Method, apparatus, device, storage medium and program product for estimating elevator position

Abstract

The application relates to a method, device, equipment, storage medium and program product for estimating the position of an elevator. The method comprises: collecting an electrical signal of an elevator hoisting machine to obtain voltage and current in a target period; determining the voltage frequency and current frequency of the elevator hoisting machine according to the voltage and current respectively; calculating the angular velocity of the elevator hoisting machine according to the voltage frequency, current frequency and motor pole pair number, and determining the comprehensive angular velocity based on the voltage effective value corresponding to the voltage and the angular velocity; determining the start-stop time point of the elevator hoisting machine, and performing data cleaning on the comprehensive angular velocity according to the start-stop time point to obtain a target angular velocity; inputting the target angular velocity into an elevator system mathematical model to perform displacement calculation and obtain displacement information of an elevator car; and determining the position information of the elevator car based on the displacement information and the cumulative displacement information of the elevator car in the current uplink or downlink stage. The method can effectively improve the estimation accuracy of the position of the elevator.

Description

Technical Field

[0001] The present application relates to the field of elevator technology, and in particular to a method, apparatus, device, storage medium, and program product for estimating an elevator position. Background Art

[0002] Elevators are an important means of transportation in buildings. Therefore, it is particularly important to accurately estimate the position of the elevator car while it is in operation, for the precise stopping of the elevator car when going up or down, and for accurate positioning when an elevator malfunctions.

[0003] To estimate the position of an elevator, some elevators on the market are equipped with rotary encoders that can provide real-time speed and displacement information. However, the encoders used in elevators require initial position calibration. If the elevator loses power, the specific position of the elevator cannot be known, and only speed and displacement information can be obtained. Moreover, when subjected to vibration or electromagnetic interference, erroneous pulse counts may be generated, affecting position accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a method, device, equipment, storage medium and program product for estimating the position of an elevator to address the above technical problems, which can effectively improve the accuracy of the estimated position of the elevator.

[0005] In a first aspect, the present application provides a method for estimating an elevator position, the method comprising:

[0006] Collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period;

[0007] determining a voltage frequency and a current frequency of the elevator traction machine according to the voltage and the current respectively;

[0008] Calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determining a comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity;

[0009] Determining the start and stop time points of the elevator traction machine, and performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity;

[0010] Inputting the target angular velocity into a mathematical model of an elevator system to perform displacement calculation to obtain displacement information of the elevator car;

[0011] The position information of the elevator car is determined based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

[0012] In one embodiment, collecting electrical signals from the elevator traction machine to obtain voltage and current within a target time period includes:

[0013] The instantaneous value of the electrical signal input from the frequency converter to the elevator traction machine is collected to obtain the sampled voltage and sampled current within the target period; the electrical signal includes a three-phase voltage signal and a three-phase current signal;

[0014] The sampled voltage and the sampled current are subjected to zero offset elimination processing, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

[0015] In one embodiment, performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the offset-eliminated sampled voltage and sampled current into actual voltage and current includes:

[0016] Subtracting the sampled voltage from a zero offset of the voltage measurement to obtain a voltage difference; determining an actual voltage based on the voltage difference and a voltage relationship coefficient;

[0017] The sampling current is subtracted from the zero offset of the current measurement to obtain a current difference; and the actual current is determined based on the current difference and the current relationship coefficient.

[0018] In one embodiment, determining the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively includes:

[0019] The voltage and the current are converted into two-phase voltage and two-phase current, respectively, and the voltage frequency and the current frequency of the elevator traction machine are determined based on the phase angles of the two-phase voltage and the two-phase current, respectively.

[0020] In one embodiment, the converting the voltage and the current into two-phase voltage and two-phase current, respectively, and determining the voltage frequency and the current frequency of the elevator traction machine based on the phase angles of the two-phase voltage and the two-phase current, respectively, comprises:

[0021] The voltage is converted into a two-phase voltage using a Clark transformation method with equal amplitude, and a phase angle is determined based on the two-phase voltage; the phase angle is processed according to a phase angle differential method to obtain a voltage frequency of the elevator traction machine;

[0022] The equal-amplitude Clark transformation method is used to convert the current into a two-phase current, and a phase angle is determined based on the two-phase current; the phase angle is processed according to a phase angle differential method to obtain the current frequency of the elevator traction machine.

[0023] In one embodiment, the calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determining the comprehensive angular velocity based on the effective voltage value corresponding to the voltage and the angular velocity includes:

[0024] Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs;

[0025] Calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs;

[0026] When the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

[0027] In one embodiment, the voltage is a three-phase voltage, and the method further includes:

[0028] Performing effective value calculation on each phase voltage of the three-phase voltage to obtain an effective value calculation result of the three-phase voltage;

[0029] The effective value calculation results of the three-phase voltage are averaged to obtain an effective voltage value corresponding to the three-phase voltage.

[0030] In one embodiment, determining the start and stop time points of the elevator traction machine includes:

[0031] Determining the power-on and power-off timings of the elevator traction machine;

[0032] A sliding window is used to search from front to back within the time period corresponding to the power-on and power-off time points. If, during the sliding process, it is found that the current average value of the first subsegment is greater than the current average value of the second subsegment, and the current average value of the first subsegment is greater than a preset average value, a start time point is determined based on the first subsegment; the first subsegment and the second subsegment are adjacent subsegments within the time period, and during the sliding process, the first subsegment appears after the second subsegment;

[0033] The sliding window is used to search from back to front within the time period corresponding to the power-on and power-off time points. If, during the sliding process, it is found that the current average of the third subsegment is greater than the current average of the fourth subsegment, and the current average of the third subsegment is greater than the preset average, the start time point is determined according to the third subsegment; the third subsegment and the fourth subsegment are adjacent subsegments within the time period, and the third subsegment appears after the fourth subsegment during the sliding process.

[0034] In one embodiment, cleaning the data of the integrated angular velocity according to the start and stop time points to obtain the target angular velocity includes:

[0035] For the comprehensive angular velocity, data outside the time period corresponding to the start and stop time points are cleaned as noise to obtain a first cleaned angular velocity;

[0036] A filter is used to perform noise cleaning on the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0037] In a second aspect, the present application further provides a device for estimating an elevator position, the device comprising:

[0038] The acquisition module is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period;

[0039] a frequency determination module, configured to determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current;

[0040] a speed determination module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determine a comprehensive angular velocity based on the effective voltage value corresponding to the voltage and the angular velocity;

[0041] a cleaning module, configured to determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity;

[0042] a calculation module, configured to input the target angular velocity into a mathematical model of an elevator system to perform displacement calculation and obtain displacement information of the elevator car;

[0043] A position determination module is used to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

[0044] In one embodiment, the acquisition module is also used to collect instantaneous values ​​of the electrical signal input by the frequency converter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; the sampled voltage and the sampled current are processed to eliminate zero offset, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0045] In one embodiment, the acquisition module is further used to subtract the sampled voltage from the zero point offset of the voltage measurement to obtain a voltage difference; determine the actual voltage based on the voltage difference and the voltage relationship coefficient; subtract the sampled current from the zero point offset of the current measurement to obtain a current difference; and determine the actual current based on the current difference and the current relationship coefficient.

[0046] In one embodiment, the frequency determination module is further used to convert the voltage and the current into two-phase voltage and two-phase current respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angle of the two-phase voltage and the phase angle of the two-phase current respectively.

[0047] In one embodiment, the frequency determination module is further used to convert the voltage into a two-phase voltage using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase voltage; process the phase angle according to the phase angle differential method to obtain the voltage frequency of the elevator traction machine; convert the current into a two-phase current using the equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the current frequency of the elevator traction machine.

[0048] In one embodiment, the speed determination module is further used to calculate the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs; calculate the angular velocity of the elevator traction machine based on the current frequency and the number of motor pole pairs; when the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

[0049] In one embodiment, the voltage is a three-phase voltage, and the calculation module is further used to perform effective value calculation on each phase voltage of the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; and perform average calculation on the effective value calculation result of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0050] In one embodiment, the cleaning module is also used to determine the power-on and power-off time points of the elevator traction machine; use the sliding window to search from front to back in the time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average of the first sub-segment is greater than the current average of the second sub-segment, and the current average of the first sub-segment is greater than the preset average, then the start time point is determined according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments in the time period, and the first sub-segment appears after the second sub-segment during the sliding process; use the sliding window to search from back to front in the time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average of the third sub-segment is greater than the current average of the fourth sub-segment, and the current average of the third sub-segment is greater than the preset average, then the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments in the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

[0051] In one embodiment, the cleaning module is further used to clean the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity to obtain a first cleaned angular velocity; use a filter to clean the noise of the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0052] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method for estimating the position of an elevator when executing the computer program.

[0053] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the method for estimating the position of an elevator when the computer program is executed by a processor.

[0054] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the method for estimating the position of an elevator are implemented.

[0055] The above-mentioned method, device, equipment, storage medium and program product for estimating the position of an elevator collect electrical signals from the elevator traction motor to obtain the voltage and current within the target time period; determine the voltage frequency and current frequency of the elevator traction motor based on the voltage and current respectively; calculate the angular velocity of the elevator traction motor based on the voltage frequency, current frequency and motor pole pair number, and determine the comprehensive angular velocity based on the voltage effective value and angular velocity corresponding to the voltage; determine the start and stop time points of the elevator traction motor, and clean up the comprehensive angular velocity data based on the start and stop time points to obtain the target angular velocity; input the target angular velocity into the mathematical model of the elevator system to calculate the displacement to obtain the displacement information of the elevator car; determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car during the current up or down phase. Because the solution of the present application estimates the position by the voltage and current of the elevator traction motor, no initial position calibration is required, the specific position of the elevator can be known even after the elevator power is restored, and it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 A diagram illustrating an application environment of a method for estimating an elevator position according to an embodiment;

[0057] Figure 2 is a structural diagram of an elevator system in one embodiment;

[0058] Figure 3 1 is a flow chart of a method for estimating an elevator position according to an embodiment;

[0059] Figure 4 A schematic diagram of voltage and current obtained by collecting electrical signals in one embodiment;

[0060] Figure 5 is a schematic diagram of converting three-phase current into two-phase current in one embodiment;

[0061] Figure 6 A schematic diagram of voltage and current when the weights on both sides of a motor are similar in one embodiment;

[0062] Figure 7 A schematic diagram of angular velocity calculated using voltage and current when the weights on both sides of a motor are similar in one embodiment;

[0063] Figure 8 is a schematic diagram of integrated angular velocity in one embodiment;

[0064] Figure 9 1. A schematic diagram of a flow chart of determining the start and stop timing of an elevator traction machine in one embodiment;

[0065] Figure 10Schematic diagram of the start and stop time points of the voltage and current in an elevator traction machine in one embodiment;

[0066] Figure 11 Schematic diagram showing a comparison of the angular velocity of an elevator traction machine before and after noise elimination outside the start and stop time in one embodiment;

[0067] Figure 12 FIG1 is a schematic diagram showing a comparison of the angular velocity of an elevator traction machine before and after noise elimination using a filter during the start and stop time in one embodiment;

[0068] Figure 13 is a schematic diagram of a speed curve and position information in one embodiment;

[0069] Figure 14 FIG1 is a structural block diagram of an apparatus for estimating an elevator position in one embodiment;

[0070] Figure 15 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0072] It should be noted that in the following description, the terms "first, second and third" etc. are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It can be understood that "first, second and third" can be interchanged with a specific order or sequence where permitted, so that the embodiments of the present application described here can be implemented in an order other than that illustrated or described here.

[0073] The method for estimating the position of an elevator provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown in the figure, it should be pointed out that Figure 1 The elevator 102 and the service equipment 104 are shown. In some practical application scenarios, the application environment of the method for estimating the position of an elevator may only include the elevator 102.

[0074] in, Figure 1 The elevator 102 is connected to the service device 104 via a wired or wireless connection. The data storage system can store data that the service device 104 needs to process. The data storage system can be integrated with the service device 104 or placed on the cloud or other network service devices.

[0075] The service device 104 may be an independent physical server or other device that can be used to monitor and control the elevator.

[0076] like Figure 2 As shown, the elevator 102 can be referred to as an elevator system, including an elevator car, a traction wheel, a guide wheel, a guide rail, a counterweight and a traveling cable; in addition, it also includes Figure 2 The elevator traction machine, buffer, sensor, control cabinet, door system and guide system not shown in the figure.

[0077] In one embodiment, Figure 3 As shown, a method for estimating an elevator position is provided, which can be executed by a computer device. The computer device can be Figure 1 The elevator or service equipment in the elevator is performed, including the following steps:

[0078] S302: Collect electrical signals from the elevator traction machine to obtain voltage and current within a target period.

[0079] The elevator traction motor can be a key component in the elevator system, responsible for driving the elevator car and counterweight up and down. The motor used in the elevator traction motor can be a permanent magnet synchronous motor or an asynchronous motor. The elevator system in this application can adopt variable voltage and variable frequency (VVVF) control, that is, by changing the input voltage and frequency of the elevator traction motor to achieve control of speed and smooth operation. It should be noted that when the input voltage is low, the frequency is also low, and when the voltage is high, the frequency is also high.

[0080] The target period can be called the target time interval, which is the time course experienced by collecting the electrical signal, such as a time interval of 0.1 seconds (s).

[0081] The electrical signal of the elevator traction machine may be an analog electrical signal output by the frequency converter and input to the elevator traction machine. The electrical signal may be a voltage signal and a current signal, specifically a three-phase voltage signal and a three-phase current signal.

[0082] The voltage and current within the target period may be obtained by sampling the electrical signal from the elevator traction motor and performing processing such as digital-to-analog conversion during the target period, and may also be referred to as digitized voltage and current signals. It should be noted that the voltage and current within the target period may be three-phase voltage and three-phase current, and each phase voltage and current within the target period includes a series of voltage and current values ​​within the target period.

[0083] In one embodiment, the computer device can simplify the entire system of the elevator, such as retaining the elevator car, traction wheel, guide wheel, guide rail, counterweight and accompanying cable; then, a mathematical model of the elevator system is constructed based on the simplified elevator system.

[0084] Among them, the simplified elevator system can refer to Figure 2 ,in, Figure 2 The elevator system in the system adopts a 2:1 suspension system. The elevator car in this suspension system is indirectly connected to the steel rope of the elevator traction machine through a pulley system. A smaller powered elevator traction machine can be used to lift heavier loads. It is suitable for high-speed elevators and heavy-load elevators.

[0085] The algorithm of the mathematical model of the elevator system is as follows:

[0086] (1)

[0087] (2)

[0088] (3)

[0089] (4)

[0090] in, Indicates the rotor speed of the traction sheave of the elevator traction machine, represents the rotor angular velocity of the traction sheave, Indicates the wheel radius of the traction sheave, K indicates the traction ratio. When a 2:1 suspension system is used, K = 1 / 2. When a suspension system with other ratios is used, the value of K will change. Indicates the displacement of the wheel surface during the rotation of the traction sheave. Indicates the movement displacement of the elevator car.

[0091] In one embodiment, when collecting electrical signals, the computer device can collect instantaneous values ​​of the electrical signals input by the frequency converter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signals include three-phase voltage signals and three-phase current signals; the sampled voltage and sampled current are processed for zero offset elimination, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0092] The electrical signal may be an analog electrical signal, including an analog three-phase voltage signal and a three-phase current signal. The electrical signal input by the frequency converter to the elevator traction machine may be an electrical signal output by the frequency converter, which is input to the elevator traction machine.

[0093] During the electrical signal acquisition process, the computer device can sample the electrical signal input from the inverter to the elevator traction machine at a preset frequency to obtain a sampled voltage signal and a sampled current signal within a target period, and then perform analog-to-digital conversion on the sampled voltage signal and the sampled current signal to obtain the sampled voltage and sampled current within the target period, that is, a series of sampled voltage values ​​and sampled current values ​​within the target period. The preset frequency can be 2 kilohertz (KHz) or above.

[0094] In one embodiment, after obtaining the sampled voltage and sampled current, the computer device eliminates the zero offset and then converts them into actual voltage and current. Specifically, the computer device subtracts the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determines the actual voltage based on the voltage difference and the voltage relationship coefficient; subtracts the sampled current from the zero offset of the current measurement to obtain a current difference; and determines the actual current based on the current difference and the current relationship coefficient. Figure 4 As shown, Figure 4 Figure (a) shows the actual voltage, the horizontal axis is the time axis (the value on the time axis in the figure needs to be multiplied by 10 to the fourth power), and the vertical axis is the voltage signal axis; in addition, Figure 4 Figure (b) shows the actual voltage, the horizontal axis is the time axis, and the vertical axis is the current signal axis.

[0095] When eliminating zero offset and converting actual voltage and current, the following calculation formula can be used for calculation, as follows:

[0096]

[0097]

[0098] Among them, are the zero point offset of voltage measurement, are the zero offset of current measurement, are the corresponding coefficients between the actual voltage and the sampling voltage, are the corresponding coefficients between the actual ground current and the sampling current, are the sampling voltage, are the sampling currents respectively.

[0099] S304: Determine the voltage frequency and current frequency of the elevator traction machine according to the voltage and current respectively.

[0100] In one embodiment, the computer device may convert the voltage and current into two-phase voltage and two-phase current, respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angles of the two-phase voltage and the two-phase current, respectively.

[0101] Specifically, the computer equipment can use the Clark transformation method of equal amplitude to convert the voltage into two-phase voltage, and determine the phase angle based on the two-phase voltage; process the phase angle according to the phase angle differential method to obtain the voltage frequency of the elevator traction machine; use the Clark transformation method of equal amplitude to convert the current into two-phase current, and determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the current frequency of the elevator traction machine.

[0102] Among them, Clark Transform is a method of transforming the three-phase stationary coordinate system ( ) is converted to a two-phase stationary coordinate system ( ) is a mathematical transformation that is widely used in motor control and power systems. It simplifies the analysis and control of three-phase systems. The angular frequency can be directly obtained through phase angle differentiation, which is more accurate than traditional methods. The method combined with phase angle differentiation can calculate the frequency within each sampling period, with high real-time performance. Through appropriate filtering and signal processing, the impact of noise on frequency calculation can be reduced, thereby improving the stability and reliability of the system.

[0103] Therefore, the equal-amplitude Clark transformation method can be used to convert three-phase voltage and three-phase current into two-phase voltage and two-phase current. By using the equal-amplitude Clark transformation method, it can be ensured that the two-phase current after transformation (such as The amplitude of the original three-phase current (such as components) are equal in magnitude.

[0104] For example, computer equipment converts three-phase current Perform Clark transformation to transform the three-phase symmetrical coordinate system into a two-phase rotating coordinate system to obtain the two-phase current and ,like Figure 5 As shown, the angle is the phase angle of the two-phase current; in addition, the above method can also be used to convert the three-phase voltage Perform Clark transformation to transform the three-phase symmetrical coordinate system into a two-phase rotating coordinate system and obtain the two-phase voltage and Among them, the specific transformation matrix of current and voltage is as follows:

[0105]

[0106] Through Clark transformation, the original three-phase voltage and three-phase current , respectively converted to Two-phase voltage and two-phase current , phase angle Can be Calculated by the following formula:

[0107]

[0108] After obtaining the phase angle, the voltage frequency can be obtained by further using the phase angle differential method. and current frequency , the specific formula is as follows, where is the sampling frequency:

[0109]

[0110]

[0111] S306, calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency and the number of motor pole pairs, and determining the comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity.

[0112] In the case where the elevator traction machine adopts a permanent magnet synchronous motor, the present application can adopt VVVF control, thereby solving the problem of step loss and starting of the permanent magnet synchronous motor, so that the angular velocity is equal to the synchronous speed, that is, ,in Indicates the number of motor pole pairs. Therefore, the angular velocity is calculated from the voltage frequency , and the angular velocity calculated from the current frequency , the formula is as follows:

[0113]

[0114] It should be pointed out that the VVVF control method is variable frequency and variable voltage speed regulation. When the voltage is low, the frequency is also low, and when the voltage is high, the frequency is also high. When the motor first starts and enters the acceleration stage: the voltage is small and the current is large. At this time, the frequency is low and is in the low frequency band. The voltage and frequency gradually increase; when the motor enters the uniform speed stage: the voltage and frequency remain basically unchanged and enter the high frequency band. At this time, if the weights on both sides of the motor (counterweight side and car side) are similar, the current will be very small and the motor will save effort. If the weights on both sides of the motor (counterweight side and car side) are very different, the current will be large and the motor will require effort; when the motor enters the deceleration stage: the voltage and frequency continue to decrease, enter the low frequency band, and gradually decrease to zero, achieving zero-speed braking. If the weights on both sides of the motor (counterweight side and car side) are similar, the voltage and current are as follows: Figure 6 shown.

[0115] This application uses the phase angle differential method to calculate angular velocity. The quality of voltage and current affects the accuracy of the algorithm. Regarding voltage: In the low-frequency range when the motor starts and stops, the voltage is very low, and the voltage noise in this low-frequency range is relatively high. Therefore, the velocity calculated using the phase angle differential method will contain significant noise. However, in the high-frequency range, the voltage is very stable and unaffected by the load. In this case, the angular velocity calculated using the phase angle differential method is highly accurate. Regarding current: In the low-frequency range when the motor starts and stops, the motor needs to overcome static friction and inertia to accelerate from a standstill to operating speed. This process requires high torque, resulting in high current. In the low-frequency range, the current is very high, resulting in high-precision calculated angular velocity. However, in the high-frequency range, the current is affected by the load. If the weights on both sides of the motor (the counterweight side and the car side) are similar, the current will be very low. In this case, the calculated angular velocity will have a significant error. The angular velocity calculated using voltage and current when the weights on both sides of the motor are similar is shown in Figure 7.

[0116] Based on the above analysis, using current to calculate angular velocity has higher accuracy in the low-frequency range (motor start-stop period), while using voltage to calculate angular velocity has higher accuracy in the high-frequency range (motor high speed). Therefore, this application combines the angular velocity calculated by voltage and current to obtain the comprehensive angular velocity. The low-frequency range and high-frequency range are distinguished by the effective value of voltage. The specific calculation steps are as follows:

[0117] A corresponding voltage effective value can be obtained from the three-phase voltage. Specifically, the computer equipment calculates the effective value of each phase voltage in the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; and performs average calculation on the effective value calculation results of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0118] For example, each time you receive The frame data is processed once, and the time interval between two adjacent processing is , that is, the effective value of the voltage is calculated once every 0.1s. The calculation formula of the effective value of the voltage is as follows:

[0119]

[0120]

[0121]

[0122] Perform mean calculation on the effective value calculation results of the three-phase voltage to obtain an effective value of the three-phase voltage. The formula for mean calculation is as follows:

[0123]

[0124] Set the voltage RMS threshold , when the voltage is lower than When the angular velocity is calculated from the current ; When the voltage RMS is higher than When the angular velocity is calculated using the voltage , the comprehensive angular velocity is obtained by the voltage threshold and the above two angular velocities , the expression is as follows:

[0125]

[0126] Among them, the comprehensive angular velocity is obtained as Figure 8 As shown, the image shown is the speed curve of the elevator going back and forth multiple times continuously. The horizontal axis is the time axis, and the values ​​on the time axis need to be multiplied by ten to the fifth power.

[0127] S308, determining the start and stop time points of the elevator traction machine, and performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity.

[0128] The start and stop time points may be the time points at which the elevator traction machine rotates (i.e., runs) and stops, such as the start time point (i.e., the rotation time point) and the stop time point. It should be noted that the start and stop time points may refer to the start and stop times, and the corresponding start time point and stop time point may refer to the start time and stop time.

[0129] In one embodiment, a computer device determines the power-on and power-off time points of an elevator traction motor; uses a sliding window to search from front to back within a time period corresponding to the power-on and power-off time points; if during the sliding process, it is found that the current average value of the first sub-segment is greater than the current average value of the second sub-segment, and the current average value of the first sub-segment is greater than a preset average value, the start time point is determined according to the first sub-segment; uses a sliding window to search from back to front within a time period corresponding to the power-on and power-off time points; if during the sliding process, it is found that the current average value of the third sub-segment is greater than the current average value of the fourth sub-segment, and the current average value of the third sub-segment is greater than a preset average value, the start time point is determined according to the third sub-segment.

[0130] The power-on and power-off time points may be the time points at which the elevator traction machine is powered on and off. The first sub-segment and the second sub-segment are adjacent sub-segments within a time period (i.e., adjacent time periods), and during the sliding process (i.e., from front to back), → The first sub-segment appears after the second sub-segment in the process of sliding, such as the elevator traction machine from The moment starts running until Stop operation at any time, then the first sub-segment can be , the second sub-segment can be ; The third and fourth sub-segments are adjacent sub-segments within the time period, and in the sliding process (i.e. from back to front → During the sliding process), the third sub-segment appears after the fourth sub-segment, such as the third sub-segment can be , the fourth sub-segment can be .

[0131] For example, the start and stop time points of an elevator traction machine can be obtained by dividing it into the following two steps:

[0132] S1 determines the time when the inverter powers on and off the elevator traction motor.

[0133] The time points of power on and off can be determined by the effective value of voltage. When the effective value of voltage is greater than a certain value, it means that the inverter powers on the elevator traction motor. From this, the time nodes of the inverter power on and off can be found, and the three-phase current during the time when the inverter powers on and off the elevator traction motor can be obtained.

[0134] S2, determining the time point when the elevator traction machine rotates.

[0135] When the elevator traction motor rotates, the current will begin to change in amplitude periodically, while when it is not rotating, the current amplitude hardly changes. This application mainly uses a sliding window to calculate the mean value of each current segment, and finds the start and stop time nodes of the elevator traction motor through the change in the current mean.

[0136] For example, when determining the start time, the sliding window searches from front to back. If the current average value of the latter segment is greater than the current average value of the previous segment and exceeds the set threshold, the current amplitude of the latter segment begins to change, and the elevator traction motor begins to rotate. This is the start time. Furthermore, when determining the stop time, the sliding window searches from back to front. If the current average value of the latter segment is greater than the current average value of the previous segment and exceeds the set threshold, the current amplitude of the latter segment begins to change, showing periodic changes, while the amplitude change of the previous segment has stopped. The elevator traction motor stops operating, and this is the stop time.

[0137] Since the current is three-phase, we can get three starting time points and three stopping time points of the three-phase current. The three starting time points are averaged to get the time point when the elevator traction machine starts to rotate, which is the final starting time point. In addition, the three stopping time points are averaged to get the time point when the traction machine stops rotating, which is the final stopping time point. For details, please refer to Figure 9 .

[0138] In one embodiment, after determining the start and stop time points of the elevator traction machine, the computer device cleans the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity to obtain a first cleaned angular velocity; uses a filter to clean the noise of the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0139] Among them, the effect of the start and stop time points obtained by using the above-mentioned start and stop time point judgment algorithm is as follows: Figure 10 As shown, the starting time of the elevator traction machine is , the elevator traction machine stops at It can be seen that the start and stop time of the elevator traction motor is not the time when voltage and current first appear, but the elevator traction motor starts to rotate after a period of time. This is the key to reducing errors in this application. The accuracy of the start and stop time has also been verified by a large number of experiments.

[0140] Outside the start and stop time, the elevator traction motor does not operate, and the car does not undergo displacement transformation. The data outside the start and stop time is cleared as noise and set to 0. Therefore, the above start and stop time points can be used to remove the noise outside the running time. The formula is as follows:

[0141]

[0142] Among them, the angular velocity before and after removing the noise except the start and stop time, such as Figure 11 As shown, Figure 11 The horizontal axis is the time axis, and the vertical axis is the angular velocity axis.

[0143] After cleaning the data outside the start and stop times as noise, a Gaussian filter is used to clean the noise. The Gaussian filter is a commonly used linear smoothing filter. Its basic principle is to use the weights of the Gaussian function to perform a weighted average on the signal, thereby achieving the effect of smoothing the data and reducing noise. In this application, a one-dimensional discrete Gaussian filter is used, and its formula is defined as follows:

[0144]

[0145] Where t is a discrete time point, is the base of natural logarithms, is the standard deviation of the Gaussian function, which is used to control the width of the Gaussian kernel.

[0146] The Gaussian filter mentioned above is used to clean the noise of the integrated angular velocity of the error outside the cleaning stop time. The corresponding algorithm is as follows:

[0147]

[0148] Among them, * represents the convolution operation, is the angular velocity after Gaussian filtering (i.e. the target angular velocity), and the corresponding effect is as follows Figure 12 shown.

[0149] S310: Input the target angular velocity into the elevator system mathematical model to perform displacement calculation to obtain the displacement information of the elevator car.

[0150] Among them, when obtaining the target angular velocity , the displacement information of the elevator car can be obtained by establishing the mathematical model of the elevator system. The integral formula of Formula 3 uses the gradient integral formula to obtain the angular velocity Substitute formulas 1 to 4 to calculate the car displacement .

[0151] S312: Determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

[0152] The accumulated displacement information may be the total accumulated displacement information of the current upward phase (including the stop process at some floors during the upward process) or the current downward phase (including the stop process at some floors during the downward process).

[0153] For example, the displacement information is calculated using the target angular velocity, which can be referenced Figure 13 As shown in Figure (a), the currently calculated displacement information is then added to the accumulated displacement information of the elevator car during this up or down phase, thereby obtaining the position information of the elevator car, as shown in Figure 5. Figure 13 As shown in Figure (b).

[0154] In the above embodiment, electrical signals are collected from the elevator traction motor to obtain the voltage and current within the target time period; the voltage frequency and current frequency of the elevator traction motor are determined based on the voltage and current respectively; the angular velocity of the elevator traction motor is calculated based on the voltage frequency, current frequency and motor pole pair number, and the comprehensive angular velocity is determined based on the voltage effective value and angular velocity corresponding to the voltage; the start and stop time points of the elevator traction motor are determined, and the comprehensive angular velocity is cleaned according to the start and stop time points to obtain the target angular velocity; the target angular velocity is input into the mathematical model of the elevator system to calculate the displacement and obtain the displacement information of the elevator car; the position information of the elevator car is determined based on the displacement information and the accumulated displacement information of the elevator car during the current up or down phase. Since the solution of the present application estimates the position by the voltage and current of the elevator traction motor, no initial position calibration is required. The specific position of the elevator can be known even after the power is restored after a power outage, and it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation.

[0155] It should be understood that, although the various steps in the flowcharts involved in the various embodiments described above are displayed in sequence according to the instructions of the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a portion of the steps in the flowcharts involved in the various embodiments described above can include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed 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 portion of steps or stages in other steps.

[0156] Based on the same inventive concept, embodiments of the present application further provide a device for estimating elevator position for implementing the aforementioned method for estimating elevator position. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the device for estimating elevator position provided below can be found in the aforementioned method for estimating elevator position, and will not be further elaborated here.

[0157] In one embodiment, Figure 14 As shown, a device for estimating the position of an elevator is provided, comprising: an acquisition module 1402, a frequency determination module 1404, a speed determination module 1406, a cleaning module 1408, a calculation module 1410, and a position determination module 1412, wherein:

[0158] The acquisition module 1402 is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target time period;

[0159] A frequency determination module 1404 is used to determine the voltage frequency and current frequency of the elevator traction machine according to the voltage and current respectively;

[0160] The speed determination module 1406 is used to calculate the angular velocity of the elevator traction machine based on the voltage frequency, the current frequency and the number of motor pole pairs, and determine the comprehensive angular velocity based on the voltage effective value corresponding to the voltage and the angular velocity;

[0161] Cleaning module 1408 is used to determine the start and stop time points of the elevator traction machine and clean the data of the comprehensive angular velocity according to the start and stop time points to obtain the target angular velocity;

[0162] The calculation module 1410 is used to input the target angular velocity into the elevator system mathematical model to perform displacement calculation and obtain the displacement information of the elevator car;

[0163] The position determination module 1412 is configured to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

[0164] In one embodiment, the acquisition module 1402 is also used to collect instantaneous values ​​of the electrical signal input by the inverter to the elevator traction machine to obtain the sampled voltage and sampled current within the target time period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; the sampled voltage and sampled current are processed for zero offset elimination, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0165] In one embodiment, the acquisition module 1402 is further used to subtract the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determine the actual voltage based on the voltage difference and the voltage relationship coefficient; subtract the sampled current from the zero offset of the current measurement to obtain a current difference; and determine the actual current based on the current difference and the current relationship coefficient.

[0166] In one embodiment, the frequency determination module 1404 is further configured to convert the voltage and current into two-phase voltage and two-phase current, respectively, and determine the voltage frequency and current frequency of the elevator traction machine based on the phase angles of the two-phase voltage and the two-phase current.

[0167] In one embodiment, the frequency determination module 1404 is further configured to convert the voltage into a two-phase voltage using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase voltage; process the phase angle according to a phase angle differential method to obtain the voltage frequency of the elevator traction machine; convert the current into a two-phase current using an equal-amplitude Clark transformation method, and determine the phase angle based on the two-phase current; and process the phase angle according to a phase angle differential method to obtain the current frequency of the elevator traction machine.

[0168] In one embodiment, the speed determination module 1406 is further used to calculate the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs; calculate the angular velocity of the elevator traction machine based on the current frequency and the number of motor pole pairs; when the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, use the angular velocity calculated using the voltage frequency as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, use the angular velocity calculated using the current frequency as the second angular velocity of the comprehensive angular velocity.

[0169] In one embodiment, the voltage is a three-phase voltage, and the calculation module 1410 is further used to perform effective value calculation on each phase voltage in the three-phase voltage to obtain the effective value calculation result of the three-phase voltage; and perform average calculation on the effective value calculation result of the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

[0170] In one embodiment, the cleaning module 1408 is also used to determine the power-on and power-off time points of the elevator traction machine; use a sliding window to search from front to back within the time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average value of the first sub-segment is greater than the current average value of the second sub-segment, and the current average value of the first sub-segment is greater than the preset average value, then the start time point is determined according to the first sub-segment; the first sub-segment and the second sub-segment are adjacent sub-segments within the time period, and the first sub-segment appears after the second sub-segment during the sliding process; use a sliding window to search from back to front within the time period corresponding to the power-on and power-off time points; if it is found during the sliding process that the current average value of the third sub-segment is greater than the current average value of the fourth sub-segment, and the current average value of the third sub-segment is greater than the preset average value, then the start time point is determined according to the third sub-segment; the third sub-segment and the fourth sub-segment are adjacent sub-segments within the time period, and the third sub-segment appears after the fourth sub-segment during the sliding process.

[0171] In one embodiment, the cleaning module 1408 is further used to clean the data outside the time period corresponding to the start and stop time points as noise for the comprehensive angular velocity to obtain a first cleaned angular velocity; use a filter to clean the noise of the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

[0172] In the above embodiment, electrical signals are collected from the elevator traction motor to obtain the voltage and current within the target time period; the voltage frequency and current frequency of the elevator traction motor are determined based on the voltage and current respectively; the angular velocity of the elevator traction motor is calculated based on the voltage frequency, current frequency and motor pole pair number, and the comprehensive angular velocity is determined based on the voltage effective value and angular velocity corresponding to the voltage; the start and stop time points of the elevator traction motor are determined, and the comprehensive angular velocity is cleaned according to the start and stop time points to obtain the target angular velocity; the target angular velocity is input into the mathematical model of the elevator system to calculate the displacement and obtain the displacement information of the elevator car; the position information of the elevator car is determined based on the displacement information and the accumulated displacement information of the elevator car during the current up or down phase. Since the solution of the present application estimates the position by the voltage and current of the elevator traction motor, no initial position calibration is required. The specific position of the elevator can be known even after the power is restored after a power outage, and it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation.

[0173] Each module in the aforementioned device for estimating elevator position may be implemented in whole or in part through software, hardware, or a combination thereof. Each module may be embedded in or independent of a processor in a computer device in the form of hardware, or may be stored in a memory in the computer device in the form of software, so that the processor can call and execute the corresponding operations of each module.

[0174] In one embodiment, a computer device is provided, which may be a server and includes a processor, memory, an input / output (I / O) interface, and a communication interface. The processor, memory, and I / O interface are connected via a system bus, and the communication interface is connected to the system bus via the I / O interface. The processor of the computer device provides computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and 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 operating system and computer program in the non-volatile storage medium to run. The database of the computer device stores voltage, current, and position information, among other information. The I / O interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via a network connection. When executed by the processor, the computer program implements a method for estimating elevator position.

[0175] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 15 As shown. The computer device includes a processor, memory, an input / output interface, a communication interface, a display unit, and an input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are connected to the system bus via the input / output interface. 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 internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals via wired or wireless communication. The wireless communication method can be achieved via Wi-Fi, a mobile cellular network, NFC (near field communication), or other technologies. When executed by the processor, the computer program implements a method for estimating elevator position. The display unit of the computer device is used to form a visually visible image, and can be a display screen, a projection device or a virtual reality imaging device. The display screen can be a liquid crystal display screen or an electronic ink display screen. The input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse, etc.

[0176] Those skilled in the art will understand that Figure 15The 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 shown in the figure, or combine certain components, or have a different component arrangement.

[0177] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor implements the steps of the above-mentioned method for estimating the position of an elevator when executing the computer program.

[0178] 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 of the above-mentioned method for estimating the position of an elevator are implemented.

[0179] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above-mentioned method for estimating elevator position when executed by a processor.

[0180] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of relevant countries and regions.

[0181] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. 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 above-mentioned embodiments. In particular, any reference to memory, database, or other media used in the embodiments provided in this application can include at least one of non-volatile 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. By way of illustration and not limitation, RAM can take various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The databases involved in the various embodiments provided herein may include at least one of a relational database and a non-relational database. Non-relational databases may include, but are not limited to, distributed databases based on blockchains. The processors involved in the various embodiments provided herein may be, but are not limited to, general-purpose processors, central processing units (CPUs), graphics processing units (GPUs), digital signal processors (DSPs), programmable logic devices (PLDs), data processing logic devices based on quantum computing, and the like.

[0182] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0183] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A method for estimating an elevator position, characterized in that: The method comprises: Collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period; determining a voltage frequency and a current frequency of the elevator traction machine according to the voltage and the current respectively; Calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determining a comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity; Determining the start and stop time points of the elevator traction machine, and performing data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity; Inputting the target angular velocity into a mathematical model of an elevator system to perform displacement calculation to obtain displacement information of the elevator car; The position information of the elevator car is determined based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

2. The method according to claim 1, characterized in that The electrical signal acquisition of the elevator traction machine to obtain the voltage and current within the target period includes: The instantaneous value of the electrical signal input from the frequency converter to the elevator traction machine is collected to obtain the sampled voltage and sampled current within the target period; the electrical signal includes a three-phase voltage signal and a three-phase current signal; The sampled voltage and the sampled current are subjected to zero offset elimination processing, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

3. The method according to claim 2, characterized in that The performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the offset-eliminated sampled voltage and sampled current into actual voltage and current includes: Subtracting the sampled voltage from a zero offset of the voltage measurement to obtain a voltage difference; determining an actual voltage based on the voltage difference and a voltage relationship coefficient; The sampling current is subtracted from the zero offset of the current measurement to obtain a current difference; and the actual current is determined based on the current difference and the current relationship coefficient.

4. The method according to claim 1, wherein The determining the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current respectively comprises: The voltage and the current are converted into two-phase voltage and two-phase current, respectively, and the voltage frequency and the current frequency of the elevator traction machine are determined based on the phase angles of the two-phase voltage and the two-phase current, respectively.

5. The method according to claim 4, characterized in that The converting the voltage and the current into a two-phase voltage and a two-phase current, respectively, and determining the voltage frequency and the current frequency of the elevator traction machine based on the phase angles of the two-phase voltage and the two-phase current, respectively, comprises: The voltage is converted into a two-phase voltage using a Clark transformation method with equal amplitude, and a phase angle is determined based on the two-phase voltage; the phase angle is processed according to a phase angle differential method to obtain a voltage frequency of the elevator traction machine; The equal-amplitude Clark transformation method is used to convert the current into a two-phase current, and a phase angle is determined based on the two-phase current; the phase angle is processed according to a phase angle differential method to obtain the current frequency of the elevator traction machine.

6. The method according to claim 1, characterized in that Calculating the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determining the comprehensive angular velocity based on the effective value of the voltage corresponding to the voltage and the angular velocity includes: Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs; Calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; When the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity calculated using the voltage frequency is used as the first angular velocity of the comprehensive angular velocity; and when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity calculated using the current frequency is used as the second angular velocity of the comprehensive angular velocity.

7. The method according to any one of claims 1 to 6, characterized in that The voltage is a three-phase voltage, and the method further includes: Performing effective value calculation on each phase voltage of the three-phase voltage to obtain an effective value calculation result of the three-phase voltage; The effective value calculation results of the three-phase voltage are averaged to obtain an effective voltage value corresponding to the three-phase voltage.

8. The method according to any one of claims 1 to 6, characterized in that Determining the start and stop time points of the elevator traction machine includes: Determining the power-on and power-off timings of the elevator traction machine; A sliding window is used to search from front to back within the time period corresponding to the power-on and power-off time points. If, during the sliding process, it is found that the current average value of the first subsegment is greater than the current average value of the second subsegment, and the current average value of the first subsegment is greater than a preset average value, a start time point is determined based on the first subsegment; the first subsegment and the second subsegment are adjacent subsegments within the time period, and during the sliding process, the first subsegment appears after the second subsegment; The sliding window is used to search from back to front within the time period corresponding to the power-on and power-off time points. If, during the sliding process, it is found that the current average of the third subsegment is greater than the current average of the fourth subsegment, and the current average of the third subsegment is greater than the preset average, the start time point is determined according to the third subsegment; the third subsegment and the fourth subsegment are adjacent subsegments within the time period, and the third subsegment appears after the fourth subsegment during the sliding process.

9. The method according to any one of claims 1 to 6, characterized in that Cleaning the data of the integrated angular velocity according to the start and stop time points to obtain the target angular velocity includes: For the comprehensive angular velocity, data outside the time period corresponding to the start and stop time points are cleaned as noise to obtain a first cleaned angular velocity; A filter is used to perform noise cleaning on the first cleaned angular velocity to obtain a second cleaned angular velocity; the second cleaned angular velocity is the target angular velocity.

10. A device for estimating an elevator position, characterized in that: The device comprises: The acquisition module is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period; a frequency determination module, configured to determine the voltage frequency and the current frequency of the elevator traction machine according to the voltage and the current; a speed determination module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency, the current frequency, and the number of motor pole pairs, and determine a comprehensive angular velocity based on the effective voltage value corresponding to the voltage and the angular velocity; a cleaning module, configured to determine the start and stop time points of the elevator traction machine, and perform data cleaning on the comprehensive angular velocity according to the start and stop time points to obtain a target angular velocity; a calculation module, configured to input the target angular velocity into a mathematical model of an elevator system to perform displacement calculation and obtain displacement information of the elevator car; A position determination module is used to determine the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current upward or downward phase.

11. 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 9 are implemented.

12. 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 9 are implemented.

13. 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 9 are implemented.

Images