormal; wherein, the preset value of the N parameter in the input parameter is the current value
  • the input parameters m2, m3, im, and R1 take the preset value and the remaining input parameters take the actual value, and m2, m3, im, and R1 can be monitored. Is it abnormal? It should be understood that other situations regarding the relationship between the number of preset values and actual values in the reference data and the input parameters and the specific use may be performed by those skilled in the art based on the above description and specific embodiments, where I will not repeat them one by one.
  • the historical record value in the same state as the current elevator running state refers to: the elevator quality corresponding to the historical record value generation, the elevator speed, the elevator external environment information, and The source power parameter is consistent with the current elevator quality, the elevator speed, the elevator external environment information, and the source power parameter;
  • the external environment information refers to environmental information other than the elevator body that affects the elevator operating state, such as wind speed, car and The friction coefficient of the object in the guide rail and/or the elevator shaft; the agreement means that the parameters are the same or close to each other, and if the parameter has a direction, the directions of the parameters are the same or close.
  • the step S300 includes any one of the following situations:
  • the value of the rolling resistance coefficient included in the input parameter is the calibration value when the elevator is shipped from the factory
  • the reference data of the measuring object is the actual value
  • the method can be used to reflect the rolling resistance coefficient (that is, the bearing bush and/or the bearing housing and the guiding wheel) An abnormality in the wear condition between the traction sheave;
  • the reference data of the measuring object is a calibration value when the elevator is shipped from the factory;
  • the method can be used to reflect the efficiency coefficient (that is, the abnormality of the power system and/or the mechanical transmission system) Anomaly;
  • the reference data of the measurement object is a calibration value when the elevator is shipped from the factory;
  • the efficiency coefficient and/or the rolling resistance coefficient included in the input parameter are the calibration values when the elevator is shipped from the factory, the reference data of the measurement object is an actual value; correspondingly, the method can be used to reflect the efficiency coefficient and/or the rolling resistance. Anomalies in the coefficients (ie, abnormalities in the powertrain and/or mechanical transmission system and/or also the wear conditions between the bearing pads and/or the bearing housings and the guide wheels and the traction sheaves);
  • the reference data of the measurement object is a history value in the same state as the current elevator running state.
  • the values of the other parameters except the rolling resistance coefficient in the input parameter are the calibration value or the actual value
  • the value of the other parameters except the efficiency coefficient in the input parameter is a calibration value or an actual value
  • the values of the other parameters except the rolling resistance coefficient and the efficiency coefficient in the input parameter are the calibration value or the actual value.
  • step S400 setting a preset range based on the reference data of the measurement object, and if the calculated value of the measurement object falls within the preset range, It is determined that the elevator energy transmission quantity of the elevator is normal; if the calculated value of the measurement object does not fall within the preset range, it is determined that the elevator energy transmission quantity of the elevator is abnormal.
  • monitoring method (#1) and/or the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) may also perform the following B step processing. :
  • Elevator running energy balance calculation formula and calculation in the monitoring method (#1) and/or monitoring method (#1-2) and/or monitoring method (#1-3) and/or monitoring method (#1-4) The method and parameter setting method can be referred to the content of any position in this article;
  • the reference data of the measurement object determines whether the energy transfer status of the elevator is abnormal, and preferably, comparing the joint operation value with the reference data of the measurement object, and determining whether the energy transfer status of the elevator is abnormal;
  • the energy transfer condition referred to anywhere refers to the condition of controlling the transfer of energy of the elevator operation, that is, the operation of the system and/or components and/or devices associated with the transfer of energy controlling the operation of the elevator.
  • the condition that is, the condition of the energy and/or power transmission efficiency of the power component and/or the transmission component between the signal collection point of the source power parameter and the point of action of the force (ie, power) driving the elevator vertical operation;
  • Any energy transfer condition preferably refers to the operating condition of the power transmission component to be monitored, which preferably refers to a worn and/or safe condition;
  • the monitoring method (#1) and/or the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) are self-starting or receiving manual instructions. After the start (referred to as manual start).
  • the monitoring method can be started up automatically, without human operation, and the electronic device integrated with the monitoring method runs after self-powering, and the self-running may start immediately after power-on, or may be pre-evented. It can be run after setting the time.
  • the preset time may be only used as a standby time, and other applications are not executed during the time period, and other applications may be executed within the preset time, and may be further executed by other applications.
  • the degree (such as half of execution or execution completion, etc.) is used as a point in time to start the monitoring method or to start the monitoring method directly with the startup instructions sent by the other applications.
  • the manual instruction is used to control the start of operation of the monitoring method, which is an operation button, a touch screen, a voice system, or other mobile electronic devices (such as a mobile phone) in the car. Wait until after human manipulation.
  • the option of starting from the start and starting manually is of great significance; because the monitoring method plays an important role in the operation safety of the elevator, the self-starting is selected to avoid unfavorable factors such as forgetting to open and misuse, and it is beneficial to record the whole process.
  • Safety monitoring data in some cases, when the elevator monitoring method is not adjusted, if you choose to start automatically, it may lead to adverse effects such as increased false alarm rate, so it is intentional to choose manual starting in some cases.
  • the values of the input parameters are all reasonable values (also called qualified values); different input parameters have different reasonable values; for example, the quality of the elevators included in the input parameters (such as the total mass and/or counterweight of the elevator car)
  • the value of the quality is set based on the current actual value of the elevator mass (for example, the total mass of the elevator car and/or the weight of the counterweight) or a preset actual value, and the current actual value or the preset actual value is Entering a reasonable value for the quality of the elevator (eg total mass of the elevator car and/or the weight of the counterweight) included in the parameters; for example, the quality of the elevator included in the input parameters (eg total mass and/or weight of the elevator car)
  • the value of the parameter in the first type parameter other than the value is set based on the current actual value of the parameter, and the current actual value is the
  • the foregoing obtaining method further includes any one of the schemes A, B, and C:
  • the measurement object is a parameter closely related to safety in the power or transmission system or a parameter including the parameter; the value of the input parameter is set according to a reasonable value of the input parameter;
  • the value of the total mass of the elevator car included in the input parameters is set based on a preset actual value based on the total mass of the elevator car, and is not set based on the current actual value of the total mass of the elevator car;
  • the values of the parameters other than the total mass of the elevator car in the parameters are set according to reasonable values of the parameters;
  • At least one of the power included in the input parameter or the safety-related parameter in the transmission system is set based on the preset value, and is not set based on the current actual value of the parameter, the preset value
  • the value in the preset safety range; the values of the parameters other than the safety-related parameters in the power or transmission system are set according to the reasonable values of the parameters;
  • Preferred Embodiment 2 of Setting Scheme 2 Preferably, in the A, B, and C schemes, when the parameter in the second type parameter in the input parameter is set based on the value in the preset safety range, the safety range is The value is a calibration value; this is beneficial to improve calculation accuracy and monitoring accuracy;
  • Preferred scheme 3 of setting scheme 2 Regardless of the A, B, and C schemes, at least one of the first type parameters other than the total mass of the elevator car in the input parameter is set based on the measured value, such as the source dynamic parameter and the speed. , acceleration, etc.; preferably, the at least one is all.
  • the safety-critical parameter closely related to safety in the transmission system is preferably an efficiency coefficient and/or a rolling resistance coefficient; compared to the overall transmission ratio and/or the traction sheave radius, the efficiency coefficient and/or Or the rolling resistance coefficient has a more important safety significance.
  • the measuring object is a parameter in the elevator quality, wherein the input parameters of the measurement object include a system operation parameter and a source power parameter; or
  • the measurement object is one of source power parameters, and the input parameters of the measurement object include system operation parameters and elevator quality; or
  • the measurement object is a parameter in a system operation parameter, and the input parameter of the measurement object includes an elevator mass number and a source Dynamic parameters.
  • the measuring object is One of the total mass of the elevator car and/or the quality of the carried item, the source dynamic parameter, the mechanical operating parameter, the parameter to be measured, and/or the measurable parameter, the reference value of the measured object is an actual value; or
  • the measurement object is any one of an unmeasurable parameter and/or a preset parameter and/or a system inherent parameter, and the reference value of the measurement object is a preset value.
  • monitoring method (#1) and/or monitoring method (#1-2) and/or monitoring method (#1-3) and/or monitoring method (#1-4) of the present invention Perform any one or more of the following 7B1, 7B2 treatments;
  • the joint operation value is calculated based on the elevator operation energy balance; and the monitoring method satisfies any one or more of the following 8A11, 8A12:
  • 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) and/or the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) are an elevator operating parameter as described above.
  • the operational energy balance calculation is a calculation based on a formula describing the dynamics of the elevator and the associated force balance or a variant thereof; the associated force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the weight;
  • 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 value, because a single data cannot constitute a complete comparison/judgment operation; the joint operation value is a result calculated based on the elevator running energy balance calculation formula.
  • the reference data described herein includes or is the energy transfer condition identification data; the energy transfer condition identification data includes or is any one or two of the energy transfer condition identification difference value and the energy delivery amount status identification value;
  • the energy transfer condition identification value that is, the first reference value
  • the second permission range that is, the second range
  • the energy transfer amount condition identification difference described herein may also be referred to as the first
  • a permitted range is also the first range, which is the license deviation value.
  • 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; obviously, the reference data of the measurement object or the data included in the reference data in the present invention are required. It is configured to perform data for abnormality determination of the energy transfer amount for the joint operation value calculated with the calculation object calculated based on the energy balance calculation formula of the elevator; the reference data is reasonable data capable of realizing the use; and the operation according to the measurement object and the elevator
  • the energy balance calculation formula and the setting method of the input parameter of the elevator energy balance calculation formula are different, and the reference data of the corresponding measurement object is set.
  • the reference value (and / or actual value)
  • its value is naturally constrained to the specific value time and / or value mode; according to the specific setting scheme of the reference data described later (for example, the source of the data or the selection of the value path, the setting method, the time of the value, etc., and the related embodiments (Examples 1-10), it is obvious that the measurement object is different and/or the actual value is set according to the method.
  • the reference value (and/or the actual value) in the monitoring method of the present invention has a plurality of different time ranges, a plurality of different value ranges, and can be implemented by a plurality of different technical methods or schemes.
  • the following principle may be adopted: at least one of the reference data and the input parameter takes a preset value and determines a parameter number of the input parameter that takes a preset value; the preset value includes a calibration value or the same state as the current elevator running state. History value under;
  • the reference data is preferentially the actual value or the preset value;
  • the preset value includes the calibration value or the historical record value in the same state as the current elevator running state;
  • the reference data is taken The preset value, the input parameter takes the actual value, and is used to monitor whether the elevator energy transmission condition is abnormal; wherein the preset value taken by the reference data is a historical record value in the same state as the current elevator running state; in the present invention, The historical record value in the same state as the current elevator running state refers to the difference between the elevator running condition and the current elevator running condition when the value of the historical record value is lower than a preset threshold;
  • the elevator energy transmission quantity condition can be specifically a condition representing the part, for example, in the joint operation formula of kem in Embodiment 9, the reference of Kem
  • the data takes a preset value, and when all the input parameters take the actual value, it is possible to monitor whether the part (such as the transmission component) described by kem is abnormal; in Embodiment 1, the reference data of m2 takes a preset value (such as self-learning).
  • the condition described by m2 (such as whether the car is intact or whether the item is dropped) can be monitored.
  • the reference data takes an actual value, and one of the input parameters takes a preset value, and is used to monitor whether the parameter of the input parameter takes the preset value is abnormal; the preset value of the parameter in the input parameter is the current elevator running state.
  • the elevator can
  • the delivery condition can be specifically representative of the condition of the component.
  • the reference data takes a preset value
  • N-1 of the input parameters take a preset value, which is used to monitor whether the parameter of the preset value is abnormal in the measurement object and the input parameter
  • the preset value of the reference data is The historical record value in the same state of the current elevator running state, or the calibration value when the elevator is shipped from the factory
  • the preset value taken by the two parameters in the input parameter is the historical record value in the same state as the current elevator running state, or The calibration value of the elevator when it leaves the factory; continue to use the example 2 as an example.
  • the reference data takes an actual value
  • N of the input parameters take a preset value, which is used to monitor whether the parameter of the input parameter takes the preset value is abnormal
  • the preset value of the N parameter in the input parameter is The historical value in the same state as the current elevator running state, or the calibration value when the elevator is shipped from the factory.
  • Embodiment 8 when the reference data of Te takes the actual value, and m2, ⁇ 1, im, and R1 of the input parameter take the preset value and the remaining input parameters take the actual value, it is possible to monitor whether m2 ⁇ 1, im, and R1 are abnormal;
  • Te's reference data takes the actual value
  • m2, ⁇ 1, im, ⁇ , and R1 in the input parameters take the preset value and the remaining input parameters take the actual value
  • it is possible to monitor whether m2, ⁇ 1, im, ⁇ , and R1 are abnormal It should be understood that other situations regarding the relationship between the number of preset values and actual values in the reference data and the input parameters and the specific use may be performed by those skilled in the art based on the above description and specific embodiments, where I will not repeat them one by one.
  • the value of the rolling resistance coefficient ⁇ 1 included in the input parameter is the calibration value when the elevator is shipped from the factory, the reference data of the measuring object is the actual value; the method can be used to reflect the rolling resistance coefficient (that is, the traction sheave and/or the guide wheel) Anomaly caused by wheel deformation;
  • the reference data of the measuring object is a calibration value when the elevator is shipped from the factory;
  • the method can be used to reflect the efficiency coefficient (that is, the abnormality of the power system and/or the mechanical transmission system) Anomaly;
  • the reference data of the measurement object is a calibration value when the elevator is shipped from the factory;
  • the efficiency coefficient and/or the rolling resistance coefficient included in the input parameter are the calibration values when the elevator is shipped from the factory, the reference data of the measurement object is an actual value; correspondingly, the method can be used to reflect the efficiency coefficient and/or the rolling resistance. Anomalies in the coefficients (ie, caused by abnormalities in the powertrain and/or mechanical transmission system and/or deformation of the elevator traction sheave and/or the guide wheel);
  • the reference data of the measurement object is a history value in the same state as the current elevator running state.
  • the values of the other parameters except the rolling resistance coefficient in the input parameter are the calibration value or the actual value
  • the value of the other parameters except the efficiency coefficient in the input parameter is a calibration value or an actual value
  • the values of the other parameters except the rolling resistance coefficient and the efficiency coefficient in the input parameter are the calibration value or the actual value.
  • the reference value (and/or actual value) is a value subordinate to the measurement object type and/or the actual value (and/or reference value) setting method, and is a concept of amplitude (ie, size), which is an intermediate layer.
  • the reference value (and/or actual value) in the reference data in the monitoring method of the present invention is generally a value close to or equal to the actual value of the measured object of the elevator when the joint operation value is taken;
  • the range of values of the reference value (and / or actual value) in the reference data in the monitoring method can be applied to most types of measurement objects, such as source dynamic parameters, mechanical operating parameters.
  • the reference value in this case, the measured value
  • the reference value is usually The value of the measured object with the elevator is close to or equal to the actual value when the joint operation value is taken;
  • the reference value (and/or actual value) when the reference value (and/or actual value) is set in accordance with (when the set condition is satisfied)
  • the reference value (and/or the actual value) is also naturally a value close to or equal to the joint operation value of the "(a specific) meets the set condition"; "Specific” when the set condition is met” is the time specified by the user or the system (used to set the reference data).
  • the elevator can be operated in the normal state by default.
  • the reference value (that is, the joint operation value) is usually It is a value close to or equal to the actual value of the measurement object when "(a specific) meets the set condition; the setting method of such reference value is generally applicable when the measurement object is the elevator mass (m0, m1, m2) , m3) or system inherent parameters; when the measured object is the elevator mass, because the value of the elevator mass usually does not change much during the same period of time when the elevator is controlled by the power unit, the value of the reference value is usually It is still possible that the actual value of the joint operation value of the elevator (acquired for the energy transfer condition abnormal judgment) is close to or equal to the actual value of the calculation;
  • 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 setting conditions of the reference data include two conditions of manual preset and a set parameter reaching the preset value; the artificial preset condition includes a manual input confirmation signal; and the set condition is also called the compliance setting. condition.
  • 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:
  • A1-1 The difference between the joint operation value and the reference value exceeds the permission deviation value; in any aspect of the present invention, in order to facilitate understanding by those skilled in the art, when the measurement object is an unmeasurable parameter and/or When any one of the preset parameters and/or the system inherent parameters is used, when the reference data of the measurement object is or includes the actual value (ie, the reference value), the actual value is also allowed to be replaced by the calibration value;
  • the joint operation value exceeds a first reference value of the measurement object
  • the reference data of the measurement object includes an actual value or is actual a value, or the reference data includes an actual value and a first permitted range, or the reference data is an actual value and a first permitted range, or the reference data includes a second permitted range or a second permitted range;
  • the measurement object is any one of unmeasured parameters and/or preset parameters and/or system inherent parameters:
  • the reference data of the measurement object includes a second permission range or a second permission range; and the second permission range is a joint operation value setting obtained according to the preset value or the elevator operation energy balance calculation performed when the set condition is satisfied;
  • the reference data includes a calibration value or a calibration value
  • the calibration value is a joint operation value setting obtained according to the preset value or the elevator operation energy balance calculation when the set condition is satisfied;
  • the reference data includes a calibration value and a first permission range, or the reference data is a calibration value and a first permission range; the first permission range is set according to a preset value; and the calibration value is according to a preset value or a satisfaction setting. Setting the joint operation value obtained by calculating the energy balance of the elevator operation when the condition is determined;
  • the reference data of the measurement object includes an actual value or an actual value, or the reference data includes a second permission range or a second permission range, or The reference data includes an actual value and a first permitted range, or the reference data is an actual value and a first permitted range;
  • the actual value of the elevator mass including the quality of the carried item can be set in various ways; for example, the actual value of the mass of the carrying item m1 or the total mass m2 of the elevator car manually input by the elevator; the actual value can also be set according to the measured value.
  • a load cell is arranged on the elevator to measure the quality of the carried item; a second permission range of the elevator quality can also be manually input; the first permitted range is set according to a preset value; and the second permitted range is determined by the actual value and the first permitted range.
  • Composition; second license range actual value + first license range;
  • the actual value of the elevator quality and any one or more of the second permission ranges are set according to the joint operation value obtained by calculating the elevator operation energy balance when the set condition is satisfied; or
  • 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 joint operation value exceeds a first reference value of the measurement object
  • 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 (and/or the actual 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
  • the first reference value upper limit value is a reference value (and/or actual value) plus a positive value
  • the first reference value lower limit value is a reference value (and/or Actual value) plus a negative value or subtract 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 the reference value (and/or the actual value) + the upper limit deviation value
  • the first reference value lower limit value the reference value (and/or Actual 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 the monitoring, but it is necessary to maintain a certain number of values to reduce the false trigger rate of the monitoring; that is, preferably, when the reference data includes or is the first permitted range With the reference value (and/or actual value), the sum of the first permitted range and the reference value (and/or the actual value) is within the safe range; when the reference data includes or is the first permitted range and the calibration value The sum of the first permitted range and the calibration value is within the safe range.
  • the second permission range is within the safe range.
  • the first reference value upper limit value according to the setting may 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 prior art. Limitations of safety monitoring when the elevator operating parameters do not exceed the safety limit threshold:
  • 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 The calculation The joint operation value of the object, the reference value, the license deviation value, the difference between the joint operation value and the reference value, and any one or more of the first reference values
  • 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 value is usually unchanged during the running of the elevator; the preferred method is the joint obtained by calculating the energy balance of the elevator running according to the set condition.
  • the operational value sets 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; measured values, compared to other command values,
  • the estimated value can more truly represent the condition of the elevator operating parameter; there is also a possibility to set the reference data according to the historical record value of the measured object;
  • 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).
  • the measured object is the mass of the elevator whose amplitude may vary greatly (such as m1, m2, it is obvious that the amplitude may vary greatly, referring to the time when different "elevators are controlled by the power unit" In the segment (that is, in different operating processes), the movement of people or goods into and out of the elevator may cause the quality of the elevator to change greatly.
  • This parameter usually does not change during the current operation of the elevator (obviously, that is, when In the second operation process, the elevator quality value changes little or unchanged); the preferred method is to set the reference data according to the joint operation value obtained by performing the elevator operation energy balance calculation when the set condition is satisfied (and the key target is The actual value or the second permission range); that is, the joint operation value obtained by calculating the energy balance calculation of the elevator operation according to the actual value in the reference data and the second permission range according to the set condition set;
  • the technical solution is one of the core ideas of the present invention, because the elevator quality (m1, m2) of the elevator may vary greatly in each different operation process, and the self-learning mechanism can be established by using the technical solution. Automatically follow the normal change of the load and flexibly adjust the reference data (the key target is the actual value or the second permitted range); on this basis, the monitoring sensitivity can be improved and the adaptability to environmental changes can be improved. Obviously, during the operation period of “not satisfying the set condition” (that is, the majority of the running time of the elevator operation), it is naturally unnecessary to repeatedly set the reference data;
  • the preferred method is to set the reference data by the preset value (for example, the system default value), the second permission range; that is, the reference
  • the second permitted range in the data can be set according to the system default value; the set time of the reference data can be either before the elevator is run or when the system is powered on; obviously, before the elevator runs. "or not at the beginning of the current operation” (that is, the majority of the running time of the elevator operation); of course, the joint operation value obtained by the elevator operation energy balance calculation when the set condition is satisfied may be used as a reference. data.
  • the measured object is untestable parameter and / or pre-settable parameters and / or system inherent parameters (such as rolling resistance coefficient, efficiency coefficient)
  • this type of parameter is not easy to actually measure in the elevator operation, but this type of parameter is in the elevator
  • the amplitude is relatively stable during normal operation, even if it changes There are also relatively stable rules (such as following speed, usage time, etc.); the reference data (the calibration value (ie, the reference value) is set according to the preset value (especially the system preset value (the system default value)),
  • the first permission range and the second permission range of any one or more kinds of data are the simplest or simple manner; and the reference calculation value obtained by performing the elevator operation energy balance calculation when the set condition is satisfied may be used to set the reference data; That is, the calibration value and/or the second permission range in the reference data may be set according to a preset value (especially a system preset value (medium system default value));
  • the setting time of the reference data can be either before the elevator running or at the beginning of the current operation; when the measurement object is a system inherent parameter, the subsequent embodiment 8 is a reference example;
  • the preferred mode is set according to the measured value Reference data, the focus is on setting the actual value and/or the second permission range in the reference data; subsequent embodiment 9 and embodiment 10 are reference examples; (obviously, the amplitude may vary greatly, meaning even in the same "elevator" In the period of time when the power unit is controlled to operate (that is, in the same operation flow), the amplitude may vary greatly; in general, any one of the actual value and the second permitted range in the reference data may be Setting according to the measured value, and the time value of the reference data and the value of the joint operation value are within a preset time range (ie, synchronized);
  • the measured value of the measured object can be obtained, and the actual value or the second permitted range is set according to the measured value; and the time value of the reference data and the joint operation value is limited to a preset time range; the smaller the time range is, the smaller the time range is.
  • the setting of this time range can be Try to use the elevator energy transfer amount to handle the fastest CPU speed.
  • 100M single frequency can perform 100,000 single-cycle command operations within 1 millisecond;
  • the reference data and the value of the joint operation value need to be within a preset time range (ie, synchronization)
  • the reference data needs to be newly set to satisfy the condition that the value of the reference data and the value of the joint operation value are within a preset time range (ie, synchronization).
  • the measurement object is any one of the parameters to be measured and/or the measurable parameter and/or the source dynamic parameter and/or the mechanical operation parameter whose amplitude may vary greatly, according to which the measurement object is
  • the history value sets the reference data; when the history value includes any one or two of the historical record original value and the historical record actual value, and the actual value or/and the second permitted range are set according to the data.
  • the value of the data is different from the current elevator operating condition, the difference between the elevator operating condition and the current elevator operating condition is lower than a preset threshold; that is, any one or more of the actual value and the second permitted range may be based on the measured object.
  • the historical value is set, and the difference between the elevator running condition and the current elevator running condition when the historical value is taken is lower than a preset threshold;
  • the difference between the elevator running condition and the current elevator running condition when the value of the historical record value is lower than the preset threshold value refers to the elevator running condition corresponding to the historical record value generation (elevator mass, elevator speed, vertical acceleration, and The source power parameter) is consistent with the current elevator operating conditions (elevator mass, elevator speed, vertical acceleration, and source power parameters); obviously, the elevator operating condition refers to the type and magnitude of the parameters included in the input parameters;
  • the agreement means that the parameters are the same or close, and if the parameters have directions, the directions of the parameters are the same or close.
  • the measured object is the source dynamic parameter
  • the value of the joint operation value is similar to the elevator running condition when the value of a certain historical value is used (the values of the correlation factors of the energy transfer amount of the plurality of cores are similar; for example, the elevator The values of the mass value, vertical velocity, vertical acceleration and other parameters are similar)
  • the source dynamic parameter values of the two different time values may be similar; the specific elevator operating conditions (such as the core energy transfer condition correlation factor)
  • the number of the data, the weight of each data, and the threshold of the degree of difference in the correlation factor of each energy transfer condition are set and adjusted by the user; the more relevant parameters, the more reasonable the weight setting, and the smaller the difference threshold is, the more the calculation/monitoring accuracy is. High; in general, the use of historical values to set the actual value of the rapidly changing measurement object provides a completely new technical choice, which makes up for the lack of ways that must be measured before.
  • Exemplary method 6 setting the reference data according to the historical record value of the measurement object
  • the preferred method is: when the measurement object is any one of the source dynamic parameter, the mechanical operation parameter, the elevator quality, and the system inherent parameter (usually any elevator operation parameter), the first difference can be set according to the historical record difference.
  • the scope of the license that is, the first license range can be set according to the historical difference; for details, see "*** According to the historical value - technical solution for setting reference data" - Implementation Details
  • the present invention provides a technical solution for how to set reference data (second license range, first license range) using history values;
  • the principle of setting the throughput status identification value (that is, the second permission range) is usually as follows: the actual value of the measurement object is as close as possible to improve the sensitivity of the monitoring, but it must be The value is kept at a suitable difference to reduce the false trigger rate of the monitoring; if the upper limit of the energy transmission condition identification is set to 1.2 to 1.5 times the actual value, or the lower limit of the energy transmission condition identification value is set to 0.7 of the actual value. ⁇ 0.9 times, or the energy transfer condition recognition upper limit difference is set to 0.1 to 0.3 times the actual value, or the energy transfer condition recognition lower limit difference is set to the actual value (-0.3) to (-0.1) times;
  • the precise setting of the throughput status identification data (the second permission range and/or the first permission range), such as manual trial and error, or empirical method to slowly explore, to slowly verify, can deliver the amount of status
  • the identification data has low adjustment accuracy and low efficiency; and the guide rails and/or elevator shafts and load conditions of different elevators are varied, which makes it more difficult to accurately set the identification data of the energy transmission condition.
  • the key target is the energy transfer amount condition recognition difference or the energy transfer amount condition identification value
  • the historical record value includes a historical record original value and a historical record actual value, and the energy transfer amount status identification difference value is set according to a difference between the historical record original value and the historical record actual value (ie, a license range);
  • the historical record value includes a historical record original value, and the energy transfer amount status identification value is set according to the historical record original value;
  • *_52 Set the difference in the amount of energy transfer in the reference data according to the preset history value (this method is basically applicable to most types of measurement objects, and the variable fuzzy control is precise control);
  • the technical solution is one of the core ideas of the present invention.
  • the measurement object is the elevator quality
  • the system inherent parameters such as the rolling resistance coefficient, the efficiency coefficient
  • the history value sets the reference data (the second permission range and/or the first permission range), and the parameter setting accuracy and the monitoring sensitivity can be hierarchically improved from the conventional fuzzy control to the precise control.
  • the fuzzy algorithm includes the following Any one or more fuzzy algorithm rules: statistically analyze the reference data that has been used most frequently according to a certain number of running times; or automatically select the reference data with the most selections in the most recent running times; or automatically select the last running reference Data; or set different weight index of each reference data (such as user presets the most valuable and most protective reference data) to set reference data; or comprehensive statistical analysis and weight index to set reference data;
  • the subsequent energy transfer abnormality judgment/execution is usually performed after the reference data has been set, which simplifies the system.
  • Embodiment 6 (This embodiment is a monitoring method (#1) and/or a monitoring method (#1-2) and/or a monitoring method (#1-3) and/or a monitoring method (#1) provided by the present invention. 4) preferred embodiment)
  • 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 of 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;
  • 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 process
  • the energy transmission condition is also monitored in real time. Once the energy transmission abnormality occurs, the protection is activated immediately, which is of great significance for the safe operation of the elevator; from the safety point of view, it far exceeds the technical scheme of the sensor weighing in the current car.
  • 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 monitoring method (#1) and/or a monitoring method (#1-2) and/or a monitoring method (#1-3) and/or a monitoring method (#1) provided by the present invention. 4) preferred embodiment)
  • 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 Alternative Embodiment 3 of the foregoing Embodiment 4, electromechanical The efficiency coefficient of the transmission 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 includes steps A, B, and C, and the monitoring method is started after receiving the manual instruction (referred to as manual startup);
  • 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)
  • 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.); for example, the reading is generated 100 milliseconds before the time1 time.
  • the value of the parameter is set to time1, but the time of the parameter is the first 100 milliseconds of time1.
  • the preferred scheme is all parameters (eg joint operation values, reference values in reference data, calculation of joint operation values)
  • the value of the required input parameter 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 preferred method of calculating the value of the joint operation value is to take values within a preset time range (synchronize as much as possible) Real-time calculation, real-time acquisition (read or measurement), real-time energy transmission abnormality judgment/monitoring; but the reference data's value or set time does not need to be at the same time as the joint operation value; The acquisition time (just read) of the reference data before the abnormality judgment is transmitted is different from the value 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 operation energy balance calculation also 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.
  • Obtaining a joint operation value of the measurement object of the elevator includes the following steps: acquiring a value of an input parameter of the elevator, the input parameter being a parameter required for calculating the joint operation value; and a value according to the acquired input parameter The joint operation value is calculated.
  • the preset elevator running energy balance calculation formula that is, the calculation rule of the elevator motion balance (including the table processing model, or mathematics) Calculating a formula
  • the input parameter is a parameter required to calculate a value of the measurement object according to the elevator operation energy balance calculation formula (that is, the input parameter is an energy balance of the elevator operation) Calculating all the parameters except the measured object in the formula; calculating the joint operation value according to the value of the obtained input parameter; the value of the input parameter is within a preset time range;
  • the setting rule of the input parameter can be seen by the setting rule 1 of the foregoing input parameter;
  • 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 may include any one or more of the following 11A1, 11A2:
  • the technical solution can clearly realize the typical abnormality of energy transfer monitoring.
  • the setting of the reference data may include any 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 system inherent parameter is the reference value of the measurement target, and the system inherent parameter is And any one or more of the first reference values of the measurement object are set according to any one or more of the history record value, the factory default value, and the manual input value of the measurement object; when the history record When the value includes the historical original value, the original value of the historical record is calculated based on the energy balance of the elevator operation;
  • 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 indices for each reference data (such as user presets Valuable and most protective reference data) setting reference data; or setting the reference data by comprehensive statistical analysis and weight index;
  • 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.
  • the monitoring method (#1) and/or the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) are also satisfied. Any one or more of the 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 of the measurement object is the inherent parameter of the system (especially the efficiency coefficient); the efficiency coefficient substantially represents the wear condition of the elevator component, The safety condition of the machine, and the parameter has little change in the amplitude of the elevator operation, and it is easy to measure and compare; however, 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 for calculating the operating parameters of the elevator ie, the acquisition method
  • the system can allow parameter estimation and operation safety monitoring to be implemented using only one parameter acquisition system (such as any sensor outside the car or the inverter).
  • Significantly reduce the cost of the monitoring system; especially the motor drive (such as frequency converter) for parameter calculation (including weighing) can greatly reduce the elevator safety monitoring cost.
  • the monitoring method (#1) and/or the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) further include the following Any one or more of 14A1, 14A2, 14A3:
  • the operating environment information is also the external environment information.
  • the abnormality of the running environment information means that the value of the information exceeds the preset normal range.
  • 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:
  • Step A This step includes step A1, step A2, and step A3;
  • Step A1 Referring to the method of the foregoing Embodiment 5, the energy flow of the elevator is identified to the working condition (electrical ascending, motor braking up, electric down, motor braking down), and the speed change status of the elevator is recognized (non-zero uniform speed operation, acceleration operation) , slow down operation), first Take (read or measure) parameters in the same time range (motor efficiency coefficient Ke1 and / or Ke2, mechanical transmission system efficiency coefficient Km1 and / or Km2, integrated gear ratio im, no-load car mass m0, pair The values of the weight mass m3, the uplink speed V1, and the downlink speed V2) are calculated according to different energy flow directions and speed changes, and any one or more of the following 10A1-1, 10A1-2, and 10A1-3 are calculated, and the calculation is performed.
  • the joint operation value Pm_cal of the electrical power of the motor is calculated 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 monitoring response, but the larger the measurement error (due to the four incentives) of the joint operation value, the measured value, and the reference data, the worse/the effect is worse; It can be seen that the source power parameter or the combination of source and power parameters (such as energy) as the measurement object of the energy transmission anomaly monitoring effect is far less than the carrier quality or system inherent parameters as the measurement object.
  • M2 (fq2-fq1)/(a2-a1)+m3; (Formula A3-4-3);
  • M2 (Kem1(Te2-Te1)*im/R1)/(a2-a1)+m3; (Formula A3-4-4);
  • M2 ((P2o_2/Vq2)-(P2o_1/Vq1))/(a2-a1)+m3;
  • P2o_1, Vq1, and a1 are the electric power, vertical speed, and vertical acceleration obtained when tim1 is respectively;
  • P2o_2, a2, and Vq2 are elevator operating parameters (electric power, vertical speed) obtained when tim2 is different from tim1 time point. , vertical acceleration); and a2 ⁇ a1;
  • 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 it is in contact with the elevator shaft, the frictional force f0 will increase.
  • the system can simultaneously monitor the elevator power supply device, the motor drive, the motor and the rear mechanical transmission system; Only enable the #100 system (not enabled #101 system) monitoring motor and rear mechanical transmission system, then you can directly verify the energy transmission status of the elevator power supply unit and motor driver with P3i and motor electric power Pm and efficiency coefficient k31.
  • the verification method is to determine whether ((P3i*k31)-Pm) is greater than a preset threshold (such as P3i/20), and if it is greater than, the power supply device or the motor driver is abnormally operated;
  • 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 the calculation of the elevator running energy balance performed when the set condition is satisfied.
  • the acquired joint operation value is acquired at the beginning of the current running process, such as when the elevator starts running from the docking level (especially at zero speed running).
  • 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 is composed of a permission deviation value and a reference value, and the first reference value and the energy state identification reference value are both satisfied according to The joint operation value obtained by calculating the elevator operation energy balance performed when the condition is set is set;
  • 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 operates
  • the parameter is composed of a source power parameter, a system operation parameter, and an elevator quality.
  • the measurement object is any one or more of a source power parameter, a system operation parameter, and an elevator quality.
  • the present invention also provides a monitoring system (#1) for an elevator lifting operation corresponding to the monitoring method (#1), a monitoring system for the elevator during the lifting operation, comprising: an energy transmission status judging module, Obtaining a joint operation value of the measurement object of the elevator, and 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, The joint operation value is calculated based on the energy balance of the elevator operation.
  • a joint operation value acquisition module (1) for acquiring a joint of the measurement objects of the elevator
  • the calculated value is supplied to the energy transfer condition judging module (2), that is, the above-described joint operation value in the energy transfer condition judging 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 present invention also provides a monitoring system (#1-2) for elevator operation, comprising the following modules,
  • the measuring object determining module is configured to use any one of the elevator running parameters as the measuring object;
  • the elevator running energy balance calculation formula determining module is configured to determine an elevator running energy balance calculation formula for calculating the measuring object;
  • the elevator running energy balance calculating formula is a formula for describing the dynamic direction of the elevator moving direction and the related force balance formula or a formula thereof
  • the related force includes the gravity corresponding to the total mass of the elevator car and/or the gravity corresponding to the weight of the weight; further, the related force may further include the traction friction of the traction sheave and the guide wheel, the gradient resistance, Any one or any of a variety of shifting resistance and wind resistance; or: the related force includes the traction friction of the traction sheave and the guide wheel, the gradient resistance, the shift resistance, and the wind resistance. Any one, or including the traction sheave and the guide wheel, the sum of any of rolling friction, slope resistance, shift resistance, and wind resistance;
  • the measured number determining module is configured to set the number of parameters in the input parameter to be actually measured, and obtain the value of the input parameter, where the input parameter is all except the measuring object in the calculation formula of the elevator running energy balance And calculating the calculation object according to the input parameter and the elevator running energy balance calculation formula; and obtaining reference data of the measurement object in the current motion state of the elevator;
  • the comparison judging module is configured to compare the calculated value of the measurement object with the reference data of the measurement object, and determine whether the energy transmission amount of the elevator is abnormal.
  • the foregoing monitoring method is started after the power is turned on or after receiving the manual receiving operation instruction.
  • the monitoring method can be booted from the startup, without human operation, and the electronic device integrated with the monitoring method (and/or the monitoring system) can be self-operated after being powered on, and the self-running can be It starts running immediately after power-on, or it can be run after a preset time has elapsed.
  • the preset time may be only used as a standby time, and other applications are not executed during the time period, and other applications may be executed within the preset time, and may be further executed by other applications.
  • the degree (such as half or execution completion) as a point in time to start the monitoring method (and / or monitoring system) or directly start the monitoring method (and / or monitoring system) with the start command sent by the other applications .
  • the operation instruction is used to control the monitoring method (and/or the monitoring system) to start operation, which is an operation button, a touch screen or other mobile electronic device in the car. (such as mobile phones), etc. are generated after human operation.
  • 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 transmission process of the power driving the elevator; the monitoring method (#1) and/or provided by the present invention Step A of the monitoring method (#1-2) and/or the monitoring method (#1-3) and/or the monitoring method (#1-4) includes the steps of: obtaining an energy balance based on the elevator operation of the measurement object of the elevator Calculating the joint operation value; in the elevator operation energy balance calculation of the elevator operation, the elevator source power parameter represents the power supply information, the elevator quality represents the most basic attribute of the power receiver, and the elevator system operation parameter represents the basic condition of the energy transfer (eg 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.
  • other related elevator operating conditions such as elevator quality, speed, acceleration, etc.
  • 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.),
  • the deviation between the reference value of the elevator speed and the joint operation value calculated by the elevator operating energy balance of the elevator may be increased; if the elevator quality (such as the mass of the carried item m1 or the total mass m2) is used as the measurement object and other related
  • the elevator operating conditions such as acceleration
  • the joint operation value of the elevator mass calculated by the elevator running energy balance calculation of the elevator operation is changed; therefore, by comparing the joint operation value of the measurement object with the reference data, Determining whether the energy transfer condition in the operation of the elevator is abnormal, and the process step after the subsequent energy transfer condition determination can timely realize the abnormality monitoring and early warning of the energy transfer;
  • 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 energy transfer system that drives the elevator to run up and down;
  • the energy transfer condition is a condition closely related to the safety of the elevator operation; not limited to the car only
  • the condition of the device, the car inside the device generally does not drive the elevator to run Connection relationship; apparent energy transfer elevator situation, i.e. operating conditions of the power transmission member to be monitored elevator, the preferred operating conditions refer to wear and / or safety conditions.
  • 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 an energy balance of the elevator operation Calculated, and the source dynamic parameter required in the elevator running energy balance calculation is an electric power parameter or a dynamic parameter of the mechanical rotating member;
  • the elevator running energy balance is calculated according to a formula describing the balance of the power of the elevator and the related force Calculated by a formula of its deformation;
  • the associated force includes gravity corresponding to the total mass of the elevator car and/or gravity corresponding to the weight of the weight;
  • the input parameter of the elevator running energy balance calculation formula is all parameters except the measurement object in the elevator running energy balance calculation formula, that is, the input parameter is required to calculate the value of the measurement object according to the elevator running energy balance calculation formula. parameter;
  • the number of parameters in the input parameter to be measured is set, and the parameters are set based on the measured value; other parameters may be set by preset values; the more the measured parameters, the higher the accuracy will be, the better the monitoring performance is.
  • the measured parameters are less costly; the user and the manufacturer can customize according to their different situations.
  • 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,
  • the MOS tube is realized by adjusting the voltage and current of the PWM pulse width, and the voltage can also be adjusted by the multi-output transformer.
  • the transformer has multiple output poles, and can output various coil voltages such as 100%, 70%, 30%, etc.
  • 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:

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

Abstract

La présente invention concerne un procédé et un système pour la mise en œuvre de l'acquisition, de la commande, de la surveillance de fonctionnement et de charge sur des paramètres d'ascenseur. Le procédé comprend les étapes suivantes : lorsqu'un ascenseur monte ou descend, acquérir des valeurs de paramètres d'entrée de l'ascenseur, et calculer une valeur de fonctionnement conjoint d'un objet mesuré et calculé de l'ascenseur en fonction des valeurs des paramètres d'entrée, le calcul consistant en un calcul de bilan énergétique de fonctionnement d'ascenseur, les paramètres d'entrée correspondant à des paramètres requis pour le calcul de la valeur de fonctionnement conjoint de l'objet mesuré et calculé de l'ascenseur, l'objet mesuré et calculé représentant un paramètre quelconque parmi les paramètres de fonctionnement d'ascenseur, et le calcul de bilan énergétique de fonctionnement d'ascenseur étant utilisé pour calculer un autre paramètre en fonction des données de deux paramètres quelconques parmi les paramètres qui utilisent au moins la masse d'ascenseur, un paramètre de puissance source, et un paramètre de fonctionnement du système. Le procédé peut élargir la portée d'application des paramètres de fonctionnement d'ascenseur.
PCT/CN2016/109329 2015-12-10 2016-12-09 Procédé et système pour la mise en œuvre de l'acquisition, de la commande, de la surveillance de fonctionnement et de charge sur des paramètres d'ascenseur WO2017097261A1 (fr)

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CN201510919569.2A CN105600627A (zh) 2014-12-11 2015-12-10 电梯参数的获取、控制、运行和载荷监控的方法及系统
CN201610356668 2016-05-25
CN201610356668.9 2016-05-25

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