Dual composite proofreading self-learning method and system for frequency converter of elevator door motor

Abstract

The invention discloses a dual composite proofreading self-learning method and system for an elevator door motor frequency converter, and aims to solve the problems of poor door opening curve control precision and poor comfort of a door motor frequency converter of a traditional door motor, and the method comprises the following steps: detecting that the door motor frequency converter is in a door width self-learning mode; when the torque is larger than the door closing parking stalling threshold value, whether a closing limiting signal exists or not is judged, if yes, the door width value is reset, and if not, the running direction is reversed, and the door closing operation is executed again; executing door opening operation, recording a door width position count value in real time, judging whether the moment is greater than a door opening parking stalling threshold, and if yes, storing a door width value; when the torque is larger than the door closing parking stalling threshold value, whether a closing limiting signal exists or not is judged, and if yes, the door width value recorded when the door opening operation is completed is stored; the invention further discloses a corresponding system. According to the method, the door opening curve control precision of the door motor frequency converter is higher, the comfort is better, and the door opening and closing process is smoother.

Description

Technical Field

[0001] The present invention relates to the technical field of elevator safety control, and in particular to a double compound calibration self-learning method and system for an elevator door machine frequency converter. Background Art

[0002] The elevator door machine is equipped with a door width position encoder, a closing limit switch, and a torque detection module. During use, the elevator door machine inverter communicates and interacts with the above devices in real time, detects the closing limit switch signal input, and controls the door opening, door opening acceleration and deceleration, door opening hold, door closing, door closing acceleration and deceleration, and door closing hold operations according to the communication data of the above devices and the feedback signal of the closing limit switch input.

[0003] Traditional door machines control the opening and closing of doors according to the change of the switch state. This type of door machine is prone to wrong connection of the switch input port, unclear opening and closing door positions, long debugging time and great debugging difficulty. The main disadvantages are as follows: 1. The input ports of each node switch must be connected to the door machine inverter one-to-one according to the default function according to the manual or port silk screen; 2. According to the opening and closing characteristics of the input switch, the parameters of the door machine inverter need to be manually modified on site to change the polarity of the default port function; 3. Since the door position is fuzzy during the door opening and closing process, the door opening and closing operation curve is prone to acceleration and deceleration jams, resulting in poor comfort; 4. Due to the lack of real-time door position information, high-speed door opening and closing operations cannot be achieved; 5. It is impossible to predict switch damage or wire breakage in advance. Summary of the invention

[0004] The present invention solves the problems of poor control accuracy and poor comfort of the door opening curve of the door machine inverter of the traditional door machine, and proposes a double composite proofreading self-learning method and system for the elevator door machine inverter, which can make the door opening curve control accuracy of the door machine inverter higher, the comfort better, and the door opening and closing process smoother.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: a double compound calibration self-learning method for an elevator door machine inverter, comprising the following steps: S1, check whether the door machine inverter is in the door width self-learning mode, if so, enter S2; S2, execute the door closing operation. When the torque is greater than the door closing and stopping blocking threshold, determine whether there is a closing limit signal. If so, stop closing the door and clear the door width value. If not, reverse the running direction and execute the door closing operation again. S3, execute the door opening operation, record the door width position count value in real time, and determine whether the torque is greater than the door opening parking blocking threshold. If so, stop the door opening operation and save the door width value; S4, execute the door closing operation. When the torque is greater than the door closing parking blocking threshold, determine whether there is a closing limit signal. If so, the door width value is cleared and the door width value recorded when the door opening operation is completed is saved.

[0006] In the present technical scheme, it is first determined that the door machine inverter is in the door width self-learning mode, and then the door closing operation is performed, and the torque is judged in turn whether it is greater than the door closing and stopping blocking threshold and whether there is a closing limit signal input. If the torque is greater than the door closing and stopping blocking threshold and there is a relevant limit signal input, the door opening operation is stopped and the door width value is cleared. If the torque is greater than the door closing and stopping blocking threshold, but there is no closing limit signal input, the running direction is reversed and the door closing operation is performed again; then the door opening operation is performed, and the torque and the door opening and stopping blocking threshold are judged. If the torque is greater than the door stopping blocking threshold, the door opening is stopped and the corresponding door width value is saved. Finally, the door closing operation is performed again. If the torque is greater than the door closing and stopping blocking threshold and there is a relevant limit signal input, the door width value is cleared, and the encoder door width count position value recorded when the door opening operation is completed is saved to complete the door frame self-learning process.

[0007] The present invention is further configured as follows: before step S1, the following steps are also included: The door width position encoder in the door machine is connected to the encoder communication module, the closing limit switch is connected to the switch detection module, and the torque monitor is connected to the torque detection module.

[0008] In this technical solution, before performing step S1, the corresponding equipment in the door machine is connected to the relevant modules to ensure information interaction.

[0009] The present invention is further configured such that: in the step S1, command interaction can be performed with the door machine inverter through a dedicated handheld operation server, and the door machine inverter is set to a door width self-learning mode.

[0010] In this technical solution, the door machine inverter has door width self-learning mode, automatic demonstration operation mode and external command operation mode. The door machine inverter needs to be adjusted to the door width self-learning mode before the door width learning operation can be performed.

[0011] The present invention is further configured as follows: Step S2 comprises: When the door machine inverter is set to the door width self-learning mode, the door closing operation is started immediately. At this time, the elevator car door runs slowly and evenly. When the torque detection module monitors that the real-time torque is greater than the door closing and parking blocking threshold and the relevant limit signal is input, the door closing operation is stopped and the encoder door width position count value is cleared.

[0012] In this technical solution, if the torque detection module monitors that the real-time torque is less than the door closing and parking blocking threshold, the door closing operation is restarted.

[0013] The present invention is further configured as follows: the step S2 further includes: After the torque detection module monitors that the torque is greater than the parking and stalling threshold for a period of time, if there is no closing limit signal input, the door closing operation is stopped immediately, the door machine inverter is set to standby mode through the server, the running direction parameter value is reversed, and the door closing operation is executed again.

[0014] The present invention is further configured as follows: Step S3 comprises: Execute the door opening operation, the elevator car door runs slowly and evenly, and the encoder door width position count value is accumulated in real time. When the torque detection module monitors that the torque is greater than the door opening and stopping blocking threshold, the door opening operation is stopped and the door opening state is maintained, and the current door width position encoder door width position count is recorded.

[0015] In this technical solution, if the torque detection module monitors that the torque is less than or equal to the door opening and parking jam threshold, it returns to re-open the door operation.

[0016] The present invention is further configured as follows: Step S4 comprises: Execute the door closing operation. When the torque detection module monitors that the torque is greater than the door closing and parking blocking threshold and there is a relevant limit signal input, the door closing operation is stopped immediately and the door closing state is maintained. The encoder door width position count value is cleared, and the door width position count value recorded when the door opening operation is completed is saved to the storage module to complete the door width self-learning.

[0017] In this technical solution, the door closing operation of this step is basically the same as step S2. After the torque detection module monitors that the torque is greater than the door closing and parking jam threshold and there is a relevant limit signal input, the encoder door width position count value is cleared.

[0018] A double compound proofreading self-learning system for an elevator door machine inverter is applicable to the above-mentioned double compound proofreading self-learning method for an elevator door machine inverter, comprising a signal acquisition module and a function control module connected thereto, wherein the signal acquisition module is connected to a closing limit switch via a switch detection module, the signal acquisition module is connected to a door width position encoder via an encoder communication module, and the signal acquisition module is connected to a torque monitor via a torque detection module; the function control module is respectively connected to a door width counting module, a motor drive module and a storage module.

[0019] In this technical solution, the above-mentioned module is used to execute the above-mentioned technical solution regarding the double compound calibration self-learning method of the elevator door machine inverter.

[0020] The present invention is further configured as follows: the torque detection module adopts an upper arm phase current detection method, using a high-performance Hall effect current sensor to pass the input current through the internal wire, and the generated magnetic field induces a corresponding electrical signal on the Hall circuit, which is then converted into a voltage signal.

[0021] In the present technical solution, the parameters are detected by the above-mentioned torque detection module to ensure the accuracy of the detection.

[0022] The present invention is further configured as follows: the closing limit switch is a door lock contact switch, and the door width position encoder is a high-precision absolute encoder.

[0023] In this technical solution, the electrical contacts of the door lock contact switch are mainly composed of two metal sheets. When the elevator door is fully closed and the door lock is correctly locked, the two metal sheets contact each other, thereby forming an electrical connection. The locking or unlocking state of the elevator door is monitored by connecting or disconnecting the electrical contacts. The door width position encoder type is a high-precision absolute encoder with a single-turn absolute resolution of 12 bits, and the communication method is a high-speed serial peripheral interface Spi.

[0024] The present invention can bring the following beneficial effects: The double compound calibration self-learning method for the elevator door machine inverter disclosed by the present invention can make the door machine inverter door opening curve control accuracy higher, the comfort better, and the door opening and closing process smoother compared with the traditional switch quantity input control method; The elevator door machine inverter dual compound proofreading self-learning system involved in the present invention ensures the implementation of the elevator door machine inverter dual compound proofreading self-learning method through the coordinated action of multiple modules, so that the door machine inverter door opening curve control accuracy is higher and the comfort is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The invention is a flow chart of the double compound calibration self-learning method of the elevator door machine frequency converter of the present application.

[0026] Figure 2 It is a schematic diagram of the functional modules involved in the double compound calibration self-learning system of the elevator door machine inverter of the present application.

[0027] Reference numerals: 1. Close limit switch 2. Switch detection module 3. Door width position encoder 4. Encoder communication module 5. Torque monitor 6. Torque detection module 7. Signal acquisition module 8. Function control module 9. Motor drive module 10. Door width counting module 11. Storage module. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific implementation method described herein is only an optimal embodiment of the present invention, which is only used to explain the present invention and does not limit the scope of protection of the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] Example 1 This embodiment proposes a double compound calibration self-learning method for elevator door machine inverter, referring to Figure 1 , which mainly includes the following steps.

[0030] Step S1, first, detect whether the door machine inverter is in the door width self-learning mode, if so, enter S2, if not, re-detect.

[0031] For step S1, more specifically, first determine whether the door machine inverter is in a learning state. If so, continue to determine whether to start learning. If not, return to start again. As for whether to start learning, if so, start executing the subsequent step S2. If not, return to the step of whether it is in a learning state.

[0032] In the above step S1, the dedicated handheld operation server is used to interact with the door machine inverter to set the door machine inverter to the door width self-learning mode.

[0033] In this technical solution, the door machine inverter has door width self-learning mode, automatic demonstration operation mode and external command operation mode. The door machine inverter needs to be adjusted to the door width self-learning mode before the door width learning operation can be performed. If it is not in the self-learning mode, the door machine inverter will not perform the door width learning operation.

[0034] Step S2, start the door closing operation. During this process, determine whether the torque is greater than the door closing and stopping blocking threshold. Then, determine whether there is a closing limit signal. When the torque is greater than the door closing and stopping blocking threshold, if there is a corresponding closing limit signal, the door closing operation is stopped and the door width value is cleared. If there is no corresponding closing limit signal, the running direction is reversed and the door closing operation is performed again.

[0035] For this step, in more detail, after the door machine inverter is set to the door width self-learning mode in step S1, the door closing operation is immediately started and executed. At this time, the elevator car door runs slowly and at a constant speed. When the torque detection module monitors that the real-time torque is greater than the door closing and parking stall threshold, and there is a corresponding closing limit signal input, the above-mentioned door closing operation is stopped immediately, and the encoder door width count is cleared.

[0036] In addition, in this step, if there is still no closing limit signal input after the torque detection module monitors that the torque is greater than the parking jam threshold for a period of time, the door closing operation is stopped immediately, the door machine inverter is set to standby mode through the server, the running direction parameter value is reversed, and the door closing operation is executed again.

[0037] In this embodiment, the period of time set is 10s, that is, the door closing operation is performed. When the torque detection module monitors that the torque is greater than the parking jam threshold for 10s, there is still no closing limit signal input to immediately stop the door closing operation.

[0038] refer to Figure 1 When the torque is less than or equal to the door closing and parking jam threshold, it should return to the door closing operation step to perform the door closing operation again.

[0039] Step S3, after completing the process of step S2, execute the door opening operation, record the real-time door width position count value, and determine whether the torque is greater than the door opening and parking jam threshold. If the torque is greater than the door opening and parking jam threshold, the door opening should be stopped and the corresponding door width value should be saved. If the torque is less than or equal to the door opening and parking jam threshold, return to the door opening operation step to open the door again.

[0040] For this step, in more detail, after starting step S3, the elevator door can run slowly and evenly. At this time, the encoder door width position count value will be accumulated in real time to determine whether the torque monitored by the torque detection module is greater than the door opening and stopping jam threshold. If the torque monitored by the torque detection module is greater than the door opening and stopping jam threshold, then the door opening operation is stopped, while the door opening state is maintained, and the current encoder door width position count is recorded.

[0041] In this technical solution, if the torque detection module monitors that the torque is less than or equal to the door opening and parking jam threshold, it returns to re-open the door operation.

[0042] After completing step S3, proceed to step S4, execute the door closing operation, and determine whether the torque is greater than the door closing and parking blocking threshold. After determining that the torque is greater than the door closing and parking blocking threshold, determine whether there is an input of a closing limit signal. If there is an input of a limit signal, the door width value is cleared, and the door width value recorded when the step S3 operation is completed is saved to complete the door width self-learning.

[0043] In the above step S4, if the torque is less than or equal to the door closing and parking blocking threshold, the door closing operation is performed again (ie, step S4 is performed again).

[0044] In the above step S4, if there is no input of the closing limit signal, the closing limit signal is abnormal, and then the door width learning process ends.

[0045] For step S4, in more detail, it includes the following process: perform the door closing operation, determine whether the torque monitored by the torque detection module is greater than the door closing and parking blocking threshold, and when the torque monitored by the torque detection module is greater than the door closing and parking blocking threshold, determine whether there is a relevant limit signal input, if there is a corresponding closing limit signal input, immediately stop the door closing operation and keep the door closed, clear the encoder door width position count value, save the encoder door width position count value recorded when the door opening operation is completed to the local memory, and complete the door width self-learning. If there is no corresponding closing limit signal input, the closing limit signal is abnormal, and then the door width learning process ends.

[0046] In this embodiment, before performing step S1, the following steps are also included: connecting the door width position encoder in the door machine to the encoder communication module, connecting the closing limit switch to the switch detection module, and connecting the torque monitor to the torque detection module. That is, the door width position encoder, closing limit switch, and torque monitor in the door machine are connected to the encoder communication module, the switch detection module, and the torque detection module in sequence.

[0047] In the present technical scheme, it is first determined that the door machine inverter is in the door width self-learning mode, and then the door closing operation is performed, and the torque is judged in turn whether it is greater than the door closing and stopping blocking threshold and whether there is a closing limit signal input. If the torque is greater than the door closing and stopping blocking threshold and there is a relevant limit signal input, the door opening operation is stopped and the door width value is cleared. If the torque is greater than the door closing and stopping blocking threshold, but there is no closing limit signal input, the running direction is reversed and the door closing operation is performed again; then the door opening operation is performed, and the torque and the door opening and stopping blocking threshold are judged. If the torque is greater than the door stopping blocking threshold, the door opening is stopped and the corresponding door width value is saved. Finally, the door closing operation is performed again. If the torque is greater than the door closing and stopping blocking threshold and there is a relevant limit signal input, the door width value is cleared, and the encoder door width count position value recorded when the door opening operation is completed is saved to complete the door frame self-learning process.

[0048] Example 2 This embodiment also proposes a double compound calibration self-learning method for an elevator door machine inverter, which includes the following steps.

[0049] Step S1, first, detect whether the door machine inverter is in the door width self-learning mode, if so, enter S2, if not, re-detect.

[0050] In this technical solution, the door machine inverter has door width self-learning mode, automatic demonstration operation mode and external command operation mode. The door machine inverter needs to be adjusted to the door width self-learning mode before the door width learning operation can be performed. If it is not in the self-learning mode, the door machine inverter will not perform the door width learning operation.

[0051] Step S2, start the door closing operation. During this process, determine whether the torque is greater than the door closing and stopping blocking threshold. Then, determine whether there is a closing limit signal. When the torque is greater than the door closing and stopping blocking threshold, if there is a corresponding closing limit signal, the door closing operation is stopped and the door width value is cleared. If there is no corresponding closing limit signal, the running direction is reversed and the door closing operation is performed again.

[0052] For this step, in more detail, after the door machine inverter is set to the door width self-learning mode in step S1, the door closing operation is immediately started and executed. At this time, the elevator car door runs slowly and at a constant speed. When the torque detection module monitors that the real-time torque is greater than the door closing and parking stall threshold, and there is a corresponding closing limit signal input, the above-mentioned door closing operation is stopped immediately, and the encoder door width count is cleared.

[0053] In addition, in this step, if there is still no closing limit signal input after the torque detection module monitors that the torque is greater than the parking jam threshold for a period of time, the door closing operation is stopped immediately, the door machine inverter is set to standby mode through the server, the running direction parameter value is reversed, and the door closing operation is executed again.

[0054] In this embodiment, the period of time set is 10s, that is, the door closing operation is performed. When the torque detection module monitors that the torque is greater than the parking jam threshold for 10s, there is still no closing limit signal input to immediately stop the door closing operation.

[0055] refer to Figure 1 When the torque is less than or equal to the door closing and parking jam threshold, it should return to the door closing operation step to perform the door closing operation again.

[0056] Step S3, after completing the process of step S2, execute the door opening operation, record the real-time door width position count value, and determine whether the torque is greater than the door opening and parking jam threshold. If the torque is greater than the door opening and parking jam threshold, the door opening should be stopped and the corresponding door width value should be saved. If the torque is less than or equal to the door opening and parking jam threshold, return to the door opening operation step to open the door again.

[0057] For this step, in more detail, after starting step S3, the elevator door can run slowly and evenly. At this time, the encoder door width position count value will be accumulated in real time to determine whether the torque monitored by the torque detection module is greater than the door opening and stopping jam threshold. If the torque monitored by the torque detection module is greater than the door opening and stopping jam threshold, then the door opening operation is stopped, while the door opening state is maintained, and the current encoder door width position count is recorded.

[0058] In this technical solution, if the torque detection module monitors that the torque is less than or equal to the door opening and parking jam threshold, it returns to re-open the door operation.

[0059] After completing step S3, proceed to step S4, execute the door closing operation, and determine whether the torque is greater than the door closing and parking blocking threshold. After determining that the torque is greater than the door closing and parking blocking threshold, determine whether there is an input of a closing limit signal. If there is an input of a limit signal, the door width value is cleared, and the door width value recorded when the step S3 operation is completed is saved to complete the door width self-learning.

[0060] In the above step S4, if the torque is less than or equal to the door closing and parking blocking threshold, the door closing operation is performed again (ie, step S4 is performed again).

[0061] In the above step S4, if there is no input of the closing limit signal, the closing limit signal is abnormal, and then the door width learning process ends.

[0062] For step S4, in more detail, it includes the following process: perform the door closing operation, determine whether the torque monitored by the torque detection module is greater than the door closing and parking blocking threshold, and when the torque monitored by the torque detection module is greater than the door closing and parking blocking threshold, determine whether there is a relevant limit signal input, if there is a corresponding closing limit signal input, immediately stop the door closing operation and keep the door closed, clear the encoder door width position count value, save the encoder door width position count value recorded when the door opening operation is completed to the local memory, and complete the door width self-learning. If there is no corresponding closing limit signal input, the closing limit signal is abnormal, and then the door width learning process ends.

[0063] In this embodiment, before performing step S1, the following steps are also included: connecting the door width position encoder in the door machine to the encoder communication module, connecting the closing limit switch to the switch detection module, and connecting the torque monitor to the torque detection module. That is, the door width position encoder, closing limit switch, and torque monitor in the door machine are connected to the encoder communication module, the switch detection module, and the torque detection module in sequence.

[0064] Based on the above-mentioned elevator door machine inverter dual compound calibration self-learning, this embodiment also proposes an elevator door machine inverter dual compound calibration self-learning system, referring to Figure 2 , mainly including the limit switch 1, the switch detection module 2, the encoder 3, the encoder communication module 4, the torque monitor 5, the torque detection module 6, the signal acquisition module 7, the function control module 8, the storage module 11, the door width counting module 10 and the motor drive module 9.

[0065] Among them, the signal acquisition module is connected to the function control module, the limit switch is connected to one end of the switch detection module, the other end of the switch detection module is connected to the signal acquisition module, the door width position encoder is connected to one end of the encoder communication module, the other end of the encoder communication module is connected to the signal acquisition module, the torque monitor is connected to one end of the torque detection module, and the other end of the torque detection module is connected to the signal acquisition module.

[0066] The storage module, the door width counting module and the motor driving module are respectively connected to the function control module.

[0067] Among them, the switch detection module can read the opening and closing status of the limit switch; the encoder communication module can ensure the connection between the door width position encoder and the signal acquisition module; the torque detection module can detect the torque value of the torque monitor and compare the torque value with the corresponding torque threshold.

[0068] The signal acquisition module can collect the state of the above-mentioned limit switch, the count value of the door width position encoder, the torque value and the comparison result.

[0069] The function control module can send corresponding instructions according to the data of the signal acquisition module, store the count value of the encoder through the instructions, control the motor drive module to drive the motor, and control the door width counting module to adjust the count value.

[0070] Through the above-mentioned interconnected modules, the elevator door machine inverter dual composite calibration self-learning method described in Example 1 is implemented.

[0071] In this embodiment, the door width position encoder is a high-precision absolute encoder with a single-turn absolute resolution of 12 bits. The communication method is a high-speed serial peripheral interface Spi (Serial Peripheral Interface), with an operating voltage of 3.3V and a communication frequency of 5Kbps.

[0072] In this embodiment, the closing limit switch adopts a door lock contact switch, wherein the door lock contact switch includes two metal sheets. When the elevator door is fully closed and the door lock is correctly locked, the two metal sheets contact each other, thereby forming an electrical connection. The locking or unlocking state of the elevator door is monitored by connecting and disconnecting the electrical contacts.

[0073] In this embodiment, the torque detection module adopts the upper arm phase current detection method. This method can detect the current operating torque by passing the input current through the internal wire based on the high-performance Hall effect current sensor. The magnetic field generated by the sensor induces the corresponding electrical signal on the Hall circuit and converts it into an output voltage signal. When the torque detected during the door opening and closing process is greater than the set threshold, the operation is stopped, zero speed is maintained, and the door is opened in reverse.

[0074] refer to Figure 1 and Figure 2 , confirm whether the door machine inverter has entered the self-learning mode. In non-self-learning mode, the door machine inverter will not perform door width learning operations.

[0075] The self-learning process is started in the door width learning mode. First, the function control module 8 is used to control the motor drive module 9 to drive the door motor to run in the default door closing direction to perform the door closing operation; at the same time, the torque monitor 5 transmits the current torque value to the torque detection module 6 in real time. When the torque detection module 6 detects that the torque value of the torque monitor 5 is greater than the door closing and stopping blocking threshold, the switch detection module 2 reads the state of the closing limit switch 1; at this time, if the switch detection module 2 reads that the closing limit switch 1 is in an open or closed state, that is, the door is in the reaching limit position but not the closing limit position, the function control module 8 reverses the direction of the motor operation and re-controls the motor drive module 9 to perform the door closing operation. The torque detection module 6 detects that the torque value of the torque monitor 5 is greater than the door closing and stopping blocking threshold. At the same time, the switch detection module 2 reads that the closing limit switch 1 is in a closed state, and the door width counting module 10 clears the count value.

[0076] The function control module 8 controls the motor drive module 9 to keep the motor at zero speed for 3 seconds, and then controls the motor drive module 9 to drive the door motor to run in the door opening direction to perform the door opening operation. The encoder communication module 4 obtains the encoder 3 count value in real time. When the torque detection module 6 detects that the torque value of the torque monitor 5 is greater than the door opening parking blocking threshold, the signal acquisition module 7 records the door width count value of the encoder communication module 4.

[0077] After the function control module 8 controls the motor drive module 9 to keep the motor at zero speed for 3 seconds, the function control module 8 controls the motor drive module 9 to drive the door motor to run in the door closing direction to perform the door closing operation. The encoder communication module 4 obtains the encoder 3 count value in real time, and the torque detection module 6 detects the torque value of the torque monitor 5 in real time. When the torque detection module 6 detects that the torque value of the torque monitor 5 is greater than the door closing and parking jam threshold, and the switch detection module 2 reads that the closing limit switch 1 is in a closed state; the function control module 8 controls the motor drive module 9 to keep the motor at zero speed. The function control module 8 saves the encoder 3 count value recorded in the signal acquisition module 7 to the storage module 11. At this time, the door width self-learning is completed.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention is described in detail with reference to the embodiments, it should be understood by those skilled in the art that any modification or equivalent replacement of the technical solutions of the present invention does not depart from the spirit and scope of the technical solutions of the present invention and should be included in the scope of the claims of the present invention.

Claims

1. A dual compound calibration self-learning method for elevator door machine inverter, characterized in that: The following steps are involved: S1, check whether the door machine inverter is in the door width self-learning mode, if so, enter S2; S2, execute the door closing operation. When the torque is greater than the door closing and stopping blocking threshold, determine whether there is a closing limit signal. If so, stop closing the door and clear the door width value. If not, reverse the running direction and execute the door closing operation again. S3, execute the door opening operation, record the door width position count value in real time, and determine whether the torque is greater than the door opening parking blocking threshold. If so, stop the door opening operation and save the door width value; S4, execute the door closing operation. When the torque is greater than the door closing parking blocking threshold, determine whether there is a closing limit signal. If so, the door width value is cleared and the door width value recorded when the door opening operation is completed is saved.

2. The double compound calibration self-learning method for elevator door machine inverter according to claim 1 is characterized in that: The step S1 also includes the following steps: The door width position encoder in the door machine is connected to the encoder communication module, the closing limit switch is connected to the switch detection module, and the torque monitor is connected to the torque detection module.

3. The double compound calibration self-learning method for elevator door machine inverter according to claim 2 is characterized in that: In the step S1, the dedicated handheld operation server can interact with the door machine inverter to set the door machine inverter to the door width self-learning mode.

4. The double compound calibration self-learning method for elevator door machine inverter according to claim 1, 2 or 3, characterized in that: The step S2 comprises: When the door machine inverter is set to the door width self-learning mode, the door closing operation is started immediately. At this time, the elevator car door runs slowly and evenly. When the torque detection module monitors that the real-time torque is greater than the door closing and parking blocking threshold and the relevant limit signal is input, the door closing operation is stopped and the encoder door width position count value is cleared.

5. The double compound calibration self-learning method for elevator door machine inverter according to claim 1, 2 or 3, characterized in that: The step S2 further comprises: After the torque detection module monitors that the torque is greater than the parking and stalling threshold for a period of time, if there is no closing limit signal input, the door closing operation is stopped immediately, the door machine inverter is set to standby mode through the server, the running direction parameter value is reversed, and the door closing operation is executed again.

6. The double compound calibration self-learning method for elevator door machine inverter according to claim 1 is characterized in that: The step S3 comprises: Execute the door opening operation, the elevator car door runs slowly and evenly, and the encoder door width position count value is accumulated in real time. When the torque detection module monitors that the torque is greater than the door opening and stopping blocking threshold, the door opening operation is stopped and the door opening state is maintained, and the current door width position encoder door width position count is recorded.

7. The double compound calibration self-learning method for elevator door machine inverter according to claim 1 is characterized in that: The step S4 comprises: Execute the door closing operation. When the torque detection module monitors that the torque is greater than the door closing and parking blocking threshold and there is a relevant limit signal input, the door closing operation is stopped immediately and the door closing state is maintained. The encoder door width position count value is cleared, and the door width position count value recorded when the door opening operation is completed is saved to the storage module to complete the door width self-learning.

8. A dual compound calibration self-learning system for an elevator door machine inverter, applicable to the dual compound calibration self-learning method for an elevator door machine inverter according to any one of claims 1 to 7, characterized in that: It includes a signal acquisition module and a functional control module connected thereto, wherein the signal acquisition module is connected to a closing limit switch via a switch detection module, the signal acquisition module is connected to a door width position encoder via an encoder communication module, and the signal acquisition module is connected to a torque monitor via a torque detection module; the functional control module is respectively connected to a door width counting module, a motor drive module and a storage module.

9. The elevator door machine inverter dual compound calibration self-learning system according to claim 8 is characterized in that: The torque detection module adopts the upper arm phase current detection method and utilizes a high-performance Hall effect current sensor to pass the input current through the internal wire. The generated magnetic field induces a corresponding electrical signal on the Hall circuit, which is then converted into a voltage signal.

10. The elevator door machine inverter dual compound calibration self-learning system according to claim 8 or 9, characterized in that: The closing limit switch is a door lock contact switch, and the door width position encoder is a high-precision absolute encoder.

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