Elevator car load mass measurement method, device, equipment, medium and product

Abstract

The invention relates to an elevator car load mass measuring method, device and equipment, a medium and a product. The method comprises the steps that in the elevator running process, a first electric signal is collected for a traction motor in a transmission system of an elevator; the transmission system comprises a traction motor for controlling the lift car to lift, the lift car, a counterweight and a rope; based on the first electric signal, the value of the current motor power of the traction motor, the value of the current running speed of the lift car, the current running state of the lift car and the current value of the running height between the position where the lift car is located and the reference position are determined; obtaining a pre-fitted steady-state parameter value and a pre-generated rope parameter value; and when the running state is a constant-speed running state, the current load mass value of the lift car is determined according to conservation of input power and consumption power of the transmission system and according to the current motor power value, the current running speed value, the steady-state parameter value, the rope parameter value and the current running height value. By adopting the method, the car load mass measurement precision can be improved.

Description

Technical Field

[0001] The present application relates to the field of elevator technology, and in particular to an elevator car load mass measurement method, device, equipment, medium and product. Background Art

[0002] An elevator is a vertical transportation device that serves several specific floors in a building. As a special equipment, the safe operation of the elevator is very important, and monitoring the load quality of the elevator is an important measure to prevent overload accidents, detect elevator failures, and prevent equipment damage. Load quality monitoring of elevators is to monitor the quality of the load in the elevator car, such as people, goods, etc. In the prior art, the load quality of the elevator is usually measured by a force sensor. The force sensor is installed together with the supporting mechanical structure at the force position of the car. The mass of the load in the car causes the strain gauge of the force sensor to deform. Combined with signal detection technology, the mass of the load can be measured.

[0003] However, long-term force on the force sensor may cause fatigue of the internal components of the sensor, resulting in a decrease in the measurement accuracy of the car load mass. Summary of the invention

[0004] Based on this, it is necessary to provide an elevator car load mass measurement method, device, equipment, medium and product that can improve the measurement accuracy of the car load mass in response to the above-mentioned technical problems.

[0005] In a first aspect, the present application provides a method for measuring the load mass of an elevator car, comprising:

[0006] During the operation of the elevator, a first electrical signal is collected from a traction motor in a transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement;

[0007] Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the position of the car and the reference position;

[0008] Acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value;

[0009] When the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, the value of the current load mass of the car is determined according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0010] In a second aspect, the present application also provides an elevator car load mass measuring device, comprising:

[0011] The acquisition module is used to acquire a first electrical signal from a traction motor in a transmission system of the elevator during operation of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement;

[0012] a signal processing module, configured to determine, based on the first electrical signal, a current motor power value of the traction motor, a current running speed value of the car, a current running state of the car, and a current value of a running height between a position of the car and a reference position;

[0013] an acquisition module, configured to acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents a mass change of the rope when the running height changes by a unit value;

[0014] A load mass determination module is used to determine the value of the current load mass of the car when the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0015] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0016] During the operation of the elevator, a first electrical signal is collected from a traction motor in a transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement;

[0017] Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the position of the car and the reference position;

[0018] Acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value;

[0019] When the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, the value of the current load mass of the car is determined according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0020] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the following steps are implemented:

[0021] During the operation of the elevator, a first electrical signal is collected from a traction motor in a transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement;

[0022] Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the position of the car and the reference position;

[0023] Acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value;

[0024] When the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, the value of the current load mass of the car is determined according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0025] In a fifth aspect, the present application further provides a computer program product, including a computer program, which implements the following steps when executed by a processor:

[0026] During the operation of the elevator, a first electrical signal is collected from a traction motor in a transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement;

[0027] Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the position of the car and the reference position;

[0028] Acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value;

[0029] When the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, the value of the current load mass of the car is determined according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0030] The above-mentioned elevator car load mass measurement method, device, equipment, medium and product, when the operating state of the elevator car is a uniform speed running state, the input power of the elevator transmission system is related to the motor power. Therefore, the input power value of the transmission system can be determined according to the current motor power value. According to the conservation of input power and power consumption of the transmission system, the power consumption value of the transmission system can be determined, and the power consumption is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car. In the operation of the elevator, since the relative movement between the car and the counterweight is achieved through the connection of ropes, the mass of the rope will change with the rise and fall of the car, and the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is in the reference position, and the rope parameter value represents the unit value of the change in the running height. The mass of the rope changes. Therefore, combined with the steady-state parameter value, the rope parameter value and the current value of the running height between the car position and the reference position, the value of the overall mass formed by the car, counterweight and rope can be determined more accurately, and the value of the current running speed of the car is obtained through the first electrical signal. In this way, the power consumption, running speed, the mass of the car, the mass of the counterweight and the mass of the rope are all known, and the value of the current load mass of the car can be determined. It can be seen that in the process of determining the value of the current load mass of the car, the mass change of the rope caused by the lifting of the car is taken into account, so that the measured load mass is more accurate, and compared with the force sensor, there is no need to perform direct measurement at the stress-bearing part of the car, which reduces the problem of component fatigue caused by the stress on the car, has better stability during long-term operation, and improves the measurement accuracy of the car load mass. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 is an application environment diagram of an elevator car load mass measurement method in one embodiment;

[0033] Figure 2 1 is a flow chart of a method for measuring the load mass of an elevator car in one embodiment;

[0034] Figure 3 is a schematic diagram showing an example of a curve between load mass and motor power in one embodiment;

[0035] Figure 4 is a schematic diagram showing an example of a scatter plot between inertia power and operating speed in one embodiment;

[0036] Figure 5 is a schematic diagram of an example curve of operating speed and time in one embodiment;

[0037] Figure 6 A schematic diagram of an example of a real-time load quality change curve in an embodiment;

[0038] Figure 7 A schematic diagram of an elevator car load mass measurement architecture in one embodiment;

[0039] Figure 8 A schematic diagram of a flow chart of elevator car load mass measurement steps in one embodiment;

[0040] Fig. 9 is a structural block diagram of an elevator car load mass measuring device in one embodiment;

[0041] Fig.10 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The elevator car load mass measurement method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the computer device 102 can communicate with the acquisition module 104 for the traction motor. The data storage system can store the data that the computer device 102 needs to process. The data storage system can be integrated on the computer device 102, or it can be placed on the cloud or other network servers. During the operation of the elevator, the computer device 102 can collect the first electrical signal of the traction motor through the acquisition module 104, thereby measuring the value of the current load mass of the car. Among them, the computer device 102 can be a personal computer, a programmable logic controller (PLC), an industrial computer, a server or other. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services. The acquisition module 104 can be a component in the transmission system of the elevator, and the acquisition module 104 can include a current sensor, a voltage sensor or other.

[0044] In an exemplary embodiment, Figure 2 As shown, a method for measuring the load mass of an elevator car is provided. Figure 1 The computer device 102 in the example is used as an example to illustrate, including the following steps 202 to 208. Among them:

[0045] Step 202, during the operation of the elevator, a first electrical signal is collected from the traction motor in the transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of the car, the car, a counterweight and a rope; the relative movement between the car and the counterweight is achieved through the connection of the rope.

[0046] Among them, the elevator operation is the process in which the elevator car is driven to rise or fall. The transmission system is the power system that drives the elevator car to rise or fall. The transmission system may include a traction motor, a car, a counterweight and a rope, and may also include a traction wheel and a fixed pulley. The traction motor may be a permanent magnet synchronous motor. The car is used to carry people or goods. The counterweight is used to balance the mass of the car. The rope may be a wire rope, and the fixed pulley may be a wire rope fixed pulley. The traction wheel may be connected to the axis of the traction motor, and the groove on the traction wheel may fix and wind the rope, one end of the rope is fixed to the car, and the other end is fixed to the counterweight through the fixed pulley. The traction motor provides power and drives the rope to move through the traction wheel. Under the guidance of the traction wheel and the fixed pulley, the rope realizes the lifting and lowering of the car and the relative movement between the car and the counterweight.

[0047] The first electrical signal is an electrical signal collected from the traction motor during the normal operation of the elevator. The first electrical signal may include data collected from the start of the car to the car stop. During normal operation, the elevator provides normal service to meet the needs of passengers or goods going up and down. The first electrical signal is different from the second electrical signal in the subsequent steps. The second electrical signal is an electrical signal collected from the traction motor during the debugging operation of the elevator. During the debugging operation, the elevator shuts down normal service for engineers to use for on-site debugging.

[0048] The electrical signal may include a voltage signal and a current signal. The voltage signal may be a three-phase voltage signal of the traction motor, which may characterize the change of the three-phase voltage inputted by the power supply to the traction motor over time. The current signal may be a three-phase current signal of the traction motor, which may characterize the change of the three-phase current of the traction motor over time. The three-phase current of the traction motor is the current generated by the traction motor under the action of the three-phase voltage.

[0049] For example, during the operation of the elevator, the computer device may instruct the acquisition module of the elevator to acquire the first electrical signal from the traction motor in the transmission system of the elevator. The acquisition module may include a current sensor and a voltage sensor. The acquisition module may acquire the three-phase voltage and three-phase current of the traction motor in real time to form a three-phase voltage signal and a three-phase current signal, respectively.

[0050] Step 204, based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the car position and the reference position.

[0051] Among them, the current motor power value of the traction motor is the value of the motor power of the traction motor at the current moment. The value of the motor power can change with the change of time. The motor power can represent the equivalent power of the traction motor, that is, the power output by the traction motor. The current running speed value of the car is the value of the running speed of the car at the current moment. The value of the running speed can change with the change of time.

[0052] The running state is a state related to the running speed. The running state may include a uniform running state and a non-uniform running state, and the non-uniform running state may include an accelerated running state and a decelerated running state. In the process from the start to the stop of the car, the change process of the value of the running speed of the car may be first increased, then kept constant, and finally decreased, that is, the change process of the running state of the car may be first an accelerated running state, then a uniform running state, and finally a decelerated running state. Stopping means stopping at a certain floor to allow passengers or goods to enter and exit the car.

[0053] The reference position is the lowest position that the car can reach. For example, the car can be set to reach the lowest level of the building below ground level, then the lowest position can be the position of the car when the car reaches the building below ground level. The operating height is the height between the car position reached by the car and the reference position. The operating height can represent the distance from the car position to the reference position in the height direction. The current value of the operating height is the height value between the car position at the current moment and the reference position.

[0054] Exemplarily, the first electrical signal may include a current signal and a voltage signal, and the computer device may obtain the current current value of the traction motor and the current voltage value of the traction motor from the current signal and the voltage signal in the first electrical signal, respectively, and determine the current motor power value of the traction motor according to the current current value and the current voltage value. The current current value is the value of the three-phase current of the traction motor at the current moment. The current voltage value is the value of the three-phase voltage of the traction motor at the current moment.

[0055] In one embodiment, the first electrical signal may include a current signal and a voltage signal. The computer device can determine the current frequency value of the current frequency at different times according to the current signal, and determine the voltage frequency value of the voltage frequency at different times according to the voltage signal; for each moment, based on the current frequency value at that moment and the voltage frequency value at that moment, determine the electrical signal frequency value of the electrical signal frequency at that moment; based on the electrical signal frequency value at the current moment, determine the value of the current running speed of the car.

[0056] Among them, different moments are multiple moments from the start moment of the electrical signal to the current moment, which may include the current moment and multiple preset moments in history, or may include the current moment and multiple acquisition moments in history. The acquisition moment is the moment of collecting current or voltage. The step of determining the current frequency value of the current frequency at different moments according to the current signal, or the step of determining the voltage frequency value of the voltage frequency at different moments according to the voltage signal, can be implemented by using the zero-crossing method or an algorithm based on Clark transform (Clark transform is used to convert three-phase electrical signals into two-phase electrical signals). The zero-crossing point refers to the moment when the signal waveform changes from positive to negative (or from negative to positive). The frequency value of the electrical signal at a certain moment can be one of the current frequency value at the same moment and the voltage frequency value at the same moment, or it can be obtained by fusing the current frequency value at the same moment and the voltage frequency value at the same moment, such as calculating the average value.

[0057] In the case where the traction motor is a permanent magnet synchronous motor, the frequency of the electric signal may be in direct proportion to the running speed, and the direct proportional relationship may be expressed as: the running speed is equal to the frequency of the electric signal multiplied by the direct proportional coefficient. The direct proportional coefficient may be the ratio between the maximum value of the running speed of the car and the target value of the electric signal frequency. The maximum value of the running speed may also be referred to as the maximum elevator speed value, which may be obtained from the parameter plate of the elevator. The value of the running speed of the car in a uniform running state may be the same as the maximum value of the running speed, and the target value of the electric signal frequency is the value of the electric signal frequency of the car in a uniform running state.

[0058] When the traction motor is a permanent magnet synchronous motor, the speed of the traction motor is proportional to the voltage frequency and current frequency output by the inverter to the traction motor. Since the speed of the traction motor is proportional to the running speed of the car, it can be inferred that the electrical signal frequency of the traction motor is proportional to the running speed. For the change of the electrical signal frequency, in the process from starting to stopping of the car (a complete operation process), the car will first enter the acceleration state, then enter the uniform speed state, and finally enter the deceleration state. The corresponding change of the electrical signal frequency is first close to the positive proportion of the increase, then unchanged (horizontal state), and finally positive proportion of the decrease. The curve of the change of the electrical signal frequency in a complete operation process is similar to a trapezoid.

[0059] In one embodiment, the computer device can determine the value of the running speed of the car at each moment based on the value of the frequency of the electrical signal at each moment in different moments, determine the value of the running acceleration of the car at different moments based on the relationship between the running speed and time constructed by the values ​​of the running speed of the car at different moments, obtain the current value of the running acceleration from the values ​​of the running acceleration at different moments, and determine the current running state of the car according to the current value of the running acceleration.

[0060] In one embodiment, during the ascent of the car, when the car has not reached the highest position that the car can reach after starting from a reference position and the number of stops of the car is zero, the current value of the running height between the position of the car and the reference position is determined based on the values ​​of the running speed at different times between the time when the car is started from the reference position and the current time.

[0061] The car rises or falls according to the running speed and the running acceleration. It can be understood that the current value of the running height in this embodiment can be the displacement of the car from the reference position to the current position of the car, which can be calculated by the relationship between the running speed, time and displacement.

[0062] In one embodiment, when the car has not reached the highest position that the car can reach after starting from a reference position, the height value between the current stop position and the reference position is recorded each time the car stops; further, when the car has not reached the highest position that the car can reach after starting from the reference position, and the number of stops of the car is greater than zero, the height value between the car position and the previous stop position is determined based on the values ​​of the running speed of the car at multiple moments between the time when the car was started from the previous stop position and the current moment, and the current value of the running height between the car position and the previous stop position is determined based on the height value between the car position and the previous stop position and the height value between the previous stop position and the reference position.

[0063] It can be understood that during the descent of the car, the moment when the car starts from the highest position it can reach can be used as a reference point (similar to the moment when the car starts from a reference position). First, the height value between the current position of the car and the highest position the car can reach is determined (similar to the method of determining the current value of the running height between the car position and the reference position during the ascent of the car). Then, the height value between the highest position and the reference position is subtracted from the height value between the current car position and the highest position of the car. The current value of the running height between the car position and the reference position during the descent of the car can be obtained.

[0064] Step 206, obtaining the pre-fitted steady-state parameter values ​​and the pre-generated rope parameter values; the steady-state parameter values ​​are related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is in the reference position; the rope parameter values ​​represent the mass change of the rope when the running height changes by a unit value.

[0065] Among them, the steady-state parameter value and the rope parameter value are obtained based on the simplified transmission system mathematical model of the elevator and the debugging data of the on-site debugging. The simplified transmission system mathematical model of the elevator can be obtained based on the transmission system mathematical model of the elevator. The transmission system mathematical model of the elevator can be referred to in the following formula (1).

[0066]

[0067] Among them, the basic principle of formula (1) is the conservation of the input power and the power consumption of the transmission system. P can represent the motor power, η can represent the transmission efficiency, and the specific value of the transmission efficiency can be obtained in advance by the engineer through on-site debugging. Pη can represent the product of the motor power and the transmission efficiency, which means the input power of the transmission system. The power consumption can include the total rotational inertia power consumption of multiple rotating parts in the transmission system, the friction resistance power of the transmission system, and the actual load operation power of the traction motor in the transmission system. The following is an explanation of each part of the power consumption.

[0068] J m ω m Δω m +J t ω t Δω t +J p ω p Δω p It can characterize the total power consumption of the moment of inertia of multiple rotating parts in the transmission system. These three parts are the power consumption of the moment of inertia of the traction motor, traction wheel, and fixed pulley in the transmission system. Multiple rotating parts in the transmission system act as energy buffers during the operation of the system: when the system accelerates, the rotating parts store energy; when the system decelerates, the rotating parts release energy. Corresponding to the traction motor, traction wheel, and fixed pulley, J m , J t , J p can represent their respective moments of inertia, ω m ,ω t ,ω p Can represent their respective angular velocities, Δω m , Δω t , Δω p The angular acceleration of each can be represented separately.

[0069] fv can represent the friction resistance power of the transmission system. f can represent the friction resistance of the system, which mainly comes from the movement friction of components such as wire ropes (ropes), pulleys, etc. v can represent the running speed of the car or the running speed of the wire rope (the two are the same).

[0070] ((m+m c +m r1 )-(m d +m r2 ))gv+((m+m r1 )-(m d +m r2 ))av can represent the actual load operating power of the traction motor in the transmission system. Among them, m can represent the load mass of the car, m cIt can represent the mass of the car (the mass of the car itself, excluding the load mass of the car), m r1 It can represent the mass of the rope on the car side, m d Can represent the mass of the counterweight, m r2 It can represent the mass of the rope on the counterweight side, g can represent the acceleration of gravity, v can represent the running speed of the car, and a can represent the running acceleration of the car.

[0071] Based on the transmission system mathematical model represented by the above formula (1), a simplified transmission system mathematical model is constructed. The simplified transmission system mathematical model may include the following formulas (2) to (12).

[0072] Pη=Jva+((m+m c +m r1 )-(m d +m r2 ))gv Formula (2)

[0073] Pη=P J +P m Formula (3)

[0074] P m =f m (m,v) Formula (4)

[0075] P m =mgv+(m c +m r -m d )gv=mgv-bgv Formula (5)

[0076] m=P m / (gv)+b Formula (6)

[0077] P J =Jva formula (7)

[0078]

[0079] P J =r2m 2 +r1m+r0 (when v is a constant) Formula (9)

[0080] r=[r 11 r 10 r 22 r 21 r 20 r 31 r 30 ] Formula (10)

[0081] r'=[r2 r1 r0] Formula (11)

[0082] m r =m r1 -m r2 =m r0 -2kh formula(12)

[0083] Among them, for formula (2), since the rotational inertia power involved in formula (1) can be combined, and the running acceleration, running speed, angular velocity, and angular acceleration in formula (1) are in a linear relationship, they can also be equivalently combined into the inertia power. Therefore, J in formula (1) m ω m Δω m +J t ω t Δω t +J p ω p Δω p , fv and ((m+m r1 )-(m d +m r2 The sum of these three parts is equivalent to Jva in formula (2), and ((m+m c +m r1 )-(m d +m r2 ))gv, thus we get formula (2).

[0084] In formula (3), the right side of formula (2) is divided into two parts, P J It can characterize the inertia power of the transmission system, P m It can characterize the steady-state power of the transmission system, P m =((m+m c +m r1 )-(m d +m r2 ))gv From this, we can deduce formula (4) and formula (5). Formula (4) and formula (5) show that the steady-state power P m It is related to the load mass m and the running speed v. When the load mass m is a constant, the steady-state power P m It is a linear function of the running speed v; when the running speed v is a constant, the steady-state power P m It is a linear function of the load mass m.

[0085] In formula (5), b can represent the steady-state parameter, and the mass m of the car in the transmission system is c , mass of counterweight m d are fixed values, the mass of the rope m rThe steady-state parameter b will change with the change of the position of the car during the operation of the elevator. In fact, the steady-state parameter b will also change with the change of the position of the car. However, a running position (such as the reference position) can be selected as a constant to fit the value of the steady-state parameter b, and then corrected and compensated. In this way, the value of the steady-state parameter b (that is, the steady-state parameter value) is related to the mass m of the car. c , mass of counterweight m d and the mass of the rope when the car is in the reference position m r0 The value of the steady-state parameter b can be obtained by fitting based on the debugging data of the on-site debugging. Formula (6) is obtained based on formula (5).

[0086] Formula (7) can express the inertia power P J It is equal to the product of the moment of inertia J, the running speed v, and the running acceleration a. Formula (8) shows that when the load mass m is a constant, the inertia power P J The piecewise relationship between v and the running speed v. max It refers to the maximum value of the car's running speed. This value can be obtained from the elevator parameter board. V1 can be v max 0.6 times of v, v2 can be v max 0.9 times of the original value. 0.6 and 0.9 can also be set to other values ​​based on engineering experience. The segmented relationship may include three relationship formulas. The coefficients r of each relationship formula included in the segmented relationship formula represented by formula (8) are 11 、r 10 、r 22 、r 21 、r 20 、r 31 、r 30 It can be expressed as formula (10), where r represents the transient operating parameter when the load mass is determined.

[0087] Formula (8) is obtained by combining formula (7). Specifically, when the elevator just starts to accelerate (between 0 and v1), it is approximately uniformly accelerated at the beginning, so the running acceleration is approximately constant, then the inertia power P J The relationship between the speed v and the inertia power P is approximately a linear function. When the elevator is in the middle of the acceleration (between v1 and v2), the acceleration will decrease and can no longer be approximated as a constant. According to the differential equation of formula (7), its solution is a quadratic function. Therefore, the inertia power P J and the running speed v are quadratic functions. In the final stage of acceleration (v2 and v max When the acceleration is very small, it can be approximated as a constant, so the inertia power P J It is approximately a linear function of the running speed v.

[0088] Formula (9) shows that when the running speed v is a constant, the inertia power P J The relationship between the inertia power P and the load mass m. Formula (9) is obtained by combining formula (7). Specifically, the inertia J in formula (7) is usually proportional to the load mass m. Then, when the speed v and the running acceleration a are constant, the inertia power P J It is proportional to the inertia J, and J is proportional to the load mass m, so the inertia power P J It is proportional to the load mass m. However, considering the possible influence of other factors in actual engineering, it is actually possible to use formula (9) as the inertia power P J The relationship between the load mass m and the load mass m is shown in Figure 1. In actual engineering, there is little difference between the two cases where formula (9) is a linear function or a quadratic function. The coefficients r2, r1, and r0 in formula (9) can be expressed as formula (11), and r' can represent the transient operating parameters when the operating speed is determined.

[0089] Formula (12) can represent the mass m of the rope in the transmission system r and the running height h of the car. The running height h is the running height between the position of the car mentioned in step 204 and the reference position. k can represent the rope parameter, representing the change in the mass of the rope when the running height changes by a unit value, and can be understood as the change in the mass of the rope when the running height h changes by a unit value. The unit value is such as 1 meter. The value of the rope parameter k (i.e., the rope parameter value) can be generated based on the debugging data of the on-site debugging.

[0090] Exemplarily, the computer device can obtain the pre-fitted steady-state parameter value and the pre-generated rope parameter value from the pre-configured storage space. The steady-state parameter value can be stored after fitting based on the above formula (6) and the debugging data of the on-site debugging, and the rope parameter value can be stored after being generated based on the above formula (12) and the debugging data of the on-site debugging.

[0091] Step 208, when the running state is a uniform speed running state, according to the conservation of input power and power consumption of the transmission system, the value of the current load mass of the car is determined according to the current value of the motor power, the current value of the running speed, the steady-state parameter value, the rope parameter value and the current value of the running height; the input power is related to the motor power, and the power consumption is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0092] Among them, the uniform speed running state means that the car runs at the same running speed and the running acceleration is zero. The conservation of input power and power consumption of the transmission system means that the value of the input power of the transmission system is equal to the value of the power consumption of the transmission system. The input power can be obtained based on the motor power. Specifically, the input power is equal to the product of the motor power and the transmission efficiency. At the current moment, the value of the input power is equal to the current motor power value multiplied by the value of the transmission efficiency. The value of the transmission efficiency can be obtained in advance by the engineer through on-site debugging.

[0093] Referring to the above formula (3), the power consumption is equal to the sum of the inertia power and the steady-state power. Since the acceleration of the car is zero under uniform speed operation, combined with formula (7), it can be seen that the inertia power is zero at this time, so the power consumption is equal to the steady-state power. Combined with formula (5), it can be seen that under uniform speed operation, the power consumption or steady-state power is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope, and the load mass of the car.

[0094] Under uniform speed operation, the power consumption is equal to the product of the sum of mass, gravitational acceleration and running speed. The sum of mass is the sum of the overall mass formed by the mass of the car, the mass of the counterweight and the mass of the rope and the load mass of the car. The overall mass can be equal to the difference between the sum of the mass of the car and the mass of the rope and the mass of the counterweight.

[0095] Exemplarily, the computer device can determine the current value of the input power based on the current value of the motor power and the pre-stored value of the transmission efficiency; determine the value of the overall mass formed by the mass of the car, the mass of the counterweight and the mass of the rope based on the steady-state parameter value, the rope parameter value and the current value of the operating height; and determine the value of the current load mass of the car based on the current value of the input power, the current operating speed and the above-mentioned overall mass in accordance with the conservation of the input power of the transmission system and the power consumption of the transmission system.

[0096] In one embodiment, the steady-state parameter value includes a first steady-state parameter value applicable when the car is in an ascending state, and a second steady-state parameter value applicable when the car is in a descending state; when it is determined that the car is in an ascending state, the value of the current load mass of the car is determined based on the following formula (13); when it is determined that the car is in a descending state, the value of the current load mass of the car is determined based on the following formula (14).

[0097] m=P m / (gv)+b u +2k(hx a ) Formula (13)

[0098] m=P m / (gv)+b d +2k(x a+hH) Formula (14)

[0099] Among them, m can represent the load mass of the car. m It can characterize the steady-state power of the transmission system. Under uniform speed operation, the steady-state power P m The value of is equal to the value of the input power of the transmission system. g can represent the acceleration of gravity. v can represent the running speed. k can represent the rope parameter. h can represent the running height between the position of the car and the reference position. H can represent the maximum height between the highest position that the car can reach and the reference position. x a It can represent the acceleration distance, which means the distance traveled from the moment the car starts to the moment it just enters the uniform speed running state; for starting from any floor, the acceleration distance x a are approximately the same, so the acceleration distance x a Can be regarded as a constant, the acceleration distance x a The value of can be obtained through debugging data of on-site debugging, and can be specifically determined by the relationship between the running speed and time determined by the second electrical signal collected during the on-site debugging process.

[0100] b u The first steady-state parameter can be characterized. The first steady-state parameter value can be obtained by fitting the debugging data obtained by on-site debugging when the car is in an ascending state. d The second steady-state parameter can be characterized. The second steady-state parameter value can be obtained by fitting the debugging data obtained through on-site debugging when the car is in a descending state. Specifically, during on-site debugging, the car is debugged in two lifting states; in each lifting state, the load mass value of the car is set to different preset mass values, and debugging corresponding to each preset mass value is performed to obtain debugging data. The debugging data may include a first power debugging value of the motor power of the car at the first moment. The first moment refers to the moment when the operating state of the car switches from an accelerated operating state to a uniform speed operating state. In this way, the first power debugging values ​​corresponding to different preset mass values ​​in each lifting state can be obtained, and then the steady-state parameter combination value in each lifting state can be fitted.

[0101] Referring to the steady-state parameter combination value table shown in Table 1 below, n preset mass values ​​can be set, namely m1, m2, ..., m n ; When the car is in the ascending state, m1, m2, ..., m n The first power adjustment values ​​corresponding to each are P u1h , P u2h ,……,P unh The obtained steady-state parameter combination value is [a u b u ], that is, we get a u 、bu , a u It can represent the value of fitting 1 / (gv) in the ascending state. When the lifting state is the descending state, it is similar to the ascending state and will not be repeated here. v>0 can indicate that the direction of the running speed is positive and the car is in the ascending state, and v<0 can indicate that the direction of the running speed is negative and the car is in the descending state.

[0102] Table 1 Steady-state parameter combination value table

[0103]

[0104] Formula (13) and Formula (14) are obtained based on Formula (5) and Formula (12). Specifically, by substituting Formula (12) into Formula (5), we can get P m =mgv+(m c +m r0 -m d )gv-2khgv; When the car is in the ascending state, the steady-state parameters are fitted from the moment the car starts from the reference position to the moment it just enters the uniform speed running state. Assume that the distance traveled by the car from the moment the car starts from the reference position to the moment it just enters the uniform speed running state is x a , x a Substituting h, we can get P under the fitting condition m =mgv+(m c +m r0 -m d )gv-2kx a gv, thus, b u =-(m c +m r0 -m d -2kx a ), and then, after fitting, in actual operation, combined with P m =mgv+(m c +m r0 -m d )gv-2khgv, we can get P m =mgv+(m c +m r0 -m d )gv-2khgv-2kx a gv+2kx a gv, combined with b u =-(m c +m r0 -m d -2kx a ), we can get P m =mgv-b u gv+2k(x a-h)gv, and then we can derive formula (13).

[0105] When the car is in the descending state, the steady-state parameters are fitted from the moment when the car starts from the highest position to the moment when it just enters the uniform speed running state. Assume that the distance traveled by the car from the moment when the car starts from the highest position to the moment when it just enters the uniform speed running state is x. a , Hx a (H is the highest height) Substitute h, and we can get P in the case of fitting. m =mgv+(m c +m r0 -m d )gv-2k(Hx a )gv, thus, b d =-(m c +m r0 -m d -2k(Hx a )); Then, after fitting, in actual operation, we can get P m =mgv+(m c +m r0 -m d )gv-2khgv-2k(Hx a )gv+2k(Hx a )gv, combined with b d =-(m c +m r0 -m d -2k(Hx a )), we can get P m =mgv-bgv+2k(Hx a -h)gv, and then we can derive formula (14).

[0106] When calculating the value of the current load mass of the car by using the above formula (13) or formula (14), the value of the current input power can be substituted into P m , substitute the value of gravity acceleration into g, and substitute the first parameter value obtained by pre-fitting into b u , substitute the second parameter value obtained by pre-fitting into b d , substitute the pre-generated rope parameter value into k, substitute the current value of the running height into h, and substitute the pre-fitted acceleration distance value into x a , substitute the pre-stored maximum height value into H, so that the value of the current load mass of the car when the car is in an ascending state, or the value of the current load mass of the car when the car is in a descending state can be obtained accordingly.

[0107] In the traditional method of directly measuring the load mass in the car through a force sensor, long-term force on the force sensor may cause fatigue of the internal components of the sensor and produce irreversible deformation, resulting in reduced measurement accuracy and serious drift of the measurement results, which in turn leads to large deviations in the load mass fed back to the elevator control system, which may cause elevator safety accidents. The above-mentioned elevator car load mass measurement method does not require direct measurement at the force-bearing part of the car, which reduces the problem of component fatigue caused by the force on the car, has better stability during long-term work, improves the measurement accuracy of the car load mass, and can avoid causing elevator safety accidents. In the above-mentioned elevator car load mass measurement method, when the running state of the elevator car is a uniform speed running state, the input power of the elevator transmission system is related to the motor power. Therefore, the value of the input power of the transmission system can be determined according to the current motor power value. According to the conservation of the input power and power consumption of the transmission system, the value of the power consumption of the transmission system can be determined, and the power consumption is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car. In the process of elevator operation, since the relative movement between the car and the counterweight is achieved through the connection of the rope, the mass of the rope will change with the rise and fall of the car, and the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is in the reference position, and the rope parameter value represents the mass change of the rope when the running height changes by a unit value. Therefore, combined with the steady-state parameter value, the rope parameter value and the current value of the running height between the car position and the reference position, the value of the overall mass formed by the car, the counterweight and the rope can be determined more accurately, and the value of the current running speed of the car is obtained through the first electrical signal. In this way, the power consumption, the running speed, the mass of the car, the mass of the counterweight and the mass of the rope are all known, and the value of the current load mass of the car can be determined. It can be seen that in the process of determining the value of the current load mass of the car, the change in the mass of the rope caused by the lifting of the car is taken into account, so that the measured load mass is more accurate, and compared with the force sensor, there is no need to perform direct measurement at the force-bearing part of the car, which reduces the problem of component fatigue caused by the force on the car, has better stability during long-term operation, and improves the measurement accuracy of the car load mass.

[0108] In an exemplary embodiment, the consumed power is the sum of the inertia power and the steady-state power, the inertia power is zero when the running state is a uniform speed running state, and is non-zero when the running state is a non-uniform speed running state, and the steady-state power is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope, and the load mass of the car; after step 206, the above-mentioned elevator car load mass measurement method may include:

[0109] When the running state is a non-uniform speed running state, the estimated value of the inertia power is set to the default value, and the estimated value of the steady-state power is determined according to the current motor power value and the estimated value of the inertia power; the estimated value of the load mass of the car is determined according to the estimated value of the steady-state power, the current running speed value, the steady-state parameter value, the rope parameter and the current value of the running height; the estimated value of the inertia power is updated based on the current running speed value and the estimated value of the load mass, and after the update, the step of determining the estimated value of the steady-state power according to the current motor power value and the estimated value of the inertia power is returned and continued until the preconfigured iteration stop condition is met, and the estimated value of the load mass when the iteration stop condition is met is determined as the value of the current load mass of the car.

[0110] Among them, based on formula (7), it can be understood that in the non-uniform speed running state, the running acceleration is not zero, so the inertia power is not zero, so the power consumption needs to consider the steady-state power and the inertia power. The non-uniform speed running state can be an accelerated running state or a decelerated running state. The default value can be set based on engineering experience or can be obtained based on the debugging data of the on-site debugging. The estimated value can represent the value of each parameter before the iteration stop condition is met in the non-uniform speed running state.

[0111] Based on the current value of the motor power, the current value of the input power can be determined. According to the conservation of input power and power consumption, the current value of power consumption can be determined. By subtracting the estimated value of inertia power from the current power consumption, the estimated value of steady-state power can be obtained. After obtaining the estimated value of steady-state power, based on the estimated value of steady-state power, the estimated value of the load mass of the car can be determined in the same way as the load mass value of the car under uniform speed operation, that is, the calculation can be performed in a processing method basically the same as step 208, except that, since the input power is not equal to the steady-state power at this time, in "determining the value of the current load mass of the car based on the current value of the input power, the current running speed and the value of the above-mentioned overall mass", the current value of the input power needs to be replaced with the estimated value of the steady-state power. When calculating based on formula (13) or formula (14), the estimated value of the steady-state power is substituted into P. m .

[0112] The iteration stopping condition may be reaching a preset number of iterations. For example, the preset number of iterations may be 10. The iteration stopping condition may also be that the estimated value of the load mass converges. For example, the estimated values ​​of the load mass obtained twice before and after may be used as a judgment basis. When the difference between them is less than a threshold, it is considered that the estimated value of the load mass converges. The threshold may be a very small value, such as 0.01.

[0113] In this embodiment, when the operating state is a non-uniform speed operating state, the power consumption is the sum of the inertia power and the steady-state power, and both the inertia power and the steady-state power are unknown values. Therefore, the estimated value of the inertia power is first set to the default value, and the estimated value of the steady-state power is determined, and then the estimated value of the load mass of the car is determined. The estimated value of the inertia power is updated and iteratively processed until the iteration stop condition is met. In this way, the value of the current load mass of the car can be obtained more accurately.

[0114] In an exemplary embodiment, the step of updating the estimated value of inertia power based on the current running speed value and the estimated value of load mass may include: obtaining a first relationship that is adapted to the current running speed value; the first relationship characterizes the relationship between inertia power and running speed; the coefficients of the first relationship are fitted when the load mass is different preset mass values, and each preset mass value corresponds to a set of coefficients; based on the first relationship, the current running speed value and the coefficients corresponding to the different preset mass values, determining the first value of inertia power corresponding to the different preset mass values; fitting according to the second relationship according to the different preset mass values ​​and the first value of inertia power corresponding to the different preset mass values ​​to determine the coefficients in the second relationship, the second relationship characterizes the relationship between inertia power and load mass; substituting the estimated value of the load mass into the fitted second relationship to obtain the second value of inertia power, and updating the estimated value of inertia power according to the second value of inertia power.

[0115] The first relational expression may be a relational expression corresponding to the running speed range in which the current running speed value falls in the segmented relational expression shown in formula (8). For example, if the current running speed value falls between 0 and v1, the first relational expression may be P J =r 11 v+r 10 Different preset mass values ​​can be set for the load mass during on-site debugging. When the load mass is each preset mass value, debugging data corresponding to the preset mass value can be obtained through on-site debugging. Based on the debugging data, various parameters can be obtained. How to obtain various parameters based on the debugging data will be further explained in subsequent steps. The preset mass value can be set in combination with engineering experience, for example, it can be 200g (kilograms), 1005kg, 1805kg or others.

[0116] For the segmented relational expression shown in formula (8), when the value of the load mass is unknown, the coefficients in the various relational expressions included in the segmented relational expression are also unknown; and after the load mass is set to different preset mass values, the values ​​of the coefficients in the various relational expressions included in the segmented relational expression corresponding to the different preset mass values ​​can be fitted in combination with the debugging data corresponding to the different preset mass values. The coefficients in the various relational expressions included in the segmented relational expression refer to formula (10). The second relational expression can be formula (9). The coefficients in the second relational expression can include r2, r1, and r0 in formula (9).

[0117] Corresponding to each preset mass value, the lifting state and the operating state will also affect the values ​​of the coefficients in each relational expression included in the segmented relational expression. Therefore, when fitting, based on the operating state and the lifting state, it can be divided into four operating conditions for fitting. Each preset mass value corresponds to a transient operating parameter value set in each operating condition. The transient operating parameter value set is a set formed by the values ​​of the coefficients in each relational expression included in the segmented relational expression. The four operating conditions are: 1) the car is in an ascending state and in an accelerating operating state, 2) the car is in an ascending state and in a decelerating operating state, 3) the car is in a descending state and in an accelerating operating state, and 4) the car is in a descending state and in a decelerating operating state. The fitting table of transient operating parameters obtained by fitting can be shown in Table 2. n preset mass values ​​can be set, namely m1, m2, ..., m n , under each operating condition, each of the n preset quality values ​​corresponds to a set of transient operating parameter values.

[0118] Table 2 Transient operation parameter fitting table

[0119]

[0120] In Table 2, the car is in the ascending state and in the accelerating state, and the preset mass value is m1. It can be seen that the corresponding transient operation parameter value set can be r ua1 =[r ua111 r ua101 r ua221 r ua211 r ua201 r ua311 r ua301 ], where r ua111 、r ua101 、r ua221 、r ua211 、r ua201 、r ua311 、r ua301 The r in formula (8) can be expressed one by one 11 、r 10 、r 22 、r 21 、r20 、r 31 、r 30 Their respective values.

[0121] Exemplarily, the computer device can determine the current lifting state of the car, and for each preset mass value, corresponding to the current operating state and the current lifting state, obtain a set of transient operating parameter values ​​corresponding to the current operating state, the current lifting state and the preset mass value, obtain the coefficient value corresponding to the first relationship from the transient operating parameter value set, substitute the current operating speed value and the obtained coefficient value into the first relationship, and obtain the first value of the inertia power corresponding to the preset mass value.

[0122] For example, the first relation can be P J =r 11 v+r 10 , obtaining the coefficient value corresponding to the first relational expression from the transient operation parameter value set, which may be obtaining the coefficient r corresponding to the first relational expression from the transient operation parameter value set 11 、r 10 The value of r ua111 、r ua101 The transient operation parameter value set can be obtained from Table 2.

[0123] In one embodiment, the computer device can use the least square method to fit the first values ​​of the inertia power corresponding to different preset mass values ​​and the different preset mass values ​​according to the second relational expression shown in formula (9) to obtain the values ​​of the coefficients r2, r1, and r0 in formula (9). In this embodiment, the variables in the second relational expression after fitting are the load mass and the inertia power. Substituting the estimated value of the load mass into the second relational expression after fitting, the second value of the inertia power can be obtained. The second value of the inertia power replaces the estimated value of the inertia power, thereby completing the update of the estimated value of the inertia power.

[0124] In this embodiment, the first value of the inertia power is determined by using the first relationship between the inertia power and the running speed and the coefficients of the first relationship obtained by pre-fitting corresponding to different preset mass values. The characteristic that the relationship between the inertia power and the running speed can be determined when the load mass is a constant is utilized, and then a secondary fitting is performed to obtain the second relationship between the load mass and the inertia power. In this way, the estimated value of the inertia power can be updated, creating conditions for obtaining an accurate load mass value subsequently.

[0125] In an exemplary embodiment, the reference position is the lowest position that the car can reach, and the steady-state parameter value is the value of the steady-state parameter. Before step 202, the above-mentioned elevator car load mass measurement method also includes the following steady-state parameter fitting step: when the load mass is set to different preset mass values, the car is controlled to repeatedly run between the reference position and the highest position that the car can reach, and during the repeated operation of the car, corresponding to each preset mass value, a second electrical signal is collected from the traction motor; for each preset mass value, based on the second electrical signal corresponding to the preset mass value, a first power adjustment value of the motor power of the traction motor at a first moment is determined, and the first power adjustment value corresponding to the preset mass value is obtained; at the first moment, the running state of the car is switched from an accelerated running state to a uniform speed running state; a third relationship is obtained, the third relationship uses the steady-state power and the load mass as variables, and the steady-state parameter as a coefficient; the steady-state power in the third relationship is used to substitute the value of the input power determined based on the first power adjustment value; according to the third relationship, fitting is performed according to different preset mass values ​​and the first power adjustment values ​​corresponding to each of the different preset mass values ​​to obtain the steady-state parameter value.

[0126] The different preset quality values ​​may be n different preset quality values, and n is a positive integer not less than 3. The repeated operation may be performed multiple times with starting from the reference position, rising to the highest position and stopping, and then starting from the highest position and descending to the reference position and stopping as one operation cycle. Multiple times may be 5 times, 6 times or other times. The second electrical signal is an electrical signal collected from the traction motor during the elevator commissioning operation.

[0127] After collecting the second electrical signal corresponding to each preset mass value, the debugging data corresponding to the preset mass value can be determined according to the second electrical signal corresponding to the preset mass value. In this embodiment, the debugging data corresponding to each preset mass value may include the value of the running speed and the power debugging value at each moment in the repeated operation process. The power debugging value is the value of the motor power of the car determined according to the second electrical signal. It can be understood that the value of the running speed and the power debugging value in the repeated operation process determined according to the second electrical signal adopts the same algorithm as the value of the current running speed and the current motor power determined according to the first electrical signal. Through the value of the running speed at each moment, the first moment when the running state of the car switches from the accelerated running state to the uniform speed running state can be determined, and the power debugging value corresponding to the first moment is the first power debugging value.

[0128] The steady-state parameters will be affected by the lifting state of the car, so they can be fitted in two lifting states: the car is in the lifting state and the car is in the descending state. The third relationship can be formula (6). Since the debugging data just entering the uniform speed running state is used to fit the steady-state parameters, in the rising state and the descending state, (gv) in formula (6) can be equivalent to a to be fitted in Table 1. u 、a d , and at this time the steady-state power P m =Equal to the input power of the transmission system; Thus, in each lifting state, referring to Table 1, according to the third relationship, based on different preset mass values ​​(m1, m2, ..., m n ), and the first power adjustment value (P u1h , P u2h ,……,P unh ) The input power values ​​corresponding to the different preset mass values ​​determined by the least square method can be fitted to obtain the steady-state parameter combination value [a u b u ] and the steady-state parameter combination value [a d b d ], where the steady-state parameter values ​​include b u 、b d When the preset mass values ​​are 0, 1005 kg, and 1805 kg, respectively, fitting is performed based on these preset mass values ​​and the first debugging power values ​​corresponding to these preset mass values, and the following can be obtained: Figure 3 An example diagram of a curve between load mass and motor power is shown.

[0129] In this embodiment, by setting the load mass to different preset mass values, controlling the car to run repeatedly between the reference position and the highest reachable position, and collecting the second electrical signal, the first moment of switching from the accelerated running state to the uniform speed running state can be extracted. By combining the different preset mass values, the first power adjustment values ​​corresponding to the first moment of the different preset mass values, and the third relationship, the steady-state parameter value under the uniform speed running state can be fitted more accurately, creating conditions for the subsequent determination of the load mass value.

[0130] In an exemplary implementation, the first relational expression is a relational expression included in the segmented relational expression, and the segmented relational expression includes relational expressions corresponding to different value ranges of the running speed; the above-mentioned elevator car load mass measurement method also includes the following transient operating parameter fitting step: for each preset mass value, based on the second electrical signal corresponding to the preset mass value, determine the second power debugging value of the motor power of the traction motor at each second moment in different second moments, and the speed debugging value of the running speed of the car at each second moment, and obtain the second power debugging value and speed debugging value corresponding to the preset mass value at each second moment; at each second moment, the running state is a non-uniform speed running state; obtain a fourth relational expression, the fourth relational expression is based on steady-state power, load mass, and running speed as variables, and gravity acceleration and steady-state parameters as coefficients; based on the preset mass value, the speed adjustment value corresponding to the preset mass value at each second moment, the steady-state parameter value, the preset gravity acceleration value and the fourth relationship, the calculated value of the steady-state power corresponding to the preset mass value at each second moment is obtained; the difference between the value of the input power determined based on the second power adjustment value corresponding to the preset mass value at each second moment and the calculated value of the steady-state power corresponding to the preset mass value at the same second moment is determined as the calculated value of the inertia power corresponding to the preset mass value at the same second moment; according to the piecewise relationship, fitting is performed according to the speed adjustment value and the calculated value of the inertia power corresponding to the preset mass at each second moment to obtain the coefficients of each relationship included in the piecewise relationship.

[0131] Among them, different second moments are different moments when the running state is a non-uniform speed running state, specifically different moments when the running state is an accelerated running state, and different moments when the running state is a decelerated running state. For the accelerated running state, from the moment of starting acceleration, a moment can be taken at every preset time interval as the second moment in the accelerated running state until entering the uniform speed running state; for the decelerated running state, from the moment of starting deceleration, a moment can be taken at every preset time interval as the second moment in the decelerated running state until entering the uniform speed running state. The preset time interval can be 0.1 seconds. The second power debugging value is the power debugging value of the motor power at the second moment. The speed debugging value is the value of the running speed of the car at the second moment during repeated operation. The second power debugging value and the speed debugging value can be obtained from the debugging data obtained from the above-mentioned steady-state parameter fitting step.

[0132] The segmented relational expression can be shown as formula (8), and the first relational expression can be one of the segmented relational expressions. When the running speed is greater than 0 and not greater than v1, the first relational expression can be P J =r 11 v+r 10 ; When the running speed is greater than v1 and not greater than v2, the first relation can be P J =r22 v 2 +r 21 v+r 20 ; When the running speed is greater than v2 and not greater than v max , the first relation can be P J =r2m 2 +r1m+r0. The fourth relational expression can be P in formula (5) m =mgv-bgv, the value of the steady-state parameter b when the car is in the ascending state is the b obtained by fitting in Table 1 u , when the car is in the descending state, it is the b obtained by fitting in Table 1 d .

[0133] When determining the calculation value of steady-state power, it can be divided into the case where the car is in the ascending state or the car is in the descending state. Taking the car in the ascending state as an example, the fourth relationship can be P m =mgv-b u gv, for each preset mass value, at each second moment, the preset mass value is substituted into m in the fourth relational expression, the speed adjustment value corresponding to the preset mass value at the second moment is substituted into v in the fourth relational expression, the gravitational acceleration g, the first steady-state parameter value b u is a known value, so the calculated value of the steady-state power corresponding to the preset mass value at the second moment can be obtained. The processing method is similar when the car is in a descending state, which will not be repeated here. Since the input power of the transmission system is equal to the power consumption of the transmission system, and the power consumption is equal to the sum of the steady-state power and the inertia power, the calculated value of the inertia power corresponding to each preset mass value at each second moment when the car is in an ascending state and a descending state can be obtained through calculation.

[0134] When fitting the coefficients of each relationship included in the segmented relationship (i.e. fitting transient operating parameters), due to the influence of the lifting state and the operating state, four operating conditions can be fitted. The four operating conditions are: 1) the car is in an ascending state and in an accelerated operating state, 2) the car is in an ascending state and in a decelerated operating state, 3) the car is in a descending state and in an accelerated operating state, and 4) the car is in a descending state and in a decelerated operating state. Taking the operating condition 1) the car is in an ascending state and in an accelerated operating state as an example, for different preset mass values ​​m1, m2, ..., m nFor each preset mass value, the calculated value of inertia power corresponding to each preset mass value at the second moment when the car is in the ascending state and in the accelerating running state can be screened out from the calculated value of inertia power obtained in the above steps, as well as the speed adjustment value corresponding to the same preset mass value at the same moment, so that for each preset mass value, the calculated value of inertia power and the speed adjustment value corresponding to the preset mass value at each moment can be screened out, and the least squares method can be used for fitting according to the relationship corresponding to the range of the speed adjustment value in the segmented relationship, so that the values ​​of the coefficients of each relationship included in the segmented relationship corresponding to the preset mass value can be obtained, that is, the transient operation parameter value set shown in Table 2. Other operating conditions are also handled in a similar way, which will not be repeated here.

[0135] When different preset mass values ​​are 200 kg, 1005 kg, and 1805 kg, respectively, based on the calculated value of the inertia power and the speed adjustment value corresponding to each preset mass value at the second moment when the car is in the ascending state and in the accelerated running state, an example of the relationship between the inertia power and the running speed can be as follows: Figure 4 An example schematic diagram of a scatter plot of inertia power versus operating speed is shown.

[0136] The default value of the inertia power mentioned in the above steps can be obtained based on the debugging data of on-site debugging. Specifically, the coefficients of each relationship included in the segmented relationship corresponding to each preset mass value are determined through the above-mentioned transient operating parameter fitting step. In this way, the segmented relationship corresponding to each preset mass value is determined (that is, the coefficients are known). The value of the current operating speed in step 204 is substituted into the segmented relationship corresponding to each preset mass value, and the real-time calculation value of the inertia power corresponding to each preset mass value can be obtained. The real-time calculation values ​​of the inertia power corresponding to different preset mass values ​​can be averaged to obtain the default value of the inertia power.

[0137] In this embodiment, by obtaining the second power debugging value and speed debugging value at different second moments in the non-uniform speed running state, and then determining the calculated value of the steady-state power corresponding to the preset mass value at each second moment through the fourth relationship between the steady-state power, the load mass, and the running speed, the calculated value of the inertia power can be determined, and then the piecewise relationship between the inertia power and the running speed can be fitted, creating conditions for the subsequent determination of the value of the inertia power in the non-uniform speed running state.

[0138] In an exemplary embodiment, the rope parameter value is the value of the rope parameter, and the elevator car load mass measurement method further includes the following rope parameter generation step: for each preset mass value, based on the second electrical signal corresponding to the preset mass value, determining a third power adjustment value of the motor power at a third moment, and a fourth power adjustment value of the motor power at a fourth moment; after the car starts from the reference position and before reaching the highest position, at the third moment, the running state is switched from the acceleration running state to the uniform speed running state, and at the fourth moment, the running state is switched from the uniform speed running state to the deceleration running state; based on the second electrical signal corresponding to the preset mass value, determining a target speed value of the running speed of the car when it runs at a uniform speed between the third moment and the fourth moment, a first height value of the running height of the car between the position at the third moment and the reference position, and a second height value of the running height of the car between the position at the fourth moment and the reference position; determining a rope parameter estimation value corresponding to the preset mass value according to the target speed value and the third power adjustment value, the fourth power value, the first height value, and the second height value corresponding to the preset mass value; generating the rope parameter value based on the rope parameter estimation values ​​corresponding to different preset mass values.

[0139] The third power debugging value is the power debugging value of the motor power at the third moment. The fourth power debugging value is the power debugging value of the motor power at the fourth moment. The third power debugging value and the fourth power debugging value can be obtained from the debugging data obtained in the above-mentioned steady-state parameter fitting step.

[0140] The running state between the third moment and the fourth moment is maintained at a uniform speed. The target speed value is the value of the running speed between the third moment and the fourth moment. The target speed value can be obtained from the debugging data obtained in the above-mentioned steady-state parameter fitting step. The first height value can be calculated based on the relationship between the value of the running speed and time between the moment when the car starts from the reference position to the third moment. The second height value can be calculated based on the relationship between the value of the running speed and time between the moment when the car starts from the reference position to the fourth moment.

[0141] Exemplarily, the computer device may determine the estimated value of the rope parameter corresponding to the preset mass value based on the following formula (15); and the rope parameter value may be obtained by averaging the estimated values ​​of the rope parameters corresponding to different preset mass values.

[0142] P m2 -P m1 =2k(h1-h2)gv Formula (15)

[0143] Among them, P m2 Used to substitute the fourth power debugging value, P m1is used to substitute the third power adjustment value, h1 is used to substitute the first height value, h2 is used to substitute the second height value, v is used to substitute the target speed value, and g can represent the gravitational acceleration. In this way, only the rope parameter k is unknown in formula (15). The value of k is calculated to obtain the estimated value of the rope parameter. Formula (15) is obtained based on formula (5) and formula (12). Specifically, by substituting formula (12) into formula (5), P can be obtained. m =mgv+(m c +(m r0 -2kh)-m d )gv, P m1 , h1 into the obtained relationship, we can further get P m1 =mgv+(m c +(m r0 -2kh1)-m d )gv, similarly, P m2 =mgv+(m c +(m r0 -2kh2)-m d )gv, subtracting the two sides of the equal sign of the two equations can yield formula (15).

[0144] In this embodiment, corresponding to each preset mass value, the power debugging value and height value at the third moment when the running state switches from the accelerated running state to the uniform speed running state and the fourth moment when the running state switches from the uniform speed running state to the decelerated running state, as well as the target speed value between these two moments, can more accurately determine the estimated value of the rope parameter corresponding to each preset mass value, thereby generating the rope parameter value, creating conditions for subsequently accurately determining the value of the current load mass of the car.

[0145] In one embodiment, after completing the steady-state parameter fitting, transient operation parameter fitting, and rope parameter generation, the values ​​of the car load mass at multiple moments can be determined based on the second electrical signal or other electrical signals obtained by on-site debugging. An example of the relationship between the running speed and time during the time period from car start to stop can be as follows: Figure 5 The example curve diagram of running speed and time shown in the figure shows that during the time period from the start of the car to the stop, the car goes through the following steps: stationary, accelerated rise, constant speed running, deceleration, and stop. When the actual load mass of the car is 1633kg, it corresponds to Figure 5 The example diagram of the real-time load mass change curve can be shown as follows: Figure 6 As shown, based on Figure 6 The calculated average value of the load mass is 1622 kg, which has an error of 0.67% from the actual load mass. The response time of the load mass calculation is 0.5 s.

[0146] In a specific embodiment, the schematic diagram of the elevator car load mass measurement architecture can be as follows: Figure 7 As shown, based on Figure 7 After sequentially executing the above-mentioned steady-state parameter fitting step, the above-mentioned transient operation parameter fitting step, and the rope parameter generation step, the value of the current load mass of the car can be calculated under the condition of normal operation of the elevator. The flow chart of the elevator car load mass measurement step can be shown as follows: Figure 8 As shown, based on Figure 8 The above-mentioned elevator car load mass measurement method may specifically include the following steps.

[0147] During the operation of the elevator, the computer device may collect a first electrical signal from the traction motor in the transmission system of the elevator. The first electrical signal may include a current signal and a voltage signal.

[0148] Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, the current value of the running height between the car position and the reference position, and the lifting state of the car; obtain the pre-fitted steady-state parameter value and the pre-generated rope parameter value. Among them, the lifting state can be determined according to the direction of the running speed of the car at the current moment and in the previous period of time.

[0149] Determine whether the current operating state is a uniform speed operating state. When the operating state is a uniform speed operating state, according to the conservation of input power and power consumption of the transmission system, based on the current motor power value, the current operating speed value, the steady-state parameter value, the rope parameter value and the current value of the operating height, when the car is in the ascending state, use formula (13) to determine the value of the current load mass of the car. When the car is in the descending state, use formula (14) to determine the value of the current load mass of the car.

[0150] When the running state is a non-uniform speed running state, when calculating the estimated value of the load mass for the first time, the estimated value of the inertia power is set to the default value, and the estimated value of the steady-state power is determined according to the current value of the motor power and the estimated value of the inertia power; according to the estimated value of the steady-state power, the current value of the running speed, the steady-state parameter value, the rope parameter and the current value of the running height, when the car is in the rising state, the estimated value of the load mass of the car is determined by formula (13), and when the car is in the descending state, the estimated value of the load mass of the car is determined by formula (14).

[0151] Obtain the first relational expression adapted to the current running speed value in formula (8), and determine from Table 2 that the first relational expression corresponds to different preset mass values ​​m1, m2, ..., m according to the current running state and the current lifting state. nThe coefficient of each preset mass value in; based on the first relationship, the value of the current running speed and the coefficients corresponding to the different preset mass values, determine the first value P of the inertia power corresponding to the different preset mass values 1J , P 2J ,……,P nJ ; According to different preset mass values ​​and the first values ​​of inertia power corresponding to different preset mass values, fitting is performed according to formula (9) to determine the coefficient r'=[r2 r1 r0] in formula (9); the estimated value of the load mass is substituted into the fitted formula (9) to obtain the second value of the inertia power, and the estimated value of the inertia power is updated according to the second value of the inertia power.

[0152] After the update, the step of determining the estimated value of the steady-state power based on the current motor power value and the estimated value of the inertia power is returned and continued until the preconfigured iteration stop condition is met, and the estimated value of the load mass when the iteration stop condition is met is determined as the value of the current load mass of the car.

[0153] The above-mentioned elevator car load mass measurement method calculates the load mass of the car in real time during the operation of the elevator, and can be applied to elevator scheduling, abnormal diagnosis or fault diagnosis based on the fluctuation of real-time load mass, and fault diagnosis of the mass sensor of the elevator itself (for example, the pressure sensor is prone to drift, which leads to a large deviation in the load mass measured by the sensor, and the load mass of the car is one of the feedback signals of the elevator control system. If there is a large drift, it is very easy to cause the elevator control system to output too large or too small static torque, resulting in the elevator pulling backward or even serious bottom squatting or top collision accidents). Therefore, the above-mentioned elevator car load mass measurement method can ensure the safety of elevator operation.

[0154] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0155] Based on the same inventive concept, the embodiment of the present application also provides an elevator car load mass measuring device for implementing the elevator car load mass measuring method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more elevator car load mass measuring device embodiments provided below can refer to the limitations of the elevator car load mass measuring method above, and will not be repeated here.

[0156] In an exemplary embodiment, Fig. 9 As shown, an elevator car load mass measuring device 900 is provided, comprising: a collection module 910, a signal processing module 920, an acquisition module 930 and an L module, wherein:

[0157] The acquisition module 910 is used to collect the first electrical signal from the traction motor in the elevator's transmission system during the operation of the elevator; the transmission system includes a traction motor for controlling the lifting of the car, the car, a counterweight and a rope; the relative movement between the car and the counterweight is achieved through the connection of ropes.

[0158] The signal processing module 920 is used to determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car and the current value of the running height between the car position and the reference position based on the first electrical signal.

[0159] The acquisition module 930 is used to obtain the pre-fitted steady-state parameter value and the pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is in the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value.

[0160] The load mass determination module 940 is used to determine the value of the current load mass of the car when the operating state is a uniform speed operating state, according to the conservation of input power and power consumption of the transmission system, according to the current value of motor power, the current value of operating speed, steady-state parameter value, rope parameter value and the current value of operating height; the input power is related to the motor power, and the power consumption is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

[0161] In an exemplary embodiment, the power consumption is the sum of the inertia power and the steady-state power. The inertia power is zero when the operating state is a uniform speed operating state and is non-zero when the operating state is a non-uniform speed operating state. The steady-state power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car. The load mass determination module 940 is also used to set the estimated value of the inertia power to a default value when the operating state is a non-uniform speed operating state, and determine the estimated value of the steady-state power according to the current motor power value and the estimated value of the inertia power; determine the estimated value of the load mass of the car according to the estimated value of the steady-state power, the current operating speed value, the steady-state parameter value, the rope parameter and the current value of the operating height; based on the current operating speed value and the estimated value of the load mass, the estimated value of the inertia power is updated, and after the update, the step of determining the estimated value of the steady-state power according to the current motor power value and the estimated value of the inertia power is returned and continued until the preconfigured iteration stop condition is met, and the estimated value of the load mass when the iteration stop condition is met is determined as the value of the current load mass of the car.

[0162] In an exemplary embodiment, the load mass determination module 940 is also used to obtain a first relationship that is adapted to the value of the current running speed; the first relationship represents the relationship between the inertia power and the running speed; the coefficients of the first relationship are fitted when the load mass is different preset mass values, and each preset mass value corresponds to a set of coefficients; based on the first relationship, the value of the current running speed and the coefficients corresponding to the different preset mass values, the first value of the inertia power corresponding to the different preset mass values ​​is determined; according to the different preset mass values ​​and the first value of the inertia power corresponding to the different preset mass values, fitting is performed according to the second relationship to determine the coefficients in the second relationship, and the second relationship represents the relationship between the inertia power and the load mass; the estimated value of the load mass is substituted into the fitted second relationship to obtain the second value of the inertia power, and the estimated value of the inertia power is updated according to the second value of the inertia power.

[0163] In an exemplary embodiment, the reference position is the lowest position that the car can reach, and the steady-state parameter value is the value of the steady-state parameter; the acquisition module 910 is also used to control the car to repeatedly run between the reference position and the highest position that the car can reach when the load mass is set to different preset mass values, and during the repeated operation of the car, corresponding to each preset mass value, collect a second electrical signal from the traction motor; the signal processing module 920 is also used to determine, for each preset mass value, based on the second electrical signal corresponding to the preset mass value, a first power adjustment value of the motor power of the traction motor at a first moment, and obtain the first power adjustment value corresponding to the preset mass value; at the first moment, the running state of the car switches from the accelerated running state to the uniform speed running state; the elevator car load mass measuring device 900 also includes a fitting module, which is used to obtain a third relationship, the third relationship uses the steady-state power and the load mass as variables, and uses the steady-state parameter as a coefficient; the steady-state power in the third relationship is used to substitute the value of the input power determined based on the first power adjustment value; according to the third relationship, fitting is performed according to different preset mass values ​​and the first power adjustment values ​​corresponding to each of the different preset mass values ​​to obtain the steady-state parameter value.

[0164] In an exemplary embodiment, the first relational expression is a relational expression included in the segmented relational expression, and the segmented relational expression includes relational expressions corresponding to different value ranges of the running speed; the signal processing module 920 is also used to determine, for each preset mass value, based on the second electrical signal corresponding to the preset mass value, the second power debugging value of the motor power of the traction motor at each second moment in different second moments, and the speed debugging value of the running speed of the car at each second moment, and obtain the second power debugging value and speed debugging value corresponding to the preset mass value at each second moment; at each second moment, the running state is a non-uniform speed running state; the fitting module is also used to obtain a fourth relational expression, the fourth relational expression takes steady-state power, load mass, and running speed as variables, and Taking gravitational acceleration and steady-state parameters as coefficients; based on the preset mass value, the speed adjustment value corresponding to the preset mass value at each second moment, the steady-state parameter value, the preset gravitational acceleration value and the fourth relationship, the calculated value of the steady-state power corresponding to the preset mass value at each second moment is obtained; the difference between the value of the input power determined based on the second power adjustment value corresponding to the preset mass value at each second moment and the calculated value of the steady-state power corresponding to the preset mass value at the same second moment is determined as the calculated value of the inertia power corresponding to the preset mass value at the same second moment; according to the piecewise relationship, fitting is performed according to the speed adjustment value corresponding to the preset mass at each second moment and the calculated value of the inertia power, to obtain the coefficients of each relationship included in the piecewise relationship.

[0165] In an exemplary embodiment, the rope parameter value is the value of the rope parameter, and the signal processing module 920 is further used to determine, for each preset mass value, a third power adjustment value of the motor power at a third moment and a fourth power adjustment value of the motor power at a fourth moment based on the second electrical signal corresponding to the preset mass value; after the car starts from the reference position and before reaching the highest position, at the third moment, the running state is switched from the acceleration running state to the uniform speed running state, and at the fourth moment, the running state is switched from the uniform speed running state to the deceleration running state; based on the second electrical signal corresponding to the preset mass value, a target speed value of the running speed of the car when it runs at a uniform speed between the third moment and the fourth moment, a first height value of the running height of the car between the position at the third moment and the reference position, and a second height value of the running height of the car between the position at the fourth moment and the reference position are determined; the fitting module is further used to determine the rope parameter estimation value corresponding to the preset mass value according to the target speed value and the third power adjustment value, the fourth power value, the first height value, and the second height value corresponding to the preset mass value; and the rope parameter value is generated based on the rope parameter estimation values ​​corresponding to different preset mass values.

[0166] Each module in the above-mentioned elevator car load mass measuring device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0167] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.10 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data that needs to be stored when executing the above-mentioned elevator car load quality measurement method. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for measuring the load quality of an elevator car is implemented.

[0168] Those skilled in the art will understand that Fig.10The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0169] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0170] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0171] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0172] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0173] The technical features of the above embodiments may 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 application.

[0174] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for measuring the load mass of an elevator car, characterized in that: The method comprises: During the operation of the elevator, a first electrical signal is collected from a traction motor in a transmission system of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement; Based on the first electrical signal, determine the current motor power value of the traction motor, the current running speed value of the car, the current running state of the car, and the current value of the running height between the position of the car and the reference position; Acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents the mass change of the rope when the running height changes by a unit value; When the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, the value of the current load mass of the car is determined according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

2. The method according to claim 1, characterized in that The consumed power is the sum of the inertia power and the steady-state power, the inertia power is zero when the running state is the uniform speed running state, and is non-zero when the running state is the non-uniform speed running state, and the steady-state power is related to the running speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope, and the load mass of the car; The method further comprises: When the running state is the non-uniform speed running state, the estimated value of the inertia power is set to a default value, and the estimated value of the steady-state power is determined according to the value of the current motor power and the estimated value of the inertia power; determining an estimated value of the load mass of the car based on the estimated value of the steady-state power, the value of the current running speed, the steady-state parameter value, the rope parameter and the current value of the running height; Based on the value of the current running speed and the estimated value of the load mass, the estimated value of the inertia power is updated, and after the update, the step of determining the estimated value of the steady-state power based on the value of the current motor power and the estimated value of the inertia power is returned and continued until a preconfigured iteration stop condition is met, and the estimated value of the load mass when the iteration stop condition is met is determined as the value of the current load mass of the car.

3. The method according to claim 2, characterized in that The updating of the estimated value of the inertia power based on the value of the current running speed and the estimated value of the load mass includes: Obtaining a first relational expression adapted to the value of the current running speed; the first relational expression represents the relationship between the inertia power and the running speed; the coefficients of the first relational expression are obtained by fitting when the load masses are different preset mass values, and each preset mass value corresponds to a set of coefficients; Determining first values ​​of inertia power corresponding to each of the different preset mass values ​​based on the first relationship, the value of the current running speed, and the coefficients corresponding to each of the different preset mass values; According to the different preset mass values ​​and the first values ​​of the inertia power corresponding to the different preset mass values, fitting is performed according to a second relational expression to determine coefficients in the second relational expression, wherein the second relational expression represents a relationship between the inertia power and the load mass; Substitute the estimated value of the load mass into the fitted second relational expression to obtain a second value of the inertia power, and update the estimated value of the inertia power according to the second value of the inertia power.

4. The method according to claim 3, characterized in that The reference position is the lowest position that the car can reach, and the steady-state parameter value is the value of the steady-state parameter; the method further includes: When the load masses are set to different preset mass values, the car is controlled to repeatedly run between the reference position and the highest position that the car can reach, and during the repeated running of the car, a second electrical signal is collected from the traction motor corresponding to each preset mass value; For each preset mass value, based on the second electrical signal corresponding to the preset mass value, determine the first power adjustment value of the motor power of the traction motor at the first moment, and obtain the first power adjustment value corresponding to the preset mass value; at the first moment, the running state of the car is switched from the accelerated running state to the uniform speed running state; Obtaining a third relational expression, wherein the third relational expression uses the steady-state power and the load mass as variables and the steady-state parameter as a coefficient; the steady-state power in the third relational expression is used to substitute the value of the input power determined based on the first power debugging value; According to the third relationship, fitting is performed based on the different preset quality values ​​and the first power adjustment values ​​respectively corresponding to the different preset quality values ​​to obtain a steady-state parameter value.

5. The method according to claim 4, characterized in that The first relational expression is a relational expression included in a segmented relational expression, and the segmented relational expression includes relational expressions corresponding to different value ranges of the running speed; the method further includes: For each preset mass value, based on the second electrical signal corresponding to the preset mass value, determine the second power adjustment value of the motor power of the traction motor at each second moment in different second moments, and the speed adjustment value of the running speed of the car at each second moment, and obtain the second power adjustment value and speed adjustment value corresponding to the preset mass value at each second moment; at each second moment, the running state is the non-uniform speed running state; Obtaining a fourth relational expression, wherein the fourth relational expression takes the steady-state power, the load mass, and the running speed as variables, and takes the gravitational acceleration and the steady-state parameter as coefficients; Based on the preset mass value, the speed adjustment value corresponding to the preset mass value at each second moment, the steady-state parameter value, the preset gravity acceleration value and the fourth relationship, obtaining a calculated value of the steady-state power corresponding to the preset mass value at each second moment; Determine the difference between the value of the input power determined based on the second power adjustment value corresponding to the preset mass value at each second moment and the calculated value of the steady-state power corresponding to the preset mass value at the same second moment as the calculated value of the inertia power corresponding to the preset mass value at the same second moment; According to the segmented relational expression, fitting is performed according to the speed adjustment value corresponding to the preset mass at each second moment and the calculated value of the inertia power to obtain the coefficients of each relational expression included in the segmented relational expression.

6. The method according to claim 4, characterized in that The rope parameter value is a value of a rope parameter, the method further comprising: For each preset mass value, based on the second electrical signal corresponding to the preset mass value, a third power adjustment value of the motor power at a third moment and a fourth power adjustment value of the motor power at a fourth moment are determined; after the car starts from the reference position and before reaching the highest position, at the third moment, the running state is switched from the accelerated running state to the uniform speed running state, and at the fourth moment, the running state is switched from the uniform speed running state to the decelerated running state; Based on the second electrical signal corresponding to the preset mass value, determining a target speed value of the running speed when the car runs at a uniform speed between the third moment and the fourth moment, a first height value of the running height between the position of the car at the third moment and the reference position, and a second height value of the running height between the position of the car at the fourth moment and the reference position; Determine a rope parameter estimation value corresponding to the preset mass value according to the target speed value and a third power adjustment value, a fourth power value, a first height value, and a second height value corresponding to the preset mass value; A rope parameter value is generated based on the rope parameter estimation values ​​corresponding to the different preset mass values.

7. An elevator car load mass measuring device, characterized in that: The device comprises: The acquisition module is used to acquire a first electrical signal from a traction motor in a transmission system of the elevator during operation of the elevator; the transmission system includes a traction motor for controlling the lifting of a car, the car, a counterweight and a rope; the car and the counterweight are connected by the rope to achieve relative movement; a signal processing module, configured to determine, based on the first electrical signal, a current motor power value of the traction motor, a current running speed value of the car, a current running state of the car, and a current value of a running height between a position of the car and a reference position; an acquisition module, configured to acquire a pre-fitted steady-state parameter value and a pre-generated rope parameter value; the steady-state parameter value is related to the mass of the car, the mass of the counterweight and the mass of the rope when the car is at the reference position; the rope parameter value represents a mass change of the rope when the running height changes by a unit value; A load mass determination module is used to determine the value of the current load mass of the car when the operating state is a uniform speed operating state, according to the conservation of input power and consumed power of the transmission system, according to the value of the current motor power, the value of the current operating speed, the steady-state parameter value, the rope parameter value and the current value of the operating height; the input power is related to the motor power, and the consumed power is related to the operating speed of the car, the mass of the car, the mass of the counterweight, the mass of the rope and the load mass of the car.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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