Method, device, equipment, storage medium and program product for estimating position of elevator

Abstract

The invention relates to a method, device and equipment for estimating the position of an elevator, a storage medium and a program product. The method comprises the steps that electric signal collection is conducted on the elevator traction machine, and voltage and current in a target time period are obtained; respectively determining the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current; the angular velocity of the elevator traction machine is calculated according to the voltage frequency, the current frequency and the number of pole pairs of the motor, and the comprehensive angular velocity is determined based on the voltage effective value corresponding to the voltage and the angular velocity; the start-stop time point of the elevator traction machine is determined, data cleaning is conducted on the comprehensive angular speed according to the start-stop time point, and the target angular speed is obtained; the target angular speed is input into an elevator system mathematical model for displacement calculation, and displacement information of the elevator car is obtained; and the position information of the elevator car is determined based on the displacement information and accumulated displacement information of the elevator car in the ascending or descending stage. By adopting the method, the estimation accuracy of the elevator position can be effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of elevators, and in particular to a method, device, equipment, storage medium and program product for estimating an elevator position. Background Art

[0002] Elevators are an important means of transportation in buildings. Therefore, it is particularly important to accurately estimate the position of the elevator car when it is running, for the accurate stopping of the elevator car when going up or down, and for accurate positioning when an abnormality occurs in the elevator.

[0003] For the estimation of the elevator position, some elevators on the market are equipped with rotary encoders that can provide real-time rotation speed and displacement information. However, the encoders used in the elevators require initial position calibration. If the elevator is powered off, the specific position of the elevator cannot be known and only the rotation speed and displacement information can be obtained. Moreover, when subjected to vibration or electromagnetic interference, erroneous pulse counts may be generated, affecting the position accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a method, device, equipment, storage medium and program product for estimating the elevator position in response to the above technical problems, which can effectively improve the estimated accuracy of the elevator position.

[0005] In a first aspect, the present application provides a method for estimating an elevator position, the method comprising:

[0006] Collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period;

[0007] Determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively;

[0008] Calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining a comprehensive angular velocity based on the voltage effective value corresponding to the voltage and the angular velocity;

[0009] Determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity;

[0010] Inputting the target angular velocity into the mathematical model of the elevator system to perform displacement calculation to obtain displacement information of the elevator car;

[0011] Based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase, the position information of the elevator car is determined.

[0012] In one embodiment, collecting electrical signals from the elevator traction machine to obtain voltage and current within a target period includes:

[0013] The instantaneous value of the electrical signal input from the frequency converter to the elevator traction machine is collected to obtain the sampled voltage and sampled current within the target period; the electrical signal includes a three-phase voltage signal and a three-phase current signal;

[0014] The sampled voltage and the sampled current are processed for zero offset elimination, and the sampled voltage and the sampled current after the offset elimination are converted into actual voltage and current.

[0015] In one embodiment, performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the sampled voltage and the sampled current after the offset elimination into actual voltage and current comprises:

[0016] Subtracting the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determining the actual voltage based on the voltage difference and the voltage relationship coefficient;

[0017] The sampling current is subtracted from the zero offset of the current measurement to obtain a current difference; and the actual current is determined based on the current difference and the current relationship coefficient.

[0018] In one embodiment, determining the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively comprises:

[0019] The voltage and the current are converted into two-phase voltage and two-phase current, respectively, and the voltage frequency and the current frequency of the elevator traction machine are determined based on the phase angle of the two-phase voltage and the phase angle of the two-phase current, respectively.

[0020] In one embodiment, the converting the voltage and the current into two-phase voltage and two-phase current respectively, and determining the voltage frequency and the current frequency of the elevator traction machine respectively based on the phase angle of the two-phase voltage and the phase angle of the two-phase current comprises:

[0021] The voltage is converted into a two-phase voltage by using a Clark transformation method with equal amplitude, and a phase angle is determined based on the two-phase voltage; the phase angle is processed according to a phase angle differential method to obtain a voltage frequency of the elevator traction machine;

[0022] The current is converted into a two-phase current by using the equal-amplitude Clark transformation method, and a phase angle is determined based on the two-phase current; the phase angle is processed according to a phase angle differential method to obtain a current frequency of the elevator traction machine.

[0023] In one embodiment, the calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining the comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity comprises:

[0024] Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs;

[0025] Calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs;

[0026] When the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

[0027] In one embodiment, the voltage is a three-phase voltage, and the method further includes:

[0028] Performing effective value calculation on each phase voltage of the three-phase voltage to obtain an effective value calculation result of the three-phase voltage;

[0029] The effective value calculation results of the three-phase voltage are averaged to obtain an effective value of the voltage corresponding to the three-phase voltage.

[0030] In one embodiment, determining the start and stop time points of the elevator traction machine includes:

[0031] Determining the power-on and power-off time points of the elevator traction machine;

[0032] Using a sliding window to search from front to back in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current mean value of the first sub-segment is greater than the current mean value of the second sub-segment, and the current mean value of the first sub-segment is greater than a preset mean value, then determining the start time point according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments in the time period, and the first sub-segment appears after the second sub-segment during the sliding process;

[0033] The sliding window is used to search from back to front within the time period corresponding to the power-on and power-off time points. If it is found during the sliding process that the current mean of the third sub-segment is greater than the current mean of the fourth sub-segment, and the current mean of the third sub-segment is greater than the preset mean, the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments within the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

[0034] In one embodiment, performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain the target angular velocity includes:

[0035] For the comprehensive angular velocity, data outside the time period corresponding to the start and stop time points are cleaned as noise to obtain a first cleaned angular velocity;

[0036] A filter is used to perform noise cleaning on the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0037] In a second aspect, the present application further provides a device for estimating an elevator position, the device comprising:

[0038] The acquisition module is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period;

[0039] A frequency determination module, used to determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively;

[0040] A speed determination module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determine a comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity;

[0041] A cleaning module, used to determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity;

[0042] A calculation module, used for inputting the target angular velocity into a mathematical model of an elevator system to perform displacement calculation to obtain displacement information of the elevator car;

[0043] The position determination module is used to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase.

[0044] In one of the embodiments, the acquisition module is also used to collect instantaneous values ​​of the electrical signal input by the frequency converter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; the sampled voltage and the sampled current are processed for zero offset elimination, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

[0045] In one of the embodiments, the acquisition module is also used to subtract the sampled voltage from the zero point offset of the voltage measurement to obtain a voltage difference; determine the actual voltage based on the voltage difference and the voltage relationship coefficient; subtract the sampled current from the zero point offset of the current measurement to obtain a current difference; and determine the actual current based on the current difference and the current relationship coefficient.

[0046] In one of the embodiments, the frequency determination module is further used to convert the voltage and the current into two-phase voltage and two-phase current respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angle of the two-phase voltage and the phase angle of the two-phase current respectively.

[0047] In one of the embodiments, the frequency determination module is further used to convert the voltage into a two-phase voltage using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase voltage; process the phase angle according to the phase angle differential method to obtain the voltage frequency of the elevator traction machine; convert the current into a two-phase current using the equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the current frequency of the elevator traction machine.

[0048] In one of the embodiments, the speed determination module is also used to calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs; calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; when the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective value of the voltage corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

[0049] In one embodiment, the voltage is a three-phase voltage, and the calculation module is further used to perform effective value calculation on each phase voltage of the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; perform mean calculation on the effective value calculation result of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0050] In one embodiment, the cleaning module is also used to determine the power-on and power-off time points of the elevator traction machine; use the sliding window to search from front to back in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current average of the first sub-segment is greater than the current average of the second sub-segment, and the current average of the first sub-segment is greater than the preset average, then the start time point is determined according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments in the time period, and the first sub-segment appears after the second sub-segment during the sliding process; use the sliding window to search from back to front in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current average of the third sub-segment is greater than the current average of the fourth sub-segment, and the current average of the third sub-segment is greater than the preset average, then the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments in the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

[0051] In one embodiment, the cleaning module is also used to clean the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity to obtain a first cleaned angular velocity; use a filter to clean the noise of the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0052] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the method for estimating the position of an elevator when executing the computer program.

[0053] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program, when executed by a processor, implements the steps of the method for estimating the position of an elevator.

[0054] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method for estimating the position of an elevator are implemented.

[0055] The above-mentioned method, device, equipment, storage medium and program product for estimating the position of an elevator collect electrical signals from the elevator traction machine to obtain the voltage and current within the target time period; determine the voltage frequency and current frequency of the elevator traction machine according to the voltage and current respectively; calculate the angular velocity of the elevator traction machine according to the voltage frequency, current frequency and motor pole pair number, and determine the comprehensive angular velocity based on the voltage effective value and angular velocity corresponding to the voltage; determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain the target angular velocity; input the target angular velocity into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase. Since the scheme of the present application estimates the position through the voltage and current of the elevator traction machine, no initial position calibration is required, and the specific position of the elevator can be known even after the elevator power is off and restored, and it is not subject to vibration or electromagnetic interference, which can effectively ensure the accuracy of the estimation of the elevator position. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A diagram of an application environment of a method for estimating an elevator position in one embodiment;

[0057] Figure 2 is a structural schematic diagram of an elevator system in one embodiment;

[0058] Figure 3 is a flow chart of a method for estimating an elevator position in one embodiment;

[0059] Figure 4 A schematic diagram of voltage and current obtained by collecting electrical signals in one embodiment;

[0060] Figure 5 is a schematic diagram of converting a three-phase current into a two-phase current in one embodiment;

[0061] Figure 6 A schematic diagram of voltage and current when the weights on both sides of a motor are similar in one embodiment;

[0062] Figure 7 A schematic diagram of an angular velocity calculated using voltage and current when the weights on both sides of a motor are similar in one embodiment;

[0063] Figure 8 is a schematic diagram of the integrated angular velocity in one embodiment;

[0064] Fig. 9 It is a schematic diagram of a flow chart of determining the start and stop time points of an elevator traction machine in one embodiment;

[0065] Fig.10A schematic diagram of the start and stop time points of the voltage and current in an elevator traction machine in one embodiment;

[0066] Fig.11 It is a comparative schematic diagram of the angular velocity of the elevator traction machine outside the start and stop time before and after the noise is eliminated in one embodiment;

[0067] Fig.12 It is a comparative schematic diagram of using a filter to eliminate noise of the angular velocity of an elevator traction machine during the start and stop time before and after in one embodiment;

[0068] Fig.13 is a schematic diagram of a speed curve and position information in one embodiment;

[0069] Fig.14 is a structural block diagram of an apparatus for estimating an elevator position in one embodiment;

[0070] Fig.15 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0072] It should be noted that in the following description, the terms "first, second and third" etc. are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first, second and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0073] The method for estimating the elevator position provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. It should be pointed out that Figure 1 The elevator 102 and the service equipment 104 are shown. In some practical application scenarios, the application environment of the method for estimating the position of an elevator may only include the elevator 102 .

[0074] in, Figure 1 The elevator 102 is connected to the service device 104 via wired or wireless communication. The data storage system can store data that the service device 104 needs to process. The data storage system can be integrated on the service device 104, or it can be placed on the cloud or other network service devices.

[0075] The service device 104 may be an independent physical server or other device that can be used to monitor and control the elevator.

[0076] like Figure 2 As shown, the elevator 102 can be called an elevator system, including an elevator car, a traction wheel, a guide wheel, a guide rail, a counterweight and a traveling cable; in addition, it also includes Figure 2 The elevator traction machine, buffer, sensor, control cabinet, door system and guide system not shown in the figure.

[0077] In one embodiment, Figure 3 As shown, a method for estimating an elevator position is provided, which method can be executed by a computer device, and the computer device can be Figure 1 The elevator or service equipment in the elevator is performed, including the following steps:

[0078] S302, collecting electrical signals from the elevator traction machine to obtain the voltage and current within the target time period.

[0079] Among them, the elevator traction machine can be a key component in the elevator system, responsible for driving the elevator car and counterweight to rise and fall, and the motor used by the elevator traction machine can be a permanent magnet synchronous motor or an asynchronous motor. The elevator system in this application can adopt variable voltage and variable frequency (VVVF, Variable Voltage and Variable Frequency) control, that is, by changing the input voltage and frequency of the elevator traction machine to achieve control of the speed and smooth operation. It should be pointed out that when the input voltage is low, the frequency is also low, and when the voltage is high, the frequency is also high.

[0080] The target period can be called the target time interval, which is the time course experienced by the collected electrical signal, such as a time interval of 0.1 second (s).

[0081] The electrical signal of the elevator traction machine may be an analog electrical signal output by the frequency converter and input to the elevator traction machine. The electrical signal may be a voltage signal and a current signal, specifically a three-phase voltage signal and a three-phase current signal.

[0082] The voltage and current in the target time period may be: the voltage and current obtained by sampling the electrical signal of the elevator traction machine and undergoing digital-to-analog conversion in the target time period, which may also be referred to as digitized voltage signals and current signals. It should be noted that the voltage and current in the target time period may be three-phase voltage and three-phase current, and each phase voltage and current in the target time period includes a series of voltage values ​​and current values ​​in the target time period.

[0083] In one embodiment, the computer device can simplify the entire system of the elevator, such as retaining the elevator car, traction wheel, guide wheel, guide rail, counterweight and accompanying cable; then, construct a mathematical model of the elevator system based on the simplified elevator system.

[0084] Among them, the simplified elevator system can refer to Figure 2 ,in, Figure 2 The elevator system in the system adopts a 2:1 suspension system. The elevator car in this suspension system is indirectly connected to the wire rope of the elevator traction machine through a pulley system. A smaller powered elevator traction machine can be used to lift heavier loads. It is suitable for high-speed elevators and large-load elevators.

[0085] The algorithm of the elevator system mathematical model is as follows:

[0086] (1)

[0087] (2)

[0088] (3)

[0089] (4)

[0090] in, Indicates the rotor speed of the traction sheave of the elevator traction machine. represents the rotor angular velocity of the traction sheave, It indicates the wheel radius of the traction wheel, and K indicates the traction ratio. When a 2:1 suspension system is used, K = 1 / 2. When a suspension system with other ratios is used, the value of K will change. It indicates the displacement of the wheel surface during the rotation of the traction wheel. Indicates the movement displacement of the elevator car.

[0091] In one embodiment, when collecting electrical signals, the computer device can collect instantaneous values ​​of the electrical signals input by the frequency converter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signals include three-phase voltage signals and three-phase current signals; the sampled voltage and sampled current are processed for zero offset elimination, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0092] The electrical signal may be an analog electrical signal, including an analog three-phase voltage signal and a three-phase current signal. The electrical signal input by the frequency converter to the elevator traction machine may be an electrical signal output by the frequency converter, which is input to the elevator traction machine.

[0093] In the process of collecting electrical signals, the computer device can sample the electrical signals inputted by the frequency converter to the elevator traction machine at a preset frequency to obtain the sampled voltage signal and the sampled current signal within the target period, and then perform analog-to-digital conversion on the sampled voltage signal and the sampled current signal to obtain the sampled voltage and the sampled current within the target period, that is, a series of sampled voltage values ​​and sampled current values ​​within the target period. The preset frequency can be 2 kilohertz (KHz) or above.

[0094] In one embodiment, after obtaining the sampled voltage and sampled current, the computer device eliminates the zero offset and then converts them into actual voltage and current. Specifically, the computer device subtracts the sampled voltage from the zero offset of the voltage measurement to obtain the voltage difference; determines the actual voltage based on the voltage difference and the voltage relationship coefficient; subtracts the sampled current from the zero offset of the current measurement to obtain the current difference; and determines the actual current based on the current difference and the current relationship coefficient. Figure 4 As shown, Figure 4 Figure (a) shows the actual voltage, the horizontal axis is the time axis (the value on the time axis in the figure needs to be multiplied by 10 to the fourth power), and the vertical axis is the voltage signal axis; in addition, Figure 4 Figure (b) shows the actual voltage, with the horizontal axis being the time axis and the vertical axis being the current signal axis.

[0095] When eliminating zero offset and converting actual voltage and current, the following calculation formula can be used for calculation, as follows:

[0096]

[0097]

[0098] Among them, are the zero offset of voltage measurement, are the zero offset of current measurement, are the corresponding coefficients between the actual voltage and the sampled voltage, are the corresponding coefficients between the actual ground current and the sampling current, are the sampling voltage, are the sampling currents respectively.

[0099] S304, determining the voltage frequency and current frequency of the elevator traction machine according to the voltage and current respectively.

[0100] In one embodiment, the computer device may convert the voltage and current into two-phase voltage and two-phase current, respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angle of the two-phase voltage and the phase angle of the two-phase current, respectively.

[0101] Specifically, the computer device can use the Clark transformation method of equal amplitude to convert the voltage into a two-phase voltage, and determine the phase angle based on the two-phase voltage; process the phase angle according to the phase angle differential method to obtain the voltage frequency of the elevator traction machine; use the Clark transformation method of equal amplitude to convert the current into a two-phase current, and determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the current frequency of the elevator traction machine.

[0102] Among them, Clark Transform is a method of converting the three-phase stationary coordinate system ( ) is converted to a two-phase stationary coordinate system ( ) is widely used in motor control and power systems to simplify the analysis and control of three-phase systems. The angular frequency can be directly obtained through phase angle differentiation, which is more accurate than traditional methods. The frequency can be calculated in each sampling period in combination with the phase angle differentiation method, which has high real-time performance. Through appropriate filtering and signal processing, the influence of noise on frequency calculation can be reduced, thereby improving the stability and reliability of the system.

[0103] Therefore, the equal-amplitude Clark transformation method can be used to convert the three-phase voltage and three-phase current into two-phase voltage and two-phase current. Through this equal-amplitude Clark transformation method, it can be ensured that the transformed two-phase current (such as The amplitude of the original three-phase current (such as components) are equal in magnitude.

[0104] For example, computer equipment converts three-phase current Perform Clark transformation to transform the three-phase symmetrical coordinate system into a two-phase rotating coordinate system to obtain the two-phase current and ,like Figure 5 As shown, the angle is the phase angle of the two-phase current; in addition, the above method can also be used to convert the three-phase voltage Perform Clark transformation to transform the three-phase symmetrical coordinate system into a two-phase rotating coordinate system and obtain the two-phase voltage and Among them, the specific transformation matrix of current and voltage is as follows:

[0105]

[0106] Through Clark transformation, the original three-phase voltage And three-phase current , respectively converted to Two-phase voltage And two-phase current , phase angle Can be Calculated by the following formula:

[0107]

[0108] After obtaining the phase angle, the voltage frequency can be obtained by further using the phase angle differentiation method. and current frequency , the specific formula is as follows, where is the sampling frequency:

[0109]

[0110]

[0111] S306, calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining the comprehensive angular velocity based on the voltage effective value corresponding to the voltage and the angular velocity.

[0112] In the case where the elevator traction machine adopts a permanent magnet synchronous motor, the present application can adopt VVVF control, thereby solving the problem of step loss and starting of the permanent magnet synchronous motor, so that the angular velocity is equal to the synchronous speed, that is, ,in represents the number of motor pole pairs. Therefore, the angular velocity is calculated from the voltage frequency , and the angular velocity is calculated from the current frequency , the formula is as follows:

[0113]

[0114] It should be pointed out that the VVVF control method is variable frequency and variable voltage speed regulation. When the voltage is low, the frequency is also low, and when the voltage is high, the frequency is also high. When the motor just starts and enters the acceleration stage: the voltage is small and the current is large. At this time, the frequency is low and is in the low frequency band. The voltage and frequency gradually increase; when the motor enters the uniform speed stage: the voltage and frequency remain basically unchanged, and enter the high frequency band. At this time, if the weights on both sides of the motor (counterweight side and car side) are similar, the current will be very small, and the motor will save effort. If the weights on both sides of the motor (counterweight side and car side) are very different, the current will be large, and the motor will be laborious; when the motor enters the deceleration stage: the voltage and frequency continue to decrease, enter the low frequency band, and gradually decrease to zero, achieving zero-speed braking. If the weights on both sides of the motor (counterweight side and car side) are similar, the voltage and current are as follows: Figure 6 shown.

[0115] This application calculates the angular velocity by phase angle differential method, and the quality of voltage and current affects the accuracy of the algorithm. For voltage: in the low frequency band when the motor starts and stops, the voltage is very small, and the voltage noise in the low frequency band is large. The speed obtained by the phase angle differential method will contain large noise; while the voltage is very stable in the high frequency band and is not affected by the load. At this time, the angular velocity obtained by the phase angle differential method has high accuracy. For current: in the low frequency band when the motor starts and stops, the motor needs to overcome static friction and inertia to accelerate from a stationary state to the working speed. This process requires a large torque, which leads to a large current. The current in the low frequency band is very large, and the calculated angular velocity has high accuracy. The current in the high frequency band will be affected by the load. If the weight on both sides of the motor (the counterweight side and the car side) is similar, the current will be very small. If this happens, the calculated angular velocity will have a large error. Among them, the angular velocity calculated using voltage and current when the weight on both sides of the motor is similar is shown in Figure 7.

[0116] Based on the above analysis, the accuracy of calculating the angular velocity using current in the low frequency band (motor start and stop band) is high, and the accuracy of calculating the angular velocity using voltage in the high frequency band (high motor speed) is high. Therefore, this application combines the angular velocity calculated by voltage and current to obtain the comprehensive angular velocity. The low frequency band and the high frequency band are distinguished by the effective value of voltage. The specific calculation steps are as follows:

[0117] A corresponding voltage effective value can be obtained from the three-phase voltage. Specifically, the computer equipment calculates the effective value of each phase voltage in the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; and performs average calculation on the effective value calculation result of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0118] For example, each time you receive The frame data is processed once, and the time interval between two adjacent processing is , that is, the voltage effective value is calculated once every 0.1s. The calculation formula of the voltage effective value is as follows:

[0119]

[0120]

[0121]

[0122] The effective value calculation results of the three-phase voltage are averaged to obtain an effective value of the three-phase voltage. The formula for average calculation is as follows:

[0123]

[0124] Set the voltage RMS threshold , when the voltage is lower than When the angular velocity is calculated from the current ; When the voltage is higher than When the angular velocity is calculated using the voltage , the comprehensive angular velocity is obtained by the voltage threshold and the above two angular velocities , the expression is as follows:

[0125]

[0126] Among them, the comprehensive angular velocity is obtained as Figure 8 As shown, the image shown is the speed curve of the elevator's continuous multiple round trips. The horizontal axis is the time axis, and the values ​​on the time axis need to be multiplied by ten to the fifth power.

[0127] S308, determining the start and stop time points of the elevator traction machine, and performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity.

[0128] The start and stop time points may be the time points of the elevator traction machine rotating (i.e., running) and stopping, such as the start time point (i.e., the rotation time point) and the stop time point. It should be noted that the start and stop time points may refer to the start and stop time, and the corresponding start time point and stop time point may refer to the start time and the stop time.

[0129] In one embodiment, a computer device determines the power-on and power-off time points of an elevator traction machine; uses a sliding window to search from front to back within a time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average of the first sub-segment is greater than the current average of the second sub-segment, and the current average of the first sub-segment is greater than a preset average, the start time point is determined according to the first sub-segment; uses a sliding window to search from back to front within the time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average of the third sub-segment is greater than the current average of the fourth sub-segment, and the current average of the third sub-segment is greater than the preset average, the start time point is determined according to the third sub-segment.

[0130] The power-on and power-off time points may be the time points at which the elevator traction machine is powered on and off. The first sub-segment and the second sub-segment are adjacent sub-segments (i.e., adjacent time periods) within a time period, and during the sliding process (i.e., from front to back), → The first sub-segment appears after the second sub-segment in the process of sliding, such as the elevator traction machine from The moment starts running until The first sub-segment can be , the second sub-segment can be ; The third and fourth sub-segments are adjacent sub-segments within the time period, and in the sliding process (i.e. from back to front → The third sub-segment appears after the fourth sub-segment in the sliding process. For example, the third sub-segment can be , the fourth sub-segment can be .

[0131] For example, the start and stop time points of an elevator traction machine can be obtained by the following two steps:

[0132] S1, determines the time point when the inverter powers on and off the elevator traction motor.

[0133] The time points of power on and off can be determined by the effective value of voltage. When the effective value of voltage is greater than a certain value, it means that the inverter powers on the elevator traction motor. From this, the time nodes of the inverter power on and off can be found, and the three-phase current during the time when the inverter powers on and off the elevator traction motor can be obtained.

[0134] S2, determining the time point when the elevator traction machine rotates.

[0135] When the elevator traction motor rotates, the current will begin to change periodically in amplitude, while when it does not rotate, the current amplitude hardly changes. This application mainly uses a sliding window to calculate the mean of each current segment, and finds the start and stop time nodes of the elevator traction motor through the change in the current mean.

[0136] For example, when determining the start time point, the sliding window searches from front to back. If the current average value of the latter section is greater than the current average value of the previous section and exceeds the set threshold, it means that the current of the latter section begins to change in amplitude and the elevator traction machine begins to rotate. This is the start time point. In addition, when determining the stop time point, the sliding window searches from back to front. If the current average value of the latter section is greater than the current average value of the previous section and exceeds the set threshold, it means that the current of the latter section begins to change in amplitude and has periodic changes, while the amplitude change of the previous section has stopped, and the elevator traction machine stops running. This is the stop time point.

[0137] Since the current is three-phase, three start time points and three stop time points of the three-phase current can be obtained. The three start time points are averaged to obtain the time point when the elevator traction machine starts to rotate, which is the final start time point. In addition, the three stop time points are averaged to obtain the time point when the traction machine stops rotating, which is the final stop time point. For details, please refer to Fig. 9 .

[0138] In one embodiment, after determining the start and stop time points of the elevator traction machine, the computer device cleans the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity to obtain a first cleaned angular velocity; uses a filter to clean the noise of the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0139] Among them, the effect of the start and stop time points obtained by using the above-mentioned start and stop time point judgment algorithm is as follows: Fig.10 As shown, the starting time of the elevator traction machine is , the elevator traction machine stops at It can be seen that the start and stop time of the elevator traction machine is not the time when the voltage and current first appear, but the elevator traction machine starts to rotate after a period of time. This is the key to reducing the error of this application. The accuracy of the start and stop time has also been verified by a large number of experiments.

[0140] Outside the start and stop time, the elevator traction motor does not operate, and the car does not undergo displacement transformation. The data outside the start and stop time is cleared as noise and set to 0. Therefore, the above start and stop time points can be used to remove the noise outside the running time. The formula is as follows:

[0141]

[0142] Among them, the angular velocity before and after removing the noise except the start and stop time is as follows: Fig.11 As shown, Fig.11 The horizontal axis is the time axis, and the vertical axis is the angular velocity axis.

[0143] After cleaning the data outside the start and stop time as noise, a Gaussian filter is used to clean the noise. The Gaussian filter is a commonly used linear smoothing filter. Its basic principle is to use the weight of the Gaussian function to perform weighted averaging on the signal, thereby achieving the effect of smoothing data and reducing noise. In this application, a one-dimensional discrete Gaussian filter is used, and its formula is defined as follows:

[0144]

[0145] Where t is a discrete time point, is the base of natural logarithms, is the standard deviation of the Gaussian function and is used to control the width of the Gaussian kernel.

[0146] The above-mentioned Gaussian filter is used to clean the noise of the comprehensive angular velocity of the error outside the cleaning stop time. The corresponding algorithm is as follows:

[0147]

[0148] Among them, * represents the convolution operation, is the angular velocity after Gaussian filtering (i.e., the target angular velocity), and the corresponding effect is as follows Fig.12 shown.

[0149] S310, inputting the target angular velocity into the mathematical model of the elevator system to perform displacement calculation to obtain the displacement information of the elevator car.

[0150] Among them, when obtaining the target angular velocity , the displacement information of the elevator car can be obtained by establishing the mathematical model of the elevator system. The integral formula of formula 3 uses the gradient integral formula to obtain the angular velocity Substitute formulas 1 to 4 to find the car displacement .

[0151] S312, determining the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase.

[0152] The accumulated displacement information may be the total displacement information accumulated in the current upward phase (including the stop process at some floors during the upward process) or the current downward phase (including the stop process at some floors during the downward process).

[0153] For example, the displacement information is calculated using the target angular velocity, which can be referred to as Fig.13 As shown in Figure (a), the currently calculated displacement information is then added to the accumulated displacement information of the elevator car during this up or down phase, so that the position information of the elevator car can be obtained, such as Fig.13 As shown in Figure (b).

[0154] In the above embodiment, the electric signal of the elevator traction machine is collected to obtain the voltage and current in the target time period; the voltage frequency and current frequency of the elevator traction machine are determined according to the voltage and current respectively; the angular velocity of the elevator traction machine is calculated according to the voltage frequency, current frequency and motor pole pair number, and the comprehensive angular velocity is determined based on the voltage effective value and angular velocity corresponding to the voltage; the start and stop time points of the elevator traction machine are determined, and the comprehensive angular velocity is cleaned according to the start and stop time points to obtain the target angular velocity; the target angular velocity is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase, the position information of the elevator car is determined. Since the scheme of the present application estimates the position through the voltage and current of the elevator traction machine, no initial position calibration is required, and the specific position of the elevator can be known even after the elevator power is restored, and it is not subject to vibration or electromagnetic interference, which can effectively ensure the accuracy of the estimated position of the elevator.

[0155] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0156] Based on the same inventive concept, the embodiment of the present application also provides a device for estimating the position of an elevator for implementing the method for estimating the position of an elevator involved in the above-mentioned method. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations of one or more embodiments of the device for estimating the position of an elevator provided below can refer to the limitations of the method for estimating the position of an elevator above, and will not be repeated here.

[0157] In one embodiment, Fig.14 As shown, a device for estimating the position of an elevator is provided, comprising: a collection module 1402, a frequency determination module 1404, a speed determination module 1406, a cleaning module 1408, a calculation module 1410 and a position determination module 1412, wherein:

[0158] The acquisition module 1402 is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target time period;

[0159] A frequency determination module 1404, used to determine the voltage frequency and current frequency of the elevator traction machine according to the voltage and current respectively;

[0160] The speed determination module 1406 is used to calculate the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determine the comprehensive angular velocity based on the voltage effective value and the angular velocity corresponding to the voltage;

[0161] The cleaning module 1408 is used to determine the start and stop time points of the elevator traction machine, and clean the data of the comprehensive angular velocity according to the start and stop time points to obtain the target angular velocity;

[0162] A calculation module 1410 is used to input the target angular velocity into the elevator system mathematical model to perform displacement calculation to obtain the displacement information of the elevator car;

[0163] The position determination module 1412 is used to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase.

[0164] In one embodiment, the acquisition module 1402 is also used to collect instantaneous values ​​of the electrical signal input by the frequency converter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; the sampled voltage and the sampled current are processed for zero offset elimination, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

[0165] In one embodiment, the acquisition module 1402 is also used to subtract the sampled voltage from the zero point offset of the voltage measurement to obtain a voltage difference; determine the actual voltage based on the voltage difference and the voltage relationship coefficient; subtract the sampled current from the zero point offset of the current measurement to obtain a current difference; and determine the actual current based on the current difference and the current relationship coefficient.

[0166] In one embodiment, the frequency determination module 1404 is further used to convert the voltage and current into two-phase voltage and two-phase current respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angle of the two-phase voltage and the phase angle of the two-phase current respectively.

[0167] In one of the embodiments, the frequency determination module 1404 is further used to convert the voltage into a two-phase voltage using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase voltage; process the phase angle according to the phase angle differential method to obtain the voltage frequency of the elevator traction machine; convert the current into a two-phase current using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the current frequency of the elevator traction machine.

[0168] In one embodiment, the speed determination module 1406 is further used to calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs; calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; when the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

[0169] In one embodiment, the voltage is a three-phase voltage, and the calculation module 1410 is also used to perform effective value calculation on each phase voltage in the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; perform average calculation on the effective value calculation result of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0170] In one embodiment, the cleaning module 1408 is also used to determine the power-on and power-off time points of the elevator traction machine; use a sliding window to search from front to back in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current average of the first sub-segment is greater than the current average of the second sub-segment, and the current average of the first sub-segment is greater than the preset average, then the start time point is determined according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments in the time period, and the first sub-segment appears after the second sub-segment during the sliding process; use a sliding window to search from back to front in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current average of the third sub-segment is greater than the current average of the fourth sub-segment, and the current average of the third sub-segment is greater than the preset average, then the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments in the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

[0171] In one embodiment, the cleaning module 1408 is also used to clean the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity, so as to obtain a first cleaned angular velocity; use a filter to clean the noise of the first cleaned angular velocity, so as to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0172] In the above embodiment, the electric signal of the elevator traction machine is collected to obtain the voltage and current in the target time period; the voltage frequency and current frequency of the elevator traction machine are determined according to the voltage and current respectively; the angular velocity of the elevator traction machine is calculated according to the voltage frequency, current frequency and motor pole pair number, and the comprehensive angular velocity is determined based on the voltage effective value and angular velocity corresponding to the voltage; the start and stop time points of the elevator traction machine are determined, and the comprehensive angular velocity is cleaned according to the start and stop time points to obtain the target angular velocity; the target angular velocity is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase, the position information of the elevator car is determined. Since the scheme of the present application estimates the position through the voltage and current of the elevator traction machine, no initial position calibration is required, and the specific position of the elevator can be known even after the elevator power is restored, and it is not subject to vibration or electromagnetic interference, which can effectively ensure the accuracy of the estimated position of the elevator.

[0173] Each module in the above-mentioned device for estimating the position of an elevator can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0174] In one embodiment, a computer device is provided, which may be a server, including a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store voltage, current and position information, etc. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for estimating the position of an elevator is implemented.

[0175] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.15 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for estimating the position of an elevator is implemented. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covered on the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse, etc.

[0176] Those skilled in the art will understand that Fig.15The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0177] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned method for estimating the position of an elevator when executing the computer program.

[0178] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for estimating the position of an elevator are implemented.

[0179] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned method for estimating the position of an elevator when executed by a processor.

[0180] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards of relevant countries and regions.

[0181] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0182] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for estimating an elevator position, characterized in that: The method comprises: Collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period; Determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively; Calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining a comprehensive angular velocity based on the voltage effective value corresponding to the voltage and the angular velocity; Determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity; Inputting the target angular velocity into the mathematical model of the elevator system to perform displacement calculation to obtain displacement information of the elevator car; Based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase, the position information of the elevator car is determined.

2. The method according to claim 1, characterized in that The electrical signal acquisition of the elevator traction machine to obtain the voltage and current within the target time period includes: The instantaneous value of the electrical signal input from the frequency converter to the elevator traction machine is collected to obtain the sampled voltage and sampled current within the target period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; The sampled voltage and the sampled current are processed for zero offset elimination, and the sampled voltage and the sampled current after the offset elimination are converted into actual voltage and current.

3. The method according to claim 2, characterized in that The step of performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the sampled voltage and the sampled current after the offset elimination into actual voltage and current comprises: Subtracting the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determining the actual voltage based on the voltage difference and the voltage relationship coefficient; The sampling current is subtracted from the zero offset of the current measurement to obtain a current difference; and the actual current is determined based on the current difference and the current relationship coefficient.

4. The method according to claim 1, characterized in that: The step of respectively determining the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current comprises: The voltage and the current are converted into two-phase voltage and two-phase current, respectively, and the voltage frequency and the current frequency of the elevator traction machine are determined based on the phase angle of the two-phase voltage and the phase angle of the two-phase current, respectively.

5. The method according to claim 4, characterized in that The step of converting the voltage and the current into two-phase voltage and two-phase current, and determining the voltage frequency and the current frequency of the elevator traction machine based on the phase angle of the two-phase voltage and the phase angle of the two-phase current, respectively, comprises: The voltage is converted into a two-phase voltage by using a Clark transformation method with equal amplitude, and a phase angle is determined based on the two-phase voltage; the phase angle is processed according to a phase angle differential method to obtain a voltage frequency of the elevator traction machine; The current is converted into a two-phase current by using the equal-amplitude Clark transformation method, and a phase angle is determined based on the two-phase current; the phase angle is processed according to a phase angle differential method to obtain a current frequency of the elevator traction machine.

6. The method according to claim 1, characterized in that The step of calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining the comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity comprises: Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs; Calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; When the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

7. The method according to any one of claims 1 to 6, characterized in that: The voltage is a three-phase voltage, and the method further includes: Performing effective value calculation on each phase voltage of the three-phase voltage to obtain an effective value calculation result of the three-phase voltage; The effective value calculation results of the three-phase voltage are averaged to obtain an effective voltage value corresponding to the three-phase voltage.

8. The method according to any one of claims 1 to 6, characterized in that: Determining the start and stop time points of the elevator traction machine includes: Determining the power-on and power-off time points of the elevator traction machine; Using a sliding window to search from front to back in the time period corresponding to the power-on and power-off time points, if it is found during the sliding process that the current mean value of the first sub-segment is greater than the current mean value of the second sub-segment, and the current mean value of the first sub-segment is greater than a preset mean value, then determining the start time point according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments in the time period, and the first sub-segment appears after the second sub-segment during the sliding process; The sliding window is used to search from back to front within the time period corresponding to the power-on and power-off time points. If it is found during the sliding process that the current mean of the third sub-segment is greater than the current mean of the fourth sub-segment, and the current mean of the third sub-segment is greater than the preset mean, the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments within the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

9. The method according to any one of claims 1 to 6, characterized in that: The performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain the target angular velocity comprises: For the comprehensive angular velocity, data outside the time period corresponding to the start and stop time points are cleaned as noise to obtain a first cleaned angular velocity; A filter is used to perform noise cleaning on the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

10. A device for estimating the position of an elevator, characterized in that: The device comprises: The acquisition module is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period; A frequency determination module, used to determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively; A speed determination module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determine a comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity; A cleaning module, used to determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity; A calculation module, used for inputting the target angular velocity into a mathematical model of an elevator system to perform displacement calculation to obtain displacement information of the elevator car; The position determination module is used to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase.

11. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 9 are implemented.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

13. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are implemented.

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