WO2021062902A1

WO2021062902A1 - Emergency rescue method, apparatus and device for elevator, and computer-readable storage medium

Info

Publication number: WO2021062902A1
Application number: PCT/CN2019/113446
Authority: WO
Inventors: 蔡准; 汤程峰; 关欣; 郑磊; 齐太安; 姚培锋
Original assignee: 苏州汇川技术有限公司
Priority date: 2019-09-30
Filing date: 2019-10-25
Publication date: 2021-04-08
Also published as: CN110817624A

Abstract

Disclosed are an emergency rescue method, apparatus and device for an elevator, and a computer-readable storage medium. According to the method, an elevator comprises a main circuit (21) and an emergency rescue apparatus (22), wherein the main circuit (21) comprises a main power supply circuit and a driver (211), and the driver (211) is powered by the main power supply circuit and drives a traction electric motor of the elevator to operate. The method comprises: acquiring a load state of a car and position information of the car; and when an input voltage of a main power supply circuit is abnormal, switching the driver (211) to be powered by the emergency rescue device (22), and controlling, according to the load state of the car and the position information of the car, the car to travel to a landing position. By means of the method, the comfort of a passenger is significantly improved during an emergency rescue, and emergency rescue failure can be avoided.

Description

Elevator emergency rescue method, device, equipment and computer readable storage medium

Technical field

The present invention relates to the field of elevators, and more specifically, to an elevator emergency rescue method, device, equipment and computer-readable storage medium.

Background technique

In today's world, there are more and more high-rise buildings, and elevator systems are widely used, which brings great convenience to people's lives. But at the same time, due to elevator system failures, people trapping incidents occur from time to time. Therefore, when installing elevators in general buildings, elevator emergency rescue devices are required to implement emergency rescue when the elevator system is abnormal, so that the car can run to the level and open the door to release people.

The current elevator emergency rescue mainly includes the following four types of programs:

(1) Drive rescue solutions, such as the Chinese patent with document number CN 207877049, which additionally configures an uninterruptible power supply UPS (Uninterruptible Power System/Uninterruptible Power Supply) or an automatic rescue device (automatic rescue device) for the elevator system. When the power grid is abnormal, the energy stored in the storage battery of a certain capacity is converted through the control electric energy of the single-chip microcomputer to supply power to the drive circuit and control circuit of the elevator system. After the drive motor runs to the level, the door is opened and people are released to complete the rescue. However, in the UPS or automatic emergency rescue device of this scheme, due to the limited storage capacity of the battery, after several rescues, the battery power is basically exhausted and continuous rescue is impossible.

(2) The car rolling rescue plan, including the car rolling and direct car rolling rescue, such as the Chinese patent application with the document number CN107265235, which transmits a signal to the elevator when the fault sensor senses the occurrence of an elevator failure. The controller, after receiving the elevator fault information, executes rescue according to whether it is currently parked on a leveling floor or a non-leveling floor. However, in the above scheme, when the elevator car is parked in the non-door area, the direct opening of the gate and the car will likely produce greater acceleration, causing panic of the trapped personnel in the elevator car and possible secondary injury; in addition, Due to the acceleration of gravity, the speed is getting faster and faster, which may trigger the safety circuit protection and cause rescue failure.

(3) The solution of an external independent lifting device, such as the Chinese patent application document No. CN 108928704, which connects one end to the car or counterweight, and the other end to the car guide rail or the rescue lifting device of the machine room, through external force, The car moves to the unlocking area and opens the door to release people. This solution provides a rescue method under complex and extreme working conditions, but the rescue lifting device requires professionals to operate it, and the rescue lifting device needs to be installed and tested on site. The rescue time is long and may bring unpredictable risks.

(4) The scheme of using regenerative energy feedback. In the rescue process, the traction motor generates power to charge the DC bus of the drive, and the energy of the regenerative feedback is used to perform rescue. For example, the Chinese patent application with the document number CN 108657893, the elevator input voltage is abnormal Then, the kinetic energy is converted into electric energy to perform rescue by using the gravity difference between the car and the counterweight. This scheme is more effective for unbalanced loads, and the rescue process is more comfortable; however, when the scheme is parked very close to the door area, the sliding distance is not enough to generate enough energy to increase the bus voltage, and the parking comfort is not good ; And, when the elevator system is in a balanced load condition, even if the motor brake is opened, the car cannot move, and rescue cannot be implemented.

Summary of the invention

The embodiment of the present invention aims at the limited storage capacity of the battery in the above-mentioned driving rescue scheme, and continuous rescue is impossible. In the rolling rescue scheme, directly opening the brakes and rolling the vehicle may produce relatively large acceleration, and the scheme of using an external independent lifting device requires professional operation and consumption. The problem is that the time is long, and the solution using regenerative energy feedback is less effective when the car stops near the door area. An elevator emergency rescue method, device, equipment, and computer-readable storage medium are provided.

The technical solution of the embodiment of the present invention to solve the above technical problems is to provide an elevator emergency rescue method, characterized in that the elevator includes a main circuit and an emergency rescue device, the main circuit includes a main power supply circuit and a driver, and the The driver is powered by the main power supply loop and drives the traction motor to run, and the method includes:

Obtain the load status of the car and the position information of the car;

When the input voltage of the main power supply circuit is abnormal, the driver is switched to be powered by the emergency rescue device, and the car is controlled to run to level according to the load state of the car and the position information of the car. Tier location.

Preferably, the driver includes a drive circuit and a control circuit, and the emergency rescue device includes a main circuit power supply part and an auxiliary power supply part; the switching the driver to be powered by the emergency rescue device includes;

If the car is in a balanced load state, connect the drive circuit of the driver to the main circuit power supply part of the emergency rescue device, and connect the control circuit of the driver to the auxiliary power supply part of the emergency rescue device;

If the car is in an unbalanced load state, the control circuit of the driver is connected to the auxiliary power supply part of the emergency rescue device.

Preferably, the controlling the car to run to the leveling position according to the load state of the car and the position information of the car includes:

If the car is in a balanced load state, control the car to run to the leveling position through the drive circuit of the driver;

If the car is in an unbalanced load state and the distance between the car and the door zone is less than or equal to a preset value, control the car to run to the leveling position through the control loop of the driver;

If the car is in an unbalanced load state and the distance between the car and the door zone is greater than a preset value, the control loop of the driver controls the car to run to the leveling position in a regenerative energy feedback mode.

If the car is in an unbalanced load state, the control loop of the driver controls the car to run to the leveling position in a regenerative energy feedback mode.

Preferably, the controlling the elevator car to run to the leveling position in a regenerative energy feedback mode includes:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is completed, and at the same time end the star sealing so that the car rolls over;

After the brake of the traction motor is opened, the rotation speed of the traction motor is sampled in real time, and the sampling value of the rotation speed at the previous moment is used as the command speed at the current moment. Closed loop control or open loop control of the rotation speed of the traction motor , Until the rotation speed of the traction motor reaches the preset rescue speed;

Close-loop control of the traction motor running at the preset rescue speed until the car reaches the preset position of the door zone;

After the car reaches the preset position of the door zone, the traction motor is controlled to run to the leveling position in a closed loop with a preset deceleration curve.

Sampling the output current of the traction motor and the speed of the traction motor in real time, and obtain the generated power of the traction motor according to the output current and the rotation speed of the traction motor;

When the generated power of the traction motor exceeds a preset limit value, the braking torque is controlled so that the generated power does not exceed the preset generated power.

Preferably, the method includes:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful;

Sampling the rotation speed of the traction motor, and when the rotation speed of the traction motor is equal to zero, it is determined that the car is in a balanced load state, and when the rotation speed is greater than zero, it is determined that the car is in an unbalanced load state.

Preferably, the controlling the car to run to the leveling position through the control loop of the driver includes:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful, so that the car rolls over;

Start timing after the car reaches the door zone, and control the brake of the traction motor when the timing reaches a preset time, so that the car brakes to run to the leveling position.

The embodiment of the present invention also provides an emergency rescue device, the emergency rescue device is communicatively connected with the driver, and the driver includes a drive circuit and a control circuit; the emergency rescue device includes a battery, an AC output circuit, an LC filter circuit, and a control circuit. Power circuit, detection unit and contactor cut-off unit;

The output terminal of the battery is connected to the AC output circuit and the control power circuit via a first contactor, and the output terminal of the AC output circuit is connected to the power supply of the driver via an LC filter circuit and a second contactor. Terminal, the control power circuit is connected to the control circuit of the driver;

The detection unit is connected to the main power supply circuit that supplies power to the driver, and when the voltage of the main power supply circuit is abnormal, the contactor cut-off unit disconnects the main contactor in the main power supply circuit and closes the first Contactor.

The embodiment of the present invention also provides an elevator emergency rescue equipment, including a memory and a processor, the memory stores a computer program that can run on the processor, and the processor executes the computer program as described above. Describe the steps of the elevator electric emergency rescue method.

The embodiment of the present invention also provides a computer-readable storage medium having a computer program stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the elevator emergency rescue method described above are realized.

The elevator emergency rescue method, device, equipment and computer-readable storage medium of the embodiments of the present invention detect the position of the car and the load when the mains is disconnected, and adopt driving rescue, rolling rescue or energy feedback rescue, which greatly improves The comfort of passengers during emergency rescue is improved, and emergency rescue failure can be avoided.

Description of the drawings

Figure 1 is a schematic flowchart of an elevator emergency rescue method provided by an embodiment of the present invention;

2 is a schematic diagram of the connection relationship between the emergency rescue device and the elevator system in the elevator emergency rescue method provided by the embodiment of the present invention;

Figure 3 is a schematic flowchart of an elevator emergency rescue method provided by another embodiment of the present invention;

Figure 4 is a schematic flow chart of controlling the elevator car to run to the leveling position in the manner of regenerative energy feedback in the elevator emergency rescue method provided by the embodiment of the present invention;

Figure 5 is a schematic flow chart of detecting whether the car is in a balanced load state in the elevator emergency rescue method provided by an embodiment of the present invention;

Figure 6 is a schematic diagram of the flow of controlling the car to run to the leveling position in the elevator emergency rescue method provided by the embodiment of the present invention;

Figure 7 is a schematic diagram of an elevator emergency rescue device provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the present invention clearer, the following further describes the present invention in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

As shown in Figure 1, it is a schematic flow diagram of an elevator emergency rescue method provided by an embodiment of the present invention. The elevator emergency rescue method can be applied to an elevator (straight elevator) system and used to control the elevator car to run to a level when the elevator power grid is abnormal. Tier location. As shown in FIG. 2, the above-mentioned elevator system includes a main circuit 21 and an emergency rescue device 22. The above-mentioned main circuit includes a main power supply circuit and a driver 211, and the driver 211 (such as a driving integrated machine) passes through the main contactor K1 and the main contactor K1 in the main power supply circuit. The incoming switch QF is connected to the input voltage (for example, city power), that is, the driver 211 is powered by the main power supply circuit and drives the traction motor of the elevator to run. The above-mentioned driver 211 includes a drive circuit and a control circuit (of course, in practical applications, the drive circuit and the control circuit can also be located in separate devices), where the drive circuit consists of a rectifier unit, an inverter unit, a DC bus, a braking unit, etc. It is constructed and driven by the output of the inverter unit to rotate the traction motor, and the control loop is composed of a control unit, a drive unit, and so on. The above-mentioned driver 211 is also communicatively connected with the emergency rescue device 22 through the CAN bus to realize command transmission and status feedback. The emergency rescue device includes a battery 221, an AC/DC charging circuit 222, a DC/AC output circuit 223, an LC filter circuit 224, a DC/DC control power circuit 225, a detection unit 226, and a contactor cut-off unit K5. The emergency rescue device 22 is connected to the main power supply circuit (such as the line switch QF) and charges the battery 221 through the AC/DC charging circuit 222; the direct current output by the battery 221 can be converted into three-phase alternating current through the DC/AC output circuit 223, After being filtered by the LC filter circuit 224, it is output to the power supply terminal of the driver 211, and replaces the mains power supply for the driving circuit; the DC power output by the battery 221 can also be converted into low voltage DC power of different voltages through the DC/DC control power circuit 225 (for example 12V, 24V, 5V, etc.), so as to supply power to different parts of the control loop; the detection unit 226 is connected to the incoming switch QF, and is used to detect the input voltage of the main power supply loop (such as mains), and the contactor cut-off unit K5 is detecting When the unit 226 detects that the input voltage of the main power supply loop is abnormal, it disconnects the main contactor K1 in the main power supply loop, that is, disconnects the mains power supply of the driver 211. Of course, in practical applications, the corresponding functions of the detection unit 226 and the contactor cutoff unit K5 can also be integrated into the control loop of the drive 211, and the emergency rescue device directly uses the existing UPS (Uninterruptible Power Supply, uninterruptible power supply). instead.

Specifically, the elevator emergency rescue method of this embodiment includes the following steps:

Step S11: Obtain the load state of the car and the position information of the car. Specifically, the load status of the car and the position information of the car can be obtained according to the operating parameters of the elevator system.

Step S12: When the input voltage of the main power supply circuit is abnormal, switch the driver 211 to be powered by the emergency rescue device, and control the car to run to the leveling position according to the load state of the car and the position information of the car . In this step, according to the load status of the car and the position information of the car, the following at least two ways can be used to control the car to run to the leveling position: driving by the emergency rescue device 22, running by the car, and regenerative energy feedback mode.

Specifically, whether the input voltage of the main power supply loop is abnormal can be detected by the detection unit 226 in FIG. 2. In the above-mentioned elevator emergency rescue method, when the input voltage of the main power supply circuit is abnormal, different rescue methods are adopted according to the position of the car and the load conditions, which can avoid the problem of emergency rescue failure in a single method under certain circumstances.

The emergency rescue device 22 includes a main circuit power supply part (specifically composed of a battery 221, a DC/AC output circuit 223 and an LC filter circuit 224) and an auxiliary power supply part (specifically a battery 221 and a DC/DC control power supply circuit 225).

In an embodiment of the present invention, in the above step S12, when the main power supply circuit is connected to the emergency rescue device, if the car is in a balanced load state, the drive circuit of the driver 211 is connected to the main circuit of the emergency rescue device 22 The power supply part, such as disconnecting the contactor cut-off unit K5, and closing the contactors K2 and K3, so that the main circuit power supply part of the emergency rescue device 22 replaces the input voltage of the main power supply circuit to supply power to the drive circuit of the driver 211, and at the same time, the driver 211 The control loop is connected to the auxiliary power supply of the emergency rescue device. The auxiliary power supply of the emergency rescue device 22 replaces the input voltage of the main power supply loop to supply power to the control loop of the driver 211; if the car is in an unbalanced load state, the driver 211 is controlled The circuit is connected to the auxiliary power supply part of the emergency rescue device 22, such as closing the contactor K3, so that the auxiliary power supply part of the emergency rescue device 22 replaces the input voltage of the main power supply circuit to supply power to the control circuit of the driver 211. Through the above method, the fast switching of the power supply of the driver 211 can be realized to meet the requirements of different rescue schemes.

In another embodiment of the present invention, in the above step S12, when the car is controlled to run to the leveling position according to the load state of the car and the position information of the car, if the car is in a balanced load state, the driver is The drive circuit of 211 drives the car to run to the leveling position; if the car is in an unbalanced load state and the distance between the car and the door zone is less than or equal to the preset value, the control circuit of the driver 211 controls the car to run To the leveling position; if the car is in an unbalanced load state and the distance between the car and the door zone is greater than the preset value, the control loop of the driver 211 controls the car to run to the leveling position in a regenerative energy feedback mode. Through the above method, the car can be controlled to run to the leveling position in three different ways according to the load state of the car and the position information of the car, thereby greatly improving the comfort of passengers during emergency rescue and avoiding a single way In some cases, emergency rescue failed.

In practical applications, when the car is in an unbalanced load state and the distance between the car and the door zone is less than or equal to the preset value, the car can also use the regenerative energy feedback mode to run to the leveling position, that is, as long as the car In an unbalanced load state, the car is controlled to run to the leveling position in a regenerative energy feedback mode through the control loop of the driver 211.

As shown in Figure 3, it is a schematic flow chart of an elevator emergency rescue method provided by another embodiment of the present invention. The method can be specifically executed by the control circuit of the driver 211, or can be executed by the above-mentioned control circuit combined with the emergency rescue device 22, and the method can be It includes the following steps:

Step S31: real-time detection of the input voltage of the main power supply circuit, that is, real-time detection of the power supply voltage of the elevator (for example, the mains voltage).

Step S32: Determine whether the input voltage of the main power supply loop is abnormal, and execute step S33 when the input voltage of the main power supply loop is abnormal, otherwise return to step S31, and continue to detect the input voltage of the main power supply loop. The above-mentioned abnormal input voltage of the main power supply loop includes phase loss or power failure of the input voltage of the main power supply loop.

Step S33: disconnect the driver 211 from the input voltage of the main power supply circuit, and at the same time switch the power supply of the control circuit of the driver 211 to the emergency rescue device, for example, the control circuit obtains power through the DC/DC control power circuit 225 of the emergency rescue device 22 Voltage. Since the control circuit consumes less power, it will not affect the use of the battery 221 of the emergency rescue device 22.

Step S34: Determine whether the car is in a balanced load state. If the weight of the car is equal to the weight of the counterweight or the difference between the weight of the car and the weight of the counterweight is within the preset range, it can be confirmed that the car is in a balanced load. State, and execute step S35, otherwise (that is, the difference between the weight of the car and the counterweight exceeds the preset range), execute step S36.

Step S35: Connect the drive circuit of the driver 211 to the emergency rescue device, for example, close the contactors K2 and K3 in FIG. 2, and the DC/AC output circuit 223 of the emergency rescue device converts the direct current output by the battery 221 into three-phase alternating current, and After being filtered by the LC filter circuit 224, it is output to the driving circuit of the driver 211. Then, the driving circuit of the driver 211 drives the traction motor to rotate under the control of the control circuit to make the car run to the leveling position. During the rotation of the driving traction motor, the control circuit can automatically perform drive rescue according to the preset speed curve, and after the car reaches the leveling position, the car door and hall door are opened to facilitate the passengers to leave the car.

In particular, in order to save energy, when driving the traction motor to rotate, the rotation direction of the traction motor can be determined according to the current position of the car. For example, when the current position of the car is close to the door area of the upper layer, the drive circuit The traction motor can be driven to make the car go up to the leveling position of the door area of the upper floor; when the current position of the car is close to the door area of the next floor, the drive circuit can drive the traction motor to make the car go down The leveling position of the gate area on the first floor.

Step S36: Detect the distance between the car and the door zone, and execute step S37 when the distance between the car and the door zone is less than or equal to the preset value, otherwise execute step S38. In this step, when the weight of the car is greater than the weight of the counterweight, the distance between the car and the door area of the next floor of its current position can be detected. When the weight of the car is less than the weight of the counterweight, the car is detected The distance to the door area of the upper level from its current location.

In this step, you can confirm whether the distance between the car and the door zone is less than or equal to the preset value according to whether the car is in the door zone. For example, when the upper leveling sensor or the lower leveling sensor on the car outputs a valid signal (ie When the upper leveling sensor or the lower leveling sensor reaches the magnetic barrier area in the hoistway), confirm that the distance between the car and the door zone is less than or equal to the preset value, otherwise confirm that the distance between the car and the door zone is greater than the preset value. Of course, in practical applications, other methods can also be used to detect the distance between the car and the door zone, such as driving pulses of the traction motor.

Step S37: Control the car to run to the leveling position. At this time, the emergency rescue device 22 only supplies power to the control loop of the driver 211, such as ±12V, 24V, 5V power supply required by the control loop. That is, when the weight of the car is greater than the weight of the counterweight, the car is controlled to slide down to the leveling position of the door area of the next floor. When the weight of the car is less than the weight of the counterweight, the car is controlled to slide up to The leveling position of the door area of the upper floor, and after the car reaches the leveling position, open the car door and hall door to facilitate passengers to leave the car.

Step S38: Control the car to run to the leveling position in the regenerative energy feedback mode. At this time, the emergency aid device 22 only supplies power to the control loop of the driver 211, such as ±12V, 24V, 5V power supply required by the control loop.

In this step, also when the weight of the car is greater than the weight of the counterweight, the car is controlled to descend to the leveling position of the door area of the next floor. When the weight of the car is less than the weight of the counterweight, the car is controlled to move up. Go to the leveling position of the door area of the upper floor, and after the car reaches the leveling position, open the car door and hall door so that passengers can leave the car.

The above emergency rescue method for elevators uses different rescue methods by detecting the position of the car and the load when the input voltage of the main power supply circuit is disconnected. For example, when the car is in a balanced load state, the emergency rescue device is directly powered by the emergency rescue device to drive the car. The car reaches the leveling position; when the car is in an unbalanced load state and the distance between the car and the door zone is less than or equal to the preset value, the car is controlled to run to the leveling position in a rolling operation mode; When the load is balanced and the distance between the car and the door area is greater than the preset value, the car is controlled to run to the leveling position by regenerative energy feedback, which greatly improves the comfort of passengers during emergency rescue and can avoid a single method In some cases, emergency rescue failed.

As shown in Fig. 4, in an embodiment of the present invention, the control car in the above step S38 runs to the leveling position in a regenerative energy feedback mode, which may specifically include the following steps:

Step S381: Short-circuit the three-phase stator windings of the traction motor through mechanical or electronic star sealing (by turning on the three-phase lower arm of the inverter module in the drive circuit), so that the three-phase stator windings of the traction motor can be passed through. The phase stator winding consumes the kinetic energy of the rotor of the traction motor. After the star sealing is completed, the brake of the traction motor is opened, and at the same time, the star sealing (that is, the short-circuit path between the three-phase windings of the traction motor is disconnected) to make the car roll.

Step S382: After the brake of the traction motor is opened, the rotation speed of the traction motor is sampled in real time, and the sampling value of the rotation speed at the previous moment is used as the command speed closed-loop control at the current moment (the control loop outputs to the inverter module in the drive loop). Pulse width modulation signal) the rotation speed of the traction motor until the rotation speed of the traction motor reaches the preset rescue speed. In this step, the characteristics of natural inertia are used to slowly accelerate the car to achieve speed rollback.

Step S383: Close-loop control of the traction motor to run at the preset rescue speed until the car reaches the preset position of the door zone. The closed-loop control process can refer to the closed-loop operation control process of the existing motor.

Step S384: After the car reaches the preset position of the door zone, the traction motor is controlled to run to the leveling position with the preset deceleration curve closed-loop, that is, the car is controlled to gradually decelerate to zero speed and creep at zero speed, thereby increasing Comfort.

Of course, in practical applications, the above-mentioned operation of running to the leveling position in the manner of regenerative energy feedback can also adopt the solution disclosed in the Chinese patent application with the document number CN 108657893. Compared with the solution disclosed in the Chinese patent application with the document number CN 108657893, the solution of this embodiment uses the speed rollback vector control mode in step S182 instead of the switch control mode, and in the power generation mode using natural inertia, it not only avoids The problem that the control voltage is not easy to select when the open-loop control mode is adopted, and the problem of different speeds under the corresponding open-loop output voltage obtained by the open-loop control in different car systems is avoided.

In the process of the above-mentioned control car running to the leveling position in the regenerative energy feedback mode, in order to prevent the DC bus voltage of the drive circuit from being too high, the generated power of the traction motor can also be obtained, and when the generated power of the traction motor exceeds the preset At the limit value, the braking torque is controlled so that the generated power does not exceed the preset limit value.

Specifically, the output current of the traction motor can be sampled in real time, and the generated power of the traction motor can be obtained according to the output current and the rotation speed of the traction motor. For example, the power generation can be calculated by the following formula (1):

P=k×ω _r ×i _q (1)

Among them, P is the generated power, k is the generated power coefficient, ω _r is the speed of the traction motor, and i _q is the torque component of the output current.

When controlling the braking torque so that the generated power does not exceed the preset limit value, it is necessary to consider the loss of the traction motor itself, the driving circuit loss and the absorbed power required for the DC bus voltage rise, as shown in the formula (2), generally , The power generation must not exceed 30% of the rated power.

P=P _m +P _Loss +P _bus (2)

Among them, P _m is the power loss of the motor, P _Loss is the power loss of the drive circuit, and P _bus is the absorbed power required for the DC bus voltage to rise. The value of the DC bus voltage rise is generally set to the bus voltage value corresponding to the rated input voltage. Generally, the 380V elevator system is set to 540V, and the 220V elevator system is set to 310V.

As shown in Figure 5, in an embodiment of the present invention, whether the car is in a load balance state can be determined in the following manner:

Step S341: Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful.

Step S342: Sampling the rotation speed of the traction motor, and when the rotation speed of the traction motor is equal to zero, confirm that the car is in a load balance state, and when the rotation speed is greater than zero, confirm that the car is in a non-load balance state.

In this embodiment, the relationship between the weight of the car and the weight of the counterweight can also be judged according to the rolling direction of the car, so that when judging the distance between the car and the door zone, it is determined to select the door zone of the upper floor. It is the door area on the next floor to judge the distance. Specifically, in the above determination process, the output current of the traction motor can be sampled while sampling the rotation speed of the traction motor. When the traction motor speed and output current meet the following calculation formula (3), confirm that the weight of the car is greater than the weight of the counterweight:

Among them, ω _r is the speed of the traction motor, and i _q is the torque component of the output current.

When the traction motor speed and output current meet the following calculation formula (4), confirm that the weight of the car is less than the weight of the counterweight:

Of course, in practical applications, a weighing device can also be directly installed in the car, and the weighing device can be used to determine whether the car is in a load balance state, but this solution requires additional hardware equipment.

As shown in Figure 6, in another embodiment of the present invention, the car can be controlled to slide to the leveling position in the following manner:

Step S371: Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful to make the car roll.

Step S372: Start timing after the car reaches the door zone, and control the brake of the traction motor when the timing reaches the preset time, so that the car brakes to run to the leveling position. The above-mentioned preset time can be set according to different car and motor brake mechanisms, so that the car stops accurately to the leveling position.

This embodiment relies on natural inertia braking to make the car reach the leveling position. Since the car is closer to the door area, the combination of mechanical star sealing or electronic star sealing can make the car move at a lower speed and then pass the brake. Make the car decelerate and run to the leveling position without causing panic among the passengers in the car.

The embodiment of the present invention also provides an emergency rescue device, which can cooperate with the main circuit of the elevator system to realize the emergency rescue of the elevator. As shown in FIG. 2, the emergency rescue device 22 of this embodiment is communicatively connected with the driver 211 for driving the traction motor in the main circuit 21 of the elevator system, and the driver 211 includes a drive circuit and a control circuit; the emergency rescue device includes Battery 221, AC output circuit (DC/AC) 223, LC filter circuit 224, control power circuit (DC/DC) 225, detection unit 226, and contactor cut-off unit K5.

The output terminal of the battery 221 is connected to the AC output circuit 223 and the control power circuit 225 via the first contactor K3, and the output terminal of the AC output circuit 223 is connected to the driver 211 via the LC filter circuit 224 and the second contactor K2. At the power supply end, the control power circuit 225 is connected to the control circuit of the driver 211.

The detection unit 226 is connected to the main power supply circuit (such as the line switch QF in the main power supply circuit) that supplies power to the driver 211 to detect the voltage of the main power supply circuit, and is disconnected by the contactor cut-off unit K5 when the main power supply circuit voltage is abnormal. The main contactor K1 in the main power supply loop, and the first contactor K3 is closed at the same time.

The aforementioned emergency rescue device may further include a charging unit (AC/DC) 222, which is connected to the main power supply circuit and converts the alternating current of the main power supply circuit into direct current, thereby charging the storage battery 221.

The emergency rescue device in this embodiment belongs to the same concept as the elevator emergency rescue method in the corresponding embodiments of FIGS. 1, 3-6. For the specific implementation process, see the corresponding method embodiment, and the technical features in the method embodiment are described in All the embodiments of the emergency rescue device are correspondingly applicable, and will not be repeated here.

The embodiment of the present invention also provides an elevator emergency rescue equipment 7. The equipment 7 can be specifically composed of an elevator controller (for example, the driver 211 of FIG. 2) or an elevator controller combined with the emergency rescue device 22 of FIG. 2, as shown in FIG. The elevator emergency rescue equipment 7 includes a memory 71 and a processor 72. The memory 71 stores a computer program that can be executed by the processor 72, and the processor 72 implements the steps of the elevator emergency rescue method as described above when the processor 72 executes the computer program.

The elevator emergency rescue equipment 7 in this embodiment belongs to the same concept as the elevator emergency rescue method in the corresponding embodiments of Figs. 1-6. The specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are described in All the embodiments of this device are correspondingly applicable, and will not be repeated here.

The embodiment of the present invention also provides a computer readable storage medium, the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the elevator emergency rescue method described above are realized. The computer-readable storage medium in this embodiment belongs to the same concept as the elevator emergency rescue method in the corresponding embodiment of FIGS. 1-6. The specific implementation process is detailed in the corresponding method embodiment, and the technical features in the method embodiment are described in All the embodiments of this device are correspondingly applicable, and will not be repeated here.

It should be understood that the size of the sequence number of each step in the foregoing embodiment does not mean the order of execution. The execution sequence of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application. Those skilled in the art can clearly understand that, for the convenience and conciseness of description, only the division of the above functional units and modules is used as an example. In practical applications, the above functions can be allocated to different functional units and modules as needed. The module is complete. The functional units and modules in the embodiments can be integrated in a processor, or each unit can exist alone physically, or two or more units can be integrated in one unit. The above-mentioned integrated units can be hardware-based Formal realization can also be realized in the form of software functional units. In addition, the specific names of the functional units and modules are only used to facilitate distinguishing from each other, and are not used to limit the protection scope of the present application. For the specific working process of the units and modules in the foregoing system, reference may be made to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail or recorded in an embodiment, reference may be made to related descriptions of other embodiments.

A person of ordinary skill in the art may realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed by hardware or software depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.

In the embodiments provided in this application, it should be understood that the disclosed elevator emergency rescue method, system, and equipment can be implemented in other ways. For example, the embodiments of the elevator emergency rescue system described above are only illustrative.

In addition, the functional units in the various embodiments of the present application may be integrated into one processor, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated module/unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, this application implements all or part of the processes in the above-mentioned embodiments and methods, and can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the program is executed by the processor, it can implement the steps of the foregoing method embodiments. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file, or some intermediate forms. The computer-readable medium may include: any entity or interface switching device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), electrical carrier signal, telecommunications signal, and software distribution media. It should be noted that the content contained in the computer-readable medium can be appropriately added or deleted according to the requirements of the legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to the legislation and patent practice, the computer-readable medium Does not include electrical carrier signals and telecommunication signals.

The above-mentioned embodiments are only used to illustrate the technical solutions of the present application, not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, a person of ordinary skill in the art should understand that it can still implement the foregoing The technical solutions recorded in the examples are modified, or some of the technical features are equivalently replaced; these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the application, and should be included in Within the scope of protection of this application.

Claims

An elevator emergency rescue method, characterized in that the elevator includes a main circuit and an emergency rescue device, the main circuit includes a main power supply circuit and a driver, and the driver is powered by the main power supply circuit and drives the elevator The traction motor is running, and the method includes:

Obtain the load status of the car and the position information of the car;

When the input voltage of the main power supply circuit is abnormal, the driver is switched to be powered by the emergency rescue device, and the car is controlled to run to level according to the load state of the car and the position information of the car. Tier location.
The elevator emergency rescue method according to claim 1, wherein the driver includes a drive circuit and a control circuit, and the emergency rescue device includes a main circuit power supply part and an auxiliary power supply part; and the driver is switched to The power supply of the emergency rescue device includes;

If the car is in a balanced load state, connect the drive circuit of the driver to the main circuit power supply part of the emergency rescue device, and connect the control circuit of the driver to the auxiliary power supply part of the emergency rescue device;

If the car is in an unbalanced load state, the control circuit of the driver is connected to the auxiliary power supply part of the emergency rescue device.
The elevator emergency rescue method according to claim 2, wherein the controlling the car to run to the leveling position according to the load state of the car and the position information of the car comprises:

If the car is in a balanced load state, drive the car to run to the leveling position through the drive circuit of the driver;

If the car is in an unbalanced load state and the distance between the car and the door zone is less than or equal to a preset value, control the car to run to the leveling position through the control loop of the driver;

If the car is in an unbalanced load state and the distance between the car and the door zone is greater than a preset value, the control loop of the driver controls the car to run to the leveling position in a regenerative energy feedback mode.
The elevator emergency rescue method according to claim 2, wherein the controlling the elevator car to run to the leveling position according to the load state of the elevator car and the position information of the elevator car includes:

If the car is in a balanced load state, control the car to run to the leveling position through the drive circuit of the driver;

If the car is in an unbalanced load state, the control loop of the driver controls the car to run to the leveling position in a regenerative energy feedback mode.
The elevator emergency rescue method according to claim 3 or 4, wherein the controlling the elevator car to run to the leveling position in a regenerative energy feedback mode includes:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is completed, and at the same time end the star sealing so that the car rolls over;

After the brake of the traction motor is opened, the rotation speed of the traction motor is sampled in real time, and the sampling value of the rotation speed at the previous moment is used as the command speed at the current moment. Closed loop control or open loop control of the rotation speed of the traction motor , Until the rotation speed of the traction motor reaches the preset rescue speed;

Close-loop control of the traction motor running at the preset rescue speed until the car reaches the preset position of the door zone;

After the car reaches the preset position of the door zone, the traction motor is controlled to run to the leveling position in a closed loop with a preset deceleration curve.
The elevator emergency rescue method according to claim 3 or 4, wherein the controlling the elevator car to run to the leveling position in a regenerative energy feedback mode includes:

Sampling the output current of the traction motor and the speed of the traction motor in real time, and obtain the generated power of the traction motor according to the output current and the rotation speed of the traction motor;

When the generated power of the traction motor exceeds a preset limit value, the braking torque is controlled so that the generated power does not exceed the preset generated power.
The elevator emergency rescue method according to claim 3 or 4, wherein the method comprises:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful;

Sampling the rotation speed of the traction motor, and when the rotation speed of the traction motor is equal to zero, determine that the car is in a balanced load state, and when the rotation speed of the traction motor is greater than zero, determine that the car is in an unbalanced load status.
The elevator emergency rescue method according to claim 3, wherein the controlling the elevator car to run to the leveling position through the control loop of the driver comprises:

Short-circuit the three-phase stator windings of the traction motor by means of mechanical star sealing or electronic star sealing, and open the brake of the traction motor after the star sealing is successful, so that the car rolls over;

Start timing after the car reaches the door zone, and control the brake of the traction motor when the timing reaches a preset time, so that the car brakes to run to the leveling position.
An emergency rescue device, characterized in that the emergency rescue device is communicatively connected with a driver, and the driver includes a drive circuit and a control circuit; the emergency rescue device includes a battery, an AC output circuit, an LC filter circuit, and a control power circuit , Detection unit and contactor cut-off unit;

The output terminal of the battery is connected to the AC output circuit and the control power circuit via a first contactor, and the output terminal of the AC output circuit is connected to the power supply of the driver via an LC filter circuit and a second contactor. Terminal, the control power circuit is connected to the control circuit of the driver;

The detection unit is connected to the main power supply circuit that supplies power to the driver, and when the voltage of the main power supply circuit is abnormal, the contactor cut-off unit disconnects the main contactor in the main power supply circuit and closes the first Contactor.
An elevator emergency rescue equipment, characterized by comprising a memory and a processor, the memory stores a computer program that can run on the processor, and the processor executes the computer program as claimed in claim 1. -8 steps of the elevator electric emergency rescue method.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the elevator emergency response according to any one of claims 1-8 is realized. Steps of rescue method.