Method, device, equipment and storage medium for handling encoder failure

Abstract

The embodiments of the present application provide a method, device, equipment and storage medium for handling encoder faults. The method includes: when an encoder fault signal is obtained, entering the encoder detection process; when the preset conditions for safe operation of the elevator are met, continuing the encoder detection process; when the preset conditions for safe operation of the elevator are not met, exiting the encoder detection process; detecting whether the star sealing function is normal, and when the star sealing function is normal, continuing the encoder detection process; when the star sealing function is abnormal, exiting the encoder detection process; opening the brake, detecting the first frequency and the second frequency, the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor, and the second frequency is the frequency of the encoder pulse signal; determining whether to reset the fault based on the first frequency and the second frequency. Adopting this solution to determine whether to reset the fault through processing is conducive to timely troubleshooting and handling of the fault, ensuring the safe operation of the elevator.

Description

Technical Field

[0001] The present application relates to the field of elevator technology, and in particular to a method, device, equipment and storage medium for processing encoder failure. Background Art

[0002] The encoder plays an important role in the elevator control system. Once the encoder fails, the elevator will not be able to operate normally. In actual applications, there is a phenomenon of false fault alarms. For example, abnormal operation of the brake will stop the elevator, which will lead to a false alarm of encoder failure.

[0003] Therefore, when receiving the signal of encoder failure, it is necessary to confirm whether the encoder is faulty. When the encoder is not faulty, the elevator is controlled to reset the fault and put back into operation. Summary of the Invention

[0004] The present application provides a method, apparatus, device and storage medium for processing an encoder fault, which can reset the fault when it is confirmed that the encoder is not faulty.

[0005] To achieve the above technical objectives, this application adopts the following technical solutions:

[0006] In a first aspect, the present application provides an encoder fault handling method, which is applied to an elevator control system, and the method includes:

[0007] When the encoder fault signal is obtained, the encoder detection process is entered;

[0008] When the preset conditions for safe operation of the elevator are met, the encoder detection process is continued; when the preset conditions for safe operation of the elevator are not met, the encoder detection process is exited;

[0009] Detect whether the star sealing function is normal, and if the star sealing function is normal, continue the encoder detection process; if the star sealing function is abnormal, exit the encoder detection process;

[0010] Open the brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor and the second frequency is the frequency of the encoder pulse signal;

[0011] Determining whether to reset the fault is based on the first frequency and the second frequency.

[0012] By adopting the technical solution provided by this embodiment, after receiving the encoder fault signal, the encoder detection process is entered to determine whether to reset the fault through detection, which is conducive to timely troubleshooting and handling of the fault and ensuring the safe operation of the elevator.

[0013] Optionally, before entering the encoder detection process, the method further includes:

[0014] Determine whether the elevator is parked in the leveling area;

[0015] When the elevator stops at the leveling area, the elevator door is controlled to open, and the elevator door is closed after a preset time;

[0016] When the elevator does not stop at the leveling area, the encoder detection process is triggered to directly enter.

[0017] Optionally, the step of detecting whether the star sealing function is normal includes:

[0018] When the elevator is equipped with a hardware star-sealing contactor, detecting whether the star-sealing function of the hardware star-sealing contactor is normal;

[0019] When the elevator is not equipped with a hardware star-sealing contactor, the star-sealing function is started to detect whether the electronic star-sealing function is normal.

[0020] Optionally, determining whether to reset the fault according to the first frequency and the second frequency includes:

[0021] When the first frequency and the second frequency are first preset values, a reset fault is determined.

[0022] Optionally, the determining whether to reset the fault according to the first frequency and the second frequency further includes:

[0023] When the first frequency is the first preset value and the second frequency is 0 Hz, the fault is not reset;

[0024] When the first frequency is 0 Hz or the fluctuation range exceeds a second preset value, and the second frequency is the first preset value, the fault is not reset.

[0025] Optionally, the determining whether to reset the fault according to the first frequency and the second frequency further includes:

[0026] When the values ​​of the first frequency and the second frequency are both close to 0 Hz and the differences from 0 Hz are both less than a third preset value and last for a preset time (eg, less than 2 seconds), the detection process is exited.

[0027] Optionally, the first frequency f1=(θ- θ bak ) / 2π / t; where

[0028] θ = artan(I β / I α ),

[0029] I α = Iu – 1 / 2(I v + I w ),

[0030] I β = sqrt(3) / 2(I v -I w );

[0031] The Iu, Iv, and Iw are the three-phase currents of the permanent magnet synchronous motor obtained by the current frequency detection module, t is the time interval between adjacent samples when sampling the three-phase current, and the θ bak is the θ value corresponding to the previous beat.

[0032] In a second aspect, the present application further provides an encoder fault handling device, comprising:

[0033] A first processing unit is configured to enter an encoder detection process when an encoder fault signal is obtained;

[0034] A second processing unit is configured to continue the encoder detection process when the preset conditions for safe operation of the elevator are met; and exit the encoder detection process when the preset conditions for safe operation of the elevator are not met;

[0035] The third processing unit is configured to detect whether the star sealing function is normal, and if so, to continue the encoder detection process; if not, to exit the encoder detection process;

[0036] a control unit, configured to open the holding brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor and the second frequency is the frequency of the encoder pulse signal;

[0037] A determining unit is configured to determine whether to reset a fault according to the first frequency and the second frequency.

[0038] In a third aspect, the present application also provides an electronic device comprising: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein when the processor executes the computer program, the technical solution provided in the first aspect or any possible implementation of the first aspect is implemented.

[0039] In a fourth aspect, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the technical solution provided in the above-mentioned first aspect or any possible implementation of the first aspect.

[0040] It can be understood that the technical solutions provided in the above-mentioned second to fourth aspects can respectively correspond to any solution provided in the first aspect and its possible implementation, and the beneficial effects that can be achieved are similar, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is a structural diagram of an elevator detection system provided by an embodiment of the present application;

[0042] Figure 2 This is a flowchart of a method for handling encoder failures provided by an embodiment of the present application;

[0043] Figure 3 1 is a schematic structural diagram of an encoder fault processing device provided in one embodiment of the present application;

[0044] Figure 4 It is a structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0045] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0046] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0047] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0048] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0049] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0050] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0051] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0052] With the widespread use of elevators, elevators have brought a lot of convenience to people's daily lives. Sometimes, false alarms of encoder failures may occur during elevator operation (for example, when the elevator brake is closed, the elevator speed will become zero, and the value of the detected encoder pulse signal will be zero, which will be considered an encoder failure). After receiving the encoder failure signal, the elevator will usually stop running. How to handle it so that the fault can be reset when a false alarm is confirmed (the elevator can continue to run after resetting) is the technical problem to be solved by this application.

[0053] See also Figure 1 , Figure 1 : This is a structural diagram of an elevator detection system provided by an embodiment of the present application; the elevator control system includes: a memory (not shown in the figure), a star-sealing contactor and a current frequency detection module, as well as an elevator control system, a permanent magnet synchronous motor, an encoder and an encoder frequency detection module electrically connected in sequence, wherein the star-sealing contactor is connected between the elevator control system and the permanent magnet synchronous motor, the two input ends of the star-sealing contactor are respectively connected to the u phase and the v phase of the three-phase input of the permanent magnet synchronous motor, and the output end of the star-sealing contactor is connected to the w phase of the three-phase input of the permanent magnet synchronous motor; the input ends of the current frequency detection module are respectively connected to the three-phase input ends of the permanent magnet synchronous motor, and the output end of the current frequency detection module is connected to the elevator control system; the memory is connected to the elevator control system, and a computer program that can be run on the elevator control system is stored in the memory. When the elevator control system executes the computer program, it is implemented as follows Figure 2 Detection method shown.

[0054] See also Figure 2 , Figure 2 2 is a flow chart of a detection method provided in an embodiment of the present application, including steps 201 to 205, wherein:

[0055] 201. When the encoder fault signal is obtained, the encoder detection process is entered.

[0056] In some possible implementations, before entering the encoder detection process, the following steps may also be included: determining whether the elevator is parked in the leveling area;

[0057] When the elevator stops at the leveling area, the elevator door is controlled to open and closed after a preset time, so that passengers can get out of the elevator and then conduct inspection when the elevator stops at the leveling area.

[0058] If the elevator is not in the leveling area, it will enter the encoder detection process.

[0059] In some possible implementations, when the elevator does not stop at the leveling area, it is triggered to directly enter the encoder detection process.

[0060] The leveling zone is the elevator's leveling position for each floor when the doors open. If a fault is reported immediately after the elevator starts, it may still be in the leveling zone, and the doors can be opened directly. If a fault is reported while the elevator is running and it stops between two floors, it is not in the leveling zone. The doors cannot be opened and the encoder detection process will be directly executed.

[0061] 202. When the preset conditions for safe operation of the elevator are met, continue the encoder detection process; when the preset conditions for safe operation of the elevator are not met, exit the encoder detection process.

[0062] The preset conditions for safe operation of the elevator may include: the elevator door lock is closed, the door lock circuit is closed, etc. The elevator safety circuit and the door lock circuit are closed. They are prerequisites for the safe operation of the elevator. If they are not met, the elevator cannot run, and of course it cannot enter the test process, otherwise safety accidents are likely to occur.

[0063] 203. Check whether the star sealing function is normal. If the star sealing function is normal, continue the encoder detection process; if the star sealing function is abnormal, exit the encoder detection process.

[0064] The star-sealing contactor is a safety protection measure for elevators. Through the short-circuit control of the star-sealing contactor, the elevator will slide slowly even in the event of brake failure, and will not cause a safety accident due to the elevator running away.

[0065] When the elevator is equipped with a hardware star-sealing contactor, check whether the star-sealing function of the hardware star-sealing contactor is normal.

[0066] If the elevator is not equipped with a hardware star-blocking contactor, the electronic star-blocking function is activated to test whether the electronic star-blocking function is normal. For example, the safe torque off (STO) module can be used to activate the electronic star-blocking function.

[0067] 204. Open the brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor (PMSM), and the second frequency is the frequency of the encoder pulse signal.

[0068] The first frequency can be Figure 1 The current frequency detection module (such as Hall sensor, etc.) in the current frequency detection module (such as Hall sensor, etc.) can obtain the second frequency through Figure 1 The encoder frequency detection module in is obtained.

[0069] 205. Determine whether to reset the fault according to the first frequency and the second frequency.

[0070] In some possible implementations, determining whether to reset the fault based on the first frequency and the second frequency may include: determining to reset the fault when fluctuations of the first frequency and the second frequency are less than a first preset value.

[0071] In some possible implementations, determining whether to reset the fault based on the first frequency and the second frequency may further include: not resetting the fault when the first frequency is a first preset value and the second frequency is 0 Hz;

[0072] In some possible implementations, when the first frequency is 0 Hz or the fluctuation range exceeds a second preset value, and the second frequency is the first preset value, the fault is not reset.

[0073] For example, during a period of time, signals are collected at a first frequency and a second frequency. When it is detected that the fluctuation of the first frequency and the second frequency is less than a certain value (for example, the fluctuation is less than 0.3 Hz), the frequency can be considered to be in a stable state.

[0074] In some possible implementations, determining whether to reset the fault based on the first frequency and the second frequency may also include: exiting the detection process when the values ​​of the first frequency and the second frequency are both close to 0 Hz and the difference from 0 Hz is less than a third preset value, and continues for a preset time.

[0075] It is understandable that each preset value can be set based on experience according to different elevators.

[0076] By adopting the technical solution provided by this embodiment, after receiving the encoder fault signal, the encoder detection process is entered to determine whether to reset the fault through detection, which is conducive to timely troubleshooting and handling of the fault and ensuring the safe operation of the elevator.

[0077] In some possible implementations, detecting the star-sealing contactor may include: controlling the star-sealing contactor to open, and controlling the running contactor to close; determining a first frequency using a current frequency detection module, where the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor; and determining a second frequency using an encoder frequency detection module, where the second frequency is the frequency of the encoder pulse signal.

[0078] In some possible implementations, the first frequency f1=(θ-θ bak ) / 2π / t; where

[0079] θ = artan(I β / I α ),

[0080] I α = Iu – 1 / 2(I v + I w ),

[0081] I β = sqrt(3) / 2(I v -I w );

[0082] Iu, Iv, and Iw are the three-phase currents of the permanent magnet synchronous motor obtained by the current frequency detection module. t is the time interval between adjacent samples when the current frequency detection module samples the three-phase current. bak is the θ value corresponding to the previous beat.

[0083] The encoder frequency detection module is used to measure the encoder pulse signal. Its measurement principle is to measure the encoder pulse generator (PG) frequency by counting the number of pulses per unit time using a quadrature encoder pulse (QEP) counter.

[0084] See also Figure 3 , Figure 3 3 is a schematic structural diagram of a detection device 300 provided in an embodiment of the present application. The detection device 300 includes a first processing unit 301 , a second processing unit 302 , a third processing unit 303 , a control unit 304 and a determination unit 305 .

[0085] The first processing unit 301 is configured to enter an encoder detection process when an encoder fault signal is obtained.

[0086] In some possible implementations, before entering the encoder detection process, the first processing unit 301 is further configured to: determine whether the elevator is in the leveling area; if the elevator is in the leveling area, control the elevator door to open, and then close the elevator door after a preset time period, so that passengers can exit the elevator and perform the detection when the elevator is in the leveling area. If the elevator is not in the leveling area, the encoder detection process is entered.

[0087] The leveling zone is the elevator's leveling position for each floor when the doors open. If a fault is reported immediately after the elevator starts, it may still be in the leveling zone, and the doors can be opened directly. If a fault is reported while the elevator is running and it stops between two floors, it is not in the leveling zone. The doors cannot be opened and the encoder detection process will be directly executed.

[0088] The second processing unit 302 is configured to continue the encoder detection process when the preset conditions for safe operation of the elevator are met; and exit the encoder detection process when the preset conditions for safe operation of the elevator are not met.

[0089] The preset conditions for safe operation of the elevator may include: the elevator door lock is closed, the door lock circuit is closed, etc. The elevator safety circuit and the door lock circuit are closed. They are prerequisites for the safe operation of the elevator. If they are not met, the elevator cannot run, and of course it cannot enter the test process, otherwise safety accidents are likely to occur.

[0090] The third processing unit 303 is used to detect whether the star sealing function is normal. If the star sealing function is normal, the encoder detection process continues; if the star sealing function is abnormal, the encoder detection process is exited.

[0091] The star-sealing contactor is a safety protection measure for elevators. Through the short-circuit control of the star-sealing contactor, the elevator will slide slowly even in the event of brake failure, and will not cause a safety accident due to the elevator running away.

[0092] When the elevator is equipped with a hardware star-sealing contactor, the third processing unit 303 detects whether the star-sealing function of the hardware star-sealing contactor is normal.

[0093] When the elevator is not equipped with a hardware star-blocking contactor, the third processing unit 303 activates the electronic star-blocking function to detect whether the electronic star-blocking function is normal. For example, the electronic star-blocking function can be activated by using a safe torque off (STO) module.

[0094] The control unit 304 is used to open the brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor and the second frequency is the frequency of the encoder pulse signal.

[0095] The first frequency can be Figure 1The current frequency detection module (such as Hall sensor, etc.) in the current frequency detection module (such as Hall sensor, etc.) can obtain the second frequency through Figure 1 The encoder frequency detection module in is obtained.

[0096] The determining unit 305 is configured to determine whether to reset the fault according to the first frequency and the second frequency.

[0097] In some possible implementations, in determining whether to reset the fault according to the first frequency and the second frequency, the determining unit 305 is specifically configured to determine to reset the fault when fluctuations of the first frequency and the second frequency are less than a first preset value.

[0098] In some possible implementations, in determining whether to reset the fault according to the first frequency and the second frequency, the determining unit 305 is further configured to, when the first frequency is a first preset value and the second frequency is 0 Hz, not reset the fault;

[0099] In some possible implementations, the determining unit 305 is further configured to: when the first frequency is 0 Hz or the fluctuation range exceeds a second preset value, and the second frequency is the first preset value, not reset the fault.

[0100] For example, within a period of time, the first frequency and the second frequency are used to collect signals. When it is detected that the fluctuation of the first frequency and the second frequency is less than a certain value (for example, the fluctuation is less than 0.3 Hz), the frequency can be considered to be in a stable state.

[0101] In some possible embodiments, in terms of determining whether to reset the fault based on the first frequency and the second frequency, the determination unit 305 is specifically further used to exit the detection process when the values ​​of the first frequency and the second frequency are both close to 0Hz and the difference from 0Hz is less than a third preset value, and continues for a preset time.

[0102] In some possible implementations, the first frequency f1=(θ-θ bak ) / 2π / t; where

[0103] θ = artan(I β / I α ),

[0104] I α = Iu – 1 / 2(I v + I w ),

[0105] I β = sqrt(3) / 2(I v -I w );

[0106] Iu, Iv, and Iw are the three-phase currents of the permanent magnet synchronous motor obtained by the current frequency detection module. t is the time interval between adjacent samples when the current frequency detection module samples the three-phase current. bak is the θ value corresponding to the previous beat.

[0107] It can be understood that the preset values ​​can be determined according to different elevators and based on experience.

[0108] By adopting the technical solution provided by this embodiment, after receiving the encoder fault signal, the encoder detection process is entered to determine whether to reset the fault through detection, which is conducive to timely troubleshooting and handling of the fault and ensuring the safe operation of the elevator.

[0109] See also Figure 4 , Figure 4 This is a structural diagram of an electronic device 400 provided in one embodiment of the present application. The electronic device 400 includes: at least one processor 401, a memory 402, and a computer program stored in the memory and executable on the at least one processor. When the processor 401 executes the computer program, the steps in any of the above method embodiments are implemented.

[0110] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments can be implemented.

[0111] An embodiment of the present application provides a computer program product. When the computer program product is run on a mobile terminal, the mobile terminal can implement the steps of any of the above method embodiments when executing the computer program product.

[0112] 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 this understanding, the present application implements all or part of the process in the above-mentioned embodiment method by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of each of the above-mentioned method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk or an optical disk. In some jurisdictions, according to legislation and patent practice, computer-readable media cannot be electric carrier signals and telecommunication signals.

[0113] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0114] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0116] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A method for handling encoder failure, characterized in that: Applied to an elevator control system, the method includes: When the encoder fault signal is obtained, the encoder detection process is entered; When the preset conditions for safe operation of the elevator are met, the encoder detection process is continued; when the preset conditions for safe operation of the elevator are not met, the encoder detection process is exited; Detect whether the star sealing function is normal, and if the star sealing function is normal, continue the encoder detection process; if the star sealing function is abnormal, exit the encoder detection process; Open the brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor and the second frequency is the frequency of the encoder pulse signal; Determining whether to reset the fault is based on the first frequency and the second frequency.

2. The method according to claim 1, characterized in that Before entering the encoder detection process, the method further includes: Determine whether the elevator is parked in the leveling area; When the elevator stops at the leveling area, the elevator door is controlled to open, and the elevator door is closed after a preset time; When the elevator does not stop at the leveling area, the encoder detection process is triggered to directly enter.

3. The method according to claim 1, characterized in that The detection of whether the star sealing function is normal includes: When the elevator is equipped with a hardware star-sealing contactor, detecting whether the star-sealing function of the hardware star-sealing contactor is normal; When the elevator is not equipped with a hardware star-sealing contactor, the electronic star-sealing function is started to detect whether the electronic star-sealing function is normal.

4. The method according to any one of claims 1 to 3, characterized in that The determining whether to reset the fault according to the first frequency and the second frequency includes: When the first frequency and the second frequency are first preset values, a reset fault is determined.

5. The method according to claim 4, characterized in that The determining whether to reset the fault according to the first frequency and the second frequency further includes: When the first frequency is the first preset value and the second frequency is 0 Hz, the fault is not reset; When the first frequency is 0 Hz or the fluctuation range exceeds a second preset value, and the second frequency is the first preset value, the fault is not reset.

6. The method according to claim 5, characterized in that The determining whether to reset the fault according to the first frequency and the second frequency further includes: When the values ​​of the first frequency and the second frequency are both close to 0 Hz and the differences from 0 Hz are both less than a third preset value and continue for a preset time, the detection process is exited.

7. The method according to any one of claims 1 to 3, characterized in that The first frequency f1=(θ-θ bak ) / 2π / t; where θ = artan(I β / I α )、 I α = Iu – 1 / 2(I v + I w ), IN β = sqrt(3) / 2(I v -IN w ); The Iu, Iv, and Iw are the three-phase currents of the permanent magnet synchronous motor obtained by the current frequency detection module, t is the time interval between adjacent samples when sampling the three-phase current, and the θ bak is the θ value corresponding to the previous beat.

8. An encoder fault handling device, characterized in that: include: A first processing unit is configured to enter an encoder detection process when an encoder fault signal is obtained; A second processing unit is configured to continue the encoder detection process when a preset condition for safe operation of the elevator is met; When the preset conditions for safe operation of the elevator are not met, exiting the encoder detection process; A third processing unit is used to detect whether the star sealing function is normal, and if the star sealing function is normal, continue the encoder detection process; When the star sealing function is abnormal, exit the encoder detection process; a control unit, configured to open the holding brake and detect a first frequency and a second frequency, wherein the first frequency is the current frequency of the three-phase current of the permanent magnet synchronous motor and the second frequency is the frequency of the encoder pulse signal; A determining unit is configured to determine whether to reset a fault according to the first frequency and the second frequency.

9. An electronic device, characterized in that: include: At least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, wherein the processor implements the encoder fault processing method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for processing an encoder failure according to any one of claims 1 to 7 is implemented.

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