Elevator position estimation method, device, equipment, storage medium and program product

Abstract

The invention relates to an elevator position estimation method and device, equipment, a storage medium and a program product. The method comprises the steps that electric signal collection is conducted on the elevator traction machine, and voltage and current in a target time period are obtained; the voltage frequency of the elevator traction machine is calculated based on the voltage, the target time period and the electric signal zero-crossing number; the current frequency of the elevator traction machine is determined; the angular speed of the elevator traction machine is calculated, the angular speed obtained based on the voltage frequency or the current frequency is input into an elevator system mathematical model for displacement calculation, and displacement information of an elevator car is obtained; and the position information of the elevator car is determined based on the displacement information and accumulated displacement information of the elevator car in the ascending or descending stage. By adopting the method, the estimation accuracy of the elevator position can be effectively improved.

Description

Technical Field

[0001] The present application relates to the field of elevator technology, and in particular to an elevator position estimation method, device, equipment, storage medium and program product. 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 when it is running, for the accurate stopping of the elevator car when going up or down, and for accurate positioning when an abnormality occurs in the elevator.

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

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

[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] Calculating the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electric signal; and converting the current into a two-phase current and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current;

[0008] Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs;

[0009] When the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car;

[0010] Based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase, the position information of the elevator car is determined.

[0011] In one embodiment, collecting electrical signals from the elevator traction machine to obtain voltage and current within a target period includes:

[0012] 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;

[0013] The sampled voltage and the sampled current are processed for zero offset elimination, and the sampled voltage and the sampled current after the offset elimination are converted into actual voltage and current.

[0014] In one embodiment, performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the sampled voltage and the sampled current after the offset elimination into actual voltage and current comprises:

[0015] Subtracting the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determining the actual voltage based on the voltage difference and the voltage relationship coefficient;

[0016] 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.

[0017] In one embodiment, the calculating the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal comprises:

[0018] In the target time period, the number of crossings of the voltage with the zero point when the voltage changes from positive to negative and from negative to positive is counted respectively, to obtain the number of voltage zero crossings of the voltage;

[0019] Calculating a voltage phase frequency of the voltage according to the voltage zero crossing number and the target time period;

[0020] The voltage phase frequency of the voltage is averaged to obtain the voltage frequency of the elevator traction machine.

[0021] In one embodiment, converting the current into a two-phase current and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current comprises:

[0022] The current is converted into a two-phase current using an equal-amplitude Clark transformation method;

[0023] determining a phase angle based on the two-phase currents;

[0024] Processing the phase angle according to a phase angle differentiation method to obtain a corresponding angular frequency;

[0025] The angular frequency is mean filtered to obtain the current frequency of the elevator traction machine.

[0026] In one embodiment, the voltage is a three-phase voltage, and the method further includes:

[0027] Performing effective value calculation on each phase voltage of the three-phase voltage to obtain effective value calculation results corresponding to the three-phase voltages respectively;

[0028] The effective value calculation results corresponding to the three-phase voltages are averaged to obtain an effective voltage value corresponding to the three-phase voltages.

[0029] In one of the embodiments, when the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car, including:

[0030] When the voltage effective value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity obtained based on the voltage frequency is used as a first angular velocity of the comprehensive angular velocity;

[0031] When the voltage effective value corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is used as a second angular velocity of the comprehensive angular velocity;

[0032] The comprehensive angular velocity is input into the mathematical model of the elevator system, so that the mathematical model of the elevator system performs displacement calculation based on the traction wheel radius of the elevator traction machine, the rotation displacement of the traction wheel and the first angular velocity or the second angular velocity in the comprehensive angular velocity to obtain the displacement information of the elevator car.

[0033] In a second aspect, the present application further provides an elevator position estimation device, the device comprising:

[0034] The acquisition module is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target period;

[0035] a first calculation module, configured to calculate the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal; and to convert the current into a two-phase current and determine the current frequency of the elevator traction machine based on the phase angle of the two-phase current;

[0036] a second calculation module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs;

[0037] a third calculation module, configured to input the angular velocity obtained based on the voltage frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car when the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold value; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold value, input the angular velocity obtained based on the current frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car;

[0038] A 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 up or down phase.

[0039] In one of the embodiments, 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 for zero offset elimination, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

[0040] In one of the embodiments, the acquisition module is also 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.

[0041] In one of the embodiments, the first calculation module is further used to count the number of crossings of the voltage with zero when the voltage changes from positive to negative and from negative to positive during the target time period, respectively, to obtain the number of voltage zero crossings of the voltage; calculate the voltage phase frequency of the voltage based on the number of voltage zero crossings and the target time period; and perform mean calculation on the voltage phase frequency of the voltage to obtain the voltage frequency of the elevator traction machine.

[0042] In one of the embodiments, the first calculation module is also used to convert the current into a two-phase current using an equal-amplitude Clark transformation method; determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differentiation method to obtain the corresponding angular frequency; and perform mean filtering on the angular frequency to obtain the current frequency of the elevator traction machine.

[0043] In one embodiment, the voltage is a three-phase voltage, and the device further comprises:

[0044] The fourth calculation module is used to perform effective value calculation on each phase voltage of the three-phase voltage to obtain effective value calculation results corresponding to the three-phase voltages; perform average calculation on the effective value calculation results corresponding to the three-phase voltages to obtain a voltage effective value corresponding to the three-phase voltage.

[0045] In one of the embodiments, the third calculation module is further used to use the angular velocity obtained based on the voltage frequency as the first angular velocity of the comprehensive angular velocity when the voltage effective value corresponding to the voltage is greater than or equal to a preset threshold value; and to use the angular velocity obtained based on the current frequency as the second angular velocity of the comprehensive angular velocity when the voltage effective value corresponding to the voltage is less than the preset threshold value; and input the comprehensive angular velocity into the mathematical model of the elevator system, so that the mathematical model of the elevator system performs displacement calculation based on the traction wheel radius of the elevator traction machine, the traction wheel rotation displacement, and the first angular velocity or the second angular velocity in the comprehensive angular velocity to obtain the displacement information of the elevator car.

[0046] In a third aspect, the present application further provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the elevator position estimation method when executing the computer program.

[0047] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the elevator position estimation method are implemented.

[0048] In a fifth aspect, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the elevator position estimation method are implemented.

[0049] The above-mentioned elevator position estimation method, device, computer equipment, storage medium and computer program product collect electrical signals from the elevator traction machine to obtain the voltage and current within the target time period; calculate the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal; and convert the current into a two-phase current, and determine the current frequency of the elevator traction machine based on the phase angle of the two-phase current; calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; when the voltage effective value corresponding to the voltage is greater than or equal to a preset threshold, input the angular velocity obtained based on the voltage frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the voltage effective value corresponding to the voltage is less than the preset threshold, input the angular velocity obtained based on the current frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase, determine the position information of the elevator car. Since the solution of the present application uses the voltage and current of the elevator traction machine to estimate the position, no initial position calibration is required. The specific position of the elevator can be known even after the elevator power is restored after a power outage, and it is not affected by vibration or electromagnetic interference, so the accuracy of the elevator position estimation can be effectively ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is an application environment diagram of an elevator position estimation method in one embodiment;

[0051] Figure 2 is a structural schematic diagram of an elevator system in one embodiment;

[0052] Figure 3 1 is a flow chart of an elevator position estimation method according to an embodiment;

[0053] Figure 4 A schematic diagram of voltage and current obtained by collecting electrical signals in one embodiment;

[0054] Figure 5 is a schematic diagram of a frequency calculated based on a voltage signal in one embodiment;

[0055] Figure 6 is a schematic diagram of converting a three-phase current into a two-phase current in one embodiment;

[0056] Figure 7 is a schematic diagram of an angular frequency obtained based on a Clark transformation method in one embodiment;

[0057] Figure 8 is a schematic diagram of an angular velocity calculated based on an angular frequency obtained by a Clark transformation method in one embodiment;

[0058] Fig. 9 It is a schematic diagram of an angular velocity calculated by a zero-crossing method, an angular velocity calculated by an angular frequency obtained by a Clark transformation method, and a comprehensive angular velocity in one embodiment;

[0059] Fig.10 is a schematic diagram of a speed curve and position information in one embodiment;

[0060] Fig.11 is a structural block diagram of an elevator position estimation device in one embodiment;

[0061] Fig.12 is a structural block diagram of an elevator position estimation device in another embodiment;

[0062] Fig.13 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0063] 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.

[0064] It should be noted that in the following description, the terms "first, second and third" involved 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 in 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.

[0065] The elevator position estimation method based on electrical signals provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. It should be pointed out that Figure 1 The elevator 102 and the service device 104 are shown. In some practical application scenarios, the application environment of the elevator position estimation method may only include the elevator 102.

[0066] in, Figure 1 The elevator 102 is connected to the service device 104 via wired or wireless communication. The data storage system can store data that the service device 104 needs to process. The data storage system can be integrated on the service device 104, or it can be placed on the cloud or other network service devices.

[0067] The service device 104 may be an independent physical server or other device that can be used to monitor and control the elevator.

[0068] like Figure 2As shown, the elevator 102 can be called 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.

[0069] In one embodiment, Figure 3 As shown, a method for estimating an elevator position is provided, which can be executed by a computer device, which can be Figure 1 The elevator or service equipment in the elevator is performed, including the following steps:

[0070] S302, collecting electrical signals from the elevator traction machine to obtain the voltage and current within the target time period.

[0071] Among them, the elevator traction machine can be a key component in the elevator system, responsible for driving the elevator car and counterweight to rise and fall, and the motor used by the elevator traction machine 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, Variable Voltage and Variable Frequency) control, that is, by changing the input voltage and frequency of the elevator traction machine to achieve control of the speed and smooth operation. It should be pointed out that when the input voltage is low, the frequency is also low, and when the voltage is high, the frequency is also high.

[0072] The target period can be called the target time interval, which is the time course experienced by the collected electrical signal, such as a time interval of 0.1 second (s).

[0073] 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.

[0074] The voltage and current in the target time period may be: the voltage and current obtained by sampling the electrical signal of the elevator traction machine and undergoing digital-to-analog conversion in the target time period, which may also be referred to as digitized voltage signals and current signals. It should be noted that the voltage and current in the target time period may be three-phase voltage and three-phase current, and each phase voltage and current in the target time period includes a series of voltage values ​​and current values ​​in the target time period.

[0075] 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, construct a mathematical model of the elevator system based on the simplified elevator system.

[0076] 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 wire 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 large-load elevators.

[0077] The algorithm of the elevator system mathematical model is as follows:

[0078] (1)

[0079] (2)

[0080] (3)

[0081] (4)

[0082] in, Indicates the rotor speed of the traction sheave of the elevator traction machine. represents the rotor angular velocity of the traction sheave, It indicates the wheel radius of the traction wheel, and 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. It indicates the displacement of the wheel surface during the rotation of the traction wheel. Indicates the movement displacement of the elevator car.

[0083] 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.

[0084] 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.

[0085] In the process of collecting electrical signals, the computer device can sample the electrical signals inputted by the frequency converter to the elevator traction machine at a preset frequency to obtain the sampled voltage signal and the sampled current signal within the 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 the 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.

[0086] 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 the 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 the 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, with the horizontal axis being the time axis and the vertical axis being the current signal axis.

[0087] When eliminating zero offset and converting actual voltage and current, the following calculation formula can be used for calculation, as follows:

[0088]

[0089]

[0090] Among them, are the zero offset of voltage measurement, are the zero offset of current measurement, are the corresponding coefficients between the actual voltage and the sampled voltage, are the corresponding coefficients between the actual ground current and the sampling current, are the sampling voltage, are the sampling currents respectively.

[0091] S304, calculating the voltage frequency of the elevator traction machine based on the voltage, target period and number of zero crossings of the electrical signal; and converting the current into two-phase current and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current.

[0092] The number of zero crossings of the electrical signal may be the number of crossings of the voltage with the zero point when the voltage changes from positive to negative and from negative to positive within the target time period.

[0093] In one embodiment, the voltage is a three-phase voltage; therefore, the computer device can use a zero-crossing method to calculate the voltage frequency of the elevator traction machine in combination with the voltage in the target time period.

[0094] Among them, the zero-crossing method is a method of calculating the frequency by detecting the signal crossing the zero point. The algorithm does not require complex mathematical calculations or signal processing, and has good robustness and strong anti-interference ability. Moreover, the zero-crossing detection can be performed when each cycle of the signal occurs, so it can provide real-time frequency measurement, which is suitable for application scenarios that require fast response and facilitates hardware deployment.

[0095] The calculation process of voltage frequency may specifically include: the computer device counts the number of crossings of the voltage with zero when the voltage changes from positive to negative and from negative to positive during the target time period to obtain the number of voltage zero crossings; the voltage phase frequency of the voltage is calculated based on the number of voltage zero crossings and the target time period; the voltage phase frequency of the voltage is averaged to obtain the voltage frequency of the elevator traction machine.

[0096] For example, every time n frames of data are received, the data is processed once, and the time interval is , use the zero-crossing method to calculate the frequency of the voltage. Each time a value changes from positive to negative and vice versa, a zero crossing is recorded. N zero crossings are detected. Considering that there are two zero crossings in one cycle, the number of cycles of the signal is , and then get the phase frequency .

[0097] The voltage has three phases, and the three-phase voltage can be calculated using the zero-crossing method to get the corresponding phase frequency ,here Indicates the time interval The time coordinate after segmentation. The phase frequencies of phases A, B, and C of the voltage are averaged to obtain the voltage frequency ,like Figure 5 shown.

[0098] It should be pointed out that the zero-crossing method is based on the time interval , contains n frames of data to calculate the angular frequency, the coordinates are transformed from t to . Indicates the time interval The time coordinate after segmentation.

[0099] The calculation process of the current frequency may specifically include: converting the current into a two-phase current, and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current, including: converting the current into a two-phase current using an equal-amplitude Clark transformation method; determining the phase angle based on the two-phase current; processing the phase angle according to the phase angle differential method to obtain the corresponding angular frequency; and performing mean filtering on the angular frequency to obtain the current frequency of the elevator traction machine.

[0100] Among them, Clark Transform is a method of converting the three-phase stationary coordinate system ( ) is converted to a two-phase stationary coordinate system ( ) is widely used in motor control and power systems to simplify 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 frequency can be calculated in each sampling period in combination with the phase angle differentiation method, which has high real-time performance. Through appropriate filtering and signal processing, the influence of noise on frequency calculation can be reduced, thereby improving the stability and reliability of the system.

[0101] In addition, the equal-amplitude Clark transformation method can ensure that the two-phase currents after transformation (such as The amplitude of the original three-phase current (such as components) are equal in magnitude.

[0102] 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 6 As shown, the angle is the phase angle of the two-phase current. The specific transformation matrix of the current is as follows:

[0103]

[0104] Through Clark transformation, the original three-phase current Convert to Two-phase current , phase angle It can be calculated by the following formula:

[0105]

[0106] After obtaining the phase angle, the angular frequency can be obtained by further using the phase angle differentiation method. , the specific formula is as follows, where the sampling frequency =3024HZ:

[0107]

[0108] Among them, the angular frequency calculated by the above method is as follows: Figure 7 As shown in the figure, the horizontal axis is the time axis (the value on the time axis in the figure needs to be multiplied by 10 to the fifth power), and the vertical axis is the angular frequency axis. It can be seen that there is noise in the angular frequency, so the angular frequency can be averaged and filtered. The angular frequency of the current is converted into is the angular frequency of the coordinate, which is unified with the angular frequency calculated at the zero crossing point. is the coordinate, and the mean filter can also eliminate noise and interference. The conversion formula of the mean filter is as follows:

[0109]

[0110] S306, calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and calculating the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs.

[0111] 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 represents the number of motor pole pairs. Therefore, the angular velocity is calculated from the voltage frequency .

[0112] In addition, for the angular velocity calculated from the current, the angular velocity formula is , where P is the number of motor pole pairs. Therefore, the above formula can be used to obtain the angular velocity calculated by the current through the Clark method: ,like Figure 8 As shown, the corresponding formula is as follows:

[0113]

[0114] S308, when the effective voltage value corresponding to the voltage is greater than or equal to the preset threshold value, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective voltage value corresponding to the voltage is less than the preset threshold value, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car.

[0115] The voltage effective value may be an effective value calculated based on the voltage.

[0116] In one embodiment, the voltage is a three-phase voltage; therefore, the computer device can perform effective value calculation on each phase voltage in the three-phase voltage to obtain effective value calculation results corresponding to the three-phase voltages respectively; perform average calculation on the effective value calculation results corresponding to the three-phase voltages respectively to obtain a voltage effective value corresponding to the three-phase voltage.

[0117] When the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold value, the computer device uses the angular velocity obtained based on the voltage frequency as the first angular velocity of the comprehensive angular velocity; when the effective value of the voltage corresponding to the voltage is less than the preset threshold value, the computer device uses the angular velocity obtained based on the current frequency as the second angular velocity of the comprehensive angular velocity; the comprehensive angular velocity is input into the mathematical model of the elevator system, so that the mathematical model of the elevator system performs displacement calculation based on the traction wheel radius of the elevator traction machine, the traction wheel rotation displacement and the first angular velocity or the second angular velocity in the comprehensive angular velocity to obtain the displacement information of the elevator car.

[0118] Considering that when the traction machine just starts and is about to stop running, it will be affected by the instability of voltage and current, resulting in the instability of the angular velocity calculated by the zero-crossing method when the motor just starts and is about to stop running, but the angular velocity calculated when the motor is running at high speed is very accurate, so the angular velocity calculated by the zero-crossing method when it is running at high speed is more accurate. Clark transformation has high accuracy, and the current has a significant amplitude change when the motor just starts and is about to stop running, making the Clark transformation more accurate in calculating the angular velocity when the motor just starts and is about to stop running. It should be pointed out that when the motor just starts and is about to stop running, it is in the low frequency band; when the motor is running at high speed, it is in the high frequency band, that is, the angular velocity calculated by the zero-crossing method in the high frequency band is more accurate, and the Clark transformation method is more accurate in calculating the angular velocity in the low frequency band. Therefore, this application uses the effective value of voltage to distinguish between the high frequency band and the low frequency band, and uses the zero-crossing method in combination with the Clark transformation to improve the accuracy of the overall algorithm. The specific method is as follows:

[0119] The effective value of each corresponding voltage can be obtained from the three-phase voltage. The specific calculation formula is as follows:

[0120]

[0121]

[0122]

[0123] The three-phase voltage effective values ​​are averaged to obtain the final voltage effective value. The specific calculation formula is as follows:

[0124]

[0125] Set the voltage RMS threshold , when the voltage is lower than When the angular velocity is calculated using the Clark transform method ; When the voltage is higher than When the angular velocity is calculated using the zero-crossing method , through the voltage threshold, combined with the angular velocities calculated by the above two methods to obtain the comprehensive angular velocity , the corresponding speed curve can be referred to Fig. 9 , the horizontal axis in this figure is the time axis. Among them, the comprehensive angular velocity The expression is as follows:

[0126]

[0127] After calculating the comprehensive angular velocity of the elevator traction machine, the comprehensive angular velocity is input into the mathematical model of the elevator system for displacement calculation, thereby obtaining the displacement information of the elevator car.

[0128] S310, determining the position information of the elevator car based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase.

[0129] The accumulated displacement information may be the total displacement information accumulated in 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).

[0130] For example, the displacement information is calculated using the integrated angular velocity, which can be referred to as Fig.10 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, so that the position information of the elevator car can be obtained, such as Fig.10 As shown in Figure (b).

[0131] In the above embodiment, the electrical signal of the elevator traction machine is collected to obtain the voltage and current in the target time period; the voltage frequency of the elevator traction machine is calculated based on the voltage, the target time period and the number of zero crossings of the electrical signal; and the current is converted into a two-phase current, and the current frequency of the elevator traction machine is determined based on the phase angle of the two-phase current; the angular velocity of the elevator traction machine is calculated according to the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is calculated according to the current frequency and the number of motor pole pairs; when the effective value of the voltage corresponding to the voltage is greater than or equal to the preset threshold, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase, the position information of the elevator car is determined. Since the solution of the present application uses the voltage and current of the elevator traction machine to estimate the position, no initial position calibration is required. The specific position of the elevator can be known even after the elevator power is restored after a power outage, and it is not affected by vibration or electromagnetic interference, so the accuracy of the elevator position estimation can be effectively ensured.

[0132] 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.

[0133] Based on the same inventive concept, the embodiment of the present application also provides an elevator position estimation device for implementing the elevator position estimation 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 position estimation device embodiments provided below can refer to the limitations of the elevator position estimation method above, and will not be repeated here.

[0134] In one embodiment, Fig.11 As shown, an elevator position estimation device is provided, including: a collection module 1102, a first calculation module 1104, a second calculation module 1106, a third calculation module 1108 and a determination module 1110, wherein:

[0135] The acquisition module 1102 is used to collect electrical signals from the elevator traction machine to obtain the voltage and current within the target time period;

[0136] The first calculation module 1104 is used to calculate the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal; and convert the current into a two-phase current and determine the current frequency of the elevator traction machine based on the phase angle of the two-phase current;

[0137] A second calculation module 1106, used to calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs;

[0138] The third calculation module 1108 is used to input the angular velocity obtained based on the voltage frequency into the elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car when the voltage effective value corresponding to the voltage is greater than or equal to the preset threshold value; or, when the voltage effective value corresponding to the voltage is less than the preset threshold value, input the angular velocity obtained based on the current frequency into the elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car;

[0139] The determination module 1110 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 up or down phase.

[0140] In one of the embodiments, the acquisition module 1102 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 for zero offset elimination, and the sampled voltage and sampled current after the offset elimination are converted into actual voltage and current.

[0141] In one embodiment, the acquisition module 1102 is also 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.

[0142] In one of the embodiments, the first calculation module 1104 is also used to count the number of crossings of the voltage with the zero point when the voltage changes from positive to negative and from negative to positive during the target time period, respectively, to obtain the number of voltage zero crossings; calculate the voltage phase frequency of the voltage based on the number of voltage zero crossings and the target time period; and perform mean calculation on the voltage phase frequency of the voltage to obtain the voltage frequency of the elevator traction machine.

[0143] In one embodiment, the first calculation module 1104 is also used to convert the current into a two-phase current using an equal-amplitude Clark transformation method; determine the phase angle based on the two-phase current; process the phase angle according to the phase angle differential method to obtain the corresponding angular frequency; and perform mean filtering on the angular frequency to obtain the current frequency of the elevator traction machine.

[0144] In one embodiment, the voltage is a three-phase voltage, such as Fig.12 As shown, the device also includes:

[0145] The fourth calculation module 1112 is used to perform effective value calculation on each phase voltage of the three-phase voltage to obtain effective value calculation results corresponding to the three-phase voltages; perform average calculation on the effective value calculation results corresponding to the three-phase voltages to obtain a voltage effective value corresponding to the three-phase voltage.

[0146] In one of the embodiments, the third calculation module 1108 is further used to use the angular velocity obtained based on the voltage frequency as the first angular velocity of the comprehensive angular velocity when the voltage effective value corresponding to the voltage is greater than or equal to a preset threshold value; and to use the angular velocity obtained based on the current frequency as the second angular velocity of the comprehensive angular velocity when the voltage effective value corresponding to the voltage is less than the preset threshold value; and to input the comprehensive angular velocity into the mathematical model of the elevator system, so that the mathematical model of the elevator system performs displacement calculation based on the traction wheel radius of the elevator traction machine, the traction wheel rotation displacement, and the first angular velocity or the second angular velocity in the comprehensive angular velocity to obtain the displacement information of the elevator car.

[0147] In the above embodiment, the electrical signal of the elevator traction machine is collected to obtain the voltage and current in the target time period; the voltage frequency of the elevator traction machine is calculated based on the voltage, the target time period and the number of zero crossings of the electrical signal; and the current is converted into a two-phase current, and the current frequency of the elevator traction machine is determined based on the phase angle of the two-phase current; the angular velocity of the elevator traction machine is calculated according to the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is calculated according to the current frequency and the number of motor pole pairs; when the effective value of the voltage corresponding to the voltage is greater than or equal to the preset threshold, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the accumulated displacement information of the elevator car in this up or down phase, the position information of the elevator car is determined. Since the solution of the present application uses the voltage and current of the elevator traction machine to estimate the position, no initial position calibration is required. The specific position of the elevator can be known even after the elevator power is restored after a power outage, and it is not affected by vibration or electromagnetic interference, so the accuracy of the elevator position estimation can be effectively ensured.

[0148] Each module in the above-mentioned elevator position estimation device can be implemented in whole or in part by software, hardware or a combination thereof. Each module 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 module.

[0149] In one embodiment, a computer device is provided, which may be a server, including a processor, a memory, an input / output interface (I / O for short) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is 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 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 relevant data involved in the position estimation process. 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 via a network connection. When the computer program is executed by the processor, a method for estimating the position of an elevator is implemented.

[0150] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Fig.13 As shown. The computer device includes a processor, a memory, an input / output interface, a communication interface, a display unit and an input device. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface, the display unit and the input device are connected to the system bus through 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 an 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 the 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 an external device. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a method for estimating the position of an elevator is implemented. 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 covered on the display screen, or a button, trackball or touchpad set on the computer device casing, or an external keyboard, touchpad or mouse, etc.

[0151] Those skilled in the art will understand that Fig.13The 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.

[0152] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above-mentioned elevator position estimation method when executing the computer program.

[0153] 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 elevator position estimation method are implemented.

[0154] In one embodiment, a computer program product is provided, comprising a computer program, which implements the steps of the above elevator position estimation method when executed by a processor.

[0155] 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 relevant laws, regulations and standards of relevant countries and regions.

[0156] Those skilled 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 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), magnetoresistive 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, etc., but are not limited to this.

[0157] 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 specification.

[0158] 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 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; Calculating the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electric signal; and converting the current into a two-phase current and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current; Calculating the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and 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 obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective voltage value corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; Based on the displacement information and the accumulated displacement information of the elevator car in the current up or down phase, the position information of the elevator car is determined.

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 time 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 processed for zero offset elimination, and the sampled voltage and the sampled current after the offset elimination are converted into actual voltage and current.

3. The method according to claim 2, characterized in that The step of performing zero offset elimination processing on the sampled voltage and the sampled current, and converting the sampled voltage and the sampled current after the offset elimination into actual voltage and current comprises: Subtracting the sampled voltage from the zero offset of the voltage measurement to obtain a voltage difference; determining the actual voltage based on the voltage difference and the 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, characterized in that The step of calculating the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal comprises: In the target time period, the number of crossings of the voltage with the zero point when the voltage changes from positive to negative and from negative to positive is counted respectively, to obtain the number of voltage zero crossings of the voltage; Calculating a voltage phase frequency of the voltage according to the voltage zero crossing number and the target time period; The voltage phase frequency of the voltage is averaged to obtain the voltage frequency of the elevator traction machine.

5. The method according to claim 1, characterized in that The step of converting the current into a two-phase current and determining the current frequency of the elevator traction machine based on the phase angle of the two-phase current comprises: The current is converted into a two-phase current using an equal-amplitude Clark transformation method; determining a phase angle based on the two-phase currents; Processing the phase angle according to a phase angle differentiation method to obtain a corresponding angular frequency; The angular frequency is mean filtered to obtain the current frequency of the elevator traction machine.

6. The method according to claim 1, 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 effective value calculation results corresponding to the three-phase voltages respectively; The effective value calculation results corresponding to the three-phase voltages are averaged to obtain an effective voltage value corresponding to the three-phase voltages.

7. The method according to any one of claims 1 to 6, characterized in that: When the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity obtained based on the voltage frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is input into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car, including: When the voltage effective value corresponding to the voltage is greater than or equal to a preset threshold, the angular velocity obtained based on the voltage frequency is used as a first angular velocity of the comprehensive angular velocity; When the voltage effective value corresponding to the voltage is less than the preset threshold, the angular velocity obtained based on the current frequency is used as a second angular velocity of the comprehensive angular velocity; The comprehensive angular velocity is input into the mathematical model of the elevator system, so that the mathematical model of the elevator system performs displacement calculation based on the traction wheel radius of the elevator traction machine, the rotation displacement of the traction wheel and the first angular velocity or the second angular velocity in the comprehensive angular velocity to obtain the displacement information of the elevator car.

8. An elevator position estimation device, 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 first calculation module, configured to calculate the voltage frequency of the elevator traction machine based on the voltage, the target time period and the number of zero crossings of the electrical signal; and to convert the current into a two-phase current and determine the current frequency of the elevator traction machine based on the phase angle of the two-phase current; a second calculation module, configured to calculate the angular velocity of the elevator traction machine according to the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine according to the current frequency and the number of motor pole pairs; a third calculation module, configured to input the angular velocity obtained based on the voltage frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car when the effective value of the voltage corresponding to the voltage is greater than or equal to a preset threshold value; or, when the effective value of the voltage corresponding to the voltage is less than the preset threshold value, input the angular velocity obtained based on the current frequency into the mathematical model of the elevator system for displacement calculation to obtain the displacement information of the elevator car; A 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 up or down phase.

9. 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 7 are implemented.

10. 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 7 are implemented.

11. 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 7 are implemented.

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