Elevator Door Machine Calibration Method, Device, System and Storage Medium

Abstract

The present invention relates to the technical field of motor control, and discloses an elevator door machine calibration method, device, system and storage medium, which are used to simplify the debugging process of the elevator door machine, reduce the safety risks in the debugging process, and improve the debugging efficiency of the elevator door machine. The elevator door machine calibration method includes: during the operation of the motor, collecting the signal timing output by the door machine sensor and the first control pulse of the motor, and determining the control direction of the elevator door controlled by the first control pulse; determining the running direction of the elevator door based on the signal timing; comparing whether the control direction is consistent with the running direction; if not, adjusting the first control pulse to obtain a second control pulse; obtaining the feedback pulse of the encoder based on the second control pulse, and adjusting the encoder based on the feedback pulse.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to an elevator door machine calibration method, device, system and storage medium. Background Art

[0002] Three-phase AC permanent magnet synchronous motors are widely used in automatic door machines to control the opening and closing of the door panels of direct lift elevator door machines or other automatic door machines. High-performance control of three-phase AC permanent magnet synchronous motors requires accurate detection of the rotor position (i.e., the rotor magnetic pole direction). Incorrect determination of the magnetic pole position will result in abnormal torque output by the three-phase AC permanent magnet synchronous motor, causing the door machine to fail to open and close correctly.

[0003] Usually, the magnetic pole position is self-learned based on the pulse signals fed back by sensors such as encoders, so as to accurately control the torque of the three-phase AC permanent magnet synchronous motor. However, the prerequisite for magnetic pole self-learning is that the motor direction is consistent with the encoder direction. When the UVW terminals of the motor are wrongly connected, or there are wiring errors during motor assembly, or the A and B terminals of the encoder are wrongly connected, the motor direction and the encoder direction will be different. At this time, the output result of magnetic pole self-learning will have an error, resulting in the inability to accurately control the opening and closing of the elevator door machine. Generally, the installation personnel need to manually troubleshoot and debug the equipment one by one. The debugging process involves electrical equipment and high-voltage power supplies, with high safety risks during debugging, strict requirements for personnel professionalism, and low manual debugging efficiency. Summary of the Invention

[0004] The present invention provides an elevator door machine calibration method, device, system and storage medium, which are used to solve the problems of complex elevator door machine debugging process, high safety risks and low manual debugging efficiency.

[0005] In a first aspect of the present invention, an elevator door machine calibration method is provided, which is applied to an elevator door machine control system. The elevator door machine control system at least includes a door machine sensor, a motor and an encoder, and includes: during the operation of the motor, collecting the signal timing output by the door machine sensor and the first control pulse of the motor, and determining the control direction of the elevator door controlled by the first control pulse; determining the running direction of the elevator door based on the signal timing; comparing whether the control direction is consistent with the running direction; if not, adjusting the first control pulse to obtain a second control pulse; determining the target counting direction of the encoder based on the second control pulse, and adjusting the encoder based on the target counting direction.

[0006] In a feasible implementation manner, during the operation of the motor, the signal timing output by the door machine sensor and the first control pulse of the motor are collected, and the control direction of the elevator door controlled by the first control pulse is determined, including: during the operation of the motor, starting a timer and collecting the signal timing output by the door machine sensor and the first control pulse of the motor; analyzing the first control pulse to obtain three groups of PWM waveform signals; calculating the corresponding phase differences according to the three groups of PWM waveform signals, and determining the control direction of the elevator door controlled by the first control pulse.

[0007] In a feasible implementation manner, determining the running direction of the elevator door based on the signal timing includes: determining the level signal when the door machine sensor is triggered as the first level signal, and the first level signal indicates that the elevator door is in the closed position; if the signal timing changes from the first level signal to the second level signal, the running direction of the elevator door is the opening direction; if the signal timing changes from the second level signal to the first level signal, the running direction of the elevator door is the closing direction.

[0008] In a feasible implementation manner, if they are inconsistent, adjusting the first control pulse to obtain a second control pulse includes: if they are inconsistent, exchanging any two groups of PWM waveform signals to obtain a candidate control pulse; judging whether the control direction corresponding to the candidate control pulse is consistent with the running direction; if so, determining the candidate control pulse as the second control pulse; if not, continuing to exchange.

[0009] In a feasible implementation manner, if they are inconsistent, adjusting the first control pulse to obtain a second control pulse includes: if they are inconsistent, retrieving a preset pulse modulation table, and the pulse modulation table is used to query the target adjustment scheme of three groups of PWM waveform signals to reverse the rotation direction of the motor; adjusting the first control pulse according to the preset pulse modulation table to obtain a second control pulse.

[0010] In a feasible implementation manner, determining the target counting direction of the encoder based on the second control pulse and adjusting the encoder based on the target counting direction includes: determining the target counting direction of the encoder based on the second control pulse; collecting the feedback pulse of the encoder and determining the actual counting direction of the encoder according to the feedback pulse; if the target counting direction is inconsistent with the actual counting direction, setting the encoder according to the target counting direction.

[0011] In a feasible implementation manner, after determining the target counting direction of the encoder based on the second control pulse, it further includes: setting the encoder according to the target counting direction.

[0012] In a second aspect of the present invention, an elevator door machine correction device is provided, including a processing module, which, during the operation of the motor, collects the signal timing output by the door machine sensor and the first control pulse of the motor, and determines the control direction of the elevator door controlled by the first control pulse; a determination module for determining the running direction of the elevator door based on the signal timing; a comparison module for comparing whether the control direction is consistent with the running direction; a first adjustment module for adjusting the first control pulse to obtain a second control pulse if they are inconsistent; and a second adjustment module for obtaining the feedback pulse of the encoder based on the second control pulse and adjusting the encoder based on the feedback pulse.

[0013] In a feasible implementation manner, the processing module is specifically configured to: during the operation of the motor, start a timer and collect the signal timing output by the door machine sensor and the first control pulse of the motor; analyze the first control pulse to obtain three groups of PWM waveform signals; calculate the corresponding phase difference according to the three groups of PWM waveform signals, and determine the control direction of the elevator door controlled by the first control pulse.

[0014] In a feasible implementation manner, the determination module is specifically configured to: determine the level signal when the door machine sensor is triggered as the first level signal, and the first level signal indicates that the elevator door is in the closed position; if the signal timing changes from the first level signal to the second level signal, the running direction of the elevator door is the opening direction; if the signal timing changes from the second level signal to the first level signal, the running direction of the elevator door is the closing direction.

[0015] In a feasible implementation manner, the first adjustment module is specifically configured to: if they are inconsistent, exchange any two groups of PWM waveform signals to obtain a candidate control pulse; determine whether the control direction corresponding to the candidate control pulse is consistent with the running direction; if so, determine the candidate control pulse as the second control pulse; if not, continue to exchange.

[0016] In a feasible implementation manner, the first adjustment module is specifically configured to: if they are inconsistent, retrieve a preset pulse modulation table, which is used to query the target adjustment scheme of the three groups of PWM waveform signals to reverse the rotation direction of the motor; adjust the first control pulse according to the preset pulse modulation table to obtain a second control pulse.

[0017] In a feasible implementation, the second adjustment module includes: a collection unit configured to collect feedback pulses of the encoder based on the second control pulse; a processing unit configured to perform data conversion and identification on the feedback pulses to obtain the actual increasing or decreasing trend of the feedback pulse sequence; and an adjustment unit configured to set the counting direction of the encoder based on the second control pulse and the actual increasing or decreasing trend of the pulse signal sequence.

[0018] In a feasible implementation, the adjustment unit is configured to determine the target increasing or decreasing trend of the feedback pulse based on the second control pulse; and when the target increasing or decreasing trend is inconsistent with the actual increasing or decreasing trend, adjust the counting direction of the encoder.

[0019] A third aspect of the present invention provides an elevator door machine control system, characterized in that the elevator door machine correction system executes the above-mentioned elevator door machine correction method, and the elevator door machine control system includes: an elevator door machine, a motor, an encoder, and an elevator door machine correction device; the elevator door machine is mechanically connected to the motor, the elevator door machine is electrically connected to the elevator door machine correction device, the encoder is mechanically connected to the motor, the encoder is electrically connected to the elevator door machine correction device, and the motor is electrically connected to the elevator door machine correction device; wherein, the elevator door machine includes a door machine sensor and an elevator door, the door machine sensor is disposed at the closing position of the elevator door and is configured to send a closed-in-place signal to the elevator door machine correction device when the elevator door is in the closing position; the motor is configured to drive the opening and closing of the elevator door; the encoder is configured to send feedback pulses to the elevator door machine correction device, and the feedback pulses are used to determine the wiring position of the encoder; and the elevator door machine correction device is configured to judge and correct the directions of the motor and the encoder.

[0020] A fourth aspect of the present invention provides a computer-readable storage medium, in which instructions are stored, and when the instructions are run on a computer, the computer is caused to execute the above-mentioned elevator door machine correction method.

[0021] In the technical solution provided by the present invention, during the operation of the motor, the signal timing output by the door machine sensor and the first control pulse of the motor are collected, and the control direction of the elevator door controlled by the first control pulse is determined; the running direction of the elevator door is determined based on the signal timing; whether the control direction is consistent with the running direction is compared; if they are inconsistent, the first control pulse is adjusted to obtain a second control pulse; the target counting direction of the encoder is determined based on the second control pulse, and the encoder is adjusted based on the target counting direction. In the embodiment of the present invention, the debugging process of the elevator door machine is simplified, the safety risk during the debugging process is reduced, the debugging efficiency of the elevator door machine is improved, the motor direction and the encoder direction are consistent after debugging, the accuracy of the subsequent pole position self-learning result is guaranteed, and thus the opening and closing of the elevator door machine can be accurately controlled. Description of the Drawings

[0022] Figure 1 It is a schematic diagram of an embodiment of the elevator door machine correction method in the embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of another embodiment of the elevator door machine correction method in the embodiment of the present invention;

[0024] Figure 3 It is a schematic diagram of an embodiment of the elevator door machine correction device in the embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of another embodiment of the elevator door machine correction device in the embodiment of the present invention;

[0026] Figure 5 It is a schematic diagram of an embodiment of the elevator door machine correction equipment in the embodiment of the present invention. Embodiment

[0027] The present invention provides an elevator door machine correction method, device, system and storage medium, which are used to simplify the debugging process of the elevator door machine, reduce the safety risk during the debugging process, and improve the debugging efficiency of the elevator door machine.

[0028] In the description of the present invention, the claims, and the above-mentioned drawings, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the term "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units does not necessarily limit to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products, or devices.

[0029] For ease of understanding, the specific process of the embodiments of the present invention will be described below. Please refer to Figure 1 , an embodiment of the elevator door machine calibration method in the embodiments of the present invention includes:

[0030] 101. During the operation of the motor, collect the signal timing output by the door machine sensor and the first control pulse of the motor, and determine the control direction of the elevator door controlled by the first control pulse.

[0031] It can be understood that the execution subject of the present invention can be an elevator door machine calibration device or an elevator door machine control system. Specifically, it is not limited here. The embodiments of the present invention will be described by taking the elevator door machine control system as the execution subject as an example.

[0032] In this embodiment, the elevator door machine control system at least includes a door machine sensor, a motor, and an encoder. The door machine sensor is arranged at the closing position of the elevator door. It can be understood that the door machine calibration method of the present application can be used not only for the debugging of the elevator door machine by the elevator door machine control system, but also for the debugging of other automatic door machine control systems for automatic door machines. The above-mentioned motor can be a three-phase AC permanent magnet synchronous motor.

[0033] During the operation of the motor, the elevator door machine control system starts a timer and collects the signal timing output by the door machine sensor and the first control pulse of the motor; analyzes the first control pulse to obtain three groups of PWM waveform signals; calculates the corresponding phase difference according to the three groups of PWM waveform signals, and determines the control direction of the elevator door controlled by the first control pulse.

[0034] Among them, the signal timing refers to the change law of the level signal of the door machine sensor within a preset time, which can be represented by a waveform diagram. The abscissa represents time and the ordinate represents the level signal, so as to reflect the change of the level signal of the door machine sensor within a certain period of time.

[0035] The elevator door machine control system outputs a first control pulse to make the motor start rotating. The first control pulse refers to the control signal for controlling the movement direction of the motor, which may be the control signal for the opening direction or the closing direction, and its control direction is determined by three groups of PWM waveform signals that make up the first control pulse.

[0036] The PWM waveform signal, that is, the pulse width modulation (Pulse width modulation wave, PWM) waveform signal, is a periodic signal composed of high and low levels. It controls the rotation speed and output power of the motor by using the digital output of the microprocessor. The PWM waveform signal is a waveform of the corresponding current or voltage that is equivalent to the analog signal level after digital encoding (including the shape and amplitude). Digital encoding of the analog signal level means that the changes of signals, energy, etc. are adjusted by adjusting the duty cycle. The duty cycle refers to the percentage of the time when the signal is at the high level in a whole signal cycle. The PWM waveform signal does not need to perform digital-to-analog conversion and can minimize the influence of noise.

[0037] In this embodiment, the first control pulse is composed of three groups of PWM waveform signals. The phase difference of the three groups of PWM waveform signals determines whether the motor rotates forward (clockwise rotation) or backward (counterclockwise rotation). Each PWM waveform signal corresponds to one phase of the three-phase AC permanent magnet synchronous motor.

[0038] In the three-phase AC permanent magnet synchronous motor, the phase difference of the PWM waveform signal can be represented by the electrical angle, which can be represented by the degree or radian of the electrical angle. The electrical angle refers to the phase angle of the voltage or current waveform relative to a reference point in an AC circuit within one cycle. A complete cycle is 360 degrees or 2π radians of the electrical angle. By adjusting the phase difference of the PWM waveform signal, the rotation direction and speed of the motor can be controlled. That is, by adjusting the electrical angle of the three-phase PWM waveform signal, the steering of the motor can be adjusted. The current phase difference and voltage phase difference are the specific manifestations of the electrical angle, and the electrical angle can be obtained by calculating the current phase difference or voltage phase difference. Specifically, by calculating the offset of the waveforms in the three groups of PWM waveform signals. If the PWM waveform signal simulates the current signal, it is the offset of the three groups of current waveforms. If the PWM waveform signal simulates the current signal voltage signal, it is the offset of the three groups of voltage waveforms. Specifically, the phase difference can calculate the time difference between two wave peaks of the three groups of waveforms. By dividing this time difference by the time period of a complete waveform, the phase difference is obtained.

[0039] In the motor control system, three groups of PWM waveform signals corresponding to the forward rotation of the motor and the corresponding phase differences are set, and three groups of PWM waveform signals corresponding to the reverse rotation of the motor and the corresponding phase differences are also set. Assuming that the motor UVW phase sequence wiring is correct and the motor rotates counterclockwise as the positive direction, and the positive direction corresponds to the opening direction of the elevator door. At this time, the U phase leads the V phase by 120 degrees, the V phase leads the W phase by 120 degrees, and the W phase lags behind the U phase by 120 degrees. By calculating the phase difference of the three groups of PWM waveform signals corresponding to the first control pulse, and whether it is consistent with the set forward or reverse rotation, the control direction of the elevator door controlled by the first control pulse can be determined. The above first control pulse can be an opening pulse signal indicating the opening direction or a closing pulse signal indicating the closing direction.

[0040] It can be understood that the relationship between the phase differences of the three groups of PWM waveform signals and the rotation direction of the motor, and the relationship between the rotation direction of the motor and the running direction of the elevator door can be set according to the actual situation. In this embodiment, when the motor rotates forward, the elevator door runs in the opening direction is used as the judgment criterion.

[0041] 102. Determine the running direction of the elevator door based on the signal timing.

[0042] The elevator door machine system determines the running direction of the elevator door based on the signal timing. When the change of the signal timing of the door machine sensor changes from the triggered state to the unconnected state, that is, the elevator door opens from the closed position, that is, the running direction of the elevator door is the opening direction. When the change of the signal timing of the door machine sensor changes from the unconnected state to the triggered state, that is, the elevator door runs to the closed position, that is, the running direction of the elevator door is the closing direction.

[0043] For easy understanding, assume that the triggered state of the door machine sensor corresponds to a high level (that is, when the two door panels of the elevator door are in the closed position, the door machine sensor outputs a high level), and the unconnected state corresponds to a low level (that is, when the two door panels of the elevator door are not in the closed position, the door machine sensor outputs a low level). At this time, under the control of the first control pulse, the motor rotates, and there may be four situations in the signal timing of the door machine sensor. Each situation can determine the position of the two door panels of the elevator door and the running direction of the elevator door:

[0044] First high level then low level: The elevator door runs from the closed position to the opening direction. At this time, it is determined that the running direction of the elevator door is the opening direction.

[0045] First low level then high level: The elevator door runs from the opening position to the closing direction. At this time, it is determined that the running direction of the elevator door is the closing direction.

[0046] It is low level within the preset time: The elevator door runs from the opening position to the opening direction or the elevator door is fully opened. At this time, it is determined that the running direction of the elevator door is the opening direction.

[0047] It is high level within the preset time: The elevator door is always in the closed position, and at this time, it is determined that the running direction of the elevator door is the opening direction.

[0048] It can be understood that different level signals correspond to the triggered state and the non-connected state of the door machine sensor. For example, the triggered state corresponds to a high level, and the non-connected state corresponds to a low level, or vice versa. Specifically, it is determined according to the actual situation of the door machine sensor.

[0049] Compare whether the control direction is consistent with the running direction.

[0050] The elevator door machine system compares whether the control direction of the elevator door controlled by the first control pulse is consistent with the running direction of the elevator door, so as to judge whether the wiring of the motor is correct.

[0051] Under normal circumstances, the elevator door machine control system is connected to the U terminal, V terminal, and W terminal of the motor through the A terminal, B terminal, and C terminal of the elevator door machine correction device respectively, so as to control the motor to run in the desired direction and speed. When the wiring is incorrect, the elevator door machine control system cannot control correctly. Therefore, it is necessary to judge whether the control direction of the first control pulse is consistent with the running direction of the elevator door. Specifically, if the control direction of the first control pulse is the opening direction, the running direction of the elevator door is also the opening direction, or, if the control direction of the first control pulse is the closing direction, the running direction of the elevator door is the closing direction, then the UVW phase sequence wiring of the motor is correct; if the control direction of the first control pulse is the opening direction, the running direction of the elevator door is the closing direction, or, if the control direction of the first control pulse is the closing direction, the running direction of the elevator door is the opening direction, then the UVW phase sequence wiring of the motor is incorrect.

[0052] For easy understanding, assume that the elevator door is in the closed position, the door machine sensor is turned on, and the first level signal is output. The elevator door machine control system outputs a rotational torque in the opening direction to the motor in an open-loop VF manner, that is, the first control pulse is a control pulse in the opening direction. Start the timer to time. After the motor obtains the first control pulse, it starts to rotate. At this time, there may be two situations. The motor runs in the opening direction, and within the timing range of the electronic control system, the elevator door is opened to a certain range, and the first level signal becomes the second level signal. At this time, the control direction of the first control pulse is consistent with the running direction of the elevator door, that is, the UVW phase sequence wiring is correct; the rotation direction of the motor is the closing direction. At this time, the elevator door is already in the closed position, and the door cannot be opened within the timing range of the electronic control system, that is, the door machine sensor always outputs the first level signal. At this time, the control direction of the first control pulse is inconsistent with the running direction of the elevator door, that is, the UVW phase sequence wiring is incorrect.

[0053] 104. If they are inconsistent, adjust the first control pulse to obtain the second control pulse.

[0054] If the control direction is inconsistent with the running direction, the elevator door machine control system exchanges any two sets of PWM waveform signals to obtain candidate control pulses; determines whether the control direction corresponding to the candidate control pulses is consistent with the running direction; if so, determines the candidate control pulses as the second control pulses; if not, continues the exchange.

[0055] The first control pulses include three groups of waveform signals, PWM1, PWM2, and PWM3, which are respectively input into the U, V, and W terminals of the motor through the A, B, and C terminals of the controller. There may be errors in the wiring between the A, B, and C terminals of the controller and the U, V, and W terminals of the motor. There are six possible wiring situations for the elevator door machine correction device and the motor. Only when the A terminal is connected to the U terminal, the B terminal is connected to the V terminal, and the C terminal is connected to the W terminal, the wiring phase sequence is correct, and the motor can accurately execute the control direction of the first control pulses. In the other five wiring situations: (1) The A terminal is connected to the V terminal, the B terminal is connected to the U terminal, and the C terminal is connected to the W terminal; (2) The A terminal is connected to the V terminal, the B terminal is connected to the W terminal, and the C terminal is connected to the U terminal; (3) The A terminal is connected to the U terminal, the B terminal is connected to the W terminal, and the C terminal is connected to the V terminal; (4) The A terminal is connected to the W terminal, the B terminal is connected to the U terminal, and the C terminal is connected to the V terminal; (5) The A terminal is connected to the W terminal, the B terminal is connected to the V terminal, and the C terminal is connected to the U terminal; In any of the above five wiring methods, the phase sequence will be incorrect, resulting in the inability to accurately control the operation of the elevator door machine. Therefore, when the control direction and the running direction are inconsistent, it is necessary to correct the motor direction.

[0056] For easy understanding, assume that the control direction corresponding to the first control pulses is the door opening direction. If the running direction of the elevator door is the door closing direction or the elevator door has been in the closed position without opening (both can be judged by the signal timing), it indicates that there may be an error in the wiring of the motor, and it is necessary to perform internal correction on the motor direction. Specifically, the elevator door machine control system adjusts any two sets of PWM waveform signals among PWM1, PWM2, and PWM3 to obtain candidate control pulses, and judges the control direction again until the running direction of the elevator door is the door opening direction, thereby completing the phase sequence correction of the elevator UVW, so that the phase sequence can be corrected without actually changing the wiring between the A, B, and C terminals of the controller and the U, V, and W terminals of the motor, reducing the risk of wiring debugging, improving the debugging efficiency, and eliminating the need to check the wiring ports of the motor one by one during the installation process of the elevator door machine, reducing the installation difficulty of the elevator door machine.

[0057] 105. Obtain the feedback pulses of the encoder based on the second control pulses, and adjust the encoder based on the feedback pulses.

[0058] The elevator door machine control system collects the feedback pulses of the encoder based on the second control pulse. The feedback pulses of the encoder generally consist of orthogonal phase A pulses and phase B pulses. When the wiring at both ends of the A and B of the encoder is correct, that is, when the wiring of the two phases A and B is correct, if the second control pulse is rotating forward, the pulse signal sequence corresponding to the feedback signal shows an increasing trend; if the second control pulse is rotating backward, the pulse signal sequence corresponding to the feedback signal shows a decreasing trend. When the actual increasing or decreasing trend of the pulse signal sequence is inconsistent with the target increasing or decreasing trend determined by the second control pulse, it is determined that the wiring of the two phases A and B is incorrect, and the encoder is adjusted based on the feedback pulse. The adjustment method of the encoder can be to perform reverse counting by adjusting the counting direction of the encoder, so that the actual increasing or decreasing trend of the feedback signal is consistent with the target increasing or decreasing trend; it can also perform reverse modulation on the feedback signal, that is, after reversing the modulation of the two-phase pulses A and B, the corresponding reverse pulses are obtained, and the increase or decrease of the pulse signal sequence is judged according to the reverse pulses. It can also directly swap the phase A and phase B in the working parameters of the encoder of the motor door machine control system, adjust the pulse signal of phase A displayed in the system to phase B, and adjust the pulse signal of phase B displayed to phase A, so that without actually changing the wiring positions of the two phases A and B, the correction of the encoder is realized inside the system, which can simplify the debugging procedure, and during the installation process of the elevator door machine, it is also not necessary to check the wiring positions of the two phases A and B of the encoder, reducing the installation difficulty of the elevator door machine.

[0059] In the embodiment of the present invention, by judging the signal timing of the door machine sensor, it is determined whether the control direction and the running direction of the elevator door are consistent, automatically judge whether the three-phase wiring of the motor and the elevator door is correct, and perform active correction by adjusting the first control pulse, avoiding the need to manually reconnect the motor wiring. By the corrected control pulse, it is automatically judged whether the wiring of the encoder is correct and the encoder direction is corrected, avoiding the need to manually reconnect the encoder wiring, simplifying the debugging process of the elevator door machine, reducing the safety risk during the debugging process of the elevator door machine, improving the debugging efficiency of the elevator door machine, and reducing the installation difficulty and debugging difficulty of the elevator door machine.

[0060] Please refer to Figure 2 , another embodiment of the elevator door machine correction method in the embodiment of the present invention includes:

[0061] 201. During the operation of the motor, collect the signal timing output by the door machine sensor and the first control pulse of the motor, and determine the control direction of the elevator door controlled by the first control pulse.

[0062] Step 201 is similar to step 101 and can be executed with reference to step 101, which will not be elaborated here.

[0063] 202. Determine the running direction of the elevator door based on the signal timing.

[0064] The elevator door machine system determines the level signal when the door machine sensor is triggered as the first level signal, and the first level signal indicates that the elevator door is in the closed position; if the signal timing changes from the first level signal to the second level signal, the running direction of the elevator door is the opening direction; if the signal timing changes from the second level signal to the first level signal, the running direction of the elevator door is the closing direction.

[0065] Among them, the level signal refers to the level state of the electrical signal within a certain period of time, usually represented by high level and low level. When the door machine sensor is triggered, that is, when the elevator door is in the closed position, the door machine sensor is turned on, and the output level signal is generally high level, and generally low level when not triggered. By judging the change of the level signal according to the signal timing, the running direction of the elevator door can be determined.

[0066] 203. Compare whether the control direction is consistent with the running direction.

[0067] Step 203 is similar to step 103 and can be executed with reference to step 103, which will not be elaborated here.

[0068] 204. If they are inconsistent, adjust the first control pulse to obtain the second control pulse.

[0069] If they are inconsistent, the elevator door machine control system retrieves the preset pulse modulation table, which is used to query three sets of target adjustment schemes for PWM waveform signals to reverse the rotation direction of the motor; adjust the first control pulse according to the preset pulse modulation table to obtain the second control pulse.

[0070] In this embodiment, the pulse modulation table is used for the modulation of the first control pulse, and the rotation direction of the motor corresponding to the modulated second control pulse is opposite to that corresponding to the first control pulse. The pulse modulation table can be obtained through experiments. For example, set the first pulse, record the three sets of PWM waveform signals of the first pulse, and the corresponding motor rotation direction; adjust the phases of the three sets of PWM waveform signals and record the corresponding target adjustment scheme for each set of waveform signals. The target adjustment scheme is the way to reverse the rotation direction of the motor after adjustment. Generate a pulse modulation table according to the target adjustment scheme corresponding to each set of PWM waveform signals for quick adjustment of pulse signals.

[0071] In a feasible implementation method, adjusting the phases of the three sets of PWM waveform signals and recording the corresponding target adjustment scheme for each set of waveform signals includes selecting at least one set of PWM waveform signals to be adjusted, adjusting the output phase of the at least one set of PWM waveform signals to obtain the adjusted candidate control pulse, the candidate control pulse includes at least one set of adjusted PWM waveform signals, calculate the phase difference of the candidate control pulse to obtain the rotation direction of the adjusted motor, and determine the adjustment method that reverses the rotation direction of the adjusted motor as the target adjustment scheme.

[0072] There are many ways to adjust the phase. Common ones include: adjusting the phase by changing the frequency or phase of the signal generator; adjusting the phase by changing components such as capacitors or inductors in the circuit; adjusting the phase by programming to control the duty cycle of the PWM waveform output by the microcontroller, etc. Different methods can be combined and the most suitable method can be selected according to the specific situation to achieve phase adjustment. A computer program can be used to record and process pulse signals and the target adjustment scheme to realize the generation of an automated pulse modulation table. At the same time, the pulse modulation table under different working conditions can be obtained through experiments to improve the adaptability and stability of the system.

[0073] In this embodiment, the phase difference of the three-phase AC permanent magnet synchronous motor can be changed by adjusting the duty cycle of each group of PWM waveform signals, thereby changing the corresponding current waveform or voltage waveform, and further realizing the adjustment of the motor rotation direction. Specifically:

[0074] Record the current rotation direction of the motor, and take the corresponding three groups of PWM waveform signals as the first waveform signal group, and determine the duty cycles of the three groups of PWM waveform signals respectively as the first duty cycle group; select one group of PWM waveform signals as a reference, such as PWM1, and calculate the phase differences of the other two groups of PWM waveform signals PWM2 and PWM3 relative to the reference waveform PWM1 according to the actual phase relationship of the three-phase current. If PWM2 lags 120 degrees in phase relative to PWM1, then PWM3 needs to lead 120 degrees in phase relative to PWM1. Adjust the duty cycles of PWM2 and PWM3 so that their phase differences reach the calculated values respectively; verify whether the rotation direction of the motor has changed. If it is still rotating forward, further adjust the duty cycles of PWM2 and PWM3 until the motor rotates in the reverse direction. Record the second duty cycle group and the corresponding second waveform data group to obtain a target adjustment scheme. Repeat the above process to obtain multiple target adjustment schemes and form a pulse modulation table.

[0075] By querying the three groups of PWM waveform signals and the corresponding duty cycles of the current first control pulse, the target adjustment scheme for making the motor rotate in the opposite direction can be obtained, that is, the duty cycle adjustment scheme corresponding to each group of PWM waveform signals, thus saving the time for cyclic adjustment by cyclically exchanging PWM waveform signals. It can be understood that the first waveform signal group and the first duty cycle group are mutually target adjustment schemes with the second waveform signal group and the second duty cycle group. That is, by querying the pulse modulation table with the first waveform signal group and the first duty cycle group, the obtained target adjustment scheme is the second duty cycle group, and by querying the pulse modulation table with the second waveform signal group and the second duty cycle group, the obtained target adjustment scheme is the first duty cycle group.

[0076] For ease of understanding, assume that the duty cycles of the current three groups of PWM waveform signals are as follows: PWM1: 50%; PWM2: 75%; PWM3: 25%. At this time, the rotation direction of the motor is set to the first rotation direction (which can be forward or reverse). First, select the PWM signal with a 50% duty cycle of PWM1 as the reference waveform. According to the calculation, PWM2 should lag PWM1 in phase by 120 degrees, and PWM3 should lead PWM1 in phase by 120 degrees. Adjust the duty cycle of PWM2 to 25% and the duty cycle of PWM3 to 75%, and then verify whether the motor rotates in the opposite direction (i.e., the second rotation direction). If it is still the first rotation direction, the duty cycles of PWM2 and PWM3 can be further fine-tuned until the motor achieves the second rotation direction. Record the second duty cycle group at this time, such as PWM1: 50%; PWM2: 24%; PWM3: 76%. Then, determine this adjustment scheme as a target adjustment scheme and save it to the pulse modulation table. By calling the pulse modulation table, the target adjustment scheme that enables the motor to rotate in the opposite direction can be determined for the current three groups of PWM waveform signals and the corresponding duty cycles.

[0077] 205. Collect the feedback pulses of the encoder based on the second control pulse.

[0078] The elevator door machine control system continues to output the second control pulse to the motor, and the motor continues to rotate according to the second control pulse. The rotation of the motor will cause the encoder to generate feedback pulses, and the encoder sends the feedback pulses to the elevator door machine correction device for processing, which is used to determine whether the A and B phase wirings of the encoder are correct.

[0079] 206. Perform data conversion and identification on the feedback pulses to obtain the actual increase and decrease trend of the feedback pulse sequence.

[0080] The elevator door machine control system converts the encoder feedback pulses from analog to digital to obtain digital signals, resulting in corresponding feedback pulse sequences. Analyze the converted digital signals to obtain the actual increase and decrease trend of the pulse sequence. Generally, a microprocessor is used for data analysis and processing of the obtained pulse sequence.

[0081] When the motor rotates forward, that is, the control direction of the second control pulse is the door opening direction, if the data of the pulse sequence increases, the A and B phase wirings of the encoder are correct. When the motor rotates backward, that is, the control direction of the second control pulse is the door closing direction, if the data of the pulse sequence decreases, the A and B phase wirings of the encoder are correct. Otherwise, the A and B phase wirings of the encoder are incorrect.

[0082] 207. Set the counting direction of the encoder based on the second control pulse and the actual increase and decrease trend of the pulse signal sequence.

[0083] The elevator door machine control system determines the target increasing or decreasing trend of the feedback pulse based on the second control pulse; when the target increasing or decreasing trend is inconsistent with the actual increasing or decreasing trend, the counting direction of the encoder is adjusted. Among them, the counting direction defines the counting method of the encoder during rotation, and there are usually two counting methods: clockwise counting and counterclockwise counting. In the clockwise counting mode, when the encoder rotates clockwise, the counter increases, and the corresponding A-phase pulse changes earlier than the B-phase pulse; when the encoder rotates counterclockwise, the counter decreases, and the corresponding B-phase pulse is encoded earlier than the A-phase pulse; in the counterclockwise counting mode, when the encoder rotates clockwise, the counter decreases, and the B-phase pulse changes earlier than the A-phase pulse. When the second control pulse controls the motor to rotate counterclockwise and the encoder is in the clockwise mode, the encoder rotates counterclockwise and the count value decreases.

[0084] The target increasing or decreasing trend is the trend of data increase or decrease corresponding to the feedback pulse under the control direction corresponding to the second control pulse, and the actual increasing or decreasing trend is the trend of the actual pulse sequence increase or decrease of the encoder feedback pulse under the second control pulse. When the A and B phases of the encoder are correctly wired, the target increasing or decreasing trend and the actual increasing or decreasing trend should be consistent.

[0085] For example, when the second control pulse is in the door-opening direction and the preset counting method of the encoder is clockwise counting, the elevator door machine control system determines that the target increasing or decreasing trend corresponding to the feedback pulse of the encoder is data increase. If the obtained actual increasing or decreasing trend is data decrease, it indicates that the A and B phases of the encoder are incorrectly wired. Then, set the counting direction of the encoder to counterclockwise counting, which can make the actual increasing or decreasing trend become data increase, thus completing the debugging of the encoder.

[0086] In the embodiment of the present invention, by judging the signal timing of the door machine sensor, it is determined whether the control direction and the running direction of the elevator door are consistent, automatically judge whether the three-phase wiring of the motor and the elevator door is correct, and actively correct it by adjusting the first control pulse. Determine the target adjustment scheme through the preset pulse modulation table, improve the efficiency of pulse weighting, avoid the need to manually reconnect the motor wiring, and automatically judge whether the encoder wiring is correct and the encoder direction correction through the corrected control pulse, avoiding the need to manually reconnect the encoder wiring, simplifying the debugging process of the elevator door machine, reducing the safety risk during the debugging process of the elevator door machine, improving the debugging efficiency of the elevator door machine, and reducing the installation difficulty and debugging difficulty of the elevator door machine.

[0087] The elevator door machine correction method in the embodiment of the present invention is described above. Next, the elevator door machine correction device in the embodiment of the present invention will be described. Please refer to Figure 3 , an embodiment of the elevator door machine correction device in the embodiment of the present invention includes:

[0088] The processing module 301 collects the signal timing output by the door machine sensor and the first control pulse of the motor during the operation of the motor, and determines the control direction of the elevator door controlled by the first control pulse;

[0089] The determination module 302 is used to determine the running direction of the elevator door based on the signal timing;

[0090] The comparison module 303 is used to compare whether the control direction is consistent with the running direction;

[0091] The first adjustment module 304 is used to adjust the first control pulse to obtain a second control pulse if they are inconsistent;

[0092] The second adjustment module 305 is used to obtain the feedback pulse of the encoder based on the second control pulse and adjust the encoder based on the feedback pulse.

[0093] In the embodiment of the present invention, it is judged whether the control direction and the running direction of the elevator door are consistent through the signal timing of the door machine sensor, automatically judge whether the three-phase wiring of the motor and the elevator door is correct, and actively correct by adjusting the first control pulse, avoiding the need to manually reconnect the motor wiring. Automatically judge whether the encoder wiring is correct and the encoder direction correction through the corrected control pulse, avoiding the need to manually reconnect the encoder wiring, simplifying the debugging process of the elevator door machine, reducing the safety risk in the debugging process of the elevator door machine, improving the debugging efficiency of the elevator door machine, and reducing the installation difficulty and debugging difficulty of the elevator door machine.

[0094] Please refer to Figure 4 , another embodiment of the monitoring device with a wire control function in the embodiment of the present invention includes:

[0095] The processing module 301 collects the signal timing output by the door machine sensor and the first control pulse of the motor during the operation of the motor, and determines the control direction of the elevator door controlled by the first control pulse;

[0096] The determination module 302 is used to determine the running direction of the elevator door based on the signal timing;

[0097] The comparison module 303 is used to compare whether the control direction is consistent with the running direction;

[0098] The first adjustment module 304 is used to adjust the first control pulse to obtain a second control pulse if they are inconsistent;

[0099] The second adjustment module 305 is used to obtain the feedback pulse of the encoder based on the second control pulse and adjust the encoder based on the feedback pulse.

[0100] Optionally, the processing module 301 is specifically configured to: during the operation of the motor, start a timer and collect the signal timing output by the door machine sensor and the first control pulse of the motor; parse the first control pulse to obtain three groups of PWM waveform signals; calculate the corresponding phase differences according to the three groups of PWM waveform signals, and determine the control direction of the elevator door controlled by the first control pulse.

[0101] Optionally, the determination module 302 is specifically configured to: determine the level signal when the door machine sensor is triggered as the first level signal, and the first level signal indicates that the elevator door is in the closed position; if the signal timing changes from the first level signal to the second level signal, the running direction of the elevator door is the opening direction; if the signal timing changes from the second level signal to the first level signal, the running direction of the elevator door is the closing direction.

[0102] Optionally, the first adjustment module 304 is specifically configured to: if they are inconsistent, exchange any two groups of PWM waveform signals to obtain a candidate control pulse; determine whether the control direction corresponding to the candidate control pulse is consistent with the running direction; if so, determine the candidate control pulse as the second control pulse; if not, continue the exchange.

[0103] Optionally, the first adjustment module 304 is further configured to: if they are inconsistent, retrieve a preset pulse modulation table, which is used to query the target adjustment scheme of the three groups of PWM waveform signals to reverse the rotation direction of the motor; adjust the first control pulse according to the preset pulse modulation table to obtain the second control pulse.

[0104] Optionally, the second adjustment module 305 includes:

[0105] An acquisition unit 3051, configured to acquire the feedback pulse of the encoder based on the second control pulse;

[0106] A processing unit 3052, configured to perform data conversion and identification on the feedback pulse to obtain the actual increase and decrease trend of the feedback pulse sequence;

[0107] An adjustment unit 3053, configured to set the counting direction of the encoder based on the second control pulse and the actual increase and decrease trend of the pulse signal sequence.

[0108] Optionally, the adjustment unit 3053 is configured to determine the target increase and decrease trend of the feedback pulse based on the second control pulse; when the target increase and decrease trend is inconsistent with the actual increase and decrease trend, adjust the counting direction of the encoder.

[0109] In the embodiment of the present invention, by judging whether the control direction and the running direction of the elevator door are consistent according to the signal timing of the door machine sensor, it is automatically judged whether the three-phase wiring of the motor and the elevator door is correct, and active correction is performed by adjusting the first control pulse, avoiding the need to manually reconnect the motor wiring. By the corrected control pulse, it is automatically judged whether the encoder wiring is correct and the encoder direction is corrected, avoiding the need to manually reconnect the encoder wiring, simplifying the debugging process of the elevator door machine, reducing the safety risk in the debugging process of the elevator door machine, improving the debugging efficiency of the elevator door machine, and reducing the installation difficulty and debugging difficulty of the elevator door machine.

[0110] Above Figure 3 and Figure 4 The elevator door machine correction device in the embodiment of the present invention is described in detail from the perspective of modular functional entities. Below, the elevator door machine correction system in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0111] An elevator door machine control system provided by an embodiment of the present invention is characterized in that the elevator door machine correction system executes the elevator door machine correction method as described above. The elevator door machine control system includes: an elevator door machine, a motor, an encoder, and an elevator door machine correction device;

[0112] The elevator door machine is mechanically connected to the motor, the elevator door machine is electrically connected to the elevator door machine correction device, the encoder is mechanically connected to the motor, the encoder is electrically connected to the elevator door machine correction device, and the motor is electrically connected to the elevator door machine correction device;

[0113] Among them, the elevator door machine includes a door machine sensor and an elevator door. The door machine sensor is arranged at the closing position of the elevator door and is used to send a closed-in-place signal to the elevator door machine correction device when the elevator door is in the closing position;

[0114] The motor is used to drive the opening and closing of the elevator door, and the motor can be a three-phase AC permanent magnet synchronous motor;

[0115] The encoder is used to send feedback pulses to the elevator door machine correction device, and the feedback pulses are used to judge the wiring position of the encoder;

[0116] The elevator door machine correction device is used to judge and correct the directions of the motor and the encoder.

[0117] Optionally, the elevator door machine calibration device may further include a frequency converter, which has a display module. When the feedback signal of the encoder shows an increase in data, it is displayed as OPEN, and when the data decreases, it is displayed as CLOSE, facilitating observation by the staff. The actual judgment and calibration functions are automatically performed by the elevator door machine calibration device. This embodiment reduces the installation difficulty of the elevator door ladder. The staff does not need to check one by one whether the wiring of the motor and the encoder is correct. The elevator door machine control system automatically performs judgment and calibration, reducing the debugging complexity of the elevator door machine, simplifying the debugging process, shortening the debugging time, and reducing the safety risk during manual wiring modification.

[0118] Figure 5 FIG. is a schematic structural diagram of an elevator door machine calibration device. The elevator door machine calibration device 500 may vary greatly due to different configurations or performances, and may include one or more processors (central processing units, CPU) 510 (for example, one or more processors) and a memory 520, and one or more storage media 530 (for example, one or more mass storage devices) for storing application programs 533 or data 532. Among them, the memory 520 and the storage media 530 may be transient storage or persistent storage. The program stored in the storage media 530 may include one or more modules (not shown in the figure), and each module may include a series of computer-readable instruction operations on the elevator door machine calibration device 500. Further, the processor 510 may be configured to communicate with the storage media 530 and execute a series of computer-readable instruction operations in the storage media 530 on the elevator door machine calibration device 500. When the computer-readable instructions are executed by the processor, the processor executes the steps of the elevator door machine calibration method in the above embodiments.

[0119] The elevator door machine calibration device 500 may further include one or more power supplies 540, one or more wired or wireless network interfaces 550, one or more input / output interfaces 560, and / or one or more operating systems 531, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art can understand that Figure 5 The shown structure of the elevator door machine calibration device does not limit the elevator door machine calibration device, and it may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0120] The present invention also provides a computer-readable storage medium. The computer-readable storage medium can be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions run on a computer, the computer is caused to execute the steps of the elevator door machine correction method.

[0121] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0122] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disc that can store program codes.

[0123] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An elevator door machine calibration method, which is applied to an elevator door machine control system, is characterized in that The elevator door machine control system at least includes a door machine sensor, a motor, and an encoder. The door machine sensor is arranged at the closing position of the elevator door. The elevator door machine correction method includes: During the operation of the motor, collect the signal timing output by the door machine sensor and the first control pulse of the motor, and determine the control direction of the elevator door controlled by the first control pulse; Determine the running direction of the elevator door based on the signal timing; Compare whether the control direction is consistent with the running direction; If they are inconsistent, adjust the first control pulse to obtain a second control pulse; Obtain the feedback pulse of the encoder based on the second control pulse, and adjust the encoder based on the feedback pulse; The step of collecting the signal timing output by the door machine sensor and the first control pulse of the motor during the operation of the motor, and determining the control direction of the elevator door controlled by the first control pulse includes: during the operation of the motor, start a timer and collect the signal timing output by the door machine sensor and the first control pulse of the motor; analyze the first control pulse to obtain three groups of PWM waveform signals; calculate the corresponding phase difference according to the three groups of PWM waveform signals, and determine the control direction of the elevator door controlled by the first control pulse; The step of determining the running direction of the elevator door based on the signal timing includes: determining the level signal when the door machine sensor is triggered as the first level signal, and the first level signal indicates that the elevator door is in the closing position; if the signal timing changes from the first level signal to the second level signal, the running direction of the elevator door is the opening direction; if the signal timing changes from the second level signal to the first level signal, the running direction of the elevator door is the closing direction.

2. The elevator door machine calibration method according to claim 1, wherein The step of if they are inconsistent, adjust the first control pulse to obtain a second control pulse includes: If they are inconsistent, exchange any two groups of PWM waveform signals to obtain a candidate control pulse; Judge whether the control direction corresponding to the candidate control pulse is consistent with the running direction; If so, determine the candidate control pulse as the second control pulse; If not, continue to exchange.

3. The elevator door machine calibration method according to claim 1, characterized in that The step of if they are inconsistent, adjust the first control pulse to obtain a second control pulse includes: If they are inconsistent, retrieve a preset pulse modulation table, and the pulse modulation table is used to query the target adjustment scheme of three groups of PWM waveform signals to reverse the rotation direction of the motor; Adjust the first control pulse according to the preset pulse modulation table to obtain a second control pulse.

4. The elevator door machine calibration method according to any one of claims 1-3, characterized in that The step of obtaining the feedback pulse of the encoder based on the second control pulse, and adjusting the encoder based on the feedback pulse includes: Collect the feedback pulse of the encoder based on the second control pulse; Perform data conversion and identification on the feedback pulse to obtain the actual increase and decrease trend of the feedback pulse sequence; Set the counting direction of the encoder based on the second control pulse and the actual increase and decrease trend of the feedback pulse sequence.

5. The elevator door machine calibration method according to claim 4, characterized in that The step of setting the counting direction of the encoder based on the second control pulse and the change trend of the feedback pulse sequence includes: Determine the target increasing or decreasing trend of the feedback pulse based on the second control pulse; When the target increasing or decreasing trend is inconsistent with the actual increasing or decreasing trend, adjust the counting direction of the encoder.

6. An elevator door machine calibration device applied to the method according to any one of claims 1-5, characterized in that, The elevator door machine correction device includes: A processing module, during the operation of the motor, collect the signal timing output by the door machine sensor and the first control pulse of the motor, and determine the control direction of the elevator door controlled by the first control pulse; A determination module, configured to determine the running direction of the elevator door based on the signal timing; A comparison module, configured to compare whether the control direction is consistent with the running direction; A first adjustment module, configured to adjust the first control pulse to obtain a second control pulse if they are inconsistent; A second adjustment module, configured to obtain the feedback pulse of the encoder based on the second control pulse, and adjust the encoder based on the feedback pulse.

7. An elevator door machine control system, characterized in that, The elevator door machine correction system executes the elevator door machine correction method according to any one of claims 1-5. The elevator door machine control system includes: an elevator door machine, a motor, an encoder, and an elevator door machine correction device; The elevator door machine is mechanically connected to the motor, the elevator door machine is electrically connected to the elevator door machine correction device, the encoder is mechanically connected to the motor, the encoder is electrically connected to the elevator door machine correction device, and the motor is electrically connected to the elevator door machine correction device; Wherein, the elevator door machine includes a door machine sensor and an elevator door. The door machine sensor is arranged at the closing position of the elevator door and is used to send a closed-in-place signal to the elevator door machine correction device when the elevator door is in the closing position; The motor is used to drive the opening and closing of the elevator door; The encoder is used to send a feedback pulse to the elevator door machine correction device, and the feedback pulse is used to judge the wiring position of the encoder; The elevator door machine correction device is used to judge and correct the directions of the motor and the encoder.

8. A computer-readable storage medium having instructions stored thereon, characterized in that, The instruction, when read and run, executes the elevator door machine correction method according to any one of claims 1-5.

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