Elevator position estimation methods, devices, equipment, storage media, and program products

Abstract

This application relates to an elevator position estimation method, apparatus, device, storage medium, and program product. The method includes: acquiring electrical signals from an elevator traction machine to obtain voltage and current within a target time 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 electrical signals; determining the current frequency of the elevator traction machine; calculating the angular velocity of the elevator traction machine; inputting the angular velocity obtained based on the voltage or current frequency into an elevator system mathematical model for displacement calculation to obtain the displacement information of the 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 during the current upward or downward phase. This method can effectively improve the accuracy of elevator position prediction.

Description

Technical Field

[0001] This application relates to the field of elevator technology, and in particular to an elevator position estimation method, apparatus, device, storage medium, and program product. Background Technology

[0002] Elevators are an important means of building transportation. Therefore, it is especially important to accurately estimate the position of the elevator car during operation, to ensure the elevator car stops precisely when going up or down, and to accurately locate the elevator when an abnormality occurs.

[0003] For estimating 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, it may generate incorrect pulse counts, affecting the position accuracy. Summary of the Invention

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

[0005] In a first aspect, this application provides an elevator position estimation method, the method comprising:

[0006] Electrical signals of the elevator traction machine are collected to obtain the voltage and current during the target time period;

[0007] Based on the voltage, the target time period, and the number of zero crossings of the electrical signal, the voltage frequency of the elevator traction machine is calculated; 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.

[0008] The angular velocity of the elevator traction machine is calculated based on the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is also calculated based on the current frequency and the number of motor pole pairs.

[0009] If 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; or, if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car.

[0010] Based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase, the position information of the elevator car is determined.

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

[0012] The instantaneous values ​​of the electrical signals input from the frequency converter to the elevator traction machine are acquired 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.

[0013] The sampled voltage and sampled current are subjected to zero-point offset elimination processing, and the offset-eliminated sampled voltage and sampled current are converted into actual voltage and current.

[0014] In one embodiment, the step of performing zero-point 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:

[0015] The voltage difference is obtained by subtracting the sampled voltage from the zero-point offset of the voltage measurement; the actual voltage is determined based on the voltage difference and the voltage relationship coefficient.

[0016] The difference between the sampled current and the zero-point offset of the current measurement is used to obtain the current difference value; the actual current is determined based on the current difference value and the current relationship coefficient.

[0017] In one embodiment, 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 includes:

[0018] Within the target time period, the number of times the voltage crosses zero when it changes from positive to negative and from negative to positive is counted to obtain the number of zero-crossings of the voltage.

[0019] Calculate the voltage phase frequency based on the voltage zero-crossing number and the target time period;

[0020] The average value of the phase frequency of the voltage is calculated 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 includes:

[0022] The current is converted into a two-phase current using the Clark transformation method with equal amplitude.

[0023] The phase angle is determined based on the two-phase currents;

[0024] The phase angle is processed using the phase angle differentiation method to obtain the corresponding angular frequency;

[0025] The current frequency of the elevator traction machine is obtained by performing mean filtering on the angular frequency.

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

[0027] The effective value of each phase voltage in the three-phase voltage is calculated to obtain the effective value calculation results corresponding to the three-phase voltage respectively;

[0028] The mean value of the effective values ​​of the three-phase voltages is calculated to obtain an effective voltage value corresponding to the three-phase voltages.

[0029] In one embodiment, 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 elevator system mathematical model 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car includes:

[0030] If 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 taken as the first angular velocity of the comprehensive angular velocity;

[0031] If 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 will be used as the second angular velocity of the comprehensive angular velocity.

[0032] The composite angular velocity is input into the elevator system mathematical model so that the elevator system mathematical model can perform displacement calculation based on the traction sheave radius of the elevator traction machine, the displacement of the traction sheave, and the first or second angular velocity in the composite angular velocity, thereby obtaining the displacement information of the elevator car.

[0033] Secondly, this application also provides an elevator position estimation device, the device comprising:

[0034] The data acquisition module is used to acquire electrical signals from the elevator traction machine to obtain the voltage and current within the target time period.

[0035] The first calculation module 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 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] The second calculation module is used to calculate the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine based on the current frequency and the number of motor pole pairs.

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

[0038] The determination module is used to determine the position information of the elevator car based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase.

[0039] In one embodiment, the acquisition module is further configured to acquire instantaneous values ​​of the electrical signals input from the frequency converter to the elevator traction machine, and 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 the sampled current are subjected to zero-point offset elimination processing, and the offset-eliminated sampled voltage and sampled current are converted into actual voltage and current.

[0040] In one embodiment, the acquisition module is further configured 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 a 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 a current relationship coefficient.

[0041] In one embodiment, the first calculation module is further configured to: count the number of times the voltage crosses zero when it 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 calculate the average of the voltage phase frequencies of the voltage to obtain the voltage frequency of the elevator traction machine.

[0042] In one embodiment, the first calculation module is further configured to convert the current into a two-phase current using a Clark transformation method with equal amplitude; 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 includes:

[0044] The fourth calculation module is used to calculate the effective value of each phase voltage in the three-phase voltage to obtain the effective value calculation results corresponding to the three-phase voltage respectively; and to calculate the average value of the effective value calculation results corresponding to the three-phase voltage to obtain a voltage effective value corresponding to the three-phase voltage.

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

[0046] Thirdly, this application also provides a computer device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the elevator position estimation method.

[0047] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the elevator position estimation method.

[0048] Fifthly, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the elevator position estimation method.

[0049] The aforementioned elevator position estimation method, device, computer equipment, storage medium, and computer program product acquire electrical signals from the elevator traction machine to obtain voltage and current within a target time period; calculate the voltage frequency of the elevator traction machine based on voltage, target time period, and zero-crossing number of electrical signals; convert the current into 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 based on voltage frequency and number of motor pole pairs, and calculate the angular velocity of the elevator traction machine based on current frequency and number of motor pole pairs; if the effective voltage 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; or, if the effective voltage value corresponding to the voltage is less than the preset threshold, 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; and determine the position information of the elevator car based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase. Since the solution proposed in this application estimates the position by using the voltage and current of the elevator traction machine, no initial position calibration is required. Even after the elevator power is restored, the specific position of the elevator can be known. Moreover, it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation. Attached Figure Description

[0050] Figure 1 This is a diagram illustrating the application environment of the elevator position estimation method in one embodiment;

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

[0052] Figure 3 This is a flowchart illustrating an elevator position estimation method in one embodiment;

[0053] Figure 4 This is a schematic diagram of voltage and current obtained from electrical signal acquisition in one embodiment;

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

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

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

[0057] Figure 8 This is a schematic diagram of angular velocity calculated from angular frequency obtained based on Clark transform in one embodiment;

[0058] Figure 9 This is a schematic diagram of the angular velocity calculated using the zero-crossing method, the angular velocity calculated using the angular frequency obtained by the Clark transform method, and the combined angular velocity in one embodiment.

[0059] Figure 10 This is a schematic diagram of velocity curves and position information in one embodiment;

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

[0061] Figure 12 This is a structural block diagram of the elevator position estimation device in another embodiment;

[0062] Figure 13 FIG. 1 is a diagram showing the internal structure of a computer device in one embodiment. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0064] It should be noted that in the following description, the terms "first, second, and third" are used only to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0065] The elevator position estimation method based on electrical signals provided in this application can be applied to, for example... Figure 1 The application environment shown. It should be noted that, Figure 1 The image shows elevator 102 and service equipment 104. In some practical application scenarios, the application environment of this elevator position estimation method may only include elevator 102.

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

[0067] Service equipment 104 can be a standalone physical server or other equipment that can be used to monitor and control the elevator.

[0068] like Figure 2As shown, the elevator 102 can be referred to as an elevator system, including an elevator car, traction sheave, guide sheave, guide rails, counterweight, and traveling cable; in addition, it also includes... Figure 2 The elevator traction machine, buffer, sensors, control cabinet, door system, and guide system are not shown in the diagram.

[0069] In one embodiment, such as Figure 3 As shown, an elevator position estimation method is provided, which can be executed by a computer device, which can be... Figure 1 The operation of elevators or service equipment includes the following steps:

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

[0071] The elevator traction machine is a key component of the elevator system, responsible for driving the elevator car and counterweight up and down. The motor used in this traction machine can be a permanent magnet synchronous motor or an asynchronous motor. The elevator system in this application can employ variable voltage and variable frequency (VVVF) control, that is, controlling the speed and smooth operation by changing the input voltage and frequency of the elevator traction machine. It should be noted that a low input voltage results in a low frequency, and a high input voltage results in a high frequency.

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

[0073] The electrical signal of the elevator traction machine can be an analog electrical signal output from the frequency converter and input to the elevator traction machine. This electrical signal can 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 within the target time period can be: voltage and current sampled from the electrical signal of the elevator traction machine within the target time period and processed through digital-to-analog conversion, etc., also known as digitized voltage and current signals. It should be noted that the voltage and current within the target time period can be three-phase voltage and three-phase current, and each phase voltage and current within the target time period includes a series of voltage and current values ​​within the target time period.

[0075] In one embodiment, the computer device can simplify the entire elevator system, such as retaining only the elevator car, traction sheave, guide sheave, guide rail, counterweight, and traveling cable; then, a mathematical model of the elevator system is constructed based on the simplified elevator system.

[0076] The simplified elevator system can be referenced. Figure 2 ,in, Figure 2 The elevator system in this system uses a 2:1 suspension system. In this system, the elevator car is indirectly connected to the steel cable of the elevator traction machine through a pulley system. This allows a smaller power elevator traction machine to lift heavier loads, making it suitable for high-speed elevators and heavy-duty elevators.

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

[0078] (1)

[0079] (2)

[0080] (3)

[0081] (4)

[0082] in, This indicates the rotor speed of the traction sheave in the elevator traction machine. This represents the rotor angular velocity of the traction sheave. This represents the radius of the traction sheave, and K represents the traction ratio. In a 2:1 suspension system, K = 1 / 2. The value of K will change when using other suspension ratios. This represents the displacement of the wheel surface during the rotation of the traction sheave. This indicates the movement and displacement of the elevator car.

[0083] In one embodiment, when acquiring electrical signals, the computer equipment can acquire instantaneous values ​​of the electrical signals input from 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 to eliminate zero-point offset, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0084] The electrical signal can be an analog electrical signal, including analog three-phase voltage signals and three-phase current signals. The electrical signal input from the frequency converter to the elevator traction machine can be an electrical signal output from the frequency converter, which is then input to the elevator traction machine.

[0085] During the electrical signal acquisition process, the computer equipment can sample the electrical signals input from the frequency converter to the elevator traction machine at a preset frequency to obtain the sampled voltage and current signals within the target time period. Then, the sampled voltage and current signals are converted from analog to digital to obtain the sampled voltage and current within the target time period, i.e., a series of sampled voltage and current values ​​within the target time period. The preset frequency can be 2 kHz or higher.

[0086] In one embodiment, after obtaining the sampled voltage and sampled current, the computer device eliminates zero-point offset and then converts them into actual voltage and current. Specifically, the computer device subtracts the sampled voltage from the zero-point offset of the voltage measurement to obtain the voltage difference; determines the actual voltage based on the voltage difference and a voltage relationship coefficient; subtracts the sampled current from the zero-point offset of the current measurement to obtain the current difference; and determines the actual current based on the current difference and a current relationship coefficient. Figure 4 As shown, Figure 4 Figure (a) shows the actual voltage, with the horizontal axis representing the time axis (values ​​on the time axis in the figure need to be multiplied by 10 to the power of 4), and the vertical axis representing the voltage signal axis; in addition, Figure 4 Figure (b) shows the actual voltage, with the horizontal axis representing the time axis and the vertical axis representing the current signal axis.

[0087] The following formula can be used to calculate the zero-point offset and the actual voltage and current conversion:

[0088]

[0089]

[0090] Among them, These are the zero-point offsets of voltage measurements. These are the zero-point offsets for current measurement. These are the coefficients representing the correspondence between the actual voltage and the sampled voltage. These are the coefficients representing the correspondence between the actual ground current and the sampled current. These are the sampling voltages, These are the sampling currents.

[0091] S304 calculates the voltage frequency of the elevator traction machine based on voltage, target time period, and zero-crossing number of electrical signals; and converts the current into two-phase current and determines the current frequency of the elevator traction machine based on the phase angle of the two-phase current.

[0092] Among them, the number of zero crossings of the electrical signal can be the number of times the voltage crosses zero when it 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 equipment can use the zero-crossing method to calculate the voltage frequency of the elevator traction machine in combination with the voltage during the target time period.

[0094] The zero-crossing method is a way to calculate frequency by detecting when a signal crosses a zero point. This algorithm does not require complex mathematical calculations or signal processing, and it exhibits good robustness and strong anti-interference capabilities. Furthermore, zero-crossing detection can be performed at each cycle of the signal, thus providing real-time frequency measurement. This makes it suitable for applications requiring rapid response and facilitates hardware deployment.

[0095] The calculation process for voltage frequency can specifically include: within the target time period, the computer equipment counts the number of voltage crossings with zero when the voltage changes from positive to negative and from negative to positive, respectively, to obtain the number of voltage zero crossings; the voltage phase frequency is calculated based on the number of voltage zero crossings and the target time period; the average value of the voltage phase frequency is calculated to obtain the voltage frequency of the elevator traction machine.

[0096] For example, data is processed once every n frames of data received, with a time interval of [time period missing]. The zero-crossing method is used to calculate the frequency of the voltage when the voltage is within a time interval. Each time the value changes from positive to negative and from negative to positive within a given time interval, a zero-point crossover is recorded. N zero-point crossings were detected. Considering that there are two zero-point crossings within one period, the number of periods of the signal is: Thus, the phase frequency is obtained. .

[0097] Voltage has three phases, and the corresponding phase frequencies of all three phases can be calculated using the zero-crossing method. ,here Indicates the elapsed time interval The time coordinates are segmented. The voltage frequency is obtained by averaging the phase frequencies of phases A, B, and C respectively. ,like Figure 5 As shown.

[0098] It should be noted that the zero-crossing method uses a time interval of... It uses data from n frames to calculate the angular frequency, and the coordinates are transformed from t to... . Indicates the elapsed time interval The time coordinates after segmentation.

[0099] The calculation process for the current frequency can 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. This includes: converting the current into a two-phase current using the equal-amplitude Clark transformation method; determining the phase angle based on the two-phase current; processing the phase angle according to the phase angle differentiation 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, the Clark Transform is a method for transforming a three-phase stationary coordinate system (…). Convert to a two-phase stationary coordinate system The mathematical transformation of phase angle is widely used in motor control and power systems to simplify the analysis and control of three-phase systems. The angular frequency can be obtained directly through the phase angle differentiation, which is more accurate than the traditional method. Furthermore, the method of phase angle differentiation can calculate the frequency in each sampling period, which has high real-time performance. With 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] Furthermore, the equal-amplitude Clark transformation method can ensure the transformation of the two-phase current (such as...). The amplitude of the component) and the original three-phase current (such as The amplitudes of the components are equal.

[0102] For example, computer equipment uses three-phase current. Perform a Clark transformation to convert the three-phase symmetrical coordinate system into a two-phase rotating coordinate system, thus obtaining the two-phase current. and ,like Figure 6 As shown, the included angle Let be the phase angle of the two-phase current. The specific transformation matrix of the current is as follows:

[0103]

[0104] The Clark transformation converts the original three-phase current... Convert to Two-phase current Phase angle It can be calculated using 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 is... =3024HZ:

[0107]

[0108] The angular frequency calculated in the above manner is, for example: Figure 7 As shown, the horizontal axis is the time axis (values ​​on the time axis in the figure need to be multiplied by 10 to the power of 5), and the vertical axis is the angular frequency axis. It can be seen that there is noise at this angular frequency, so mean filtering can be performed on this angular frequency. For example, for The mean-value filtering method is used to convert the angular frequency of the current into a frequency of 1 / 2π. The angular frequency of the coordinate system is consistent with the angular frequency calculated at the zero-crossing point. Using coordinates, and since mean filtering can also eliminate noise and interference, the transformation formula for mean filtering is as follows:

[0109]

[0110] S306 calculates the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs, and also calculates the angular velocity of the elevator traction machine based on the current frequency and the number of motor pole pairs.

[0111] When a permanent magnet synchronous motor is used in an elevator traction machine, this application can employ VVVF control, thereby solving the problems of step loss and starting of the permanent magnet synchronous motor, thus ensuring that the angular velocity equals the synchronous speed. ,in This indicates the number of pole pairs of the motor. Therefore, the angular velocity can be calculated from the voltage frequency. .

[0112] Furthermore, for the angular velocity calculated from the current, the formula for angular velocity is: Where P is the number of pole pairs of the motor. Therefore, the angular velocity calculated from the current through Clark's method can be obtained using the above formula. ,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 a preset threshold, the angular velocity obtained based on the voltage frequency is input into the elevator system mathematical model 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car.

[0115] The effective value of voltage can be an effective value calculated based on voltage.

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

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

[0118] Considering the instability of voltage and current during the initial startup and shutdown of the traction machine, the angular velocity calculated by the zero-crossing method is unstable during these periods. However, the accuracy of the calculated angular velocity is very high during high-speed operation, making the zero-crossing method more accurate at high speeds. The Clark transform has high accuracy, and the current exhibits significant amplitude changes during startup and shutdown, making it more accurate for these periods. It should be noted that the frequency range is low during startup and shutdown, while it is high during high-speed operation. Therefore, the zero-crossing method is more accurate at high frequencies, while the Clark transform is more accurate at low frequencies. This application uses the effective voltage value to distinguish between high and low frequencies and combines the zero-crossing method with the Clark transform to improve the overall algorithm accuracy. The specific method is as follows:

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

[0120]

[0121]

[0122]

[0123] The final effective voltage value is obtained by averaging the three-phase voltage values. The specific calculation formula is as follows:

[0124]

[0125] Set the threshold value of the effective voltage. When the effective value of the voltage is lower than At that time, the angular velocity calculated using the Clark transformation method When the effective value of the voltage is higher than At that time, the angular velocity was calculated using the zero-crossing method. The combined angular velocity is obtained by combining the voltage threshold with the angular velocities calculated using the two methods mentioned above. The corresponding velocity curve can be referenced. Figure 9 The horizontal axis in this graph represents the time axis. The combined 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 elevator system mathematical model for displacement calculation, thereby obtaining the displacement information of the elevator car.

[0128] S310, Based on displacement information and the cumulative displacement information of the elevator car during this upward or downward phase, determine the position information of the elevator car.

[0129] The cumulative displacement information can be the total displacement information accumulated during the current upward phase (including the time spent on some floors during the upward phase) or the current downward phase (including the time spent on some floors during the downward phase).

[0130] For example, displacement information can be calculated using the composite angular velocity, which can be used as a reference. Figure 10 As shown in Figure (a), the calculated displacement information is then added to the cumulative displacement information of the elevator car during the current upward or downward phase to obtain the position information of the elevator car, such as... Figure 10 As shown in Figure (b).

[0131] In the above embodiments, electrical signals are acquired from the elevator traction machine to obtain the voltage and current within 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; 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 based on the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is also calculated based on the current frequency and the number of motor pole pairs; if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; or, if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase, the position information of the elevator car is determined. Since the solution proposed in this application estimates the position by using the voltage and current of the elevator traction machine, no initial position calibration is required. Even after the elevator power is restored, the specific position of the elevator can be known. Moreover, it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation.

[0132] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0133] Based on the same inventive concept, this application also provides an elevator position estimation device for implementing the elevator position estimation method described above. The solution provided by this device is similar to the implementation described in the above method; therefore, the specific limitations of the one or more elevator position estimation device embodiments provided below can be found in the limitations of the elevator position estimation method described above, and will not be repeated here.

[0134] In one embodiment, such as Figure 11 As shown, an elevator position estimation device is provided, including: a data acquisition 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 acquire 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 voltage, target time period and zero crossing number of electrical signal; and to convert current into two-phase current and determine the current frequency of the elevator traction machine based on the phase angle of the two-phase current.

[0137] The second calculation module 1106 is used to calculate the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine based on 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 to calculate the displacement of the elevator car when the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold; or, when the effective voltage value corresponding to the voltage is less than a preset threshold, to input the angular velocity obtained based on the current frequency into the elevator system mathematical model to calculate the displacement 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 cumulative displacement information of the elevator car during the current upward or downward phase.

[0140] In one embodiment, the acquisition module 1102 is further configured to acquire instantaneous values ​​of the electrical signals input from the frequency converter to the elevator traction machine, and 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 to eliminate zero-point offset, and the sampled voltage and sampled current after offset elimination are converted into actual voltage and current.

[0141] In one embodiment, the acquisition module 1102 is further configured 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 a 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 a current relationship coefficient.

[0142] In one embodiment, the first calculation module 1104 is further configured to: count the number of voltage crossings with zero when the voltage changes from positive to negative and from negative to positive within 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 calculate the average value of 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 further configured to convert the current into a two-phase current using the Clark transformation method with equal amplitude; 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.

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

[0145] The fourth calculation module 1112 is used to calculate the effective value of each phase voltage in the three-phase voltage, and obtain the effective value calculation results corresponding to the three-phase voltage respectively; and to calculate the average value of the effective value calculation results corresponding to the three-phase voltage, so as to obtain a voltage effective value corresponding to the three-phase voltage.

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

[0147] In the above embodiments, electrical signals are acquired from the elevator traction machine to obtain the voltage and current within 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; 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 based on the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is also calculated based on the current frequency and the number of motor pole pairs; if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; or, if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase, the position information of the elevator car is determined. Since the solution proposed in this application estimates the position by using the voltage and current of the elevator traction machine, no initial position calibration is required. Even after the elevator power is restored, the specific position of the elevator can be known. Moreover, it is not affected by vibration or electromagnetic interference, which can effectively ensure the accuracy of the elevator position estimation.

[0148] The modules in the aforementioned elevator position estimation device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the corresponding operations of each module.

[0149] In one embodiment, a computer device, which may be a server, is provided, including a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is connected to the system bus via the I / O interfaces. The processor of the computer device provides computational and control capabilities. The memory of the computer device includes non-volatile storage media and internal memory. The non-volatile storage media stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device stores relevant data involved in the position estimation process. The I / O interfaces of the computer device are used for exchanging information between the processor and external devices. The communication interface of the computer device is used for communicating with external terminals via a network connection. When the computer program is executed by the processor, it implements an elevator position estimation method.

[0150] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 13 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and 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 also connected to the system bus via the input / output interface. The processor provides computational and control capabilities. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage medium. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When executed by the processor, the computer program implements an elevator position estimation method. The display unit of the computer device is used to form a visually visible image. It can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0151] Those skilled in the art will understand that Figure 13The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0152] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the elevator position estimation method described above.

[0153] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the elevator position estimation method described above.

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

[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, data stored, data displayed, 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 related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0156] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, 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 many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0157] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for estimating elevator position, characterized in that, The method includes: Electrical signals of the elevator traction machine are collected to obtain the voltage and current during the target time period; Based on the voltage, the target time period, and the number of zero crossings of the electrical signal, the voltage frequency of the elevator traction machine is calculated; 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 based on the voltage frequency and the number of motor pole pairs, and the angular velocity of the elevator traction machine is also calculated based on the current frequency and the number of motor pole pairs. If 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car; or, if 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car. Based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase, the position information of the elevator car is determined.

2. The method according to claim 1, characterized in that, The process of acquiring electrical signals from the elevator traction machine to obtain the voltage and current within the target time period includes: The instantaneous values ​​of the electrical signals input from the frequency converter to the elevator traction machine are acquired 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 subjected to zero-point offset elimination processing, and the offset-eliminated sampled voltage and sampled current are converted into actual voltage and current.

3. The method according to claim 2, characterized in that, The step of performing zero-point 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: The voltage difference is obtained by subtracting the sampled voltage from the zero-point offset of the voltage measurement; the actual voltage is determined based on the voltage difference and the voltage relationship coefficient. The difference between the sampled current and the zero-point offset of the current measurement is used to obtain the current difference value; the actual current is determined based on the current difference value and the current relationship coefficient.

4. The method according to claim 1, characterized in that, The calculation of 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 includes: Within the target time period, the number of times the voltage crosses zero when it changes from positive to negative and from negative to positive is counted to obtain the number of zero-crossings of the voltage. Calculate the voltage phase frequency based on the voltage zero-crossing number and the target time period; The average value of the phase frequency of the voltage is calculated to obtain the voltage frequency of the elevator traction machine.

5. The method according to claim 1, wherein 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 includes: The current is converted into a two-phase current using the Clark transformation method with equal amplitude. The phase angle is determined based on the two-phase currents; The phase angle is processed using the phase angle differentiation method to obtain the corresponding angular frequency; The current frequency of the elevator traction machine is obtained by performing mean filtering on the angular frequency.

6. The method according to claim 1, characterized in that, The voltage is a three-phase voltage, and the method further includes: The effective value of each phase voltage in the three-phase voltage is calculated to obtain the effective value calculation results corresponding to the three-phase voltage respectively; The mean value of the effective values ​​of the three-phase voltages is calculated 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 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 elevator system mathematical model 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 elevator system mathematical model for displacement calculation to obtain the displacement information of the elevator car, including: If 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 taken as the first angular velocity of the comprehensive angular velocity; If 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 will be used as the second angular velocity of the comprehensive angular velocity. The composite angular velocity is input into the elevator system mathematical model so that the elevator system mathematical model can perform displacement calculation based on the traction sheave radius of the elevator traction machine, the displacement of the traction sheave, and the first or second angular velocity in the composite angular velocity, thereby obtaining the displacement information of the elevator car.

8. An elevator position estimation device, characterized in that, The device includes: The data acquisition module is used to acquire electrical signals from the elevator traction machine to obtain the voltage and current within the target time period. The first calculation module 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 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. The second calculation module is used to calculate the angular velocity of the elevator traction machine based on the voltage frequency and the number of motor pole pairs, and to calculate the angular velocity of the elevator traction machine based on the current frequency and the number of motor pole pairs. The third calculation module is used to input the angular velocity obtained based on the voltage frequency into the elevator system mathematical model to calculate the displacement information of the elevator car when the effective voltage value corresponding to the voltage is greater than or equal to a preset threshold; or, when the effective voltage value corresponding to the voltage is less than the preset threshold, input the angular velocity obtained based on the current frequency into the elevator system mathematical model to calculate the displacement information of the elevator car. The determination module is used to determine the position information of the elevator car based on the displacement information and the cumulative displacement information of the elevator car during the current upward or downward phase.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

11. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 7.

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