Elevator emergency operation rotating speed control method and device based on charge state and medium

Abstract

The invention discloses an elevator emergency operation rotating speed control method and device based on the charge state and a medium. The method comprises the steps that the charge state of a battery pack of an elevator emergency power supply is obtained; according to the real-time charge state, the load mass allowed to be lifted or lowered is judged; obtaining a speed envelope line according to the charge state; and under the condition that the system safety is guaranteed, the elevator is controlled to operate within the speed instruction range below the speed envelope line. The elevator operation envelope line can be planned according to the charge state of the battery, so that the purposes of improving the operation efficiency, improving the system energy efficiency and slowing down the aging speed of the battery are achieved. The reliability of the battery is guaranteed, the emergency lifting efficiency is improved, the rescue time is shortened, and safety guarantee is provided for emergency operation of the auxiliary shaft lifting machine under the mine power failure condition.

Description

Technical Field

[0001] The present invention relates to the field of elevator emergency control, and in particular to a method, device and medium for controlling the emergency speed of an elevator based on a state of charge. Background Art

[0002] With the development of energy storage technology, the use of energy storage devices for emergency hoist control is gaining increasing attention. However, under emergency hoisting conditions, high-power hoists are unable to meet full-speed and full-load lifting requirements due to limitations in battery voltage and capacity, resulting in reduced emergency hoisting efficiency. Furthermore, a battery's output capacity is directly related to its state of charge. Frequent high-speed operation at low states of charge accelerates battery aging and reduces its service life.

[0003] By rationally adjusting the hoist's operating speed at different state-of-charge levels, not only can batteries be protected, but energy efficiency can also be improved. This method calculates the hoist's maximum allowable speed based on the battery's state of charge. This maximum allowable speed serves as the hoist's speed envelope. Under emergency conditions, the hoist is controlled to operate safely and reliably within this speed envelope. This method ensures battery reliability, improves emergency hoisting efficiency, shortens rescue time, and provides safety assurance for the emergency operation of auxiliary shaft hoists during mine power outages. Summary of the Invention

[0004] In order to solve the above problems, the purpose of the embodiments of the present invention is to provide a method, device and medium for controlling the speed of an emergency operation of an elevator based on the state of charge, so as to solve the above technical problems.

[0005] To achieve the above object, the present invention is implemented according to the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling the speed of an elevator during emergency operation based on the state of charge, the method comprising:

[0007] Obtaining the state of charge of the battery pack of the hoist emergency power supply; the state of charge of the battery pack is the ratio of the remaining power of the battery pack to the fully charged power;

[0008] Determine the load mass that can be lifted or lowered based on the real-time state of charge of the battery pack;

[0009] The velocity envelope is derived based on the state of charge and the mass of the load;

[0010] According to the speed envelope function, under the condition of system safety, the hoist is controlled to operate within the speed instruction range of the speed envelope.

[0011] In one embodiment, the predicting of the load mass that can be lifted or lowered based on the real-time state of charge of the battery pack includes:

[0012] Determine the operating state of the elevator; the operating state is: lifting state or lowering state;

[0013] When the hoist is in the lifting state, the maximum static resistance allowed for the hoist is calculated based on the remaining power of the battery pack;

[0014] The load mass m allowed to be lifted is obtained based on the maximum static resistance allowed for lifting by the hoist;

[0015] When the hoist is in the lowering state, calculate the maximum static lifting resistance allowed for the hoist to be lowered based on the available storage space of the battery pack;

[0016] The load mass m allowed to be lowered is obtained based on the maximum static resistance allowed for lowering of the hoist;

[0017] The load mass m allowed to be lifted or lowered is output to the hoist electronic control system, and the hoist electronic control system arranges the next load to be lifted or lowered according to the load mass allowed to be lifted or lowered.

[0018] In one embodiment, the expression for calculating the maximum allowable static resistance of the hoist upwards according to the remaining power of the battery pack is:

[0019]

[0020] Among them, W up The remaining available power of the battery pack, F up is the maximum allowable static resistance for lifting, k1 is the additional coefficient of power consumption of the hoist's auxiliary equipment, and the empirical value is 1.02; T up is the time required for a single lift, T up =H / v m ;v m is the hoist operating speed, which is obtained through the state of charge information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

[0021] In one embodiment, when the hoist is in an upward lifting state, the lifting force during the upward lifting is obtained from the dynamic formula:

[0022] F up =k2*mg

[0023] Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 1.15 when lifting; m 上提 The mass of the load is increased, g is the acceleration due to gravity, g≈9.80m / s 2 ;

[0024] The load mass allowed to be lifted can be obtained from the lifting force:

[0025]

[0026] In one embodiment, the allowable static resistance of the elevator is calculated based on the available storage space of the battery:

[0027]

[0028] Among them, W down F is the energy that can be stored in the available storage space of the battery pack, down is the static resistance of the elevator allowed when lowering, k1 is the additional coefficient of power consumption of the elevator's auxiliary equipment, and the empirical value is 1.02; T down The time required for a single lift: T down =H / v m , v m is the hoist operating speed; it is obtained through the state of charge information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

[0029] In one embodiment, when the hoist is in the lowering state, the lifting force during lowering is obtained from the dynamic formula:

[0030] F down =k2*mg

[0031] Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 0.85 when lowering; m 下放 is the mass of the lowered load, g is the acceleration due to gravity, g≈9.80m / s 2 ;

[0032] The load mass allowed to be lowered can be obtained from the lifting force:

[0033]

[0034] In one embodiment, the step of deriving a velocity envelope according to the state of charge and the load mass includes:

[0035] According to the relationship between battery voltage and current and state of charge, the battery output power P is obtained. battery The relationship with the state of charge SOC; the specific relationship is:

[0036] P battery =(U max -k*(1-SOC) 2 )×I max ×SOC

[0037] Among them, SOC is the state of charge, U max is the maximum voltage at full charge, k is a constant that indicates the degree to which the voltage changes with the state of charge SOC, I max It is the maximum current that the battery can provide when fully charged;

[0038] Design the maximum allowable speed v according to the power balance of the hoist and battery max The relationship between the load mass m and the state of charge, the maximum permissible speed v max for:

[0039]

[0040] When the battery is in a low state of charge, the state of charge (SOC) changes quickly. To prevent the speed envelope from experiencing a step change, the following speed envelope function is designed:

[0041]

[0042] Among them, P1 is 0.2, the minimum speed v min The setting is based on comprehensive considerations of the battery pack voltage and the safety of the elevator in emergency conditions.

[0043] In one embodiment, controlling the hoist to operate within a speed instruction range of a speed envelope under a system safety condition includes:

[0044] Control the hoist to run at zero speed, determine whether the load mass exceeds the output allowable load mass m for lifting or lowering, and if it exceeds the mass, stop the machine, output an alarm signal, and notify the hoist electronic control system to reduce the load;

[0045] It operates according to the speed instruction of the hoist electronic control system and limits the speed instruction according to the hoist speed envelope. The limiting method is: if the speed exceeds the speed envelope, it follows the speed command of the speed envelope; if the speed is below the speed envelope, it operates according to the speed instruction sent by the hoist electronic control system.

[0046] In a second aspect, an embodiment of the present application provides a device for controlling the speed of an emergency operation of a hoist based on a state of charge, the device comprising:

[0047] A state of charge acquisition module is used to obtain the state of charge of the battery pack of the hoist emergency power supply; the state of charge of the battery pack is the ratio of the remaining power of the battery pack to the fully charged power;

[0048] A load mass determination module is used to determine the load mass that can be lifted or lowered based on the real-time state of charge;

[0049] An envelope function calculation module is used to obtain a velocity envelope function based on the state of charge and the load mass;

[0050] The control module controls the hoist to operate within the speed instruction range of the speed envelope under the condition of system safety according to the speed envelope function.

[0051] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the above-mentioned method for controlling the emergency operation speed of an elevator based on the state of charge.

[0052] Compared with the prior art, the present invention has the following advantages:

[0053] The present invention adopts a hoist emergency envelope strategy based on the state of charge. It can predict whether the lifting load mass is allowed based on the remaining battery energy, and whether the battery can recover the corresponding energy when lowering people or objects. It can also plan the hoist operation envelope based on the battery's state of charge (SOC) to achieve the goals of improving operating efficiency, increasing system energy efficiency, and slowing battery aging. The present invention ensures battery reliability, improves emergency lifting efficiency, shortens rescue time, and provides safety protection for the emergency operation of auxiliary shaft hoists in the event of a mine power outage. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] The accompanying drawings, as part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention but do not constitute undue limitations thereon. Obviously, the drawings described below are merely examples, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0055] Figure 1 A flow chart of a method for controlling the speed of an elevator in emergency operation based on the state of charge according to an embodiment of the present invention;

[0056] Figure 2 A flow chart showing the mass of a load that can be lifted or lowered based on the state of charge of a battery pack according to an embodiment of the present invention;

[0057] Figure 3 A schematic structural diagram of a hoist emergency operation speed control device based on charge state provided in one embodiment of the present invention.

[0058] It should be noted that these drawings and textual descriptions are not intended to limit the conceptual scope of the present invention in any way, but rather to illustrate the concept of the present invention for those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0059] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0060] During emergency operation, the hoist cannot run at full speed due to battery voltage and capacity limitations. This results in extended operation time per hook and reduced rescue efficiency. To shorten the hoist's operation time per hook, improve emergency rescue efficiency, and ensure battery reliability, this patent proposes a method for controlling the speed of an emergency hoist based on the state of charge.

[0061] This invention provides a technical solution for a state-of-charge-based method for controlling the speed of an elevator during emergency operation. First, the state of charge and voltage information of the elevator's emergency power supply battery pack are obtained. Secondly, the load mass permitted for lifting or lowering is estimated based on the charge level. Thirdly, the maximum speed envelope is calculated based on the state of charge. Finally, based on the maximum speed envelope, the elevator is controlled to operate within a speed command range below the envelope while ensuring system safety.

[0062] Step S100: Obtain the charge state of the battery pack of the elevator emergency power supply.

[0063] The elevator's emergency power supply consists of a large-capacity battery pack that stores energy and controls the motor's inverter. The battery pack's state of charge (SOC) represents the ratio of the remaining charge in the large-capacity battery pack to its fully charged state, typically expressed as a percentage. This SOC provides an estimate of the remaining charge in the battery pack. The state of charge (SOC) estimation process is well established and is not the innovation of this patent. This information is obtained directly from the battery management unit (BMU).

[0064] Step S200: determining the load mass allowed to be lifted or lowered according to the real-time state of charge of the battery pack.

[0065] After obtaining the battery's state of charge, the load mass allowed to be lifted or lowered can be determined based on the real-time state of charge. The specific process is as follows: Figure 2 shown.

[0066] S210: Determine the operating status of the elevator.

[0067] The operating state of the hoist is: lifting state or lowering state.

[0068] S220: When the elevator is in the lifting state, the maximum static lifting resistance allowed for the elevator is calculated based on the remaining power of the battery pack.

[0069] That is, when the elevator is in the lifting state, it is necessary to judge whether the remaining battery power is sufficient to meet the power required for the next lifting.

[0070] Furthermore, the expression for calculating the maximum static resistance allowed for lifting of the hoist based on the remaining power of the battery pack is:

[0071]

[0072] Among them, W up The remaining available power of the battery pack, F up is the maximum allowable static resistance for lifting, k1 is the additional coefficient of power consumption of the hoist's auxiliary equipment, and the empirical value is 1.02; T up is the time required for a single lift, T up =H / v m ;v m is the hoist operating speed, which is obtained through the state of charge information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

[0073] Step 230: Calculate the load mass m allowed to be lifted based on the maximum static resistance allowed for lifting by the hoist.

[0074] When the hoist is in the upward state, the lifting force can be obtained from the dynamic formula:

[0075] F up =k2*mg (3)

[0076] Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 1.15 when lifting; m 上提 The mass of the load is increased, g is the acceleration due to gravity, g≈9.80m / s 2 ;

[0077] The load mass allowed to be lifted can be obtained from the lifting force:

[0078]

[0079] S240: When the elevator is in the lowering state, the maximum static lifting resistance allowed for the elevator to be lowered is calculated based on the available storage space of the battery pack.

[0080] That is, when the elevator is in the lowering state, it is necessary to determine whether the remaining energy storage space of the battery is sufficient to absorb the electricity released by the next lowering.

[0081] Furthermore, the allowable static resistance of the elevator is calculated based on the available storage space of the battery:

[0082]

[0083] Among them, W downF is the energy that can be stored in the available storage space of the battery pack, down is the static resistance of the elevator allowed when lowering, k1 is the additional coefficient of power consumption of the elevator's auxiliary equipment, and the empirical value is 1.02; T down The time required for a single lift: T down =H / v m , v m is the hoist operating speed; it is obtained through the state of charge information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

[0084] S250: Calculate the load mass m allowed to be lowered based on the maximum static lifting resistance allowed for lowering the elevator.

[0085] When the hoist is in the lowering state, the lifting force during lowering can be obtained from the dynamic formula:

[0086] F down =k2*mg (7)

[0087] Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 0.85 when lowering; m 下放 is the mass of the lowered load, g is the acceleration due to gravity, g≈9.80m / s 2 ;

[0088] The load mass allowed to be lowered can be obtained from the lifting force:

[0089]

[0090] S260: Output the load mass m allowed to be lifted or lowered to the hoist electronic control system. The hoist electronic control system arranges the next load to be lifted or lowered based on the load mass allowed to be lifted or lowered.

[0091] After obtaining the load mass m that the hoist is allowed to lift or lower, it needs to be output to the hoist electronic control system. The hoist electronic control system arranges the next load to be lifted or lowered based on the load mass allowed to be lifted or lowered. The next load mass to be lifted or lowered is the sum of the load mass allowed to be lifted or lowered and the maximum allowable single hook load m in the hoist emergency state. d The minimum value of m_n=min{m,m d}.

[0092] The hoist control system can determine the mass of heavy objects that the battery pack is allowed to lift or lower based on the load mass m, thereby avoiding the situation where the battery runs out of power during lifting, resulting in the hoist container being unable to lift people to the ground, or the hoist stopping during lowering due to the battery being unable to continue absorbing the discharge energy.

[0093] Step S300: deriving a velocity envelope function according to the state of charge and the load mass.

[0094] Since the elevator's emergency operation is powered by batteries, the elevator's operating speed must take the battery's state of charge into account. Adjusting the operating speed based on the battery's state of charge aims to optimize energy efficiency and preserve battery life. The relationship between elevator operating speed and SOC can be understood from the following perspectives:

[0095] First, consider the relationship between battery output capacity and state of charge. A battery's output capacity is generally directly correlated with its state of charge. When the battery's state of charge is high, it can provide a higher current, which means it can support higher power output, allowing the elevator to operate at higher speeds. Conversely, when the state of charge is low, the battery's output capacity decreases, and the lower current output may not be sufficient to support high-speed operation. In this case, the elevator speed needs to be reduced to prevent excessive discharge and damage to the battery.

[0096] Secondly, consider battery life. Frequently running the hoist at high speeds while in a low state of charge will accelerate battery aging and reduce its overall lifespan. By controlling the hoist's operating speed at different states of charge, high-load operation when the battery is low can be avoided, thereby protecting the battery and extending its lifespan.

[0097] Furthermore, energy efficiency and performance optimization are key. Properly adjusting the elevator's operating speed at different state-of-charge levels not only protects the battery but also improves energy efficiency. For example, running faster when the battery is fully charged allows for more work to be completed in a shorter period of time, while slowing down when the battery is low can extend battery life.

[0098] The battery voltage U and current I depend on the state of charge SOC. When the state of charge SOC decreases, the battery voltage and output power decrease. Therefore, the battery output power P battery The relationship between the battery SOC is designed as follows:

[0099] P battery =(U max -k*(1-SOC) 2 )×I max ×SOC (9)

[0100] Among them, U max It is the maximum voltage in the fully charged state, and k is a constant that indicates the degree to which the voltage changes with the state of charge (SOC), and is generally provided by the battery manufacturer. max It is the maximum current that the battery can provide when fully charged.

[0101] Design the maximum allowable speed v according to the power balance of the hoist and batterymax The relationship between the load mass m and the state of charge, the maximum allowable speed v max for:

[0102]

[0103] When the battery is in a low state of charge, the state of charge (SOC) changes quickly. To prevent the speed envelope from experiencing a step change, the following speed envelope function is designed:

[0104]

[0105] Among them, P1 is 0.2 of full charge, the minimum speed v min It is set based on comprehensive considerations of battery pack voltage and elevator safety in emergency situations.

[0106] The speed envelope function can realize different speed control according to different state of charge intervals. Specifically, when the state of charge is lower than a specific value P1, the hoist is set to the minimum speed v min Operation; when the state of charge is higher than a specific value P1, the speed envelope adopts a linear transition until it reaches the maximum allowable speed v max .

[0107] Step S400: Under the condition of system safety, the hoist is controlled to operate within the speed instruction range of the speed envelope.

[0108] System safety conditions mean that the battery SOC information returns to normal and the load mass is not overweight. Safety conditions refer to the conditions under which the hoist safety circuit and auxiliary equipment monitoring are normal in an emergency situation, and the hoist electronic control system is responsible for determining this.

[0109] In the embodiment of the present application, step 400 includes the following steps:

[0110] Step S410: Control the hoist to run at zero speed and determine whether the load exceeds the load mass m allowed to be lifted or lowered. If it exceeds the mass, the hoist is shut down, an alarm signal is output, and the control system is notified to reduce the load.

[0111] Step S420: The machine operates according to the speed command of the hoist electronic control system and limits the speed command according to the hoist speed envelope. That is, if the speed exceeds the speed envelope, the speed command of the envelope is followed; if the speed is below the speed envelope, the speed command sent by the hoist electronic control system is followed.

[0112] Using a hoist emergency envelope strategy based on the state of charge (SOC) allows prediction of load mass permissible for hoisting based on the remaining battery energy, as well as the ability to recover energy when lowering personnel or objects. Furthermore, the hoist operating envelope can be planned based on the battery's SOC, improving operational efficiency, enhancing system energy efficiency, and mitigating battery aging. This approach ensures battery reliability, enhances emergency hoisting efficiency, shortens rescue time, and provides safety assurance for auxiliary shaft hoist emergency operations during mine power outages.

[0113] In one embodiment, a device for controlling the speed of an emergency operation of a hoist based on the state of charge is provided, wherein: Figure 3 As shown, the device includes:

[0114] A state of charge acquisition module is used to obtain the state of charge of the battery pack of the hoist emergency power supply; the state of charge of the battery pack is the ratio of the remaining power of the battery pack to the fully charged power;

[0115] A load mass determination module is used to determine the load mass that can be lifted or lowered based on the real-time state of charge;

[0116] An envelope function calculation module is used to obtain a velocity envelope function based on the state of charge and the load mass;

[0117] The control module controls the hoist to operate within the speed instruction range of the speed envelope under the condition of system safety according to the speed envelope function.

[0118] It should be noted that the above embodiment provides an elevator emergency operation speed control device based on the state of charge. When executing an elevator emergency operation speed control method based on the state of charge, the division of the above functional modules is only used as an example. In actual application, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the equipment is divided into different functional modules to complete all or part of the functions described above. In addition, the elevator emergency operation speed control device based on the state of charge provided in the above embodiment and the embodiment of an elevator emergency operation speed control method based on the state of charge belong to the same concept. The implementation process thereof is detailed in the embodiment of an elevator emergency operation speed control method based on the state of charge, which will not be repeated here.

[0119] In one embodiment, a computer-readable storage medium is provided, on which computer program instructions are stored. When the instructions are executed by a processor, the above-mentioned method for controlling the emergency speed of an elevator based on the state of charge is implemented.

[0120] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0121] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. A method for controlling the speed of an elevator in emergency operation based on the state of charge, characterized in that: The method comprises: Obtaining the state of charge of the battery pack of the hoist emergency power supply; the state of charge of the battery pack is the ratio of the remaining power of the battery pack to the fully charged power; Determine the load mass that can be lifted or lowered based on the real-time state of charge of the battery pack; The velocity envelope function is derived based on the state of charge and the mass of the load; According to the speed envelope function, under the condition of system safety, the hoist is controlled to operate within the speed command range of the speed envelope.

2. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 1 is characterized in that: The method of predicting the load mass that is allowed to be lifted or lowered according to the real-time state of charge of the battery pack includes: Determine the operating state of the elevator; the operating state is: lifting state or lowering state; When the hoist is in the lifting state, the maximum static resistance allowed for the lifting of the hoist is calculated according to the remaining power of the battery pack; The load mass m allowed to be lifted is obtained based on the maximum static resistance allowed for lifting by the hoist; When the hoist is in the lowering state, the maximum static lifting resistance allowed for the lowering of the hoist is calculated based on the available storage space of the battery pack; The load mass m allowed to be lowered is obtained based on the maximum static resistance allowed for lowering of the hoist; The load mass m allowed to be lifted or lowered is output to the hoist electronic control system, and the hoist electronic control system arranges the next load to be lifted or lowered according to the load mass allowed to be lifted or lowered.

3. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 1 is characterized in that: The expression for calculating the maximum allowable static resistance of the hoist according to the remaining power of the battery pack is: Among them, W up The remaining available power of the battery pack, F up is the maximum allowable static resistance for lifting, k1 is the additional coefficient of power consumption of the auxiliary equipment of the hoist, and the empirical value is 1.02; T up is the time required for a single lift, T up =H / v m ;v m is the hoist running speed, which is obtained through the charge state information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

4. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 3 is characterized in that: When the hoist is in the upward lifting state, the lifting force can be obtained from the dynamic formula: F up =k2*mg Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 1.15 when lifting; m 上提 is the mass of the load lifted, g gravity acceleration, g≈9.80m / s 2 ; From the lifting force, the load mass allowed to be lifted can be obtained as:

5. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 1 is characterized in that: The static resistance of the elevator allowed by the calculation based on the available storage space of the battery is: Among them, W down F is the energy that can be stored in the available storage space of the battery pack, down is the static resistance of the elevator allowed when lowering, k1 is the additional coefficient of power consumption of the elevator auxiliary equipment, and the empirical value is 1.02; T down The time required for a single lift: T down =H / v m , v m is the operating speed of the hoist; it is obtained through the state of charge information; H is the lifting height, η d Reducer efficiency, η m Motor efficiency.

6. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 5 is characterized in that: When the hoist is in the lowering state, the dynamic formula shows that the lifting force is: F down =k2*mg Among them, k2 is the static resistance coefficient of the mine. For the bucket type lifting container, k2 = 0.85 when lowering; m 下放 is the mass of the load being lowered, g is the acceleration due to gravity, g≈9.80m / s 2 ; From the lifting force, it can be concluded that the load mass allowed to be lowered is:

7. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 6 is characterized in that: The method of obtaining a velocity envelope according to the state of charge and the load mass includes: According to the relationship between battery voltage and current and state of charge, the battery output power P is obtained. battery The relationship with the state of charge SOC; the specific relationship is: P battery =(U max -k*(1-SOC) 2 )×I max ×SOC Among them, SOC is the state of charge, U max is the maximum voltage at full charge, k is a constant indicating the degree to which the voltage changes with the state of charge SOC, I max is the maximum current that the battery can provide when fully charged; Design the maximum permissible speed v according to the power balance of the hoist and the battery max The relationship between the load mass m and the state of charge is that the maximum permissible speed v max for: When the battery is in a lower state of charge, the state of charge SOC changes faster. To prevent the speed envelope from having a step change, the following speed envelope function is designed: Among them, P1 is 0.2 of full charge, the minimum speed v min The setting is based on comprehensive considerations of the battery pack voltage and the safety of the elevator in emergency conditions.

8. The method for controlling the speed of an elevator in emergency operation based on the state of charge according to claim 7 is characterized in that: According to the speed envelope function, under the condition of system safety, the hoist is controlled to operate within the speed command range of the speed envelope, including: Control the elevator to run at zero speed, determine whether the load mass exceeds the load mass m allowed to be lifted or lowered, and if it exceeds the mass, stop the machine, output an alarm signal, and notify the elevator electronic control system to reduce the load; It runs according to the speed instruction of the hoist electronic control system, and limits the speed instruction according to the speed envelope of the hoist; the limiting method is: if it exceeds the speed envelope, it follows the speed command of the speed envelope; if it is below the speed envelope, it runs according to the speed instruction sent by the hoist electronic control system.

9. A device for controlling the speed of an elevator in emergency operation based on the state of charge, characterized in that: The device comprises: A charge state acquisition module is used to acquire the charge state of the battery pack of the hoist emergency power supply; the charge state of the battery pack is the ratio of the remaining power of the battery pack to the fully charged power; A load quality judgment module is used to judge the load quality that can be lifted or lowered according to the real-time charge state; An envelope function calculation module is used to obtain a velocity envelope function according to the state of charge and the load mass; The control module controls the hoist to operate within the speed command range of the speed envelope under the condition of system safety according to the speed envelope function.

10. A computer-readable storage medium, characterized in that: Computer program instructions are stored thereon, and when the instructions are executed by the processor, the method for controlling the emergency operation speed of the hoist based on the charge state as described in any one of claims 1 to 8 is implemented.

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