Data feature extraction method for mechanical fault pre-diagnosis of elevator door opening and closing system

Abstract

The application discloses a data feature extraction method for mechanical fault pre-diagnosis of an elevator door opening and closing system, which comprises the following steps: extracting the given speed-time time sequence, the feedback speed-time time sequence and the output torque-time time sequence of different stages of an opening door process and a closing door process from a permanent magnet synchronous door machine controller respectively; calculating the root mean square error of the opening door speed following; calculating the root mean square error of the closing door speed following; calculating the motor data features in the opening door acceleration section, the uniform speed section and the deceleration section respectively; calculating the motor data features in the closing door acceleration section, the uniform speed section and the deceleration section respectively; updating the running state of the mechanical structure of the opening and closing door system and the corresponding data features, and pre-diagnosing the mechanical fault of the elevator according to the change rule of the characteristic value. According to the application, each feature of the opening and closing door process is extracted, the position of each key characteristic value data is calculated, the collected feature information is richer and more comprehensive, and the pre-diagnosis of the elevator fault is facilitated.

Description

Technical Field

[0001] This invention relates to the field of elevator data extraction technology, specifically to a data feature extraction method for the pre-diagnosis of mechanical faults in elevator door opening and closing systems. Background Technology

[0002] With the widespread use of elevators in high-rise buildings, the safety and reliability of elevator operation have become increasingly important concerns. Among these issues, mechanical failures in the door opening and closing system, such as increased load on load-bearing components, aging and cracking of synchronous pulleys, wear and skipping of synchronous belt teeth, deformation or loosening of the door head horizontal guide rail, severe wear of door pulleys, accumulation of dirt or blockage of foreign objects on the sill, and deformation of door sliders, are common. These mechanical failures are usually gradual failures with certain regularities. By monitoring and analyzing the changes in the mechanical characteristics of the door opening and closing system, the occurrence of mechanical failures in the system can be predicted.

[0003] Currently, most elevator manufacturers, both domestically and internationally, have installed remote monitoring systems for elevator operation status. These systems primarily focus on remote monitoring and fault diagnosis of elevator operation status. Technical solutions for fault pre-diagnosis from the perspective of monitoring and analyzing component performance degradation are relatively rare, and methods for extracting key data features to characterize the mechanical structure operation status of elevator door opening and closing systems have received little attention and research. For example, the article "Selection of Key Data Types for Operation Status in Elevator Door System Fault Monitoring," published in the 9th issue of *China Elevator* in 2023, outlines the data characteristics of the door opening and closing system's operation status, but the data feature extraction is incomplete and fails to fully characterize the key data features of the elevator door opening and closing system's mechanical structure operation status. Furthermore, common data feature extraction methods for elevator door opening and closing systems involve directly extracting the maximum values ​​from external sensors or extracting maximum and minimum values ​​from the door operator controller, without considering the data change characteristics at different stages of the door opening and closing process.

[0004] Therefore, to ensure the safety and reliability of elevator operation, it is necessary to conduct pre-diagnosis of mechanical faults in the elevator door opening and closing system. Among these, researching key data feature extraction methods to characterize the operating state of the elevator door opening and closing system's mechanical structure is a prerequisite for fault pre-diagnosis. Summary of the Invention

[0005] To overcome the defects and shortcomings of existing technologies, this invention provides a data feature extraction method for the pre-diagnosis of mechanical faults in elevator door opening and closing systems. Without adding extra sensors and increasing costs, this invention extracts key data features of the mechanical structure operating status of the door opening and closing system by monitoring and analyzing data in the permanent magnet synchronous door operator controller, thus solving the problem of difficulty in extracting key data features of the mechanical structure operating status of the door opening and closing system.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] This invention provides a data feature extraction method for the pre-diagnosis of mechanical faults in elevator door opening and closing systems, comprising the following steps:

[0008] Extract the given speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller;

[0009] Extract the feedback speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller;

[0010] The output torque-time sequence of different stages of the opening and closing process is extracted from the permanent magnet synchronous gantry controller.

[0011] The root mean square error of the door opening speed is calculated based on the given speed-time sequence and the feedback speed-time sequence of the door opening process.

[0012] The root mean square error of the closing speed is calculated based on the given speed-time sequence and the feedback speed-time sequence of the closing process.

[0013] Calculate based on the given speed-time sequence of the door opening process and the output torque-time sequence of different stages of the door opening process:

[0014] The maximum output torque and corresponding position of the motor in the door opening acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is in position and held in position, and the root mean square of the motor output torque when the door is in position and held in position.

[0015] Calculate based on the given speed-time sequence of the closing process and the output torque-time sequence of different stages of the closing process:

[0016] The maximum output torque and corresponding position of the motor in the door closing acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is closed and held in place, and the root mean square of the motor output torque when the door is closed and held in place.

[0017] Update the mechanical structure operating status and corresponding data characteristics of the door opening and closing system, and detect whether the magnitude and corresponding position of the characteristic values ​​have changed, so as to pre-diagnose the mechanical faults of the elevator based on the change pattern of the characteristic values.

[0018] As a preferred technical solution, the output torque-time sequence of different stages of the opening and closing process is extracted from the permanent magnet synchronous gantry controller, specifically including:

[0019] The output torque-time sequence of the door opening acceleration stage, constant speed stage, deceleration stage, and door opening position holding stage are extracted from the permanent magnet synchronous door operator controller.

[0020] The output torque-time sequence of the door closing acceleration stage, constant speed stage, deceleration stage, and door closing position holding stage are extracted from the permanent magnet synchronous gantry controller.

[0021] As a preferred technical solution, the root mean square error of the door opening speed tracking is calculated based on the given speed-time sequence and the feedback speed-time sequence of the door opening process, specifically expressed as follows:

[0022] RMSE VO =sqrt[sum(V OF -V OG ) 2 / m]

[0023] Among them, V OF V represents the feedback speed-time sequence of the door opening process. OG This represents the given speed-time sequence of the door opening process.

[0024] As a preferred technical solution, the root mean square error of the closing speed tracking is calculated based on the given speed-time sequence and the feedback speed-time sequence of the closing process, specifically expressed as follows:

[0025] RMSE VC =sqrt[sum(V CF -V CG ) 2 / n]

[0026] Among them, V CF V represents the feedback speed-time sequence of the door closing process. CG This represents the given speed-time sequence of the door closing process.

[0027] As a preferred technical solution, the maximum output torque of the motor in the door opening acceleration section is MAX. TOA The corresponding position is represented as: L TOAmax =ΔT·(V OFA1 +V OFA2 +…+V OFAx );

[0028] Minimum output torque of the motor during the door opening acceleration phase (MIN) TOA The corresponding position is represented as: L TOAmin =ΔT·(V OFA1 +V OFA2 +…+V OFAy );

[0029] Maximum output torque of motor during door opening constant speed segment TOBThe corresponding position is represented as: L TOBmax =ΔT·(V OFB1 +V OFB2 +…+V OFBx );

[0030] Minimum output torque of motor during door opening constant speed segment (MIN) TOB The corresponding position is represented as: L TOBmin =ΔT·(V OFB1 +V OFB2 +…+V OFBy );

[0031] MAX of maximum output torque of the door opening deceleration section motor TOC The corresponding position is represented as: L TOCmax =ΔT·(V OFC1 +V OFC2 +…+V OFCx );

[0032] Minimum output torque of the door opening deceleration section motor (MIN) TOC The corresponding position is represented as: L TOCmin =ΔT·(V OFC1 +V OFC2 +…+V OFCy );

[0033] Maximum output torque of the motor during the door closing acceleration phase TCA The corresponding position is represented as: L TCAmax =ΔT·(V CFA1 +V CFA2 +…+V CFAx );

[0034] Minimum output torque of the motor during the door closing acceleration phase (MIN) TCA The corresponding position is represented as: L TCAmin =ΔT·(V CFA1 +V CFA2 +…+V CFAy );

[0035] Maximum output torque of motor during door closing at constant speed. TCB The corresponding position is represented as: L TCBmax =ΔT·(V CFB1 +V CFB2 +…+V CFBx );

[0036] Minimum output torque of motor during door closing constant speed segment (MIN) TCB The corresponding position is represented as: L TCBmin =ΔT·(V CFB1 +V CFB2 +…+V CFBy );

[0037] Maximum output torque of the motor in the door closing deceleration section TCC The corresponding position is represented as: L TCCmax =ΔT·(V CFC1 +V CFC2 +…+V CFCx );

[0038] Minimum output torque of the motor in the door closing deceleration section (MIN) TCC The corresponding position is represented as: L TCCmin =ΔT·(V CFC1 +V CFC2 +…+V CFCy ).

[0039] As a preferred technical solution, it includes: a given speed-time timing extraction module, a feedback speed-time timing extraction module, an output torque-time timing extraction module, a root mean square error calculation module for door opening speed tracking, a root mean square error calculation module for door closing speed tracking, a motor data feature calculation module for door opening process, a motor data feature calculation module for door closing process, and a data feature update module.

[0040] The given speed-time timing extraction module is used to extract the given speed-time timing of the opening and closing processes from the permanent magnet synchronous gantry controller, respectively.

[0041] The feedback speed-time sequence extraction module is used to extract the feedback speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller, respectively.

[0042] The output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller.

[0043] The root mean square error calculation module for door opening speed tracking is used to calculate the root mean square error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process.

[0044] The root mean square error calculation module for door closing speed tracking is used to calculate the root mean square error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process.

[0045] The motor data feature calculation module for the door opening process is used to calculate the following based on the given speed-time sequence and the output torque-time sequence at different stages of the door opening process:

[0046] The maximum output torque and corresponding position of the motor in the door opening acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is in position and held in position, and the root mean square of the motor output torque when the door is in position and held in position.

[0047] The motor data feature calculation module for the door closing process is used to calculate the following based on the given speed-time sequence of the door closing process and the output torque-time sequence at different stages of the door closing process:

[0048] The maximum output torque and corresponding position of the motor in the door closing acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is closed and held in place, and the root mean square of the motor output torque when the door is closed and held in place.

[0049] The data feature update module is used to update the operating status of the mechanical structure of the door opening and closing system and the corresponding data features, detect whether the magnitude of the feature value and the corresponding position have changed, and use it to pre-diagnose the mechanical faults of the elevator based on the change pattern of the feature value.

[0050] As a preferred technical solution, the output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller, specifically including:

[0051] The output torque-time sequence of the door opening acceleration stage, constant speed stage, deceleration stage, and door opening position holding stage are extracted from the permanent magnet synchronous door operator controller.

[0052] The output torque-time sequence of the door closing acceleration stage, constant speed stage, deceleration stage, and door closing position holding stage are extracted from the permanent magnet synchronous gantry controller.

[0053] As a preferred technical solution, the root mean square error calculation module for door opening speed tracking is used to calculate the root mean square error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process, specifically expressed as follows:

[0054] RMSE VO =sqrt[sum(V OF -V OG ) 2 / m]

[0055] Among them, V OF V represents the feedback speed-time sequence of the door opening process. OG This represents the given speed-time sequence of the door opening process.

[0056] As a preferred technical solution, the root mean square error calculation module for door closing speed tracking is used to calculate the root mean square error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process, specifically expressed as follows:

[0057] RMSE VC =sqrt[sum(V CF -V CG ) 2 / n]

[0058] Among them, V CF V represents the feedback speed-time sequence of the door closing process. CG This represents the given speed-time sequence of the door closing process.

[0059] As a preferred technical solution, the maximum output torque of the motor in the door opening acceleration section is MAX. TOA The corresponding position is represented as: L TOAmax =ΔT·(V OFA1 +V OFA2 +…+V OFAx );

[0060] Minimum output torque of the motor during the door opening acceleration phase (MIN) TOA The corresponding position is represented as: L TOAmin =ΔT·(V OFA1 +V OFA2 +…+V OFAy );

[0061] Maximum output torque of motor during door opening constant speed segment TOB The corresponding position is represented as: L TOBmax =ΔT·(V OFB1 +V OFB2 +…+V OFBx );

[0062] Minimum output torque of motor during door opening constant speed segment (MIN) TOB The corresponding position is represented as: L TOBmin =ΔT·(V OFB1 +V OFB2 +…+V OFBy );

[0063] MAX of maximum output torque of the door opening deceleration section motor TOC The corresponding position is represented as: L TOCmax =ΔT·(V OFC1 +V OFC2 +…+V OFCx );

[0064] Minimum output torque of the door opening deceleration section motor (MIN) TOC The corresponding position is represented as: LTOCmin =ΔT·(V OFC1 +V OFC2 +…+V OFCy );

[0065] Maximum output torque of the motor during the door closing acceleration phase TCA The corresponding position is represented as: L TCAmax =ΔT·(V CFA1 +V CFA2 +…+V CFAx );

[0066] Minimum output torque of the motor during the door closing acceleration phase (MIN) TCA The corresponding position is represented as: L TCAmin =ΔT·(V CFA1 +V CFA2 +…+V CFAy );

[0067] Maximum output torque of motor during door closing at constant speed. TCB The corresponding position is represented as: L TCBmax =ΔT·(V CFB1 +V CFB2 +…+V CFBx );

[0068] Minimum output torque of motor during door closing constant speed segment (MIN) TCB The corresponding position is represented as: L TCBmin =ΔT·(V CFB1 +V CFB2 +…+V CFBy );

[0069] Maximum output torque of the motor in the door closing deceleration section TCC The corresponding position is represented as: L TCCmax =ΔT·(V CFC1 +V CFC2 +…+V CFCx );

[0070] Minimum output torque of the motor in the door closing deceleration section (MIN) TCC The corresponding position is represented as: L TCCmin =ΔT·(V CFC1 +V CFC2 +…+V CFCy ).

[0071] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0072] (1) Existing data feature extraction methods directly extract the maximum value of the collected data from external sensors or extract the maximum and minimum values ​​from the door controller, but do not consider the data change characteristics at different stages of the door opening and closing process. This invention extracts each feature of the door opening and closing process and calculates and extracts the position of each key feature value data (maximum and minimum values), resulting in richer and more comprehensive feature information.

[0073] (2) The present invention extracts statistical features from the data of each stage in the door opening and closing process and calculates the position corresponding to each feature value. The extracted feature information is richer and more comprehensive, which is conducive to the pre-diagnosis of elevator faults. It can also effectively reduce the amount of data monitored by the original door machine. For example, the original monitoring of the elevator door opening and closing system operation status required 300-400 data points from the door machine controller, while the present application only requires more than 20 data points after feature extraction, which reduces the pressure of data transmission and greatly reduces the amount of data transmitted and stored.

[0074] (3) This invention does not require the addition of additional sensors to collect data, making it simpler and faster, and improving the utilization efficiency of the original monitoring data. Attached Figure Description

[0075] Figure 1 This is a flowchart illustrating the data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to the present invention.

[0076] Figure 2 This is a schematic diagram of the given speed-time timing curve and the feedback speed-time timing curve during the opening and closing process of the permanent magnet synchronous door operator of the present invention.

[0077] Figure 3 This is a schematic diagram of the output torque-time timing curve during the opening and closing process of the permanent magnet synchronous door operator of the present invention. Detailed Implementation

[0078] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0079] Example 1

[0080] like Figure 1 As shown, this embodiment provides a data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems, including the following steps:

[0081] S1: As Figure 2As shown, during the opening and closing process of the permanent magnet synchronous door operator, the given speed-time timing curve and the feedback speed-time timing curve are read from the permanent magnet synchronous door operator controller. The timing interval in the figure is ΔT.

[0082] Extract the door opening speed-time sequence V from the permanent magnet synchronous gantry controller. OG =[V OG1 V OG2 ,…,V OGm-1 V OGm ], closing speed-time timing V CG =[V CG1 V CG2 ,…,V CGn-1 V CGn ];

[0083] S2: The door operator's rotary encoder acquires real-time feedback speed signals and transmits them to the permanent magnet synchronous door operator controller. Based on the real-time feedback speed signals, the door opening feedback speed-time sequence V is extracted. OF =[V OF1 V OF2 ,…,V OFm-1 V OFm Door closing feedback speed - time sequence V CF =[V CF1 V CF2 ,…,V CFn-1 V CFn ];

[0084] In this embodiment, different stages of the feedback speed-time curve and the output torque-time curve correspond to different stages of the given speed-time, and the corresponding feedback speed-time and output torque-time sequences can be extracted according to the time series of different stages of the given speed-time curve.

[0085] S3: As Figure 3 As shown, based on the given speed-time sequence of the door opening and closing process, the output torque-time sequence T during the door opening acceleration phase is extracted from the permanent magnet synchronous door operator controller. OA =[T OA1 ,T OA2 ,…,T OAi-1 ,T OAi ] and the corresponding door opening acceleration phase feedback speed-time sequence V OFA =[V OFA1 V OFA2 ,…,V OFAi-1 V OFAi ];

[0086] Output torque during the door opening constant speed phase - time sequence T OB =[T OB1 ,TOB2 ,…,T OBr-1 ,T OBr (In this embodiment, the permanent magnet synchronous door operator has a shorter door opening speed uniform phase.) Figure 2 (Not marked in the text) and the corresponding door opening uniform speed stage feedback speed-time sequence V OFB =[V OFB1 V OFB2 ,…,V OFBr-1 V OFBr ];

[0087] Output torque during door opening deceleration phase - time sequence T OC =[T OC1 ,T OC2 ,…,T OCp-1 ,T OCp ] and the corresponding door opening deceleration phase feedback speed-time sequence V OFC =[V OFC1 V OFC2 ,…,V OFCp-1 V OFCp ];

[0088] Output torque during the door opening and holding phase - time sequence T OD =[T OD1 ,T OD2 ,…,T ODu-1 ,T ODu ];

[0089] Extract the output torque-time sequence T during the closing acceleration phase from the permanent magnet synchronous gantry controller. CA =[T CA1 ,T CA2 ,…,T CAj-1 ,T CAj ] and the corresponding door closing acceleration phase feedback speed-time sequence V CFA =[V CFA1 V CFA2 ,…,V CFAj-1 V CFAj ];

[0090] Output torque during the door closing constant speed phase - time sequence T CB =[T CB1 ,T CB2 ,…,T CBs-1 ,T CBs [and the corresponding door-closing constant speed stage feedback speed-time sequence V] CFB =[V CFB1 V CFB2 ,…,V CFBs-1 V CFBs ];

[0091] Output torque during door closing deceleration phase - time sequence T CC =[T CC1 ,T CC2 ,…,T CCq-1 ,T CCq ] and the corresponding door closing deceleration phase feedback speed-time sequence V CFC =[V CFC1 V CFC2 ,…,V CFCq-1 V CFCq ];

[0092] Output torque during the door closing and holding phase - time sequence T CD =[T CD1 ,T CD2 ,…,T CDw-1 ,T CDw ];

[0093] S4: Given the speed-time sequence V based on the door opening process extracted in steps S1 and S2. OG And feedback speed - time sequence V OF Calculate key data features:

[0094] Root mean square error (RMSE) of door opening speed tracking VO =sqrt[sum(V OF -V OG ) 2 / m],

[0095] That is, RMSE VO =sqrt{[(V OF1 -V OG1 ) 2 +(V OF2 -V OG2 ) 2 +…+(V OFm-1 -V OGm-1 ) 2 +(V OFm -V OGm ) 2 ] / m};

[0096] S5: Given the speed-time sequence V based on the door closing process extracted in steps S1 and S2. CG And feedback speed - time sequence V CF Calculate key data features:

[0097] Root mean square error (RMSE) of door closing speed tracking VC =sqrt[sum(V CF -V CG ) 2 / n],

[0098] i.e. RMSE VC =sqrt{[(V CF1 −V CG1 ) 2 +(V CF2 −V CG2 ) 2 +…+(V CFn-1 −V CGn-1 ) 2 +(V CFn −V CGn ) 2 / n};

[0099] S6: According to Figure 2 the given speed-time sequence of the door opening process, and the output torque-time sequence and feedback speed-time sequence of different stages of the door opening process extracted in step S3, key data features are calculated respectively:

[0100] Maximum output torque MAX of the motor in the door opening acceleration section TOA =max{T OA}, that is, MAX TOA =max{T OA1 ,T OA2 ,…,T OAi-1 ,T OAi}; if MAX TOA =T OAx , wherein 1<x<i, then the position L corresponding to the maximum output torque MAX of the motor in the door opening acceleration section TOA =ΔT·(V TOAmax +V OFA1 +…+V OFA2 ); OFAx ;

[0101] Minimum output torque MIN of the motor in the door opening acceleration section TOA =min{T OA}, that is, MIN TOA =min{T OA1 ,T OA2 ,…,T OAi-1 ,T OAi}; if MIN TOA =T OAy , wherein 1<y<i, then the position L corresponding to the minimum output torque MIN of the motor in the door opening acceleration section TOA =ΔT·(V TOAmin +V OFA1 +…+V OFA2 ); OFAy );

[0102] Average output torque AVE of the motor in the door opening acceleration section TOA =mean{TOA}, which is AVE TOA = mean{T OA1 , T OA2 , …, T OAi-1 , T OAi}, wherein, mean represents calculating the mean (average value) of T OA sequence;

[0103] Root mean square RMSE of motor output torque in door opening acceleration section TOA = sqrt[sum(T OA ) 2 / i], which is RMSE TOA = sqrt{(T OA1 2 + T OA2 2 + … + T OAi-1 2 + T OAi 2 ) / i};

[0104] Maximum output torque MAX of the motor in door opening constant speed section TOB = max{T OB}, which is MAX TOB = max{T OB1 , T OB2 , …, T OBr-1 , T OB r}; if MAX TOB = T OBx , wherein 1<x<r, then the position L corresponding to the maximum output torque MAX of the motor in door opening constant speed section TOB = ΔT·(V TOBmax + V OFB1 + V OFB2 + … + V OFB x);

[0105] Minimum output torque MIN of the motor in door opening constant speed section TOB = min{T OB}, which is MIN TOB = min{T OB1 , T OB2 , …, T OBr-1 , T OB r}; if MAX TOB = T OBy , wherein 1<y<r, then the position L corresponding to the minimum output torque MIN of the motor in door opening constant speed section TOB = ΔT·(V TOBmin + V OFB1 + V OFB2 + … + V OFB y);

[0106] Average output torque AVE of the motor in the uniform door opening section TOB =mean{T OB}, that is AVE TOB =mean{T OB1 ,T OB2 ,…,T OBr-1 ,T OB r};

[0107] Root mean square error RMSE of the motor output torque in the uniform door opening section TOB =sqrt[sum(T OB ) 2 / r], that is RMSE TOB =sqrt{(T OB1 2 +T OB2 2 +…+T OBr-1 2 +T OBr 2 ) / r};

[0108] Maximum output torque MAX of the motor in the deceleration door opening section TOC =max{T OC}, that is MAX TOC =max{T OC1 ,T OC2 ,…,T OCp-1 ,T OCp}; if MAX TOC =T OCx , wherein 1<x<p, then the position L corresponding to the maximum output torque MAX of the motor in the deceleration door opening section TOC =ΔT·(V TOCmax +V OFC1 +V OFC2 +…+V OFCx );

[0109] Minimum output torque MIN of the motor in the deceleration door opening section TOC =min{T OC}, that is MIN TOC =min{T OC1 ,T OC2 ,…,T OCp-1 ,T OCp}; if MIN TOC =T OCy , wherein 1<y<p, then the position L corresponding to the minimum output torque MIN of the motor in the deceleration door opening section TOC =ΔT·(V TOCmin +V OFC1 +V OFC2 +…+VOFCy );

[0110] Average output torque AVE of the door opening deceleration section motor TOC =mean{T OC}, i.e., AVE TOC =mean{T OC1 ,T OC2 ,…,T OCp-1 ,T OCp};

[0111] Root mean square (RMSE) of the output torque of the motor in the door opening reduction section TOC =sqrt[sum(T) OC ) 2 / p], i.e., RMSE TOB =sqrt{(T OC1 2 +T OC2 2 +…+T OCp-1 2 +T OCp 2 ) / p};

[0112] Average output torque of the motor when the door is in the open position (AVE) TOD =mean{T OD}, i.e., AVE TOD =mean{T OD1 ,T OD2 ,…,T ODu-1 ,T ODu};

[0113] Root mean square (RMSE) of motor output torque when door is in position TOD =sqrt[sum(T) OD ) 2 / u], which is RMSE TOD =sqrt{(T OD1 2 +T OD2 2 +…+T ODu-1 2 +T OCu 2 ) / u};

[0114] S7: According to Figure 2 The key data characteristics are calculated based on the given speed-time curve of the door closing process, the output torque-time curve of different stages of the door closing process extracted in step S3, and the feedback speed-time curve.

[0115] Maximum output torque of the motor during the door closing acceleration phase TCA =max{TCA}, that is, MAX TCA =max{T CA1 , T CA2 , …, T CAj-1 , T CAj}; if MAX TCA =T CAx , where 1<x<j, then the maximum output torque MAX of the motor in the door-closing acceleration section TCA corresponding position L TCAmax =ΔT·(V CFA1 +V CFA2 +…+V CFAx ).

[0116] the minimum output torque MIN of the motor in the door-closing acceleration section TCA =min{T CA}, that is, MIN TCA =min{T CA1 , T CA2 , …, T CAj-1 , T CAj}; if MIN TCA =T CAy , where 1<y<j, then the minimum output torque MIN of the motor in the door-closing acceleration section TCA corresponding position L TCAmin =ΔT·(V CFA1 +V CFA2 +…+V CFAy ).

[0117] the average output torque AVE of the motor in the door-closing acceleration section TCA =mean{T CA}, that is, AVE TCA =mean{T CA1 , T CA2 , …, T CAj-1 , T CAj}.

[0118] the root mean square RMSE of the motor output torque in the door-closing acceleration section TCA =sqrt[sum(T CA ) 2 / j], that is, RMSE TCA =sqrt{(T CA1 2 +T CA2 2 +…+T CAj-1 2 +T CAj 2 ) / j};

[0119] the maximum output torque MAX of the motor in the door-closing constant speed sectionTCB =max{T CB}, that is, MAX TCB =max{T CB1 ,T CB2 ,…,T CBs-1 ,T CBs}; if MAX TCB =T CBx , wherein 1<x<s, then the maximum output torque MAX of the motor in the constant-speed door-closing segment TCB corresponding position L TCBmax =ΔT·(V CFB1 +V CFB2 +…+V CFBx ).

[0120] the minimum output torque MIN of the motor in the constant-speed door-closing segment TCB =min{T CB}, that is, MIN TCB =min{T CB1 ,T CB2 ,…,T CBs-1 ,T CBs}; if MIN TCB =T CBy , wherein 1<y<s, then the minimum output torque MIN of the motor in the constant-speed door-closing segment TCB corresponding position L TCBmin =ΔT·(V CFB1 +V CFB2 +…+V CFBy ).

[0121] the average output torque AVE of the motor in the constant-speed door-closing segment TCB =mean{T CB}, that is, AVE TCB =mean{T CB1 ,T CB2 ,…,T CBs-1 ,T CBs}.

[0122] the root mean square RMSE of the motor output torque in the constant-speed door-closing segment TCB =sqrt[sum(T CB ) 2 / s], that is, RMSE TCB =sqrt{(T CB1 2 +T CB2 2 +…+T CBs-1 2 +T CBs 2 ) / s}.

[0123] Maximum output torque MAX of the motor in the door-closing deceleration section TCC =max{T CC}, that is, MAX TCC =max{T CC1 ,T CC2 ,…,T CCq-1 ,T CCq}; if MAX TCC =T CCx , where 1<x<q, then the maximum output torque MAX of the motor in the door-closing deceleration section TCC corresponding position L TCCmax =ΔT·(V CFC1 +V CFC2 +…+V CFCx ).

[0124] Minimum output torque MIN of the motor in the door-closing deceleration section TCC =min{T CC , that is, MIN TCC =min{T CC1 ,T CC2 ,…,T CCq-1 ,T CCq}; if MIN TCC =T CCy , where 1<y<q, then the minimum output torque MIN of the motor in the door-closing deceleration section TCC corresponding position L TCCmin =ΔT·(V CFC1 +V CFC2 +…+V CFCy ).

[0125] Average output torque AVE of the motor in the door-closing deceleration section TCC =mean{T CC , that is, AVE TCC =mean{T CC1 ,T CC2 ,…,T CCq-1 ,T CCq}.

[0126] Root mean square RMSE of motor output torque in the door-closing deceleration section TCC =sqrt[sum(T CC ) 2 / q], that is, RMSE TCC =sqrt{(T CC1 2 +T CC2 2 +…+T CCq-1 2 +T CCq 2 ) / q}.

[0127] Average output torque of the motor when the door is closed and held in place AVE TCD =mean{T CD}, i.e., AVE TCD =mean{T CD1 ,T CD2 ,…,T CDw-1 ,T CDw}

[0128] Root mean square (RMSE) of motor output torque when the door is closed and held in position TCD =sqrt[sum(T) CD ) 2 / w], i.e., RMSE TCD =sqrt{(T CD1 2 +T CD2 2 +…+T CDw-1 2 +T CDw 2 ) / w}.

[0129] Mechanical faults in the elevator door opening and closing system will ultimately be reflected in the changes in feedback speed and output torque during the operation of the door operator through force transmission. This invention extracts statistical features from the data at each stage of the door opening and closing process, and also calculates the position corresponding to each feature value. These extracted features contain richer and more comprehensive information, which is beneficial for the pre-diagnosis of elevator faults.

[0130] If the elevator door opening and closing system experiences performance degradation, it will ultimately alter the operating state of the door operator through different transmission mechanisms, causing changes in the door operator's feedback speed-time and output torque-time curves. Through the steps described above, 20 key data features of the elevator door opening and closing system's mechanical structure operating status can be extracted from the feedback speed-time and output torque-time curves of the permanent magnet synchronous door operator controller. If the magnitude and corresponding position of these feature values ​​change during the elevator door opening and closing process, the mechanical faults of the elevator can be pre-diagnosed based on the patterns of these feature value changes, enabling more efficient and accurate prediction of mechanical faults in the elevator door opening and closing system.

[0131] Example 2

[0132] This embodiment provides a data feature extraction system for the pre-diagnosis of mechanical faults in elevator door opening and closing systems, including: a given speed-time sequence extraction module, a feedback speed-time sequence extraction module, an output torque-time sequence extraction module, a root mean square error calculation module for door opening speed tracking, a root mean square error calculation module for door closing speed tracking, a motor data feature calculation module for door opening process, a motor data feature calculation module for door closing process, and a data feature update module.

[0133] In this embodiment, the given speed-time timing extraction module is used to extract the given speed-time timing of the opening and closing processes from the permanent magnet synchronous door operator controller, respectively.

[0134] In this embodiment, the feedback speed-time sequence extraction module is used to extract the feedback speed-time sequence of the opening and closing processes from the permanent magnet synchronous door machine controller, respectively.

[0135] In this embodiment, the output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller;

[0136] In this embodiment, the root mean square error calculation module for door opening speed tracking is used to calculate the root mean square error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process.

[0137] In this embodiment, the root mean square error calculation module for door closing speed tracking is used to calculate the root mean square error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process.

[0138] In this embodiment, the motor data feature calculation module for the door opening process is used to calculate the following based on the given speed-time sequence of the door opening process and the output torque-time sequence of different stages of the door opening process:

[0139] The maximum output torque and corresponding position of the motor in the door opening acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is in position and held in position, and the root mean square of the motor output torque when the door is in position and held in position.

[0140] In this embodiment, the motor data feature calculation module for the door closing process is used to calculate the following based on the given speed-time sequence of the door closing process and the output torque-time sequence of different stages of the door closing process:

[0141] The maximum output torque and corresponding position of the motor in the door closing acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is closed and held in place, and the root mean square of the motor output torque when the door is closed and held in place.

[0142] In this embodiment, the data feature update module is used to update the operating status of the mechanical structure of the door opening and closing system and the corresponding data features, detect whether the magnitude of the feature value and the corresponding position have changed, and use it to pre-diagnose the mechanical faults of the elevator based on the change pattern of the feature value.

[0143] In this embodiment, the output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller, specifically including:

[0144] The output torque-time sequence of the door opening acceleration stage, constant speed stage, deceleration stage, and door opening position holding stage are extracted from the permanent magnet synchronous door operator controller.

[0145] The output torque-time sequence of the door closing acceleration stage, constant speed stage, deceleration stage, and door closing position holding stage are extracted from the permanent magnet synchronous gantry controller.

[0146] In this embodiment, the root mean square error (RMSE) calculation module for door opening speed tracking is used to calculate the RMS error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process, specifically expressed as follows:

[0147] RMSE VO =sqrt[sum(V OF -V OG ) 2 / m]

[0148] Among them, V OF V represents the feedback speed-time sequence of the door opening process. OG This represents the given speed-time sequence of the door opening process.

[0149] In this embodiment, the root mean square error (RMSE) calculation module for door closing speed tracking is used to calculate the RMS error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process, specifically expressed as follows:

[0150] RMSE VC =sqrt[sum(V CF -V CG ) 2 / n]

[0151] Among them, V CFV represents the feedback speed-time sequence of the door closing process. CG This represents the given speed-time sequence of the door closing process.

[0152] In this embodiment, the maximum output torque MAX of the motor during the door opening acceleration phase is... TOA The corresponding position is represented as: L TOAmax =ΔT·(V OFA1 +V OFA2 +…+V OFAx );

[0153] Minimum output torque of the motor during the door opening acceleration phase (MIN) TOA The corresponding position is represented as: L TOAmin =ΔT·(V OFA1 +V OFA2 +…+V OFAy );

[0154] Maximum output torque of motor during door opening constant speed segment TOB The corresponding position is represented as: L TOBmax =ΔT·(V OFB1 +V OFB2 +…+V OFBx );

[0155] Minimum output torque of motor during door opening constant speed segment (MIN) TOB The corresponding position is represented as: L TOBmin =ΔT·(V OFB1 +V OFB2 +…+V OFBy );

[0156] MAX of maximum output torque of the door opening deceleration section motor TOC The corresponding position is represented as: L TOCmax =ΔT·(V OFC1 +V OFC2 +…+V OFCx );

[0157] Minimum output torque of the door opening deceleration section motor (MIN) TOC The corresponding position is represented as: L TOCmin =ΔT·(V OFC1 +V OFC2 +…+V OFCy );

[0158] Maximum output torque of the motor during the door closing acceleration phase TCA The corresponding position is represented as: L TCAmax =ΔT·(V CFA1 +V CFA2 +…+V CFAx );

[0159] Minimum output torque of the motor during the door closing acceleration phase (MIN) TCA The corresponding position is represented as: L TCAmin =ΔT·(V CFA1 +V CFA2 +…+V CFAy );

[0160] Maximum output torque of motor during door closing at constant speed. TCB The corresponding position is represented as: L TCBmax =ΔT·(V CFB1 +V CFB2 +…+V CFBx );

[0161] Minimum output torque of motor during door closing at constant speed (MIN) TCB The corresponding position is represented as: L TCBmin =ΔT·(V CFB1 +V CFB2 +…+V CFBy );

[0162] Maximum output torque of the motor in the door closing deceleration section TCC The corresponding position is represented as: L TCCmax =ΔT·(V CFC1 +V CFC2 +…+V CFCx );

[0163] Minimum output torque of the motor in the door closing deceleration section (MIN) TCC The corresponding position is represented as: L TCCmin =ΔT·(V CFC1 +V CFC2 +…+V CFCy ).

[0164] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems, characterized in that, Includes the following steps: Extract the given speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller; Extract the feedback speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller; The output torque-time sequence of different stages of the opening and closing process is extracted from the permanent magnet synchronous gantry controller. The root mean square error of the door opening speed is calculated based on the given speed-time sequence and the feedback speed-time sequence of the door opening process. The root mean square error of the closing speed is calculated based on the given speed-time sequence and the feedback speed-time sequence of the closing process. Calculate based on the given speed-time sequence of the door opening process and the output torque-time sequence of different stages of the door opening process: The maximum output torque and corresponding position of the motor in the door opening acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is in position and held in position, and the root mean square of the motor output torque when the door is in position and held in position. The maximum output torque and corresponding position of the motor in the door opening acceleration segment, constant speed segment, and deceleration segment, and the minimum output torque and corresponding position of the motor are specifically calculated as the product of the sum of all feedback speed sampling values ​​from the stage start point of the door opening acceleration segment, constant speed segment, and deceleration segment to the sampling point of the maximum or minimum output torque of the motor and the time interval of the corresponding stage. Calculate based on the given speed-time sequence of the closing process and the output torque-time sequence of different stages of the closing process: The maximum output torque and corresponding position of the motor in the door closing acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is closed and held in place, and the root mean square of the motor output torque when the door is closed and held in place. The maximum output torque and corresponding position of the motor in the door closing acceleration section, constant speed section, and deceleration section, and the minimum output torque and corresponding position of the motor are specifically calculated as the product of the sum of all feedback speed sampling values ​​from the stage start point of the door closing acceleration section, constant speed section, and deceleration section to the sampling point of the maximum or minimum output torque of the motor and the time interval of the corresponding stage. Update the mechanical structure operating status and corresponding data characteristics of the door opening and closing system, and detect whether the magnitude and corresponding position of the characteristic values ​​have changed, so as to pre-diagnose the mechanical faults of the elevator based on the change pattern of the characteristic values.

2. The data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 1, characterized in that, The output torque-time sequence of the permanent magnet synchronous gantry crane controller at different stages of the opening and closing process is extracted, specifically including: The output torque-time sequence of the door opening acceleration stage, constant speed stage, deceleration stage, and door opening position holding stage are extracted from the permanent magnet synchronous door operator controller. The output torque-time sequence of the door closing acceleration stage, constant speed stage, deceleration stage, and door closing position holding stage are extracted from the permanent magnet synchronous gantry controller.

3. The data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 1, characterized in that, The root mean square error of the door opening speed tracking is calculated based on the given speed-time sequence and the feedback speed-time sequence during the door opening process, specifically expressed as follows: RMSE VO = sqrt[sum(V OF - V OG ) 2 / m]; Among them, V OF V represents the feedback speed-time sequence of the door opening process. OG This represents the given speed-time sequence of the door opening process.

4. The data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 1, characterized in that, The root mean square error of the closing speed tracking is calculated based on the given speed-time sequence and the feedback speed-time sequence during the closing process, specifically expressed as follows: RMSE VC = sqrt[sum(V CF – V CG ) 2 / n]; Among them, V CF V represents the feedback speed-time sequence of the door closing process. CG This represents the given speed-time sequence of the door closing process.

5. The data feature extraction method for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 1, characterized in that, Maximum output torque of the motor during the door opening acceleration phase TOA =max{T OA }, i.e., MAX TOA = max{T OA1 , T OA2 ,…, T OAi-1 , T OAi }; if MAX TOA =T OAx Where 1 < x < i, then the maximum output torque MAX of the motor in the door opening acceleration section is... TOA The corresponding position is represented as: L TOAmax = ΔT· (V OFA1 +V OFA2 +...+V OFAx ); Minimum output torque of the motor during the door opening acceleration phase (MIN) TOA =min{T OA }, that is, MIN TOA = min{T OA1 , T OA2 , …, T OAi-1 ,T OAi }; If MIN TOA = T OAy Where 1 < y < i, then the minimum output torque MIN of the motor during the door opening acceleration phase is... TOA The corresponding position is represented as: L TOAmin = ΔT· (V OFA1 +V OFA2 +...+V OFAy ); Maximum output torque of motor during door opening constant speed segment TOB =max{T OB }, i.e., MAX TOB = max{T OB1 , T OB2 , …, T OBr-1 ,T OBr }; if MAX TOB = T OBx Where 1 < x < r, then the maximum output torque MAX of the motor during the constant speed segment of the door opening is... TOB The corresponding position is represented as: L TOBmax = ΔT· (V OFB1 +V OFB2 +...+V OFBx ); Minimum output torque of motor during door opening constant speed segment (MIN) TOB =min{T OB }, that is, MIN TOB =min{T OB1 , T OB2 , …, T OBr-1 ,T OBr }; if MAX TOB = T OBy Where 1 < y < r, then the minimum output torque MIN of the motor during the constant speed segment of the door opening is... TOB The corresponding position is represented as: L TOBmin = ΔT· (V OFB1 +V OFB2 +...+V OFBy ); MAX of maximum output torque of the door opening deceleration section motor TOC =max{ T OC }, i.e., MAX TOC = max{T OC1 , T OC2 , …,T OCp-1 , T OCp }; if MAX TOC = T OCx Where 1 < x < p, then the maximum output torque MAX of the motor in the door opening deceleration section is... TOC The corresponding position is represented as: L TOCmax = ΔT· (V OFC1 +V OFC2 +...+V OFCx ); Minimum output torque of the motor in the door opening deceleration section (MIN) TOC =min{T OC }, that is, MIN TOC = min{T OC1 , T OC2 , …, T OCp-1 ,T OCp }; If MIN TOC = T OCy Where 1 < y < p, then the minimum output torque MIN of the motor in the door opening deceleration section is... TOC The corresponding position is represented as: L TOCmin = ΔT· (V OFC1 +V OFC2 +...+V OFCy ); Maximum output torque of the motor during the door closing acceleration phase TCA =max{T CA }, i.e., MAX TCA = max{ T CA1 , T CA2 , …,T CAj-1 , T CAj }; if MAX TCA = T CAx Where 1 < x < j, then the maximum output torque MAX of the motor during the door closing acceleration phase is... TCA The corresponding position is represented as: L TCAmax = ΔT· (V CFA1 +V CFA2 +...+V CFAx ); Minimum output torque of the motor during the door closing acceleration phase (MIN) TCA = min{T CA }, that is, MIN TCA = min{ T CA1 , T CA2 , …,T CAj-1 , T CAj }; If MIN TCA = T CAy Where 1 < y < j, then the minimum output torque MIN of the motor during the door closing acceleration phase is... TCA The corresponding position is represented as: L TCAmin = ΔT· (V CFA1 +V CFA2 +...+V CFAy ); Maximum output torque of motor during door closing at constant speed. TCB = max{T CB }, i.e., MAX TCB = max{T CB1 , T CB2 , …,T CBs-1 , T CBs }; if MAX TCB = T CBx Where 1 < x < s, then the maximum output torque MAX of the motor during the constant speed section of the door closing is... TCB The corresponding position is represented as: L TCBmax = ΔT· (V CFB1 +V CFB2 +...+V CFBx ); MIN, the minimum output torque of the motor in the constant-speed door-closing section TCB = min{T CB}, that is, MIN TCB = min{T CB1 , T CB2 , …,T CBs-1 , T CBs}; if MIN TCB = T CBy , where 1 < y <s, then MIN, the minimum output torque of the motor in the constant-speed door-closing section TCB the corresponding position is expressed as: L TCBmin = ΔT· (V CFB1 +V CFB2 +…+V CFBy ); Maximum output torque of the motor in the door closing deceleration section TCC = max{T CC }, i.e., MAX TCC = max{T CC1 , T CC2 , …,T CCq-1 , T CCq }; if MAX TCC = T CCx Where 1 < x < q, then the maximum output torque MAX of the motor in the door closing deceleration section is... TCC The corresponding position is represented as: L TCCmax = ΔT· (V CFC1 +V CFC2 +...+V CFCx ); Minimum output torque MIN of the motor in the door-closing deceleration section TCC = min{T CC}, that is, MIN TCC = min{T CC1 , T CC2 , …,T CCq-1 , T CCq}; if MIN TCC = T CCy , wherein 1 < y < q, the corresponding position of the minimum output torque MIN of the motor in the door-closing deceleration section TCC is expressed as: L TCCmin = ΔT· (V CFC1 +V CFC2 +…+V CFCy ), ΔT represents the timing interval.

6. A data feature extraction system for pre-diagnosis of mechanical faults in elevator door opening and closing systems, characterized in that, include: The system includes a given speed-time timing extraction module, a feedback speed-time timing extraction module, an output torque-time timing extraction module, a root mean square error calculation module for door opening speed tracking, a root mean square error calculation module for door closing speed tracking, a motor data feature calculation module for door opening process, a motor data feature calculation module for door closing process, and a data feature update module. The given speed-time timing extraction module is used to extract the given speed-time timing of the opening and closing processes from the permanent magnet synchronous gantry controller, respectively. The feedback speed-time sequence extraction module is used to extract the feedback speed-time sequence of the opening and closing processes from the permanent magnet synchronous gantry controller, respectively. The output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller. The root mean square error calculation module for door opening speed tracking is used to calculate the root mean square error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process. The root mean square error calculation module for door closing speed tracking is used to calculate the root mean square error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process. The motor data feature calculation module for the door opening process is used to calculate the following based on the given speed-time sequence and the output torque-time sequence at different stages of the door opening process: The maximum output torque and corresponding position of the motor in the door opening acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is in position and held in position, and the root mean square of the motor output torque when the door is in position and held in position. The maximum output torque and corresponding position of the motor in the door opening acceleration segment, constant speed segment, and deceleration segment, and the minimum output torque and corresponding position of the motor are specifically calculated as the product of the sum of all feedback speed sampling values ​​from the stage start point of the door opening acceleration segment, constant speed segment, and deceleration segment to the sampling point of the maximum or minimum output torque of the motor and the time interval of the corresponding stage. The motor data feature calculation module for the door closing process is used to calculate the following based on the given speed-time sequence of the door closing process and the output torque-time sequence at different stages of the door closing process: The maximum output torque and corresponding position of the motor in the door closing acceleration phase, constant speed phase, and deceleration phase; the minimum output torque and corresponding position of the motor; the average output torque of the motor; the root mean square of the motor output torque; and the average output torque of the motor when the door is closed and held in place, and the root mean square of the motor output torque when the door is closed and held in place. The maximum output torque and corresponding position of the motor in the door closing acceleration section, constant speed section, and deceleration section, and the minimum output torque and corresponding position of the motor are specifically calculated as the product of the sum of all feedback speed sampling values ​​from the stage start point of the door closing acceleration section, constant speed section, and deceleration section to the sampling point of the maximum or minimum output torque of the motor and the time interval of the corresponding stage. The data feature update module is used to update the operating status of the mechanical structure of the door opening and closing system and the corresponding data features, detect whether the magnitude of the feature value and the corresponding position have changed, and use it to pre-diagnose the mechanical faults of the elevator based on the change pattern of the feature value.

7. The data feature extraction system for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 6, characterized in that, The output torque-time sequence extraction module is used to extract the output torque-time sequence of different stages of the opening and closing process from the permanent magnet synchronous gantry controller, specifically including: The output torque-time sequence of the door opening acceleration stage, constant speed stage, deceleration stage, and door opening position holding stage are extracted from the permanent magnet synchronous door operator controller. The output torque-time sequence of the door closing acceleration stage, constant speed stage, deceleration stage, and door closing position holding stage are extracted from the permanent magnet synchronous gantry controller.

8. The data feature extraction system for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 6, characterized in that, The root mean square error (RMSE) calculation module for door opening speed tracking is used to calculate the RMS error of door opening speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door opening process, specifically expressed as follows: RMSE VO = sqrt[sum(V OF - V OG ) 2 / m]; Among them, V OF V represents the feedback speed-time sequence of the door opening process. OG This represents the given speed-time sequence of the door opening process.

9. The data feature extraction system for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 6, characterized in that, The root mean square error (RMSE) calculation module for door closing speed tracking is used to calculate the RMS error of door closing speed tracking based on the given speed-time sequence and the feedback speed-time sequence of the door closing process, specifically expressed as follows: RMSE VC = sqrt[sum(V CF – V CG ) 2 / n]; Among them, V CF V represents the feedback speed-time sequence of the door closing process. CG This represents the given speed-time sequence of the door closing process.

10. The data feature extraction system for pre-diagnosis of mechanical faults in elevator door opening and closing systems according to claim 6, characterized in that, Maximum output torque of the motor during the door opening acceleration phase TOA =max{T OA }, i.e., MAX TOA = max{T OA1 , T OA2 ,…, T OAi-1 , T OAi }; if MAX TOA =T OAx Where 1 < x < i, then the maximum output torque MAX of the motor in the door opening acceleration section is... TOA The corresponding position is represented as: L TOAmax = ΔT· (V OFA1 +V OFA2 +...+V OFAx ); Minimum output torque of the motor during the door opening acceleration phase (MIN) TOA =min{T OA }, that is, MIN TOA = min{T OA1 , T OA2 , …, T OAi-1 ,T OAi }; If MIN TOA = T OAy Where 1 < y < i, then the minimum output torque MIN of the motor during the door opening acceleration phase is... TOA The corresponding position is represented as: L TOAmin = ΔT· (V OFA1 +V OFA2 +...+V OFAy ); Maximum output torque of motor during door opening constant speed segment TOB =max{T OB }, i.e., MAX TOB = max{T OB1 , T OB2 , …, T OBr-1 ,T OBr }; if MAX TOB = T OBx Where 1 < x < r, then the maximum output torque MAX of the motor during the constant speed segment of the door opening is... TOB The corresponding position is represented as: L TOBmax = ΔT· (V OFB1 +V OFB2 +...+V OFBx ); Minimum output torque of motor during door opening constant speed segment (MIN) TOB =min{T OB }, that is, MIN TOB =min{T OB1 , T OB2 , …, T OBr-1 ,T OBr }; if MAX TOB = T OBy Where 1 < y < r, then the minimum output torque MIN of the motor during the constant speed segment of the door opening is... TOB The corresponding position is represented as: L TOBmin = ΔT· (V OFB1 +V OFB2 +...+V OFBy ); MAX of maximum output torque of the door opening deceleration section motor TOC =max{ T OC }, i.e., MAX TOC = max{T OC1 , T OC2 , …,T OCp-1 , T OCp }; if MAX TOC = T OCx Where 1 < x < p, then the maximum output torque MAX of the motor in the door opening deceleration section is... TOC The corresponding position is represented as: L TOCmax = ΔT· (V OFC1 +V OFC2 +...+V OFCx ); Minimum output torque of the motor in the door opening deceleration section (MIN) TOC =min{T OC }, that is, MIN TOC = min{T OC1 , T OC2 , …, T OCp-1 ,T OCp }; If MIN TOC = T OCy Where 1 < y < p, then the minimum output torque MIN of the motor in the door opening deceleration section is... TOC The corresponding position is represented as: L TOCmin = ΔT· (V OFC1 +V OFC2 +...+V OFCy ); Maximum output torque of the motor during the door closing acceleration phase TCA =max{T CA }, i.e., MAX TCA = max{ T CA1 , T CA2 , …,T CAj-1 , T CAj }; if MAX TCA = T CAx Where 1 < x < j, then the maximum output torque MAX of the motor during the door closing acceleration phase is... TCA The corresponding position is represented as: L TCAmax = ΔT· (V CFA1 +V CFA2 +...+V CFAx ); Minimum output torque of the motor during the door closing acceleration phase (MIN) TCA = min{T CA }, that is, MIN TCA = min{ T CA1 , T CA2 , …,T CAj-1 , T CAj }; If MIN TCA = T CAy Where 1 < y < j, then the minimum output torque MIN of the motor during the door closing acceleration phase is... TCA The corresponding position is represented as: L TCAmin = ΔT· (V CFA1 +V CFA2 +...+V CFAy ); Maximum output torque of motor during door closing at constant speed. TCB = max{T CB }, i.e., MAX TCB = max{T CB1 , T CB2 , …,T CBs-1 , T CBs }; if MAX TCB = T CBx Where 1 < x < s, then the maximum output torque MAX of the motor during the constant speed section of the door closing is... TCB The corresponding position is represented as: L TCBmax = ΔT· (V CFB1 +V CFB2 +...+V CFBx ); Minimum output torque MIN of the motor in the uniform door-closing section TCB = min{T CB}, that is, MIN TCB = min{T CB1 , T CB2 , …,T CBs-1 , T CBs}; if MIN TCB = T CBy , wherein 1 < y <s, the corresponding position of the minimum output torque MIN of the motor in the uniform door-closing section TCB is expressed as: L TCBmin = ΔT· (V CFB1 +V CFB2 +…+V CFBy ); Maximum output torque of the motor in the door closing deceleration section TCC = max{T CC }, i.e., MAX TCC = max{T CC1 , T CC2 , …,T CCq-1 , T CCq }; if MAX TCC = T CCx Where 1 < x < q, then the maximum output torque MAX of the motor in the door closing deceleration section is... TCC The corresponding position is represented as: L TCCmax = ΔT· (V CFC1 +V CFC2 +...+V CFCx ); Minimum output torque MIN of the motor in the door closing deceleration segment TCC = min{T CC}, that is, MIN TCC = min{T CC1 , T CC2 , …,T CCq-1 , T CCq}; if MIN TCC = T CCy , where 1 < y < q, the corresponding position of the minimum output torque MIN of the motor in the door closing deceleration segment TCC is expressed as: L TCCmin = ΔT· (V CFC1 +V CFC2 +…+V CFCy ), where ΔT represents the timing interval.

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