Elevator smooth braking control method and device and elevator brake

Abstract

The application discloses an elevator smooth braking control method, an elevator smooth braking control device and an elevator brake. The elevator is provided with an elevator brake comprising a fixed part and a moving part, the elevator brake provides a braking force in a first state by driving the moving part to move towards an elevator power device to make a friction piece in the moving part contact with the elevator power device so that an elevator car stops, and the elevator brake makes the friction piece disengage from the contact with the elevator power device by an electromagnetic force output by an electromagnetic piece in the fixed part in a second state. The elevator smooth braking control method comprises the following steps: judging whether the elevator car is in a deceleration state according to a current operation characteristic of the elevator car; obtaining a current deceleration of the elevator car when it is determined that the elevator car is in the deceleration state; judging whether the obtained current deceleration exceeds a preset value; and if yes, controlling the size of the electromagnetic force output from the electromagnetic piece so that the deceleration of the elevator car is not greater than the preset value.

Description

Technical Field

[0001] This invention relates to the field of elevator technology, and in particular to an elevator smooth braking control method, an elevator smooth braking control device, and an elevator brake. Background Technology

[0002] The elevator brake is a safety braking device in an elevator, playing a crucial role in ensuring the safe operation of the elevator and the personal safety of passengers. Figure 1 The image shows a conventional elevator system 100, in which the elevator power unit 20 (such as a traction machine), elevator brake 10, and other equipment are typically housed in the elevator machine room 400. The elevator power unit 20 is connected to the elevator car 200 via ropes 300, providing power to the latter to drive it up and down within the elevator shaft. The elevator is stopped at the passenger's target floor by operating the elevator brake. Figure 1 The symbols Fa, Fb, or Fc shown are examples of these. Furthermore, in cases of elevator malfunction or emergency, the elevator car can be safely braked using the elevator brake system.

[0003] like Figure 2 As shown, an elevator brake generally includes a fixed part 1 and a moving part 2, the latter of which can move relative to the former according to operational needs. The fixed part 1 can be fixed in the elevator machine room 400, and a force F1 is provided by a component 5 (such as a spring) arranged between the fixed part 1 and the moving part 2 to drive the moving part 2 to move away from the fixed part 1. This allows the friction element 4 on the moving part 2 to contact the braking element 6 (such as a wheel, turntable, etc.) associated with the elevator power unit 20 and provide braking force, thereby stopping the elevator power unit 20 from outputting power and achieving the purpose of safe braking of the elevator car. In addition, an electromagnetic force F2 opposite to the direction of the force F1 can be applied by an electromagnetic component 3 located at the fixed part 1 to cause the moving part 2 to move towards the fixed part 1, thereby causing the friction element 4 to disengage from the elevator power unit 20, thereby restoring the power output of the elevator power unit 20 and allowing the elevator car to start running again.

[0004] In the use of the elevator, this includes special situations such as rescue operation, etc., such as elevator car emergency stop, elevator brake hard stop, etc., which is mostly due to power failure, equipment failure, component damage, user misoperation, etc. in the elevator system, at this time it will cause discomfort to the passengers in the elevator car, and even cause safety problems, for example, sometimes it may cause some passengers to fall in the elevator car and injure the knee, wrist joint and other parts, even cause accidents such as collision bleeding, human trampling, etc. In addition, when the vibration amplitude and impact force of the elevator car are large, it may also affect the human heart and other organs, and in severe cases it may even cause psychological barriers and other problems. The above is particularly high risk for the elderly, pregnant women, children and sick people, and will cause passenger complaints, damage compensation and other adverse situations. SUMMARY

[0005] Therefore, the present application provides an elevator smooth braking control method, an elevator smooth braking control device and an elevator brake, thereby solving or at least alleviating one or more of the above-mentioned problems and other aspects of the prior art.

[0006] First, according to one aspect of the present application, an elevator smooth braking control method is provided, the elevator is provided with an elevator brake comprising a fixed part and a moving part, the elevator brake provides a braking force in a first state by driving the moving part to move towards the elevator power device to make the friction piece in the moving part contact with it, so that the elevator car stops, in a second state, the electromagnetic piece in the fixed part outputs electromagnetic force to make the friction piece and the elevator power device disengage, the elevator smooth braking control method comprises the steps of:

[0007] determining whether the elevator car is in a deceleration state according to the current running characteristics of the elevator car;

[0008] when it is determined that the elevator car is in a deceleration state, obtaining the current deceleration of the elevator car; and

[0009] determining whether the obtained current deceleration exceeds a preset value: if it does, controlling the size of the electromagnetic force output from the electromagnetic piece to make the deceleration of the elevator car not greater than the preset value.

[0010] In the elevator smooth braking control method according to the present application, optionally, the elevator smooth braking control method further comprises the steps of:

[0011] setting a target deceleration of the elevator car, and controlling the size of the electromagnetic force to make the deceleration of the elevator car substantially remain at the target deceleration, the target deceleration being not greater than the preset value.

[0012] In the elevator smooth braking control method according to the present application, optionally, the input signal of the electromagnet is determined by performing closed-loop control based on the difference between the target deceleration and the obtained current deceleration of the elevator car, so that the electromagnet outputs electromagnetic force of corresponding size according to the input signal.

[0013] In the elevator smooth braking control method according to the present application, optionally, the elevator smooth braking control method further comprises the steps of:

[0014] Before inputting the input signal determined via the closed-loop control to the electromagnet, the input signal is limited within a preset range.

[0015] In the elevator smooth braking control method according to the present application, optionally, the closed-loop control comprises PID control, at least one of P, I and D in which is adjusted, the feedback signal in the PID control is the deceleration obtained by differentiating the running speed of the elevator car, the command signal is the target deceleration, and the input signal comprises current signal and voltage signal.

[0016] In the elevator smooth braking control method according to the present application, optionally, the electromagnet is one or more winding coils arranged along the circumference of the fixed part, and the size of the electromagnetic force output from the electromagnet is controlled by controlling the input current or input voltage of at least one of the winding coils.

[0017] In the elevator smooth braking control method according to the present application, optionally, the elevator smooth braking control method further comprises the steps of:

[0018] The report information is stored in the local or cloud server of the elevator and / or sent to the user end, the report information at least comprises the obtained deceleration data of the elevator car, and the user end comprises the mobile communication terminal of the user.

[0019] In addition, according to another aspect of the present application, an elevator smooth braking control device is also provided, the elevator is provided with an elevator brake comprising a fixed part and a moving part, the elevator brake provides braking force in a first state by driving the moving part to move towards the elevator power device to make the friction element in the moving part contact with the elevator power device, so that the elevator car stops, and in a second state, the electromagnetic force is output by the electromagnet in the fixed part to make the friction element disengage from the contact with the elevator power device, the elevator smooth braking control device comprises a controller which is arranged to perform the following steps:

[0020] According to the current running characteristics of the elevator car, it is judged whether it is in deceleration state or not;

[0021] acquire a current deceleration of the elevator car when it is determined that the elevator car is in a deceleration state; and

[0022] determine whether the acquired current deceleration exceeds a preset value: if so, control the magnitude of the electromagnetic force output from the electromagnetic member so that the deceleration of the elevator car is not greater than the preset value.

[0023] In the elevator smooth braking control device according to the present application, optionally, the controller is further configured to perform the following steps:

[0024] According to the set target deceleration of the elevator car, the magnitude of the electromagnetic force is controlled so that the deceleration of the elevator car is substantially maintained at the target deceleration, which is not greater than the preset value.

[0025] In the elevator smooth braking control device according to the present application, optionally, the controller is configured to determine the input signal of the electromagnetic member based on the difference between the target deceleration and the acquired current deceleration of the elevator car, and to control the electromagnetic member according to the input signal to output the electromagnetic force of the corresponding magnitude through closed-loop control.

[0026] In the elevator smooth braking control device according to the present application, optionally, the controller is further configured to perform the following steps:

[0027] Before inputting the input signal determined through the closed-loop control to the electromagnetic member, the input signal is limited within a preset range.

[0028] In the elevator smooth braking control device according to the present application, optionally, the closed-loop control includes PID control, at least one of P, I and D in which is adjusted, the feedback signal in the PID control is the deceleration obtained by differentiating the running speed of the elevator car, the command signal is the target deceleration, and the input signal includes a current signal and a voltage signal.

[0029] In the elevator smooth braking control device according to the present application, optionally, the electromagnetic member is one or more winding coils arranged along the circumference of the fixed part, and the controller is configured to control the magnitude of the electromagnetic force output from the electromagnetic member by controlling the input current or input voltage of at least one of the winding coils.

[0030] In the elevator smooth braking control device according to the present application, optionally, the controller is further configured to perform the following steps:

[0031] The report information is stored in a local or cloud server of the elevator and / or sent to a user terminal, including a mobile communication terminal of the user, and the report information at least includes the obtained deceleration data of the elevator car.

[0032] In addition, according to still another aspect of the present application, there is also provided an elevator brake configured with the elevator smooth braking control device according to any one of the above.

[0033] The principles, features, characteristics and advantages of the technical solutions according to the present application will be clearly understood from the following detailed description in conjunction with the accompanying drawings. For example, the present application can eliminate or effectively alleviate the defects and problems existing in the prior art for hard braking operation of the elevator car, and achieve smooth braking control of the elevator car, so as to not only improve the elevator riding experience of people, increase the satisfaction and enhance the elevator riding safety, but also help to further improve the function of the existing elevator brake and perfect the performance of the elevator system. The present application is easy to implement and has remarkable effects, and therefore has very high application value. BRIEF DESCRIPTION OF DRAWINGS

[0034] The technical solutions of the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments, but it should be understood that these drawings are only designed for the purpose of explanation and only intended to conceptually illustrate the structural configurations described herein, and are not necessarily drawn to scale.

[0035] Figure 1 Fig. 1 is a structural schematic diagram of an existing elevator system, which simultaneously shows an example of elevator power device and an example of elevator brake.

[0036] Figure 2 Fig. 2 is a basic structure and working principle schematic diagram of an existing elevator brake.

[0037] Figure 3 Fig. 3 is a flow schematic diagram of an embodiment of the elevator smooth braking control method according to the present application.

[0038] Figure 4 Fig. 4 simultaneously shows the respective elevator car running speed curves when the elevator car is subjected to hard braking operation of the elevator car according to the prior art and the elevator car braking operation according to the embodiment of the elevator smooth braking control method of the present application, respectively, for the same elevator system in a comparative manner.

[0039] Figure 5 Fig. 5 is a working principle schematic block diagram when a PID control is applied in an embodiment of the elevator smooth braking control method according to the present application. DETAILED DESCRIPTION

[0040] First of all, it should be noted that the steps, components, features and advantages of the elevator smooth braking control method, the elevator smooth braking control device and the elevator brake according to the present application will be described below by way of example, however, all the descriptions should not be used to form any limitation on the present application. In this context, the technical term "substantially" is intended to include non-essential errors associated with the measurement of a specific amount, for example, it can include a set value and its ±8%, ±5% or ±2% range, etc.

[0041] Furthermore, for any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the drawings, the present application still allows any combination or deletion to be continued between these technical features (or their equivalents) without any technical obstacles, so it should be considered that more embodiments according to the present application are within the scope of the description herein. In addition, for the sake of brevity, general matters known to those skilled in the art, such as the basic structure, working principle, etc. of the elevator power device, elevator brake and PID controller, etc. are not described in detail herein.

[0042] First of all, in Figure 3 the basic processing flow of an embodiment of the elevator smooth braking control method according to the present application is shown. As Figure 3 described, by performing the following exemplary steps to be discussed, the elevator smooth braking control method can be implemented.

[0043] Specifically, in step S11, an analysis and judgment can be made on the current state of the elevator car based on the current operating characteristics of the elevator car, so as to determine whether it is currently in deceleration operation. For the elevator car, its operating characteristics can include, but are not limited to, for example, the operating speed in the elevator shaft, the operating position, etc., which can be detected by means of one or more sensors (such as speed sensors, position sensors, etc.) installed on the elevator car and / or the elevator shaft, etc., wireless beacon systems, etc., and also allows direct access from, for example, the elevator controller, etc., so that such operating characteristics can be used to determine the current operating state of the elevator car, for example, in deceleration, acceleration, stationary, etc. If it is determined through analysis and judgment that the elevator car is in deceleration, it means that the elevator car may be (emergency) braking at this time, so the subsequent steps of the embodiment of the elevator smooth braking control method can be executed; otherwise, it means that the elevator car is in other state, so the subsequent steps of the embodiment of the elevator smooth braking control method shown in Figure 3 may not be executed until the elevator car is determined to be in deceleration according to the subsequent operating characteristics.

[0044] Continuing to refer to Figure 3In step S12, when it is determined that the elevator car is in deceleration, the current deceleration of the elevator car can be obtained. It should be understood that the purpose of obtaining the deceleration data of the elevator car is to distinguish whether the elevator car is currently experiencing a regular braking operation or an emergency braking operation. Once it is found that the latter emergency braking operation is involved, the method of the present application can be applied to control the elevator car to achieve a smooth braking operation, so as to effectively alleviate or avoid the adverse effects and risks caused by the implementation of a hard braking operation as described above.

[0045] As an example, in some embodiments, the current deceleration of the elevator car can be obtained by performing a calculation process on the operating characteristics of the elevator car discussed above, for example, the operating speed data (or position data) of the elevator car at at least two different time points can be collected by using a speed sensor (or a position sensor) and the like, and then a numerical process is performed on them to obtain the deceleration data of the elevator car. Of course, in other embodiments, the present application also allows the current deceleration of the elevator car to be directly obtained by means of a device such as one or more acceleration sensors installed on the elevator car, i.e. the same or similar data processing as described above is completed in the internal center of such acceleration sensors, and thus the deceleration data of the elevator car output therefrom can be directly used by the method of the present application.

[0046] Continuing to refer to Figure 3 In step S13, it is determined whether the current deceleration of the elevator car obtained by the above steps exceeds a preset value, which can be selected and set according to different application requirements, for example, the specific value can be set to 0.9g (g is the acceleration of gravity), 0.85g, 0.8g, 0.75g, 0.7g, 0.65g, 0.6g, 0.55g, 0.5g, etc.

[0047] If it is found that the current deceleration of the elevator car exceeds the preset value, it can be indicated that the elevator car is currently undergoing an emergency braking, and therefore in the subsequent step S14, the electromagnetic force output from the electromagnetic part of the elevator brake can be controlled to reduce the deceleration of the elevator car until it is not greater than the above-mentioned preset value. That is, at this time, by using the way of real-time regulating the size of the electromagnetic force, the braking force provided by the elevator brake can be better controlled, so that the elevator car can be effectively alleviated or avoided from producing violent vibration to achieve a good effect of smooth braking, and therefore it can be called "soft braking (Brake Soft Stop)" compared with the "hard braking" in the prior art, which is very clear and intuitive in the Figure 4 application.

[0048] Referring to Figure 4 , wherein Figure 4(a) shows the elevator car running speed curve cl when the elevator car is subjected to a hard braking operation using the prior art for a certain type of elevator system, Figure 4 (b) shows the elevator car running speed curve c2 when the elevator car is subjected to a braking operation using the elevator smooth braking control method embodiment according to the present application for the above-mentioned elevator system.

[0049] By comparison, it can be found that when the elevator car is subjected to a start operation, its running speed V will be constantly improved, but when it is subjected to an emergency braking, this is in Figure 4 (a) and Figure 4 In (a) and (b), the dashed box is used to highlight that the hard braking operation using the prior art has a steep descending curve (i.e. a large descending slope), which indicates that the running speed of the elevator car has a large fluctuation in the short braking operation time, and thus there is a severe vibration; however, since the soft braking operation according to the present application is used, Figure 4 (b) has a much more gentle descending slope compared to (a), which indicates that the soft braking control process is smooth, and can significantly alleviate or even eliminate the severe vibration during the hard braking operation in (a), and the improvement effect of the braking control is quite obvious. Figure 4 Figure 2

[0050] For the specific control process in the method of the present application, a more detailed introduction will be given below in conjunction with the elevator brake example shown in Figure 2 .

[0051] Firstly, when the elevator car is normally subjected to up and down movement in the elevator shaft, the elevator brake will be in the second state, i.e. at this time, the conventional operating current or voltage can be provided to the electromagnetic member 3 in the fixed part 1 of the elevator brake, so as to output the electromagnetic force F2 from the electromagnetic member 3, the direction of the electromagnetic force F2 is opposite to the direction of the force Fl applied to the moving part 2 by the component 5 (such as a spring, etc.), and the electromagnetic force F2 can overcome the force Fl to promote the movement of the moving part 2 towards the direction of the fixed part 1, so as to make the friction member 4 on the moving part 2 disengage from the contact with the elevator power device 20, and thus allow the elevator car to be subjected to up and down movement.

[0052] ​​In contrast to the above operation, when it is necessary to place the elevator brake in the first state (also commonly referred to as "braking state"), the electromagnetic force F2 previously applied to the moving part 2 can be removed by placing the electromagnet 3 in the de-energized state, at which time the moving part 2 will move in the direction of guidance of the components 5, such as guide bushings, bolts, etc., in the elevator brake, toward the braking member 6 under the action of the force Fl provided by the component 5, and then apply a braking force to the braking member 6 through the contact between the friction member 4 and the braking member 6, thereby causing the elevator power device (such as a hoisting machine, etc.) to stop the power output to the outside, i.e., to achieve the braking operation of the elevator car. When the elevator brake is in the first state, there is an air gap S between the fixed part 1 and the moving part 2, which is schematically shown in Figure 5

[0053] It should be noted that for the above-mentioned electromagnet 3, the specific structure, composition, arrangement position, installation method, etc. of the electromagnet 3 in the elevator brake are allowed to be flexibly set and selected according to the actual application requirements, i.e., no specific limitation is made to the same. As a demonstrative illustration, for example, in some embodiments, one or more winding coils can be conveniently selected and arranged in the circumferential direction of the fixed part 1, such as four, six, etc. winding coils arranged uniformly along the circumference of the fixed part 1, which not only helps to more uniformly provide and apply the electromagnetic force outwardly, but also has a certain redundancy, thereby improving the safety and reliability of the elevator brake. In actual application, by controlling the input signal (such as current, voltage, etc.) of one or more winding coils, the size of the electromagnetic force output from the electromagnet can be controlled as needed, so as to better assist the force Fl to form a resultant force for smoothly braking the elevator car.

[0054] It should be understood that the above embodiments are only exemplary illustrations, and those skilled in the art can implement more possible settings, changes and adjustments according to different application requirements without departing from the spirit of the present application, and the present application will not make any limitation to these aspects.

[0055] ​For example, as an optional case, in order to further achieve more ideal elevator car stable braking control effect, a target deceleration of the elevator car can be re-set for the whole braking control process, for example, it can be set to be less than or equal to the preset value of the elevator car deceleration mentioned in the above step S13, such as 0.4g, 0.5g or any other suitable value, and the specific value can be flexibly set according to the actual application requirements. In this way, the size of the electromagnetic force provided by the elevator brake can be controlled accordingly, so as to achieve the purpose of keeping the actual deceleration of the elevator car substantially at the target deceleration, i.e. controlling the whole deceleration braking process of the elevator car to be more stable, the fluctuation is significantly reduced, etc.

[0056] As an example, in some application cases, a closed-loop control mode can be used to process the difference between the above-mentioned target deceleration and the obtained current deceleration of the elevator car, and thus determine the corresponding input signal (for example, in the form of current signal, voltage signal, etc.) of the electromagnetic part in the elevator brake, so as to enable the electromagnetic part to output the electromagnetic force of the expected size corresponding to the input signal after receiving it, i.e. to achieve the purpose of keeping the actual deceleration of the elevator car substantially at the target deceleration.

[0057] It should be understood that according to the above teachings of the present application, those skilled in the art can apply a plurality of feasible ways to implement the above-mentioned closed-loop control, such as PID control (Proportional Integral Derivative Control), ADRC control (Active Disturbance Rejection Control), etc. For example, in the case of PID control, the working principle of the PID controller can be described as follows. Figure 5 A working principle schematic diagram of PID control applied in an embodiment of the method according to the present application is given in

[0058] As shown in Figure 5 , a dashed box is used in the figure to indicate the corresponding part of the closed-loop control implemented by the PID control mode in the example of the method of the present application. It should be noted that when the PID control is implemented in the method of the present application, a plurality of feasible ways are allowed, for example, only one of P, I and D can be adjusted, or they can be combined for adjustment, for example, PI, PD, etc. The present application does not limit the actual combination and application of P, I and D.

[0059] Specifically, in the actual control process, there can be a certain error between a target deceleration D (i.e. as the command signal of the PID controller) of the elevator car control target and the current actual deceleration D' of the elevator car, which is shown in Figure 5The above-mentioned target deceleration D and error d can be used to perform a closed-loop feedback control by means of a PID controller, so as to output a corresponding input signal P for providing to the electromagnet in the elevator brake, and thus generate a desired electromagnetic force F2 (which is also associated with the size of the air gap S between the fixed part 1 and the moving part 2), which together with the force Fl mentioned above forms a resultant force F. After taking into account the friction coefficient FR of the friction element in the elevator brake, the above-mentioned resultant force F will eventually form a braking force F3 and be applied to the elevator power device.

[0060] For the purpose of facilitating a better understanding, in Figure 5 The above-mentioned target deceleration D and error d can be used to perform a closed-loop feedback control by means of a PID controller, so as to output a corresponding input signal P for providing to the electromagnet in the elevator brake, and thus generate a desired electromagnetic force F2 (which is also associated with the size of the air gap S between the fixed part 1 and the moving part 2), which together with the force Fl mentioned above forms a resultant force F. After taking into account the friction coefficient FR of the friction element in the elevator brake, the above-mentioned resultant force F will eventually form a braking force F3 and be applied to the elevator power device.

[0061] In addition, the actual running speed V of the elevator car at this moment can be obtained by means of a device such as a speed encoder, which is represented by the reference sign SE in Figure 5 The actual running speed V can be processed (e.g. differentiated) by means of a data processing module T to obtain an actual deceleration D', which is then used as a feedback signal for the PID controller for the next PID control.

[0062] As mentioned above, by performing a cyclic feedback process on the actual deceleration D' of the elevator car and the target deceleration D, a closed control is formed, so as to achieve the purpose of efficiently, accurately and quickly keeping the actual deceleration of the elevator car substantially at the target deceleration, and better ensure the smooth braking operation of the elevator car. It should also be noted that Figure 5 The speed limiter SL and the time limiter TL commonly required in the existing elevator safety design are also shown in

[0063] For example, as an optional case, it can be considered to limit the input signal within a preset range before inputting the input signal determined via closed-loop control to the electromagnetic element in the elevator brake, so as to further play the role of effectively controlling smooth braking, enhancing system safety, etc. For example, a current limiter or voltage limiter or other corresponding limiting device can be optionally added after the PID controller output shown in ​ to avoid the undesirable relatively excessive electromagnetic force generated by delivering a relatively excessive current, voltage or other control signal to the electromagnetic element in the elevator brake.

[0064] For example, as an optional case, it can be considered to output report information related to the obtained deceleration data of the elevator car after performing step S14, for example, such report information can be stored in the local or cloud server of the elevator, and / or sent to the user end (such as mobile communication terminal such as mobile phone, PAD, etc.) to enable elevator operation managers, equipment maintenance personnel, equipment manufacturers or parts suppliers, etc. to obtain timely information, play the role of safety prevention, timely warning, etc. Thus, the relevant data information obtained from the smooth braking operation of the elevator car can be further fully utilized.

[0065] It can be understood that the specific content, expression form, transmission path, level, etc. of the report information can be flexibly set by those skilled in the art according to actual needs. By obtaining and analyzing the corresponding data in such report information, it will be helpful to better grasp the working performance state of the elevator brake, elevator power device and / or elevator car, etc. used at present, so as to promote equipment maintenance, safety guarantee, system improvement, etc.

[0066] In addition, as another aspect obviously superior to the prior art, the present application also provides an elevator smooth braking control device, wherein a controller is provided to perform the corresponding steps of the method according to the present application, such as discussed above, which can be manufactured and sold separately.

[0067] It can be understood that according to the disclosure of the present application, those skilled in the art can use such as processors, electronic circuits, integrated circuits (ASIC) and / or memories for executing one or more software or firmware programs, combination logic circuits, and any other suitable devices, etc. to realize the above-mentioned controller in the elevator smooth braking control device. In addition, any other suitable devices, units, modules or devices, etc. such as field effect transistors can be added to realize more control, for example, MOS-FET can be used to provide variable input current control for the electromagnetic element.

[0068] In addition, since the above-mentioned technical contents, such as the elevator brake, various specific steps of the elevator smooth braking control, input signals of the electromagnetic element and its implementation, processing of the reported information, etc., have been described in detail, the corresponding functions of the controller in the elevator smooth braking control device can be directly implemented by referring to the specific descriptions of the corresponding parts, and thus the detailed descriptions are not repeated here.

[0069] In addition, according to the technical solutions of the present application, an elevator brake is also provided. Specifically, the elevator brake can be configured with the elevator smooth braking control device provided according to the technical solutions of the present application, so as to effectively alleviate or eliminate the defects and problems of the existing elevator car hard braking, achieve smooth braking control of the elevator car, enhance the safety of people taking the elevator, avoid unexpected injury accidents caused by the emergency stop operation of the elevator car, and help to improve the working performance of the existing elevator brake, thereby achieving the above-mentioned significant technical advantages, and thus having high practical value.

[0070] The above-mentioned elevator smooth braking control method, elevator smooth braking control device and elevator brake according to the present application are only illustrated in detail by way of example, and these examples are only used to illustrate the principles and implementation modes of the present application, but not to limit the present application. Those skilled in the art can also make various modifications and improvements without departing from the spirit and scope of the present application. Therefore, all equivalent technical solutions shall belong to the scope of the present application and be limited by the claims of the present application.

Claims

1. A method for controlling the smooth braking of an elevator, wherein the elevator is equipped with an elevator brake comprising a fixed part and a moving part, wherein in a first state the elevator brake provides braking force to stop the elevator car by driving the moving part to move toward the elevator power unit so that a friction element in the moving part contacts the moving part; and in a second state the elevator brake outputs electromagnetic force through an electromagnetic element in the fixed part to disengage the friction element from the elevator power unit, characterized in that... Including the following steps: Based on the current operating characteristics of the elevator car, determine whether it is in a deceleration state; When it is determined that the elevator car is in a deceleration state, obtain the current deceleration of the elevator car; as well as Determine whether the acquired current deceleration exceeds a preset value: if it does, control the magnitude of the electromagnetic force output from the electromagnetic component to ensure that the deceleration of the elevator car does not exceed the preset value; and The elevator smooth braking control method further includes the following steps: A target deceleration rate is set for the elevator car, and the magnitude of the electromagnetic force is controlled so that the deceleration rate of the elevator car is substantially maintained at the target deceleration rate, which is not greater than the preset value.

2. The elevator smooth braking control method according to claim 1, wherein, Based on the difference between the target deceleration and the current deceleration of the elevator car, the input signal of the electromagnetic component is determined by closed-loop control, so that the electromagnetic component outputs an electromagnetic force of a corresponding magnitude according to the input signal.

3. The elevator smooth braking control method according to claim 2, wherein, The elevator smooth braking control method also includes the following steps: Before inputting the input signal determined by the closed-loop control to the electromagnetic component, the input signal is limited to a preset range.

4. The elevator smooth braking control method according to claim 2, wherein, The closed-loop control includes PID control, and adjusts at least one of P, I and D. The feedback signal in the PID control is the deceleration obtained by differentiating the running speed of the elevator car, and the command signal is the target deceleration. The input signals include current signals and voltage signals.

5. The elevator smooth braking control method according to claim 1, wherein, The electromagnetic component is one or more winding coils arranged circumferentially along the fixed portion. The magnitude of the electromagnetic force output from the electromagnetic component is controlled by controlling the input current or input voltage of at least one of the winding coils.

6. The elevator smooth braking control method according to claim 1, wherein, The elevator smooth braking control method also includes the following steps: The report information is stored on the elevator's local or cloud server and / or sent to the user terminal. The report information includes at least the acquired deceleration data of the elevator car. The user terminal includes the user's mobile communication terminal.

7. An elevator smooth braking control device, wherein the elevator is equipped with an elevator brake including a fixed part and a moving part, wherein in a first state the elevator brake provides braking force to stop the elevator car by driving the moving part to move toward the elevator power unit so that a friction element in the moving part contacts the moving part; and in a second state the elevator brake outputs electromagnetic force through an electromagnetic element in the fixed part to disengage the friction element from the elevator power unit, characterized in that... The elevator smooth braking control device includes a controller configured to perform the following steps: Based on the current operating characteristics of the elevator car, determine whether it is in a deceleration state; When it is determined that the elevator car is in a deceleration state, obtain the current deceleration of the elevator car; as well as Determine whether the acquired current deceleration exceeds a preset value: if it does, control the magnitude of the electromagnetic force output from the electromagnetic component to ensure that the deceleration of the elevator car does not exceed the preset value; and The controller is further configured to perform the following steps: Based on the set target deceleration of the elevator car, the magnitude of the electromagnetic force is controlled so that the deceleration of the elevator car is basically maintained at the target deceleration, which is not greater than the preset value.

8. The elevator smooth braking control device according to claim 7, wherein, The controller is configured to determine the input signal of the electromagnetic component by performing closed-loop control based on the difference between the target deceleration and the current deceleration of the elevator car, so that the electromagnetic component outputs an electromagnetic force of a corresponding magnitude according to the input signal.

9. The elevator smooth braking control device according to claim 8, wherein, The controller is also configured to perform the following steps: Before inputting the input signal determined by the closed-loop control to the electromagnetic component, the input signal is limited to a preset range.

10. The elevator smooth braking control device according to claim 8, wherein, The closed-loop control includes PID control, and adjusts at least one of P, I and D. The feedback signal in the PID control is the deceleration obtained by differentiating the running speed of the elevator car, and the command signal is the target deceleration. The input signals include current signals and voltage signals.

11. The elevator smooth braking control device according to claim 7, wherein, The electromagnetic component is one or more winding coils arranged circumferentially along the fixed portion, and the controller is configured to control the magnitude of the electromagnetic force output from the electromagnetic component by controlling the input current or input voltage of at least one of the winding coils.

12. The elevator smooth braking control device according to claim 7, wherein, The controller is also configured to perform the following steps: The report information is stored on the elevator's local or cloud server and / or sent to the user terminal. The report information includes at least the acquired deceleration data of the elevator car. The user terminal includes the user's mobile communication terminal.

13. An elevator brake, characterized in that, The elevator brake is equipped with an elevator smooth braking control device as described in any one of claims 7-12.

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