A method and system for calculating the speed of elevator car travel

Abstract

The application discloses a kind of method and system for calculating elevator car running speed, the method comprises the following steps: collecting the three-phase voltage value of elevator motor at t time;The voltage synthesis vector in two-phase αβ coordinates is obtained by Clark transformation to the three-phase voltage value, obtain the voltage phase angle value at t time;Voltage phase angle increment value at t time is calculated based on voltage phase angle value at t time and voltage phase angle value of the previous sampling period at t time;Based on the rated frequency of elevator motor, the rated speed of elevator car and the voltage phase angle increment value, the elevator car running speed at t time is calculated.The voltage value of elevator motor is obtained, the phase angle change amount of elevator motor voltage in adjacent two periods is calculated, and the elevator car running speed is converted, so that the elevator car running speed is accurately obtained, which provides theoretical basis and actual operation method for the rapid detection of elevator balance coefficient.

Description

TECHNICAL FIELD

[0001] The present application relates to the elevator technical field, specifically relates to a kind of method and system for calculating elevator car running speed. BACKGROUND

[0002] The current elevator drive system is mainly composed of traction machine, steel wire rope, car, counterweight device etc.. One end of steel wire rope is connected with elevator car, and the other end is connected with counterweight device. The running of elevator is realized by the static friction force between steel wire rope and traction wheel, and the balance coefficient of elevator is an important parameter affecting the safe operation of elevator, so the balance coefficient detection of elevator is particularly important. The current elevator balance coefficient detection is completed by detecting the running data of elevator for multiple times, recording the running data of elevator, calculating and drawing curve chart etc.. There are problems such as low detection efficiency and insufficient detection accuracy of current, speed when elevator passes through balance position. SUMMARY

[0003] The present application aims at overcoming the deficiencies of prior art, and provides a kind of method and system for calculating elevator car running speed, the motor power voltage value of elevator is obtained, the phase angle change amount of motor power voltage in adjacent two periods is calculated, and the elevator car running speed is converted, so as to accurately obtain the elevator car running speed and balance position, and provide theoretical basis and practical operation method for fast detection of elevator balance coefficient.

[0004] The present application provides a kind of method for calculating elevator car running speed, the method comprises the following steps:

[0005] The three-phase voltage value of elevator motor at time t is collected;

[0006] The three-phase voltage value is subjected to Clark transformation to obtain voltage synthesis vector in two-phase αβ coordinates, and voltage phase angle value at time t is obtained;

[0007] The voltage phase angle increment value at time t is calculated based on voltage phase angle value at time t and voltage phase angle value of previous sampling period at time t;

[0008] The elevator car running speed at time t is calculated based on rated frequency of elevator motor, rated speed of elevator car and voltage phase angle increment value.

[0009] Further, the three-phase voltage value of elevator motor at time t is collected, which comprises:

[0010] The three-phase input power of elevator motor is detected by voltage probe;

[0011] The three-phase input power is subjected to scaling and filtering processing;

[0012] The three-phase input power is converted into three-phase voltage values ​​based on analog-to-digital sampling.

[0013] Furthermore, performing Clark transformation on the three-phase voltage values ​​to obtain a voltage composite vector in two-phase αβ coordinates and obtaining the voltage phase angle value at time t includes:

[0014] Assume that Ut is the voltage synthesis vector after vector transformation. After Clark transformation is performed on the three-phase voltage value, in the αβ coordinates, the projection on the α axis is Utα, and the projection on the β axis is Utβ, that is:

[0015]

[0016] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector at time t on the β axis, and Utα is the projection of the voltage synthesis quantity at time t on the α axis.

[0017] Furthermore, the phase angle of the voltage synthesis vector at time t is:

[0018]

[0019] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector at time t on the β axis, and Utα is the projection of the voltage synthesis quantity at time t on the α axis.

[0020] Furthermore, the voltage phase angle increment value at time t is calculated based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t, including:

[0021]

[0022] Among them, Δθ(t) is the voltage phase angle increment at time t, Ut1β is the projection of the voltage composite vector on the β-axis at time t1, Ut1α is the projection of the voltage composite vector on the α-axis at time t1, Utβ is the projection of the voltage composite vector on the β-axis at time t, and Utα is the projection of the voltage composite quantity on the α-axis.

[0023] Furthermore, the calculation of the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car, and the voltage phase angle increment value includes:

[0024] Calculate the angular frequency at time t based on the voltage phase angle increment;

[0025] The elevator car running speed Va(t) at time t is calculated based on the relationship between the voltage frequency and the angular frequency of the voltage vector, where:

[0026] Va(t)=Vr*fa(t) / fr=(1 / T*Δθ(t) / 2π)*Vr* / fr;

[0027] Va(t) is the speed of the elevator at time t, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, Δθ(t) is the voltage phase angle increment at time t, fa(t) is the frequency of the voltage at time t, ω(t) is the angular frequency of the voltage vector at time t, ω(t) = 1 / T*Δθ(t), T is the sampling period, and fa(t) = ω(t) / 2π.

[0028] Furthermore, the method further comprises: calculating the elevator car travel distance Sa based on the integral of the speed over time, wherein:

[0029] Sa=∫Va(t)dt=∫((1 / T*Δθ(t) / 2π)*Vr* / fr)dt;

[0030] Where Sa is the elevator car travel distance, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, T is the sampling period, and Δθ(t) is the voltage phase angle increment at time t.

[0031] Furthermore, the method further comprises:

[0032] Based on the elevator car running distance Sa, it is determined whether the elevator car has run to the equilibrium position.

[0033] Furthermore, the method further comprises:

[0034] The elevator operation parameters are displayed in real time, including: elevator car running speed, elevator car running distance, and equilibrium position.

[0035] The present invention also provides an elevator detection system, the elevator system comprising:

[0036] Voltage detection component: used to collect the three-phase voltage value of the elevator motor at time t;

[0037] Voltage Clark transformation component: used to perform Clark transformation on the three-phase voltage values ​​to obtain the voltage synthesis vector in the two-phase αβ coordinates, and obtain the voltage phase angle value at time t;

[0038] Voltage phase angle calculation component: used to calculate the voltage phase angle increment value at time t based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t;

[0039] Elevator running speed calculation component: used to calculate the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car and the voltage phase angle increment value.

[0040] The present invention provides a method and system for calculating the running speed of an elevator car. By obtaining the power supply voltage value of the elevator motor, the phase angle change of the motor power supply voltage in two adjacent cycles is calculated, and the running speed of the elevator car at time t is calculated based on the phase angle change, thereby accurately obtaining the running speed and equilibrium position of the elevator car, providing a theoretical basis and practical operation method for the rapid detection of the elevator balance coefficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 1 is a flow chart of a method for calculating the running speed of an elevator car according to an embodiment of the present invention;

[0043] Figure 2 1 is a flow chart of an elevator system operation control method according to an embodiment of the present invention;

[0044] Figure 3 is a voltage synthesis vector diagram of the three-phase voltage in the UVW coordinate system in an embodiment of the present invention;

[0045] Figure 4 is a voltage synthesis vector diagram of the three-phase voltage in the αβ coordinate system in an embodiment of the present invention;

[0046] Figure 5 Schematic diagram of an elevator detection system in an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0048] Example 1:

[0049] Figure 1 A flow chart of a method for calculating the running speed of an elevator car according to an embodiment of the present invention is shown. The method comprises the following steps:

[0050] S11: Collect the three-phase voltage values ​​of the elevator motor at time t.

[0051] The three-phase voltage value at any time during the operation of the elevator system is acquired, so as to convert the elevator operation speed of the elevator system according to the voltage data change of the elevator system during the operation.

[0052] S12: Clark transformation is performed on the three-phase voltage value to obtain a voltage resultant vector in two-phase αβ coordinates, and a voltage phase angle value at time t is obtained.

[0053] The Clark transformation is performed on the three-phase voltage value, so that the three-phase voltage value can be converted into a voltage resultant vector in two-phase αβ coordinates, the calculation of the voltage data is simplified, and the convenience of the calculation of the elevator operation speed of the elevator system is improved.

[0054] S13: The voltage phase angle increment value at time t is calculated based on the voltage phase angle value at time t and the voltage phase angle value at time t of the previous sampling period.

[0055] The voltage phase angle increment value of the voltage resultant vector in a period is calculated by acquiring the voltage phase angle value of the voltage resultant vector at time t and the voltage phase angle value of the voltage resultant vector at time t of the previous sampling period, so as to improve the accuracy of the calculation of the elevator operation speed.

[0056] S14: The elevator car operation speed at time t is calculated based on the rated frequency of the elevator motor, the rated speed of the elevator car and the voltage phase angle increment value.

[0057] The real-time operation speed of the elevator car can be calculated by acquiring the motor voltage data of the elevator system during the operation, combining the basic parameters of the elevator system according to the change of the voltage data, which is efficient and accurate, so that the balance position of the elevator car can be calculated by cooperating with the elevator operation, and a theoretical basis and an actual operation method are provided for the fast detection of the elevator balance coefficient.

[0058] Embodiment two:

[0059] Figure 2 A flowchart of the control method of the elevator system based on the elevator system operation in the embodiment of the application is shown, and the control method of the elevator system when the elevator system is running includes the following steps:

[0060] S101: The three-phase voltage value of the elevator motor is acquired.

[0061] Specifically, the U-phase, V-phase and W-phase terminals of the three-phase motor of the elevator system are connected through a high-voltage voltage probe, and the voltage value of the three-phase motor of the elevator system during the operation is acquired.

[0062] Specifically, in this embodiment of the present invention, the three-phase voltage values ​​of the elevator motor at time t are collected by detecting the three-phase input power of the elevator motor using voltage probes. In this embodiment, three high-voltage voltage probes and corresponding hardware circuits constitute the elevator motor voltage detection unit. The voltage detection unit detects the elevator motor voltage by acquiring the U-phase voltage, V-phase voltage, and W-phase voltage of the elevator motor using the three high-voltage voltage probes.

[0063] Furthermore, the input end of the high-voltage voltage probe is connected to the power supply terminals U, V, and W of the elevator motor, and the output end of the high-voltage voltage probe is connected to the voltage detection equipment. Based on the high-voltage voltage probe, the voltage data of the U, V, and W ends of the elevator motor can be obtained so as to calculate the operating speed of the elevator system based on the obtained voltage data.

[0064] Specifically, the three-phase input power supply is proportionally and filtered, and according to the three-phase voltage data obtained by the high-voltage voltage probe, based on the voltage data ratio of the U, V, and W terminals, the voltage data ratio of the U, V, and W terminals is set, so that the voltage data of the U, V, and W terminals can maintain a higher resolution, and the resolution of the three-phase voltage data obtained by the high-voltage voltage probe is improved, so as to improve the accuracy of the elevator system running speed calculation.

[0065] Furthermore, the connection circuit of the high-voltage voltage probe is connected to a three-phase filter. An LC filter composed of capacitors and inductors performs multi-stage filtering on the signal acquired by the high-voltage voltage probe, filtering out high-frequency clutter signals while retaining a sinusoidal voltage output at the reference frequency. This filtering process effectively reduces ripple voltage and current noise, thereby improving the stability and reliability of the elevator system motor power supply voltage detection.

[0066] The three-phase input power of the motor is converted into a three-phase voltage value based on analog-to-digital sampling.

[0067] Specifically, after sampling and conversion using an analog-to-digital circuit (ADC), instantaneous voltage values ​​are obtained: Uu, Uv, and Uw. In this embodiment, the sampling period is 100 μs, Uu is the instantaneous value of the U-phase voltage, Uv is the instantaneous value of the V-phase voltage, and Uw is the instantaneous value of the W-phase voltage. Uu, Uv, and Uw are the amplitudes of the voltage vectors at that moment in the three-phase coordinates. Since the magnitude and direction of the instantaneous voltage of the three-phase power supply of the elevator system motor constantly change during elevator operation, calculating Uu, Uv, and Uw is cumbersome. In this embodiment, the Uu, Uv, and Uw voltage vectors are synthesized and vector-transformed. Since the synthesized voltage vector remains unchanged before and after the transformation, the calculation of the three-phase voltage of the elevator system motor can be simplified. Calculating and processing the synthesized and transformed voltage vectors is equivalent to calculating and processing the instantaneous voltage variables, thereby simplifying the calculation process of the three-phase voltage.

[0068] S102: voltage Clark transformation;

[0069] Specifically, here, the three-phase voltage data is converted into a voltage composite vector in two-phase αβ coordinates through Clark transformation, thereby improving the convenience of voltage data calculation.

[0070] In a specific implementation process, Clark transformation is performed on the three-phase voltage values ​​to obtain the voltage synthesis vector in the two-phase αβ coordinates, thereby obtaining the voltage phase angle value at time t.

[0071] Specifically, Figure 3 The voltage synthesis vector diagram of the three-phase voltage in the UVW coordinate system according to the embodiment of the present invention is shown. Figure 4 The voltage synthesis vector diagram of the three-phase voltage in the αβ coordinate system according to the embodiment of the present invention is shown.

[0072] Here, the voltage synthesis vector in the two-phase αβ coordinates obtained by performing Clark transformation on the three-phase voltage values ​​includes:

[0073] The Clark transform formula is:

[0074]

[0075] Among them, Uα is the projection of the voltage composite vector on the α-axis, Uβ is the projection of the voltage composite vector on the β-axis, Uu is the instantaneous value of the U-phase voltage, Uv is the instantaneous value of the V-phase voltage, and Uw is the instantaneous value of the W-phase voltage.

[0076] Specifically, the Clarke Transformation refers to the different degrees of coupling of state variables such as voltage and current in a three-phase system. Through the three-phase coordinate transformation, the coupled symmetrical three-phase system can be decoupled into an independently controllable two-phase system, thereby reducing the complexity of the controller design.

[0077] S103: Calculate the voltage phase angle value;

[0078] Specifically, the voltage phase angle value data of the voltage synthesis vector is calculated in the two-phase αβ coordinates, and the voltage phase angle value data of the voltage synthesis vector is obtained in the two-phase αβ coordinates so as to calculate the elevator running speed according to the voltage phase angle value of the voltage synthesis vector.

[0079] Furthermore, in the embodiment of the present invention, Clark transformation is performed on the three-phase voltage values ​​to obtain a voltage composite vector in two-phase αβ coordinates, and obtaining the voltage phase angle value at time t includes:

[0080] Assume that Ut is the voltage synthesis vector after vector transformation. After the three-phase voltage value is subjected to Clark transformation, in the αβ coordinates, the projection on the α axis is Utα, and the projection on the β axis is Utβ, that is:

[0081]

[0082] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector at time t on the β axis, and Utα is the projection of the voltage synthesis quantity at time t on the α axis.

[0083] Furthermore, the phase angle of the voltage synthesis vector at time t is:

[0084]

[0085] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector on the β axis, and Utα is the projection of the voltage synthesis quantity on the α axis.

[0086] The voltage vectors Uu, Uv, and Uw obtained by high-voltage voltage probe detection are synthesized through Clark transformation and converted into a voltage synthesis vector in the αβ two-dimensional coordinate system, thereby simplifying the voltage calculation of the elevator system motor and improving the convenience of calculating the operating speed of the elevator system.

[0087] S104: Calculate the voltage phase angle increment value;

[0088] Specifically, according to the voltage phase angle value of the voltage synthesis vector in the two-phase αβ coordinates, by obtaining the voltage phase angle values ​​at time t and the next sampling period, the voltage phase angle value increment of the voltage synthesis vector is calculated to calculate the elevator running speed of the elevator system.

[0089] Specifically, the voltage phase angle increment value at time t is calculated based on the voltage phase angle value at time t and the voltage phase angle value of the sampling period before time t.

[0090] Furthermore, the voltage phase angle increment value at time t is calculated based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t, including:

[0091]

[0092] Among them, Δθ(t) is the voltage phase angle increment at time t, Ut1β is the projection of the voltage composite vector on the β-axis at time t1, Ut1α is the projection of the voltage composite vector on the α-axis at time t1, Utβ is the projection of the voltage composite vector on the β-axis, and Utα is the projection of the voltage composite quantity on the α-axis.

[0093] S105: Calculate the voltage angular frequency value. Calculate the angular frequency at time t based on the voltage phase angle increment and the sampling period. The calculation formula for the angular frequency is:

[0094] ω(t)=1 / T*Δθ(t);

[0095] Where ω(t) is the angular frequency, T is the sampling period, and Δθ(t) is the phase angle increment.

[0096] Furthermore, the voltage frequency at time t can be calculated based on the voltage angular frequency value, so that the running speed of the elevator can be calculated according to the voltage frequency of the elevator system at time t.

[0097] Here, the angular frequency at time t is calculated based on the voltage phase angle increment. Assume that the voltage phase angle increment of the voltage data in one sampling period is Δθ, and the phase angle increment in a unit time of 1 second is the angular frequency. The calculation formula of the angular frequency is:

[0098] ω(t)=1 / T*Δθ(t);

[0099] Where ω(t) is the angular frequency of the voltage vector at time t, Δθ(t) is the increment of the voltage phase angle at time t, and T is the sampling period.

[0100] S106: Calculate the elevator car running speed;

[0101] Specifically, the elevator car running speed is calculated based on the rated speed of the elevator, the rated frequency of the elevator, and the voltage phase angle value increment. The calculation formula is:

[0102] Va(t)=Vr*fa(t) / fr=(1 / T*Δθ(t) / 2π)*Vr* / fr;

[0103] Va(t) is the speed of the elevator at time t, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, Δθ(t) is the voltage phase angle increment at time t, and fa(t) is the frequency of the voltage at time t.

[0104] Specifically, calculating the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car, and the voltage phase angle increment value includes:

[0105] The elevator car running speed Va(t) at time t is calculated based on the relationship between the voltage frequency and the angular frequency of the voltage vector, where:

[0106] fa(t)=ω(t) / 2π=(1 / T*Δθ(t)) / 2π;

[0107] Va(t)=Vr*fa(t) / fr=(1 / T*Δθ(t) / 2π)*Vr* / fr;

[0108] Where Va(t) is the speed of the elevator at time t, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, Δθ(t) is the voltage phase angle increment at time t, fa(t) is the frequency of the voltage at time t, ω(t) is the angular frequency of the voltage vector at time t, ω(t) = 1 / T * Δθ(t), T is the sampling period, and fa(t) = ω(t) / 2π.

[0109] S107: Calculate the elevator car travel distance;

[0110] Specifically, based on the running speed of the elevator car obtained in the above steps, the elevator car running distance Sa is obtained by integrating the running speed with time, that is:

[0111] Sa=∫Va(t)dt=∫((1 / T*Δθ(t) / 2π)*Vr* / fr)dt;

[0112] Where Sa is the elevator car travel distance, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, T is the sampling period, and Δθ(t) is the voltage phase angle increment at time t.

[0113] It should be noted that the elevator car running distance Sa here is the actual running distance of the elevator, that is, when the elevator running time reaches time t, then all the accumulated running distances from time 0 to time t.

[0114] S108: Determine whether the elevator has reached a balanced position, and determine whether the elevator car has reached the balanced position based on the running distance;

[0115] When the elevator car runs from the bottom floor to the top floor, the distance the elevator car runs from the top floor to the equilibrium position is obtained by calculating the running distance of the elevator car and dividing the running distance by 2.

[0116] Alternatively, when the elevator car of the elevator system runs from the top floor to the bottom floor, the distance the elevator car of the elevator system runs is calculated, and the distance the elevator car runs from the bottom floor to the equilibrium position is obtained by dividing the elevator car running distance by 2.

[0117] In an embodiment of the present invention, whether the elevator car has run to the equilibrium position is determined based on the running distance Sa. When the elevator system car runs from the bottom floor to the top floor, or when the elevator system car runs from the top floor to the bottom floor, the elevator system car running distance Sa is calculated, and the elevator car running distance Sa is divided by 2 to obtain the distance the elevator system car runs from the top floor to the equilibrium position, or the distance the elevator system car runs from the bottom floor to the equilibrium position. Whenever the elevator runs to the equilibrium position, the operating parameters of the elevator system car are recorded and stored for calculation of the power of the elevator system car, etc.

[0118] S109: Next step of the process.

[0119] Specifically, when the elevator reaches the equilibrium position, the current operating parameters of the elevator system are recorded and stored for use in calculating the power factor of the elevator car, the phase resistance of the elevator motor, the balance coefficient, etc. This calculation method is efficient and accurate, allowing it to calculate the equilibrium position of the elevator car in conjunction with the elevator operating speed, providing a theoretical basis and practical operating method for the quick detection of the elevator balance coefficient.

[0120] Furthermore, the method further comprises:

[0121] Real-time display of elevator operating parameters, including car speed, distance traveled, and equilibrium position. During normal elevator operation, the system calculates car speed, distance traveled, and equilibrium position based on the calculation and analysis of the voltage composite vector of the elevator system's motor. This method is highly efficient and accurate, allowing the equilibrium position of the car to be calculated in conjunction with the elevator's operating speed, providing a theoretical basis and practical method for quickly detecting the elevator's balance coefficient.

[0122] An embodiment of the present invention provides a method for calculating the running speed of an elevator car. By obtaining the elevator motor power supply voltage value, the phase angle change of the motor power supply voltage in two adjacent cycles is calculated, and the running speed of the elevator car at time t is calculated based on the phase angle change. This calculation method is efficient and accurate, so that it can calculate the equilibrium position of the elevator car in conjunction with the elevator running speed, providing a theoretical basis and practical operation method for the quick detection of the elevator balance coefficient.

[0123] Example 3:

[0124] Figure 5 A schematic diagram of an elevator detection system according to an embodiment of the present invention is shown, wherein the elevator system includes: a three-phase power supply for an elevator motor, a voltage detection component 10, a voltage Clark conversion component 20, a voltage phase angle calculation component 30, an elevator running speed calculation component 40, and a CPU component;

[0125] Voltage detection component 10: used to collect the three-phase voltage value of the elevator motor at time t;

[0126] Voltage Clark transformation component 20: used to perform Clark transformation on the three-phase voltage values ​​to obtain the voltage synthesis vector in the two-phase αβ coordinates, and obtain the voltage phase angle value at time t;

[0127] Voltage phase angle calculation component 30: used to calculate the voltage phase angle increment value at time t based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t;

[0128] The elevator running speed calculation component 40 is used to calculate the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car and the voltage phase angle increment value.

[0129] Specifically, the voltage detection component 10 is used to detect the U-phase voltage, V-phase voltage and W-phase voltage data of the three-phase power supply of the elevator motor. The CPU component is based on the voltage data of the elevator three-phase power supply obtained by the voltage detection component 10, and the CPU component transforms the voltage data of the elevator three-phase power supply from three-phase coordinates to two-phase αβ coordinates through the voltage Clark transformation component 20, and obtains the voltage synthesis vector in the two-phase αβ coordinates, so as to obtain the phase angle increment of the voltage synthesis vector within the detection period by calculation, thereby calculating the running speed of the elevator car of the elevator system.

[0130] Specifically, the voltage detection component 10 is provided with a high-voltage voltage probe, the input end of the high-voltage voltage probe is connected to the power supply terminals U phase, V phase, and W of the elevator motor, and the output end of the high-voltage voltage probe is connected to the input end of the voltage detection component 10; the output end of the voltage detection component 10 is connected to the input end of the voltage Clark transformation component 20; based on the voltage Clark transformation component 20, the voltage detection data output by the voltage detection component 10 is subjected to Clark transformation, and the voltage phase angle and the voltage phase angle increment are calculated for the transformed voltage data. According to the voltage phase angle and the voltage phase angle increment of the elevator system motor, combined with the relevant parameters of the elevator system, the speed, distance, equilibrium position, etc. of the elevator system are accurately calculated.

[0131] Specifically, the voltage detection component 10 connects the connection circuit of the high-voltage voltage probe to a three-phase filter. An LC filter composed of capacitors and inductors performs multi-stage filtering on the signal acquired by the high-voltage voltage probe, filtering out high-frequency clutter signals while retaining a sinusoidal voltage output at the reference frequency. This filtering process effectively reduces ripple voltage and current noise, thereby improving the stability and reliability of voltage detection of the three-phase power supply of the elevator system motor.

[0132] The three-phase input power of the motor is converted into a three-phase voltage value based on analog-to-digital sampling.

[0133] Specifically, after sampling and conversion using an analog-to-digital circuit (ADC), instantaneous voltage values ​​are obtained: Uu, Uv, and Uw. In this embodiment, the sampling period is 100 μs, Uu is the instantaneous value of the U-phase voltage, Uv is the instantaneous value of the V-phase voltage, and Uw is the instantaneous value of the W-phase voltage. Uu, Uv, and Uw are the amplitudes of the voltage vectors at this moment in the three-phase coordinates. Since the instantaneous magnitude and direction of the voltage of the three-phase power supply of the elevator system motor constantly change during elevator operation, calculating Uu, Uv, and Uw is cumbersome. In this embodiment, the Uu, Uv, and Uw voltage vectors are synthesized and vector-transformed. Since the synthesized voltage vector remains unchanged before and after the transformation, the calculation of the three-phase voltage of the elevator system motor can be simplified. Calculating and processing the synthesized and transformed voltage vectors is equivalent to calculating and processing the instantaneous voltage variables, thereby simplifying the calculation process of the three-phase voltage.

[0134] Specifically, the voltage Clark transformation component 20 performs Clark transformation on the three-phase voltage value to obtain a voltage synthesis vector in two-phase αβ coordinates, and obtains the voltage phase angle value at time t, which includes:

[0135] The Clark transform formula is:

[0136]

[0137] Among them, Uα is the projection of the voltage composite vector on the α-axis, Uβ is the projection of the voltage composite vector on the β-axis, Uu is the instantaneous value of the U-phase voltage, Uv is the instantaneous value of the V-phase voltage, and Uw is the instantaneous value of the W-phase voltage.

[0138] Furthermore, performing Clark transformation on the three-phase voltage values ​​to obtain a voltage composite vector in two-phase αβ coordinates, and obtaining the voltage phase angle value at time t includes:

[0139] Assume that Ut is the voltage synthesis vector after vector transformation. After the three-phase voltage value is subjected to Clark transformation, in the αβ coordinates, the projection on the α axis is Utα, and the projection on the β axis is Utβ, that is:

[0140]

[0141] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector at time t on the β axis, and Utα is the projection of the voltage synthesis quantity at time t on the α axis.

[0142] Furthermore, the phase angle of the voltage synthesis vector at time t is:

[0143]

[0144] Among them, θ is the phase angle, Utβ is the projection of the voltage synthesis vector on the β axis, and Utα is the projection of the voltage synthesis quantity on the α axis.

[0145] The voltage vectors Uu, Uv, and Uw obtained by the high-voltage transformer probe are synthesized through Clark transformation and converted into a voltage synthesis vector in the αβ two-dimensional coordinate system, thereby simplifying the calculation of the elevator system motor voltage and improving the convenience of the elevator system running speed calculation.

[0146] The voltage phase angle calculation component 30 calculates the voltage phase angle increment value at time t based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t, including:

[0147]

[0148] Among them, Δθ(t) is the voltage phase angle increment at time t, Ut1β is the projection of the voltage composite vector on the β-axis at time t1, Ut1α is the projection of the voltage composite vector on the α-axis at time t1, Utβ is the projection of the voltage composite vector on the β-axis, and Utα is the projection of the voltage composite quantity on the α-axis.

[0149] The angular frequency at time t is calculated based on the voltage phase angle increment. Assume that the voltage phase angle increment of the voltage data in one sampling period is Δθ, and the phase angle increment in a unit time of 1 second is the angular frequency. The calculation formula of the angular frequency is:

[0150] ω(t)=1 / T*Δθ(t);

[0151] Where ω(t) is the angular frequency of the voltage vector at time t, Δθ(t) is the increment of the voltage phase angle at time t, and T is the sampling period.

[0152] The elevator running speed calculation component 40 calculates the elevator car running speed Va(t) at time t based on the relationship between the voltage frequency and the angular frequency of the voltage vector, where:

[0153] fa(t)=ω(t) / 2π=(1 / T*Δθ(t)) / 2π;

[0154] Va(t)=Vr*fa(t) / fr=(1 / T*Δθ(t) / 2π)*Vr* / fr;

[0155] Va(t) is the speed of the elevator at time t, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, Δθ(t) is the voltage phase angle increment at time t, fa(t) is the frequency of the voltage at time t, ω(t) is the angular frequency of the voltage vector at time t, ω(t) = 1 / T*Δθ(t), T is the sampling period, and fa(t) = ω(t) / 2π.

[0156] Furthermore, the method further comprises: calculating the elevator car travel distance Sa based on the integral of the speed over time, wherein:

[0157] Sa=∫Va(t)dt=∫((1 / T*Δθ(t) / 2π)*Vr* / fr)dt;

[0158] Where Sa is the elevator car travel distance, Vr is the rated speed of the elevator, fr is the rated frequency of the elevator, T is the sampling period, and Δθ(t) is the voltage phase angle increment at time t.

[0159] An embodiment of the present invention provides an elevator detection system. By providing a voltage detection component 10, a voltage Clark transformation component 20, a voltage phase angle calculation component 30, an elevator running speed calculation component 40, and a CPU component, the system detects and records the three-phase voltage data of the elevator system motor, transforms the three-phase coordinate data into two-phase coordinate data through Clark transformation, calculates the phase angle change of the synthetic vector of the voltage data, and thus calculates parameters such as the elevator system's car running speed, running distance, and parallel position. This calculation method is efficient and accurate, allowing it to calculate the equilibrium position of the elevator car in conjunction with the elevator running speed, providing a theoretical basis and practical operation method for the rapid detection of the elevator balance coefficient.

[0160] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0161] In addition, the above detailed description of the embodiments of the present application is made, and the principles and implementation manners of the present application are described by using specific examples. The above description of the embodiments is only used to help understand the method of the present application and its core idea. Meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will be changed, and the above description should not be understood as a limitation of the present application.

Claims

1. An elevator detection system, characterized in that: The elevator detection system comprises: Voltage detection component: used to collect the three-phase voltage value of the elevator motor at time t; Voltage Clark transformation component: used to perform Clark transformation on the three-phase voltage values ​​to obtain the voltage synthesis vector in the two-phase αβ coordinates, and obtain the voltage phase angle value at time t; Voltage phase angle calculation component: used to calculate the voltage phase angle increment value at time t based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t; Elevator running speed calculation component: used to calculate the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car and the voltage phase angle increment value; The step of calculating the elevator car running speed at time t based on the rated frequency of the elevator motor, the rated speed of the elevator car, and the voltage phase angle increment value includes: Calculate the angular frequency at time t based on the voltage phase angle increment; The elevator car running speed Va(t) at time t is calculated based on the relationship between the voltage frequency and the angular frequency of the voltage vector, where: ； is the speed of the elevator at time t is the voltage phase angle increment at time t, is the rated speed of the elevator, is the rated frequency of the elevator, is the frequency of the voltage at time t, for The angular frequency of the voltage vector at time , , T is the sampling period, ; The elevator car travel distance Sa is calculated based on the integral of speed over time, where: ； in, is the elevator car travel distance; Based on the elevator car running distance Sa, it is determined whether the elevator car has run to the equilibrium position.

2. The elevator detection system according to claim 1, characterized in that: The three-phase voltage value of the elevator motor at time t is collected and includes: Detect the three-phase input power of the elevator motor through a voltage probe; Proportional and filtering of three-phase input power; The three-phase input power is converted into three-phase voltage values ​​based on analog-to-digital sampling.

3. The elevator detection system according to claim 1, wherein: The Clark transformation of the three-phase voltage values ​​to obtain the voltage synthesis vector in the two-phase αβ coordinates and the voltage phase angle value at time t includes: set up is the voltage synthesis vector after vector transformation. After Clark transformation of the three-phase voltage value, the projection on the α axis in the αβ coordinate is , the projection on the β axis is ,Right now: ； ； in, is the phase angle, is the projection of the voltage synthesis vector at time t on the β axis, It is the projection of the voltage synthesis at time t on the α-axis.

4. The elevator detection system according to claim 3, characterized in that: The phase angle of the voltage synthesis vector at time t is: 。 5. The elevator detection system according to claim 4, characterized in that: The step of calculating the voltage phase angle increment at time t based on the voltage phase angle value at time t and the voltage phase angle value of the previous sampling period at time t includes: ； in, for The projection of the voltage synthesis vector on the β axis at the moment, for The projection of the voltage composite vector on the α-axis at moment .

6. The elevator detection system according to any one of claims 1 to 5, characterized in that: Also includes: The elevator operation parameters are displayed in real time, including: elevator car running speed, elevator car running distance, and equilibrium position.

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