Method and device for adjusting coefficient k for electric braking of elevator and control equipment

Abstract

The embodiment of the invention discloses a method and device for adjusting a coefficient k for electric braking of an elevator and control equipment, and the method comprises the steps that operation state parameters of the elevator are obtained in real time, whether self-adaptive torque bus voltage control conditions are met or not is determined according to the operation state parameters, and under the condition that the self-adaptive torque bus voltage control conditions are met, the coefficient k is adjusted according to the self-adaptive torque bus voltage control conditions. A coefficient k is calculated according to the operation state parameters, so that the bus voltage and the torque output meet set conditions, and the torque output can be optimized under the condition that the bus voltage does not drop.

Description

TECHNICAL FIELD

[0001] The embodiment of the application relates to the technical field of elevator electrical brake control, and particularly relates to a coefficient k adjusting method, device and control equipment for elevator electrical brake. BACKGROUND

[0002] In an elevator electrical brake system, the "star blocking technology" is often used to realize safety braking. The prior art, such as patent CN119429886A, proposes a method for realizing electrical braking through a frequency converter, wherein a key parameter, the coefficient k, is used to calculate a threshold value A of a torque current instruction (i.e., k*Ke*|n| / R). The threshold value A is used to limit the reverse torque current instruction Iqcmd, to ensure that the frequency converter outputs negative power, so that the PM motor is in the power generation mode, thereby realizing braking.

[0003] However, the coefficient k in CN119429886A is usually set as a fixed constant (such as k ≤ 1), which can ensure a certain power generation margin, but has the following limitations:

[0004] It cannot adapt to dynamic working conditions in elevator operation, such as load changes, bus voltage fluctuations, motor parameter drifts, etc.

[0005] The fixed k value may cause insufficient braking torque at low speed, or bus voltage drop, affecting system stability.

[0006] It lacks the response capability to real-time factors such as frequency converter loss and motor thermal state, reducing the braking efficiency and reliability.

[0007] Therefore, there is an urgent need for a method that can adaptively adjust the k value to improve braking performance and ensure system safety. SUMMARY

[0008] The embodiment of the application provides a coefficient k adjusting method, device and control equipment for elevator electrical brake, aiming to optimize the torque output and bus voltage stability of a permanent magnet synchronous motor during braking.

[0009] In a first aspect, the embodiment of the application provides a coefficient k adjusting method for elevator electrical brake, comprising:

[0010] obtaining running state parameters of the elevator in real time;

[0011] determining whether an adaptive torque bus voltage control condition is met according to the running state parameters, and calculating the coefficient k according to the running state parameters to make the bus voltage and torque output meet a set condition in the case where the adaptive torque bus voltage control condition is met.

[0012] As an embodiment, the operating state parameter comprises: an electrical angular velocity and a busbar loss;

[0013] The determining whether the adaptive torque busbar voltage control condition is met according to the operating state parameter comprises:

[0014] The adaptive torque busbar voltage control condition is determined to be met when the electrical angular velocity is greater than a speed threshold value;

[0015] The speed threshold value ; The busbar loss The phase resistance of the motor of the elevator, The rotor flux of the motor of the elevator.

[0016] As an embodiment, the method further comprises:

[0017] The adaptive torque busbar voltage control condition is determined to be not met when the electrical angular velocity is less than the speed threshold value, and the value corresponding to the maximum absolute value of negative power output by the elevator is As the value of the coefficient.

[0018] As an embodiment, the coefficient k is calculated according to the operating state parameter, comprising:

[0019] The coefficient is calculated by using the following formula:

[0020] ; wherein, The busbar loss The phase resistance of the motor of the elevator, The rotor flux of the motor of the elevator.

[0021] As an embodiment, the is a preset value, and the comprises the sum of the busbar load and the loss of the inverter of the elevator.

[0022] As an embodiment, the method further comprises:

[0023] Obtaining current load information of the elevator;

[0024] According to the current load information, a corresponding load interval is determined;

[0025] According to a preset mapping relationship between the load interval and the busbar loss, the busbar loss is updated.

[0026] As an embodiment, the method further comprises:

[0027] According to the temperature information of the motor and a preset resistance-temperature correspondence relationship, a phase resistance corresponding to a current temperature of the motor is obtained to calculate the coefficient.

[0028] As an embodiment, the method further comprises: generating a control instruction for limiting a torque output of the motor according to the coefficient.

[0029] In a second aspect, an embodiment of the present application provides a coefficient k adjusting device for elevator electrical braking, comprising:

[0030] An acquisition module is configured to acquire running state parameters of the elevator in real time.

[0031] A judgment module is configured to determine whether an adaptive torque bus voltage control condition is met according to the running state parameters.

[0032] A calculation module is configured to calculate the coefficient k according to the running state parameters in the case that the adaptive torque bus voltage control condition is met, so that the bus voltage and the torque output meet a set condition.

[0033] In a third aspect, an embodiment of the present application provides a control device, comprising a memory and a processor.

[0034] The memory is configured to store a computer program, and the processor is configured to read the computer program in the memory and implement the coefficient k adjusting method for elevator electrical braking as described above when the program is executed.

[0035] The technical solution provided by the embodiment of the present application has at least the following positive effects compared with the prior art:

[0036] In the technical solution of the embodiment of the present application, the running state parameters of the elevator are acquired in real time, whether the adaptive torque control condition is met is determined according to the running state parameters, and the coefficient k is calculated according to the running state parameters in the case that the adaptive torque bus voltage control condition is met, so that the bus voltage and the torque output meet the set condition, that is, the torque output performance is optimized in the case that the bus voltage remains not to drop, thereby improving the safety and braking performance in the braking process of the elevator. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0038] Figure 1 A circuit structure schematic diagram of a drive system (rectifier part omitted) of a permanent magnet synchronous motor of an elevator.

[0039] Figure 2 A vector control principle diagram for a permanent magnet synchronous motor and display q-axis current command limit logic;

[0040] Figure 3 A flowchart of a method for adjusting the coefficient k of elevator electrical braking provided by embodiment one of the present application;

[0041] Figure 4 A braking torque output versus speed relationship curve for different k values;

[0042] Figure 5 A torque output versus speed comparison curve for adaptive k values

[0043] Figure 6 A structural schematic diagram of a coefficient k adjustment device for elevator electrical braking provided by embodiment two of the present application;

[0044] Figure 7 A structural schematic diagram of a control device provided by embodiment three of the present application. DETAILED DESCRIPTION

[0045] The present application will be further described below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely intended for the purpose of explaining the present application, and are not limiting of the present application. In addition, it should be noted that, for the purpose of description, only the parts related to the present application are shown in the drawings, rather than all the structures.

[0046] Please refer to Figure 1 the drive system circuit structural schematic diagram of a permanent magnet synchronous motor, Figure 1 the rectification part of the motor drive system is omitted in the figure. The DC bus capacitor C smooths the rectified voltage Ud to provide a stable DC power supply for the inverter circuit. During normal operation of the elevator, the control device outputs a PWM signal to control the on-off of the six IGBT tubes T1-T6 of the inverter circuit, converts the DC bus voltage Ud into an AC voltage to drive the three-phase AC permanent magnet synchronous motor (i.e. PM motor), and drives the elevator to ascend or descend.

[0047] Please refer to Figure 2 the vector control principle diagram of a permanent magnet synchronous motor, the reference values of the dq-axis components of the stator voltage vector are obtained through d-axis current closed-loop control and q-axis current closed-loop control 、 respectively; the reference voltage vector in the stationary coordinate system αβ is obtained through coordinate inversion 、 Finally, the driving signals of the IGBT switching tubes are generated through space vector pulse width modulation (SVPWM).

[0048] Please refer to Figure 2 When the motor is normally controlled by the vector, the output of the speed loop PI (Proportional-Integral) regulator, i.e. the q-axis current command, is limited as follows: when the elevator speed is greater than or equal to 0, the q-axis current command is limited to be less than or equal to 0 and greater than or equal to a threshold A = -k*Ke*n / Rs. Wherein, Ke is the peak counter potential coefficient, n is the elevator speed, Rs is the phase resistance of the motor, k is a coefficient, k≤1; k indicates a margin for power generation for the loss of the frequency converter. When the threshold A represents the torque command, k also includes the torque current ratio; if the elevator speed is less than 0, the output value of the speed closed loop is limited to be greater than or equal to 0 and less than or equal to -k*Ke*n / Rs. In addition, the limitation of the torque current command also depends on the capacity limitation threshold B of the frequency converter or the PM motor, and the actual limitation value is the smaller one of the threshold A and the threshold B, i.e. min(A, B).

[0049] Figure 3 The flowchart of the coefficient k adjustment method for elevator electrical braking provided by the first embodiment of the present application is used to adaptively adjust the coefficient k for elevator electrical braking according to the dynamic working condition of the elevator, so as to optimize the torque output and bus voltage stability of the permanent magnet synchronous motor during braking. The method can be executed by a coefficient k adjustment device for elevator electrical braking provided by the first embodiment of the present application. The device can be realized in a software and / or hardware manner and configured in a control device for elevator control, which can be a DSP (Digital Signal Processing) chip or an MCU (Microcontroller Unit). As shown in FIG. 1, the coefficient k adjustment method for elevator electrical braking of the present application includes steps 301-303: Figure 3

[0050] Step 301, real-time acquisition of the running state parameters of the elevator;

[0051] Step 302, determination of whether the adaptive torque bus voltage control condition is met according to the running state parameters;

[0052] Step 303, calculation of the coefficient k according to the running state parameters to make the bus voltage and the torque output meet the set conditions under the condition that the adaptive torque bus voltage control condition is met.

[0053] ​The steps 301 to 303 of the method for adjusting the coefficient k of the elevator electrical brake in the embodiment are described in detail as follows.

[0054] Step 301, acquiring a running state parameter of the elevator in real time.

[0055] The running state parameter of the elevator includes an electrical angular velocity, a busbar loss and a motor parameter, etc. The electrical angular velocity refers to the rotating speed of the rotor magnetic field of the permanent magnet synchronous motor, and the unit is rad / s. The electrical angular velocity can be converted according to the motor speed, and the motor speed can be acquired in real time through the encoder. Specifically, the motor speed can be accurately calculated according to the number of pulses of the encoder captured in a unit time, and the electrical angular velocity can be calculated according to the linear relationship between the electrical angular velocity, the motor pole pair number and the motor speed. The busbar loss can include the sum of the busbar load and the inverter loss. It can be understood that the busbar loss can also be more accurately estimated according to the dynamic working condition of the elevator, which is not limited specifically herein. The motor parameter includes the phase resistance of the three-phase winding of the motor and the rotor flux of the permanent magnet synchronous motor. The phase resistance increases with the increase of the motor temperature, and the rotor flux gradually decays in the long-term use of the elevator.

[0056] Step 302, determining whether the adaptive torque bus voltage control condition is met according to the running state parameter.

[0057] The adaptive torque bus voltage control condition refers to that the dynamic working condition represented by the running state parameter can improve the torque output and at least ensure that the bus voltage does not drop.

[0058] In the embodiment of the application, determining whether the adaptive torque control condition is met according to the running state parameter can include: determining that the adaptive torque bus voltage control condition is met when the electrical angular velocity is greater than a speed threshold. Wherein, the speed threshold , is the busbar loss, is the phase resistance of the motor of the elevator, is the rotor flux of the motor of the elevator. When ω e < ω e1 , the absolute value of the negative power output by the motor is less than the busbar loss, and the bus voltage drop is uncontrollable, when ω e > ω e1 , the torque output can be improved under the condition of ensuring that the bus voltage does not drop.

[0059] The speed threshold of the embodiment is the inflection point speed of ensuring that the bus voltage does not drop, and the derivation process of the speed threshold of ensuring that the bus voltage does not drop is as follows: According to the voltage equation of the permanent magnet synchronous motor: (A1)

[0060] The motor voltage equation is

[0061] (A2)

[0062] If it is necessary to ensure that the motor does not draw energy from the frequency converter, that is, the active power P satisfies the following conditions:

[0063] (A3)

[0064] Substitute into to obtain

[0065] (A4)

[0066] Equation has two roots of

[0067] (A5)

[0068] Therefore, it can be concluded that when ω e > 0, the value range of i q should be

[0069] (A6)

[0070] When ω e < 0, the value range of i q should be

[0071] (A7)

[0072] For a certain PM motor, when the current limiting value is 60 A, that is, the threshold A is equal to 60 amperes, the torque and frequency curves when k takes 1, 0.9, and 0.8 are as Figure 4 shown, Figure 4 where the horizontal axis is the motor speed in pu of the rated frequency, and the vertical axis is the negative torque output. It can be seen that different k values determine the slope of the torque output. The larger the k value, the larger the torque. However, a fixed k value will cause the bus voltage to drop at low speeds. The active power P can be calculated as

[0073] (A8)

[0074] It can be seen from Equation that when k = 1, P = 0; when 0 < k < 1, P < 0. P = 0 indicates that the inverter output power is 0, and P < 0 indicates that the inverter output power is negative, that is, the PM motor generates a braking torque and does not draw energy from the inverter.

[0075] If the bus voltage drop situation is considered, as an example, assuming that the sum of the bus load and the inverter losses is W, the inflection point speed of the voltage drop can be calculated as

[0076] (A9)

[0077] By formula It can be seen that when k=0.5, the electrical angular velocity ω e1 takes a minimum value. The minimum value is

[0078] (A10)

[0079] Therefore, when ω e <ω e1 , the busbar loss is greater than the power generation, the busbar voltage drop is uncontrollable, and the embodiment of the application takes ω e1 as a speed threshold, so that the finally calculated coefficient k follows the load change in the case of accurately estimating the busbar loss, and the torque output is maximized in the case of ensuring that the busbar voltage does not drop.

[0080] Step 303, in the case of satisfying the adaptive torque busbar voltage control condition, the coefficient k is calculated according to the operating state parameters, so that the busbar voltage and the torque output satisfy the set condition.

[0081] The busbar voltage and the torque output satisfy the set condition means that the torque output is improved without the busbar voltage dropping, and the coefficient can be calculated by the following formula:

[0082] .

[0083] When ω e >ω e1 , the value of k that can make the busbar voltage at least remain not to drop is

[0084] (A11)

[0085] According to formula , when ω e >ω e1 , , the torque output is maximized and the busbar voltage does not drop. It can be understood that in actual application, a certain power generation margin can be left to meet the busbar voltage demand.

[0086] When the electrical angular velocity is less than the speed threshold, it is determined that the adaptive torque control condition is not satisfied, at this time the busbar voltage drop is uncontrollable, and in the case of not satisfying the adaptive torque busbar voltage control condition, the value corresponding to the maximum absolute value of the negative power output by the elevator is taken as the value of the coefficient, according to formula , it can be known that , the absolute value of the negative power P is maximum, and the busbar voltage can be compensated as much as possible.

[0087] With a current limit of 60A and a bus load of 100W, the following settings are configured. =120W, k takes values ​​of 1, k0, and 0.5 respectively, and the torque output at the rated frequency from rest to 0.2 pu is as follows. Figure 5 As shown, pu is a per-unit value; 0.2pu represents the rated frequency, which is 0.2 times the rated frequency. It can be seen that when ω... e <ω e1 When the bus voltage drops uncontrollably, setting k=0.5, compared to the maximum torque output of k=1, allows for maximum negative power output to compensate for the bus voltage as much as possible. When ω e >ω e1 It has a large negative power output potential, making The motor's braking torque output can be maximized while ensuring that the bus voltage does not drop; that is, when ω e >ω e1 And ω e When ω is relatively small, the torque output is always greater than the torque output when k=0.5, but the bus voltage is guaranteed not to drop. e As the value of k gradually increases, the torque output rapidly approaches the maximum torque output when k=1, and the torque output remains at its maximum at high speeds. Therefore, choosing an appropriate k value can not only ensure that the voltage does not drop but also achieve a high torque output. It is understood that bus losses can be determined based on the losses of all devices absorbing bus voltage. This embodiment does not impose specific restrictions on the calculation method or magnitude of bus losses.

[0088] It is worth mentioning that the method for adjusting the coefficient k for elevator electrical braking in this application may also include generating a control command for limiting the motor torque output based on the coefficient, that is, obtaining the threshold A according to -k*Ke*n / Rs, and then determining the control command threshold according to min(threshold A, threshold B).

[0089] In some examples, the operating status parameters may also include: elevator motor temperature information; the adjustment method for the coefficient k used for elevator electrical braking may also include: obtaining the phase resistance corresponding to the current motor temperature based on the motor temperature and a preset resistance-temperature correspondence to calculate the coefficient.

[0090] The phase resistance of the motor increases with the increase of the temperature of the motor. The temperature of the motor and the preset resistance temperature corresponding relationship can be obtained through actual test and stored in the storage module of the control device. During the operation of the elevator, the phase resistance at the current temperature (i.e. the phase resistance closer to the true value) is obtained according to the current temperature of the motor and the preset resistance temperature corresponding relationship, and then the coefficient k is calculated according to the phase resistance. The rotor flux of the motor will gradually decay with the service life of the elevator. In actual application, the rotor flux change value can also be monitored. When the rotor flux change value is greater than the set deviation, the coefficient k is calculated according to the current rotor flux. The embodiments of the application do not make specific limitations on the detection methods of the motor temperature and the rotor flux.

[0091] It is worth mentioning that in some examples, the adjustment method of the coefficient k for the electrical braking of the elevator can further include: obtaining the current load information of the elevator, determining the corresponding load interval according to the current load information, and updating the bus loss according to the preset mapping relationship between the load interval and the bus loss. The mapping relationship between the load interval and the bus loss can be obtained according to actual test. The load interval can be divided according to the load conditions such as empty cabin, rated load and 110% overload, and the embodiments do not make specific limitations.

[0092] The adjustment method of the coefficient k for the electrical braking of the elevator of the application can be combined with the running direction of the elevator in actual application, and then the rotating direction of the motor is known, so as to determine the braking torque direction during braking control. The k value generated thereby can be used in any braking control model based on the speed-related dynamic threshold A. The running direction of the elevator can be obtained by various judgment methods, including but not limited to: speed comparison, position sensor, photoelectric encoder, etc. Among them, the speed comparison judges the running direction of the elevator by judging the positive and negative of the motor speed. The position sensor installed on the elevator shaft, such as photoelectric sensor, magnetic induction sensor, etc., detects the position change of the elevator car, thereby judging the running direction of the elevator. The motor speed can be obtained through the photoelectric encoder installed on the motor.

[0093] For those skilled in the art, after knowing the core idea of the application (prevent providing driving energy to the PM motor and maintaining the stability of the intermediate circuit voltage by limiting the reverse torque to output negative power), it is completely understood that the essence of "threshold A" is a "speed-related critical value that can ensure the output of negative power". The skilled person can derive different calculation formulas to achieve the same function and technical effect according to different motor control models, such as considering the MTPA (Maximum Torque Per Ampere) control of Id≠0. These different calculation formulas are all obvious specific implementation manners under the technical idea of the application.

[0094] Compared with the prior art, the adjustment method for the coefficient k for the electrical braking of the elevator provided in the embodiments of the present application acquires the operating state parameters of the elevator in real time, determines whether the adaptive torque bus voltage control condition is met according to the operating state parameters, and calculates the coefficient k according to the operating state parameters in the case where the adaptive torque bus voltage control condition is met, so that the bus voltage and the torque output meet the set condition, thereby maximizing the torque output under the condition that the bus voltage does not drop when the rotating speed is large, and improving the safety and braking performance in the braking process of the elevator.

[0095] Figure 6 The adjustment device for the coefficient k for the electrical braking of the elevator provided in Embodiment Two of the present application is shown in the structural schematic diagram. The adjustment device 600 can be realized by software and embedded in the elevator control system, without increasing the hardware cost. The adjustment device 600 comprises an acquisition module 602, a judgment module 604 and a calculation module 606. The door body state acquisition module 502 and the door body deceleration control module 504.

[0096] The acquisition module 602 is configured to acquire the operating state parameters of the elevator in real time.

[0097] The judgment module 604 is configured to determine whether the adaptive torque bus voltage control condition is met according to the operating state parameters.

[0098] The calculation module 606 is configured to calculate the coefficient k according to the operating state parameters in the case where the adaptive torque bus voltage control condition is met, so that the bus voltage and the torque output meet the set condition.

[0099] Optionally, the operating state parameters comprise the electrical angular speed and the bus loss, the judgment module 604 is configured to determine that the adaptive torque bus voltage control condition is met when the electrical angular speed is greater than a speed threshold value, the speed threshold value ; The bus loss is The phase resistance of the motor of the elevator is The rotor flux of the motor of the elevator is

[0100] Optionally, the judgment module 604 is further configured to determine that the adaptive torque bus voltage control condition is not met when the electrical angular speed is less than the speed threshold value, and the adjustment device can further comprise a setting module, the setting module is configured to, in the case where the adaptive torque bus voltage control condition is not met, take the value corresponding to the maximum absolute value of the negative power output by the elevator as the value of the coefficient. Optionally, the calculation module 606 is configured to calculate the coefficient by using the following formula:

[0101] Optionally, the calculation module 606 is configured to calculate the coefficient by using the following formula:

[0102] .

[0103] Optionally, is a preset value, The sum of the busbar load and the loss of the inverter of the elevator.

[0104] Optionally, the adjusting device 600 can further include a loss compensation module, the loss compensation module being configured to acquire current load information of the elevator, determine a corresponding load interval according to the current load information, and update the busbar loss according to a preset mapping relationship between the load interval and the busbar loss.

[0105] Optionally, the adjusting device 600 can further include a temperature compensation module, the temperature compensation module being configured to acquire a phase resistance corresponding to a current temperature of the motor according to temperature information of the motor and a preset resistance-temperature correspondence relationship, and calculate the coefficient.

[0106] Optionally, the adjusting device 600 can further include a limiting module, the limiting module being configured to generate a control instruction for limiting the torque output of the motor according to the coefficient.

[0107] Compared with the prior art, the adjusting device for the coefficient k for the electrical braking of the elevator of the embodiment of the present application acquires the running state parameter of the elevator in real time, determines whether the adaptive torque control condition is met according to the running state parameter, calculates the coefficient k according to the running state parameter in the case where the adaptive torque busbar voltage control condition is met, so that the busbar voltage and the torque output meet the set condition, thereby maximizing the torque output under the condition that the busbar voltage does not drop when the rotating speed is large, and improving the safety and braking performance in the braking process of the elevator.

[0108] Figure 7 The control device 70 includes a storage 71 and a processor 72.

[0109] The storage 71 is configured to store a computer program, and the processor 72 is configured to read the computer program in the storage 71 and implement the adjusting method for the coefficient k for the electrical braking of the elevator as described in the foregoing embodiments when the program is executed.

[0110] The present embodiment four provides a computer readable storage medium, which stores a computer program, and the computer program is used to execute the technical solution of any method embodiment when executed by a computer processor.

[0111] Through the above description of the embodiments, those skilled in the art can clearly understand that the present application can be realized by means of software and necessary universal hardware, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product in essence or in the form of a part of the prior art that makes a contribution. The computer software product can be stored in a computer readable storage medium, such as a floppy disk, a read-only memory (ROM), a random access memory (RAM), a FLASH memory, a hard disk, or an optical disk, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a grid device, etc.) to execute the methods described in various embodiments of the present application.

[0112] It is worth noting that in the embodiments of the above device, each unit and module included is only divided according to functional logic, but is not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy mutual distinction, and do not limit the protection scope of the present application.

[0113] Note that the above are only preferred embodiments of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and those skilled in the art can make various obvious changes, readjustments and substitutions without departing from the scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the appended claims.

Claims

1. A method for adjusting the coefficient k of the electrical braking of an elevator, characterized in that, The method comprises: obtaining an operating state parameter of an elevator in real time; determining whether an adaptive torque bus voltage control condition is met according to the operating state parameter, and calculating a coefficient k according to the operating state parameter to make bus voltage and torque output meet a set condition in the case where the adaptive torque bus voltage control condition is met.

2. The method of claim 1, wherein, The operating state parameter comprises an electrical angular velocity and a bus loss; The determining whether the adaptive torque bus voltage control condition is met according to the operating state parameter comprises: determining that the adaptive torque bus voltage control condition is met when the electrical angular velocity is greater than a speed threshold value; the speed threshold ; is the busbar loss; is a phase resistance of a motor of the elevator, is a rotor flux of a motor of the elevator.

3. The method of claim 2, wherein, The method further comprises: determining that an adaptive torque bus voltage control condition is not satisfied when the electrical angular velocity is less than the speed threshold, the value corresponding to when the absolute value of the negative power output by the elevator is maximized in the case where the adaptive torque bus voltage control condition is not satisfied as the value of the coefficient.

4. The method of claim 1, wherein, The calculating the coefficient k according to the operating state parameter comprises: calculating the coefficient by using the following formula: ; wherein is the busbar loss; is the phase resistance of the motor of the elevator, is the flux linkage of the motor of the elevator.

5. The method of claim 4, wherein, The is a preset value, the includes the sum of the busbar load and the loss of the inverter of the elevator.

6. The method of claim 4, wherein, The method further comprises: obtaining current load information of the elevator; determining a corresponding load interval according to the current load information; updating the bus loss according to a preset mapping relationship between the load interval and the bus loss.

7. The method of claim 4, wherein, The method further comprises: obtaining a phase resistance corresponding to a current temperature of the motor according to temperature information of the motor and a preset resistance temperature corresponding relationship to calculate the coefficient.

8. The method of claim 1, wherein, The method further comprises generating a control instruction for limiting torque output of the motor according to the coefficient.

9. A device for adjusting the coefficient k of the electrical braking of an elevator, characterized in that, The method comprises: an obtaining module configured to obtain an operating state parameter of an elevator in real time; a determining module configured to determine whether an adaptive torque bus voltage control condition is met according to the operating state parameter; and a calculating module configured to calculate a coefficient k according to the operating state parameter to make bus voltage and torque output meet a set condition in the case where the adaptive torque bus voltage control condition is met. The method comprises a memory and a processor; 10. A control device, characterized by The memory is configured to store a computer program, and the processor is configured to read the computer program in the memory and implement the method in any one of claims 1-8 when the program is executed. ​

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